WO2022079959A1 - Packing style conversion system - Google Patents

Packing style conversion system Download PDF

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Publication number
WO2022079959A1
WO2022079959A1 PCT/JP2021/025792 JP2021025792W WO2022079959A1 WO 2022079959 A1 WO2022079959 A1 WO 2022079959A1 JP 2021025792 W JP2021025792 W JP 2021025792W WO 2022079959 A1 WO2022079959 A1 WO 2022079959A1
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WO
WIPO (PCT)
Prior art keywords
packing box
unit
transport
reversing
conversion system
Prior art date
Application number
PCT/JP2021/025792
Other languages
French (fr)
Japanese (ja)
Inventor
英樹 有田
直哉 竹原
雅比古 有田
秀人 石黒
Original Assignee
株式会社石黒エンジニアリング
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社石黒エンジニアリング filed Critical 株式会社石黒エンジニアリング
Publication of WO2022079959A1 publication Critical patent/WO2022079959A1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them

Definitions

  • One embodiment of the present invention relates to a packaging conversion system capable of unpacking a packing box containing contents and transferring the contents to another container.
  • products in distribution often go through bases such as distribution centers or warehouses, and at such bases, products are taken out of cardboard boxes and placed in another container (for example, a container) at the time of transportation.
  • the product may be transferred. That is, the packaging is changed.
  • the work of unpacking the cardboard box is performed.
  • the unpacking work of the cardboard box may be performed manually by the worker, but the manual work has reduced the efficiency of the work and increased the burden on the worker. Therefore, automation of the unpacking work of the cardboard box is being promoted, and as a cardboard box cutting device, for example, the device shown in Patent Document 1 or Patent Document 2 is known.
  • the main function of the conventional automation device is to cut the cardboard box, and the removal of the contents inside the cardboard box has not been taken into consideration.
  • the operator in the conversion of the packing style, the operator often cuts the cardboard box and takes out the contents without using the automation device.
  • one embodiment of the present invention aims to provide a packaging conversion system capable of cutting a packaging box and easily taking out the contents contained in the packaging box.
  • Another embodiment of the present invention is to provide a packaging conversion system capable of cutting a packing box and transferring the contents contained in the packing box.
  • the packaging conversion system cuts the side surface of the packaging box so as to be separated into a first structure including the upper surface of the packaging box and a second structure including the lower surface of the packaging box. It includes a cutting device and a reversing device that reverses the position of the first structure and the position of the second structure of the packing box whose sides are cut.
  • a pickup device including a suction unit that sucks the second structure of the inverted packing box and a drive unit that moves the suction portion.
  • the pickup device may further include a blower that blows gas into the gap between the first structure and the second structure.
  • the pickup device may further include an acquisition unit for acquiring the contents contained in the packing box.
  • the cutting device may include a sensor that measures the distance to the side of the packaging box.
  • the package conversion system according to the embodiment of the present invention can automate a series of package conversion processes from unpacking the packing box to transferring the contents, so that the work efficiency is improved. ..
  • reverse means that a pair of faces of an object are exchanged by rotating the object by 180 degrees.
  • the upper surface and the lower surface which are a pair of surfaces of the packing box, are exchanged.
  • FIG. 1 is a schematic perspective view of a package conversion system 10 according to an embodiment of the present invention.
  • the package conversion system 10 includes a cutting device 100, a reversing device 200, and a pickup device 300.
  • the cutting device 100 can cut the packing box 700.
  • the reversing device 200 can reverse the cut packing box 700.
  • the pickup device 300 can take out the contents 900 contained in the packing box 700 and transfer them to the container 1000.
  • the transport direction of the packing box 700 is the X-axis direction
  • the direction orthogonal to the X-axis direction in the vertical direction is the Y-axis direction
  • the vertical direction is the Z-axis direction
  • the surface formed by the X-axis direction and the Y-axis direction is referred to as an XY surface.
  • the direction toward the surface on which the package shape conversion system 10 is installed may be described as downward, and the opposite may be described as upward.
  • the cutting device 100 and the reversing device 200 are used so that a series of package shape conversion processes from unpacking the packing box 700 to transferring the contents 900 are continuously performed.
  • the pickup device 300 are connected in this order. That is, the outlet portion (carry-out portion) of the cutting device 100 is connected to the inlet portion (carry-in portion) of the reversing device 200, and the inlet portion (carry-in portion) of the pickup device 300 is connected to the outlet portion (carry-out portion) of the reversing device 200. Part) is connected.
  • the configuration of the package conversion system 10 is not limited to this.
  • the package conversion system 10 may be configured such that the cutting device 100 and the reversing device 200 are connected and the pickup device 300 is not connected. In this case, the removal of the contents 900 from the packing box 700 may be performed by an operator or a robot. Further, the package shape conversion system 10 may be configured such that a conveyor for transporting the packing box 700 is provided between the cutting device 100 and the reversing device 200, or between the reversing device 200 and the pick-up device 300. .. Further, the package conversion system 10 may have a configuration in which the cutting device 100 and the reversing device 200, the reversing device 200 and the pick-up device 300, or the cutting device 100, the reversing device 200, and the pick-up device 300 are integrated.
  • the configurations of the cutting device 100, the reversing device 200, and the pickup device 300 will be described later.
  • the package shape conversion system 10 may further include a first transport unit 400-1, a second transport unit 400-2, a third transport unit 400-3, and a recovery unit 500.
  • the first transport unit 400-1 can transport the packing box 700 containing the contents 900 to the cutting device 100.
  • Each of the second transport unit 400-2 and the third transport unit 400-3 can transport the content 900 acquired from the packing box 700.
  • the collection unit 500 can collect the packing box 700 after the contents 900 have been acquired.
  • the first transport unit 400-1 extends along the X-axis direction and is connected to the inlet portion of the cutting device 100.
  • the first transport unit 400-1 can transport the packing box 700 to the cutting device 100.
  • the first transport unit 400-1 rotatably supports a plurality of first transport rollers 410-1 having a rotation axis along the Y-axis direction and a plurality of first transport rollers 410-1. Includes support member 420-1 of.
  • the plurality of first transport rollers 410-1 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent first transport rollers 410-1.
  • the second transport portion 400-2 extends along the X-axis direction and is connected to one of the outlet portions of the pickup device 300.
  • the second transport unit 400-2 can transport the container 1000 containing the contents 900.
  • the second transport unit 400-2 rotatably supports a plurality of second transport rollers 410-2 having a rotation axis along the Y-axis direction and a plurality of second transport rollers 410-2. Includes support member 420-2.
  • the plurality of second transport rollers 410-2 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent second transport rollers 410-2.
  • a plurality of second transport rollers 410-2 may be divided and the second transport rollers 410-2 may be driven separately.
  • the position where the container 1000 is stopped on the second transport unit 400-2 and the content 900 is transferred is referred to as a “transfer position”.
  • the second transport unit 400-2 can not only accommodate and transport the content 900 in the container 1000, but also directly transport the content 900.
  • the third transport unit 400-3 extends along the Y-axis direction and is connected to the second transport unit 400-2 at the transfer position of the second transport unit 400-2.
  • the third transport unit 400-3 can transport an empty container 1000. That is, the third transport unit 400-3 can transport the empty container 1000 to the transfer position of the second transport unit 400-2.
  • the third transfer unit 400-3 rotatably supports a plurality of third transfer rollers 410-3 having a rotation axis along the X-axis direction and a plurality of third transfer rollers 410-3. Includes support member 420-3.
  • the plurality of third transport rollers 410-3 are arranged apart from each other in the Y-axis direction. Therefore, a gap is formed between the adjacent third transport rollers 410-3.
  • the third transport unit 400-3 can also transport the container 1000 containing the contents 900 in a direction different from that of the second transport unit 400-2.
  • Each of the first transport section 400-1, the second transport section 400-2, and the third transport section 400-3 shown in FIG. 1 is a roller conveyor provided with a so-called drive section.
  • the configuration of the first transport unit 400-1, the second transport unit 400-2, or the third transport unit 400-3 is not limited to this.
  • the first transfer unit 400-1, the second transfer unit 400-2, or the third transfer unit 400-3 is not limited to the roller conveyor, and various types of conveyors can be used.
  • a gravity conveyor, a belt conveyor, a chain conveyor, a slat conveyor, an apron conveyor, a mesh conveyor, or A top chain conveyor or the like can be used.
  • An appropriate conveyor can be applied to the first transport unit 400-1 depending on the type of the packing box 700.
  • an appropriate conveyor can be applied to each of the second transport unit 400-2 and the third transport unit 400-3, depending on the type of the container 1000 or the content 900.
  • the first transport section 400-1, the second transport section 400-2, or the third transport section 400-3 is not only linearly extending in the X-axis direction or the Y-axis direction, but also curved. You may.
  • the package shape conversion system 10 can be configured to include a transport path in consideration of the installation location, installation area, and the like.
  • the collection unit 500 is connected to the other end of the outlet unit of the pickup device 300, and can collect the packing box 700 after the contents 900 have been acquired.
  • the collection unit 500 is, for example, a box body or a bag body having an open upper portion, but is not limited thereto.
  • the collection unit 500 may have a configuration capable of accumulating and accommodating a plurality of cut packing boxes 700.
  • FIG. 2A and 2 (B) are perspective views of the packing box 700 processed by the package conversion system 10 according to the embodiment of the present invention.
  • FIG. 2A shows a perspective view of the packing box 700 before containing the contents 900, that is, before packing
  • FIG. 2B shows a perspective view after containing the contents 900, that is, ,
  • the perspective view of the packing box 700 after packing is shown.
  • the packing box 700 is, for example, a cardboard box, but the packing box 700 is not limited to this.
  • the packing box 700 includes a top surface 710, a bottom surface 720, a first side surface 730-1, a second side surface 730-2, a third side surface 730-3, and a fourth side surface 730-4.
  • the upper surface 710 faces the lower surface 720.
  • the first side surface 730-1 faces the third side surface 730-3.
  • the second side surface 730-2 faces the fourth side surface 730-4.
  • the top surface 710 includes a first outer flap 711-1 connected to a second side surface 730-2 and a second outer flap 711-2 connected to a fourth side surface 730-4.
  • the upper surface 710 is configured such that the first outer flap 711-1 and the second outer flap 711-2 are butted against each other and sealed with the first adhesive tape 750-1.
  • the first adhesive tape 750-1 includes not only the first outer flap 711-1 and the second outer flap 711-2, but also a part of the upper part of the first side surface 730-1 and the third side surface 730-. It is also adhered to a part of the upper part of 3.
  • the upper surface 710 includes a first inner flap 712-1 connected to the first side surface 730-1 and a second inner flap 712-2 connected to the third side surface 730-3. You may.
  • the lower surface 720 is configured by being sealed with a second adhesive tape 750-2. Since the structure of the lower surface 720 is the same as that of the upper surface 710, the description thereof is omitted here.
  • first side surface 730-1, the second side surface 730-2, the third side surface 730-3, and the fourth side surface 730-4 are not particularly distinguished, they will be described as the side surface 730. In some cases.
  • FIGS. 3 to 5 are a perspective view, a front view, and a right side view of the cutting device 100 of the package shape conversion system 10 according to the embodiment of the present invention, respectively.
  • the cutting device 100 includes a housing 110, a driving unit 120, a cutting unit 130, a first pressing unit 140-1, a second pressing unit 140-2, a stop unit 150, and a transport unit 160.
  • the housing 110 can support the drive unit 120, the first pressing unit 140-1, the second pressing unit 140-2, the stop unit 150, the transport unit 160, and the like.
  • the pillars, beams, or surfaces included in the housing 110 can be formed of, for example, a frame material, a bar material, a decorative plate, a stainless steel plate, or the like.
  • the housing 110 has an inlet portion and an outlet portion of the cutting device 100 opened so that the packing box 700 can be carried in and out of the cutting device 100.
  • the sensor 170 is arranged near the entrance portion of the cutting device 100.
  • the sensor 170 can detect the size (length in the X-axis direction and length in the Y-axis direction) and height (length in the Z-axis direction) of the packing box 700 conveyed to the cutting device 100.
  • the sensor 170 is, for example, a 3D sensor. As shown in FIGS. 3 and 5, the sensor 170 may be arranged at the end of the rod 111 provided so as to project outside the housing 110 above the vicinity of the inlet of the cutting device 100. However, the arrangement of the sensor 170 is not limited to this.
  • the sensor 170 may be arranged in the cutting device 100. Further, when the first transport unit 400-1 is connected to the cutting device 100, the sensor 170 may be arranged in the first transport unit 400-1.
  • the senor 170 may include a plurality of sensors. For example, when the sensor 170 includes the first sensor and the second sensor, the size of the packing box 700 is detected by using the first sensor arranged in the direction of the upper surface 710 of the packing box 700, and the packing box 700 is detected. A second sensor located in the direction of the side surface 730 of the box may be used to detect the height of the packing box 700.
  • the transport unit 160 is arranged in the cutting device 100 so as to extend in the X-axis direction.
  • the transport unit 160 has a rotation axis along the Y-axis direction, and includes a plurality of transport rollers 161 each of which is rotatable.
  • the plurality of transport rollers 161 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 161.
  • the transport unit 160 can transport the packing box 700 in the cutting device 100 while supporting the lower surface 720 of the packing box 700 by driving a plurality of transport rollers 161.
  • the stop unit 150 is arranged below the transport unit 160 and includes a stop member 151 and a cylinder 152.
  • the cylinder 152 can reciprocate the stop member 151 in the Z-axis direction. In other words, by driving the cylinder 152, the stop member 151 can be raised and lowered from the gap of the transport roller 161.
  • the stop member 151 projects upward from the upper end surface of the transport roller 161 (hereinafter referred to as “the transport surface of the cutting device 100”) by driving the cylinder 152, or is housed below the transport surface of the cutting device 100. Can be done.
  • stop position a predetermined position in the cutting device 100.
  • the stop unit 150 may detect by a sensor that the packing box 700 and the stop member 151 are in contact with each other.
  • the first pressing portion 140-1 and the second pressing portion 140-2 are arranged on both sides of the transport portion 160 with the transport portion 160 sandwiched between them.
  • Each of the first pressing portion 140-1 and the second pressing portion 140-2 includes a pressing member 141 and a cylinder 142.
  • the cylinder 142 can reciprocate the pressing member 141 in the Y-axis direction. Therefore, the pressing member 141 can come into contact with the side surface 730 of the packing box 700 at the stop position and press the packing box 700 by driving the cylinder 142. It is preferable that the position of the packing box 700 at the stop position is fixed not only in the X-axis direction but also in the Y-axis direction.
  • the first pressing portion 140-1 and the second pressing portion 140-2 can fix the position of the packing box 700 in the Y-axis direction by sandwiching the packing box 700 with the pressing member 141.
  • the pressing member 141 includes a surface that can come into contact with the side surface 730 of the packing box 700 with a certain area. Further, it is preferable that the surface of the pressing member 141 has a constant length in the X-axis direction. In this case, the inclination of the packing box 700 in the XY plane can be adjusted by the holding by the pressing member 141. In other words, the position of the packing box 700 can be adjusted on the XY surface by contacting the pressing member 141 with the side surface 730 of the packing box 700.
  • the first pressing portion 140-1 and the second pressing portion 140-2 may be controlled in synchronization with each other. By controlling the first pressing portion 140-1 and the second pressing portion 140-2 in synchronization, even if the packing boxes 700 have different sizes, the center of the packing box 700 along the X-axis direction. The position of the packing box 700 can be adjusted so that the wires are always in the same position. That is, the packing box 700 can be centered.
  • One of the first pressing portion 140-1 and the second pressing portion 140-2 may be fixed and only the other may be driven.
  • one of the first pressing portion 140-1 and the second pressing portion 140-2 can function as a stop guide (stopper) for the packing box 700 pushed by the other drive.
  • the packing box 700 at the stop position is fixed by the first pressing portion 140-1, the second pressing portion 140-2, and the stop portion 150.
  • the packing box 700 fixed at the stop position can be cut by the cutting portion 130.
  • the cutting unit 130 is connected to the driving unit 120.
  • the drive unit 120 includes a first X-axis actuator 121-1, a second X-axis actuator 121-2, a Y-axis actuator, and a Z-axis actuator 123. That is, the drive unit 120 shown in FIGS. 3 to 5 is a so-called Cartesian robot.
  • the cutting portion 130 drives each of the first X-axis actuator 121-1, the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator 123 in the X-axis direction and the Y-axis direction. , And can move independently in the Z-axis direction.
  • the first X-axis actuator 121-1 and the second X-axis actuator 121-2 is fixed to the upper part of the housing 110.
  • the first X-axis actuator 121-1 includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the first X-axis actuator 121-1 can move in the X-axis direction along the rail.
  • the second X-axis actuator 121-2 also includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the second X-axis actuator 121-2 can move in the X-axis direction along the rail.
  • the Y-axis actuator 122 is arranged orthogonal to each of the first X-axis actuator 121-1 and the second X-axis actuator 121-2.
  • the Y-axis actuator 122 includes a rail extending in the Y-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Y-axis actuator 122 can move in the Y-axis direction along the rail.
  • One end of the rail of the Y-axis actuator 122 is connected to the slider of the first X-axis actuator 121-1, and the other end of the rail of the Y-axis actuator 122 is connected to the slider of the second X-axis actuator 121-2. ing. Therefore, the Y-axis actuator 122 can move in the X-axis direction by driving the first X-axis actuator 121-1 and the second X-axis actuator 121-2 in synchronization with each other.
  • the Z-axis actuator 123 is arranged orthogonal to each of the first X-axis actuator 121-1, the second X-axis actuator 121-2, and the Y-axis actuator 122.
  • the Z-axis actuator 123 includes a rail extending in the Z-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Z-axis actuator 123 can move in the Z-axis direction along the rail.
  • One end of the rail of the Z-axis actuator 123 is connected to the slider of the Y-axis actuator 122.
  • the Z-axis actuator 123 can move in the X-axis direction by controlling the first X-axis actuator 121-1 and the second X-axis actuator 121-2, and drives the Y-axis actuator 122. Can be moved in the Y-axis direction. That is, the Z-axis actuator 123 can move in the XY plane.
  • the configuration of the drive unit 120 is not limited to this.
  • the drive unit 120 for example, a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a dual-arm robot, or the like can be used.
  • the cutting portion 130 includes a rotary blade 131, a support member 132, and a sensor 133.
  • the support member 132 can support the rotary blade 131 so that the rotary blade 131 is rotated in the XY plane. Further, the support member 132 is connected to the slider of the Z-axis actuator 123. Therefore, the cutting portion 130 drives the first X-axis actuator 121-1 and the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator 123, thereby driving the X-axis direction and the Y-axis direction. , And can move independently in the Z-axis direction.
  • the rotary blade 131 has a central axis along the Z-axis direction and can rotate in the XY plane.
  • the side surface 730 of the packing box 700 can be cut by rotating the rotary blade 131 of the cutting portion 130.
  • a round blade or a square blade having a polygon can be used as the rotary blade 131.
  • the sensor 133 is arranged above the rotary blade 131. Therefore, the sensor 133 can measure the distance between the sensor 133 and the side surface 730 of the packing box 700 according to the movement of the cutting portion 130.
  • the sensor 133 for example, a displacement sensor or the like can be used.
  • the side surface 730 of the packing box 700 may be deformed (that is, the side surface 730 has unevenness) due to the transportation of the packing box 700 or the like. In such a case, since the deformation of the side surface 730 is not reflected only by the control based on the detection value of the sensor 170, a part of the side surface 730 of the packing box 700 may not be cut.
  • the sensor 133 when the sensor 133 is provided in the cutting portion 130, the sensor 133 can measure the distance between the sensor 133 and the side surface 730 of the packing box 700 even if the side surface 730 is deformed. Therefore, the deformed portion of the side surface 730 can be detected. Further, the cutting portion 130 can be moved so that the measured value of the sensor 133 becomes constant. Therefore, in the cutting device 100, since the driving unit 120 is driven based on the detected value of the sensor 170 and the measured value of the sensor 133, the movement of the cutting unit 130 can be precisely controlled to cut the side surface 730 of the packing box 700. can.
  • the cutting portion 130 changes the direction of movement at the corner of the packing box 700.
  • the sensor 170 can rotate in the XY plane according to the moving direction of the cutting portion 130. Therefore, when the cutting portion 130 changes the direction of movement at the corner portion of the packing box 700, the sensor 170 rotates, and the distance from the side surface 730 to be measured next to be cut can be measured.
  • the movement path of the cutting portion 130 in the XY plane (moving distance of the cutting portion 130 in the X-axis direction and the Y-axis direction) can be calculated.
  • the radius of gyration or the depth of cut of the rotary blade 131 may be taken into consideration.
  • the cutting depth may be determined in consideration of the thickness of the packing material.
  • the moving distance of the cutting portion 130 in the Z-axis direction can be calculated based on the height of the packing box 700 detected by the sensor 170.
  • the drive unit 120 is driven and the cutting unit 130 is moved to the cutting start position.
  • the sensor 170 measures the distance between the sensor 170 and one side surface 730, fine-tunes the position of the cutting portion 130, and cuts one side surface 730 of the packing box 700 so that the measured value of the sensor 170 is constant. do.
  • Rotate the sensor 170 90 degrees and measure the distance between the sensor 170 and another side surface 730.
  • the position of the cutting portion 130 is finely adjusted, and another side surface 730 of the packing box 700 is cut so that the measured value of the sensor 170 becomes constant.
  • the cutting portion 130 can repeat the above operation to cut the four side surfaces 730.
  • FIG. 6 is a perspective view of the packing box 700 cut by the cutting device 100 of the package conversion system 10 according to the first embodiment of the present invention.
  • the content 900 housed in the packing box 700 is omitted.
  • the first structure 800-1 including the upper surface 710 and the second structure 800-2 including the lower surface 720 are separated. Will be done.
  • the side surface 730 of the packing box 700 is cut at a position closer to the upper surface 710 than the lower surface 720.
  • the cutting position of the side surface 730 of the packing box 700 is, for example, 1/3 or less, preferably 1/4 or less, and more preferably 1/5 or less of the height of the packing box 700 from the upper surface 710. Further, the cutting position of the side surface 730 of the packing box 700 may be a predetermined distance from the upper surface 710.
  • the side surface 730 of the packing box 700 is cut so that the first structure 800-1 includes the first inner flap 712-1 and the second inner flap 712-2.
  • the cutting position of the side surface 730 of the packing box 700 may be the position where the first adhesive tape 750-1 is cut, and the end of the first adhesive tape 750-1 and the second adhesive tape 750. It may be a position between -2 and 2.
  • the side surface 730 of the packing box 700 can be automatically cut. Further, since the sensor 133 is provided in the cutting portion 130, the cutting portion 130 can cut while maintaining a certain distance from the side surface 730 of the packing box 700. Therefore, even if the side surface 730 of the packing box 700 is deformed, it can be cut stably. Further, by combining the cutting device 100 with the reversing device 200 described later, the packing box 700 can be unpacked so that the contents 900 can be easily obtained from the cut packing box 700. Therefore, the unpacking process of the packing box 700 can be automated, and the work efficiency is improved.
  • FIG. 10 is a cross-sectional view of the reversing device 200 of the package shape conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 10 is a cross-sectional view of the reversing device 200 cut along the AA'line shown in FIG.
  • the reversing device 200 includes a housing 210, a first elevating unit 220-1, a second elevating unit 220-2, an reversing unit 230, a first transport unit 260-1, and a second transport unit 260-2. include.
  • the first transport unit 260-1 is arranged near the inlet portion of the reversing device 200, and the second transport unit 260-2 is arranged near the exit portion of the reversing device 200. Further, an inversion unit 230 is arranged between the first transport unit 260-1 and the second transport unit 260-2. That is, in the reversing device 200, the first transport unit 260-1 and the reversing unit 230, and the second transport unit 260-2 are arranged along the X-axis direction.
  • Each of the first transport unit 260-1 and the second transport unit 260-2 has a rotation axis along the Y-axis direction, and includes a plurality of transport rollers 261 each of which is rotatable.
  • the plurality of transport rollers 261 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 261.
  • the first transport unit 260-1 transports the packing box 700 from the inlet portion of the reversing device 200 to the reversing unit 230 while supporting the lower surface 720 of the packing box 700 by driving a plurality of transport rollers 261. Can be done.
  • the second transport unit 260-2 transports the packing box 700 from the reversing unit 230 to the outlet portion of the reversing device 200 while supporting the upper surface 710 of the packing box 700 by driving a plurality of transport rollers 261. can do.
  • the housing 210 has a first gap 211-1, a second gap 211-2, and a third gap.
  • the first gap 211-1 and the second gap 211-2 are provided on both sides of the first transport unit 260-1, the reversing unit 230, and the second transport unit 260-2. Further, the third gap is provided below the first transport unit 260-1, the reversing unit 230, and the second transport unit 260-2.
  • a first elevating part 220-1 is arranged in the first gap 211-1, and a second elevating part 220-2 is arranged in the second gap 211-2.
  • the reversing unit 230 is arranged between the first elevating part 220-1 and the second elevating part 220-2, and is rotatably attached to the first elevating part 220-1 and the second elevating part 220-2. It is connected.
  • Each of the first elevating part 220-1 and the second elevating part 220-2 includes a rotary support 221 and an elevating cylinder 222.
  • the elevating cylinder 222 can reciprocate the rotary support 221 in the Z-axis direction. That is, each of the first elevating part 220-1 and the second elevating part 220-2 can raise and lower the rotary support 221 by driving the elevating cylinder 222.
  • the rotary support 221 includes a rotary shaft 221a and a bearing 221b.
  • the reversing unit 230 includes a first pinching portion 240-1, a second pinching portion 240-2, a first reversing unit support portion 250-1, and a second reversing unit support portion 250-2.
  • the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are arranged between the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2, and the first It is connected to the reversing unit support part 250-1 and the second reversing unit support part 250-2.
  • the first sandwiching portion 240-1 is connected to one end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2, and the first reversing unit support portion is connected.
  • a second holding portion 240-2 is connected to the other end of each of the 250-1 and the second reversing unit support portion 250-2. That is, in the reversing unit 230, the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are arranged so as to face each other. Further, the packing box 700 conveyed to the reversing unit 230 can be supported by the first holding portion 240-1 or the second holding portion 240-2.
  • Each of the first holding portion 240-1 and the second holding portion 240-2 includes a plurality of transport rollers 241, a bottom surface support member 242, a side surface support member 243, a suction body 244, and a cylinder 245.
  • the transport roller 241 and the bottom surface support member 242 are supported by the side surface support member 243.
  • a suction main body 244 to which a cylinder 245 is connected is provided between the transfer roller 241 and the lower surface support member 242.
  • the cylinder 245 is supported by the bottom surface support member 242.
  • Each of the plurality of transport rollers 261 has a rotation axis along the Y-axis direction and can rotate. Further, the plurality of transport rollers 261 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 261.
  • the packing box 700 can be carried into the reversing unit 230, and the packing box 700 can be carried out from the reversing unit 230.
  • the suction main body 244 has a plurality of suction pads 244a.
  • the plurality of suction pads 244a are arranged so as to be located between the transfer rollers 261.
  • the cylinder 245 connected to the suction main body 244 can reciprocate the suction main body 244 in the Z-axis direction. Therefore, in the first pinching portion 240-1 and the second pinching portion 240-2, by driving the cylinder 245, the suction pad 244a protrudes upward from the upper end of the transport roller 261 from the gap of the transport roller 261.
  • the suction pad 244a can be accommodated or accommodated below the upper end of the transport roller 261.
  • the suction pad 244a protruding above the upper end of the transfer roller 261 can suck the packing box 700 in the reversing unit 230.
  • Each of the first reversing unit support part 250-1 and the second reversing unit support part 250-2 includes a reversing unit support member 251 and a uniaxial actuator 252.
  • the uniaxial actuator 252 is fixed to both ends of the reversing unit support member 251.
  • the uniaxial actuator 252 is on a rail extending in a direction from the end of the reversing unit support member 251 toward the center of the reversing unit support member 251 (hereinafter referred to as "the long axis direction of the reversing unit support member 251").
  • the long axis direction of the reversing unit support member 251 Includes a slider that moves the slider, and a motor that drives the slider. Therefore, the slider of the uniaxial actuator 252 can reciprocate along the rail in the major axis direction of the reversing unit support member 251.
  • the side surface support member 243 of the first holding portion 240-1 is attached to the slider of the uniaxial actuator 252 fixed to one end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2. It is connected.
  • the side support member 243 of the second sandwiching portion 240-2 is a uniaxial actuator fixed to the other end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2. It is connected to the slider of 252. Therefore, each of the first holding portion 240-1 and the second holding portion 240-2 can reciprocate in the long axis direction of the reversing unit support member 251 by driving the uniaxial actuator 252. By this operation, the first sandwiching portion 240-1 and the second sandwiching portion 240-2 can sandwich the packing box 700 in the reversing unit 230.
  • the reversing unit support member 251 of the first reversing unit support portion 250-1 is connected to the rotation shaft 221a of the first elevating portion 220-1.
  • the reversing unit support member 251 of the second reversing unit support portion 250-2 is connected to the rotation shaft 221a of the second elevating portion 220-2. Therefore, the reversing unit 230 can be rotated by rotating the rotation shaft 221a.
  • the reversing unit 230 may be able to rotate 180 degrees in one direction, 180 degrees in one direction, and then 180 degrees in the opposite direction. In the reversing device 200, the reversing unit 230 can be rotated 180 degrees to invert the packing box 700 in the reversing unit 230.
  • FIG. 13 is a cross-sectional view illustrating the reversal of the packing box 700 by the reversing device 200 of the package conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 13 is a cross-sectional view of the reversing device 200 cut along the BB'line shown in FIG. Further, FIG.
  • FIG. 14 is a perspective view illustrating the reversal of the packing box 700 by the reversing device 200 of the packaging conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 14 is a perspective view of the reversing device 200 showing the reversing unit 230 in rotation.
  • the packing box 700 can be stopped in the reversing unit 230 by using a sensor or the like.
  • the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are moved, and the packing box 700 is sandwiched by the first sandwiching portion 240-1 and the second sandwiching portion 240-2. ..
  • the first pinching portion 240-1 and the second pinching portion 240-2 may be controlled to move in synchronization with each other.
  • the first pinching portion 240-1 or the second pinching portion 240-2 may include a sensor such as a pressure sensor or a contact sensor. By using the sensor, it is possible to control the magnitude of the force for holding the packing box 700.
  • the suction main body 244 of each of the first holding portion 240-1 and the second holding portion 240-2 is moved, and the suction pad 244a is brought into contact with the packing box 700.
  • the suction pad 244a sucking the packing box 700, the packing box 700 in the reversing unit 230 can be further fixed.
  • the reversing unit 230 is raised and rotated 180 degrees.
  • the packing box 700 in the reversing unit 230 is flipped. That is, the upper surface 710 and the lower surface 720 of the packing box 700 are interchanged.
  • the position of the first structure 800-1 and the position of the second structure 800-2 are exchanged, and the second structure 800-2 is located above the first structure 800-1. Will be done.
  • the suction of the packing box 700 by the suction pad 244a can also be performed after raising the reversing unit 230.
  • the first elevating part 220-1 and the second elevating part 220-2 are controlled to lower the reversing unit 230.
  • the first pinching portion 240-1 and the second pinching portion 240-2 are controlled to release the suction and pinching of the packing box 700.
  • the upper end surface of the transport roller 241 of the second holding portion 240-2 substantially coincides with the upper end surface of the transport roller 261 of the second transport portion 260-2.
  • the packing box 700 on the second holding portion 240-2 is carried out from the reversing unit 230 by the transport roller 241 of the second holding portion 240-2 and the transport roller 261 of the second transport portion 260-2.
  • the packing box 700 in the reversing unit 230 is flipped so that the position of the first structure 800-1 and the position of the second structure 800-2 are exchanged by the operation of the reversing device 200 described above.
  • the packing box 700 can be automatically reversed. Further, since a gap can be generated between the contents 900 and the second structure 800-2 by the vibration at the time of inversion, the second structure 800-2 can be easily removed from the packing box 700. be able to. Therefore, in the packing box conversion system 10, not only the side surface 730 of the packing box 700 is cut, but also a series of packing shapes up to the transfer of the contents 900 housed in the packing box 700 by combining with the pickup device 300 described later. Since the conversion process can be automated, work efficiency is improved.
  • FIGS. 15 and 16 are a perspective view and a right side view of the pickup device 300 of the package shape conversion system 10 according to the embodiment of the present invention, respectively.
  • the reversing device 200 and the collecting unit 500 are not shown in FIGS. 15 and 16, as shown in FIG. 1, the reversing device 200 is connected to the inlet portion of the pickup device 300 in the X-axis direction, and the pickup device 300 is connected. It may be described as assuming that the collection unit 500 is connected to the outlet unit of the above. Similarly, as shown in FIG. 1, it may be described as assuming that the second transport unit 400-2 is connected to the outlet portion of the pickup device 300 in the Y-axis direction.
  • the pickup device 300 includes a housing 310, a drive unit 320, a suction unit 330, an acquisition unit 340, a replacement member 350, and a transport unit 360.
  • the housing 310 can support a drive unit 320, an acquisition unit 340, a replacement member 350, a transport unit 360, and the like. Although details are not shown, the housing 310 may include an image pickup device.
  • the image pickup apparatus is provided on the upper part of the housing 310, for example, and can take an image of the exposed contents 900 from which the second structure 800-2 is removed.
  • the transport unit 360 is arranged in the pickup device 300 so as to extend in the X-axis direction.
  • the transport unit 360 includes a transport net 361.
  • the transport unit 360 can be driven so as to move the transport net 361 in the X-axis direction, and can transport the packing box 700 on the transport net 361.
  • the transport net 361 is formed of, for example, a resin or the like, but the transport net 361 is not limited to this.
  • the transport unit 360 shown in FIGS. 15 and 16 is a so-called net conveyor (plastic conveyor), but is not limited to this.
  • the conveyor 360 may be a roller conveyor, a gravity conveyor, a belt conveyor, a chain conveyor, a slat conveyor, an apron conveyor, or a top chain conveyor.
  • the transport unit 360 has a configuration capable of giving minute vibration to the packing box 700 when transporting the packing box 700.
  • a minute vibration By applying a minute vibration to the packing box 700, a gap can be generated between the contents 900 and the second structure 800-2, so that the second structure 800-2 can be easily removed.
  • a plurality of protrusions may be provided on the transport surface of the transport unit 360 to amplify the vibration of the transport unit 360.
  • the plurality of protrusions may be provided periodically or may be provided randomly.
  • the transport unit 360 can stop the movement of the transport net 361 when the packing box 700 is transported to a predetermined position (hereinafter referred to as “pickup position”).
  • the transport unit 360 may detect the position of the packing box 700 using a sensor, for example, and stop the movement of the transport net 361. Further, the packaging box 700 may be imaged by an imaging device provided in the housing 310 to detect the position of the packaging box 700.
  • the suction unit 330 is connected to the drive unit 320.
  • the drive unit 320 includes an X-axis actuator 321 and a Z-axis actuator 322. That is, the drive unit 320 shown in FIGS. 14 and 15 is a so-called Cartesian robot.
  • the suction unit 330 can move independently in the X-axis direction and the Z-axis direction by driving each of the X-axis actuator 321 and the Z-axis actuator 322.
  • the X-axis actuator 321 is fixed to the upper part of the housing 310.
  • the X-axis actuator 321 includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the X-axis actuator can move in the X-axis direction along the rail.
  • the Z-axis actuator 322 is arranged orthogonal to the X-axis actuator 321.
  • the Z-axis actuator 322 includes a rail extending in the Z-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Z-axis actuator 322 can move in the Z-axis direction along the rail.
  • One end of the rail of the Z-axis actuator 322 is connected to the slider of the X-axis actuator 321. Therefore, the Z-axis actuator 322 can move in the X-axis direction by driving the X-axis actuator 321.
  • the configuration of the drive unit 320 is not limited to this.
  • the drive unit 120 for example, a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a dual-arm robot, or the like can be used.
  • the suction unit 330 includes a suction body 331 and a support member 332.
  • the support member 332 is connected to the slider of the Z-axis actuator 322.
  • the suction main body 331 has a plurality of suction pads 331a.
  • the plurality of suction pads 331a are arranged in a matrix, for example, but the arrangement of the plurality of suction pads 331a is not limited to this.
  • the plurality of suction pads 331a can suck the packing box 700, more specifically, the second structure 800-2.
  • the acquisition unit 340 is supported and arranged on one side of the transport unit 360 by the housing 310.
  • the arrangement of the acquisition unit 340 is not limited to this.
  • the acquisition unit 340 may be arranged on the floor, suspended on the wall, or suspended from the ceiling. Further, the acquisition unit 340 may be arranged outside the housing 310.
  • the acquisition unit 340 includes an arm 341 and a robot hand 342.
  • the acquisition unit 340 can acquire the packing box 700, more specifically, the content 900 on the first structure 800-1 at the pickup position. Further, the acquisition unit 340 can not only acquire the content 900 but also transfer it to another packing box, for example, the container 1000.
  • the acquisition unit 340 can determine the content 900 based on the image captured by the image pickup device provided in the housing 310. That is, the acquisition unit 340 compares the information of the content 900 registered in advance with the captured image, and identifies the information necessary for controlling the arm 341 and the robot hand 342, such as the position and direction of the content 900. .. Further, the acquisition unit 340 controls the operation of the arm 341 and the opening / closing operation or the suction operation of the robot hand 342 based on the specified information, and acquires the content 900. The acquisition unit 340 transfers the acquired contents 900 into the container 1000 on the second transfer unit 400-2. The acquisition unit 340 can acquire or transfer all the contents 900 in the packing box 700 by repeating the above operation.
  • the acquisition unit 340 shown in FIGS. 14 and 15 is a so-called articulated robot, and the robot hand 342 may be a suction type robot hand or an open / close grip type robot hand.
  • the suction type robot hand includes a suction pad, and the content 900 can be acquired by suction. Therefore, the operation of the arm of the acquisition unit 340 is simplified, and the tact for acquiring the content 900 can be shortened.
  • the open / close grip type robot hand can be gripped so as to sandwich the content 900 by a plurality of grip portions. Therefore, even if the shape of the content 900 is complicated, the content 900 can be acquired.
  • the configuration of the acquisition unit 340 is not limited to the articulated robot. Further, the image pickup device may be provided not only on the housing 310 but also on the tip of the arm 341 of the acquisition unit 340 or the robot hand 342.
  • the replacement member 350 may be arranged on the housing 310 of the pickup device 300.
  • the replacement member 350 is, for example, a replacement attachment for the robot hand 342.
  • the robot hand 342 may contain a plurality of different types of contents 900 in one packing box 700, or a plurality of different contents 900 in each of the plurality of packing boxes 700. By exchanging with the replacement member 350, a plurality of different contents 900 can be obtained.
  • the second structure 800-2 is removed by the drive unit 320 and the suction unit 330, and the content 900 on the first structure 800-1 is acquired or transferred by the acquisition unit 340. Can be done. These operations will be described below.
  • the X-axis actuator 321 is driven to move the suction unit 330 above the packing box 700.
  • the Z-axis actuator 322 is driven to lower the suction unit 330.
  • the suction unit 330 comes into contact with the packing box 700, more specifically, the second structure 800-2, and sucks the second structure 800-2.
  • the suction unit 330 may include a sensor such as a pressure sensor or a contact sensor. By using the sensor, the contact of the second structure 800-2 can be detected.
  • the Z-axis actuator 322 is driven, and the suction unit 330 is raised while the suction unit 330 is sucking the second structure 800-2.
  • the X-axis actuator 321 may be controlled so that the suction unit 330 vibrates finely in the X-axis direction.
  • a gap can be generated between the content 900 and the second structure 800-2, so that the second structure 800-2 can be generated. Is easy to remove.
  • the second structure 800-2 of the packing box 700 is removed and the contents are exposed on the first structure 800-1.
  • the drive unit 320 is driven, and the second structure 800-2 moves the second structure 800-2 to the vicinity of the outlet of the pickup device 300. After that, the adsorption of the adsorption unit 330 is released, and the second structure 800-2 is placed on the transfer unit 360.
  • the acquisition unit 340 acquires the content 900 on the first structure 800-1.
  • the acquired contents 900 can be transferred to the container 1000 on the second transport unit 400-2.
  • the content 900 is transferred from the packing box 700 to the container 1000, and the packaging is changed.
  • the acquired contents 900 can be placed on the second transport unit 400-2 and transported by the second transport unit 400-2.
  • the first structure 800-1 and the second structure 800-2 are left on the transport unit 360.
  • the first structure 800-1 and the second structure 800-2 are transported by the transport unit 360, fall to the recovery unit 500, and are recovered.
  • the second structure 800-2 separated by cutting the side surface 730 is easily removed from the inverted packing box 700.
  • the contents 900 can be easily acquired and transferred. Therefore, a series of package conversion processes can be automated, which improves work efficiency.
  • the packing form conversion system 10 As described above, according to the packing form conversion system 10 according to the embodiment of the present invention, even if the packing box 700 is densely packed with the contents 900, the contents 900 can be easily removed from the cut packing box 700. Can be acquired and reprinted. Therefore, a series of package change processing can be automated, and the work efficiency is improved.
  • FIGS. 18 to 21 A configuration of the pickup device 300A, which is a modification of the pickup device 300, will be described with reference to FIGS. 18 to 21.
  • 18 and 19 are a front view and a top view of the pickup device 300A of the package shape conversion system 10 according to the embodiment of the present invention, respectively.
  • 20 and 21 are partially enlarged views of the pickup device 300A of the package conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 20 is an enlarged view of a portion A shown in FIG. 18, and FIG. 21 is an enlarged view of a portion B shown in FIG.
  • the pickup device 300A further includes a first presser unit 370A-1 and a second presser unit 370A-2 in the configuration of the pickup device 300. Further, in the pickup device 300A, the suction portion 330 of the pickup device 300 is transformed into the suction portion 330A.
  • the configuration of the pickup device 300A will be described, but the description of the same configuration as that of the pickup device 300 will be omitted, and the configuration different from that of the pickup device 300 will be mainly described.
  • the first pressing portion 370A-1 and the second pressing portion 370A-2 are arranged on both sides of the transport portion 360 with the transport portion 360 sandwiched in the housing 310.
  • Each of the first presser portion 370A-1 and the second presser portion 370A-2 includes a presser member 371A, a cylinder 372A, and a nozzle 373A.
  • the pressing member 371A is connected to the cylinder 372A and can reciprocate in the Y-axis direction under the control of the cylinder 372A. Further, the pressing member 371A has a contact surface that comes into contact with the first structure 800-1.
  • the pressing member 371A can come into contact with the first structure 800-1 on the transport portion 360 and fix the position of the first structure 800-1 under the control of the cylinder 372A. It is preferable that the cylinders 372A of the first pressing portion 370A-1 and the second pressing portion 370A-2 are synchronized with each other. By controlling the cylinder 372A synchronously, when the position of the packing box 700 is fixed, the packing box 700 is centered and adjusted so that the center line along the X-axis direction of the packing box 700 is always in the same position. be able to.
  • the nozzle 373A is connected to the pressing member 371A and is arranged above the contact surface.
  • the tip of the nozzle 373A is arranged so as to project from the contact surface, but the nozzle 373A is urged by an urging member such as a spring. Therefore, when the tip of the nozzle 373A is pressed, the nozzle 373A can move in the Y-axis direction with respect to the pressing member 371A. In other words, when the tip of the nozzle 373A is pressed, the nozzle 373A can be accommodated in the pressing member 371A. For example, when the pressing member 371A moves so as to come into contact with the first structure 800-1, the tip of the nozzle 373A first comes into contact with the first structure 800-1 or the second structure 800-2.
  • the tip of the nozzle 373A is pressed from the first structure 800-1 or the second structure 800-2.
  • the pressing member 371A is further moved, the relative distance between the tip of the nozzle 373A and the contact surface of the pressing member 371A is reduced by the pressing from the first structure 800-1 or the second structure 800-2.
  • the nozzle 373A moves with respect to the presser member 371A so as to be smaller, and is housed in the presser member 371A.
  • the tip of the nozzle 373A is a gap between the first structure 800-1 and the second structure 800-2, that is, a cut. It may be inserted into a surface.
  • the nozzle 373A can function as a blower for ejecting gas from its tip. Therefore, after the nozzle 373A is inserted into the cut surface, the packing box 700 can be expanded by ejecting gas from the tip of the nozzle 373A in the packing box 700. More specifically, since the volume of the second structure 800-2 is larger than that of the first structure 800-1, the second structure 800-2 expands. As a result, a gap is likely to be generated between the second structure 800-2 and the content 900, and the second structure 800-2 can be easily removed.
  • the gas ejected from the tip of the nozzle 373A is, for example, nitrogen or compressed air, but is not limited to this.
  • a plurality of nozzles 373A may be provided. Further, each of the first pressing portion 370A-1 and the second pressing portion 370A-2 may have a configuration in which the position of the nozzle 373A can be adjusted so that the nozzle 373A is inserted into the cut surface.
  • the suction unit 330A further includes a needle 333A in addition to the suction main body 331 including the suction pad 331a and the support member 332.
  • the needle 333A is arranged between the suction pads 331a and can reciprocate in the Z-axis direction, although details are not shown. Normally, the tip of the needle 333A is located closer to the suction body 331 than the suction surface of the suction pad 331a.
  • the needle 333A moves so that its tip protrudes from the suction surface of the suction pad 331a and pierces the second structure 800-2. Can penetrate.
  • the needle 333A preferably pierces the portion of the second adhesive tape 750-2 of the second structure 800-2, between the first outer flap 711-1 and the second outer flap 711-2. It is even more preferable to pierce. Since there is a gap between the first outer flap 711-1 and the second outer flap, the needle 333A is easily pierced. Therefore, it is preferable that the needle 333A is arranged at the center of the suction main body 331.
  • a plurality of needles 333A may be provided.
  • a plurality of needles 333A may be provided along the X-axis direction of the suction body 331.
  • the needle 333A can function as a blower that blows gas from its tip. After the needle 333A has penetrated the second structure 800-2, the second structure 800-2 can be expanded by ejecting gas from the tip of the needle 333A in the second structure 800-2. can. As a result, a gap is likely to be formed between the second structure 800-2 and the contents, and the second structure 800-2 can be easily removed.
  • the gas ejected from the tip of the needle 333A is, for example, nitrogen or compressed air, but is not limited to this.
  • the configuration of the pickup device 300A has been described above. However, in the pickup device 300A, since the first structure 800-1 is fixed by the first presser portion 370A-1 and the second presser portion 370A-2, the first structure 800-1 is fixed. It is easy to remove the structure 800-2 of 2. Further, the nozzles 373A provided in each of the first pressing portion 370A-1 and the second pressing portion 370A-2 can be inserted into the cut surface of the packing box 700 to eject gas. Further, the needle 333A provided in the suction portion 330A can penetrate the second structure 800-2 and eject the gas. Therefore, the pickup device 300A can expand the second structure 800-2 and make it easier to remove the second structure 800-2.
  • the package conversion system 10 includes a cutting device 100, a reversing device 200, a pickup device 300A, a first transport unit 400-1, a second transport unit 400-2, a third transport unit 400-3, and a third transport unit 400-3. It will be described as including the collection unit 500.
  • the reference numerals attached to the respective configurations will be referred to with reference to FIGS. 1 to 21.
  • FIG. 22 is a flowchart showing a package shape conversion process according to an embodiment of the present invention.
  • the package conversion process using the package conversion system 10 includes a loading step (S100) for the packing box 700, a cutting step (S200) for the packing box 700, and a reversing step for the cut packing box 700.
  • S300 the removal step (S400) of the second structure 800-2, the carry-in step (S500) of the container 1000, the transfer step (S600) of the contents 900, the carry-out step (S700) of the container 1000, and the first step.
  • the unloading step (S800) of the structure 800-1 of 1 and the unloading step 800-2 of the second structure 800-2 is included.
  • the process shown in FIG. 22 is an example, and the process using the package conversion system 10 is not limited to this.
  • the cylinder 142 of the pressing portion 140 is driven, and the pressing member 141 moves so as to sandwich the packing box 700.
  • the pressure at which the pressing member 141 presses the packing box 700 can be detected by the sensor, and when the detected value reaches a preset value, the driving of the cylinder 142 is stopped. As a result, the position of the packing box 700 is fixed.
  • the moving distance of the pressing member 141 can also be determined based on the detected size of the packing box 700.
  • the first X-axis actuator 121-1, the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator are driven to drive the sensor 170.
  • the cutting portion 130 is moved to the cutting start position calculated based on the size and height of the packing box 700 detected by.
  • the sensor 133 provided in the cutting portion 130 detects the side of the upper surface 710 of the packing box 700, and the cutting portion 130 is the side of the detected upper surface 710. It is also possible to move in the Z direction by a preset distance from the position.
  • the sensor 133 measures the distance between the sensor 133 and the first side surface 730-1 of the packing box 700.
  • the drive unit 120 finely adjusts the position of the cutting unit 130 so as to have a preset distance.
  • the rotary blade 131 is rotated, and the sensor 133 measures the distance between the sensor 133 and the first side surface 730-1, and cuts the cut portion 130 in the X-axis direction and the Y-axis so that the distance becomes constant. Move in one direction.
  • the moving distance of the cut portion 130 is determined based on the size of the detected packing box 700. As a result, one side surface 730 of the packing box 700 is cut.
  • the packing box 700 is separated into a first structure 800-1 including an upper surface 710 and a second structure 800-2.
  • the cylinder 152 of the stop portion 150 is driven, the stop member 151 is lowered, and the stop member 151 is housed under the transport roller 161.
  • the packing box 700 cut by driving the transport roller 161 of the transport unit 160 is transported from the cutting device 100 to the reversing device 200.
  • the packing box 700 is the first of the reversing unit 230 by driving the transport roller 261 of the first transport unit 260-1 and the transport roller 241 of the first holding portion 240-1. It is conveyed on the sandwiching portion 240-1.
  • the sensor detects that the packing box 700 is housed in the reversing unit 230, each of the transport rollers 261 of the first transport unit 260-1 and the transport rollers 241 of the first holding portion 240-1 The drive is stopped.
  • the uniaxial actuator 252 of the reversing unit 230 is driven, and the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are moved so as to sandwich the packing box 700.
  • the strength of holding the packing box 700 by the first holding portion 240-1 and the second holding portion 240-2 can be detected by the sensor.
  • the drive of the uniaxial actuator 252 is stopped. As a result, the position of the packing box 700 in the reversing unit 230 is fixed.
  • the cylinders 245 of the first holding portion 240-1 and the second holding portion 240-2 are driven, and the suction main body 244 is moved so that the suction pad 244a protrudes from the upper end surface of the transfer roller 241.
  • the suction pad 244a comes into contact with the packing box 700, and the suction pad 244a of the first holding portion 240-1 sucks the lower surface 720 (that is, the second structure 800-2) of the packing box 700 and holds the second.
  • the suction pad 244a of the portion 240-2 sucks the upper surface 710 (that is, the first structure 800-1) of the packing box 700.
  • the elevating cylinders 222 of the first elevating part 220-1 and the second elevating part 220-2 are driven, and the rotary support 221 is moved so as to raise the reversing unit 230.
  • the moving distance of the rotary support 221 can be set in advance.
  • the reversing unit 230 is rotated 180 degrees around the rotation shaft 221a of the rotation support 221.
  • the packing box 700 is inverted, and the positions of the first structure 800-1 and the positions of the second structure 800-2 are exchanged. That is, the second structure 800-2 is located above the first structure 800-1.
  • the elevating cylinders 222 of the first elevating part 220-1 and the second elevating part 220-2 are driven, and the rotary support 221 is moved so as to lower the reversing unit 230.
  • the suction of the suction pad 244a is released. Subsequently, the cylinder 245 is driven, and the suction main body 244 is moved so that the suction pad 244a is located below the upper end surface of the transfer roller 241.
  • the first pinching portion 240-1 and the second pinching portion 240-2 are driven so that the first pinching portion 240-1 and the second pinching portion 240-2 are separated from each other by driving the uniaxial actuator 252. To move. At this time, the upper end surface of the transport roller 241 of the first holding portion 240-1 is made to substantially coincide with the upper end surface of the transport roller 261 of the second transport portion 260-2.
  • the transfer roller 241 of the first holding portion 240-1 and the transfer roller 261 of the second transfer unit 260-2 are driven.
  • the inverted packing box 700 in the inversion unit 230 is conveyed from the inversion device 200 to the pickup device 300A by the transfer roller 241 and the transfer roller 261.
  • the packing box 700 drives the transport unit 360 and is transported by the movement of the transport net 361.
  • the drive of the transport unit 360 is stopped.
  • the cylinders 372A of each of the first pressing portion 370A-1 and the second pressing portion 370A-2 are driven so that the pressing member 371A abuts on the first structure 800-1.
  • the pressure at which the pressing member 371A presses the first structure 800-1 can be detected by the sensor, and when the detected value reaches a preset value, the driving of the cylinder 372A is stopped. As a result, the position of the first structure 800-1 is fixed.
  • the moving distance of the pressing member 371A can also be determined based on the detected size of the packing box 700. Further, the pressing member 371A abuts on the first structure 800-1, and the urged nozzle 373A is inserted into the cut surface between the first structure 800-1 and the second structure 800-2. Will be done.
  • the X-axis actuator 321 of the drive unit 320 is driven so that the center of the suction unit 330A and the center of the lower surface 720 of the packing box 700 (that is, the center of the second structure 800-2) coincide with each other.
  • the suction unit 330A is moved.
  • the Z-axis actuator 322 of the drive unit 320 is driven, and the suction main body 331 is moved so that the suction pad 331a comes into contact with the second structure 800-2.
  • the suction pad 331a comes into contact with the second structure 800-2 and sucks the second structure 800-2.
  • the needle 333A is moved so that the tip of the needle 333A penetrates the second structure 800-2.
  • gas is ejected from the tip of the nozzle 373A and the tip of the needle 333A.
  • the second structure 800-2 expands, and a gap is created between the second structure 800-2 and the content 900. In other words, the friction between the second structure 800 and the content 900 is reduced.
  • the Z-axis actuator 322 is driven while ejecting gas from the tip of the nozzle 373A and the tip of the needle 333A, and the suction portion 330A is moved so as to lift the sucked second structure 800-2.
  • the second structure 800-2 is removed from the packing box 700, and the contents 900 are exposed.
  • the gas ejection may be stopped.
  • the X-axis actuator 321 is driven to move the second structure 800-2 in the direction of the recovery unit 500.
  • the Z-axis actuator 322 is driven to move the suction unit 330A so that the second structure 800-2 is placed on the transport net 361.
  • the suction of the suction pad 331a is released. Further, the needle 333A is moved so as to pull out the tip of the needle 333A from the second structure 800-2. Subsequently, the Z-axis actuator 322 is driven to move the suction unit 330A so that the suction unit 330A is separated from the second structure 800-2.
  • Transfer step of contents 900 (S600)
  • An imaging device provided in the housing 310 images the contents 900 on the first structure 800-1.
  • the acquisition unit 340 identifies information such as the position and direction of the content 900 based on the captured image. Further, the acquisition unit 340 drives the arm 341 and the robot hand 342 based on the specified information to acquire the content 900. Further, the acquisition unit 340 drives the arm 341 and the robot hand 342, and accommodates the acquired contents 900 in the container 1000 at the transfer position.
  • step of container 1000 (S700)
  • the second transfer unit 400-2 drives the second transfer roller 410-2, and the contents 900 are accommodated to a predetermined position.
  • Transport the container 1000 Since the second transfer roller 410-2 at the transfer position is controlled separately from the second transfer roller 410-2 at other positions, the contents 900 to the container 1000 can be moved at the transfer position. While transferring, the container 1000 already containing the contents 900 can be carried out.
  • the packing form conversion system 10 As described above, by using the packing form conversion system 10 according to the embodiment of the present invention, not only the packing box 700 can be unpacked, but also the contents 900 contained in the packing box 700 can be transferred to the container 1000. can. That is, the packaging of the contents 900 can be converted from the packing box 700 to the container 1000. Therefore, it is possible to automate a series of package shape conversion processes from unpacking the packing box 700 to transferring the contents 900, so that the work efficiency is improved.
  • 10 Package conversion system
  • 100 cutting device, 110: housing, 111: rod body, drive unit 120, 121-1: first X-axis actuator, 121-2: second X-axis actuator, 122: Y-axis actuator, 123: Z-axis actuator, 130: cutting part, 131: rotary blade, 132: support member, 133: sensor, 140-1: first pressing part, 140-2: second pressing part, 141 : Pressing member, 142: Cylinder, 150: Stop part, 151: Stop member, 152: Cylinder, 160: Conveying part, 161: Conveying roller, 170: Sensor, 200: Reversing device, 210: Housing, 211-1: 1st void, 211-2: 2nd void, 211-3: 3rd void, 220-1: 1st elevating part, 220-2: 2nd elevating part, 221: Rotating support 221 221a: Rotating shaft, 221b: Bearing, Lifting cylinder 222, 230: Reversing unit,

Abstract

This packing style conversion system includes: a cutting device for cutting side surfaces of a packing box such that a first structure including an upper surface of the packing box and a second structure including a lower surface of the packing box are separated from each other; and an inversion device for inverting the position of the first structure and the position of the second structure of the packing box after the side surfaces are cut. Furthermore, the system may include a pickup device comprising a suction unit for sucking the second structure of the inverted packing box and a drive unit for moving the suction unit. The pickup device may further comprise a blower unit for blowing a gas to a space between the first structure and the second structure. The pickup device may further comprise an acquisition unit for acquiring content in the packing box.

Description

荷姿変換システムPackage conversion system
　本発明の一実施形態は、内容物が収容された梱包箱を開梱し、他の容器に内容物を移載することができる荷姿変換システムに関する。 One embodiment of the present invention relates to a packaging conversion system capable of unpacking a packing box containing contents and transferring the contents to another container.
　現在、物流における製品の多くが、段ボール箱などの梱包箱に収容されて輸送、配送、もしくは運送（以下、「輸送等」とする。）、または保管されている。段ボール箱は、振動または衝撃を吸収することができるため、輸送等において、収容された製品を保護することができる。なお、輸送等においては、段ボール箱内の製品が動かないように、製品が隙間なく詰められていることが多い。 Currently, most of the products in logistics are housed in packing boxes such as cardboard boxes and transported, delivered, transported (hereinafter referred to as "transportation, etc."), or stored. Since the cardboard box can absorb vibration or impact, it is possible to protect the contained product in transportation or the like. In transportation, the products are often packed tightly so that the products in the cardboard box do not move.
　また、物流における製品は、物流センターまたは倉庫などの拠点を経由することが多く、このような拠点では、輸送等に合わせて、段ボール箱から製品を取り出し、別の容器（例えば、コンテナなど）へ製品を移載する場合がある。すなわち、荷姿の変換が行われる。この場合、段ボール箱から製品を取り出すため、段ボール箱を開梱する作業が行われる。 In addition, products in distribution often go through bases such as distribution centers or warehouses, and at such bases, products are taken out of cardboard boxes and placed in another container (for example, a container) at the time of transportation. The product may be transferred. That is, the packaging is changed. In this case, in order to take out the product from the cardboard box, the work of unpacking the cardboard box is performed.
　段ボール箱の開梱作業は、作業者による手作業で行われる場合もあるが、手作業では、作業の効率が低下し、作業者の負担が増加していた。そのため、段ボール箱の開梱作業の自動化が進められており、段ボール箱の切断装置として、例えば、特許文献１または特許文献２に示される装置が知られている。 The unpacking work of the cardboard box may be performed manually by the worker, but the manual work has reduced the efficiency of the work and increased the burden on the worker. Therefore, automation of the unpacking work of the cardboard box is being promoted, and as a cardboard box cutting device, for example, the device shown in Patent Document 1 or Patent Document 2 is known.
特開２００２－２６３６号公報JP-A-2002-2636 特開２００６－１１７３０６号公報Japanese Unexamined Patent Publication No. 2006-117306
　しかしながら、従来の自動化装置は、段ボール箱を切断することを主な機能としており、段ボール箱内の内容物の取出しまでは考慮されていなかった。特に、上述したように、内容物が隙間なく収容された段ボール箱の場合、単に段ボール箱を切断したのみでは、切断した段ボール箱から内容物を取り出すことは困難であった。そのため、荷姿の変換においては、自動化装置を使用せず、作業者が、段ボール箱を切断し、内容物を取り出すことも少なくなかった。 However, the main function of the conventional automation device is to cut the cardboard box, and the removal of the contents inside the cardboard box has not been taken into consideration. In particular, as described above, in the case of a cardboard box in which the contents are housed without gaps, it is difficult to take out the contents from the cut cardboard box simply by cutting the cardboard box. Therefore, in the conversion of the packing style, the operator often cuts the cardboard box and takes out the contents without using the automation device.
　本発明の一実施形態は、上記問題に鑑み、梱包箱を切断し、梱包箱内に収容された内容物を容易に取り出すことのできる荷姿変換システムを提供することを目的とする。また、本発明の一実施形態は、梱包箱を切断し、梱包箱内に収容された内容物を移載することのできる荷姿変換システムを提供することを目的とする。 In view of the above problems, one embodiment of the present invention aims to provide a packaging conversion system capable of cutting a packaging box and easily taking out the contents contained in the packaging box. Another embodiment of the present invention is to provide a packaging conversion system capable of cutting a packing box and transferring the contents contained in the packing box.
　本発明の一実施形態に係る荷姿変換システムは、梱包箱の上面を含む第１の構造体と梱包箱の下面を含む第２の構造体とに分離するように梱包箱の側面を切断する切断装置と、側面が切断された梱包箱の第１の構造体の位置と第２の構造体の位置とを反転する反転装置と、を含む。 The packaging conversion system according to an embodiment of the present invention cuts the side surface of the packaging box so as to be separated into a first structure including the upper surface of the packaging box and a second structure including the lower surface of the packaging box. It includes a cutting device and a reversing device that reverses the position of the first structure and the position of the second structure of the packing box whose sides are cut.
　さらに、反転された梱包箱の第２の構造体を吸着する吸着部と、吸着部を移動させる駆動部と、を備えるピックアップ装置を含んでいてもよい。ピックアップ装置は、さらに、第１の構造体と第２の構造体との間隙にガスを噴き出す送風部を備えていてもよい。ピックアップ装置は、さらに、梱包箱に収容された内容物を取得する取得部を備えていてもよい。 Further, it may include a pickup device including a suction unit that sucks the second structure of the inverted packing box and a drive unit that moves the suction portion. The pickup device may further include a blower that blows gas into the gap between the first structure and the second structure. The pickup device may further include an acquisition unit for acquiring the contents contained in the packing box.
　切断装置は、梱包箱の側面までの距離を測定するセンサを含んでいてもよい。 The cutting device may include a sensor that measures the distance to the side of the packaging box.
　本発明の一実施形態に係る荷姿変換システムを利用すれば、たとえ内容物が隙間なく詰められた梱包箱であっても、切断された梱包箱から内容物を容易に取り出すことができる。したがって、本発明の一実施形態に係る荷姿変換システムにより、梱包箱の開梱から内容物の移載に至るまでの一連の荷姿変換処理を自動化することができるため、作業効率が向上する。 By using the packing form conversion system according to the embodiment of the present invention, the contents can be easily taken out from the cut packing box even if the contents are packed tightly. Therefore, the package conversion system according to the embodiment of the present invention can automate a series of package conversion processes from unpacking the packing box to transferring the contents, so that the work efficiency is improved. ..
本発明の一実施形態に係る荷姿変換システムの斜視図である。It is a perspective view of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムで処理される梱包箱の斜視図である。It is a perspective view of the packing box processed by the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの切断装置の斜視図である。It is a perspective view of the cutting device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの切断装置の正面図である。It is a front view of the cutting device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの切断装置の右側面図である。It is a right side view of the cutting device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの切断装置で切断された梱包箱の斜視図である。It is a perspective view of the packing box cut by the cutting device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置の斜視図である。It is a perspective view of the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置の正面図である。It is a front view of the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置の右側面図である。It is a right side view of the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置の右側面図である。It is a right side view of the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置による梱包箱の反転を説明する斜視図である。It is a perspective view explaining the reversal of a packing box by the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置による梱包箱の反転を説明する正面図である。It is a front view explaining the reversal of a packing box by the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置による梱包箱の反転を説明する断面図である。It is sectional drawing explaining the reversal of a packing box by the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムの反転装置による梱包箱の反転を説明する斜視図である。It is a perspective view explaining the reversal of a packing box by the reversing device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の斜視図である。It is a perspective view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の右側面図である。It is a right side view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムを利用して開梱された梱包箱の斜視図である。It is a perspective view of the packing box unpacked by using the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の正面図である。It is a front view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の上面図である。It is a top view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の部分拡大図である。It is a partially enlarged view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換システムのピックアップ装置の部分拡大図である。It is a partially enlarged view of the pickup device of the packing form conversion system which concerns on one Embodiment of this invention. 本発明の一実施形態に係る荷姿変換処理を示すフローチャートである。It is a flowchart which shows the packing form conversion process which concerns on one Embodiment of this invention.
　以下、本出願で開示される発明の各実施形態について、図面を参照し説明する。但し、本発明は、その要旨を逸脱しない範囲において様々な形態で実施することができ、以下に例示する実施形態の記載内容に限定して解釈されるものではない。 Hereinafter, each embodiment of the invention disclosed in this application will be described with reference to the drawings. However, the present invention can be carried out in various forms without departing from the gist thereof, and is not construed as being limited to the description contents of the embodiments exemplified below.
　図面は、説明をより明確にするため、実際の態様に比べ、各部の幅、厚さ、形状等について模式的に表される場合があるが、あくまで一例であって、本発明の解釈を限定するものではない。また、本明細書および図面において、既出の図に関して説明したものと同様の機能を備えた要素には、同一の符号を付して、重複する説明を省略することがある。 The drawings may schematically represent the width, thickness, shape, etc. of each part as compared with the actual embodiment in order to clarify the explanation, but the drawings are merely examples and limit the interpretation of the present invention. It's not something to do. Further, in the present specification and the drawings, elements having the same functions as those described with respect to the above-mentioned drawings may be designated by the same reference numerals and duplicate description may be omitted.
　本明細書および図面において、一つの構成のうちの複数の部分をそれぞれ区別して表記する際には、同一の符号を用い、さらにハイフンと自然数を用いる。 In the present specification and drawings, when a plurality of parts in one configuration are described separately, the same reference numerals are used, and hyphens and natural numbers are used.
　本明細書において、「反転」とは、物体を１８０度回転させて、物体の一対の面が入れ替わることをいう。例えば、梱包箱が反転されると、梱包箱の一対の面である上面と下面とが入れ替わる。 In the present specification, "reversal" means that a pair of faces of an object are exchanged by rotating the object by 180 degrees. For example, when the packing box is inverted, the upper surface and the lower surface, which are a pair of surfaces of the packing box, are exchanged.
＜第１実施形態＞
［１．荷姿変換システム１０の構成］
　図１を参照して、本発明の一実施形態に係る荷姿変換システム１０の構成について説明する。 <First Embodiment>
[1. Configuration of package conversion system 10]
With reference to FIG. 1, the configuration of the package conversion system 10 according to the embodiment of the present invention will be described.
　図１は、本発明の一実施形態に係る荷姿変換システム１０の模式的な斜視図である。図１に示すように、荷姿変換システム１０は、切断装置１００、反転装置２００、およびピックアップ装置３００を含む。切断装置１００は、梱包箱７００を切断することができる。反転装置２００は、切断された梱包箱７００を反転することができる。ピックアップ装置３００は、梱包箱７００に収容された内容物９００を取り出し、コンテナ１０００に移載することができる。 FIG. 1 is a schematic perspective view of a package conversion system 10 according to an embodiment of the present invention. As shown in FIG. 1, the package conversion system 10 includes a cutting device 100, a reversing device 200, and a pickup device 300. The cutting device 100 can cut the packing box 700. The reversing device 200 can reverse the cut packing box 700. The pickup device 300 can take out the contents 900 contained in the packing box 700 and transfer them to the container 1000.
　荷姿変換システム１０の構成を説明するにあたり、図１に示すように、梱包箱７００の搬送方向をＸ軸方向とし、鉛直方向視においてＸ軸方向と直交する方向をＹ軸方向とする。また、鉛直方向をＺ軸方向とする。さらに、Ｘ軸方向およびＹ軸方向によって形成される面をＸＹ面とする。 In explaining the configuration of the package shape conversion system 10, as shown in FIG. 1, the transport direction of the packing box 700 is the X-axis direction, and the direction orthogonal to the X-axis direction in the vertical direction is the Y-axis direction. Further, the vertical direction is the Z-axis direction. Further, the surface formed by the X-axis direction and the Y-axis direction is referred to as an XY surface.
　また、Ｚ軸方向において、荷姿変換システム１０が設置される面への方向を下方とし、その反対を上方として説明する場合がある。 Further, in the Z-axis direction, the direction toward the surface on which the package shape conversion system 10 is installed may be described as downward, and the opposite may be described as upward.
　図１に示す荷姿変換システム１０では、梱包箱７００の開梱から内容物９００の移載に至るまでの一連の荷姿変換処理が連続的に行われるように、切断装置１００、反転装置２００、およびピックアップ装置３００が、この順序で接続されている。すなわち、反転装置２００の入口部（搬入部）には、切断装置１００の出口部（搬出部）が接続され、反転装置２００の出口部（搬出部）には、ピックアップ装置３００の入口部（搬入部）が接続されている。但し、荷姿変換システム１０の構成はこれに限られない。荷姿変換システム１０は、切断装置１００と反転装置２００とが接続され、ピックアップ装置３００が接続されていない構成であってもよい。この場合、梱包箱７００からの内容物９００の取出しは、作業者またはロボットによって行われてもよい。また、荷姿変換システム１０は、切断装置１００と反転装置２００との間、または反転装置２００とピックアップ装置３００との間に、梱包箱７００を搬送するコンベアが設けられた構成であってもよい。さらに、荷姿変換システム１０は、切断装置１００および反転装置２００、反転装置２００およびピックアップ装置３００、または切断装置１００、反転装置２００、およびピックアップ装置３００が一体化された構成であってもよい。 In the package shape conversion system 10 shown in FIG. 1, the cutting device 100 and the reversing device 200 are used so that a series of package shape conversion processes from unpacking the packing box 700 to transferring the contents 900 are continuously performed. , And the pickup device 300 are connected in this order. That is, the outlet portion (carry-out portion) of the cutting device 100 is connected to the inlet portion (carry-in portion) of the reversing device 200, and the inlet portion (carry-in portion) of the pickup device 300 is connected to the outlet portion (carry-out portion) of the reversing device 200. Part) is connected. However, the configuration of the package conversion system 10 is not limited to this. The package conversion system 10 may be configured such that the cutting device 100 and the reversing device 200 are connected and the pickup device 300 is not connected. In this case, the removal of the contents 900 from the packing box 700 may be performed by an operator or a robot. Further, the package shape conversion system 10 may be configured such that a conveyor for transporting the packing box 700 is provided between the cutting device 100 and the reversing device 200, or between the reversing device 200 and the pick-up device 300. .. Further, the package conversion system 10 may have a configuration in which the cutting device 100 and the reversing device 200, the reversing device 200 and the pick-up device 300, or the cutting device 100, the reversing device 200, and the pick-up device 300 are integrated.
　なお、切断装置１００、反転装置２００、およびピックアップ装置３００の各々の構成については、後述する。 The configurations of the cutting device 100, the reversing device 200, and the pickup device 300 will be described later.
　荷姿変換システム１０は、さらに、第１の搬送部４００－１、第２の搬送部４００－２、第３の搬送部４００－３、および回収部５００を含んでいてもよい。第１の搬送部４００－１は、切断装置１００に、内容物９００が収容された梱包箱７００を搬送することができる。第２の搬送部４００－２および第３の搬送部４００－３の各々は、梱包箱７００から取得された内容物９００を搬送することができる。回収部５００では、内容物９００が取得された後の梱包箱７００を回収することができる。 The package shape conversion system 10 may further include a first transport unit 400-1, a second transport unit 400-2, a third transport unit 400-3, and a recovery unit 500. The first transport unit 400-1 can transport the packing box 700 containing the contents 900 to the cutting device 100. Each of the second transport unit 400-2 and the third transport unit 400-3 can transport the content 900 acquired from the packing box 700. The collection unit 500 can collect the packing box 700 after the contents 900 have been acquired.
　第１の搬送部４００－１は、Ｘ軸方向に沿って延在し、切断装置１００の入口部に接続されている。第１の搬送部４００－１は、切断装置１００に梱包箱７００を搬送することができる。第１の搬送部４００－１は、Ｙ軸方向に沿った回転軸を有する複数の第１の搬送ローラ４１０－１、および複数の第１の搬送ローラ４１０－１を回転自在に支持する第１の支持部材４２０－１を含む。複数の第１の搬送ローラ４１０－１は、Ｘ軸方向において、互いに離間して配置されている。そのため、隣接する第１の搬送ローラ４１０－１の間には、間隙が形成されている。 The first transport unit 400-1 extends along the X-axis direction and is connected to the inlet portion of the cutting device 100. The first transport unit 400-1 can transport the packing box 700 to the cutting device 100. The first transport unit 400-1 rotatably supports a plurality of first transport rollers 410-1 having a rotation axis along the Y-axis direction and a plurality of first transport rollers 410-1. Includes support member 420-1 of. The plurality of first transport rollers 410-1 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent first transport rollers 410-1.
　第２の搬送部４００－２は、Ｘ軸方向に沿って延在し、ピックアップ装置３００の出口部の一方に接続されている。第２の搬送部４００－２は、内容物９００を収容したコンテナ１０００を搬送することができる。第２の搬送部４００－２は、Ｙ軸方向に沿った回転軸を有する複数の第２の搬送ローラ４１０－２、および複数の第２の搬送ローラ４１０－２を回転自在に支持する第２の支持部材４２０－２を含む。複数の第２の搬送ローラ４１０－２は、Ｘ軸方向において、互いに離間して配置されている。そのため、隣接する第２の搬送ローラ４１０－２の間には、間隙が形成されている。 The second transport portion 400-2 extends along the X-axis direction and is connected to one of the outlet portions of the pickup device 300. The second transport unit 400-2 can transport the container 1000 containing the contents 900. The second transport unit 400-2 rotatably supports a plurality of second transport rollers 410-2 having a rotation axis along the Y-axis direction and a plurality of second transport rollers 410-2. Includes support member 420-2. The plurality of second transport rollers 410-2 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent second transport rollers 410-2.
　第２の搬送部４００－２では、複数の第２の搬送ローラ４１０－２を分割し、第２の搬送ローラ４１０－２が別個に駆動されてもよい。複数の第２の搬送ローラを分割駆動することにより、１つのコンテナ１０００を停止させて内容物９００の移載を行いながら、内容物９００が収容された別のコンテナ１０００を搬送することができる。ここで、第２の搬送部４００－２上でコンテナ１０００が停止し、内容物９００が移載される位置を「移載位置」とする。 In the second transport unit 400-2, a plurality of second transport rollers 410-2 may be divided and the second transport rollers 410-2 may be driven separately. By separately driving a plurality of second transport rollers, it is possible to transport another container 1000 containing the content 900 while stopping one container 1000 and transferring the content 900. Here, the position where the container 1000 is stopped on the second transport unit 400-2 and the content 900 is transferred is referred to as a “transfer position”.
　なお、第２の搬送部４００－２は、コンテナ１０００に内容物９００を収容して搬送するだけでなく、内容物９００を直接搬送することもできる。 The second transport unit 400-2 can not only accommodate and transport the content 900 in the container 1000, but also directly transport the content 900.
　第３の搬送部４００－３は、Ｙ軸方向に沿って延在し、第２の搬送部４００－２の移載位置において、第２の搬送部４００－２と接続されている。第３の搬送部４００－３は、空のコンテナ１０００を搬送することができる。すなわち、第３の搬送部４００－３は、第２の搬送部４００－２の移載位置に空のコンテナ１０００を搬送することができる。第３の搬送部４００－３は、Ｘ軸方向に沿った回転軸を有する複数の第３の搬送ローラ４１０－３、および複数の第３の搬送ローラ４１０－３を回転自在に支持する第３の支持部材４２０－３を含む。複数の第３の搬送ローラ４１０－３は、Ｙ軸方向において、互いに離間して配置されている。そのため、隣接する第３の搬送ローラ４１０－３の間には、間隙が形成されている。 The third transport unit 400-3 extends along the Y-axis direction and is connected to the second transport unit 400-2 at the transfer position of the second transport unit 400-2. The third transport unit 400-3 can transport an empty container 1000. That is, the third transport unit 400-3 can transport the empty container 1000 to the transfer position of the second transport unit 400-2. The third transfer unit 400-3 rotatably supports a plurality of third transfer rollers 410-3 having a rotation axis along the X-axis direction and a plurality of third transfer rollers 410-3. Includes support member 420-3. The plurality of third transport rollers 410-3 are arranged apart from each other in the Y-axis direction. Therefore, a gap is formed between the adjacent third transport rollers 410-3.
　なお、第３の搬送部４００－３は、内容物９００が収容されたコンテナ１０００を、第２の搬送部４００－２とは異なる方向に搬送することもできる。 The third transport unit 400-3 can also transport the container 1000 containing the contents 900 in a direction different from that of the second transport unit 400-2.
　図１に示す第１の搬送部４００－１、第２の搬送部４００－２、および第３の搬送部４００－３の各々は、いわゆる駆動部が設けられたローラコンベアである。但し、第１の搬送部４００－１、第２の搬送部４００－２、または第３の搬送部４００－３の構成は、これに限られない。第１の搬送部４００－１、第２の搬送部４００－２、または第３の搬送部４００－３は、ローラコンベアに限られることなく、様々な種類のコンベアを用いることができる。第１の搬送部４００－１、第２の搬送部４００－２、または第３の搬送部４００－３として、例えば、グラビティコンベア、ベルトコンベア、チェーンコンベア、スラットコンベア、エプロンコンベア、メッシュコンベア、またはトップチェーンコンベアなどを用いることができる。第１の搬送部４００－１には、梱包箱７００の種類に応じて適切なコンベアを適用することができる。同様に、第２の搬送部４００－２および第３の搬送部４００－３の各々には、コンテナ１０００または内容物９００の種類に応じて適切なコンベアを適用することができる。 Each of the first transport section 400-1, the second transport section 400-2, and the third transport section 400-3 shown in FIG. 1 is a roller conveyor provided with a so-called drive section. However, the configuration of the first transport unit 400-1, the second transport unit 400-2, or the third transport unit 400-3 is not limited to this. The first transfer unit 400-1, the second transfer unit 400-2, or the third transfer unit 400-3 is not limited to the roller conveyor, and various types of conveyors can be used. As the first transport unit 400-1, the second transport unit 400-2, or the third transport unit 400-3, for example, a gravity conveyor, a belt conveyor, a chain conveyor, a slat conveyor, an apron conveyor, a mesh conveyor, or A top chain conveyor or the like can be used. An appropriate conveyor can be applied to the first transport unit 400-1 depending on the type of the packing box 700. Similarly, an appropriate conveyor can be applied to each of the second transport unit 400-2 and the third transport unit 400-3, depending on the type of the container 1000 or the content 900.
　第１の搬送部４００－１、第２の搬送部４００－２、または第３の搬送部４００－３は、Ｘ軸方向またはＹ軸方向に直線状に延在するだけでなく、湾曲していてもよい。荷姿変換システム１０は、設置場所または設置面積などが考慮された搬送経路を含む構成とすることができる。 The first transport section 400-1, the second transport section 400-2, or the third transport section 400-3 is not only linearly extending in the X-axis direction or the Y-axis direction, but also curved. You may. The package shape conversion system 10 can be configured to include a transport path in consideration of the installation location, installation area, and the like.
　回収部５００は、ピックアップ装置３００の出口部の他方に接続され、内容物９００が取得された後の梱包箱７００を回収することができる。回収部５００は、例えば、上部が開口された箱体または袋体であるが、これらに限定されない。回収部５００は、複数の切断された梱包箱７００を集積し、収容することができる構成であればよい。 The collection unit 500 is connected to the other end of the outlet unit of the pickup device 300, and can collect the packing box 700 after the contents 900 have been acquired. The collection unit 500 is, for example, a box body or a bag body having an open upper portion, but is not limited thereto. The collection unit 500 may have a configuration capable of accumulating and accommodating a plurality of cut packing boxes 700.
［２．梱包箱７００の構成］
　切断装置１００、反転装置２００、およびピックアップ装置３００の各々の構成を説明する前に、図２（Ａ）および図２（Ｂ）を参照して、荷姿変換システム１０で処理される梱包箱７００の構成について説明する。 [2. Configuration of packing box 700]
Before explaining the configurations of the cutting device 100, the reversing device 200, and the pickup device 300, the packing box 700 processed by the package conversion system 10 with reference to FIGS. 2 (A) and 2 (B). The configuration of is described.
　図２（Ａ）および図２（Ｂ）の各々は、本発明の一実施形態に係る荷姿変換システム１０で処理される梱包箱７００の斜視図である。具体的には、図２（Ａ）は、内容物９００を収容する前、すなわち、梱包前の梱包箱７００の斜視図を示し、図２（Ｂ）は、内容物９００を収容した後、すなわち、梱包後の梱包箱７００の斜視図を示す。なお、梱包箱７００は、例えば、段ボール箱であるが、これに限られない。 2 (A) and 2 (B) are perspective views of the packing box 700 processed by the package conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 2A shows a perspective view of the packing box 700 before containing the contents 900, that is, before packing, and FIG. 2B shows a perspective view after containing the contents 900, that is, , The perspective view of the packing box 700 after packing is shown. The packing box 700 is, for example, a cardboard box, but the packing box 700 is not limited to this.
　梱包箱７００は、上面７１０、下面７２０、第１の側面７３０－１、第２の側面７３０－２、第３の側面７３０－３、および第４の側面７３０－４を含む。上面７１０は、下面７２０と対向している。第１の側面７３０－１は、第３の側面７３０－３と対向している。第２の側面７３０－２は、第４の側面７３０－４と対向している。上面７１０は、第２の側面７３０－２に接続された第１の外フラップ７１１－１および第４の側面７３０－４に接続された第２の外フラップ７１１－２を含む。上面７１０は、第１の外フラップ７１１－１と第２の外フラップ７１１－２とが突き合わされ、第１の粘着テープ７５０－１で封止されて構成されている。第１の粘着テープ７５０－１は、第１の外フラップ７１１－１および第２の外フラップ７１１－２だけでなく、第１の側面７３０－１の上部の一部および第３の側面７３０－３の上部の一部とも接着している。なお、上面７１０には、第１の側面７３０－１に接続された第１の内フラップ７１２－１および第３の側面７３０－３に接続された第２の内フラップ７１２－２が含まれていてもよい。 The packing box 700 includes a top surface 710, a bottom surface 720, a first side surface 730-1, a second side surface 730-2, a third side surface 730-3, and a fourth side surface 730-4. The upper surface 710 faces the lower surface 720. The first side surface 730-1 faces the third side surface 730-3. The second side surface 730-2 faces the fourth side surface 730-4. The top surface 710 includes a first outer flap 711-1 connected to a second side surface 730-2 and a second outer flap 711-2 connected to a fourth side surface 730-4. The upper surface 710 is configured such that the first outer flap 711-1 and the second outer flap 711-2 are butted against each other and sealed with the first adhesive tape 750-1. The first adhesive tape 750-1 includes not only the first outer flap 711-1 and the second outer flap 711-2, but also a part of the upper part of the first side surface 730-1 and the third side surface 730-. It is also adhered to a part of the upper part of 3. The upper surface 710 includes a first inner flap 712-1 connected to the first side surface 730-1 and a second inner flap 712-2 connected to the third side surface 730-3. You may.
　下面７２０は、第２の粘着テープ７５０－２で封止されて構成されている。下面７２０の構成は、上面７１０と同様の構成であるため、ここでは説明を省略する。 The lower surface 720 is configured by being sealed with a second adhesive tape 750-2. Since the structure of the lower surface 720 is the same as that of the upper surface 710, the description thereof is omitted here.
　なお、以下では、第１の側面７３０－１、第２の側面７３０－２、第３の側面７３０－３、および第４の側面７３０－４を特に区別しない場合には、側面７３０として説明する場合がある。 In the following, when the first side surface 730-1, the second side surface 730-2, the third side surface 730-3, and the fourth side surface 730-4 are not particularly distinguished, they will be described as the side surface 730. In some cases.
［３．切断装置１００の構成］
　図３～図５を参照して、切断装置１００の構成について説明する。図３、図４、および図５は、それぞれ、本発明の一実施形態に係る荷姿変換システム１０の切断装置１００の斜視図、正面図、および右側面図である。 [3. Configuration of cutting device 100]
The configuration of the cutting device 100 will be described with reference to FIGS. 3 to 5. 3, FIG. 4, and FIG. 5 are a perspective view, a front view, and a right side view of the cutting device 100 of the package shape conversion system 10 according to the embodiment of the present invention, respectively.
　切断装置１００は、筐体１１０、駆動部１２０、切断部１３０、第１の押圧部１４０－１、第２の押圧部１４０－２、停止部１５０、および搬送部１６０を含む。 The cutting device 100 includes a housing 110, a driving unit 120, a cutting unit 130, a first pressing unit 140-1, a second pressing unit 140-2, a stop unit 150, and a transport unit 160.
　筐体１１０は、駆動部１２０、第１の押圧部１４０－１、第２の押圧部１４０－２、停止部１５０、または搬送部１６０などを支持することができる。筐体１１０に含まれる柱、梁、または面は、例えば、枠材、棒材、化粧板、またはステンレス板などによって形成することができる。また、筐体１１０は、切断装置１００に梱包箱７００を搬入し、および切断装置１００から搬出することができるように、切断装置１００の入口部および出口部が開口されている。また、切断装置１００の入口部近傍に、センサ１７０が配置されている。センサ１７０は、切断装置１００に搬送される梱包箱７００の大きさ（Ｘ軸方向の長さおよびＹ軸方向の長さ）および高さ（Ｚ軸方向の長さ）を検出することができる。センサ１７０は、例えば、３Ｄセンサである。図３および図５に示すように、センサ１７０は、切断装置１００の入口部近傍の上方において、筐体１１０の外側に突出して設けられた棒体１１１の端部に配置されてもよい。但し、センサ１７０の配置はこれに限られない。センサ１７０は、切断装置１００内に配置されていてもよい。また、第１の搬送部４００－１が切断装置１００に接続されている場合、第１の搬送部４００－１にセンサ１７０が配置されていてもよい。さらに、センサ１７０は、複数のセンサを含むこともできる。例えば、センサ１７０が第１のセンサおよび第２のセンサを含む場合、梱包箱７００の上面７１０の方向に配置された第１のセンサを用いて梱包箱７００の大きさを検出し、梱包箱７００の側面７３０の方向に配置された第２のセンサを用いて梱包箱７００の高さを検出してもよい。 The housing 110 can support the drive unit 120, the first pressing unit 140-1, the second pressing unit 140-2, the stop unit 150, the transport unit 160, and the like. The pillars, beams, or surfaces included in the housing 110 can be formed of, for example, a frame material, a bar material, a decorative plate, a stainless steel plate, or the like. Further, the housing 110 has an inlet portion and an outlet portion of the cutting device 100 opened so that the packing box 700 can be carried in and out of the cutting device 100. Further, the sensor 170 is arranged near the entrance portion of the cutting device 100. The sensor 170 can detect the size (length in the X-axis direction and length in the Y-axis direction) and height (length in the Z-axis direction) of the packing box 700 conveyed to the cutting device 100. The sensor 170 is, for example, a 3D sensor. As shown in FIGS. 3 and 5, the sensor 170 may be arranged at the end of the rod 111 provided so as to project outside the housing 110 above the vicinity of the inlet of the cutting device 100. However, the arrangement of the sensor 170 is not limited to this. The sensor 170 may be arranged in the cutting device 100. Further, when the first transport unit 400-1 is connected to the cutting device 100, the sensor 170 may be arranged in the first transport unit 400-1. Further, the sensor 170 may include a plurality of sensors. For example, when the sensor 170 includes the first sensor and the second sensor, the size of the packing box 700 is detected by using the first sensor arranged in the direction of the upper surface 710 of the packing box 700, and the packing box 700 is detected. A second sensor located in the direction of the side surface 730 of the box may be used to detect the height of the packing box 700.
　搬送部１６０は、切断装置１００内において、Ｘ軸方向に延在するように配置されている。搬送部１６０は、Ｙ軸方向に沿った回転軸を有し、各々が回転自在な複数の搬送ローラ１６１を含む。複数の搬送ローラ１６１は、Ｘ軸方向において、互いに離間して配置されている。そのため、隣接する搬送ローラ１６１の間には、間隙が形成されている。搬送部１６０は、複数の搬送ローラ１６１を駆動させることにより、梱包箱７００の下面７２０を支持しながら、切断装置１００内で梱包箱７００を搬送することができる。 The transport unit 160 is arranged in the cutting device 100 so as to extend in the X-axis direction. The transport unit 160 has a rotation axis along the Y-axis direction, and includes a plurality of transport rollers 161 each of which is rotatable. The plurality of transport rollers 161 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 161. The transport unit 160 can transport the packing box 700 in the cutting device 100 while supporting the lower surface 720 of the packing box 700 by driving a plurality of transport rollers 161.
　停止部１５０は、搬送部１６０の下方に配置され、停止部材１５１およびシリンダ１５２を含む。シリンダ１５２は、停止部材１５１をＺ軸方向に往復移動させることができる。換言すると、シリンダ１５２を駆動することにより、搬送ローラ１６１の間隙から停止部材１５１を昇降させることができる。停止部材１５１は、シリンダ１５２の駆動によって、搬送ローラ１６１の上端面（以下、「切断装置１００の搬送面」とする。）よりも上方に突出し、または切断装置１００の搬送面よりも下方に収容されることができる。停止部材１５１が切断装置１００の搬送面から上方に突出すると、搬送部１６０によって搬送された梱包箱７００の側面７３０が停止部材１５１と当接し、梱包箱７００の搬送が停止される。一方、停止部材１５１が切断装置１００の搬送面よりも下方に収容されると、梱包箱７００と停止部材１５１との当接が解除され、梱包箱７００の搬送が再開される。したがって、停止部１５０は、搬送部１６０によって搬送される梱包箱７００を、切断装置１００内の所定の位置（以下、「停止位置」とする。）で停止させることができる。 The stop unit 150 is arranged below the transport unit 160 and includes a stop member 151 and a cylinder 152. The cylinder 152 can reciprocate the stop member 151 in the Z-axis direction. In other words, by driving the cylinder 152, the stop member 151 can be raised and lowered from the gap of the transport roller 161. The stop member 151 projects upward from the upper end surface of the transport roller 161 (hereinafter referred to as “the transport surface of the cutting device 100”) by driving the cylinder 152, or is housed below the transport surface of the cutting device 100. Can be done. When the stop member 151 projects upward from the transport surface of the cutting device 100, the side surface 730 of the packing box 700 transported by the transport unit 160 comes into contact with the stop member 151, and the transport of the packing box 700 is stopped. On the other hand, when the stop member 151 is housed below the transport surface of the cutting device 100, the contact between the packing box 700 and the stop member 151 is released, and the transport of the packing box 700 is resumed. Therefore, the stop unit 150 can stop the packing box 700 conveyed by the transfer unit 160 at a predetermined position (hereinafter referred to as “stop position”) in the cutting device 100.
　停止部１５０は、梱包箱７００と停止部材１５１とが当接したことをセンサによって検出してもよい。停止部１５０によって停止された梱包箱７００を切断する場合、梱包箱７００を安定させるため、搬送部１６０の搬送を停止することが好ましい。そのため、梱包箱７００と停止部材１５１との当接を検出し、搬送ローラ１６１の駆動を停止してもよい。 The stop unit 150 may detect by a sensor that the packing box 700 and the stop member 151 are in contact with each other. When cutting the packing box 700 stopped by the stop unit 150, it is preferable to stop the transportation of the transport unit 160 in order to stabilize the packing box 700. Therefore, the contact between the packing box 700 and the stop member 151 may be detected and the drive of the transport roller 161 may be stopped.
　第１の押圧部１４０－１および第２の押圧部１４０－２は、搬送部１６０を間に挟み、搬送部１６０の両側に配置されている。第１の押圧部１４０－１および第２の押圧部１４０－２の各々は、押圧部材１４１およびシリンダ１４２を含む。シリンダ１４２は、押圧部材１４１をＹ軸方向に往復移動させることができる。そのため、押圧部材１４１は、シリンダ１４２の駆動によって、停止位置における梱包箱７００の側面７３０と当接し、梱包箱７００を押圧することができる。停止位置における梱包箱７００は、Ｘ軸方向だけでなく、Ｙ軸方向においても位置が固定されることが好ましい。第１の押圧部１４０－１および第２の押圧部１４０－２は、押圧部材１４１で梱包箱７００を挟持することにより、Ｙ軸方向において、梱包箱７００の位置を固定することができる。 The first pressing portion 140-1 and the second pressing portion 140-2 are arranged on both sides of the transport portion 160 with the transport portion 160 sandwiched between them. Each of the first pressing portion 140-1 and the second pressing portion 140-2 includes a pressing member 141 and a cylinder 142. The cylinder 142 can reciprocate the pressing member 141 in the Y-axis direction. Therefore, the pressing member 141 can come into contact with the side surface 730 of the packing box 700 at the stop position and press the packing box 700 by driving the cylinder 142. It is preferable that the position of the packing box 700 at the stop position is fixed not only in the X-axis direction but also in the Y-axis direction. The first pressing portion 140-1 and the second pressing portion 140-2 can fix the position of the packing box 700 in the Y-axis direction by sandwiching the packing box 700 with the pressing member 141.
　押圧部材１４１は、梱包箱７００の側面７３０と、一定の面積をもって接触することができる面を含むことが好ましい。また、押圧部材１４１の面は、Ｘ軸方向に一定の長さを有することが好ましい。この場合、押圧部材１４１による挟持によって、梱包箱７００のＸＹ面内における傾きを調整することができる。換言すると、押圧部材１４１が梱包箱７００の側面７３０と面で接触することによって、ＸＹ面において、梱包箱７００の位置を調整することができる。 It is preferable that the pressing member 141 includes a surface that can come into contact with the side surface 730 of the packing box 700 with a certain area. Further, it is preferable that the surface of the pressing member 141 has a constant length in the X-axis direction. In this case, the inclination of the packing box 700 in the XY plane can be adjusted by the holding by the pressing member 141. In other words, the position of the packing box 700 can be adjusted on the XY surface by contacting the pressing member 141 with the side surface 730 of the packing box 700.
　第１の押圧部１４０－１と第２の押圧部１４０－２とは、同期して制御されてもよい。第１の押圧部１４０－１と第２の押圧部１４０－２とが同期して制御されることにより、大きさの異なる梱包箱７００であっても、梱包箱７００のＸ軸方向に沿う中心線が常に同じ位置となるように、梱包箱７００の位置を調整することができる。すなわち、梱包箱７００のセンタリングを行うことができる。 The first pressing portion 140-1 and the second pressing portion 140-2 may be controlled in synchronization with each other. By controlling the first pressing portion 140-1 and the second pressing portion 140-2 in synchronization, even if the packing boxes 700 have different sizes, the center of the packing box 700 along the X-axis direction. The position of the packing box 700 can be adjusted so that the wires are always in the same position. That is, the packing box 700 can be centered.
　第１の押圧部１４０－１および第２の押圧部１４０－２の一方を固定し、他方のみを駆動するようにしてもよい。この場合、第１の押圧部１４０－１および第２の押圧部１４０－２の一方は、他方の駆動によって押された梱包箱７００の停止ガイド（ストッパ）として機能することができる。 One of the first pressing portion 140-1 and the second pressing portion 140-2 may be fixed and only the other may be driven. In this case, one of the first pressing portion 140-1 and the second pressing portion 140-2 can function as a stop guide (stopper) for the packing box 700 pushed by the other drive.
　以上のように、停止位置における梱包箱７００は、第１の押圧部１４０－１、第２の押圧部１４０－２、および停止部１５０によって固定される。停止位置に固定された梱包箱７００は、切断部１３０によって切断することができる。 As described above, the packing box 700 at the stop position is fixed by the first pressing portion 140-1, the second pressing portion 140-2, and the stop portion 150. The packing box 700 fixed at the stop position can be cut by the cutting portion 130.
　切断部１３０は、駆動部１２０に接続されている。駆動部１２０は、第１のＸ軸アクチュエータ１２１－１、第２のＸ軸アクチュエータ１２１－２、Ｙ軸アクチュエータ、およびＺ軸アクチュエータ１２３を含む。すなわち、図３～図５に示す駆動部１２０は、いわゆる直交ロボットである。切断部１３０は、第１のＸ軸アクチュエータ１２１－１、第２のＸ軸アクチュエータ１２１－２、Ｙ軸アクチュエータ１２２、およびＺ軸アクチュエータ１２３の各々を駆動することにより、Ｘ軸方向、Ｙ軸方向、およびＺ軸方向に独立して移動することができる。 The cutting unit 130 is connected to the driving unit 120. The drive unit 120 includes a first X-axis actuator 121-1, a second X-axis actuator 121-2, a Y-axis actuator, and a Z-axis actuator 123. That is, the drive unit 120 shown in FIGS. 3 to 5 is a so-called Cartesian robot. The cutting portion 130 drives each of the first X-axis actuator 121-1, the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator 123 in the X-axis direction and the Y-axis direction. , And can move independently in the Z-axis direction.
　第１のＸ軸アクチュエータ１２１－１および第２のＸ軸アクチュエータ１２１－２の各々は、筐体１１０の上部に固定されている。第１のＸ軸アクチュエータ１２１－１は、Ｘ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、第１のＸ軸アクチュエータ１２１－１のスライダは、レールに沿ってＸ軸方向に移動することができる。同様に、第２のＸ軸アクチュエータ１２１－２も、Ｘ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、第２のＸ軸アクチュエータ１２１－２のスライダは、レールに沿ってＸ軸方向に移動することができる。 Each of the first X-axis actuator 121-1 and the second X-axis actuator 121-2 is fixed to the upper part of the housing 110. The first X-axis actuator 121-1 includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the first X-axis actuator 121-1 can move in the X-axis direction along the rail. Similarly, the second X-axis actuator 121-2 also includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the second X-axis actuator 121-2 can move in the X-axis direction along the rail.
　Ｙ軸アクチュエータ１２２は、第１のＸ軸アクチュエータ１２１－１および第２のＸ軸アクチュエータ１２１－２の各々と直交して配置されている。Ｙ軸アクチュエータ１２２は、Ｙ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、Ｙ軸アクチュエータ１２２のスライダは、レールに沿ってＹ軸方向に移動することができる。Ｙ軸アクチュエータ１２２のレールの一端は、第１のＸ軸アクチュエータ１２１－１のスライダに接続され、Ｙ軸アクチュエータ１２２のレールの他端は、第２のＸ軸アクチュエータ１２１－２のスライダに接続されている。したがって、Ｙ軸アクチュエータ１２２は、第１のＸ軸アクチュエータ１２１－１と第２のＸ軸アクチュエータ１２１－２とを同期して駆動することによって、Ｘ軸方向に移動することができる。 The Y-axis actuator 122 is arranged orthogonal to each of the first X-axis actuator 121-1 and the second X-axis actuator 121-2. The Y-axis actuator 122 includes a rail extending in the Y-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Y-axis actuator 122 can move in the Y-axis direction along the rail. One end of the rail of the Y-axis actuator 122 is connected to the slider of the first X-axis actuator 121-1, and the other end of the rail of the Y-axis actuator 122 is connected to the slider of the second X-axis actuator 121-2. ing. Therefore, the Y-axis actuator 122 can move in the X-axis direction by driving the first X-axis actuator 121-1 and the second X-axis actuator 121-2 in synchronization with each other.
　Ｚ軸アクチュエータ１２３は、第１のＸ軸アクチュエータ１２１－１、第２のＸ軸アクチュエータ１２１－２、およびＹ軸アクチュエータ１２２の各々と直交して配置されている。Ｚ軸アクチュエータ１２３は、Ｚ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、Ｚ軸アクチュエータ１２３のスライダは、レールに沿ってＺ軸方向に移動することができる。Ｚ軸アクチュエータ１２３のレールの一端は、Ｙ軸アクチュエータ１２２のスライダに接続されている。したがって、Ｚ軸アクチュエータ１２３は、第１のＸ軸アクチュエータ１２１－１および第２のＸ軸アクチュエータ１２１－２を制御することによってＸ軸方向に移動することができ、Ｙ軸アクチュエータ１２２を駆動することによってＹ軸方向に移動することができる。すなわち、Ｚ軸アクチュエータ１２３は、ＸＹ面内を移動することができる。 The Z-axis actuator 123 is arranged orthogonal to each of the first X-axis actuator 121-1, the second X-axis actuator 121-2, and the Y-axis actuator 122. The Z-axis actuator 123 includes a rail extending in the Z-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Z-axis actuator 123 can move in the Z-axis direction along the rail. One end of the rail of the Z-axis actuator 123 is connected to the slider of the Y-axis actuator 122. Therefore, the Z-axis actuator 123 can move in the X-axis direction by controlling the first X-axis actuator 121-1 and the second X-axis actuator 121-2, and drives the Y-axis actuator 122. Can be moved in the Y-axis direction. That is, the Z-axis actuator 123 can move in the XY plane.
　駆動部１２０の一例として直交ロボットを説明したが、駆動部１２０の構成はこれに限定されない。駆動部１２０として、例えば、垂直多関節ロボット、水平多関節ロボット、パラレルリンクロボット、または双腕ロボットなどを用いることもできる。 Although the orthogonal robot has been described as an example of the drive unit 120, the configuration of the drive unit 120 is not limited to this. As the drive unit 120, for example, a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a dual-arm robot, or the like can be used.
　切断部１３０は、回転刃１３１、支持部材１３２、およびセンサ１３３を含む。支持部材１３２は、回転刃１３１がＸＹ面内で回転されるように、回転刃１３１を支持することができる。また、支持部材１３２は、Ｚ軸アクチュエータ１２３のスライダに接続されている。そのため、切断部１３０は、第１のＸ軸アクチュエータ１２１－１および第２のＸ軸アクチュエータ１２１－２、Ｙ軸アクチュエータ１２２、ならびにＺ軸アクチュエータ１２３を駆動することによって、Ｘ軸方向、Ｙ軸方向、およびＺ軸方向に独立して移動することができる。 The cutting portion 130 includes a rotary blade 131, a support member 132, and a sensor 133. The support member 132 can support the rotary blade 131 so that the rotary blade 131 is rotated in the XY plane. Further, the support member 132 is connected to the slider of the Z-axis actuator 123. Therefore, the cutting portion 130 drives the first X-axis actuator 121-1 and the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator 123, thereby driving the X-axis direction and the Y-axis direction. , And can move independently in the Z-axis direction.
　回転刃１３１は、Ｚ軸方向に沿った中心軸を有し、ＸＹ面内で回転することができる。切断装置１００では、切断部１３０の回転刃１３１が回転することにより、梱包箱７００の側面７３０を切断することができる。回転刃１３１として、例えば、丸刃または多角形を有する角刃などを用いることができる。 The rotary blade 131 has a central axis along the Z-axis direction and can rotate in the XY plane. In the cutting device 100, the side surface 730 of the packing box 700 can be cut by rotating the rotary blade 131 of the cutting portion 130. As the rotary blade 131, for example, a round blade or a square blade having a polygon can be used.
　センサ１３３は、回転刃１３１の上方に配置されている。そのため、センサ１３３は、切断部１３０の移動に合わせて、センサ１３３と梱包箱７００の側面７３０との間の距離を測定することができる。センサ１３３として、例えば、変位センサなどを用いることができる。流通された梱包箱７００である場合、梱包箱７００の輸送等によって、梱包箱７００の側面７３０が変形している（すなわち、側面７３０が凹凸を有する）場合がある。このような場合では、センサ１７０の検出値に基づく制御のみでは、側面７３０の変形が反映されないため、梱包箱７００の側面７３０の一部が切断されないことがある。一方、切断部１３０にセンサ１３３が設けられていると、変形された側面７３０であっても、センサ１３３が、センサ１３３と梱包箱７００の側面７３０との間の距離を測定することができる。そのため、側面７３０の変形された部分を検出することができる。また、センサ１３３の測定値が一定となるように、切断部１３０を移動させることができる。したがって、切断装置１００では、センサ１７０の検出値およびセンサ１３３の測定値に基づき駆動部１２０を駆動するため、切断部１３０の移動を精密に制御し、梱包箱７００の側面７３０を切断することができる。 The sensor 133 is arranged above the rotary blade 131. Therefore, the sensor 133 can measure the distance between the sensor 133 and the side surface 730 of the packing box 700 according to the movement of the cutting portion 130. As the sensor 133, for example, a displacement sensor or the like can be used. In the case of the distributed packing box 700, the side surface 730 of the packing box 700 may be deformed (that is, the side surface 730 has unevenness) due to the transportation of the packing box 700 or the like. In such a case, since the deformation of the side surface 730 is not reflected only by the control based on the detection value of the sensor 170, a part of the side surface 730 of the packing box 700 may not be cut. On the other hand, when the sensor 133 is provided in the cutting portion 130, the sensor 133 can measure the distance between the sensor 133 and the side surface 730 of the packing box 700 even if the side surface 730 is deformed. Therefore, the deformed portion of the side surface 730 can be detected. Further, the cutting portion 130 can be moved so that the measured value of the sensor 133 becomes constant. Therefore, in the cutting device 100, since the driving unit 120 is driven based on the detected value of the sensor 170 and the measured value of the sensor 133, the movement of the cutting unit 130 can be precisely controlled to cut the side surface 730 of the packing box 700. can.
　梱包箱７００の切断は、側面７３０に沿って行われるため、切断部１３０は、梱包箱７００の角部で移動する方向を変える。詳細は図示しないが、センサ１７０は、切断部１３０の移動する方向に合わせてＸＹ面内で回転することができる。そのため、切断部１３０が梱包箱７００の角部で移動する方向を変えるとき、センサ１７０が回転し、次に切断する測定する側面７３０との距離を測定することができる。 Since the packing box 700 is cut along the side surface 730, the cutting portion 130 changes the direction of movement at the corner of the packing box 700. Although not shown in detail, the sensor 170 can rotate in the XY plane according to the moving direction of the cutting portion 130. Therefore, when the cutting portion 130 changes the direction of movement at the corner portion of the packing box 700, the sensor 170 rotates, and the distance from the side surface 730 to be measured next to be cut can be measured.
　ここで、切断部１３０の動作について説明する。 Here, the operation of the cutting portion 130 will be described.
　センサ１７０によって検出された梱包箱７００の大きさに基づき、ＸＹ面内における切断部１３０の移動経路（Ｘ軸方向およびＹ軸方向における切断部１３０の移動距離）を算出することができる。このとき、回転刃１３１の回転半径または切り込み深さなどが考慮されてもよい。例えば、規格によって梱包箱７００の梱包材の厚さが定められている場合、梱包材の厚さを考慮して切り込み深さが決定されてもよい。また、センサ１７０によって検出された梱包箱７００の高さに基づき、Ｚ軸方向における切断部１３０の移動距離を算出することができる。 Based on the size of the packing box 700 detected by the sensor 170, the movement path of the cutting portion 130 in the XY plane (moving distance of the cutting portion 130 in the X-axis direction and the Y-axis direction) can be calculated. At this time, the radius of gyration or the depth of cut of the rotary blade 131 may be taken into consideration. For example, when the thickness of the packing material of the packing box 700 is defined by the standard, the cutting depth may be determined in consideration of the thickness of the packing material. Further, the moving distance of the cutting portion 130 in the Z-axis direction can be calculated based on the height of the packing box 700 detected by the sensor 170.
　算出されたＸＹ面内の移動経路に基づき、駆動部１２０を駆動し、切断開始位置に切断部１３０を移動させる。センサ１７０によって、センサ１７０と１つの側面７３０との距離を測定し、切断部１３０の位置を微調整し、センサ１７０の測定値が一定となるように、梱包箱７００の１つの側面７３０を切断する。センサ１７０を９０度回転し、センサ１７０と別の側面７３０との距離を測定する。切断部１３０の位置を微調整し、センサ１７０の測定値が一定となるように、梱包箱７００の別の側面７３０を切断する。切断部１３０は、上記動作を繰り返し、４つの側面７３０を切断することができる。 Based on the calculated movement path in the XY plane, the drive unit 120 is driven and the cutting unit 130 is moved to the cutting start position. The sensor 170 measures the distance between the sensor 170 and one side surface 730, fine-tunes the position of the cutting portion 130, and cuts one side surface 730 of the packing box 700 so that the measured value of the sensor 170 is constant. do. Rotate the sensor 170 90 degrees and measure the distance between the sensor 170 and another side surface 730. The position of the cutting portion 130 is finely adjusted, and another side surface 730 of the packing box 700 is cut so that the measured value of the sensor 170 becomes constant. The cutting portion 130 can repeat the above operation to cut the four side surfaces 730.
　図６は、本発明一実施形態に係る荷姿変換システム１０の切断装置１００で切断された梱包箱７００の斜視図である。なお、図６では、梱包箱７００に収容される内容物９００が省略されている。 FIG. 6 is a perspective view of the packing box 700 cut by the cutting device 100 of the package conversion system 10 according to the first embodiment of the present invention. In FIG. 6, the content 900 housed in the packing box 700 is omitted.
　図６に示すように、梱包箱７００の４つの側面７３０が切断されることによって、上面７１０を含む第１の構造体８００－１と下面７２０を含む第２の構造体８００－２とに分離される。梱包箱７００の側面７３０は、下面７２０よりも上面７１０に近い位置で切断される。梱包箱７００の側面７３０の切断位置は、例えば、上面７１０から梱包箱７００の高さの１／３以下であり、好ましくは１／４以下であり、さらに好ましくは１／５以下である。また、梱包箱７００の側面７３０の切断位置は、上面７１０から所定の距離であってもよい。この場合、第１の構造体８００－１に第１の内フラップ７１２－１および第２の内フラップ７１２－２が含まれるように、梱包箱７００の側面７３０が切断されることが好ましい。なお、梱包箱７００の側面７３０の切断位置は、第１の粘着テープ７５０－１が切断される位置であってもよく、第１の粘着テープ７５０－１の端部と第２の粘着テープ７５０－２との間の位置であってもよい。 As shown in FIG. 6, by cutting the four side surfaces 730 of the packing box 700, the first structure 800-1 including the upper surface 710 and the second structure 800-2 including the lower surface 720 are separated. Will be done. The side surface 730 of the packing box 700 is cut at a position closer to the upper surface 710 than the lower surface 720. The cutting position of the side surface 730 of the packing box 700 is, for example, 1/3 or less, preferably 1/4 or less, and more preferably 1/5 or less of the height of the packing box 700 from the upper surface 710. Further, the cutting position of the side surface 730 of the packing box 700 may be a predetermined distance from the upper surface 710. In this case, it is preferable that the side surface 730 of the packing box 700 is cut so that the first structure 800-1 includes the first inner flap 712-1 and the second inner flap 712-2. The cutting position of the side surface 730 of the packing box 700 may be the position where the first adhesive tape 750-1 is cut, and the end of the first adhesive tape 750-1 and the second adhesive tape 750. It may be a position between -2 and 2.
　本発明の一実施形態に係る荷姿変換システム１０の切断装置１００によれば、梱包箱７００の側面７３０を自動で切断することができる。また、切断部１３０にセンサ１３３が設けられていることにより、切断部１３０が梱包箱７００の側面７３０と一定の距離を保持しながら切断することができる。そのため、梱包箱７００の側面７３０が変形している場合であっても、安定して切断することができる。また、切断装置１００を、後述する反転装置２００と組み合わせることにより、切断された梱包箱７００から内容物９００を容易に取得することができるように、梱包箱７００を開梱することができる。そのため、梱包箱７００の開梱処理を自動化することができるため、作業効率が向上する。 According to the cutting device 100 of the package conversion system 10 according to the embodiment of the present invention, the side surface 730 of the packing box 700 can be automatically cut. Further, since the sensor 133 is provided in the cutting portion 130, the cutting portion 130 can cut while maintaining a certain distance from the side surface 730 of the packing box 700. Therefore, even if the side surface 730 of the packing box 700 is deformed, it can be cut stably. Further, by combining the cutting device 100 with the reversing device 200 described later, the packing box 700 can be unpacked so that the contents 900 can be easily obtained from the cut packing box 700. Therefore, the unpacking process of the packing box 700 can be automated, and the work efficiency is improved.
［４．反転装置２００の構成］
　図７～図１０を参照して、反転装置２００の構成について説明する。図７、図８、および図９は、それぞれ、本発明の一実施形態に係る荷姿変換システム１０の反転装置２００の斜視図、正面図、および右側面図である。また、図１０は、本発明の一実施形態に係る荷姿変換システム１０の反転装置２００の断面図である。具体的には、図１０は、図９に示すＡ－Ａ’線に沿って切断された反転装置２００の断面図である。 [4. Configuration of reversing device 200]
The configuration of the reversing device 200 will be described with reference to FIGS. 7 to 10. 7, 8 and 9, respectively, are a perspective view, a front view, and a right side view of the reversing device 200 of the package shape conversion system 10 according to the embodiment of the present invention. Further, FIG. 10 is a cross-sectional view of the reversing device 200 of the package shape conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 10 is a cross-sectional view of the reversing device 200 cut along the AA'line shown in FIG.
　反転装置２００は、筐体２１０、第１の昇降部２２０－１、第２の昇降部２２０－２、反転ユニット２３０、第１の搬送部２６０－１、および第２の搬送部２６０－２を含む。 The reversing device 200 includes a housing 210, a first elevating unit 220-1, a second elevating unit 220-2, an reversing unit 230, a first transport unit 260-1, and a second transport unit 260-2. include.
　第１の搬送部２６０－１は、反転装置２００の入口部近傍に配置され、第２の搬送部２６０－２は、反転装置２００の出口部近傍に配置されている。また、第１の搬送部２６０－１と第２の搬送部２６０－２との間には、反転ユニット２３０が配置されている。すなわち、反転装置２００では、Ｘ軸方向に沿って、第１の搬送部２６０－１、反転ユニット２３０、および第２の搬送部２６０－２が配置されている。 The first transport unit 260-1 is arranged near the inlet portion of the reversing device 200, and the second transport unit 260-2 is arranged near the exit portion of the reversing device 200. Further, an inversion unit 230 is arranged between the first transport unit 260-1 and the second transport unit 260-2. That is, in the reversing device 200, the first transport unit 260-1 and the reversing unit 230, and the second transport unit 260-2 are arranged along the X-axis direction.
　第１の搬送部２６０－１および第２の搬送部２６０－２の各々は、Ｙ軸方向に沿った回転軸を有し、各々が回転自在な複数の搬送ローラ２６１を含む。複数の搬送ローラ２６１は、Ｘ軸方向において、互いに離間して配置されている。そのため、隣接する搬送ローラ２６１の間には間隙が形成されている。第１の搬送部２６０－１は、複数の搬送ローラ２６１を駆動させることにより、梱包箱７００の下面７２０を支持しながら、反転装置２００の入口部から反転ユニット２３０へ梱包箱７００を搬送することができる。また、第２の搬送部２６０－２は、複数の搬送ローラ２６１を駆動させることにより、梱包箱７００の上面７１０を支持しながら、反転ユニット２３０から反転装置２００の出口部へ梱包箱７００を搬送することができる。 Each of the first transport unit 260-1 and the second transport unit 260-2 has a rotation axis along the Y-axis direction, and includes a plurality of transport rollers 261 each of which is rotatable. The plurality of transport rollers 261 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 261. The first transport unit 260-1 transports the packing box 700 from the inlet portion of the reversing device 200 to the reversing unit 230 while supporting the lower surface 720 of the packing box 700 by driving a plurality of transport rollers 261. Can be done. Further, the second transport unit 260-2 transports the packing box 700 from the reversing unit 230 to the outlet portion of the reversing device 200 while supporting the upper surface 710 of the packing box 700 by driving a plurality of transport rollers 261. can do.
　筐体２１０は、第１の空隙２１１－１、第２の空隙２１１－２、および第３の空隙を有する。第１の空隙２１１－１および第２の空隙２１１－２は、第１の搬送部２６０－１、反転ユニット２３０、および第２の搬送部２６０－２の両側に設けられている。また、第３の空隙は、第１の搬送部２６０－１、反転ユニット２３０、および第２の搬送部２６０－２の下方に設けられている。第１の空隙２１１－１内には、第１の昇降部２２０－１が配置され、第２の空隙２１１－２内には、第２の昇降部２２０－２が配置されている。反転ユニット２３０は、第１の昇降部２２０－１と第２の昇降部２２０－２との間に配置され、回転自在に第１の昇降部２２０－１および第２の昇降部２２０－２に接続されている。 The housing 210 has a first gap 211-1, a second gap 211-2, and a third gap. The first gap 211-1 and the second gap 211-2 are provided on both sides of the first transport unit 260-1, the reversing unit 230, and the second transport unit 260-2. Further, the third gap is provided below the first transport unit 260-1, the reversing unit 230, and the second transport unit 260-2. A first elevating part 220-1 is arranged in the first gap 211-1, and a second elevating part 220-2 is arranged in the second gap 211-2. The reversing unit 230 is arranged between the first elevating part 220-1 and the second elevating part 220-2, and is rotatably attached to the first elevating part 220-1 and the second elevating part 220-2. It is connected.
　第１の昇降部２２０－１および第２の昇降部２２０－２の各々は、回転支持体２２１および昇降シリンダ２２２を含む。昇降シリンダ２２２は、回転支持体２２１をＺ軸方向に往復移動させることができる。すなわち、第１の昇降部２２０－１および第２の昇降部２２０－２の各々では、昇降シリンダ２２２を駆動することにより、回転支持体２２１を昇降させることができる。回転支持体２２１は、回転軸２２１ａおよび軸受２２１ｂを含む。 Each of the first elevating part 220-1 and the second elevating part 220-2 includes a rotary support 221 and an elevating cylinder 222. The elevating cylinder 222 can reciprocate the rotary support 221 in the Z-axis direction. That is, each of the first elevating part 220-1 and the second elevating part 220-2 can raise and lower the rotary support 221 by driving the elevating cylinder 222. The rotary support 221 includes a rotary shaft 221a and a bearing 221b.
　反転ユニット２３０は、第１の挟持部２４０－１、第２の挟持部２４０－２、第１の反転ユニット支持部２５０－１、および第２の反転ユニット支持部２５０－２を含む。第１の挟持部２４０－１および第２の挟持部２４０－２は、第１の反転ユニット支持部２５０－１と第２の反転ユニット支持部２５０－２との間に配置され、第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２に接続されている。具体的には、第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２の各々の一端に第１の挟持部２４０－１が接続され、第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２の各々の他端に第２の挟持部２４０－２が接続されている。すなわち、反転ユニット２３０において、第１の挟持部２４０－１と第２の挟持部２４０－２とは、互いに対向するように配置されている。また、反転ユニット２３０に搬送された梱包箱７００は、第１の挟持部２４０－１または第２の挟持部２４０－２により、支持することができる。 The reversing unit 230 includes a first pinching portion 240-1, a second pinching portion 240-2, a first reversing unit support portion 250-1, and a second reversing unit support portion 250-2. The first sandwiching portion 240-1 and the second sandwiching portion 240-2 are arranged between the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2, and the first It is connected to the reversing unit support part 250-1 and the second reversing unit support part 250-2. Specifically, the first sandwiching portion 240-1 is connected to one end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2, and the first reversing unit support portion is connected. A second holding portion 240-2 is connected to the other end of each of the 250-1 and the second reversing unit support portion 250-2. That is, in the reversing unit 230, the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are arranged so as to face each other. Further, the packing box 700 conveyed to the reversing unit 230 can be supported by the first holding portion 240-1 or the second holding portion 240-2.
　第１の挟持部２４０－１および第２の挟持部２４０－２の各々は、複数の搬送ローラ２４１、下面支持部材２４２、側面支持部材２４３、吸着本体２４４、およびシリンダ２４５を含む。搬送ローラ２４１および下面支持部材２４２は、側面支持部材２４３によって支持されている。搬送ローラ２４１と下面支持部材２４２との間には、シリンダ２４５が接続された吸着本体２４４が設けられている。シリンダ２４５は、下面支持部材２４２によって支持されている。 Each of the first holding portion 240-1 and the second holding portion 240-2 includes a plurality of transport rollers 241, a bottom surface support member 242, a side surface support member 243, a suction body 244, and a cylinder 245. The transport roller 241 and the bottom surface support member 242 are supported by the side surface support member 243. A suction main body 244 to which a cylinder 245 is connected is provided between the transfer roller 241 and the lower surface support member 242. The cylinder 245 is supported by the bottom surface support member 242.
　複数の搬送ローラ２６１は、それぞれが、Ｙ軸方向に沿った回転軸を有し、回転することができる。また、複数の搬送ローラ２６１は、Ｘ軸方向において、互いに離間して配置されている。そのため、隣接する搬送ローラ２６１の間には、間隙が形成されている。複数の搬送ローラ２６１を駆動することにより、反転ユニット２３０に梱包箱７００を搬入し、反転ユニット２３０から梱包箱７００を搬出することができる。 Each of the plurality of transport rollers 261 has a rotation axis along the Y-axis direction and can rotate. Further, the plurality of transport rollers 261 are arranged apart from each other in the X-axis direction. Therefore, a gap is formed between the adjacent transport rollers 261. By driving a plurality of transfer rollers 261, the packing box 700 can be carried into the reversing unit 230, and the packing box 700 can be carried out from the reversing unit 230.
　吸着本体２４４は、複数の吸着パッド２４４ａを有する。平面視において、複数の吸着パッド２４４ａは、搬送ローラ２６１の間に位置するように配置されている。吸着本体２４４に接続されたシリンダ２４５は、吸着本体２４４をＺ軸方向に往復移動させることができる。そのため、第１の挟持部２４０－１および第２の挟持部２４０－２では、シリンダ２４５を駆動することにより、搬送ローラ２６１の間隙から、吸着パッド２４４ａを搬送ローラ２６１の上端よりも上方に突出させ、または吸着パッド２４４ａを搬送ローラ２６１の上端よりも下方の収容することができる。搬送ローラ２６１の上端よりも上方に突出した吸着パッド２４４ａは、反転ユニット２３０内の梱包箱７００を吸着することができる。 The suction main body 244 has a plurality of suction pads 244a. In a plan view, the plurality of suction pads 244a are arranged so as to be located between the transfer rollers 261. The cylinder 245 connected to the suction main body 244 can reciprocate the suction main body 244 in the Z-axis direction. Therefore, in the first pinching portion 240-1 and the second pinching portion 240-2, by driving the cylinder 245, the suction pad 244a protrudes upward from the upper end of the transport roller 261 from the gap of the transport roller 261. The suction pad 244a can be accommodated or accommodated below the upper end of the transport roller 261. The suction pad 244a protruding above the upper end of the transfer roller 261 can suck the packing box 700 in the reversing unit 230.
　第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２の各々は、反転ユニット支持部材２５１および一軸アクチュエータ２５２を含む。一軸アクチュエータ２５２は、反転ユニット支持部材２５１の両端に固定されている。一軸アクチュエータ２５２は、反転ユニット支持部材２５１の端部から反転ユニット支持部材２５１の中心部に向かう方向（以下、「反転ユニット支持部材２５１の長軸方向」とする）に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、一軸アクチュエータ２５２のスライダは、レールに沿って反転ユニット支持部材２５１の長軸方向に往復移動することができる。 Each of the first reversing unit support part 250-1 and the second reversing unit support part 250-2 includes a reversing unit support member 251 and a uniaxial actuator 252. The uniaxial actuator 252 is fixed to both ends of the reversing unit support member 251. The uniaxial actuator 252 is on a rail extending in a direction from the end of the reversing unit support member 251 toward the center of the reversing unit support member 251 (hereinafter referred to as "the long axis direction of the reversing unit support member 251"). Includes a slider that moves the slider, and a motor that drives the slider. Therefore, the slider of the uniaxial actuator 252 can reciprocate along the rail in the major axis direction of the reversing unit support member 251.
　第１の挟持部２４０－１の側面支持部材２４３は、第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２の各々の一端に固定された一軸アクチュエータ２５２のスライダに接続されている。同様に、第２の挟持部２４０－２の側面支持部材２４３は、第１の反転ユニット支持部２５０－１および第２の反転ユニット支持部２５０－２の各々の他端に固定された一軸アクチュエータ２５２のスライダに接続されている。そのため、第１の挟持部２４０－１および第２の挟持部２４０－２の各々は、一軸アクチュエータ２５２を駆動することにより、反転ユニット支持部材２５１の長軸方向に往復移動することができる。この動作により、第１の挟持部２４０－１および第２の挟持部２４０－２は、反転ユニット２３０内の梱包箱７００を挟持することができる。 The side surface support member 243 of the first holding portion 240-1 is attached to the slider of the uniaxial actuator 252 fixed to one end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2. It is connected. Similarly, the side support member 243 of the second sandwiching portion 240-2 is a uniaxial actuator fixed to the other end of each of the first reversing unit support portion 250-1 and the second reversing unit support portion 250-2. It is connected to the slider of 252. Therefore, each of the first holding portion 240-1 and the second holding portion 240-2 can reciprocate in the long axis direction of the reversing unit support member 251 by driving the uniaxial actuator 252. By this operation, the first sandwiching portion 240-1 and the second sandwiching portion 240-2 can sandwich the packing box 700 in the reversing unit 230.
　また、第１の反転ユニット支持部２５０－１の反転ユニット支持部材２５１は、第１の昇降部２２０－１の回転軸２２１ａに接続されている。同様に、第２の反転ユニット支持部２５０－２の反転ユニット支持部材２５１は、第２の昇降部２２０－２の回転軸２２１ａに接続されている。そのため、反転ユニット２３０は、回転軸２２１ａが回転することにより、回転することができる。 Further, the reversing unit support member 251 of the first reversing unit support portion 250-1 is connected to the rotation shaft 221a of the first elevating portion 220-1. Similarly, the reversing unit support member 251 of the second reversing unit support portion 250-2 is connected to the rotation shaft 221a of the second elevating portion 220-2. Therefore, the reversing unit 230 can be rotated by rotating the rotation shaft 221a.
　反転ユニット２３０は、一方向に１８０度ずつ回転することができてもよく、一方向に１８０度回転した後、逆方向に１８０度回転することができてもよい。反転装置２００では、反転ユニット２３０を１８０度回転し、反転ユニット２３０内の梱包箱７００を反転させることができる。 The reversing unit 230 may be able to rotate 180 degrees in one direction, 180 degrees in one direction, and then 180 degrees in the opposite direction. In the reversing device 200, the reversing unit 230 can be rotated 180 degrees to invert the packing box 700 in the reversing unit 230.
　以下では、図１１～図１４を参照して、反転装置２００による梱包箱７００の反転について説明する。図１１および図１２は、それぞれ、本発明の一実施形態に係る荷姿変換システム１０の反転装置２００による梱包箱７００の反転を説明する斜視図および正面図である。また、図１３は、本発明の一実施形態に係る荷姿変換システム１０の反転装置２００による梱包箱７００の反転を説明する断面図である。具体的には、図１３は、図１２に示すＢ－Ｂ’線に沿って切断された反転装置２００の断面図である。また、図１４は、本発明の一実施形態に係る荷姿変換システム１０の反転装置２００による梱包箱７００の反転を説明する斜視図である。具体的には、図１４は、回転中の反転ユニット２３０が示された反転装置２００の斜視図である。 Hereinafter, the reversal of the packing box 700 by the reversing device 200 will be described with reference to FIGS. 11 to 14. 11 and 12, respectively, are a perspective view and a front view illustrating the reversal of the packing box 700 by the reversing device 200 of the packaging conversion system 10 according to the embodiment of the present invention. Further, FIG. 13 is a cross-sectional view illustrating the reversal of the packing box 700 by the reversing device 200 of the package conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 13 is a cross-sectional view of the reversing device 200 cut along the BB'line shown in FIG. Further, FIG. 14 is a perspective view illustrating the reversal of the packing box 700 by the reversing device 200 of the packaging conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 14 is a perspective view of the reversing device 200 showing the reversing unit 230 in rotation.
　第１の搬送部２６０－１の搬送ローラ２６１および第１の挟持部２４０－１の搬送ローラ２４１によって反転ユニット２３０に搬入された梱包箱７００は、反転ユニット２３０内で停止する。反転ユニット２３０内における梱包箱７００の停止は、センサなどを用いて行うことができる。続いて、第１の挟持部２４０－１および第２の挟持部２４０－２を移動させ、第１の挟持部２４０－１および第２の挟持部２４０－２を用いて梱包箱７００を挟持する。第１の挟持部２４０－１と第２の挟持部２４０－２とは、同期して移動するように制御されてもよい。詳細は図示しないが、第１の挟持部２４０－１または第２の挟持部２４０－２は、圧力センサまたは接触センサなどのセンサを含んでいてもよい。センサを利用することで、梱包箱７００を挟持する力の大きさを制御することができる。 The packing box 700 carried into the reversing unit 230 by the transport roller 261 of the first transport unit 260-1 and the transport roller 241 of the first holding portion 240-1 stops in the reversing unit 230. The packing box 700 can be stopped in the reversing unit 230 by using a sensor or the like. Subsequently, the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are moved, and the packing box 700 is sandwiched by the first sandwiching portion 240-1 and the second sandwiching portion 240-2. .. The first pinching portion 240-1 and the second pinching portion 240-2 may be controlled to move in synchronization with each other. Although not shown in detail, the first pinching portion 240-1 or the second pinching portion 240-2 may include a sensor such as a pressure sensor or a contact sensor. By using the sensor, it is possible to control the magnitude of the force for holding the packing box 700.
　次に、第１の挟持部２４０－１および第２の挟持部２４０－２の各々の吸着本体２４４を移動させ、吸着パッド２４４ａを梱包箱７００に接触させる。吸着パッド２４４ａが梱包箱７００を吸着することにより、反転ユニット２３０内の梱包箱７００をさらに固定することができる。 Next, the suction main body 244 of each of the first holding portion 240-1 and the second holding portion 240-2 is moved, and the suction pad 244a is brought into contact with the packing box 700. By the suction pad 244a sucking the packing box 700, the packing box 700 in the reversing unit 230 can be further fixed.
　次に、第１の昇降部２２０－１および第２の昇降部２２０－２を制御することにより、反転ユニット２３０を上昇させ、１８０度回転させる。これにより、反転ユニット２３０内の梱包箱７００が反転される。すなわち、梱包箱７００の上面７１０と下面７２０とが入れ替わる。換言すると、第１の構造体８００－１の位置と第２の構造体８００－２の位置とが入れ替わり、第２の構造体８００－２が、第１の構造体８００－１の上方に位置することになる。 Next, by controlling the first elevating part 220-1 and the second elevating part 220-2, the reversing unit 230 is raised and rotated 180 degrees. As a result, the packing box 700 in the reversing unit 230 is flipped. That is, the upper surface 710 and the lower surface 720 of the packing box 700 are interchanged. In other words, the position of the first structure 800-1 and the position of the second structure 800-2 are exchanged, and the second structure 800-2 is located above the first structure 800-1. Will be done.
　なお、吸着パッド２４４ａによる梱包箱７００の吸着は、反転ユニット２３０を上昇させた後に行うこともできる。 The suction of the packing box 700 by the suction pad 244a can also be performed after raising the reversing unit 230.
　次に、第１の昇降部２２０－１および第２の昇降部２２０－２を制御し、反転ユニット２３０を下降させる。また、第１の挟持部２４０－１および第２の挟持部２４０－２を制御し、梱包箱７００の吸着および挟持を解除する。この動作により、第２の挟持部２４０－２の搬送ローラ２４１の上端面は、第２の搬送部２６０－２の搬送ローラ２６１の上端面と略一致する。第２の挟持部２４０－２上の梱包箱７００は、第２の挟持部２４０－２の搬送ローラ２４１および第２の搬送部２６０－２の搬送ローラ２６１によって、反転ユニット２３０から搬出される。 Next, the first elevating part 220-1 and the second elevating part 220-2 are controlled to lower the reversing unit 230. In addition, the first pinching portion 240-1 and the second pinching portion 240-2 are controlled to release the suction and pinching of the packing box 700. By this operation, the upper end surface of the transport roller 241 of the second holding portion 240-2 substantially coincides with the upper end surface of the transport roller 261 of the second transport portion 260-2. The packing box 700 on the second holding portion 240-2 is carried out from the reversing unit 230 by the transport roller 241 of the second holding portion 240-2 and the transport roller 261 of the second transport portion 260-2.
　上述した反転装置２００の動作により、第１の構造体８００－１の位置と第２の構造体８００－２の位置とが入れ替わるように、反転ユニット２３０内の梱包箱７００が反転される。 The packing box 700 in the reversing unit 230 is flipped so that the position of the first structure 800-1 and the position of the second structure 800-2 are exchanged by the operation of the reversing device 200 described above.
　本発明の一実施形態に係る荷姿変換システム１０の反転装置２００によれば、梱包箱７００を自動で反転することができる。また、反転するときの振動によって、内容物９００と第２の構造体８００－２との間に間隙を発生させることができるため、梱包箱７００から第２の構造体８００－２を取り外しやすくすることができる。そのため、荷姿変換システム１０では、梱包箱７００の側面７３０の切断だけでなく、後述するピックアップ装置３００と組み合わせることにより、梱包箱７００に収容された内容物９００の移載までの一連の荷姿変換処理を自動化することできるため、作業効率が向上する。 According to the reversing device 200 of the packing form conversion system 10 according to the embodiment of the present invention, the packing box 700 can be automatically reversed. Further, since a gap can be generated between the contents 900 and the second structure 800-2 by the vibration at the time of inversion, the second structure 800-2 can be easily removed from the packing box 700. be able to. Therefore, in the packing box conversion system 10, not only the side surface 730 of the packing box 700 is cut, but also a series of packing shapes up to the transfer of the contents 900 housed in the packing box 700 by combining with the pickup device 300 described later. Since the conversion process can be automated, work efficiency is improved.
［５．ピックアップ装置３００の構成］
　図１５および図１６を参照して、ピックアップ装置３００の構成について説明する。図１５および図１６は、それぞれ、本発明の一実施形態に係る荷姿変換システム１０のピックアップ装置３００の斜視図および右側面図である。図１５および図１６では、反転装置２００および回収部５００が示されていないが、図１に示すように、Ｘ軸方向において、ピックアップ装置３００の入口部に反転装置２００が接続され、ピックアップ装置３００の出口部に回収部５００が接続されているものとして説明する場合がある。同様に、図１に示すように、Ｙ軸方向において、ピックアップ装置３００の出口部に第２の搬送部４００－２が接続されているものとして説明する場合がある。 [5. Configuration of pickup device 300]
The configuration of the pickup device 300 will be described with reference to FIGS. 15 and 16. 15 and 16 are a perspective view and a right side view of the pickup device 300 of the package shape conversion system 10 according to the embodiment of the present invention, respectively. Although the reversing device 200 and the collecting unit 500 are not shown in FIGS. 15 and 16, as shown in FIG. 1, the reversing device 200 is connected to the inlet portion of the pickup device 300 in the X-axis direction, and the pickup device 300 is connected. It may be described as assuming that the collection unit 500 is connected to the outlet unit of the above. Similarly, as shown in FIG. 1, it may be described as assuming that the second transport unit 400-2 is connected to the outlet portion of the pickup device 300 in the Y-axis direction.
　ピックアップ装置３００は、筐体３１０、駆動部３２０、吸着部３３０、取得部３４０、交換用部材３５０、および搬送部３６０を含む。 The pickup device 300 includes a housing 310, a drive unit 320, a suction unit 330, an acquisition unit 340, a replacement member 350, and a transport unit 360.
　筐体３１０は、駆動部３２０、取得部３４０、交換用部材３５０、または搬送部３６０などを支持することができる。詳細は図示しないが、筐体３１０は、撮像装置を含んでいてもよい。撮像装置は、例えば、筐体３１０の上部に設けられ、第２の構造体８００－２が取り外されて露出された内容物９００を撮像することができる。 The housing 310 can support a drive unit 320, an acquisition unit 340, a replacement member 350, a transport unit 360, and the like. Although details are not shown, the housing 310 may include an image pickup device. The image pickup apparatus is provided on the upper part of the housing 310, for example, and can take an image of the exposed contents 900 from which the second structure 800-2 is removed.
　搬送部３６０は、ピックアップ装置３００内において、Ｘ軸方向に延在するように配置されている。搬送部３６０は、搬送ネット３６１を含む。搬送部３６０は、搬送ネット３６１をＸ軸方向に移動させるように駆動することができ、搬送ネット３６１上の梱包箱７００を搬送することができる。搬送ネット３６１は、例えば、樹脂などで形成されるが、これに限られない。また、図１５および図１６に示した搬送部３６０は、いわゆるネットコンベア（プラスチックコンベア）であるが、これに限られない。搬送部３６０は、ローラコンベア、グラビティコンベア、ベルトコンベア、チェーンコンベア、スラットコンベア、エプロンコンベア、またはトップチェーンコンベアであってもよい。搬送部３６０は、梱包箱７００を搬送するときに、梱包箱７００に微細な振動を与えることができる構成であることが好ましい。梱包箱７００に微細な振動を与えることによって、内容物９００と第２の構造体８００－２との間に間隙を発生させることができるため、第２の構造体８００－２を取り外しやすくなる。 The transport unit 360 is arranged in the pickup device 300 so as to extend in the X-axis direction. The transport unit 360 includes a transport net 361. The transport unit 360 can be driven so as to move the transport net 361 in the X-axis direction, and can transport the packing box 700 on the transport net 361. The transport net 361 is formed of, for example, a resin or the like, but the transport net 361 is not limited to this. Further, the transport unit 360 shown in FIGS. 15 and 16 is a so-called net conveyor (plastic conveyor), but is not limited to this. The conveyor 360 may be a roller conveyor, a gravity conveyor, a belt conveyor, a chain conveyor, a slat conveyor, an apron conveyor, or a top chain conveyor. It is preferable that the transport unit 360 has a configuration capable of giving minute vibration to the packing box 700 when transporting the packing box 700. By applying a minute vibration to the packing box 700, a gap can be generated between the contents 900 and the second structure 800-2, so that the second structure 800-2 can be easily removed.
　また、搬送部３６０の搬送面に複数の突起が設けられ、搬送部３６０の振動を増幅させてもよい。複数の突起は、周期的に設けられていてもよく、ランダムに設けられていてもよい。 Further, a plurality of protrusions may be provided on the transport surface of the transport unit 360 to amplify the vibration of the transport unit 360. The plurality of protrusions may be provided periodically or may be provided randomly.
　搬送部３６０は、梱包箱７００が所定の位置（以下、「ピックアップ位置」とする。）まで搬送されたとき、搬送ネット３６１の移動を停止することができる。搬送部３６０は、例えば、センサを用いて梱包箱７００の位置を検出し、搬送ネット３６１の移動を停止してもよい。また、筐体３１０に設けられた撮像装置によって梱包箱７００を撮像し、梱包箱７００の位置を検出してもよい。 The transport unit 360 can stop the movement of the transport net 361 when the packing box 700 is transported to a predetermined position (hereinafter referred to as “pickup position”). The transport unit 360 may detect the position of the packing box 700 using a sensor, for example, and stop the movement of the transport net 361. Further, the packaging box 700 may be imaged by an imaging device provided in the housing 310 to detect the position of the packaging box 700.
　吸着部３３０は、駆動部３２０に接続されている。駆動部３２０は、Ｘ軸アクチュエータ３２１およびＺ軸アクチュエータ３２２を含む。すなわち、図１４および図１５に示す駆動部３２０は、いわゆる直交ロボットである。吸着部３３０は、Ｘ軸アクチュエータ３２１およびＺ軸アクチュエータ３２２の各々を駆動することにより、Ｘ軸方向およびＺ軸方向に独立して移動することができる。 The suction unit 330 is connected to the drive unit 320. The drive unit 320 includes an X-axis actuator 321 and a Z-axis actuator 322. That is, the drive unit 320 shown in FIGS. 14 and 15 is a so-called Cartesian robot. The suction unit 330 can move independently in the X-axis direction and the Z-axis direction by driving each of the X-axis actuator 321 and the Z-axis actuator 322.
　Ｘ軸アクチュエータ３２１は、筐体３１０の上部に固定されている。Ｘ軸アクチュエータ３２１は、Ｘ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、Ｘ軸アクチュエータのスライダは、レールに沿ってＸ軸方向に移動することができる。 The X-axis actuator 321 is fixed to the upper part of the housing 310. The X-axis actuator 321 includes a rail extending in the X-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the X-axis actuator can move in the X-axis direction along the rail.
　Ｚ軸アクチュエータ３２２は、Ｘ軸アクチュエータ３２１と直交して配置されている。Ｚ軸アクチュエータ３２２は、Ｚ軸方向に延在するレール、レール上を移動するスライダ、およびスライダを駆動するモータを含む。そのため、Ｚ軸アクチュエータ３２２のスライダは、レールに沿ってＺ軸方向に移動することができる。Ｚ軸アクチュエータ３２２のレールの一端は、Ｘ軸アクチュエータ３２１のスライダに接続されている。したがって、Ｚ軸アクチュエータ３２２は、Ｘ軸アクチュエータ３２１を駆動することによってＸ軸方向に移動することができる。 The Z-axis actuator 322 is arranged orthogonal to the X-axis actuator 321. The Z-axis actuator 322 includes a rail extending in the Z-axis direction, a slider moving on the rail, and a motor for driving the slider. Therefore, the slider of the Z-axis actuator 322 can move in the Z-axis direction along the rail. One end of the rail of the Z-axis actuator 322 is connected to the slider of the X-axis actuator 321. Therefore, the Z-axis actuator 322 can move in the X-axis direction by driving the X-axis actuator 321.
　駆動部１２０の一例として直交ロボットを説明したが、駆動部３２０の構成は、これに限定されない。駆動部１２０として、例えば、垂直多関節ロボット、水平多関節ロボット、パラレルリンクロボット、または双腕ロボットなどを用いることもできる。 Although the orthogonal robot has been described as an example of the drive unit 120, the configuration of the drive unit 320 is not limited to this. As the drive unit 120, for example, a vertical articulated robot, a horizontal articulated robot, a parallel link robot, a dual-arm robot, or the like can be used.
　吸着部３３０は、吸着本体３３１および支持部材３３２を含む。支持部材３３２は、Ｚ軸アクチュエータ３２２のスライダに接続されている。吸着本体３３１は、複数の吸着パッド３３１ａを有する。平面視において、複数の吸着パッド３３１ａは、例えば、マトリクス状に配置されているが、複数の吸着パッド３３１ａの配置はこれに限られない。複数の吸着パッド３３１ａは、梱包箱７００、より具体的には、第２の構造体８００－２を吸着することができる。 The suction unit 330 includes a suction body 331 and a support member 332. The support member 332 is connected to the slider of the Z-axis actuator 322. The suction main body 331 has a plurality of suction pads 331a. In a plan view, the plurality of suction pads 331a are arranged in a matrix, for example, but the arrangement of the plurality of suction pads 331a is not limited to this. The plurality of suction pads 331a can suck the packing box 700, more specifically, the second structure 800-2.
　取得部３４０は、搬送部３６０の片側に、筐体３１０に支持されて配置されている。但し、取得部３４０の配置はこれに限られない。取得部３４０は、床置き、壁吊り、または天吊りにより配置されていてもよい。さらに取得部３４０は、筐体３１０の外側に配置されていてもよい。取得部３４０は、アーム３４１およびロボットハンド３４２を含む。取得部３４０は、ピックアップ位置において、梱包箱７００、より具体的には、第１の構造体８００－１上の内容物９００を取得することができる。また、取得部３４０は、内容物９００を取得するだけでなく、別の梱包箱、例えば、コンテナ１０００に移載することもできる。 The acquisition unit 340 is supported and arranged on one side of the transport unit 360 by the housing 310. However, the arrangement of the acquisition unit 340 is not limited to this. The acquisition unit 340 may be arranged on the floor, suspended on the wall, or suspended from the ceiling. Further, the acquisition unit 340 may be arranged outside the housing 310. The acquisition unit 340 includes an arm 341 and a robot hand 342. The acquisition unit 340 can acquire the packing box 700, more specifically, the content 900 on the first structure 800-1 at the pickup position. Further, the acquisition unit 340 can not only acquire the content 900 but also transfer it to another packing box, for example, the container 1000.
　取得部３４０は、筐体３１０に設けられた撮像装置によって撮像された画像を基に、内容物９００を判定することができる。すなわち、取得部３４０は、予め登録された内容物９００の情報と撮像された画像とを比較し、内容物９００の位置および方向など、アーム３４１およびロボットハンド３４２の制御に必要な情報を特定する。また、取得部３４０は、特定された情報を基に、アーム３４１の動作およびロボットハンド３４２の開閉動作または吸着動作を制御し、内容物９００を取得する。取得部３４０は、取得した内容物９００を、第２の搬送部４００－２上のコンテナ１０００内に移載する。取得部３４０は、上記動作を繰り返し、梱包箱７００内の全ての内容物９００を取得し、または移載することができる。 The acquisition unit 340 can determine the content 900 based on the image captured by the image pickup device provided in the housing 310. That is, the acquisition unit 340 compares the information of the content 900 registered in advance with the captured image, and identifies the information necessary for controlling the arm 341 and the robot hand 342, such as the position and direction of the content 900. .. Further, the acquisition unit 340 controls the operation of the arm 341 and the opening / closing operation or the suction operation of the robot hand 342 based on the specified information, and acquires the content 900. The acquisition unit 340 transfers the acquired contents 900 into the container 1000 on the second transfer unit 400-2. The acquisition unit 340 can acquire or transfer all the contents 900 in the packing box 700 by repeating the above operation.
　図１４および図１５に示す取得部３４０は、いわゆる多関節ロボットであり、ロボットハンド３４２は、吸着型ロボットハンドであってもよく、開閉把持型ロボットハンドであってもよい。吸着型ロボットハンドは、吸着パッドを含み、吸着により、内容物９００を取得することができる。そのため、取得部３４０のアームの動作が単純となり、内容物９００を取得するタクトを短縮することができる。一方、開閉把持型ロボットハンドは、複数の把持部により、内容物９００を挟むように把持することができる。そのため、内容物９００の形状が複雑な場合であっても、内容物９００を取得することができる。但し、取得部３４０の構成は多関節ロボットに限られない。また、撮像装置は、筐体３１０だけでなく、取得部３４０のアーム３４１の先端またはロボットハンド３４２にも設けられていてもよい。 The acquisition unit 340 shown in FIGS. 14 and 15 is a so-called articulated robot, and the robot hand 342 may be a suction type robot hand or an open / close grip type robot hand. The suction type robot hand includes a suction pad, and the content 900 can be acquired by suction. Therefore, the operation of the arm of the acquisition unit 340 is simplified, and the tact for acquiring the content 900 can be shortened. On the other hand, the open / close grip type robot hand can be gripped so as to sandwich the content 900 by a plurality of grip portions. Therefore, even if the shape of the content 900 is complicated, the content 900 can be acquired. However, the configuration of the acquisition unit 340 is not limited to the articulated robot. Further, the image pickup device may be provided not only on the housing 310 but also on the tip of the arm 341 of the acquisition unit 340 or the robot hand 342.
　また、ピックアップ装置３００の筐体３１０上に、交換用部材３５０が配置されていてもよい。交換用部材３５０は、例えば、ロボットハンド３４２の交換用アタッチメントである。１つの梱包箱７００内に複数の異なる種類の内容物９００が含まれる場合、または複数の梱包箱７００のそれぞれに複数の異なる内容物９００が含まれている場合であっても、ロボットハンド３４２を交換用部材３５０と交換することにより、複数の異なる内容物９００を取得することができる。 Further, the replacement member 350 may be arranged on the housing 310 of the pickup device 300. The replacement member 350 is, for example, a replacement attachment for the robot hand 342. The robot hand 342 may contain a plurality of different types of contents 900 in one packing box 700, or a plurality of different contents 900 in each of the plurality of packing boxes 700. By exchanging with the replacement member 350, a plurality of different contents 900 can be obtained.
　ピックアップ装置３００では、駆動部３２０および吸着部３３０によって第２の構造体８００－２を取り除き、取得部３４０によって第１の構造体８００－１上の内容物９００を取得し、または移載することができる。以下では、これらの動作について説明する。 In the pickup device 300, the second structure 800-2 is removed by the drive unit 320 and the suction unit 330, and the content 900 on the first structure 800-1 is acquired or transferred by the acquisition unit 340. Can be done. These operations will be described below.
　搬送部３６０によって搬送された梱包箱７００は、ピックアップ位置で停止する。Ｘ軸アクチュエータ３２１を駆動し、吸着部３３０を梱包箱７００の上方に移動させる。また、Ｚ軸アクチュエータ３２２を駆動し、吸着部３３０を下降させる。吸着部３３０は、梱包箱７００、より具体的には第２の構造体８００－２に接触し、第２の構造体８００－２を吸着する。詳細は図示しないが、吸着部３３０は、圧力センサまたは接触センサなどのセンサを含んでいてもよい。センサを利用することで、第２の構造体８００－２の接触を検出することができる。 The packing box 700 transported by the transport unit 360 stops at the pickup position. The X-axis actuator 321 is driven to move the suction unit 330 above the packing box 700. Further, the Z-axis actuator 322 is driven to lower the suction unit 330. The suction unit 330 comes into contact with the packing box 700, more specifically, the second structure 800-2, and sucks the second structure 800-2. Although not shown in detail, the suction unit 330 may include a sensor such as a pressure sensor or a contact sensor. By using the sensor, the contact of the second structure 800-2 can be detected.
　次に、Ｚ軸アクチュエータ３２２を駆動し、吸着部３３０が第２の構造体８００－２を吸着したまま、吸着部３３０を上昇させる。このとき、Ｘ軸アクチュエータ３２１を制御し、吸着部３３０がＸ軸方向に微細に振動させるようにしてもよい。第２の構造体８００－２に微細な振動を与えることによって、内容物９００と第２の構造体８００－２との間に間隙を発生させることができるため、第２の構造体８００－２を取り外しやすくなる。梱包箱７００の第２の構造体８００－２が取り外され、第１の構造体８００－１上に内容物が露出される。続いて、駆動部３２０を駆動し、第２の構造体８００－２は、ピックアップ装置３００の出口近傍まで第２の構造体８００－２を移動させる。その後、吸着部３３０の吸着を解除し、第２の構造体８００－２を搬送部３６０上に載置する。 Next, the Z-axis actuator 322 is driven, and the suction unit 330 is raised while the suction unit 330 is sucking the second structure 800-2. At this time, the X-axis actuator 321 may be controlled so that the suction unit 330 vibrates finely in the X-axis direction. By applying a minute vibration to the second structure 800-2, a gap can be generated between the content 900 and the second structure 800-2, so that the second structure 800-2 can be generated. Is easy to remove. The second structure 800-2 of the packing box 700 is removed and the contents are exposed on the first structure 800-1. Subsequently, the drive unit 320 is driven, and the second structure 800-2 moves the second structure 800-2 to the vicinity of the outlet of the pickup device 300. After that, the adsorption of the adsorption unit 330 is released, and the second structure 800-2 is placed on the transfer unit 360.
　次に、取得部３４０により、第１の構造体８００－１上の内容物９００を取得する。取得した内容物９００は、第２の搬送部４００－２上のコンテナ１０００内に移載することができる。これにより、内容物９００は、梱包箱７００からコンテナ１０００に移載され、荷姿が変換される。なお、取得した内容物９００は、第２の搬送部４００－２上に載置され、第２の搬送部４００－２によって搬送されることもできる。 Next, the acquisition unit 340 acquires the content 900 on the first structure 800-1. The acquired contents 900 can be transferred to the container 1000 on the second transport unit 400-2. As a result, the content 900 is transferred from the packing box 700 to the container 1000, and the packaging is changed. The acquired contents 900 can be placed on the second transport unit 400-2 and transported by the second transport unit 400-2.
　全ての内容物９００が取得されると、搬送部３６０上には、第１の構造体８００－１および第２の構造体８００－２が残される。第１の構造体８００－１および第２の構造体８００－２は、搬送部３６０によって搬送され、回収部５００に落下して回収される。 When all the contents 900 are acquired, the first structure 800-1 and the second structure 800-2 are left on the transport unit 360. The first structure 800-1 and the second structure 800-2 are transported by the transport unit 360, fall to the recovery unit 500, and are recovered.
　本発明の一実施形態に係る荷姿変換システム１０のピックアップ装置３００によれば、反転された梱包箱７００から、側面７３０の切断によって分離された第２の構造体８００－２を容易に取り外し、内容物９００を容易に取得し、移載することができる。そのため、一連の荷姿変換処理を自動化することができるため、作業効率が向上する。 According to the pickup device 300 of the package conversion system 10 according to the embodiment of the present invention, the second structure 800-2 separated by cutting the side surface 730 is easily removed from the inverted packing box 700. The contents 900 can be easily acquired and transferred. Therefore, a series of package conversion processes can be automated, which improves work efficiency.
　以上、本発明の一実施形態に係る荷姿変換システム１０によれば、たとえ密に内容物９００が詰められた梱包箱７００であっても、切断された梱包箱７００から内容物９００を容易に取得し、移載することができる。したがって、一連の荷姿変換処理を自動化することができるため、作業効率が向上する。 As described above, according to the packing form conversion system 10 according to the embodiment of the present invention, even if the packing box 700 is densely packed with the contents 900, the contents 900 can be easily removed from the cut packing box 700. Can be acquired and reprinted. Therefore, a series of package change processing can be automated, and the work efficiency is improved.
＜変形例＞
　図１８～図２１を参照して、ピックアップ装置３００の変形例であるピックアップ装置３００Ａの構成について説明する。図１８および図１９は、それぞれ、本発明の一実施形態に係る荷姿変換システム１０のピックアップ装置３００Ａの正面図および上面図である。また、図２０および図２１は、本発明の一実施形態に係る荷姿変換システム１０のピックアップ装置３００Ａの部分拡大図である。具体的には、図２０は、図１８に示す部分Ａの拡大図であり、図２１は、図１８に示す部分Ｂの拡大図である。 <Modification example>
A configuration of the pickup device 300A, which is a modification of the pickup device 300, will be described with reference to FIGS. 18 to 21. 18 and 19 are a front view and a top view of the pickup device 300A of the package shape conversion system 10 according to the embodiment of the present invention, respectively. 20 and 21 are partially enlarged views of the pickup device 300A of the package conversion system 10 according to the embodiment of the present invention. Specifically, FIG. 20 is an enlarged view of a portion A shown in FIG. 18, and FIG. 21 is an enlarged view of a portion B shown in FIG.
　ピックアップ装置３００Ａは、ピックアップ装置３００の構成に、さらに、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２を含む。また、ピックアップ装置３００Ａは、ピックアップ装置３００の吸着部３３０が吸着部３３０Ａに変形されている。以下、ピックアップ装置３００Ａの構成について説明するが、ピックアップ装置３００と同様の構成については説明を省略し、主に、ピックアップ装置３００と異なる構成について説明する。 The pickup device 300A further includes a first presser unit 370A-1 and a second presser unit 370A-2 in the configuration of the pickup device 300. Further, in the pickup device 300A, the suction portion 330 of the pickup device 300 is transformed into the suction portion 330A. Hereinafter, the configuration of the pickup device 300A will be described, but the description of the same configuration as that of the pickup device 300 will be omitted, and the configuration different from that of the pickup device 300 will be mainly described.
　第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２は、筐体３１０内において、搬送部３６０を間に挟み、搬送部３６０の両側に配置されている。第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２の各々は、押え部材３７１Ａ、シリンダ３７２Ａ、およびノズル３７３Ａを含む。押え部材３７１Ａは、シリンダ３７２Ａと接続し、シリンダ３７２Ａの制御によってＹ軸方向に往復移動することができる。また、押え部材３７１Ａは、第１の構造体８００－１と当接する当接面を有する。したがって、押え部材３７１Ａは、シリンダ３７２Ａの制御によって、搬送部３６０上の第１の構造体８００－１と当接し、第１の構造体８００－１の位置を固定することができる。なお、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２のシリンダ３７２Ａは、同期されることが好ましい。シリンダ３７２Ａを同期して制御することにより、梱包箱７００の位置を固定するときに、梱包箱７００をセンタリングし、梱包箱７００のＸ軸方向に沿う中心線が常に同じ位置となるように調整することができる。 The first pressing portion 370A-1 and the second pressing portion 370A-2 are arranged on both sides of the transport portion 360 with the transport portion 360 sandwiched in the housing 310. Each of the first presser portion 370A-1 and the second presser portion 370A-2 includes a presser member 371A, a cylinder 372A, and a nozzle 373A. The pressing member 371A is connected to the cylinder 372A and can reciprocate in the Y-axis direction under the control of the cylinder 372A. Further, the pressing member 371A has a contact surface that comes into contact with the first structure 800-1. Therefore, the pressing member 371A can come into contact with the first structure 800-1 on the transport portion 360 and fix the position of the first structure 800-1 under the control of the cylinder 372A. It is preferable that the cylinders 372A of the first pressing portion 370A-1 and the second pressing portion 370A-2 are synchronized with each other. By controlling the cylinder 372A synchronously, when the position of the packing box 700 is fixed, the packing box 700 is centered and adjusted so that the center line along the X-axis direction of the packing box 700 is always in the same position. be able to.
　ノズル３７３Ａは、押え部材３７１Ａと接続し、当接面の上方に配置されている。ノズル３７３Ａの先端は、当接面よりも突出して配置されるが、ノズル３７３Ａはバネなどの付勢部材によって付勢されている。そのため、ノズル３７３Ａの先端が押圧されると、ノズル３７３Ａは押え部材３７１Ａに対してＹ軸方向に移動することができる。換言すると、ノズル３７３Ａの先端が押圧されると、ノズル３７３Ａを押え部材３７１Ａ内に収容することができる。例えば、押え部材３７１Ａが第１の構造体８００－１と当接するように移動する場合、はじめにノズル３７３Ａの先端が第１の構造体８００－１または第２の構造体８００－２と当接し、ノズル３７３Ａの先端は第１の構造体８００－１または第２の構造体８００－２から押圧される。押え部材３７１Ａをさらに移動させると、第１の構造体８００－１または第２の構造体８００－２からの押圧によって、ノズル３７３Ａの先端と押え部材３７１Ａの当接面との相対的な距離が小さくなるように、ノズル３７３Ａは、押え部材３７１Ａに対して移動し、押え部材３７１Ａ内に収容される。 The nozzle 373A is connected to the pressing member 371A and is arranged above the contact surface. The tip of the nozzle 373A is arranged so as to project from the contact surface, but the nozzle 373A is urged by an urging member such as a spring. Therefore, when the tip of the nozzle 373A is pressed, the nozzle 373A can move in the Y-axis direction with respect to the pressing member 371A. In other words, when the tip of the nozzle 373A is pressed, the nozzle 373A can be accommodated in the pressing member 371A. For example, when the pressing member 371A moves so as to come into contact with the first structure 800-1, the tip of the nozzle 373A first comes into contact with the first structure 800-1 or the second structure 800-2. The tip of the nozzle 373A is pressed from the first structure 800-1 or the second structure 800-2. When the pressing member 371A is further moved, the relative distance between the tip of the nozzle 373A and the contact surface of the pressing member 371A is reduced by the pressing from the first structure 800-1 or the second structure 800-2. The nozzle 373A moves with respect to the presser member 371A so as to be smaller, and is housed in the presser member 371A.
　押え部材３７１Ａの当接面が第１の構造体８００－１と当接するとき、ノズル３７３Ａの先端が、第１の構造体８００－１と第２の構造体８００－２との間隙、すなわち切断面に挿入されてもよい。ノズル３７３Ａは、その先端からガスを噴き出す送風部として機能することができる。そのため、ノズル３７３Ａが切断面に挿入された後、梱包箱７００内でノズル３７３Ａの先端からガスを噴き出すことによって、梱包箱７００を膨張させることができる。より具体的には、第１の構造体８００－１よりも第２の構造体８００－２の方が容積が大きいため、第２の構造体８００－２が膨張する。これにより、第２の構造体８００－２と内容物９００との間に間隙が生じやすくなり、第２の構造体８００－２を取り外しやすくなる。 When the contact surface of the presser member 371A comes into contact with the first structure 800-1, the tip of the nozzle 373A is a gap between the first structure 800-1 and the second structure 800-2, that is, a cut. It may be inserted into a surface. The nozzle 373A can function as a blower for ejecting gas from its tip. Therefore, after the nozzle 373A is inserted into the cut surface, the packing box 700 can be expanded by ejecting gas from the tip of the nozzle 373A in the packing box 700. More specifically, since the volume of the second structure 800-2 is larger than that of the first structure 800-1, the second structure 800-2 expands. As a result, a gap is likely to be generated between the second structure 800-2 and the content 900, and the second structure 800-2 can be easily removed.
　ノズル３７３Ａの先端から噴き出されるガスは、例えば、窒素または圧縮空気などであるが、これに限られない。 The gas ejected from the tip of the nozzle 373A is, for example, nitrogen or compressed air, but is not limited to this.
　ノズル３７３Ａは、複数設けられていてもよい。また、ノズル３７３Ａが切断面に挿入されるように、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２の各々がノズル３７３Ａの位置を調整できる構成を有していてもよい。 A plurality of nozzles 373A may be provided. Further, each of the first pressing portion 370A-1 and the second pressing portion 370A-2 may have a configuration in which the position of the nozzle 373A can be adjusted so that the nozzle 373A is inserted into the cut surface.
　吸着部３３０Ａは、吸着パッド３３１ａを含む吸着本体３３１および支持部材３３２に加えて、さらに、ニードル３３３Ａを含む。ニードル３３３Ａは、吸着パッド３３１ａの間に配置され、詳細は図示しないが、Ｚ軸方向に往復移動することができる。通常、ニードル３３３Ａの先端は、吸着パッド３３１ａの吸着面よりも吸着本体３３１側に位置している。一方、吸着パッド３３１ａが第２の構造体８００－２に吸着すると、ニードル３３３Ａは、その先端が吸着パッド３３１ａの吸着面から突出するように移動し、第２の構造体８００－２を突き刺し、貫通することができる。ニードル３３３Ａは、第２の構造体８００－２の第２の粘着テープ７５０－２の部分に突き刺さることが好ましく、第１の外フラップ７１１－１と第２の外フラップ７１１－２との間に突き刺さることがさらに好ましい。第１の外フラップ７１１－１と第２の外フラップとの間には間隙があるため、ニードル３３３Ａが突き刺さりやすい。そのため、ニードル３３３Ａは、吸着本体３３１の中心に配置されていることが好ましい。なお、ニードル３３３Ａは、複数設けられていてもよい。例えば、複数のニードル３３３Ａが、吸着本体３３１のＸ軸方向に沿って設けられていてもよい。 The suction unit 330A further includes a needle 333A in addition to the suction main body 331 including the suction pad 331a and the support member 332. The needle 333A is arranged between the suction pads 331a and can reciprocate in the Z-axis direction, although details are not shown. Normally, the tip of the needle 333A is located closer to the suction body 331 than the suction surface of the suction pad 331a. On the other hand, when the suction pad 331a sucks on the second structure 800-2, the needle 333A moves so that its tip protrudes from the suction surface of the suction pad 331a and pierces the second structure 800-2. Can penetrate. The needle 333A preferably pierces the portion of the second adhesive tape 750-2 of the second structure 800-2, between the first outer flap 711-1 and the second outer flap 711-2. It is even more preferable to pierce. Since there is a gap between the first outer flap 711-1 and the second outer flap, the needle 333A is easily pierced. Therefore, it is preferable that the needle 333A is arranged at the center of the suction main body 331. A plurality of needles 333A may be provided. For example, a plurality of needles 333A may be provided along the X-axis direction of the suction body 331.
　ニードル３３３Ａは、その先端からガスを噴き出す送風部として機能することができる。ニードル３３３Ａが第２の構造体８００－２を貫通した後、第２の構造体８００－２内でニードル３３３Ａの先端からガスを噴き出すことによって、第２の構造体８００－２を膨張させることができる。これにより、第２の構造体８００－２と内容物との間に間隙が生じやすくなり、第２の構造体８００－２を取り外しやすくなる。 The needle 333A can function as a blower that blows gas from its tip. After the needle 333A has penetrated the second structure 800-2, the second structure 800-2 can be expanded by ejecting gas from the tip of the needle 333A in the second structure 800-2. can. As a result, a gap is likely to be formed between the second structure 800-2 and the contents, and the second structure 800-2 can be easily removed.
　ニードル３３３Ａの先端から噴き出されるガスは、例えば、窒素または圧縮空気などであるが、これに限られない。 The gas ejected from the tip of the needle 333A is, for example, nitrogen or compressed air, but is not limited to this.
　以上、ピックアップ装置３００Ａの構成について説明したが、ピックアップ装置３００Ａでは、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２によって第１の構造体８００－１が固定されるため、第２の構造体８００－２を取り外しやすい。また、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２の各々に設けられたノズル３７３Ａは、梱包箱７００の切断面に挿入されてガスを噴き出すことができる。さらに、、吸着部３３０Ａに設けられたニードル３３３Ａは、第２の構造体８００－２を貫通し、ガスを噴き出すことができる。そのため、ピックアップ装置３００Ａは、第２の構造体８００－２を膨張させ、さらに、第２の構造体８００－２を取り外しやすくすることができる。 The configuration of the pickup device 300A has been described above. However, in the pickup device 300A, since the first structure 800-1 is fixed by the first presser portion 370A-1 and the second presser portion 370A-2, the first structure 800-1 is fixed. It is easy to remove the structure 800-2 of 2. Further, the nozzles 373A provided in each of the first pressing portion 370A-1 and the second pressing portion 370A-2 can be inserted into the cut surface of the packing box 700 to eject gas. Further, the needle 333A provided in the suction portion 330A can penetrate the second structure 800-2 and eject the gas. Therefore, the pickup device 300A can expand the second structure 800-2 and make it easier to remove the second structure 800-2.
＜第２実施形態＞
　図２２を参照して、本発明の一実施形態に係る荷姿変換システム１０を利用した、梱包箱７００の開梱から内容物９００の移載に至るまでの一連の荷姿変換処理について説明する。ここでは、荷姿変換システム１０が、切断装置１００、反転装置２００、ピックアップ装置３００Ａ、第１の搬送部４００－１、第２の搬送部４００－２、第３の搬送部４００－３、および回収部５００を含むものとして説明する。なお、以下の説明において、各構成に付した符号は、図１～図２１を参照するものとする。 <Second Embodiment>
With reference to FIG. 22, a series of package shape conversion processes from unpacking of the packing box 700 to transfer of the contents 900 using the package shape conversion system 10 according to the embodiment of the present invention will be described. .. Here, the package conversion system 10 includes a cutting device 100, a reversing device 200, a pickup device 300A, a first transport unit 400-1, a second transport unit 400-2, a third transport unit 400-3, and a third transport unit 400-3. It will be described as including the collection unit 500. In the following description, the reference numerals attached to the respective configurations will be referred to with reference to FIGS. 1 to 21.
　図２２は、本発明の一実施形態に係る荷姿変換処理を示すフローチャートである。図２２に示すように、荷姿変換システム１０を利用する荷姿変換処理は、梱包箱７００の搬入ステップ（Ｓ１００）、梱包箱７００の切断ステップ（Ｓ２００）、切断された梱包箱７００の反転ステップ（Ｓ３００）、第２の構造体８００－２の取り外しステップ（Ｓ４００）、コンテナ１０００の搬入ステップ（Ｓ５００）、内容物９００の移載ステップ（Ｓ６００）、コンテナ１０００の搬出ステップ（Ｓ７００）、ならびに第１の構造体８００－１および第２の構造体８００－２の搬出ステップ（Ｓ８００）を含む。なお、図２２に示す処理は一例であって、荷姿変換システム１０を利用した処理はこれに限定されない。 FIG. 22 is a flowchart showing a package shape conversion process according to an embodiment of the present invention. As shown in FIG. 22, the package conversion process using the package conversion system 10 includes a loading step (S100) for the packing box 700, a cutting step (S200) for the packing box 700, and a reversing step for the cut packing box 700. (S300), the removal step (S400) of the second structure 800-2, the carry-in step (S500) of the container 1000, the transfer step (S600) of the contents 900, the carry-out step (S700) of the container 1000, and the first step. The unloading step (S800) of the structure 800-1 of 1 and the unloading step 800-2 of the second structure 800-2 is included. The process shown in FIG. 22 is an example, and the process using the package conversion system 10 is not limited to this.
［１．梱包箱７００の搬入ステップ（Ｓ１００）］
　第１の搬送部４００－１上に内容物９００が収容された梱包箱７００が載置されると、第１の搬送部４００－１は、第１の搬送ローラ４１０－１を駆動し、梱包箱７００を切断装置１００に搬入する。なお、第１の搬送部４００－１上への梱包箱７００の載置は、作業者が行ってもよく、ロボットが行ってもよい。 [1. Carry-in step of packing box 700 (S100)]
When the packing box 700 containing the contents 900 is placed on the first transport section 400-1, the first transport section 400-1 drives the first transport roller 410-1 to pack the contents. The box 700 is carried into the cutting device 100. The packing box 700 may be placed on the first transport unit 400-1 by an operator or by a robot.
［２．梱包箱７００の切断ステップ（Ｓ２００）］
　切断装置１００の入口部近傍において、センサ１７０が、第１の搬送部４００－１上で搬送されている梱包箱７００の大きさおよび高さを検出する。また、切断装置１００内では、停止部１５０のシリンダ１５２を駆動し、切断装置１００の搬送面から突出するように停止部材１５１を上昇させる。切断装置１００内において、梱包箱７００は、搬送部１６０の搬送ローラ１６１によって搬送されるが、上昇した停止部材１５１と当接し、停止する。また、切断装置１００は、梱包箱７００と停止部材１５１とが当接したことをセンサなどによって検出し、搬送ローラ１６１の駆動を停止する。なお、梱包箱７００の移動が停止したことをセンサが検出し、搬送ローラ１６１の駆動を停止することもできる。 [2. Cutting step of packing box 700 (S200)]
In the vicinity of the inlet of the cutting device 100, the sensor 170 detects the size and height of the packing box 700 being transported on the first transport unit 400-1. Further, in the cutting device 100, the cylinder 152 of the stop unit 150 is driven, and the stop member 151 is raised so as to protrude from the transport surface of the cutting device 100. In the cutting device 100, the packing box 700 is conveyed by the transfer roller 161 of the transfer unit 160, but comes into contact with the raised stop member 151 and stops. Further, the cutting device 100 detects that the packing box 700 and the stop member 151 are in contact with each other by a sensor or the like, and stops the drive of the transport roller 161. The sensor can detect that the movement of the packing box 700 has stopped, and the drive of the transport roller 161 can be stopped.
　梱包箱７００が停止すると、押圧部１４０のシリンダ１４２を駆動し、押圧部材１４１が梱包箱７００を挟持するように移動する。押圧部材１４１が梱包箱７００を押圧する圧力は、センサによって検出することができ、検出値が予め設定された値になると、シリンダ１４２の駆動を停止する。これにより、梱包箱７００の位置が固定される。なお、押圧部材１４１の移動距離を、検出された梱包箱７００の大きさに基づいて決定することもできる。 When the packing box 700 is stopped, the cylinder 142 of the pressing portion 140 is driven, and the pressing member 141 moves so as to sandwich the packing box 700. The pressure at which the pressing member 141 presses the packing box 700 can be detected by the sensor, and when the detected value reaches a preset value, the driving of the cylinder 142 is stopped. As a result, the position of the packing box 700 is fixed. The moving distance of the pressing member 141 can also be determined based on the detected size of the packing box 700.
　押圧部１４０によって梱包箱７００の位置が固定された後、第１のＸ軸アクチュエータ１２１－１、第２のＸ軸アクチュエータ１２１－２、Ｙ軸アクチュエータ１２２、およびＺ軸アクチュエータを駆動し、センサ１７０によって検出された梱包箱７００の大きさおよび高さに基づき算出された切断開始位置に、切断部１３０を移動させる。なお、切断部１３０の切断開始位置への移動においては、切断部１３０に設けられたセンサ１３３によって梱包箱７００の上面７１０の辺を検出し、切断部１３０を、検出された上面７１０の辺の位置から予め設定された距離だけＺ方向に移動させることもできる。 After the position of the packing box 700 is fixed by the pressing portion 140, the first X-axis actuator 121-1, the second X-axis actuator 121-2, the Y-axis actuator 122, and the Z-axis actuator are driven to drive the sensor 170. The cutting portion 130 is moved to the cutting start position calculated based on the size and height of the packing box 700 detected by. When moving the cutting portion 130 to the cutting start position, the sensor 133 provided in the cutting portion 130 detects the side of the upper surface 710 of the packing box 700, and the cutting portion 130 is the side of the detected upper surface 710. It is also possible to move in the Z direction by a preset distance from the position.
　切断開始位置において、センサ１３３が、センサ１３３と梱包箱７００の第１の側面７３０－１との距離を測定する。駆動部１２０は、予め設定された距離となるように、切断部１３０の位置を微調整する。続いて、回転刃１３１を回転させ、センサ１３３が、センサ１３３と第１の側面７３０－１との距離を測定しながら、その距離が一定になるように切断部１３０をＸ軸方向およびＹ軸方向の一方に移動させる。切断部１３０の移動距離は、検出された梱包箱７００の大きさに基づいて決定される。これにより、梱包箱７００の１つの側面７３０が切断される。 At the cutting start position, the sensor 133 measures the distance between the sensor 133 and the first side surface 730-1 of the packing box 700. The drive unit 120 finely adjusts the position of the cutting unit 130 so as to have a preset distance. Subsequently, the rotary blade 131 is rotated, and the sensor 133 measures the distance between the sensor 133 and the first side surface 730-1, and cuts the cut portion 130 in the X-axis direction and the Y-axis so that the distance becomes constant. Move in one direction. The moving distance of the cut portion 130 is determined based on the size of the detected packing box 700. As a result, one side surface 730 of the packing box 700 is cut.
　次に、センサ１３３を９０度回転し、センサと別の側面７３０との距離を測定する。続いて、上述と同様の方法によって、別の側面７３０が切断される。切断部１３０は、この動作を繰り返し、４つの側面７３０を切断する。その結果、梱包箱７００は、上面７１０を含む第１の構造体８００－１と第２の構造体８００－２とに分離される。 Next, rotate the sensor 133 by 90 degrees and measure the distance between the sensor and another side surface 730. Subsequently, another side surface 730 is cut by the same method as described above. The cutting portion 130 repeats this operation to cut the four side surfaces 730. As a result, the packing box 700 is separated into a first structure 800-1 including an upper surface 710 and a second structure 800-2.
　梱包箱７００の側面７３０の切断が完了すると、停止部１５０のシリンダ１５２を駆動し、停止部材１５１を下降させ、搬送ローラ１６１の下方に収容する。搬送部１６０の搬送ローラ１６１を駆動し、切断された梱包箱７００は、切断装置１００から反転装置２００に搬送される。 When the cutting of the side surface 730 of the packing box 700 is completed, the cylinder 152 of the stop portion 150 is driven, the stop member 151 is lowered, and the stop member 151 is housed under the transport roller 161. The packing box 700 cut by driving the transport roller 161 of the transport unit 160 is transported from the cutting device 100 to the reversing device 200.
［３．切断された梱包箱７００の反転ステップ（Ｓ３００）］
　反転装置２００内では、梱包箱７００は、第１の搬送部２６０－１の搬送ローラ２６１および第１の挟持部２４０－１の搬送ローラ２４１が駆動されることにより、反転ユニット２３０の第１の挟持部２４０－１上に搬送される。センサによって、梱包箱７００が反転ユニット２３０内に収容されたことが検出されると、第１の搬送部２６０－１の搬送ローラ２６１および第１の挟持部２４０－１の搬送ローラ２４１の各々の駆動が停止される。 [3. Inversion step of the cut packing box 700 (S300)]
In the reversing device 200, the packing box 700 is the first of the reversing unit 230 by driving the transport roller 261 of the first transport unit 260-1 and the transport roller 241 of the first holding portion 240-1. It is conveyed on the sandwiching portion 240-1. When the sensor detects that the packing box 700 is housed in the reversing unit 230, each of the transport rollers 261 of the first transport unit 260-1 and the transport rollers 241 of the first holding portion 240-1 The drive is stopped.
　次に、反転ユニット２３０の一軸アクチュエータ２５２を駆動し、梱包箱７００を挟持するように、第１の挟持部２４０－１および第２の挟持部２４０－２を移動させる。第１の挟持部２４０－１と第２の挟持部２４０－２とによる梱包箱７００の挟持の強さは、センサによって検出することができる。センサによる検出値が予め設定された値になると、一軸アクチュエータ２５２の駆動が停止される。これにより、反転ユニット２３０内の梱包箱７００の位置が固定される。 Next, the uniaxial actuator 252 of the reversing unit 230 is driven, and the first sandwiching portion 240-1 and the second sandwiching portion 240-2 are moved so as to sandwich the packing box 700. The strength of holding the packing box 700 by the first holding portion 240-1 and the second holding portion 240-2 can be detected by the sensor. When the value detected by the sensor reaches a preset value, the drive of the uniaxial actuator 252 is stopped. As a result, the position of the packing box 700 in the reversing unit 230 is fixed.
　次に、第１の挟持部２４０－１および第２の挟持部２４０－２の各々のシリンダ２４５を駆動し、吸着パッド２４４ａが搬送ローラ２４１の上端面から突出するように、吸着本体２４４を移動させる。吸着パッド２４４ａが梱包箱７００に接触し、第１の挟持部２４０－１の吸着パッド２４４ａが梱包箱７００の下面７２０（すなわち、第２の構造体８００－２）を吸着し、第２の挟持部２４０－２の吸着パッド２４４ａが梱包箱７００の上面７１０（すなわち、第１の構造体８００－１）を吸着する。 Next, the cylinders 245 of the first holding portion 240-1 and the second holding portion 240-2 are driven, and the suction main body 244 is moved so that the suction pad 244a protrudes from the upper end surface of the transfer roller 241. Let me. The suction pad 244a comes into contact with the packing box 700, and the suction pad 244a of the first holding portion 240-1 sucks the lower surface 720 (that is, the second structure 800-2) of the packing box 700 and holds the second. The suction pad 244a of the portion 240-2 sucks the upper surface 710 (that is, the first structure 800-1) of the packing box 700.
　次に、第１の昇降部２２０－１および第２の昇降部２２０－２の各々の昇降シリンダ２２２を駆動し、反転ユニット２３０を上昇させるように、回転支持体２２１を移動させる。回転支持体２２１の移動距離は、予め設定しておくことができる。 Next, the elevating cylinders 222 of the first elevating part 220-1 and the second elevating part 220-2 are driven, and the rotary support 221 is moved so as to raise the reversing unit 230. The moving distance of the rotary support 221 can be set in advance.
　次に、回転支持体２２１の回転軸２２１ａを中心に、反転ユニット２３０が１８０度回転される。これにより、梱包箱７００が反転され、第１の構造体８００－１の位置と第２の構造体８００－２の位置とが入れ替わる。すなわち、第２の構造体８００－２は、第１の構造体８００－１の上方に位置することになる。 Next, the reversing unit 230 is rotated 180 degrees around the rotation shaft 221a of the rotation support 221. As a result, the packing box 700 is inverted, and the positions of the first structure 800-1 and the positions of the second structure 800-2 are exchanged. That is, the second structure 800-2 is located above the first structure 800-1.
　次に、第１の昇降部２２０－１および第２の昇降部２２０－２の各々の昇降シリンダ２２２を駆動し、反転ユニット２３０を下降させるように、回転支持体２２１を移動させる。 Next, the elevating cylinders 222 of the first elevating part 220-1 and the second elevating part 220-2 are driven, and the rotary support 221 is moved so as to lower the reversing unit 230.
　次に、吸着パッド２４４ａの吸着を解除する。続いて、シリンダ２４５を駆動し、吸着パッド２４４ａが搬送ローラ２４１の上端面よりも下方に位置するように、吸着本体２４４を移動させる。 Next, the suction of the suction pad 244a is released. Subsequently, the cylinder 245 is driven, and the suction main body 244 is moved so that the suction pad 244a is located below the upper end surface of the transfer roller 241.
　次に、一軸アクチュエータ２５２を駆動し、第１の挟持部２４０－１と第２の挟持部２４０－２とが離れるように、第１の挟持部２４０－１および第２の挟持部２４０－２を移動させる。このとき、第１の挟持部２４０－１の搬送ローラ２４１の上端面は、第２の搬送部２６０－２の搬送ローラ２６１の上端面と略一致するようにする。 Next, the first pinching portion 240-1 and the second pinching portion 240-2 are driven so that the first pinching portion 240-1 and the second pinching portion 240-2 are separated from each other by driving the uniaxial actuator 252. To move. At this time, the upper end surface of the transport roller 241 of the first holding portion 240-1 is made to substantially coincide with the upper end surface of the transport roller 261 of the second transport portion 260-2.
　次に、第１の挟持部２４０－１の搬送ローラ２４１および第２の搬送部２６０－２の搬送ローラ２６１を駆動する。反転ユニット２３０内の反転された梱包箱７００は、搬送ローラ２４１および搬送ローラ２６１によって、反転装置２００からピックアップ装置３００Ａに搬送される。 Next, the transfer roller 241 of the first holding portion 240-1 and the transfer roller 261 of the second transfer unit 260-2 are driven. The inverted packing box 700 in the inversion unit 230 is conveyed from the inversion device 200 to the pickup device 300A by the transfer roller 241 and the transfer roller 261.
［４．第２の構造体８００－２の取り外しステップ（Ｓ４００）］
　ピックアップ装置３００Ａ内では、梱包箱７００は、搬送部３６０を駆動し、搬送ネット３６１の移動によって搬送される。ピックアップ装置３００Ａ内のピックアップ位置で、センサによって梱包箱７００が検出されると、搬送部３６０の駆動を停止する。 [4. Second Structure 800-2 Removal Step (S400)]
In the pickup device 300A, the packing box 700 drives the transport unit 360 and is transported by the movement of the transport net 361. When the packing box 700 is detected by the sensor at the pickup position in the pickup device 300A, the drive of the transport unit 360 is stopped.
　次に、第１の押え部３７０Ａ－１および第２の押え部３７０Ａ－２の各々のシリンダ３７２Ａを駆動し、押え部材３７１Ａが第１の構造体８００－１と当接するように、押え部材３７１Ａを移動させる。押え部材３７１Ａが第１の構造体８００－１を押圧する圧力は、センサによって検出することができ、検出値が予め設定された値になると、シリンダ３７２Ａの駆動を停止する。これにより、第１の構造体８００－１の位置が固定される。なお、押え部材３７１Ａの移動距離は、検出された梱包箱７００の大きさに基づいて決定することもできる。また、押え部材３７１Ａが第１の構造体８００－１に当接するとともに、付勢されたノズル３７３Ａが、第１の構造体８００－１と第２の構造体８００－２との切断面に挿入される。 Next, the cylinders 372A of each of the first pressing portion 370A-1 and the second pressing portion 370A-2 are driven so that the pressing member 371A abuts on the first structure 800-1. To move. The pressure at which the pressing member 371A presses the first structure 800-1 can be detected by the sensor, and when the detected value reaches a preset value, the driving of the cylinder 372A is stopped. As a result, the position of the first structure 800-1 is fixed. The moving distance of the pressing member 371A can also be determined based on the detected size of the packing box 700. Further, the pressing member 371A abuts on the first structure 800-1, and the urged nozzle 373A is inserted into the cut surface between the first structure 800-1 and the second structure 800-2. Will be done.
　次に、駆動部３２０のＸ軸アクチュエータ３２１を駆動し、吸着部３３０Ａの中心と梱包箱７００の下面７２０の中心（すなわち、第２の構造体８００－２の中心）とが一致するように、吸着部３３０Ａを移動させる。続いて、駆動部３２０のＺ軸アクチュエータ３２２を駆動し、吸着パッド３３１ａが第２の構造体８００－２に接触するように、吸着本体３３１を移動させる。吸着パッド３３１ａは、第２の構造体８００－２と接触し、第２の構造体８００－２を吸着する。さらに、ニードル３３３Ａの先端が第２の構造体８００－２を貫通するように、ニードル３３３Ａを移動させる。 Next, the X-axis actuator 321 of the drive unit 320 is driven so that the center of the suction unit 330A and the center of the lower surface 720 of the packing box 700 (that is, the center of the second structure 800-2) coincide with each other. The suction unit 330A is moved. Subsequently, the Z-axis actuator 322 of the drive unit 320 is driven, and the suction main body 331 is moved so that the suction pad 331a comes into contact with the second structure 800-2. The suction pad 331a comes into contact with the second structure 800-2 and sucks the second structure 800-2. Further, the needle 333A is moved so that the tip of the needle 333A penetrates the second structure 800-2.
　次に、ノズル３７３Ａの先端およびニードル３３３Ａの先端からガスを噴き出す。これにより、第２の構造体８００－２が膨張し、第２の構造体８００－２と内容物９００との間に間隙が生じる。換言すると、第２の構造体８００と内容物９００との摩擦を小さくする。 Next, gas is ejected from the tip of the nozzle 373A and the tip of the needle 333A. As a result, the second structure 800-2 expands, and a gap is created between the second structure 800-2 and the content 900. In other words, the friction between the second structure 800 and the content 900 is reduced.
　次に、ノズル３７３Ａの先端およびニードル３３３Ａの先端からガスを噴き出しながら、Ｚ軸アクチュエータ３２２を駆動し、吸着された第２の構造体８００－２を持ち上げるように、吸着部３３０Ａを移動させる。これにより、梱包箱７００から第２の構造体８００－２が取り外され、内容物９００が露出される。第２の構造体８００－２が取り外された後、ガスの噴き出しを停止してもよい。 Next, the Z-axis actuator 322 is driven while ejecting gas from the tip of the nozzle 373A and the tip of the needle 333A, and the suction portion 330A is moved so as to lift the sucked second structure 800-2. As a result, the second structure 800-2 is removed from the packing box 700, and the contents 900 are exposed. After the second structure 800-2 is removed, the gas ejection may be stopped.
　次に、Ｘ軸アクチュエータ３２１を駆動し、第２の構造体８００－２を回収部５００の方向に移動させる。続いて、Ｚ軸アクチュエータ３２２を駆動し、第２の構造体８００－２を搬送ネット３６１上に載置するように、吸着部３３０Ａを移動させる。 Next, the X-axis actuator 321 is driven to move the second structure 800-2 in the direction of the recovery unit 500. Subsequently, the Z-axis actuator 322 is driven to move the suction unit 330A so that the second structure 800-2 is placed on the transport net 361.
　次に、吸着パッド３３１ａの吸着を解除する。また、第２の構造体８００－２からニードル３３３Ａの先端を引き抜くように、ニードル３３３Ａを移動させる。続いて、Ｚ軸アクチュエータ３２２を駆動し、吸着部３３０Ａが第２の構造体８００－２から離れるように、吸着部３３０Ａを移動させる。 Next, the suction of the suction pad 331a is released. Further, the needle 333A is moved so as to pull out the tip of the needle 333A from the second structure 800-2. Subsequently, the Z-axis actuator 322 is driven to move the suction unit 330A so that the suction unit 330A is separated from the second structure 800-2.
［５．コンテナ１０００の搬入ステップ（Ｓ５００）］
　第３の搬送部４００－３上にコンテナ１０００が載置されると、第３の搬送部４００－３は、第３の搬送ローラ４１０－３を駆動し、第２の搬送部４００－２の移載位置までコンテナ１０００を搬送する。コンテナ１０００が移載位置まで搬送されると、第３の搬送ローラ４１０－３の駆動を停止する。 [5. Carry-in step of container 1000 (S500)]
When the container 1000 is placed on the third transfer unit 400-3, the third transfer unit 400-3 drives the third transfer roller 410-3, and the second transfer unit 400-2 Transport the container 1000 to the transfer position. When the container 1000 is transported to the transfer position, the drive of the third transport roller 410-3 is stopped.
［６．内容物９００の移載ステップ（Ｓ６００）］
　筐体３１０に設けられた撮像装置が、第１の構造体８００－１上の内容物９００を撮像する。取得部３４０は、撮像された画像を基に、内容物９００の位置および方向などの情報を特定する。また、取得部３４０は、特定された情報を基に、アーム３４１およびロボットハンド３４２を駆動し、内容物９００を取得する。さらに、取得部３４０は、アーム３４１およびロボットハンド３４２を駆動し、移載位置のコンテナ１０００に取得した内容物９００を収容する。 [6. Transfer step of contents 900 (S600)]
An imaging device provided in the housing 310 images the contents 900 on the first structure 800-1. The acquisition unit 340 identifies information such as the position and direction of the content 900 based on the captured image. Further, the acquisition unit 340 drives the arm 341 and the robot hand 342 based on the specified information to acquire the content 900. Further, the acquisition unit 340 drives the arm 341 and the robot hand 342, and accommodates the acquired contents 900 in the container 1000 at the transfer position.
［７．コンテナ１０００の搬出ステップ（Ｓ７００）］
　ピックアップ装置３００Ａ内の全ての内容物９００の移載が完了すると、第２の搬送部４００－２は、第２の搬送ローラ４１０－２を駆動し、所定の位置まで内容物９００が収容されたコンテナ１０００を搬送する。なお、移載位置の第２の搬送ローラ４１０－２は、それ以外の位置の第２の搬送ローラ４１０－２とは別個に制御されるため、移載位置でコンテナ１０００への内容物９００を移載しながら、既に内容物９００を収容したコンテナ１０００を搬出することができる。 [7. Carrying out step of container 1000 (S700)]
When the transfer of all the contents 900 in the pickup device 300A is completed, the second transfer unit 400-2 drives the second transfer roller 410-2, and the contents 900 are accommodated to a predetermined position. Transport the container 1000. Since the second transfer roller 410-2 at the transfer position is controlled separately from the second transfer roller 410-2 at other positions, the contents 900 to the container 1000 can be moved at the transfer position. While transferring, the container 1000 already containing the contents 900 can be carried out.
［８．第１の構造体８００－１および第２の構造体８００－２の搬出ステップ（Ｓ８００）］
　ピックアップ装置３００Ａ内の全ての内容物９００の移載が完了すると、搬送部３６０は、搬送ネット３６１を移動させ、第１の構造体８００－１および第２の構造体８００－２を回収部５００に落下させる。これにより、第１の構造体８００－１および第２の構造体８００－２は、回収部５００に集積され、回収される。搬送部３６０は、搬送ネット３６１上に第１の構造体８００－１および第２の構造体８００－２が存在していないことを検出し、搬送ネット３６１の駆動を停止してもよい。なお、搬送部３６０は、搬送ネット３６１が予め設定された距離を移動するように駆動し、停止させることもできる。 [8. Carry-out step (S800) of the first structure 800-1 and the second structure 800-2]
When the transfer of all the contents 900 in the pickup device 300A is completed, the transport unit 360 moves the transport net 361 and collects the first structure 800-1 and the second structure 800-2 in the recovery unit 500. Drop to. As a result, the first structure 800-1 and the second structure 800-2 are accumulated in the recovery unit 500 and recovered. The transport unit 360 may detect that the first structure 800-1 and the second structure 800-2 are not present on the transport net 361, and may stop driving the transport net 361. The transport unit 360 can also be driven and stopped so that the transport net 361 moves a preset distance.
　以上、本発明の一実施形態に係る荷姿変換システム１０を利用すれば、梱包箱７００を開梱するだけでなく、梱包箱７００に収容された内容物９００をコンテナ１０００に移載することができる。すなわち、内容物９００の荷姿を、梱包箱７００からコンテナ１０００に変換することができる。したがって、梱包箱７００の開梱から内容物９００の移載に至るまでの一連の荷姿変換処理を自動化することができるため、作業効率が向上する。 As described above, by using the packing form conversion system 10 according to the embodiment of the present invention, not only the packing box 700 can be unpacked, but also the contents 900 contained in the packing box 700 can be transferred to the container 1000. can. That is, the packaging of the contents 900 can be converted from the packing box 700 to the container 1000. Therefore, it is possible to automate a series of package shape conversion processes from unpacking the packing box 700 to transferring the contents 900, so that the work efficiency is improved.
　本発明の実施形態として上述した各実施形態は、相互に矛盾しない限りにおいて、適宜組み合わせて実施することができる。また、各実施形態を基にして、当業者が適宜構成要素の追加、削除もしくは設計変更を行ったものも、本発明の要旨を備えている限り、本発明の範囲に含まれる。 Each of the above-described embodiments of the present invention can be appropriately combined and implemented as long as they do not contradict each other. Further, those skilled in the art who appropriately add, delete, or change the design based on each embodiment are also included in the scope of the present invention as long as the gist of the present invention is provided.
　また、上述した各実施形態によりもたらされる作用効果とは異なる他の作用効果であっても、本明細書の記載から明らかなもの、または、当業者において容易に予測し得るものについては、当然に本発明によりもたらされるものと理解される。 In addition, even if the effects are different from the effects brought about by each of the above-described embodiments, those that are clear from the description of the present specification or those that can be easily predicted by those skilled in the art are of course. It is understood that it is brought about by the present invention.
１０：荷姿変換システム、　１００：切断装置、　１１０：筐体、　１１１：棒体、　駆動部１２０、　１２１－１：第１のＸ軸アクチュエータ、　１２１－２：第２のＸ軸アクチュエータ、　１２２：Ｙ軸アクチュエータ、　１２３：Ｚ軸アクチュエータ、　１３０：切断部、　１３１：回転刃、　１３２：支持部材、　１３３：センサ、　１４０－１：第１の押圧部、　１４０－２：第２の押圧部、　１４１：押圧部材、　１４２：シリンダ、　１５０：停止部、　１５１：停止部材、　１５２：シリンダ、　１６０：搬送部、　１６１：搬送ローラ、　１７０：センサ、　２００：反転装置、　２１０：筐体、　２１１－１：第１の空隙、　２１１－２：第２の空隙、　２１１－３：第３の空隙、　２２０－１：第１の昇降部、　２２０－２：第２の昇降部、　２２１：回転支持体２２１、　２２１ａ：回転軸、　２２１ｂ：軸受、　昇降シリンダ２２２、　２３０：反転ユニット、　２４０－１：第１の挟持部、　２４０－２：第２の挟持部、　２４１：搬送ローラ、　２４２：下面支持部材、　２４３：側面支持部材、　２４４：吸着本体、　２４４ａ：吸着パッド、　２４５：シリンダ、　２５０－１：第１の反転ユニット支持部、　２５０－２：第２の反転ユニット支持部、　２５１：反転ユニット支持部材、　２５２：一軸アクチュエータ、　２６０－１：第１の搬送部、　２６０－２：第２の搬送部、　２６１：搬送ローラ、　３００：ピックアップ装置、　３１０：筐体、　３２０：駆動部、　３２１：Ｘ軸アクチュエータ、　３２２：Ｚ軸アクチュエータ、　３３０、３３０Ａ：吸着部、　３３１：吸着本体、　３３１ａ：吸着パッド、　３３２：支持部材、３３３Ａ：ニードル、　３４０：取得部、　３４１：アーム、　３４２：ロボットハンド、　３５０：交換用部材、　３６０：搬送部、　搬送ネット：３６１、　３７０Ａ－１：第１の押え部、　３７０Ａ－２：第２の押え部、　３７１Ａ：押え部材、　３７２Ａ：シリンダ、　３７３Ａ：ノズル、４００－１：第１の搬送部、　４００－２：第２の搬送部、　４００－３：第３の搬送部、　４１０－１：第１の搬送ローラ、　４１０－２：第２の搬送ローラ、　４１０－３：第３の搬送ローラ、　４２０－１：第１の支持部材、　４２０－２：第２の支持部材、　４２０－３：第３の支持部材、　５００：回収部、　７００：梱包箱、　７１０：上面、　７１１－１：第１の外フラップ、　７１１－２：第２の外フラップ、　７１２－１：第１の内フラップ、　７１２－２：第２の内フラップ、　７２０：下面、　７３０：側面、　７３０－１：第１の側面、　７３０－２：第２の側面、　７３０－３：第３の側面、　７３０－４：第４の側面、　７５０－１：第１の粘着テープ、　７５０－２：第２の粘着テープ、　８００－１：第１の構造体、　８００－２：第２の構造体、　９００：内容物、　１０００：コンテナ 10: Package conversion system, 100: cutting device, 110: housing, 111: rod body, drive unit 120, 121-1: first X-axis actuator, 121-2: second X-axis actuator, 122: Y-axis actuator, 123: Z-axis actuator, 130: cutting part, 131: rotary blade, 132: support member, 133: sensor, 140-1: first pressing part, 140-2: second pressing part, 141 : Pressing member, 142: Cylinder, 150: Stop part, 151: Stop member, 152: Cylinder, 160: Conveying part, 161: Conveying roller, 170: Sensor, 200: Reversing device, 210: Housing, 211-1: 1st void, 211-2: 2nd void, 211-3: 3rd void, 220-1: 1st elevating part, 220-2: 2nd elevating part, 221: Rotating support 221 221a: Rotating shaft, 221b: Bearing, Lifting cylinder 222, 230: Reversing unit, 240-1: First pinching part, 240-2: Second pinching part, 241: Conveying roller, 242: Bottom support member, 243 : Side support member, 244: Suction body, 244a: Suction pad, 245: Cylinder, 250-1: First reversing unit support part, 250-2: Second reversing unit support part, 251: Reversing unit support member, 252: Uniaxial actuator, 260-1: 1st transport unit, 260-2: 2nd transport unit, 261: Conveyor roller, 300: Pickup device, 310: Housing, 320: Drive unit, 321: X-axis actuator , 322: Z-axis actuator, 330, 330A: Suction part, 331: Suction body, 331a: Suction pad, 332: Support member, 333A: Needle, 340: Acquisition part, 341: Arm, 342: Robot hand, 350: Replacement Materials, 360: Transport section, Transport net: 361, 370A-1: First presser section, 370A-2: Second presser section, 371A: Presser member, 372A: Cylinder, 373A: Nozzle, 400-1: 1st transport section, 400-2: 2nd transport section, 400-3: 3rd transport section, 410-1: 1st transport roller, 410-2: 2nd transport roller, 410-3: 3rd transfer roller, 420-1: 1st support member, 420-2: 2nd support member, 420-3: 3rd support member, 500: recovery unit, 700: packing box, 7 10: Top surface, 711-1: 1st outer flap, 711-2: 2nd outer flap, 712: 1: 1st inner flap, 712-2: 2nd inner flap, 720: Bottom surface, 730: Side, 730-1: 1st side, 730-2: 2nd side, 730-3: 3rd side, 730-4: 4th side, 750-1: 1st adhesive tape, 750- 2: Second adhesive tape, 800-1: First structure, 800-2: Second structure, 900: Contents, 1000: Container

Claims (3)

  1. 　梱包箱の上面を含む第１の構造体と前記梱包箱の下面を含む第２の構造体とに分離するように前記梱包箱の側面を切断する切断装置と、
    　前記側面が切断された前記梱包箱の前記第１の構造体の位置と前記第２の構造体の位置とを反転する反転装置と、
    　反転された前記梱包箱の前記第２の構造体を吸着する吸着部と、前記吸着部を移動させる駆動部と、前記第１の構造体と前記第２の構造体との間隙にガスを噴き出す送風部と、を備えるピックアップ装置と、を含む荷姿変換システム。     A cutting device that cuts the side surface of the packing box so as to be separated into a first structure including the upper surface of the packing box and a second structure including the lower surface of the packing box.
    An inversion device that inverts the position of the first structure and the position of the second structure of the packing box whose side surfaces are cut.
    Gas is ejected into the gap between the adsorbed portion that adsorbs the second structure of the inverted packing box, the driving portion that moves the adsorbed portion, and the first structure and the second structure. A packaging conversion system that includes a blower, a pickup device, and so on.
  2. 　前記ピックアップ装置は、さらに、前記梱包箱に収容された内容物を取得する取得部を備える請求項１に記載の荷姿変換システム。 The packaging conversion system according to claim 1, wherein the pickup device further includes an acquisition unit for acquiring the contents contained in the packing box.
  3. 　前記切断装置は、前記梱包箱の前記側面までの距離を測定するセンサを含む請求項１または請求項２に記載の荷姿変換システム。 The packaging conversion system according to claim 1 or 2, wherein the cutting device includes a sensor that measures a distance to the side surface of the packing box.
PCT/JP2021/025792 2020-10-13 2021-07-08 Packing style conversion system WO2022079959A1 (en)

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