U.S. patent application number 13/669616 was filed with the patent office on 2013-05-23 for unpacking device and method, and unpacked content manufacturing method.
This patent application is currently assigned to KABUSHIKI KAISHA YASKAWA DENKI. The applicant listed for this patent is Kabushiki Kaisha Yaskawa Denki. Invention is credited to Kazuya GOMI.
Application Number | 20130125517 13/669616 |
Document ID | / |
Family ID | 47046395 |
Filed Date | 2013-05-23 |
United States Patent
Application |
20130125517 |
Kind Code |
A1 |
GOMI; Kazuya |
May 23, 2013 |
UNPACKING DEVICE AND METHOD, AND UNPACKED CONTENT MANUFACTURING
METHOD
Abstract
An unpacking device unpacks a package and takes out contents.
The package includes a primary package formed by packing the
contents with a primary packing material and a secondary package
formed by packing the primary package with a secondary packing
material. The secondary packing material of the secondary package
has an incision. The unpacking device includes a robot, and a
control unit for controlling the robot such that the robot takes
out the primary package through the incision of the secondary
packing material and then takes out the contents from the primary
package.
Inventors: |
GOMI; Kazuya; (Fukuoka,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Kabushiki Kaisha Yaskawa Denki; |
Fukuoka |
|
JP |
|
|
Assignee: |
KABUSHIKI KAISHA YASKAWA
DENKI
Fukuoka
JP
|
Family ID: |
47046395 |
Appl. No.: |
13/669616 |
Filed: |
November 6, 2012 |
Current U.S.
Class: |
53/492 ;
53/381.1 |
Current CPC
Class: |
B65B 2220/18 20130101;
B65B 61/005 20130101; B65B 69/0008 20130101; B65B 69/0033 20130101;
B65B 69/00 20130101 |
Class at
Publication: |
53/492 ;
53/381.1 |
International
Class: |
B65B 69/00 20060101
B65B069/00 |
Foreign Application Data
Date |
Code |
Application Number |
Nov 8, 2011 |
JP |
2011-244423 |
Claims
1. An unpacking device comprising: a robot; and a control unit
configured to control the robot such that the robot takes out a
primary package through an incision of a secondary packing material
of a secondary package and then takes out content from the primary
package, wherein the primary package is formed by packing the
content with a primary packing material, and the secondary package
is formed by packing the primary package with the secondary packing
material.
2. The device of claim 1, wherein the control unit is configured to
control the robot such that the robot takes out the primary package
through the incision of the secondary packing material by own
weight of the primary package.
3. The device of claim 1, wherein the primary packing material is a
flexible bag, and the control unit is configured to control the
robot such that the robot grips the primary packing material of the
primary package, lifts up the primary packing material and takes
out the content from the bag by own weight of the content.
4. The device of claim 3, wherein the control unit is configured to
control the robot such that, prior to taking out the content, the
robot performs a preparatory grip operation of gripping a specified
portion of the primary packing material of the primary package,
lifting up the primary package by a specified displacement amount
and releasing the primary package and a main grip operation of
gripping the specified portion or the vicinity of the specified
portion.
5. The device of claim 4, wherein the control unit is configured to
control the robot such that the robot performs an up-down operation
between the preparatory grip operation and the main grip operation
and, in the up-down operation, the robot is moved upward or
downward in a state that the robot has released the primary package
in the preparatory grip operation so that the position where the
robot grips the primary package in the main grip operation is
shifted.
6. The device of claim 1, wherein the primary packing material is a
flexible bag, the content is sealed within the primary packing
material of the primary package, and the control unit is configured
to control the robot such that the robot grips the primary packing
material of the primary package, forms an incision in the primary
packing material and takes out the content through the incision
formed in the primary packing material using the own weight of the
content.
7. The device of claim 6, wherein the control unit is configured to
control the robot such that, prior to forming the incision in the
primary packing material, the robot performs a preparatory grip
operation of gripping a specified portion of the primary packing
material of the primary package, lifting up the primary package by
a specified displacement amount and releasing the primary package
and a main grip operation of gripping the specified portion or the
vicinity of the specified portion.
8. The device of claim 7, wherein the control unit is configured to
control the robot such that the robot performs an up-down operation
between the preparatory grip operation and the main grip operation
and, in the up-down operation, the robot is moved upward or
downward in a state that the robot has released the primary package
in the preparatory grip operation so that the position where the
robot grips the primary package in the main grip operation is
shifted.
9. The device of claim 7, wherein the control unit is configured to
control the robot such that the robot ceases to operate for a
specified time while gripping the specified portion of the primary
packing material in the preparatory grip operation.
10. The device of claim 1, further comprising: a packing material
cutting unit for forming the incision in the secondary packing
material by cutting the secondary packing material of the secondary
package in a location other than a location where the primary
package is taken out by the robot and other than a location where
the content is taken out by the robot; a conveying unit for
conveying the secondary package from the packing material cutting
unit to an operation region of the robot; and a scrap removal unit
for removing scraps generated during the cutting operation from the
secondary package in a location between the packing material
cutting unit and the operation region of the robot, other than the
location where the primary package is taken out by the robot and
other than the location where the content is taken out by the
robot.
11. An unpacked content manufacturing method, comprising: forming
an incision in a secondary packing material of a secondary package;
taking out a primary package through the incision of the secondary
packing material; and taking out content from the primary package
through the use of a robot, wherein the primary package is formed
by packing the content with a primary packing material, and a
secondary package is formed by packing the primary package with the
secondary packing material.
12. An unpacking method for unpacking a package and taking out
contents, comprising: forming an incision in a secondary packing
material of a secondary package; taking out a primary package
through the incision of the secondary packing material; and taking
out content from the primary package through the use of a robot
wherein the primary package is formed by packing the content with a
primary packing material, and a secondary package is formed by
packing the primary package with the secondary packing material.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present disclosure contains subject matter related to
that disclosed in Japanese Priority Patent Application No.
2011-244423 filed with the Japan Patent Office on Nov. 8, 2011, the
entire contents of which are incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to an unpacking device and
unpacking method for unpacking a package and taking out contents,
and an article unpacked by the unpacking device and unpacking
method; and, more particularly, to a technology for restraining
scraps of a packing material from being mixed in contents when a
package is unpacked.
[0004] 2. Description of the Related Art
[0005] A material put into a production line is usually received in
a packed state. A packed material is manually unpacked by a worker
and is put into a production line. Most of unpacking works are
repeatedly performed and are automated in many cases.
[0006] Unpacking devices for taking out contents by cutting a
packing material with an edged tool are disclosed in Japanese
Patent Application Publication Nos. 2002-002638 and 2002-249116. In
the unpacking device of JP2002-002638A, contents (old newspapers)
are cut simultaneously with cutting a packing material. In the
unpacking device of JP2002-249116A, the upper wall of a box is cut
out with a slanting cutter.
SUMMARY OF THE INVENTION
[0007] In accordance with an aspect of the embodiment, there is
provided an unpacking device including: a robot; and a control unit
configured to control the robot such that the robot takes out a
primary package through an incision of a secondary packing material
of a secondary package and then takes out content from the primary
package. The primary package is formed by packing the content with
a primary packing material, and the secondary package is formed by
packing the primary package with the secondary packing
material.
[0008] In accordance with another aspect of the embodiment, there
is provided an unpacked content manufacturing method or an
unpacking method for unpacking a package and taking out contents
including: forming an incision in a secondary packing material of a
secondary package; taking out a primary package through the
incision of the secondary packing material; and taking out content
from the primary package through the use of a robot. The primary
package is formed by packing the content with a primary packing
material, and the secondary package is formed by packing the
primary package with the secondary packing material
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The objects and features of the embodiments will become
apparent from the following description of embodiments, given in
conjunction with the accompanying drawings, in which:
[0010] FIGS. 1 and 2 are views schematically showing a packing
process of a foodstuff;
[0011] FIG. 3 is a plan view showing a process layout according to
an embodiment of the present invention;
[0012] FIG. 4 is a block diagram schematically showing an unpacking
device according to the embodiment;
[0013] FIG. 5 is a view for explaining the function of a primary
taking-out control unit;
[0014] FIG. 6 is a view for explaining the function of a secondary
taking-out control unit;
[0015] FIG. 7 is a block diagram schematically showing an unpacking
device according to a first modified example of the embodiment;
[0016] FIG. 8 is a view for explaining the function of a
preparatory grip operation control unit;
[0017] FIG. 9 is a view for explaining the functions of an up-down
operation control unit and a main grip operation control unit;
[0018] FIG. 10 is a block diagram schematically showing an
unpacking device according to a second modified example of the
embodiment; and
[0019] FIG. 11 is a block diagram schematically showing an
unpacking device according to a third modified example of the
embodiment.
DESCRIPTION OF THE EMBODIMENTS
[0020] There is provided an unpacking device for taking out a
plastic bag from a package formed of an incised cardboard box,
lifting up the plastic bag and taking out contents from the plastic
bag through the use of an articulated robot.
[0021] In the present embodiment, it is supposed that a foodstuff
as a material is put into a snack food production line. A packing
state available when a foodstuff is received will be described
herein below.
[0022] FIGS. 1 and 2 are views schematically showing a packing
process of a foodstuff. As shown in FIG. 1, a foodstuff 1 as
contents (see the left view in FIG. 1) is contained in a plastic
bag 2 as a primary packing material (see the central view in FIG.
1). A taking-out mouth (bag opening) 6 is folded to form a primary
package 3 (see the right view in FIG. 1). As shown in FIG. 2, the
primary package 3 is packed into a cardboard box 4 as a secondary
packing material (see the left view in FIG. 2), thereby forming a
secondary package 5 (see the right view in FIG. 2). In this regard,
the primary packing material is a flexible bag like the plastic bag
2 and has the taking-out mouth 6. The secondary packing material is
a container like the cardboard box 4, the shape of which is kept
unchanged unless a certain level of external force is applied
thereto. In the present embodiment, an incision enough to take out
the primary package 3 therethrough can be formed in the secondary
package 5 by cutting the secondary packing material itself or the
packing tape 7 adhering to the secondary packing material through
the use of an edged tool.
[0023] FIG. 3 is a plan view showing a process layout according to
the present embodiment. Referring to FIG. 3, there are shown a dual
arm robot 10, a package conveying unit 11, a packing material
cutting unit 12, a scrap removal unit 13, a content unloading
conveyor 14, a cardboard unloading conveyor 15, a cardboard storage
device 16, a plastic bag recovery device 17 and a plastic bag
storage box 18.
[0024] The dual arm robot 10 is an articulated robot having fifteen
axes in total and is provided with two seven-axes articulated
robots which are mounted to a common shaft rotating in a
substantially horizontal direction. Then, geometric terms such as
"horizontal" in the present disclosure do not require the strict
mathematical sense. It is intended to allow an error during
implementation. The package conveying unit 11 conveys the secondary
package 5 at least from the packing material cutting unit 12 to the
operation region of the dual arm robot 10. The package conveying
unit 11 includes a package loading conveyor 19 and a cross feed
device 20.
[0025] The package loading conveyor 19 conveys the secondary
package 5 from an upstream-side unloading station to the start
point of the cross feed device 20 (see an arrow A in FIG. 3).
[0026] The packing material cutting unit 12 is a cutting device
installed in a conveying route along which the secondary package 5
is conveyed by the package loading conveyor 19. The packing
material cutting unit 12 forms an incision in the cardboard box 4
of the secondary package 5 using an edged tool or the like. In this
connection, the packing material cutting unit 12 forms an incision
in the portion of the cardboard box 4 other than the lower surface
thereof. Preferably, the packing material may be cut by the packing
material cutting unit 12 in any location other than the location
where the primary package 3 is taken out by the dual arm robot 10
and the location where the foodstuff 1 is taken out by the dual arm
robot 10. Alternatively, an incision may be formed on the lower
surface of the cardboard box 4 by the packing material cutting unit
12, and then the secondary package 5 may be rotated so that the
incision can lie at the lateral side or the upper side.
[0027] The scrap removal unit 13 is a cleaning device installed
between the packing material cutting unit 12 and the cross feed
device 20. The scrap removal unit 13 removes the scraps generated
in the packing material cutting process from the secondary package
5 by blowing the scraps away with a compressed air or by sucking
the scraps. The scraps are removed by the scrap removal unit 13 in
a location between the packing material cutting unit 12 and the
operation region of the dual arm robot 10. Preferably, the scraps
may be removed by the scrap removal unit 13 in any location other
than the location where the primary package 3 is taken out by the
dual arm robot 10 and the location where the foodstuff 1 is taken
out by the dual arm robot 10.
[0028] The cross feed device 20 conveys the secondary package 5 by
parallel-moving the secondary package 5 from the end point of the
package loading conveyor 19 to the start point of the content
unloading conveyor 14 (see an arrow B in FIG. 3).
[0029] FIG. 4 is a block diagram schematically showing an unpacking
device 100 according to the present embodiment. As shown in FIG. 4,
the unpacking device 100 includes the dual arm robot 10, a primary
taking-out control unit 110 and a secondary taking-out control unit
120. In the present embodiment, the primary taking-out control unit
110 and the secondary taking-out control unit 120 serve as a
control unit.
[0030] The primary taking-out control unit 110 and the secondary
taking-out control unit 120 control the dual arm robot 10 to unpack
a package and take out contents.
[0031] FIG. 5 is a view for explaining the function of the primary
taking-out control unit 110. As shown in FIG. 5, the primary
taking-out control unit 110 controls the dual arm robot 10 to take
out the primary package 3 through the incision 8 formed by the
packing material cutting unit 12. More specifically, the primary
taking-out control unit 110 first controls the dual arm robot 10 to
hold the cardboard box 4 of the secondary package 5 at the start
point of the content unloading conveyor 14 and can lift up the
secondary package 5 (see the upper view in FIG. 5).
[0032] Next, the primary taking-out control unit 110 controls the
dual arm robot 10 to rotate the secondary package 5 to have the
incision 8 face downward so that the primary package 3 can be taken
out through the incision 8 onto the content unloading conveyor 14
under the own weight of the primary package 3 (see the lower view
in FIG. 5). For example, if the incision 8 is formed at the upper
side of the cardboard box 4, the primary taking-out control unit
110 controls the dual arm robot 10 to rotate the secondary package
5 by 180 degrees. Moreover, the primary taking-out control unit 110
controls the dual arm robot 10 to rotate (see an arrow C in FIG. 3)
while holding the cardboard box 4 and carry the cardboard box 4
onto the cardboard unloading conveyor 15.
[0033] After the cardboard box 4 is carried by the dual arm robot
10, the cardboard unloading conveyor 15 conveys the cardboard box 4
to the cardboard storage device 16 (see an arrow D in FIG. 3). The
cardboard storage device 16 stores the cardboard box 4 conveyed by
the cardboard unloading conveyor 15.
[0034] FIG. 6 is a view for explaining the function of the
secondary taking-out control unit 120. As shown in FIG. 6, the
secondary taking-out control unit 120 controls the dual arm robot
10 to come back to the content unloading conveyor 14 and take out
the foodstuff 1 from the primary package 3. More specifically, the
secondary taking-out control unit 120 controls the dual arm robot
10 to grip the plastic bag 2 of the primary package 3 (see the left
view in FIG. 6) and lift up the plastic bag 2 so that the foodstuff
1 can be taken out through the taking-out mouth 6 onto the content
unloading conveyor 14 under the own weight of the foodstuff (see
the right view in FIG. 6).
[0035] In this regard, when the dual arm robot 10 grips the plastic
bag 2 of the primary package 3, the secondary taking-out control
unit 120 confirms the gripping position through the use of a sensor
(not shown). After the foodstuff 1 is taken out onto the content
unloading conveyor 14, the secondary taking-out control unit 120
controls the dual arm robot 10 to rotate (see an arrow C in FIG. 3)
while gripping the plastic bag 2 and carry the plastic bag 2 onto
the plastic bag recovery device 17.
[0036] When lifting up the plastic bag 2, the dual arm robot 10 may
operate at a relatively low speed until the foodstuff 1 comes out
from the plastic bag 2, so that the plastic bag should not be torn
by an operation impact. After the foodstuff 1 comes out from the
plastic bag 2, the dual arm robot 10 may operate at a relatively
high speed. In this connection, the secondary taking-out control
unit 120 can use the sensitivity of a servo motor of the dual arm
robot 10 to detect whether the foodstuff 1 has come out from the
plastic bag 2. Instead of detecting whether the foodstuff 1 has
come out from the plastic bag 2, the secondary taking-out control
unit 120 may control the dual arm robot 10 to operate by a
specified distance at a relatively low speed, and then the
secondary taking-out control unit 120 may control the dual arm
robot 10 to operate at a relatively high speed. In this regard, it
is preferred that the specified distance be substantially equal to
the length of the plastic bag 2.
[0037] The plastic bag recovery device 17 sends the plastic bag 2
to the plastic bag storage box 18 (see an arrow E in FIG. 3). The
plastic bag storage box 18 stores the plastic bag 2 sent from the
plastic bag recovery device 17. After the foodstuff 1 is taken out
by the dual arm robot 10, the content unloading conveyor 14 conveys
the foodstuff 1 to the next station (see an arrow F in FIG. 3).
[0038] In order to take out the contents (the foodstuff 1) from the
secondary package 5 using the conventional unpacking devices
disclosed in JP2002-002638A and JP2002-249116A, the secondary
packing material (the cardboard box 4) and the primary packing
material (the plastic bag 2) are simultaneously cut with an edged
tool. In that case, however, it is highly likely that the scraps of
the secondary packing material (the cardboard box 4) and the
primary packing material (the plastic bag 2) are mixed in the
contents.
[0039] On the other hand, with the unpacking device 100 and the
unpacking method according to the present embodiment, the primary
package 3 is first taken out from the secondary package 5 and then
the contents (the foodstuff 1) are taken out without having to form
an incision in the primary packing material (the plastic bag 2).
This makes it difficult for the scraps of the primary packing
material (plastic bag 2) and the secondary packing material (the
cardboard box 4) to be mixed in the contents (foodstuff 1). With
the unpacking device 100 according to the present embodiment, the
location where the incision is formed in the secondary packing
material (the cardboard box 4) differs from the location where the
primary package 3 is taken out and the location where the contents
(the foodstuff 1) are taken out. This makes it particularly
difficult for the scraps of the secondary packing material (the
cardboard box 4) to be mixed in the contents (the foodstuff 1).
FIRST MODIFIED EXAMPLE
[0040] In a first modified example of the above-described
embodiment, description will be made on in instance where an
operation for creating a grip margin is added to the unpacking
device 100 of the above-described embodiment.
[0041] In this regard, the term "operation for creating a grip
margin" means a preparatory grip operation of gripping a specified
portion of the plastic bag 2, lifting up the plastic bag 2 and
releasing the plastic bag 2.
[0042] FIG. 7 is a block diagram schematically showing an unpacking
device 200 according to the first modified example. As shown in
FIG. 7, the unpacking device 200 includes the dual arm robot 10,
the primary taking-out control unit 110 and a secondary taking-out
control unit 220. In the first modified example, the primary
taking-out control unit 110 and the secondary taking-out control
unit 220 serve as a control unit. The same components as those of
the above-described embodiment will be designated by like reference
symbols and redundant description thereof will be omitted.
[0043] Just like the secondary taking-out control unit 120 of the
unpacking device 100 of the above-described embodiment, the
secondary taking-out control unit 220 controls the dual arm robot
10 to take out the foodstuff 1 from the primary package 3. The
secondary taking-out control unit 220 differs from the secondary
taking-out control unit 120 in that the secondary taking-out
control unit 220 has an operation for creating a grip margin. The
secondary taking-out control unit 220 includes a preparatory grip
operation control unit 221, an up-down operation control unit 222
and a main grip operation control unit 223.
[0044] FIG. 8 is a view for explaining the function of the
preparatory grip operation control unit 221. The preparatory grip
operation control unit 221 controls the dual arm robot 10 to grip a
specified portion of the plastic bag 2 of the primary package 3
(see the left view in FIG. 8), lift up the primary package 3 by a
specified displacement amount (see the central view in FIG. 8) and
release the primary package 3 (see the right view in FIG. 8), prior
to taking out the foodstuff 1 from the taking-out mouth 6.
[0045] FIG. 9 is a view for explaining the functions of the up-down
operation control unit 222 and the main grip operation control unit
223. The up-down operation control unit 222 operates the dual arm
robot 10 to move upward or downward in a state that the dual arm
robot 10 has released the primary package 3 under the control of
the preparatory grip operation control unit 221. Thus the up-down
operation control unit 222 shifts the position where the dual arm
robot 10 grips the primary package 3 in a main grip operation (see
the left view in FIG. 9). In the first modified example, the
up-down operation control unit 222 operates the dual arm robot 10
to move upward by about 30 cm to 50 cm. The main grip operation
control unit 223 causes the dual arm robot 10 to grip a specified
portion of the primary package 3 or the vicinity of the specified
portion (see the right view in FIG. 9).
[0046] In the control performed by the up-down operation control
unit 222, the distance of upward movement or downward movement of
the dual arm robot 10 and the number of the preparatory grip
operations may be set by a user. For example, a screen for setting
the position of the grip margin and the number of the preparatory
grip operations may be displayed on a touch panel so as to receive
the selection of "high", "middle" and "low" options and the number
of the preparatory grip operations inputted by a user. Since the
movement distance of the dual arm robot 10 controlled by the
up-down operation control unit 222 may be zero, the secondary
taking-out control unit 220 may be configured not to include the
up-down operation control unit 222.
[0047] As described above, with the unpacking device 200 according
to the first modified example, the dual arm robot performs the
operation of creating the grip margin, whereby the amount of the
contents (the foodstuff 1) gripped during the main grip operation
can be made smaller than the amount of the contents (the foodstuff
1) gripped during the preparatory grip operation. This makes it
difficult for the contents (the foodstuff 1) to remain within the
primary packing material (the plastic bag 2) when the dual arm
robot of the unpacking device 200 grips the primary packing
material (the plastic bag 2) and takes out the contents (the
foodstuff 1) without forming an incision in the primary packing
material (the plastic bag 2).
SECOND MODIFIED EXAMPLE
[0048] In a second modified example of the above-described
embodiment, description will be made on an unpacking device in
which an articulated robot takes out a sealed plastic bag from a
package formed of an incised cardboard box, grips the plastic bag,
makes an incision in the plastic bag and takes out contents through
the incision.
[0049] In the second modified example, just like the
above-described embodiment, it is supposed that a foodstuff as a
material is put into a snack food production line. The second
modified example differs from the above-described embodiment in
terms of the foodstuff packing state. In the above-described
embodiment, a foodstuff 1 as contents is contained in the plastic
bag 2 as the primary packing material. The primary package 3 is
formed by folding the taking-out mouth 6. In the second modified
example, a primary package 23 (not shown) is formed by putting a
foodstuff 1 as contents into a plastic bag 22 (not shown) as a
primary packing material in a sealed state. As in the
above-described embodiment, a secondary package 25 (not shown) is
formed by packing the primary package 23 with a cardboard box 4 as
a secondary packing material.
[0050] The foodstuff packing state is substantially the same as the
foodstuff packing state available in the embodiment shown in FIGS.
1 and 2. The plastic bag 22 of the second modified example
corresponds to the plastic bag 2 of the above-described embodiment.
The plastic bag 22 of the second modified example differs from the
plastic bag 2 of the above-described embodiment in that the mouth
of the plastic bag 22 is closed by thermal welding. The primary
package 23 of the second modified example corresponds to the
primary package 3 of the above-described embodiment. While the
contents are not sealed in the primary package 3 of the
above-described embodiment, the contents are kept sealed in the
primary package 23 of the second modified example. The secondary
package 25 of the second modified example corresponds to the
secondary package 5 of the above-described embodiment. While the
primary package 23 is packed by the secondary package 25 of the
second modified example, the primary package 3 is packed by the
secondary package 5 of the above-described embodiment.
[0051] FIG. 10 is a block diagram schematically showing an
unpacking device 300 according to the second modified example. As
shown in FIG. 10, the unpacking device 300 includes the dual arm
robot 10, the primary taking-out control unit 110 and a secondary
taking-out control unit 320. In the second modified example, the
primary taking-out control unit 110 and the secondary taking-out
control unit 320 serve as a control unit. The same components as
those of the above-described embodiment will be designated by like
reference symbols and redundant description thereof will be
omitted.
[0052] Just like the secondary taking-out control unit 120 of the
unpacking device 100 of the above-described embodiment, the
secondary taking-out control unit 320 controls the dual arm robot
10 to can take out the foodstuff 1 from the primary package 23. The
secondary taking-out control unit 320 differs from the secondary
taking-out control unit 120 in that the secondary taking-out
control unit 320 controls the dual arm robot 10 to perform an
incising operation for making an incision in the plastic bag. The
secondary taking-out control unit 320 includes an incising
operation control unit 324.
[0053] The incising operation control unit 324 controls the dual
arm robot 10 to perform an incising operation in which the plastic
bag 22 of the primary package 23 is gripped by one robot arm of the
dual arm robot 10 and is incised by the other robot arm of the dual
arm robot 10.
[0054] As described above, with the unpacking device 300 according
to the second modified example, the dual arm robot 10 first takes
out the primary package 23 from the secondary package 25, then
makes an incision in the primary packing material (the plastic bag
2) and then takes out the contents (the foodstuff 1) from the
incision. This makes it difficult for the scraps of the primary
packing material (the plastic bag 22) and the secondary packing
material (the cardboard box 4) to be mixed in the contents (the
foodstuff
[0055] For example, if the contents are not so good for a human
body, it is undesirable to manually perform an unpacking operation.
The unpacking device 300 according to the second modified example
is very useful in this situation. In case where the contents are
not so good for a human body, the primary package 23 is formed by,
e.g., putting the contents into the primary packing material (the
plastic bag 22) in a sealed state as in the second modified
example. For example, the secondary package 25 is formed by packing
the primary package 23 with a secondary packing material stronger
than the cardboard box 4. The secondary packing material stronger
than the cardboard box 4 refers to a container, e.g., a drum can,
which is not readily deformed even if a considerable external force
is applied thereto. In case of a strong container such as a drum
can or the like, however, it is difficult to form an incision by
the cutting operation as applied to the cardboard box. For that
reason, instead of the packing material cutting unit 12, a lid
opening device for opening a lid of a container needs to be
employed in the process layout of the above-described
embodiment.
THIRD MODIFIED EXAMPLE
[0056] In a third modified example of the above-described
embodiment, description will be made on an instance where an
operation for creating a cutting margin is added to the unpacking
device 300 of the second modified example. In this regard, the term
"operation for creating a cutting margin" means a preparatory grip
operation of gripping a specified portion of the plastic bag 2,
lifting up the plastic bag 2 and releasing the plastic bag 2, just
like the grip margin creating operation of the first modified
example.
[0057] FIG. 11 is a block diagram schematically showing an
unpacking device 400 according to the third modified example. As
shown in FIG. 11, the unpacking device 400 includes a dual arm
robot 10, a primary taking-out control unit 110 and a secondary
taking-out control unit 420. In the third modified example, the
primary taking-out control unit 110 and the secondary taking-out
control unit 420 serve as a control unit. The same components as
those of the above-described embodiment, the first modified example
and the second modified example will be designated by like
reference symbols and redundant description thereof will be
omitted.
[0058] Just like the secondary taking-out control unit 320 of the
unpacking device 300 of the second modified example, the secondary
taking-out control unit 420 controls the dual arm robot 10 so that
the dual arm robot 10 can take out the foodstuff 1 from the primary
package 23. The secondary taking-out control unit 420 differs from
the secondary taking-out control unit 320 in that the secondary
taking-out control unit 420 has an operation for creating a cutting
margin. The secondary taking-out control unit 420 includes a
preparatory grip operation control unit 221, an operation pause
control unit 421, an up-down operation control unit 222, a main
grip operation control unit 223 and an incising operation control
unit 324.
[0059] The operation pause control unit 421 controls the dual arm
robot 10 so that the dual arm robot 10 can cease to operate for a
specified time while gripping a specified portion of the plastic
bag 22 under the control of the preparatory grip operation control
unit 221. In the third modified example, the specified time is
approximately several seconds or several tens of seconds.
[0060] The pause control for pausing the operation of the dual arm
robot 10 for the specified time under the control of the operation
pause control unit 421 is performed in anticipation of an effect
that the contents having a relatively small particle size, such as
flour or the like, are dropped downward so as to increase the
cutting margin. The pause control may be applied to the first
modified example. If the particle size of the contents is larger
than a specified size, it is difficult to expect the pause control
effect. This means that the operation pause control unit 421 is not
an essential element.
[0061] As described above, with the unpacking device 400 according
to the third modified example, the dual arm robot 10 performs the
operation for creating the cutting margin. This makes it possible
to restrain the contents (the foodstuff 1) from scattering when an
incision is formed in the primary packing material (the plastic bag
22).
[0062] The unpacking devices 100, 200, 300 and 400 described above
are capable of unpacking a package formed of a previously-incised
cardboard box 4. If the package conveying unit 11, the packing
material cutting unit 12 and the scrap removal unit 13 are added to
the respective unpacking devices, it becomes possible to realize an
unpacking device capable of unpacking a package formed of a
cardboard box 4 having no incision (which corresponds to the area
indicated by a broken line G in FIG. 3).
[0063] The present invention can find its application in all kinds
of unpacking devices for unpacking a package and taking out
contents. With the present invention, it is possible to perform an
unpacking operation so that the scraps of a packing material should
not be mixed in the contents. Therefore, the present invention is
very high in industrial applicability.
[0064] While the invention has been shown and described with
respect to the embodiments, it will be understood by those skilled
in the art that various changes and modification may be made
without departing from the scope of the invention as defined in the
following claims.
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