JP2023075673A - Package opening device and package opening method - Google Patents

Abstract

To provide a package opening device capable of performing a series of package opening processes by a single device.SOLUTION: Provided is a package opening device 13 that opens a box 11 in which an article is packed and takes out the article. The package opening device 13 includes a hand 31 and a movement mechanism 30 that moves a position of the hand 31. The hand 31 includes: a cutting part 42 that cuts the box 11 to separate the box 11 into a lid 11a and a box body 11b; a lid holding part 43 holding the lid 11a; a gripping part 41 that grips the box body 11b; and a hand body 40 connected to the movement mechanism 30 and arranged with the cutting part 42, the lid holding part 43, and the gripping part 41. By the movement of the hand body 40, the cutting part 42 cuts a side surface around the box 11 to separate the box 11 into the lid 11a and the box body 11b, the lid holding part 43 holds the lid 11a and removes the lid 11a from the box body 11b, the gripping part 41 grips the box body 11b storing the article, and a posture of taking out the article from the box body 11b is taken.SELECTED DRAWING: Figure 1

Description

The present invention relates to an unpacking device and an unpacking method for unpacking a box in which articles are packed and taking out the articles.

Conventionally, there is known a system for unpacking a box in which an article is packed and taking out the article, for example, as described in Patent Document 1 below.

This system consists of a cutting device that cuts the top of the box periphery and separates the lid from the box body, an inverting device that reverses the top and bottom surfaces of the box, and a lifting device that sucks the box body. and a take-out device for carrying out a step of taking out an article from the box, and each step is carried out by sequentially moving the box to each device.

Japanese Patent No. 6821227

In the above-mentioned system, the cutting device, the reversing device and the take-out device are separately provided, and the box is moved to each device in order to execute each process, so the system is large.

The problem to be solved by the present invention is to provide an unpacking device and an unpacking method that can perform a series of unpacking processes with one device.

The present invention is an unpacking device for unpacking a box in which an article is packed and taking out the article, comprising a hand and a moving mechanism for moving the position of the hand, wherein the hand moves the box. a cutting portion that cuts and separates the box into a lid and a box body; a lid holding portion that holds the lid; a gripping portion that grips the box body; a hand body on which the lid holding part and the gripping part are installed, and by movement of the hand body, the cutting part cuts the side surface around the box to divide the box into the lid and the box body. The lid holding part holds the lid and removes it from the box body, and the gripping part grips the box body in which the article is stored and takes out the article from the box body.

According to the unpacking device of the present invention, a series of unpacking processes can be performed with one device.

It is a side view of an unpacking system provided with an unpacking device showing an embodiment of the present invention. Fig. 2 is a plan view of a hand of the same unpacking device; Fig. 2 is a side view of a hand of the same unpacking device; Fig. 2 is a front view of a hand of the same unpacking device; It is a block diagram of an unpacking apparatus same as the above. The unpacking operation|movement of the unpacking apparatus same as the above is shown, (a) is a top view, (b) is a side view. The unpacking operation|movement following FIG. 6 is shown, (a) is a top view, (b) is a side view. The unpacking operation following FIG. 7 is shown in order of steps (a) and (b), and (a) and (b) are side views. The unpacking operation following FIG. 8 is shown in order of steps (a) and (b), and (a) and (b) are side views. The unpacking operation following FIG. 9 is shown in order of steps (a), (b), and (c), (a) and (b) being side views, and (c) being a plan view. The unpacking operation following FIG. 10 is shown in the order of (a), (b) and (c) steps, (a) and (b) are side views, and (c) is a plan view. The unpacking operation following FIG. 11 is shown in the order of steps (a) and (b) and step (c), where (a) is a plan view and (b) and (c) are side views. FIG. 13 is a plan view showing the unpacking operation continued from FIG. 12;

An embodiment of the present invention will be described below with reference to the drawings.

An unpacking system 10 is shown in FIG. An unpacking system 10 includes a conveying device 12 for conveying a box 11 packed with articles to a predetermined unpacking position, unpacking the box 11 conveyed by the conveying device 12, and taking out articles from the box 11. An unpacking device 13 is provided.

The box 11 is, for example, a corrugated cardboard box, and has four side surfaces of which are cylindrical. A top lid is formed in which folded flaps are secured together, for example by means of an adhesive. When the box 11 is conveyed to the unpacking device 13 by the conveying device 12 with the upper lid facing upward, the upper lid becomes the lid 11a. A portion of the box 11 including the bottom and side surfaces other than the lid 11a serves as a box body 11b. In addition, when the box 11 is conveyed to the unpacking device 13 by the conveying device 12 in a state where, for example, the bottom portion or one side portion other than the top lid portion faces upward, the bottom portion or one side portion serves as the lid 11a. .

In addition, the conveying device 12 includes a conveyor 20 that carries and conveys the packed boxes 11 sent one by one from the upstream side, a stopper 21 that stops the boxes 11 conveyed by the conveyor 20 at a predetermined unpacking position, It comprises a box detection unit 22 for detecting the box 11 stopped at the unpacking position, and a positioning mechanism 23 for positioning the position of the box 11 stopped at the unpacking position in the width direction orthogonal to the conveying direction. . A roller conveyor, for example, is used as the conveyor 20 . The positioning mechanism 23 is provided with a reference surface portion 24 (see FIG. 6A) that contacts and positions one side surface of the box 11 on one side in the width direction of the conveyor, and on the other side in the width direction, A clamp unit 25 is arranged to press the box 11 toward one side in the width direction and sandwich the box 11 between itself and the reference plane portion 24 to position and hold the box 11 .

The unpacking device 13 also includes a moving mechanism 30 and a hand 31 moved by the moving mechanism 30 .

For example, an articulated robot is used as the moving mechanism 30 . The moving mechanism 30 includes a base 34 and an articulated robot arm 35 rotatably provided on the base 34 . The robot arm 35 has a plurality of rotatable shafts and an arm distal end portion 36 to which the hand 31 is attached on the distal end side. The arm distal end portion 36 can change its orientation on the distal end side of the robot arm 35 and can rotate so as to reverse the upper and lower surfaces of the attached hand 31 . The moving mechanism 30 is installed on one side of the conveying device 12 in the width direction, and enables the hand 31 to be moved to any position within a movable range by the robot arm 35, and to move horizontally and vertically. It is possible to move in any orientation and orientation of direction and rotation direction. The movement mechanism is not limited to an articulated robot, and may be an orthogonal movement mechanism configured by three orthogonal slide axes, for example.

A hand 31 is also shown in FIGS. The hand 31 includes a hand body 40 which is a base connected to an arm tip 36 of a robot arm 35, a grasping portion 41 for grasping the side surface of the box 11, and a side upper side around the box 11, which cuts the box 11. The lid 11a and the box body 11b are separated from each other by a cutting portion 42, and an adsorption portion 43, which is a lid holding portion for holding the separated lid 11a and adsorbs the lid 11a.

In the hand 31, the gripping direction in which the gripping portion 41 grips the side surface of the box 11 is the horizontal direction. Let the other side be the 2nd surface part 31b.

The hand main body 40 is composed of an elongated frame, and has a connecting portion 46 connected to the arm distal end portion 36 at an intermediate position in the longitudinal direction on one side surface 40a in a direction intersecting the longitudinal direction. .

The gripping portion 41 is arranged so as to protrude toward the distal end side of the hand 31 from the side surface 40b opposite to the side surface 40a of the hand main body 40 on which the connecting portion 46 is arranged. The grip portion 41 includes a fixed palm 49 as a first palm fixed to the hand main body 40 and a second palm provided facing the fixed palm 49 on the hand main body 40 so as to be movable along the gripping direction. It has a movable palm 50 as.

The fixed palm 49 protrudes substantially perpendicularly from the other side surface 40b of the hand body 40 toward the distal end side of the hand 31 at one end side of the hand body 40 in the longitudinal direction. A plurality of suction pads 51 for sucking the sides of the box 11 are arranged on the surface of the fixed palm 49 facing the movable palm 50 .

The movable palm 50 protrudes substantially vertically from the other side surface 40b of the hand body 40 toward the distal end side of the hand 31 at the other end side of the hand body 40 in the longitudinal direction. The movable palm 50 is attached to a guide rail 52 attached along the longitudinal direction of the hand body 40 by a slide member 53 that slides along the guide rail 52 so as to be slidable along the grasping direction.

The movable palm 50 is slid along the grasping direction to contact and separate from the fixed palm 49 by driving a palm cylinder 54 such as an air cylinder. The palm cylinder 54 is attached to the other side surface 40 b of the hand main body 40 , and the distal end side of the rod 55 projecting from the palm cylinder 54 is connected to the movable palm 50 . The movable palm 50 has a surface facing the fixed palm 49, and a cushioning member 56 made of rubber, urethane, etc., which is in contact with the side surface of the box 11 and also serves as a non-slip is attached.

Further, the cutting portion 42 is arranged so as to protrude toward the first surface portion 31 a of the hand 31 . The cutting section 42 has a disk-shaped cutter 59 and a driving section 60 that drives the cutter 59 to rotate. The disc-shaped cutter 59 has one surface side parallel to the first surface portion 31 a of the hand 31 and is driven to rotate by the drive unit 60 about a rotation axis perpendicular to the first surface portion 31 a of the hand 31 . The drive unit 60 includes, for example, an air motor that operates with air pressure, an electric motor that operates with electricity, and the like. The drive unit 60 is supported by a mounting plate 61 attached to the hand body 40 . The position of the cutter 59 is a position closer to the fixed palm 49 on one end side than the center of the hand body 40 in the longitudinal direction, and a position protruding toward the tip side of the hand 31 beyond the other side surface 40 b of the hand body 40 . , the hand main body 40, the gripping portion 41, etc., other than the cutting portion 42, is arranged at a position protruding most from the first surface portion 31a of the hand 31. As shown in FIG.

Further, the suction portion 43 is arranged so as to protrude toward the second surface portion 31 b of the hand 31 . The suction part 43 has a suction pad 64 arranged in a direction perpendicular to the second surface part 31 b of the hand 31 , and is attached to the hand body 40 with a bracket 65 . The position of the suction portion 43 is closer to the movable palm 50 on the other end side than the center of the hand body 40 in the longitudinal direction, and is opposite to the tip side of the hand 31 from one side surface 40 a of the hand body 40 . At a position protruding to the side, it is arranged at a position protruding most from the second surface portion 31b of the hand 31 than the structure other than the suction portion 43 including the hand main body 40 and the grip portion 41 .

The hand 31 is also provided with a measuring section 67 (see FIG. 5) arranged on the hand main body 40 for measuring the distance to the upper surface of the box 11 . In the posture of the hand 31 with the first surface portion 31a facing downward, the measurement unit 67 emits the sensor light vertically downward from the first surface portion 31a of the hand 31, and the reflected light is reflected on the upper surface of the box 11. is received to measure the distance between the box 11 and the lid 11a.

5 shows a control section 70 for controlling the unpacking device 13. As shown in FIG.

The control unit 70 includes an information acquisition unit 71 , an unpacking operation plan generation unit 72 and a robot controller 73 . The information acquisition unit 71 acquires dimension information of the box 11 to be unpacked, position information of the box 11 positioned at the unpacking position, distance information measured by the measurement unit 67, and the like. The unpacking motion plan generation unit 72 generates an unpacking motion plan for unpacking the box 11 based on the information acquired by the information acquisition unit 71 . The robot controller 73 is configured to control the hand 31 and the robot arm 35 according to the unpacking motion plan generated by the unpacking motion plan generator 72 .

Then, the control unit 70 causes the first surface portion 31a of the hand 31 to face downward by the movement mechanism 30, and cuts the upper side surface of the box 11 with the cutting unit 42 arranged on the first surface portion 31a of the hand 31. a step of moving the hand 31 by the moving mechanism 30 so as to separate the box 11 into the lid 11a and the box body 11b; The second surface portion 31b is directed downward, the lid 11a is sucked by the suction portion 43 arranged on the second surface portion 31b of the hand 31, and the hand 31 is moved by the moving mechanism 30 to remove the lid 11a from the box main body 11b. a step of opening the upper side of the box body 11b; a step of gripping the box body 11b in which articles are stored by the gripping portion 41 of the hand 31; By inverting the first surface portion 31a and the second surface portion 31b so that the first surface portion 31a faces downward, the upper and lower surfaces of the box body 11b with the lid 11a removed are inverted to open the box body 11b facing downward. a step of moving the hand 31 by the moving mechanism 30 and releasing the empty box main body 11b by releasing the grip portion 41 from the hand 31; and returning to the position.

Next, the operation of unpacking the box 11 will be described.

As shown in FIGS. 6A and 6B, the conveying device 12 conveys the packed boxes 11 sent one by one from the upstream side to the unpacking position where they abut on the stopper 21 .

At this time, if the hand 31 is in a standby state, it waits at a predetermined origin position above the unpacking position where the box 11 to be unpacked is arranged. The origin position of the hand 31 is at a height at which the box 11 conveyed by the conveying device 12 can pass under the hand 31, and the distance from the lid 11a of the box 11 placed at the unpacking position is measured by the measuring unit 67. The measurement is possible, and the cutter 59 of the cutting section 42 is positioned so as to face one end in the width direction of the upstream side surface of the box 11 in the conveying direction in a plan view.

The posture of the hand 31 at the origin position is such that the first surface portion 31a of the hand 31 faces downward and the second surface portion 31b faces upward, the cutter 59 of the cutting portion 42 is arranged to protrude from the lower surface side of the hand 31, and the suction portion 43 31 is arranged so as to protrude from the upper surface side thereof. Note that the posture of the hand 31 at the origin position is not limited to such a posture, and may be another posture.

As shown in FIGS. 7A and 7B, when the box detector 22 detects the box 11 stopped at the unpacking position by the stopper 21, the clamp unit 25 moves forward, and the clamp unit 25 and the reference surface 24 move forward. Positions and holds the box 11 in the unpacked position between .

The hand 31 is lowered by the moving mechanism 30 so that the height of the cutter 59 of the cutting unit 42 is the height at which the lid 11 a of the box 11 is cut based on the dimension information of the box 11 acquired in advance. At this time, the hand 31 descends while confirming the distance from the lid 11a of the box 11 by the measuring unit 67, and the hand 31 is moved so that the height of the cutter 59 reaches the actual height for cutting the lid 11a of the box 11. descend.

As shown in FIGS. 8(a) and 8(b), the cutter 59 is rotated, and moved by the moving mechanism 30 together with the hand 31 to a position where the cutter 59 cuts off the lid 11a of the box 11 from the box body 11b. It goes around the box 11 and cuts the box 11 to separate the lid 11a and the box body 11b. The movement of the cutter 59 along the circumference of the box 11 by the moving mechanism 30 is performed based on the dimensional information of the box 11 acquired in advance.

As shown in FIG. 9( a ), after the cutter 59 cuts the box 11 , the moving mechanism 30 causes the cutter 59 and the hand 31 to move back from the position for cutting the box 11 to come off the box 11 . be raised. As shown in FIG. 9B, the hand 31 is rotated 180° by the moving mechanism 30 so that the first surface portion 31a and the second surface portion 31b of the hand 31 are reversed, and the second surface portion 31b of the hand 31 faces downward. , the suction portion 43 is arranged on the lower surface side of the hand 31 .

As shown in FIG. 10(a), the moving mechanism 30 moves the suction portion 43 together with the hand 31 to a position where the suction portion 43 contacts the substantially central portion of the lid 11a, and the suction portion 43 suctions the lid 11a. As shown in FIG. 10B, the hand 31 is lifted by the moving mechanism 30 to lift the lid 11a sucked by the sucking portion 43 from the box body 11b. As shown in FIG. 10(c), the moving mechanism 30 causes the hand 31 to move above the recovery position for recovering the lid 11a, release the adsorption by the adsorption portion 43, and release the lid 11a to the recovery position. At the collection position, for example, a collection box that is arranged on the side of the unpacking position of the conveying device 12 and stores the lid 11a, a conveyor that receives the lid 11a and conveys it toward a predetermined collection location, and the like are arranged. .

At this point, the clamp unit 25 moves backward to release the holding of the box body 11b.

As shown in FIG. 11(a), the moving mechanism 30 moves the hand 31 above the gripping position for gripping the box body 11b. As shown in FIG. 11(b), the hand 31 is lowered by the moving mechanism 30, and the fixed palm 49 and the movable palm 50 move to the height of the gripping position facing both sides of the box body 11b. At this time, the movable palm 50 has been opened and moved away from the fixed palm 49 . As shown in FIG. 11(c), the movable palm 50 moves toward the fixed palm 49, and the box body 11b containing the articles is sandwiched between the fixed palm 49 and the movable palm 50. Grasp. The box body 11 b gripped between the fixed palm 49 and the movable palm 50 is positioned closer to the distal end of the hand 31 than the outer peripheral portion of the cutter 59 of the cutting section 42 .

As shown in FIGS. 12(a) and 12(b), the moving mechanism 30 moves the hand 31 above the take-out position where the article is taken out from the box body 11b. As shown in FIG. 12(c), the hand 31 is rotated 180° by the moving mechanism 30 so that the first surface portion 31a and the second surface portion 31b of the hand 31 are reversed, and the first surface portion 31a of the hand 31 faces downward. As a result, the open face of the box body 11b with the cut lid 11a faces downward, and the movable palm 50 moves away from the fixed palm 49 while maintaining the adsorption of the box body 11b by the fixed palm 49. Then, the grip of the box body 11b is released. Then, the articles in the box main body 11b are discharged from the opening surface and taken out to the take-out position. At the take-out position, for example, a storage box that is arranged on the downstream side of the transport device 12 in the transport direction to store the taken-out article, a conveyor that receives the taken-out article and carries it toward a predetermined place, and the like are arranged. It is

As shown in FIG. 13, the moving mechanism 30 causes the hand 31 to move above the box body collection position where the box body 11b is collected, release the fixed palm 49 from being attracted, and release the box body 11b. At the box body collection position, a collection box for storing the box body 11b, a conveyor for receiving and carrying out the box body 11b, and the like are arranged. If it is possible to eject the stored items while gripping the box body 11b with the hand 31, after the articles are ejected while gripping the box body 11b in FIG. , the box body 11b may be released by releasing the grip of the hand 31 with .

Specifically, when the hand 31 is in the posture shown in FIG. 12(b), the distance between the fixed palm 49 and the movable palm 50 of the grip portion 41 is set as a first distance closer than a second distance described later, and the box body A first gripping state is set in which the article stored inside the box body 11b is gripped together with the box body 11b. In this first gripping state, the article is held in the box body 11b by the pressure applied by the gripping portion 41 until the hand 31 reaches the posture shown in FIG. 12(c). to prevent it from jumping out. Then, when the hand 31 assumes the posture of FIG. 12(c), the distance between the fixed palm 49 and the movable palm 50 is set to the second distance, which is longer than the first distance. At this second distance, only the box main body 11b is gripped by both the fixed palm 49 and the movable palm 50, or the box main body 11b is cantilevered only by the fixed palm 49, resulting in a second gripping state in which the box main body 11b is held. The pressure on the articles inside is released and the articles fall from the opening of the box body 11b.

After that, as shown in FIGS. 6A and 6B, the hand 31 is returned to the origin position by the moving mechanism 30, and the next unpacking operation is performed or waits. At this time, the hand 31 returns from the take-out position to the origin position with the first surface portion 31a of the hand 31 facing downward, and can move to the next unpacking operation.

As described above, in the unpacking device 13 of the present embodiment, the hand 31 cuts the upper side surface of the box 11 and separates the box 11 into the lid 11a and the box body 11b. Since the sucking portion 43 that sucks the lid 11a and the gripping portion 41 that grips the side surface of the box 11 are integrally provided, the box 11 can be held in the same manner as when each unpacking process is performed by separate devices. to the devices of each process in order, making use of the feature of the hand 31 whose position is moved by the moving mechanism 30, a series of unpacking processes can be performed efficiently. , can be made smaller and simpler, and the space required for installation can be reduced.

In the hand 31, the cutting portion 42 is arranged on the first surface portion 31a, which is one side of the direction intersecting the gripping direction in which the gripping portion 41 grips the box 11, and the cutting portion 42 is disposed on the second surface portion 31b, which is the other side. Since the suction portion 43 is arranged, the cutting portion 42 and the suction portion 43 can be selectively used by reversing the first surface portion 31 a and the second surface portion 31 b of the hand 31 . There is no possibility that the other will interfere with the box 11 or the like during the operation of one.

Then, the controller 70 causes the first surface portion 31a of the hand 31 to face downward by the movement mechanism 30, and the cutting portion 42 arranged on the first surface portion 31a of the hand 31 cuts the upper side surface of the box 11. a step of moving the hand 31 by the moving mechanism 30 so as to separate the box 11 into the lid 11a and the box body 11b; The second surface portion 31b is directed downward, the lid 11a is sucked by the suction portion 43 arranged on the second surface portion 31b of the hand 31, and the hand 31 is moved by the moving mechanism 30 to remove the lid 11a from the box main body 11b. a step of opening the upper side of the box body 11b; a step of gripping the box body 11b in which articles are stored by the gripping portion 41 of the hand 31; By inverting the first surface portion 31a and the second surface portion 31b so that the first surface portion 31a faces downward and moving the movable palm 50 to open, the upper and lower surfaces of the box main body 11b from which the lid 11a is removed are inverted to the lower side. A series of unpacking operations can be performed efficiently by executing the step of taking out the article from the opening of the box body 11b facing the direction.

Further, the first surface portion 31a and the second surface portion 31b of the hand 31 are reversed so that the first surface portion 31a faces downward, the article is taken out from the box body 11b, and the box body 11b is discharged at the box body recovery position. The hand 31 returns from the take-out position to the origin position with the first surface portion 31a facing downward, and can immediately shift to the next unpacking operation without reversing the hand 31 again. Therefore, the unpacking operation can be performed efficiently.

Note that the cutting portion 42 and the suction portion 43 may be arranged on the same side of the hand 31 . In this case, for example, the suction unit 43 may be supported by an advance/retreat mechanism, the suction unit 43 may be retracted when the cutting unit 42 is used, and the suction unit 43 may be advanced when the suction unit 43 is used. The suction portions 43 may be arranged separately from each other so that the other does not interfere with the box 11 or the like when one is used.

A plurality of lid holding portions may be installed on the hand main body 40, or may be configured to hold the lid 11a by gripping, for example.

Although the embodiments of the present invention and their modifications have been described above, various combinations of configurations, partial omissions, replacements, and modifications are possible.

11 Box 11a Lid 11b Box Main Body 13 Unpacking Device 30 Moving Mechanism 31 Hand 31a First Surface Part 31b Second Surface Part 40 Hand Main Body 41 Grasping Part 42 Cutting Part 43 Suction Part which is a Lid Holding Part 70 Control Part

Claims (4)

An unpacking device for unpacking a box in which an article is packed and taking out the article,
hand and
a moving mechanism for moving the position of the hand,
The hand is
a cutting section that cuts the box to separate the box into a lid and a box body;
a lid holding portion that holds the lid;
a gripping portion that grips the box body;
a hand body connected to the moving mechanism and provided with the cutting section, the lid holding section, and the gripping section;
By moving the hand body, the cutting section cuts the side surface of the box to separate the box into the lid and the box body, and the lid holding section holds the lid and separates it from the box body. unpacking device, wherein the gripping portion grips the box body in which the article is accommodated and takes out the article from the box body. In the hand main body, the cutting portion is arranged on a first surface portion, which is one side of the direction intersecting the gripping direction in which the gripping portion grips the box body, and the lid is disposed on the second surface portion, which is the other side. 2. The unpacking device according to claim 1, wherein a holding part is arranged. A control unit that controls the hand and the movement mechanism,
The control unit
With the first surface portion of the hand body facing downward, the cutting portion is moved around the side surface of the box to cut the side surface of the box, thereby separating the box into the upper lid and the lower box body. separated into
The first surface portion and the second surface portion of the hand body are reversed so that the second surface portion faces downward, the lid is held by the lid holding portion, the lid is removed from the box body, and the box body is removed. open the top,
After gripping the box body with the gripping part, the first surface part and the second surface part of the hand body are reversed so that the first surface part faces downward, thereby inverting the upper and lower surfaces of the box body. 3. The unpacking device according to claim 2, wherein the hand and the moving mechanism are controlled so that the article is taken out from the opening of the box body facing downward. A hand and a movement mechanism for moving the position of the hand are provided, and the hand is attached to a hand body connected to the movement mechanism. An unpacking device having a cutting portion arranged on the first surface portion and a lid holding portion arranged on the second surface portion on the other side unpacks the box in which the article is packed and removes the article An unpacking method for taking out,
a step of directing the first surface portion of the hand body downward and cutting the peripheral side surface of the box with the cutting portion to separate the box into an upper lid and a lower box body;
a step of inverting the first surface portion and the second surface portion of the hand body so that the second surface portion faces downward;
a step of holding the lid by the lid holding part, removing the lid from the box body by moving the hand body, and opening the upper side of the box body;
The box body in which the articles are stored is gripped by the gripping section, and the box body is moved by moving the hand body, and the first surface portion and the second surface portion of the hand body are reversed to obtain the second surface. A method of unpacking, comprising the step of turning over the top and bottom surfaces of the box body by turning one side downward, and taking out the article from the opening of the box body.

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