Unloading apparatus and unloading method
According to one embodiment, an unloading apparatus includes a first sucking portion sucking an upper surface of a package, a second sucking portion sucking a side surface of the package, a first moving device moving the first sucking portion and the second sucking portion, a rotation portion rotatably connecting the first and second sucking portions to the first moving device, and a processor configured to control the first moving device. In a state in which the upper and side surfaces of the package are sucked, the processor is configured to control the first moving device to move the first moving device upward along a direction intersecting the side surface of the package sucked by the second sucking portion or a surface obtained by virtually extending the side surface.
1. An unloading apparatus comprising:
a first sucking portion that is configured to suck an upper surface of a package;
a second sucking portion that is configured to suck a side surface of the package;
a first moving device that is configured to move the first sucking portion and the second sucking portion;
a rotation portion that rotatably connects the first sucking portion and the second sucking portion to the first moving device; and
a processor that is configured to control the first moving device,
wherein from a state in which the upper surface of the package is sucked by the first sucking portion and the side surface of the package is sucked by the second sucking portion, and the package is supported from below,
the processor is configured to control the first moving device to move the first moving device upward along a direction intersecting the side surface of the package sucked by the second sucking portion or a surface obtained by virtually extending the side surface, and
the processor thereafter is configured to control the first moving device to move the first moving device to a position where the package is to be placed.
2. The unloading apparatus according to claim 1 , wherein the processor is configured to control the rotation portion so that the rotation portion is in a rotatable release state with respect to the first moving device during a period from when the package is sucked by the first sucking portion to when the package is placed on the position where the package is to be placed.
3. The unloading apparatus according to claim 1 , comprising a second moving device that is configured to move the second sucking portion in a direction approaching the side surface of the package and in a direction separating from the side surface of the package,
wherein:
the processor is configured to control the second moving device, and
the second moving device is supported by the rotation portion.
4. The unloading apparatus according to claim 1 , wherein the processor is configured to control the first moving device so that, when sucking the package and moving the first moving device upward along the direction intersecting the side surface of the package or the surface obtained by virtually extending the side surface, an end of a bottom surface of the package away from the side surface sucked by the second sucking portion is maintained in contact with the upper surface of a package under the package or a mount portion on which the package is placed.
5. The unloading apparatus according to claim 1 , wherein the processor is configured to control the first moving device to move the first moving device in a direction toward a side of the position where the package is to be placed along the direction in which the second sucking portion intersects the side surface of the package or the surface obtained by virtually extending the side surface when moving the first moving device to the position where the package is to be placed.
6. An unloading method comprising:
sucking an upper surface of a package with a first sucking portion of an unloading apparatus and sucking a side surface of the package with a second sucking portion of the unloading apparatus;
moving the upper surface and the side surface of the package upward along a direction intersecting the side surface of the package or a surface obtained by virtually extending the side surface from a state in which the upper surface of the package is sucked by the first sucking portion and the side surface of the package is sucked by the second sucking portion, and the package is supported from below; and
moving the package to a position where the package is to be placed in a state in which the upper surface of the package is sucked by the first sucking portion and the side surface of the package is sucked by the second sucking portion.
7. The unloading method according to claim 6 , wherein the first sucking portion and the second sucking portion are rotatable with respect to a first moving device that is configured to move the first sucking portion and the second sucking portion during a period from when the package is sucked by the first sucking portion and the second sucking portion to when the package is moved to the position where the package is to be placed.