JP2002047457A - Separating device for pasted member and separating method for pasted member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device, and the like, for separating a pasted member permitting efficient and easy separation of a pasted member pasted by an adhesive means such as a double-sided adhesive tape. SOLUTION: The pasted member-separating device for separating a pasted member from the surface on which it is pasted is provided with a chuck-type robot hand 1 for holding a non-pasted part of a pasted member 12, which is pasted on the surface to be pasted of a member 11 to be pasted on with a non-pasted part is formed, and a horizontal articulated robot 2 for moving the chuck-type robot hand 1 to allow it to perform a separating operation. The chuck-type robot hand 1 is provided with a chucking pawl, which has a surface coated with a coating material of a hardly sticking nature on the side contacting the self-adhesive surface of the pasted member 12 to be separated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adhesive member peeling method for peeling a soft adhesive member such as a urethane foam, a malt plain, a felt, a film, and a soft plastic, which is adhered with a double-sided adhesive tape, from a surface to be adhered. Related to the device.

[0002]

2. Description of the Related Art In recent years, the protection of the global environment has increased, and used electronic devices, household electric appliances, office equipment, etc. are not discarded as in the past, but are separated according to resource types and recycled for each resource type. Parts that have been used once are reclaimed and reused. Therefore, a process of disassembling various device products into constituent parts is performed. Among such equipment products, double-sided pressure-sensitive adhesive tapes are easy to handle and inexpensive, and thus are often used for joining mechanical parts and electric parts. However, while it is convenient to adhesively fix the parts, it is very difficult to disassemble the attached parts using this. At present, it is the situation that a worker separates each part by hand. That is, an operator turns over the end of the attached component with a nail or tweezers, grasps it again, and moves it slowly so as not to cut the double-sided tape, and peels it off. In the case of a urethane foam having a small thickness, it takes time to peel off the end portion, and the adhesive tape often breaks during the peeling. For this reason, in the stripping work, the work time varies greatly, and it is difficult to make a plan for a stable regeneration process. In addition, the work skill of the worker is also required. Further, in an image forming apparatus using an electrophotographic technique, urethane foam, malt plain,
Although porous soft parts such as felt are often used, in order to reuse such parts around the developing unit, it is essential to disassemble and separate the soft parts affixed with the double-sided adhesive tape. In particular, soft parts around the developing section are often made of thin urethane foam, which requires disassembly work by many people, and when performed manually, requires work safety, such as toner dust problems. There are also problems. In addition, Japanese Patent Application Laid-Open No. 7-21
In the related art disclosed in Japanese Patent No. 5577, a double-sided pressure-sensitive adhesive tape provided with a pressure-sensitive adhesive layer whose adhesive force is reduced by heating is provided. No mention is made of a method of peeling.

[0003]

As described above, in the above-mentioned prior art, it is very difficult to peel off the attaching member attached by an adhesive means such as a double-sided adhesive tape from the surface to be attached. There's a problem. JP-A-7-2155
Even when the double-sided pressure-sensitive adhesive tape described in JP-A-77-77 is used, there is a disadvantage that a heating means is required. Accordingly, an object of the present invention is to provide an urethane foam, a malt plain, a felt, a film, a soft plastic, and the like, which can efficiently and easily peel off a sticking member stuck by an adhesive means such as a double-sided adhesive tape. An object of the present invention is to provide a member peeling device and the like.

[0004]

According to the present invention, in order to achieve the above object, according to the first aspect of the present invention, a non-sticking portion is formed in a sticking member peeling device for peeling a sticking member from a surface to be stuck. A robot hand for gripping the non-sticking portion of the sticking member stuck to the surface to be stuck in a folded state, and moving means for moving the robot hand to perform a peeling operation. According to a second aspect of the present invention, in the first aspect of the present invention, the robot hand is a chuck-type robot hand having a chuck claw, and the chuck claw on the side that comes into contact with the adhesive surface of the sticking member to be peeled. The surface is covered with a coating material that is difficult to stick. According to a third aspect of the present invention, in the first or second aspect of the present invention, the robot hand is a chuck-type robot hand having a chuck claw, and the side of the sticking member that is peeled off does not contact the adhesive surface. The surface of the chuck pawl is processed to be uneven. According to a fourth aspect of the present invention, in the second or third aspect of the present invention, the tip of the claw of the chuck robot hand is chamfered. According to a fifth aspect of the present invention, in the second, third or fourth aspect of the present invention, the chuck type robot hand is provided with a grip sensor for detecting a grip state of the sticking member to be peeled. .
According to a sixth aspect of the present invention, in the first aspect of the present invention, a tension detecting means for detecting a tension applied to the sticking member to be peeled, and the tension member moves according to a magnitude of the tension detected by the tension detecting means. Speed correction means for changing the speed. Further, in the invention according to claim 7, in the invention according to claims 1 to 6, the moving speed is stored as the peeling condition for each type or moving path of the sticking member to be peeled, and the peeling is performed according to the stored peeling condition. Control means for performing control is provided. According to an eighth aspect of the invention, in the invention of the seventh aspect, a tension reference value and / or a minimum peeling force are further stored as a peeling condition for each type or moving path of the sticking member to be peeled. Control means for controlling peeling according to the set peeling conditions. According to the ninth aspect of the present invention, in the pasting member peeling method for peeling the pasting member from the surface to be pasted, a state in which a part of the pasting member becomes a non-pasting portion is formed, and when the pasting member is peeled, the surface to be pasted is formed. In this method, the non-sticking portion of the sticking member attached to the device is held by a robot hand, and the robot hand is moved to perform a peeling operation. In the invention according to claim 10, in the invention according to claim 9, by forming a groove at a position on one side of the attaching member on the surface to be attached, a part of the attaching member is a non-adhering portion. Was formed on the surface to be stuck. Further, in the invention according to claim 11, in the invention according to claim 9 or claim 10, when the non-sticking portion is provided at a plurality of places, and the peeling performed by gripping one non-sticking portion fails. ,
A method was adopted in which a non-sticking part different from the non-sticking part was gripped and peeled. Further, in the invention according to claim 12, in the invention according to claim 11, the tension applied to the sticking member to be peeled is detected, and when the detected tension falls below the minimum peeling force, the state is cut off. Judgment was made, and another non-sticking part was gripped and peeled off.

[0005]

According to the first aspect of the present invention, the non-sticking portion of the sticking member stuck to the surface to be stuck in a state where the non-sticking portion is formed is gripped by a robot hand. Then, the robot hand moves to perform the peeling operation. According to a second aspect of the present invention, in the first aspect of the present invention, the adhesive surface of the sticking member to be peeled off is gripped by a chuck claw whose surface is covered with a coating material of a material that does not easily adhere. In the invention according to claim 3,
In the first or second aspect of the present invention, the surface of the sticking member to be peeled away from the adhesive surface is gripped by a chuck claw whose surface is made uneven. According to a fourth aspect of the present invention, in the second or third aspect of the invention, the sticking member is gripped by a chuck claw whose tip is chamfered. According to the fifth aspect of the present invention, in the second, third, or fourth aspect of the present invention, the gripping state of the peeling-off attaching member is detected. According to a sixth aspect of the invention, in the first aspect of the invention, the tension applied to the sticking member to be peeled is detected, and the moving speed is changed according to the magnitude of the detected tension. According to the invention of claim 7, in the invention of claims 1 to 6, the moving speed is stored as the peeling condition for each type or moving path of the sticking member to be peeled, and the peeling control is performed according to the stored peeling condition. Done.

According to an eighth aspect of the present invention, in the invention of the seventh aspect, a tension reference value and / or a minimum peeling force are stored as peeling conditions for each type or moving path of the sticking member to be peeled, Stripping control is performed according to the stored stripping conditions. According to the ninth aspect of the present invention, a state is formed in which a part of the attaching member becomes a non-attaching portion at the time of attaching, and at the time of detaching the attaching member, the non-attaching portion of the attaching member attached to the surface to be attached is The robot hand is gripped, and the robot hand moves to perform a peeling operation. According to the tenth aspect of the present invention, in the ninth aspect of the invention, a part of the attaching member is a non-attaching portion by forming a groove at a position on one side of the attaching member on the surface to be attached. A state is formed on the surface to be attached. In the invention according to claim 11, in the invention according to claim 9 or claim 10, the non-sticking portion is provided at a plurality of places, and when the peeling performed by gripping one non-sticking portion ends in failure, A non-sticking part different from the non-sticking part is gripped and peeled. According to the twelfth aspect of the present invention, in the invention according to the eleventh aspect, the tension applied to the sticking member to be peeled is detected, and when the detected tension falls below the minimum peeling force, the state is determined to be broken. Then, another non-sticking part is gripped and peeled.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
An embodiment of the present invention will be described in detail. [First Embodiment] FIG. 1 is a configuration diagram of a sticking member peeling device showing a first embodiment of the present invention. As shown in the figure, a sticking member peeling device according to this embodiment includes a chuck-type robot hand (hereinafter, referred to as a robot) that grips a part of a soft sticking member 12 stuck to a member (eg, a case) 11 to be stuck. A hand 1), a four-axis (X, Y, Z, θ) horizontal articulated robot 2 for moving the robot hand 1 to a position where it is gripped or moving from the gripped position, and programs and data. A control device 3 having a memory to be stored and a CPU that operates according to its program, as a control means for controlling the gripping operation of the robot hand 1 and the movement operation of the horizontal articulated robot; and a work holding the attached member 11 A holding table 4 and the like are provided. The moving means described in claim 1 for performing the peeling operation by moving the robot hand includes the horizontal articulated robot 2 and the control device 3 in this embodiment. FIG. 2 is a diagram illustrating a configuration of the attaching member 12 and the like. As shown, the attaching member 12 is made of a soft member 15 such as urethane foam.
And a pressure-sensitive adhesive base material (double-sided pressure-sensitive adhesive tape) 16 coated with a pressure-sensitive adhesive on both sides. The member to be pasted 11 is, for example, a case formed by plastic molding, and a groove 14 is provided on the surface 13 to be pasted.
The groove 14 extends over both sides of one side of the attaching member 12 as shown in the drawing, and therefore, a part of the end of the adhesive surface of the adhesive substrate 16 is in a non-contact state, that is, a non-adhering state. Note that the area of the non-sticking portion needs to be large enough not to affect the function of the sticking member 12. FIG. 3 is a configuration diagram of the robot hand 1. The robot hand 1 is a chuck type, and has a chuck jaw (upper) 6a and a chuck jaw (lower).
6b, these opening and closing operations ((a) are in the open state,
((B) is a closed state), the sticking member 12 is gripped or released. As shown in FIG. 3, the tips of the chuck claws 6a and 6b of the robot hand 1 are bent.
This makes it difficult for the adhered member 11 and the robot hand 1 to interfere with each other. The chuck pawl (lower) 6b is
The size is such that it can be inserted into the gap in the groove 14 below the attaching member 12 attached to the member 11 to be attached. In addition, since the adhesive surface comes into contact with the gripping surface of the chuck claw (lower) 6b, a non-adhesive coating such as a fluororesin coating is applied so as to prevent sticking. Thereby, the sticking member can be easily released with a weak force when releasing the sticking member. On the other hand, the sticking member 12 does not slip even if a force is applied when the gripping surface of the chuck claw (upper) 6a is peeled off.
Non-slip processing is applied. For example, as shown in FIG. 3, it is gripped so as to bite into the soft member 15 in an uneven shape. Further, as shown in FIG. 4, during the peeling operation (FIG. 4 shows the state at the time of the peeling being completed, the adhesive surface is on the upper side, and the left and right are reversed from FIG. 2). Since a force is applied to the distal end of the chuck jaw (lower) 6b in a state where the soft attaching member 12 is bent, the edge of the distal end is chamfered. Thereby, the robot hand 1
Thus, troubles in which the attaching member 12 is broken can be reduced. In addition, a grip sensor 7 for detecting a grip state of the sticking member 12 to be peeled is provided at a tip end of the chuck claw, thereby confirming a grip state after the chuck.

FIG. 5 is a diagram showing a series of peeling operations.
The moving path and the moving speed of the robot hand 1 in this peeling operation are stored in a memory in the control device 3 for each type of the sticking member 12, and the control device 3 is programmed in advance using the stored data. The following operations are performed according to the program. (A): The robot hand 1 is opened, and the chuck claw (lower) 6b is inserted into the gap in the groove 14 below the attaching member 12 as shown by an arrow (FIG. 5 (a)). (B): Sticking member 12 with robot hand 1 closed
(FIG. 5B). (C): The robot hand 1 is moved obliquely upward as indicated by an arrow according to the stored movement path. Then, the grip state is confirmed by the grip sensor 7 (FIG. 5).
(C)). (D): The robot hand 1 is moved in a substantially horizontal direction, and the sticking member 12 is peeled off. At this time, it moves while maintaining a low height so that the peeled portion is as acute as possible (FIG. 5D). (E): When the peeling is completed, the robot hand 1 is raised (not shown), moved to the collecting means, the chuck is opened, and the sticking member 12 is released. Thus, according to this embodiment, the attached member can be easily grasped and efficiently and easily peeled off. Further, since the surface of the chuck claw on the side that comes into contact with the adhesive surface of the sticking member to be peeled is coated with a material that does not easily stick, the sticking member can be easily released. In addition, since the surface of the chuck claw on the side that does not come into contact with the adhesive surface of the sticking member to be peeled is roughened, it can be securely gripped. In addition, since the tips of the claws of the robot hand are chamfered, the sticking member is less likely to be broken. In addition, since a grip sensor for detecting a gripping state of the attaching member is provided, it can be determined whether or not the attaching member is being gripped. Further, since the moving path and the moving speed are stored as the peeling condition for each type of the sticking member to be peeled, an appropriate moving path and moving speed can be selected according to the sticking member.

[Second Embodiment] FIG. 6 is a block diagram of a sticking member peeling apparatus according to a second embodiment of the present invention. As shown in the drawing, the sticking member peeling device of this embodiment comprises a horizontal articulated robot 2 of 14 axes (X, Y, Z, θ) of a chuck type robot hand and a control device, similarly to the first embodiment. 3. A work holding table 4 for a member to be stuck (for example, a case) 11 and the like, and a force sensor 21 constituting tension detecting means is further disposed between the robot hand 1 and the horizontal articulated robot 2. are doing. Then, the force sensor 21 detects three components f of the force F in each axial direction.
x, fy, fz (see FIG. 7) is detected, and the control device 3 obtains a tension T represented by the following equation using the detected values. T = F = (fx ² + fy ² + fz ² ) ^{1/2 Further} , the control device 3 operates as speed correcting means for changing the moving speed in accordance with the magnitude of the tension thus obtained. FIG. 8 shows a processing flow of the peeling speed correction processing. As shown in the drawing, first, the control device 3 sets the peeling speed (moving speed of the robot hand 1) to the standard speed (Step S).
1), while moving the robot hand 1 at that speed,
At a predetermined interval, a sampling signal indicating the pressure at that time is obtained from the force sensor 21 (step S2). Then, for each acquisition, the tension T is calculated by the arithmetic processing using the above equation (step S3), and the obtained tension value is compared with the required minimum peeling force stored in the memory in advance. (Step S4). If it is determined that the tension T is smaller than the minimum peeling force (YES in step S4), an error flag provided in a predetermined area in the memory is turned on (step S5). If it is determined (NO in step S4), it is immediately determined whether or not the tension T is greater than a reference value preset in a memory (step S6). If it is larger than the reference value (YES in step S6),
It is determined whether or not the speed set at that time has reached the upper limit value (step S7), and if not (NO in step S7), the speed increasing process is selected (step S8).
The speed is increased (step S11), and the process is repeated from step S2.

On the other hand, if it is determined in step S6 that the tension T is not larger than the reference value (NO in step S6), it is determined whether the speed set at that time has reached the lower limit value. (Step S9), if not reached (NO in Step S9), a deceleration process is selected (Step S10), and the speed is reduced (Step S1).
1) Repeat from step S2. On the other hand, step S7
If it is determined that the speed has reached the upper limit (YES in step S7) and if it is determined in step S9 that the speed has reached the lower limit (YES in step S9), the speed is changed. Repeat from step S2 without performing. Thereby, since the speed can be changed according to the tension acting on the attaching member 12,
Normal peeling can be performed efficiently and the speed can be kept within a predetermined range.
In the operation flow shown in FIG. 8, even if the tension calculated using the detected force is smaller than the minimum peeling force, the operation from step S6 is continued because the adhesive member is deteriorated due to deterioration of the adhesive. This is because the adhesive strength of the rubber may be smaller than expected. FIG. 9 shows a table in which the standard speed, the tension reference value, and the minimum peeling force are stored in association with each component name (type of the attaching member). The numerical value differs depending on the combination of the kind of the soft member and the kind of the adhesive base material. Depending on the part, there is also a thing that peels off along a complicated path, so that a plurality of path information in which one path is associated with one or a plurality of parts is stored, and a standard speed, a tension reference value, The minimum peeling force may be stored. Thereby, in this embodiment, it is possible to separate the various types of sticking members under appropriate conditions. It is possible to use a configuration in which the tension reference value and the minimum peeling force are not stored. However, it is better to store them and perform the above-described control using them to perform peeling under more appropriate conditions. Can be. Further, in this embodiment, the control device 3 can determine a break. As shown in FIG. 8, when the tension during peeling becomes equal to or less than the minimum peeling force (YES in step S4), the error flag is turned ON without stopping the ongoing peeling operation and stored (step S5). The state of the error flag is checked at the end of the peeling operation. This does not necessarily mean that the data is broken, but this makes it possible to detect the possibility.

[Third Embodiment] FIG. 10 is an explanatory view of a sticking member peeling method according to a third embodiment of the present invention. As illustrated, in this embodiment, grooves 14 are provided at a plurality of locations on the member to be affixed, thereby forming, for example, non-adhering portions at a plurality of locations (for example, both ends) of the long affixing member 12. I have. Further, the control device 3 has a retry function of re-executing the peeling operation when the peeling has failed. Normally, the peeling path (the moving direction of the robot hand) is the direction indicated by the arrow A in FIG. 11, but as shown in the second embodiment, the error flag is turned on and it is determined that the sheet is broken. In this case, for example, the non-sticking portion formed at the other end of the sticking member is gripped and peeled in the direction indicated by arrow B.
In this manner, according to this embodiment, the stuck adhesive member can be peeled again, so that the unpeeled portion is reduced. In the above description, the non-sticking part is formed on the sticking member by providing a groove on the sticking surface, but the method of forming the non-sticking part is not limited to this. For example, as shown in FIG. 12, the non-sticking portion 19 can be formed by changing the shape of the chuck of the robot hand and bending the end of the sticking member 12 in the pretreatment. In addition, the present invention is also applicable to a sticking member in which an adhesive is directly applied to a soft member in place of a double-sided adhesive tape, as long as the soft component has a property of being relatively difficult to cut. Further, the robot does not have to be a horizontal articulated robot, and the tension calculation shown in the second embodiment is
If the force sensor can measure each moment, it can be obtained from the moment.

[0012]

As described above, the following effects can be obtained by the sticking member peeling apparatus and the sticking member peeling method of the present invention. That is, in the invention of claim 1,
Since the non-sticking portion of the sticking member stuck to the sticking surface in a state where the non-sticking portion is formed is gripped by the robot hand, and the robot hand moves to perform the peeling operation, the double-sided adhesive tape The sticking member stuck by such an adhesive means can be efficiently and easily peeled off. According to the second aspect of the present invention, in the first aspect of the present invention, the adhesive surface of the sticking member to be peeled off is gripped by the chuck claws whose surface is covered with a coating material of a material that is difficult to stick. This eliminates the problem that the applied sticking member adheres to the chuck claws and becomes difficult to release. According to the third aspect of the present invention, in the first aspect or the second aspect,
In the described invention, the surface opposite to the adhesive surface of the sticking member to be peeled is gripped by the chuck claw whose surface is made uneven, so that the gripped sticking member does not shift or fall down . In the invention according to claim 4,
According to the second or third aspect of the present invention, since the attaching member is gripped by the chuck claw whose end is chamfered, the force is applied when the attaching member is bent along the tip of the chuck claw during the peeling operation. However, the situation where the sticking member is broken at that position can be avoided. Also,
According to the fifth aspect of the present invention, in the second, third, or fourth aspect of the invention, the gripping state of the sticking member to be peeled is detected, so that the gripping state can be easily and reliably confirmed. According to the invention described in claim 6, according to claim 1,
In the described invention, the tension applied to the sticking member to be peeled is detected, and the moving speed is changed according to the magnitude of the detected tension, so that the occurrence of breakage of the sticking member can be reduced. In the invention according to claim 7,
In the invention according to any one of claims 1 to 6, the moving speed is stored as the peeling condition for each type or moving path of the sticking member to be peeled, and the peeling control is performed according to the stored peeling condition. The members can be separated under appropriate conditions.

According to the invention described in claim 8, according to claim 7,
In the invention described above, a tension reference value and / or a minimum peeling force are stored as peeling conditions for each type or moving path of the sticking member to be peeled, and peeling control is performed according to the stored peeling conditions. It is possible to separate the sticking members of each type under more appropriate conditions. Further, in the invention according to claim 9, a state in which a part of the attaching member becomes a non-sticking part is formed at the time of sticking or the like, and at the time of peeling the sticking member, the non-sticking of the sticking member attached to the surface to be sticked is performed. The part is gripped by the robot hand,
Since the peeling operation is performed by moving the robot hand, the same effect as the first aspect can be obtained. In the invention according to claim 10, in the invention according to claim 9, by forming a groove at a position on one side of the attaching member on the surface to be attached, a part of the attaching member is a non-adhering portion. Is formed on the surface to be pasted,
The effect described in claim 9 can be easily realized. Further, in the invention according to claim 11, in the invention according to claim 9 or claim 10, the non-sticking portion is provided at a plurality of places, and the peeling performed by gripping one non-sticking portion has failed. Since the non-adhered portion different from the non-adhered portion is gripped and peeled, the peeling success rate of a sticky member that is easily broken, such as a long adhesive member, can be increased. According to the twelfth aspect of the invention, in the invention of the eleventh aspect, when the tension applied to the sticking member to be peeled is detected, and when the detected tension falls below the minimum peeling force, the state is broken. Since it is determined and another non-sticking part is gripped and peeled, it can be re-executed almost without any trouble only when it is necessary to re-execute.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a sticking member peeling device showing a first embodiment of the present invention.

FIGS. 2A and 2B are a plan view and a cross-sectional view of a sticking member and the like according to the sticking member peeling method according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram of a main part of the sticking member peeling device showing the first embodiment of the present invention.

FIG. 4 is another explanatory view of the main part of the sticking member peeling device showing the first embodiment of the present invention.

FIG. 5 is an operation explanatory view of the sticking member peeling device according to the first embodiment of the present invention.

FIG. 6 is a configuration diagram of a sticking member peeling device showing a second embodiment of the present invention.

FIG. 7 is an explanatory view of a main part of an attaching member peeling device showing a second embodiment of the present invention.

FIG. 8 is an operation flowchart of an attaching member peeling device according to a second embodiment of the present invention.

FIG. 9 is a data configuration diagram of a main part of an attaching member peeling device according to a second embodiment of the present invention.

FIG. 10 is an explanatory view of a sticking member peeling method according to a third embodiment of the present invention.

FIG. 11 is another explanatory view of the attaching member peeling method according to the third embodiment of the present invention.

FIG. 12 is an explanatory diagram of a sticking member peeling method showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Chuck type robot hand 2 Horizontal articulated robot 3 Control device 4 Work holding table 6 Chuck claw 7 Grasping sensor 11 Adhered member 12 Adhering member 14 Groove 15 Soft member 16 Adhesive base material 21 Force sensor

Claims (12)

[Claims] 1. A sticking member peeling device for peeling a sticking member from a sticking surface, wherein a robot hand grips the non-sticking portion of the sticking member stuck to the sticking surface in a state where the non-sticking portion is formed. Moving means for moving the robot hand to perform a peeling operation. 2. The sticking member peeling device according to claim 1, wherein the robot hand is a chuck type robot hand having a chuck claw, and the surface of the chuck claw on the side that comes into contact with the adhesive surface of the sticking member to be peeled. Characterized in that the coating member is covered with a coating material of a material which is not easily adhered. 3. The sticking member peeling device according to claim 1, wherein the robot hand is a chuck-type robot hand having chuck claws, and the robot hand on the side that does not contact the adhesive surface of the sticking member to be peeled. An attaching member peeling device, characterized in that a surface of a chuck claw is processed into irregularities. 4. The sticking member peeling device according to claim 2, wherein a tip of a nail of the chuck type robot hand is chamfered. 5. The sticking member peeling device according to claim 2, wherein the chuck type robot hand has a grip sensor for detecting a gripping state of the sticking member to be peeled. Characteristic sticking member peeling device. 6. A sticking member peeling device according to claim 1, wherein a tension detecting means for detecting a tension applied to the sticking member to be peeled, and a moving speed according to a magnitude of the tension detected by the tension detecting means. A sticking member peeling device, comprising: a speed correcting means for changing. 7. The sticking member peeling apparatus according to claim 1, wherein a moving speed is stored as a peeling condition for each type or moving path of the sticking member to be peeled, and peeling control is performed in accordance with the stored peeling condition. A sticking member peeling device comprising a control unit for performing the operation. 8. The sticking member peeling device according to claim 7, wherein a tension reference value and / or a minimum peeling force are further stored as peeling conditions for each type or moving path of the sticking member to be peeled. A sticking member peeling device comprising a control unit for performing peeling control according to a peeling condition. 9. A method of peeling a sticking member from a surface to be stuck, wherein a state in which a part of the sticking member is a non-sticking part is formed, and the sticking member is stuck to the surface to be stuck at the time of peeling the sticking member. A non-sticking portion of the sticking member being held by a robot hand, and a peeling operation performed by moving the robot hand. 10. The sticking member peeling method according to claim 9, wherein a groove is formed at a position on the surface to be stuck so as to cover one side of the sticking member, so that a part of the sticking member becomes a non-sticking portion. A method of peeling a sticking member, wherein a state is formed on a surface to be stuck. 11. The attaching member removing method according to claim 9 or 10, wherein the non-sticking portion is provided at a plurality of positions, and when the peeling performed by gripping one non-sticking portion has failed, A method for peeling a sticking member, comprising gripping and peeling off a non-sticking part different from the non-sticking part. 12. A method according to claim 11, wherein the tension applied to the adhesive member to be peeled is detected, and when the detected tension falls below the minimum peeling force, the state is determined to be broken. And a method of peeling off a sticking member, wherein another non-sticking part is gripped and peeled.