JP2004001976A

JP2004001976A - Exfoliation tool, exfoliation method, and exfoliation device

Info

Publication number: JP2004001976A
Application number: JP2002160915A
Authority: JP
Inventors: Yoichi Okamoto; 岡本　洋一; Toshiyuki Muto; 武藤　敏之; Mutsumi Yamamoto; 山本　睦
Original assignee: Ricoh Co Ltd
Current assignee: Ricoh Co Ltd
Priority date: 2002-06-03
Filing date: 2002-06-03
Publication date: 2004-01-08

Abstract

<P>PROBLEM TO BE SOLVED: To surely exfoliate adhesive parts adhered to an adhered body with a small pressing force, and heighten an exfoliating performance and an exfoliating efficiency by reducing breakage of parts to be exfoliated and remainder of an adhesive tape. <P>SOLUTION: A link arm 7 having an exfoliation pawl 6 pressed to a surface of an adhered material 1 for exfoliating an adhesive part 3 adhered to the adhered material 1 is connected with a base plate 5 via an eccentric mechanism part 8. The link arm 7 is swung by the eccentric mechanism part 8, so as to move the exfoliation pawl 6 in a loop shape. The adhesive part 3 adhered to the adhered material 1 is exfoliated by a scratching action of a tip end of the exfoliation pawl 6. When the exfoliation pawl 6 moved in a loop shape is separated from the adhered material 1, a force in a direction for pulling the adhesive material part 3 is caused to act on the adhered material 1, so as to easily exfoliate the adhesive part 3 from the adhered material 1. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
この発明は、電子機器製品や輸送機械，食品包装等をリサイクルするために、両面テープなど粘着剤で貼り付けられた発泡ウレタンなどを剥離する部品の剥離工具と剥離方法及び剥離装置に関するものである。
【０００２】
【従来の技術】
近年、地球環境保護が高まり、従来のように使用済みの電子機器、家庭電気製品、事務機器を廃棄せず、資源種類別に分別して資源別にマテリアルリサイクルしたり、一度使用した部品を再生処理して再使用するようになってきた。このリサイクルのため、各種機器や製品を構成している部品単位に分解処理が行われている。これらの各種機器や製品の部品にはステッカーや、振動の防止や封止等を目的とした軟弱部品が多く固定されている。
【０００３】
例えば電子写真方式を用いた複写機やプリンタ等の画像形成装置においては，画像を形成させる現像部周辺の部品に、トナーの漏れ防止用として、発泡ウレタンやフェルトなどの多孔性の軟弱部品に粘着層と基材及び粘着層が積層された両面粘着テープを貼り付けた粘着部品を貼り付けている。この現像部周辺の部品を再使用するためには、粘着部品の分解分別は必要不可欠となる。特に、現像部周辺の軟弱部品は、厚さの薄い発泡ウレタンが多用されている。この被着体から発泡ウレタン等を有する粘着部品を剥離するときに、例えば特開平６−９２５４４号公報や特開平７−２４７８０号公報に示すように、粘着部品を貼り付けた被着体にスクレーパを押付けて剥がしている。このスクレーパを被着体に押付けて粘着部品を剥がす場合、被着体に対するスクレーパの押付力が小さいと、スクレーパが粘着部品に乗り上げやすく、粘着部品を剥がすことが困難となる。また、剥がれたとしても剥がれる量が小さいため作業効率が低くなる。このため一回の動作ストロークで粘着部品を確実に剥がすためには、スクレーパを被着体に強い力で押し付ける必要がある。このスクレーパの押付力を大きくしすぎると、被着体に傷を付けたり、被着体が塑性変形したり破損してしまう。
【０００４】
この被着体の破損等を防止するため、スクレーパやブレードを振動させたり打撃を与えて、被着体に対する押付力を比較的小さくして粘着部品を剥離する工具が、例えば特開平８−９０４５４号公報や特表平９−５１２７２１または特開平９−７０７７４号公報に開示されている。
【０００５】
特開平８−９０４５４号公報に示された工具は、コンクリート床面に接着された樹脂系シートを剥離するものであり、超硬合金製の刃先を有する工具をロータリハンマーで断続的に駆動して刃先を被衝打面に接触させたり離したりして、緩やかな衝撃力で大きな運動エネルギを与えるようにしている。特表平９−５１２７２１号公報に示された工具は、自動車のボディに接着されたモールやエンブレムを剥がす手持ち工具であり、先端に鋭利なエッジを有する刃物を高分子材料を用いたブレード保持部で保持して工具の軽量化を図り、エアーハンマーで工具に高速で振動を与えるようにしている。また、特開平９−７０７７４号公報に示された打撃工具は部品のバリ取りなどに用いられるものであり、のみをエアダンパに取り付け、空打撃時における工具自身への衝撃をなくすようにしている。
【０００６】
【発明が解決しようとする課題】
これらの振動・打撃工具を、被着体に粘着テープなどで貼り付けられた粘着部品を剥がすのに用いた場合、振動を加えない場合に比べて比較的小さな力で被着体から粘着部品を剥がすことができる。粘着テープは接着剤と異なり剥がす際にも粘着性が残っているため、工具の刃先を単純に往復振動させた場合、工具を戻す動作の際に剥がした部品が工具刃先に付着していっしょに戻って被着体に再粘着する現象が生じる。この状態で工具刃先を被着体に押付けると、剥がした部品が被着体に再付着して剥がしの効率が低下してしまう。また、剥がした部品が被着体に対する再付着と剥がしを繰り返すため、剥がし対象部品が局部的に疲労して破断しやすくなる。さらに、被着体に粘着部品を貼り付けた粘着剤が繰返しの変形により破壊されて被着体に残りやすいという短所もある。また、剥がした部品の一部が工具の先端部に付着して工具先端部と被着体の間に入り込むと、工具が剥がす部品に乗り上げやすくなり、剥離性能を著しく損なってしまう。
【０００７】
この発明は、これらの短所を改善し、被着体に貼り付けた粘着部品を小さな押付力で確実に剥がすことができるとともに、剥がす部品の破断や粘着剤テープの残りを少なくして剥がし性能と剥がし効率を高めることができる剥離工具と剥離方法及び剥離装置を提供することを目的とするものである。
【０００８】
【課題を解決するための手段】
この発明の剥離工具は、被着体に貼り付けた部品を被着体から剥がす剥離工具であって、剥離手段と保持手段及び駆動手段を有し、剥離手段は被着体の表面に押付けられて被着体に貼り付けた部品を剥がす剥離部材を先端に有し、保持手段は剥離手段を保持し、駆動手段は、保持手段に揺動又は往復運動を与えて保持手段に取り付けた剥離手段の剥離部材の先端部をループ状に移動して、被着体に貼り付けられた部品を剥離部材先端部の引っ掻き動作で剥がすことを特徴とする。
【０００９】
前記保持手段はベースプレートと剥離手段を保持するリンクアームを有し、駆動手段は偏心機構部と回転駆動部を有し、ベースプレートは一方の端部に揺動中心軸を有し、他方の端部に偏心機構部を有し、リンクアームはベースプレートの揺動中心軸に係合するガイド溝と、ガイド溝から一定距離はなれた位置に偏心機構部との連結部とを有し、回転駆動部は偏心機構部を駆動してリンクアームの偏心機構部との連結部に回転を与えてリンクアームを、ベースプレートの揺動中心軸を中心に揺動させる。
【００１０】
また、前記偏心機構部はリンクアームの偏心機構部との連結部の回転と同期してベースプレートの揺動中心軸に回転を与えて剥離手段の剥離部材の先端部をループ状に移動しても良い。
【００１１】
さらに、保持手段に剥離手段を保持するリンクアームを複数設け、回転駆動部は複数のリンクアームに位相をずらして揺動を与え、複数の剥離手段の剥離部材の先端部を、位相をずらしてループ状に移動して被着体に交互に押付け、剥離作業中の剥離工具の振動を抑制し、剥離効率を向上させる。
【００１２】
また、前記駆動手段は駆動モータと、駆動モータの回転を偏心機構部に伝達する回転伝達手段を有し、回転伝達手段にフライホイールを設け、フライホイールの慣性によりリンクアームを揺動させる回転速度の変動を平均化防止して、剥離手段の剥離部材に加えられる負荷が変動してもリンクアームを安定して揺動させる。
【００１３】
また、保持手段は第１のビームと第２のビームを有し、第２のビームは第１のビームに対して一定角度で取り付けられ、先端部に剥離手段を保持し、駆動手段に設けた圧電素子で第１のビームと第２のビームにそれぞれ振動を与え、簡単な構成で剥離手段の剥離部材の先端部をループ状に移動するようにしても良い。
【００１４】
さらに、保持手段は、交差方向に移動自在な２組のスライダを有し、駆動手段は２組のスライダを同期させながら往復直線運動を与えて、剥離手段の剥離部材の先端部をループ状に移動しても良い。
【００１５】
また、剥離部材を表面が非粘着性を有する剥離爪で形成し、被着体に貼り付けられた部品を引っ掻き動作で確実に剥がすとともに、剥がした部品に付着している粘着剤が剥離爪に付着することを防いで剥がした部品を丸めることができる。
【００１６】
また、剥離部材は粘弾性を有する高摩擦材料で表面が凸状に形成し、剥がした部品を丸めるとともに、被着体に傷が付くことを防ぐ。
【００１７】
さらにこの、剥離手段の剥離部材取付部又は剥離部材にコンプライアンス機構を設け、ループ状に移動する剥離部材が被着体に衝突するときの衝撃力を緩和するとともに衝突したときの振動を抑制する。
【００１８】
このコンプライアンス機構は、剥離部材の押付け方向のコンプライアンス機能と剥離部材のねじり方向のコンプライアンス機能を有し、剥離部材が被着体に衝突するとき、剥離部材を被着体の表面に倣わせて被着体に密着させる。
【００１９】
この発明の剥離方法は、被着体に貼り付けた部品を被着体から剥がす剥離方法であって、被着体の表面に押付けられて被着体に貼り付けた部品を剥がす剥離部材の先端部を被着体表面に押付けて、剥離部材の先端部をループ状に回動して被着体に貼り付けた部品を剥がすことを特徴とする。
【００２０】
この発明の剥離装置は、前記剥離工具を使用したものであり、被着体固定手段と工具移動手段を有し、被着体固定手段は剥離する部品を貼り付けた被着体を保持し、工具移動手段は剥離工具を移動するとともに剥離工具の姿勢を可変し、剥離工具を被着体に押付けて剥離工具を移動しながら、被着体に貼り付けた部品を剥離することを特徴とする。
【００２１】
前記工具移動手段の剥離工具の取付部にコンプライアンス手段を有し、剥離工具を被着体に倣わせるとともに剥離工具に余分な押付力が加えられることを防ぐ。
【００２２】
また、工具移動手段の剥離工具の取付部に、被着体に貼り付けた部品の端部を検出する端部検出手段を設け、端部検出手段で剥離する部品の端部を検出して剥離工具を被着体に位置決めする。
【００２３】
さらに、工具移動手段の剥離工具の取付部に、剥離工具の被着体からの反力を検出する力検出手段を有し、力検出手段で検出した反力により剥離工具の押付力を制御する。
【００２４】
また、工具移動手段として多関節ロボットを使用し、剥離工具の姿勢や位置決めを容易にする。
【００２５】
【発明の実施の形態】
この発明の剥離工具は、例えばプラスチックケース等の被着体に両面粘着テープで貼り付けられたウレタン発泡シール部品やラベル等の粘着部品を被着体から剥離する剥離工具であり、剥離手段と保持手段及び駆動手段を有する。剥離手段は被着体の表面に押付けられて被着体に貼り付けた部品を剥がす剥離部材を先端に有し、保持手段に取り付けられて保持されている。保持手段はベースプレートと剥離手段を保持するリンクアームを有し、駆動手段は偏心機構部と回転駆動部を有する。保持手段のベースプレートは一方の端部に揺動中心軸を有し、他方の端部に偏心機構部を有する。リンクアームはベースプレートの揺動中心軸に係合するガイド溝と、ガイド溝から一定距離はなれた位置に偏心機構部との連結部とを有する。そして剥離手段の剥離部材を被着体表面に押付けた状態で偏心機構部を回転駆動部で駆動して、リンクアームの偏心機構部との連結部に回転を与え、リンクアームをベースプレートの揺動中心軸を中心に揺動させる。このリンクアームの揺動により、リンクアームに取り付けた剥離手段の剥離部材先端部をループ状に移動して、被着体に貼り付けられた部品を剥離部材先端部の引っ掻き動作により剥がして丸める。
【００２６】
【実施例】
［実施例１］　図１はこの発明の一実施例の剥離工具の構成を示す斜視図である。図に示すように、プラスチックケース等の被着体１に両面粘着テープ２で貼り付けられたウレタン発泡シール部品等の粘着部品３を被着体１から剥離する剥離工具４は、ベースプレート５と、表面が非粘着性を有する剥離爪６を先端に有するリンクアーム７と、ベースプレート５に設けられた偏心機構部８と、偏心機構部８を回転する回転駆動部９と工具保持部１０を有する。偏心機構部８は、図２の構成図に示すように、ベースプレート５に滑り軸受１１を介して回転自在に取り付けられた駆動軸１２と、駆動軸１２から一定距離を隔てて設けられた偏心軸１３を有する偏心プレート１４と、駆動軸１２に取り付けられた駆動歯車１５を有する。ベースプレート５には、偏心機構部８の駆動軸１２から一定距離だけ隔てた一方の端部に揺動中心軸１６が設けられている。リンクアーム７は、中央部にベースプレート５の揺動中心軸１６と係合するスライド溝１７が設けられ、剥離爪６と反対側の端部は滑り軸受１８を介して偏心プレート１４の偏心軸１３に回動自在に取り付けられている。回転駆動部９は、図２の構成図に示すように、ベースプレート５に取り付けられた駆動モータ２０と、一方の端部に偏心機構部８の駆動歯車１５と噛み合い回転を伝達する歯車２１を有し、他方の端部にフライホイール２２を有する回転伝達軸２３と、駆動モータ２０の回転を回転伝達軸２３に伝達する回転伝達機構２４を有する。回転伝達機構２４は、例えば駆動モータ２０の回転軸に連結されたプーリー２５と回転伝達軸２３に取り付けられたプーリー２６と、プーリー２５，２６に巻き回された回転伝達ベルト２７を有する。
【００２７】
この剥離工具４で、被着体１に貼り付けられた粘着部品３を剥離するとき、作業者は工具保持部１０を保持し、剥離爪６を被着体１の表面に押付けながら粘着部品３側に移動する。剥離爪６が粘着部品３の端部近傍まで達すると、駆動モータ２０を駆動する。この駆動モータ２０の回転出力は回転伝達機構２４から回転伝達軸２３に伝達されフライホイール２２と歯車２１を回転する。この歯車２１の回転が偏心機構部８の駆動軸１２に取り付けられた駆動歯車１５に伝達され偏心プレート１４を回転する。この偏心プレート１４が回転すると、図３の回転軌跡図に示すように、偏心軸１３は駆動軸１２を中心に回転し、偏心軸１３に回動自在に取り付けられたリンクアーム７は揺動中心軸１６を中心に揺動する。このリンクアーム７の揺動により剥離爪６も揺動する。例えば、図１に示すように、剥離爪６の爪部６１をリンクアーム７とは反対側に設けた場合、偏心軸１３を、図３において、矢印で示すように反時計方向に位置Ａから位置Ｂ，Ｃ，Ｄ，Ａのように回転すると、剥離爪６の爪先６１もＡ，Ｂ，Ｃ，Ｄ，Ａの順に移動しループ状の引っ掻き動作を行なう。この状態で剥離工具４を被着体１に沿って移動し、剥離爪６の爪先６１が粘着部品３の端部に当たると、爪先６１の引っ掻き動作により粘着部品３の端部と端部近傍が被着体１から剥がれる。この状態で剥離工具４を前進させると、剥離爪６の爪先６１の引っ掻き動作により粘着部品３を被着体１から順次剥がす。この剥がれた粘着部品３は爪先６１のループ状の引っ掻き動作により粘着面を外側にして丸まる。この丸まった部分をつかみ、粘着部品３の被着体１との界面付近に引張り剥がし力を作用させることにより、粘着部品３を被着体１から剥離することができる。
【００２８】
このようにリンクアーム７を揺動させて、剥離爪６の爪先６１にループ状の引っ掻き動作を行わせながら粘着部品３を被着体１から剥がすとき、リンクアーム７を揺動させる偏心プレート１４を回転する回転駆動部９の回転駆動軸２３にフライホイール２２を設け、フライホイール２２の慣性を利用して偏心プレート１４の回転速度の変動を平均化するから、剥離爪６の爪先６１に加えられる負荷が変動した場合でも安定して偏心プレート１４を回転してリンクアーム７を揺動させることができる。したがって剥離爪６の爪先６１のループ状の引っ掻き動作を安定させ、剥がし抵抗に打ち勝って粘着部品３を被着体１から確実に剥がすことができる。またジャイロ効果により被着体１や粘着部品３から受ける反作用による剥離工具４の振動を抑制することができる。
【００２９】
前記説明では、剥離爪６の爪部６１をリンクアーム７とは反対側に設けた場合について説明したが、図４に示すように、剥離爪６の爪先６１をリンクアーム７側に設けても良い。この場合は、図５の回転軌跡図に示すように、偏心軸１３を矢印で示すように時計方向に位置Ａから位置Ｂ，Ｃ，Ｄ，Ａのように回転すると、剥離爪６の爪先６１もＡ，Ｂ，Ｃ，Ｄ，Ａの順に移動しループ状の引っ掻き動作を行なうことができる。
【００３０】
この偏心軸１３を回転してリンクアーム７を揺動させたときの剥離爪６の爪部６１の先端の軌跡の例を図６の模式図に示す。図６において、ａは偏心プレート１４の駆動軸１２と揺動中心軸１６との距離、Ｉ＊ａは駆動軸１２から爪部６１の先端までの距離、γは駆動軸１２と揺動中心軸１６を結ぶ直線に対する駆動軸１２と爪部６１の先端を結ぶ直線のなす角を示す。また、グラフの縦軸と横軸の単位はｍｍ、偏心プレート１４の偏心軸１３の偏心半径は２ｍｍ場合を示す。図６に示すように、爪部６１の先端の位置により、爪部６１の先端の描く軌跡は円運動に近い軌跡から単純往復動に近い軌跡まで各種に軌跡を描くことができ、爪部６１の先端の位置を適切に選択することにより剥離作業に最適な軌跡を得ることができる。
【００３１】
また、剥離爪６を、図７の斜視図に示すように、爪部６１と、爪取付部６２と、爪部６１を爪取付部６２に連結する弾性部材例えばトーションバネ部を有するコンプライアンス機構６３で構成すると良い。このようにコンプライアンス機構６３で爪部６１を爪取付部６２に取り付けることにより、矢印Ａで示す被着体１に対する押付け方向のコンプライアンス作用により爪部６１が被着体１に衝突を繰返す際の衝撃力を緩和し、爪部６１を被着体１から離れずに密着させることができる。また、矢印Ｂで示す被着体１に倣わせるコンプライアンス作用により被着体１に対する爪部６１の角度がずれていても、爪部６１を被着体１に倣って接触させることができ、爪部６１が被着体１に片当たりすることを防止して、被着体１に貼り付けられた粘着部品３を安定して剥離することができる。
【００３２】
さらに、図８の斜視図に示すように、剥離爪６にコンプライアンス機構６３を有する爪部６１を複数取り付けても良い。この複数の爪部６１は、それぞれ独立したコンプライアンス機構６３を有するから、図８に示すように被着体１に溝があっても、一部の爪部６１を溝内に入り込ませることができる。したがって大きさが異なる被着体１に大きさが異なる各種の粘着部品３が貼り付けられている場合や、被着体１に溝や凸面がある場合でも、剥離工具４を交換せずに粘着部品３を剥離することができる。
【００３３】
［実施例２］　前記実施例１では１つのリンクアーム７に１または複数の剥離爪６を設けた場合について説明したが、図９に示すように、２つのリンクアーム７ａ，７ｂにそれぞれ剥離爪６を設けても良い。この２つのリンクアーム７ａ，７ｂを有する剥離工具４ａの偏心機構部８は、図１０の構成図に示すように２つの偏心プレート１４ａ，１４ｂとクランクアーム３０と、２つの偏心プレート１４ａ，１４ｂを同期させて回転するプーリー３１ａ，３１ｂと駆動ベルト３２ａ，３２ｂを有する。偏心プレート１４ａに設けた偏心軸１３ａにはリンクアーム７ａが回転自在に取り付けられ、偏心プレート１４ｂに設けた偏心軸１３ｂにはリンクアーム７ｂが回転自在に取り付けられ、２つの偏心軸１３ａ，１３ｂはクランクアーム３０の角度が１８０度異なる位置に連結されている。また、リンクアーム７ａ，７ｂにそれぞれ設けた剥離爪６は、図９に示すように、爪部６１を弾性を有する薄板の一部に円弧状の曲面で形成してコンプライアンス作用を持たせたり、各剥離爪６の爪部６１をコンプライアンス機構６３で爪取付部６２に取り付けるようにしている。
【００３４】
この剥離工具４ａで被着体１に貼り付けた粘着部品３を剥離するとき、駆動ベルト３２ａ，３２ｂに回転伝達機構を介して連結された駆動モータを駆動し、偏心プレート１４ａ，１４ｂを回転してリンクアーム７ａ，７ｂを揺動させる。このリンクアーム７ａ，７ｂを揺動するとき、リンクアーム７ａ，７ｂを揺動する偏心軸１３ａ，１３ｂはクランクアーム３０の角度が１８０度異なる位置に連結されているから、偏心軸１３ａ，１３ｂは互いに位相が１８０度ずれて回転し、リンクアーム７ａ，７ｂの揺動も位相が１８０度ずれる。このためリンクアーム７ａ，７ｂに設けた剥離爪６の爪部６１の先端の軌跡も位相が１８０度ずれたループを描き、リンクアーム７ａに設けた剥離爪６の爪部６１とリンクアーム７ｂに設けた剥離爪６の爪部６１で被着体１に貼り付けられた粘着部品３を交互に剥がす。この互いに位相が１８０度ずれたループを描く爪部６１を被着体１に交互に押付けることにより、被着体１や剥がす粘着部品３から受ける反作用力やリンクアーム７ａ，７ｂおよび剥離爪６の慣性力を平均化したり互いに相殺することができ、剥離作業中の剥離工具４ａの振動を抑制することができるとともに剥がし効率を向上することができる。また、爪部６１にコンプライアンス作用を持たせ、爪部６１が被着体１に衝突を繰返す際の衝撃力を緩和することにより、爪部６１が被着体１に衝突するときに振動することを防止して被着体１に確実に密着させることができ、粘着部品３を安定して剥がすことができる。
【００３５】
［実施例３］前記実施例１，２はリンクアーム７のスライド溝１７をベースプレート５の揺動中心軸１６に係合させ、偏心プレート１４を回転して偏心軸１３を回転することによりリンクアーム７を揺動中心軸１６を中心にして揺動させる場合について説明したが、図１１に示すように、揺動中心軸１６を偏心プレート１４と同期して回転する偏心プレート３３に取り付け、偏心軸１３とともに揺動中心軸１６も回転してリンクアーム７を揺動し、剥離爪６の爪部６１にループ状の軌跡を描かせて、被着体１に貼り付けた粘着部品３を剥がすようにしても良い。ここで図１１（ａ）はリンクアーム７の先端に剥離爪６を設けた場合、（ｂ）はリンクアーム７の中央部に剥離爪６を設けた場合を示す。リンクアーム７の先端に剥離爪６を設けた場合の偏心軸１３と揺動中心軸１６の回転方向と、リンクアーム７の中央部に剥離爪６を設けた場合の偏心軸１３と揺動中心軸１６の回転方向を逆方向にすることにより、剥離爪６の爪部６１にループ状の軌跡を描かせて被着体１に貼り付けられた粘着部品３を剥がすことができる。
【００３６】
また、偏心軸１３と揺動中心軸１６の偏心量と回転位相差及び爪部６１の先端位置により、リンクアーム７を揺動したときの爪部６１の先端が描く軌跡を変更することができる。例えば偏心軸１３の偏心量を２ｍｍ、揺動中心軸１６の偏心量を３ｍｍとし、偏心軸１３と揺動中心軸１６の回転位相差を０．１ラジアンとしたときの爪部６１の先端が描く軌跡を図１２（ａ）に示し、偏心軸１３と揺動中心軸１６の回転位相差を３ラジアンとしたときの爪部６１の先端が描く軌跡を図１２（ｂ）に示す。図１２に示すように、爪部６１の先端位置により、爪部６１の先端の描く軌跡は円運動に近い軌跡から単純往復動に近い軌跡まで各種に軌跡を描くことができ、爪部６１の先端の位置を適切に選択することに、剥離作業に最適な軌跡を得ることができる。
【００３７】
［実施例４］　前記実施例１〜３は偏心軸１３又は偏心軸１３と揺動中心軸１６を回転してリンクアーム７を揺動させ、剥離爪６の爪部６１の先端にループ状の軌跡を描かせる場合について説明したが、図１３に示すように、第１のビーム３４の先端部に第２のビーム３５を直交して設け、第２のビーム３５の先端に例えばゴム等の粘弾性を有する高摩擦材料で表面が凸状に形成された剥がし部材３６を取り付け、第１のビーム３４の側面にそれぞれ圧電素子３７ａ，３７ｂを取り付け、第２のビーム３５の側面にも圧電素子３８ａ，３８ｂを取り付け、各圧電素子３７ａ，３７ｂ，３８ａ，３８ｂを工具保持部３９に圧電素子駆動部４０を有する剥離工具４ｂを使用して被着体１に貼り付けた粘着部品３を剥がすようにしても良い。この場合、圧電素子駆動部４０で圧電素子３７ａ，３７ｂを交互に駆動して第１のビーム３４に曲げ振動を与え、圧電素子駆動部４０で圧電素子３８ａ，３８ｂを交互に駆動して第２のビーム３５に曲げ振動を与える。この第１のビーム３４の振動と第２のビーム３５の振動の位相差を調整することにより、図１４の剥がし部材３６の動作軌跡図に示すように、剥がし部材３６の先端を位置Ａ，Ｂ，Ｃ，Ｄ，Ａの順又は、位置Ｃ，Ｂ，Ａ，Ｄ，Ｃの順に移動させてループ状の引っ掻き動作を行なうことができる。
【００３８】
このように圧電素子３７，３８で第１のビーム３４と第２のビーム３５を振動させた場合、振幅はあまり大きくとれないが、振動の周波数を第１のビーム３４と第２のビーム３５の共振周波数に合わせることにより、剥がし部材３６の先端の軌跡の振幅を拡大することがでできる。剥がし部材３６を高摩擦材料で構成することにより、剥がし部材３６にループ状の引っ掻き動作を行なわせながら摩擦力を利用して粘着部品３を被着体１から剥がすことができる。また、剥がし部材３６がループ状の引っ掻き動作を行って被着体１に衝突するとき、剥がし部材３６の粘弾性により振動が生じることを抑制して、剥がし部材３６の先端部を被着体１に密着させることができ、粘着部品３を安定して剥がすことができる。
【００３９】
［実施例５］　また、図１５の構成図に示すように、ベースプレート４１に対してＺ方向に移動自在に設けたＺ方向スライダ４２と、Ｚ方向スライダ４２に対してＸ方向に移動自在に設け、Ｘ方向の端部に剥離爪６を取り付けたＸ方向スライダ４３と、予圧バネ４４によりＺ方向スライダ４２に押付けられた偏心カム４５と、予圧バネ４６によりＸ方向スライダ４３に押付けられた偏心カム４７とを有する剥離工具４ｃを使用しても良い。この剥離工具４ｃで被着体１に貼り付けられた粘着部品３を剥がすときは、各偏心カム４５，４７を回転してＺ方向スライダ４２とＸ方向スライダ４３を往復直線運動させることにより、剥離爪６の爪部６１の先端をループ状の軌跡で移動して引っ掻き動作を行わせることができる。この場合、Ｚ方向スライダ４２とＸ方向スライダ４３を往復直線運動させる各偏心カム４５，４７の形状を適切に選択することにより、爪部６１の先端に描かせるループ状の軌跡を引っ掻き動作に最適な軌跡にすることができる。
【００４０】
また、各偏心カム４５，４７の代わりにエアーシリンダやリニアモータ等のリニアアクチュエータを使用してＺ方向スライダ４２とＸ方向スライダ４３を往復直線運動させても良い。
【００４１】
［実施例６］　前記各実施例は剥離工具４を作業者が保持して被着体１に貼り付けた粘着部品３を剥離する場合について説明したが、多関節ロボットを有する剥離装置で粘着部品３を自動的に剥離する場合について説明する。
【００４２】
剥離装置５０は、図１６の構成図に示すように、基台５１に設けられた多関節ロボット５２と、被着体１を固定する被着体固定台５３と、剥離した粘着部品３を収納する回収装置５４及び制御装置５５を有する。この剥離装置５０に使用する剥離工具４ｄは、図１７の構成図に示すように、例えば図１に示した剥離工具４の工具保持部１０の代わりに多関節ロボット５２に取り付ける工具取付フランジ５６を有する。工具取付フランジ５６と多関節ロボット５２の取付フランジ５７の間にはコンプライアンス機構５８を有する。このコンプライアンス機構５８は、ヒンジ５９を中心として剥離工具４ｄが揺動し、かつバネや空気圧などで１方向又は２方向に付勢された機構であり、剥離工具４ｄの押付力や接触摩擦力が過大にならないように力を逃がすためのものである。また、多関節ロボット５２の剥離工具４ｄの取付部には工具押付手段６５と力センサ６６及び端部検出手段６７を有する。端部検出手段６７は、例えばＣＣＤカメラやレーザレンジファインダあるいは接触式プローブなどで、画像処理や３次元形状計測あるいは段差計測によって部品の端部を検出する。
【００４３】
この多関節ロボット５２の制御装置５５には、図２３のブロック図に示すように、中央制御部７０と操作表示部７１とデータ入力部７２とメモリ７３とロボット制御部７４と押付力制御部７５及び剥離判定部７６を有する。中央制御部７０はメモリ７３にあらかじめ格納された動作プログラムにより多関節ロボット５２の動作を制御する。データ入力部７２は力センサ６６からのデータを入力して６成分の力・トルクデータに変換する。ロボット制御部７４は中央制御部７０からの制御信号により多関節ロボット５２のチャック部を有するアームを駆動制御する。押付力制御部７５は中央制御部７０からの制御信号により空気源７７から工具押付手段６５のエアーシリンダに送る空気圧を制御する。剥離判定部７６は端部検出手段６７からの信号により粘着部品３の剥離状態を判定して判定結果を操作表示部７１に表示する。
【００４４】
この剥離装置５０で被着体１に貼り付けた粘着部品３を剥離するときは、制御装置５５で多関節ロボット５２を駆動して剥離工具４ｄを、被着体１をセットして固定した保持台５３に移動し、被着体１に貼り付けられた粘着部品３の端部を端部検出手段６７で検出して剥離工具４ｄを位置決めし、剥離工具４ｄの剥離爪６の爪部６１を被着体１の表面に一定の押付力で押し付ける。その後、剥離工具４ｄの回転駆動部９を駆動してリンクアーム７を揺動し、リンクアーム７の先端に取り付けた剥離爪６の爪部６１の先端にループ状に移動して、断続的な引っ掻き動作を行なう。この状態で剥離工具４ｄを被着体１に沿って移動し、剥離爪６の爪先６１が粘着部品３の端部に当たると、爪先６１の引っ掻き動作により粘着部品３の端部と端部近傍が被着体１から剥がれる。この状態で剥離工具４ｄをさらに前進させると、剥離爪６の爪先６１の引っ掻き動作により粘着部品３を被着体１から順次剥がす。この剥がれた粘着部品３は爪先６１のループ状の引っ掻き動作により粘着面を外側にして丸まる。このようにして粘着部品３を被着体１から自動的に剥離することができる。
【００４５】
【発明の効果】
この発明は以上説明したように、被着体の表面に押付けて被着体に貼り付けた部品を剥がす剥離部材を先端に有する剥離手段を保持した保持手段に揺動又は往復運動を与えて保持手段に取り付けた剥離手段の剥離部材の先端部をループ状に移動して、被着体に貼り付けられた部品を剥離部材先端部の引っ掻き動作で剥がすようにしたから、ループ状に移動する剥離部材が被着体から離れる際に、被着体に対して部品を引張る方向の力を作用することができ、被着体から部品を容易に剥がすことができ、１回の動作では剥がし量を多くするとともに被着体に粘着剤が残る量を低減することができる。
【００４６】
また、剥離部材で部品を剥がした後の剥離部材の回動により剥がした部品を丸めることができ、引き続いて部品を容易に剥がすことができる。
【００４７】
さらに、剥離工具に振動を与えて被着体から部品を剥がす場合と比べて、剥離部材の被着体に対する押付力を小さくすることができ、被着体に傷を付けたり破損することを防ぎ、被着体を有効に再利用することができる。
【００４８】
また、保持手段に、ベースプレートと剥離手段を保持するリンクアームを設け、駆動手段には偏心機構部と回転駆動部を設け、ベースプレートは一方の端部に揺動中心軸を設け、他方の端部に偏心機構部を設け、リンクアームをガイド溝でベースプレートの揺動中心軸に係合させ、ガイド溝から一定距離はなれた位置に偏心機構部を連結し、剥離手段の剥離部材を被着体表面に押付けた状態で偏心機構部を回転駆動部で駆動して、リンクアームの偏心機構部との連結部に回転を与えてリンクアームをベースプレートの揺動中心軸を中心に揺動させることにより、リンクアームに取り付けた剥離手段の剥離部材先端部をループ状に移動することができ、被着体に貼り付けられた部品を剥離部材の引っ掻き動作により安定して剥がして丸めることができる。
【００４９】
また、偏心機構部はリンクアームの偏心機構部との連結部の回転と同期してベースプレートの揺動中心軸に回転を与えて剥離手段の剥離部材の先端部をループ状に移動することにより、剥離部材の先端部を、引っ掻き動作に最適なループ状に移動することができ、被着体から部品を安定して剥がすことができる。
【００５０】
さらに、保持手段に剥離手段を保持するリンクアームを複数設け、回転駆動部は複数のリンクアームに位相をずらして揺動を与えることにより、複数の剥離手段の剥離部材の先端部を、位相をずらしてループ状に移動して被着体に交互に押付けることができ、剥離作業中の剥離工具の振動を抑制し、剥離効率を向上させることができる。
【００５１】
また、駆動手段に駆動モータと、駆動モータの回転を偏心機構部に伝達する回転伝達手段を設け、回転伝達手段にフライホイールを取り付けることにより、フライホイールの慣性によりリンクアームを揺動させる回転速度の変動を平均化して、剥離手段の剥離部材に加えられる負荷が変動してもリンクアームを安定して揺動させることができ、剥離部材の先端を安定してループ状に移動して負荷変動影響を受けずに部品を剥がすことができる。
【００５２】
また、保持手段に第１のビームと、先端に剥離手段を有し、第１のビームに対して一定角度で取り付けた第２のビームを設け、圧電素子で第１のビームと第２のビームにそれぞれ振動を与えることにより、簡単な構成で剥離手段の剥離部材の先端部を高い周波数でループ状に移動することができ、部品の剥がし効果を向上することができる。
【００５３】
さらに、保持手段に、交差する方向に移動自在な２組のスライダを設け、２組のスライダを同期させながら往復直線運動を与えることにより、剥離手段の剥離部材の先端部を簡単な構成でループ状に移動することができる。
【００５４】
また、剥離部材を表面が非粘着性を有する剥離爪で形成することにより、被着体に貼り付けられた部品を引っ掻き動作で確実に剥がすことができるとともに、剥がした部品に付着している粘着剤が剥離爪に付着することを防いで剥がした部品を丸めることができ、被着体から部品を安定して剥がすことができる。
【００５５】
また、剥離部材は粘弾性を有する高摩擦材料で表面が凸状に形成することにより、剥がした部品を丸めることができるとともに、被着体に傷が付くことを防ぐことができる。
【００５６】
さらに、剥離手段の剥離部材取付部又は剥離部材にコンプライアンス機構を設けることにより、ループ状に移動する剥離部材が被着体に衝突するときの衝撃力を緩和するとともに衝突したときの振動を抑制することができる。
【００５７】
このコンプライアンス機構に、剥離部材の押付け方向のコンプライアンス機能と剥離部材のねじり方向のコンプライアンス機能を設けることにより、剥離部材が被着体に衝突するとき、剥離部材を被着体の表面に倣わせて被着体に密着させることができ、被着体から部品を安定して剥がすことができる。
【００５８】
また、被着体固定手段と工具移動手段を有する剥離装置を使用し、工具移動手段により剥離工具を移動するとともに剥離工具の姿勢を可変し、剥離工具を被着体固定手段に固定した被着体に押付けて剥離工具を移動することにより、被着体に対する剥離工具の位置決め精度や移動精度を高めることができ、被着体に貼り付けた部品を安定して剥がすことができる。
【００５９】
また、工具移動手段の剥離工具の取付部にコンプライアンス手段を設け、剥離工具の押付力や接触摩擦力が過大になったときの力を逃がすことにより、安定して剥離作業を行うことができる。
【００６０】
さらに、工具移動手段の剥離工具の取付部に、被着体に貼り付けた部品の端部を検出する端部検出手段を設け、端部検出手段で部品の端部を検出して剥離工具を被着体に位置決めすることにより、部品を端部から確実に剥がすことができる。
【００６１】
また、工具移動手段の剥離工具の取付部に、剥離工具の被着体に対する押付力を検出する力検出手段を設け、力検出手段で検出した押付力により剥離工具の押付力を制御することにより、剥離工具の押付力を適正な値に保持することができ、安定して剥離作業を行うことができる。
【００６２】
また、工具移動手段として多関節ロボットを使用することにより、剥離工具の移動や姿勢制御等を容易に、かつ精度良く行うことができ、剥離作業を安定して行うことができる。
【図面の簡単な説明】
【図１】この発明の剥離工具の構成を示す斜視図である。
【図２】剥離工具の偏心機構部と回転駆動部の構成図である。
【図３】剥離工具の動作を示す回転軌跡図である。
【図４】第２の剥離工具の構成図である。
【図５】第２の剥離工具の動作を示す回転軌跡図である。
【図６】剥離爪の先端部のループ状の移動軌跡を示す模式図である。
【図７】剥離爪に設けたコンプライアンス機構を示す斜視図である。
【図８】コンプライアンス機構を有する複数の剥離爪の構成を示す斜視図である。
【図９】第３の剥離工具の構成図である。
【図１０】第３の剥離工具の偏心機構部の構成図である。
【図１１】第４の剥離工具の構成図である。
【図１２】第４の剥離工具の剥離爪先端部のループ状の移動軌跡を示す模式図である。
【図１３】第５の剥離工具の構成図である。
【図１４】第５の剥離工具の動作を示す模式図である。
【図１５】第６の剥離工具の構成図である。
【図１６】剥離装置の構成を示す斜視図である。
【図１７】剥離装置に使用する剥離装置の構成図である。
【図１８】剥離装置の制御装置の構成を示すブロック図である。
【符号の説明】
１；被着体、３；粘着部品、４；剥離工具、５；ベースプレート、
６；剥離爪、７；リンクアーム、８；偏心機構部、９；回転駆動部、
１０；工具保持部、１３；偏心軸、１４；偏心プレート、１５；駆動歯車、
１６；揺動中心軸、１７；スライド溝、２０；駆動モータ、２１；歯車、
２２；フライホイール、２３；回転伝達軸、２４；回転伝達機構、
５０；剥離装置、５２；多関節ロボット、５３；被着体固定台、
５４；回収装置、５５；制御装置。[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a peeling tool, a peeling method, and a peeling device for a part for peeling urethane foam or the like adhered with an adhesive such as a double-sided tape in order to recycle electronic equipment products, transport equipment, food packaging, and the like. .
[0002]
[Prior art]
In recent years, the protection of the global environment has increased, and instead of discarding used electronic devices, home appliances, and office equipment as in the past, they are separated by resource type and recycled by material, or by recycling used components. It has come to be reused. For this recycling, disassembly processing is performed for each component constituting various devices and products. Many stickers and soft parts for the purpose of preventing vibration, sealing, etc. are fixed to parts of these various devices and products.
[0003]
For example, in an image forming apparatus such as a copying machine or a printer using an electrophotographic method, an adhesive is applied to a component around a developing unit for forming an image, and to a porous soft component such as urethane foam or felt to prevent toner leakage. An adhesive component to which a double-sided adhesive tape in which a layer, a substrate, and an adhesive layer are laminated is attached. In order to reuse the parts around the developing unit, it is essential to separate and separate the adhesive parts. In particular, urethane foam having a small thickness is frequently used for the soft parts around the developing section. When the adhesive component having urethane foam or the like is peeled from the adherend, a scraper is attached to the adherend to which the adhesive component is attached, as described in, for example, JP-A-6-92544 and JP-A-7-24780. Is pressed and peeled off. When the scraper is pressed against the adherend and the adhesive component is peeled off, if the pressing force of the scraper against the adherend is small, the scraper easily rides on the adhesive component and it becomes difficult to peel the adhesive component. Further, even if it is peeled, the work amount is low because the amount of the peel is small. For this reason, it is necessary to press the scraper with a strong force against the adherend in order to reliably peel off the adhesive component in one operation stroke. If the pressing force of the scraper is too large, the adherend may be damaged, or the adherend may be plastically deformed or damaged.
[0004]
In order to prevent the breakage of the adherend, a tool that vibrates or strikes a scraper or a blade to relatively reduce the pressing force against the adherend and peel off the adhesive component is disclosed in, for example, Japanese Patent Application Laid-Open No. 8-90454. And Japanese Patent Application Laid-Open No. 9-70774.
[0005]
The tool disclosed in Japanese Patent Application Laid-Open No. 8-90454 is for peeling a resin sheet adhered to a concrete floor surface, and intermittently driving a tool having a blade made of cemented carbide with a rotary hammer. The knives are brought into contact with or separated from the struck surface to give a large kinetic energy with a gentle impact force. The tool disclosed in Japanese Patent Application Laid-Open No. 9-512721 is a hand-held tool for peeling off a molding or an emblem adhered to a body of an automobile, and a blade holding portion using a polymer material with a blade having a sharp edge at a tip. In order to reduce the weight of the tool by holding the tool, a high-speed vibration is given to the tool by an air hammer. The hitting tool disclosed in Japanese Patent Application Laid-Open No. 9-70774 is used for deburring parts and the like, and only the hitting tool is attached to an air damper so as to eliminate the impact on the tool itself during an idle hit.
[0006]
[Problems to be solved by the invention]
When these vibration and impact tools are used to remove adhesive parts attached to the adherend with adhesive tape, etc., the adhesive parts can be removed from the adherend with relatively little force compared to when no vibration is applied. Can be peeled off. Since the adhesive tape has adhesiveness even when peeled off unlike adhesive, if the tool edge is simply reciprocated, the parts peeled off when the tool is returned will adhere to the tool edge together. The phenomenon of returning and re-adhering to the adherend occurs. If the tool blade is pressed against the adherend in this state, the peeled parts are re-attached to the adherend and the efficiency of peeling is reduced. In addition, since the peeled component repeats re-attachment and peeling to the adherend, the peeling target component is locally fatigued and easily broken. Further, there is a disadvantage that the adhesive obtained by attaching the adhesive component to the adherend is likely to be broken by repeated deformation and remain on the adherend. In addition, if a part of the peeled part adheres to the tip of the tool and enters between the tool tip and the adherend, the tool easily rides on the part to be peeled, and the peeling performance is significantly impaired.
[0007]
The present invention improves these disadvantages, and enables the adhesive component attached to the adherend to be reliably peeled off with a small pressing force, and at the same time to reduce the breakage of the peeled component and the remaining adhesive tape to reduce the peeling performance. It is an object of the present invention to provide a peeling tool, a peeling method, and a peeling device capable of improving the peeling efficiency.
[0008]
[Means for Solving the Problems]
A peeling tool according to the present invention is a peeling tool for peeling a component attached to an adherend from an adherend, the peeling tool including a peeling unit, a holding unit, and a driving unit, and the peeling unit is pressed against a surface of the adherend. A peeling member for peeling off the component stuck to the adherend at the tip, the holding means holding the peeling means, and the driving means swinging or reciprocating the holding means and attaching to the holding means. The tip of the peeling member is moved in a loop shape, and the component attached to the adherend is peeled off by a scratching operation of the tip of the peeling member.
[0009]
The holding means has a base plate and a link arm for holding the peeling means, the driving means has an eccentric mechanism and a rotary driving part, the base plate has a swing center axis at one end, and the other end. The link arm has a guide groove that engages with the swing center axis of the base plate, and a connecting portion with the eccentric mechanism at a position separated from the guide groove by a certain distance. The eccentric mechanism is driven to rotate the link arm connected to the eccentric mechanism to rotate the link arm about the swing center axis of the base plate.
[0010]
In addition, the eccentric mechanism may rotate the pivot axis of the base plate in synchronization with the rotation of the connecting part of the link arm with the eccentric mechanism to move the tip of the peeling member of the peeling means in a loop. good.
[0011]
Further, a plurality of link arms for holding the peeling means are provided on the holding means, and the rotation driving unit shifts the phase to the plurality of link arms to swing, and shifts the leading ends of the peeling members of the plurality of peeling means, by shifting the phase. It moves in a loop and is alternately pressed against the adherend, suppressing vibration of the peeling tool during the peeling operation and improving the peeling efficiency.
[0012]
Further, the driving means has a driving motor and a rotation transmitting means for transmitting rotation of the driving motor to the eccentric mechanism, a flywheel is provided in the rotation transmitting means, and a rotational speed for swinging the link arm by inertia of the flywheel. Is prevented from averaging, and even if the load applied to the peeling member of the peeling means fluctuates, the link arm swings stably.
[0013]
The holding means has a first beam and a second beam, and the second beam is attached to the first beam at a fixed angle, holds the exfoliating means at the tip, and is provided on the driving means. Vibration may be applied to the first beam and the second beam by the piezoelectric element, and the distal end of the peeling member of the peeling means may be moved in a loop with a simple configuration.
[0014]
Further, the holding means has two sets of sliders which are movable in the cross direction, and the driving means gives a reciprocating linear motion while synchronizing the two sets of sliders so that the tip of the peeling member of the peeling means is formed in a loop shape. You may move.
[0015]
In addition, the peeling member is formed of a peeling nail having a non-adhesive surface, and the component attached to the adherend is reliably peeled off by a scratching operation, and the adhesive adhered to the peeled component is applied to the peeling nail. The parts that have been peeled off can be rolled up while preventing them from adhering.
[0016]
The peeling member is formed of a high friction material having viscoelasticity and has a convex surface, so that the peeled part is rounded and the adherend is prevented from being damaged.
[0017]
Further, a compliance mechanism is provided on the peeling member mounting portion or the peeling member of the peeling means, so as to reduce the impact force when the peeling member moving in a loop collides with the adherend and suppress the vibration when the collision occurs.
[0018]
This compliance mechanism has a compliance function in the pressing direction of the peeling member and a compliance function in the torsion direction of the peeling member. When the peeling member collides with the adherend, the peeling member follows the surface of the adherend. Adhere to the body.
[0019]
The peeling method according to the present invention is a peeling method for peeling a component adhered to an adherend from an adherend, and a tip of a peeling member for peeling the component adhered to the adherend by being pressed against the surface of the adherend. The part is pressed against the surface of the adherend, and the tip of the peeling member is rotated in a loop to peel off the part attached to the adherend.
[0020]
The peeling apparatus of the present invention uses the peeling tool, has an adherend fixing means and a tool moving means, and the adherend fixing means holds the adherend to which the component to be peeled is attached, The tool moving means moves the peeling tool and changes the posture of the peeling tool, and peels off the part attached to the adherend while pressing the peeling tool against the adherend and moving the peeling tool. .
[0021]
The tool moving means has a compliance means at a mounting portion of the peeling tool, so that the peeling tool can be imitated to the adherend and an excessive pressing force is prevented from being applied to the peeling tool.
[0022]
Further, an end detecting means for detecting an end of the component attached to the adherend is provided at an attachment portion of the peeling tool of the tool moving means, and the end detecting means detects an end of the part to be peeled and peels off. Position the tool on the adherend.
[0023]
Further, the peeling tool mounting portion of the tool moving means has force detecting means for detecting a reaction force from the adherend of the peeling tool, and the pressing force of the peeling tool is controlled by the reaction force detected by the force detecting means. .
[0024]
In addition, an articulated robot is used as a tool moving means to facilitate the posture and positioning of the peeling tool.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
The peeling tool of the present invention is a peeling tool for peeling an adhesive part such as a urethane foam seal part or a label stuck to an adherend such as a plastic case with a double-sided adhesive tape from the adherend, and a peeling means and a holding means. Means and driving means. The peeling means has, at its tip, a peeling member that is pressed against the surface of the adherend and peels off the component attached to the adherend, and is attached and held by the holding means. The holding means has a link arm for holding the base plate and the peeling means, and the driving means has an eccentric mechanism and a rotary drive. The base plate of the holding means has a pivot axis at one end and an eccentric mechanism at the other end. The link arm has a guide groove that engages with the swing center axis of the base plate, and a connection portion with the eccentric mechanism at a position separated from the guide groove by a certain distance. Then, the eccentric mechanism is driven by the rotation drive unit in a state where the peeling member of the peeling means is pressed against the surface of the adherend, and rotation is given to the connecting portion of the link arm with the eccentric mechanism, and the link arm is swung by the base plate. Swing about the central axis. By the swing of the link arm, the extremity of the exfoliating member of the exfoliating means attached to the link arm is moved in a loop shape, and the part affixed to the adherend is peeled off and rounded by the operation of scratching the extremity of the exfoliating member.
[0026]
【Example】
Embodiment 1 FIG. 1 is a perspective view showing a configuration of a peeling tool according to an embodiment of the present invention. As shown in the figure, a peeling tool 4 for peeling an adhesive part 3 such as a urethane foam sealing part adhered to an adherend 1 such as a plastic case with a double-sided adhesive tape 2 from the adherend 1 includes a base plate 5 and It has a link arm 7 having a peeling claw 6 having a non-adhesive surface at its tip, an eccentric mechanism section 8 provided on the base plate 5, a rotation drive section 9 for rotating the eccentric mechanism section 8, and a tool holding section 10. As shown in the configuration diagram of FIG. 2, the eccentric mechanism unit 8 includes a drive shaft 12 rotatably mounted on the base plate 5 via a slide bearing 11, and an eccentric shaft provided at a predetermined distance from the drive shaft 12. It has an eccentric plate 14 with 13 and a drive gear 15 mounted on the drive shaft 12. A swing center shaft 16 is provided at one end of the base plate 5 at a certain distance from the drive shaft 12 of the eccentric mechanism 8. The link arm 7 is provided at its center with a slide groove 17 for engaging with the pivoting center shaft 16 of the base plate 5, and the end opposite to the peeling claw 6 is provided with an eccentric shaft 13 of an eccentric plate 14 via a slide bearing 18. It is attached rotatably to. As shown in the configuration diagram of FIG. 2, the rotation drive unit 9 includes a drive motor 20 attached to the base plate 5 and a gear 21 that meshes with the drive gear 15 of the eccentric mechanism 8 to transmit rotation at one end. Further, it has a rotation transmission shaft 23 having a flywheel 22 at the other end, and a rotation transmission mechanism 24 for transmitting the rotation of the drive motor 20 to the rotation transmission shaft 23. The rotation transmission mechanism 24 includes, for example, a pulley 25 connected to the rotation shaft of the drive motor 20, a pulley 26 attached to the rotation transmission shaft 23, and a rotation transmission belt 27 wound around the pulleys 25, 26.
[0027]
When peeling the adhesive component 3 stuck to the adherend 1 with the peeling tool 4, an operator holds the tool holding unit 10 and presses the peeling claw 6 against the surface of the adherend 1 while holding the peeling claw 6 against the surface of the adherend 1. Move to the side. When the peeling claw 6 reaches the vicinity of the end of the adhesive component 3, the drive motor 20 is driven. The rotation output of the drive motor 20 is transmitted from the rotation transmission mechanism 24 to the rotation transmission shaft 23 to rotate the flywheel 22 and the gear 21. The rotation of the gear 21 is transmitted to the drive gear 15 attached to the drive shaft 12 of the eccentric mechanism 8, and rotates the eccentric plate 14. When the eccentric plate 14 rotates, the eccentric shaft 13 rotates about the drive shaft 12 and the link arm 7 rotatably attached to the eccentric shaft 13 pivots as shown in the rotation locus diagram of FIG. Swing about the shaft 16. The swing of the link arm 7 also causes the peeling claw 6 to swing. For example, as shown in FIG. 1, when the claw portion 61 of the peeling claw 6 is provided on the side opposite to the link arm 7, the eccentric shaft 13 is moved counterclockwise from the position A as shown by an arrow in FIG. When rotated at positions B, C, D, and A, the toe 61 of the peeling claw 6 also moves in the order of A, B, C, D, and A to perform a loop-shaped scratching operation. In this state, the peeling tool 4 is moved along the adherend 1, and when the toe 61 of the peeling claw 6 hits the end of the adhesive component 3, the toe 61 scratches the end of the adhesive component 3 and the vicinity of the end. It comes off from the adherend 1. When the peeling tool 4 is advanced in this state, the adhesive component 3 is sequentially peeled off from the adherend 1 by a scratching operation of the toe 61 of the peeling claw 6. The peeled adhesive component 3 is curled with the adhesive surface facing outward by the loop-shaped scratching operation of the toe 61. The adhesive part 3 can be peeled from the adherend 1 by grasping the rounded portion and applying a pull-off force near the interface of the adhesive part 3 with the adherend 1.
[0028]
When the adhesive part 3 is peeled off from the adherend 1 while causing the toe 61 of the peeling nail 6 to perform a loop-like scratching operation by swinging the link arm 7 in this manner, the eccentric plate 14 swings the link arm 7. The flywheel 22 is provided on the rotary drive shaft 23 of the rotary drive unit 9 that rotates the eccentric plate 14, and the fluctuation of the rotational speed of the eccentric plate 14 is averaged by using the inertia of the flywheel 22. Even when the applied load fluctuates, the link arm 7 can be swung by rotating the eccentric plate 14 stably. Therefore, the loop-shaped scratching operation of the toe 61 of the peeling nail 6 can be stabilized, and the adhesive component 3 can be reliably peeled from the adherend 1 by overcoming the peeling resistance. In addition, the vibration of the peeling tool 4 due to the reaction received from the adherend 1 and the adhesive component 3 can be suppressed by the gyro effect.
[0029]
In the above description, the case where the claw portion 61 of the peeling claw 6 is provided on the opposite side to the link arm 7 has been described. However, as shown in FIG. 4, the toe 61 of the peeling claw 6 may be provided on the link arm 7 side. good. In this case, as shown in the rotation locus diagram of FIG. 5, when the eccentric shaft 13 is rotated clockwise as indicated by an arrow from position A to positions B, C, D, and A, the toe 61 of the peeling claw 6 is rotated. Also move in the order of A, B, C, D, and A to perform a loop-like scratching operation.
[0030]
FIG. 6 is a schematic view showing an example of the trajectory of the tip of the claw portion 61 of the peeling claw 6 when the eccentric shaft 13 is rotated to swing the link arm 7. In FIG. 6, a is the distance between the drive shaft 12 of the eccentric plate 14 and the swing center axis 16, I * a is the distance from the drive shaft 12 to the tip of the claw portion 61, and γ is the drive shaft 12 and the swing center axis. 16 shows an angle formed by a straight line connecting the drive shaft 12 and the tip of the claw portion 61 to a straight line connecting 16. The unit of the vertical axis and the horizontal axis of the graph is mm, and the eccentric radius of the eccentric shaft 13 of the eccentric plate 14 is 2 mm. As shown in FIG. 6, depending on the position of the tip of the claw portion 61, the trajectory drawn by the tip of the claw portion 61 can be variously drawn from a trajectory close to a circular motion to a trajectory close to a simple reciprocating motion. By appropriately selecting the position of the tip of the head, an optimum trajectory for the stripping operation can be obtained.
[0031]
As shown in the perspective view of FIG. 7, the peeling claw 6 is a compliance mechanism 63 having a claw portion 61, a claw attachment portion 62, and an elastic member for connecting the claw portion 61 to the claw attachment portion 62, for example, a torsion spring portion. It is good to consist of. By attaching the claw portion 61 to the claw attachment portion 62 by the compliance mechanism 63 in this manner, the impact when the claw portion 61 repeatedly collides with the adherend 1 due to the compliance action in the pressing direction against the adherend 1 as indicated by the arrow A. The force can be reduced, and the claws 61 can be brought into close contact with the adherend 1 without separating. Further, even if the angle of the claw portion 61 with respect to the adherend 1 is deviated due to the compliance action imitating the adherend 1 shown by the arrow B, the claw portion 61 can be brought into contact with the adherend 1 according to By preventing the claws 61 from hitting against the adherend 1, the adhesive component 3 attached to the adherend 1 can be stably peeled off.
[0032]
Further, as shown in the perspective view of FIG. 8, a plurality of claw portions 61 having a compliance mechanism 63 may be attached to the peeling claw 6. Since the plurality of claw portions 61 have independent compliance mechanisms 63, even if the adherend 1 has a groove as shown in FIG. 8, some claw portions 61 can be inserted into the groove. . Therefore, even if various kinds of adhesive parts 3 having different sizes are adhered to the adherends 1 having different sizes, or even if the adherend 1 has a groove or a convex surface, it is possible to adhere without changing the peeling tool 4. The component 3 can be peeled off.
[0033]
Second Embodiment In the first embodiment, the case where one or a plurality of peeling claws 6 is provided on one link arm 7 has been described. However, as shown in FIG. 9, the peeling claws are respectively provided on two link arms 7a and 7b. 6 may be provided. The eccentric mechanism 8 of the peeling tool 4a having the two link arms 7a and 7b includes two eccentric plates 14a and 14b, a crank arm 30, and two eccentric plates 14a and 14b as shown in the configuration diagram of FIG. It has pulleys 31a and 31b and drive belts 32a and 32b that rotate in synchronization. A link arm 7a is rotatably attached to an eccentric shaft 13a provided on the eccentric plate 14a, and a link arm 7b is rotatably attached to an eccentric shaft 13b provided on the eccentric plate 14b. The two eccentric shafts 13a and 13b are The crank arm 30 is connected to a position where the angle is different by 180 degrees. As shown in FIG. 9, the peeling claws 6 provided on the link arms 7a and 7b each have a compliance function by forming a claw portion 61 on a part of an elastic thin plate with an arc-shaped curved surface. The claw portion 61 of each peeling claw 6 is attached to the claw attachment portion 62 by the compliance mechanism 63.
[0034]
When the adhesive component 3 stuck to the adherend 1 is peeled by the peeling tool 4a, a drive motor connected to the drive belts 32a and 32b via a rotation transmission mechanism is driven to rotate the eccentric plates 14a and 14b. To swing the link arms 7a and 7b. When swinging the link arms 7a and 7b, the eccentric shafts 13a and 13b for swinging the link arms 7a and 7b are connected at positions where the angle of the crank arm 30 is different by 180 degrees. The phases of the link arms 7a and 7b are also shifted by 180 degrees. For this reason, the locus of the tip of the claw 61 of the peeling claw 6 provided on the link arm 7a, 7b also draws a loop having a phase shifted by 180 degrees, and the claw 61 of the peeling claw 6 provided on the link arm 7a and the link arm 7b The adhesive parts 3 attached to the adherend 1 are alternately peeled off by the claw portions 61 of the provided peeling claws 6. By alternately pressing the claws 61, which form a loop 180 degrees out of phase, against the adherend 1, the reaction force received from the adherend 1 and the adhesive component 3 to be peeled off, the link arms 7a, 7b, and the peeling claws 6 Can be averaged or offset each other, the vibration of the peeling tool 4a during the peeling operation can be suppressed, and the peeling efficiency can be improved. Also, by providing the claw 61 with a compliance action and reducing the impact force when the claw 61 repeatedly collides with the adherend 1, the claw 61 vibrates when colliding with the adherend 1. And the adhesive component 3 can be stably peeled off.
[0035]
[Third Embodiment] In the first and second embodiments, the slide arm 17 of the link arm 7 is engaged with the swing center shaft 16 of the base plate 5, the eccentric plate 14 is rotated, and the eccentric shaft 13 is rotated. The case where the oscillating shaft 7 is oscillated about the oscillating center shaft 16 has been described. As shown in FIG. 11, the oscillating center shaft 16 is attached to an eccentric plate 33 which rotates in synchronization with the eccentric plate 14, and The pivoting center shaft 16 rotates together with the pivot 13 to pivot the link arm 7 so that the claw portion 61 of the peeling claw 6 draws a loop-like trajectory, and the adhesive component 3 attached to the adherend 1 is peeled off. You may do it. Here, FIG. 11A shows a case where the peeling claw 6 is provided at the tip of the link arm 7, and FIG. 11B shows a case where the peeling claw 6 is provided at the center of the link arm 7. The rotation direction of the eccentric shaft 13 and the swing center shaft 16 when the peeling claw 6 is provided at the tip of the link arm 7, and the eccentric shaft 13 and the swing center when the peeling claw 6 is provided at the center of the link arm 7. By setting the rotation direction of the shaft 16 to the opposite direction, the adhesive part 3 attached to the adherend 1 can be peeled off by causing the claw portion 61 of the peeling claw 6 to draw a loop-like trajectory.
[0036]
In addition, the trajectory drawn by the tip of the claw 61 when the link arm 7 is swung can be changed by the amount of eccentricity and the rotational phase difference between the eccentric shaft 13 and the swing center shaft 16 and the tip of the claw 61. . For example, when the eccentric amount of the eccentric shaft 13 is 2 mm, the eccentric amount of the swing center shaft 16 is 3 mm, and the rotational phase difference between the eccentric shaft 13 and the swing center shaft 16 is 0.1 radian, the tip of the claw portion 61 is FIG. 12A shows a locus to be drawn, and FIG. 12B shows a locus drawn by the tip of the claw portion 61 when the rotational phase difference between the eccentric shaft 13 and the swing center shaft 16 is 3 radians. As shown in FIG. 12, depending on the position of the tip of the claw 61, the trajectory drawn by the tip of the claw 61 can be variously drawn from a trajectory close to a circular motion to a trajectory close to a simple reciprocating motion. By appropriately selecting the position of the tip, an optimum trajectory for the stripping operation can be obtained.
[0037]
Fourth Embodiment In the first to third embodiments, the link arm 7 is swung by rotating the eccentric shaft 13 or the eccentric shaft 13 and the swing center shaft 16, and a loop-shaped tip is formed at the tip of the claw portion 61 of the peeling claw 6. Although the case where the trajectory is drawn has been described, as shown in FIG. 13, the second beam 35 is provided orthogonal to the tip of the first beam 34 and the tip of the second beam 35 is attached to the tip of the A peeling member 36 whose surface is formed of a high friction material having elasticity is attached, piezoelectric elements 37a and 37b are attached to the side surfaces of the first beam 34, respectively, and a piezoelectric element 38a is also attached to the side surface of the second beam 35. , 38b are attached, and each of the piezoelectric elements 37a, 37b, 38a, 38b is peeled off from the adhesive part 3 attached to the adherend 1 by using a peeling tool 4b having a piezoelectric element driving part 40 in the tool holding part 39. May be. In this case, the piezoelectric elements 37a and 37b are alternately driven by the piezoelectric element driving section 40 to apply bending vibration to the first beam 34, and the piezoelectric elements 38a and 38b are alternately driven by the piezoelectric element driving section 40 to generate the second beam. Bending beam is applied to the beam 35. By adjusting the phase difference between the vibration of the first beam 34 and the vibration of the second beam 35, the distal end of the peeling member 36 is moved to positions A and B as shown in the operation trajectory diagram of the peeling member 36 in FIG. , C, D, and A, or the positions C, B, A, D, and C, to perform a loop-like scratching operation.
[0038]
When the first beam 34 and the second beam 35 are vibrated by the piezoelectric elements 37 and 38 in this way, the amplitude is not so large, but the frequency of the vibration is changed between the first beam 34 and the second beam 35. By adjusting to the resonance frequency, the amplitude of the trajectory of the tip of the peeling member 36 can be enlarged. By forming the peeling member 36 from a high-friction material, the adhesive component 3 can be peeled from the adherend 1 using a frictional force while causing the peeling member 36 to perform a loop-shaped scratching operation. Moreover, when the peeling member 36 collides with the adherend 1 by performing a loop-shaped scratching operation, the occurrence of vibration due to the viscoelasticity of the peeling member 36 is suppressed, and the distal end of the peeling member 36 is attached to the adherend 1. The adhesive component 3 can be stably peeled off.
[0039]
Fifth Embodiment As shown in the configuration diagram of FIG. 15, a Z-direction slider 42 is provided movably in the Z direction with respect to the base plate 41, and is provided movably in the X direction with respect to the Z-direction slider 42. An X-direction slider 43 having a peeling claw 6 attached to an end in the X-direction, an eccentric cam 45 pressed against the Z-direction slider 42 by a preload spring 44, and an eccentric cam pressed against the X-direction slider 43 by a preload spring 46. 47 may be used. When the adhesive component 3 stuck to the adherend 1 is peeled off by the peeling tool 4c, the eccentric cams 45 and 47 are rotated to make the Z-direction slider 42 and the X-direction slider 43 reciprocate linearly, whereby the peeling is performed. The tip of the claw portion 61 of the claw 6 can be moved in a loop-like locus to perform a scratching operation. In this case, by appropriately selecting the shape of each of the eccentric cams 45 and 47 for reciprocating the Z-direction slider 42 and the X-direction slider 43 in a reciprocating linear motion, a loop-like trajectory drawn at the tip of the claw portion 61 is most suitable for a scratching operation. Trajectory.
[0040]
Further, instead of the eccentric cams 45 and 47, a linear actuator such as an air cylinder or a linear motor may be used to make the Z-direction slider 42 and the X-direction slider 43 linearly reciprocate.
[0041]
[Embodiment 6] In each of the embodiments described above, the case where the worker holds the peeling tool 4 and peels off the adhesive part 3 attached to the adherend 1 has been described. The case where 3 is automatically peeled off will be described.
[0042]
As shown in the configuration diagram of FIG. 16, the peeling device 50 houses an articulated robot 52 provided on a base 51, an adherend fixing table 53 for fixing the adherend 1, and the peeled adhesive component 3. And a control device 55. As shown in the configuration diagram of FIG. 17, the peeling tool 4d used in the peeling device 50 includes, for example, a tool mounting flange 56 that is attached to the articulated robot 52 instead of the tool holding unit 10 of the peeling tool 4 shown in FIG. Have. A compliance mechanism 58 is provided between the tool mounting flange 56 and the mounting flange 57 of the articulated robot 52. The compliance mechanism 58 is a mechanism in which the peeling tool 4d swings around the hinge 59 and is urged in one or two directions by a spring, air pressure, or the like, and the pressing force and the contact friction force of the peeling tool 4d are reduced. This is to release power so that it does not become too large. In addition, a tool pressing means 65, a force sensor 66, and an end detection means 67 are provided at the mounting portion of the peeling tool 4d of the articulated robot 52. The edge detecting means 67 detects the edge of the component by image processing, three-dimensional shape measurement, or step measurement using, for example, a CCD camera, a laser range finder, or a contact probe.
[0043]
As shown in the block diagram of FIG. 23, the control device 55 of the articulated robot 52 includes a central control unit 70, an operation display unit 71, a data input unit 72, a memory 73, a robot control unit 74, and a pressing force control unit 75. And a peeling determination unit 76. The central control unit 70 controls the operation of the articulated robot 52 according to an operation program stored in the memory 73 in advance. The data input unit 72 receives data from the force sensor 66 and converts it into six-component force / torque data. The robot control unit 74 drives and controls the arm having the chuck unit of the articulated robot 52 according to a control signal from the central control unit 70. The pressing force control unit 75 controls the air pressure sent from the air source 77 to the air cylinder of the tool pressing unit 65 according to a control signal from the central control unit 70. The peeling determination unit 76 determines the peeling state of the adhesive component 3 based on a signal from the end detection unit 67 and displays the determination result on the operation display unit 71.
[0044]
When the adhesive component 3 stuck to the adherend 1 is peeled by the peeling device 50, the control device 55 drives the articulated robot 52 to hold the peeling tool 4d with the adherend 1 set and fixed. The peeling tool 4d is moved to the table 53, and the edge of the adhesive component 3 attached to the adherend 1 is detected by the edge detecting means 67 to position the peeling tool 4d. It is pressed against the surface of the adherend 1 with a constant pressing force. Thereafter, the rotation drive unit 9 of the peeling tool 4d is driven to swing the link arm 7, and moves in a loop to the tip of the claw 61 of the peeling claw 6 attached to the tip of the link arm 7, so that the intermittent movement is performed. Perform a scratching operation. In this state, the peeling tool 4 d is moved along the adherend 1, and when the toe 61 of the peeling claw 6 hits the end of the adhesive component 3, the toe 61 scratches the end of the adhesive component 3 and the vicinity of the end. It comes off from the adherend 1. When the peeling tool 4 d is further advanced in this state, the adhesive parts 3 are sequentially peeled off from the adherend 1 by the scratching operation of the toe 61 of the peeling claw 6. The peeled adhesive component 3 is curled with the adhesive surface facing outward by the loop-shaped scratching operation of the toe 61. Thus, the adhesive component 3 can be automatically separated from the adherend 1.
[0045]
【The invention's effect】
As described above, the present invention applies a swinging or reciprocating motion to a holding means holding a peeling means having a peeling member having a peeling member at its tip for peeling off a component adhered to the adherend by pressing against the surface of the adherend. The tip of the peeling member of the peeling means attached to the means is moved in a loop shape, and the component attached to the adherend is peeled off by the scratching operation of the peeling member tip, so that the peeling moving in a loop shape When the member separates from the adherend, a force in the direction of pulling the component can be applied to the adherend, and the component can be easily peeled from the adherend. The amount can be increased and the amount of the adhesive remaining on the adherend can be reduced.
[0046]
In addition, the peeled component can be rolled by the rotation of the peeling member after the component is peeled off by the peeling member, and the component can be easily peeled subsequently.
[0047]
Furthermore, the pressing force of the peeling member against the adherend can be reduced as compared with a case where the component is peeled off from the adherend by applying vibration to the peeling tool, thereby preventing the adherend from being damaged or damaged. Thus, the adherend can be effectively reused.
[0048]
Further, the holding means is provided with a link arm for holding the base plate and the peeling means, the driving means is provided with an eccentric mechanism section and a rotation driving section, and the base plate is provided with a swing center axis at one end and the other end. An eccentric mechanism section is provided, the link arm is engaged with the swing center axis of the base plate by a guide groove, the eccentric mechanism section is connected to a position at a certain distance from the guide groove, and the peeling member of the peeling means is attached to the surface of the adherend. By driving the eccentric mechanism unit with the rotation drive unit in a state where it is pressed against, by rotating the link arm with the eccentric mechanism unit to swing the link arm around the swing center axis of the base plate, The tip of the peeling member of the peeling means attached to the link arm can be moved in a loop shape, and the parts attached to the adherend can be stably peeled and rounded by the scratching operation of the peeling member. It can be.
[0049]
In addition, the eccentric mechanism section rotates the center axis of swinging of the base plate in synchronization with the rotation of the connecting section of the link arm with the eccentric mechanism section, and moves the distal end of the peeling member of the peeling means in a loop shape. The tip of the peeling member can be moved in a loop shape optimal for a scratching operation, and the component can be stably peeled from the adherend.
[0050]
Further, a plurality of link arms for holding the peeling means are provided on the holding means, and the rotation driving unit shifts the phases to the plurality of link arms and gives swinging, so that the leading ends of the peeling members of the plurality of peeling means are adjusted in phase. It can be shifted and moved in a loop and pressed against the adherend alternately, suppressing vibration of the peeling tool during the peeling operation and improving the peeling efficiency.
[0051]
In addition, a driving motor and a rotation transmitting means for transmitting rotation of the driving motor to the eccentric mechanism are provided in the driving means, and a flywheel is attached to the rotation transmitting means so that the link arm swings due to the inertia of the flywheel. And the link arm can be rocked stably even if the load applied to the peeling member of the peeling means fluctuates, and the leading end of the peeling member is moved stably in a loop to change the load. Parts can be peeled off without being affected.
[0052]
Further, the holding means has a first beam and a peeling means at the tip, and a second beam attached at a fixed angle to the first beam is provided, and the first beam and the second beam are provided by the piezoelectric element. By applying a vibration to each of them, the tip of the peeling member of the peeling means can be moved in a loop at a high frequency with a simple configuration, and the peeling effect of the parts can be improved.
[0053]
Further, the holding means is provided with two sets of sliders which are movable in the intersecting directions, and the reciprocating linear motion is given while synchronizing the two sets of sliders, so that the tip of the peeling member of the peeling means can be looped with a simple structure. It can move in a shape.
[0054]
In addition, by forming the peeling member with a peeling claw having a non-adhesive surface, the component attached to the adherend can be reliably peeled off by a scratching operation, and the adhesive adhered to the peeled component can be removed. The peeled part can be rounded while preventing the agent from adhering to the peeling nail, and the part can be stably peeled from the adherend.
[0055]
In addition, since the peeling member is formed of a high friction material having viscoelasticity and has a convex surface, the peeled component can be rounded and the adherend can be prevented from being damaged.
[0056]
Further, by providing a compliance mechanism on the peeling member mounting portion or the peeling member of the peeling means, the impact force when the peeling member moving in a loop collides with the adherend is reduced and the vibration when the collision occurs is suppressed. be able to.
[0057]
By providing this compliance mechanism with a compliance function in the pressing direction of the peeling member and a compliance function in the torsion direction of the peeling member, when the peeling member collides with the adherend, the peeling member follows the surface of the adherend. The component can be stuck to the adherend, and the component can be stably peeled off from the adherend.
[0058]
Further, using a peeling device having an adherend fixing means and a tool moving means, moving the peeling tool by the tool moving means, changing the posture of the peeling tool, and fixing the peeling tool to the adherend fixing means. By moving the peeling tool by pressing against the body, the positioning accuracy and the moving accuracy of the peeling tool with respect to the adherend can be improved, and the component attached to the adherend can be stably peeled.
[0059]
Further, the compliance means is provided at the mounting portion of the peeling tool of the tool moving means to release the force when the pressing force or the contact friction force of the peeling tool becomes excessive, so that the peeling operation can be stably performed.
[0060]
Further, an end detecting means for detecting the end of the component attached to the adherend is provided at the mounting portion of the peeling tool of the tool moving means, and the end detecting means detects the end of the component and the peeling tool is used. By positioning it on the adherend, the component can be reliably peeled off from the end.
[0061]
Further, by providing a force detecting means for detecting the pressing force of the peeling tool against the adherend in the mounting portion of the peeling tool of the tool moving means, and controlling the pressing force of the peeling tool by the pressing force detected by the force detecting means. In addition, the pressing force of the peeling tool can be maintained at an appropriate value, and the peeling operation can be performed stably.
[0062]
Further, by using the articulated robot as the tool moving means, the movement and attitude control of the peeling tool can be easily and accurately performed, and the peeling operation can be stably performed.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration of a peeling tool of the present invention.
FIG. 2 is a configuration diagram of an eccentric mechanism unit and a rotation drive unit of the peeling tool.
FIG. 3 is a rotation locus diagram showing an operation of a peeling tool.
FIG. 4 is a configuration diagram of a second peeling tool.
FIG. 5 is a rotation locus diagram showing an operation of a second peeling tool.
FIG. 6 is a schematic diagram showing a loop-like movement trajectory of the tip of the peeling claw.
FIG. 7 is a perspective view showing a compliance mechanism provided on a peeling claw.
FIG. 8 is a perspective view showing a configuration of a plurality of peeling claws having a compliance mechanism.
FIG. 9 is a configuration diagram of a third peeling tool.
FIG. 10 is a configuration diagram of an eccentric mechanism of a third peeling tool.
FIG. 11 is a configuration diagram of a fourth peeling tool.
FIG. 12 is a schematic diagram showing a loop-like movement trajectory of a tip of a peeling claw of a fourth peeling tool.
FIG. 13 is a configuration diagram of a fifth peeling tool.
FIG. 14 is a schematic view showing the operation of a fifth peeling tool.
FIG. 15 is a configuration diagram of a sixth peeling tool.
FIG. 16 is a perspective view showing a configuration of a peeling device.
FIG. 17 is a configuration diagram of a peeling device used in the peeling device.
FIG. 18 is a block diagram illustrating a configuration of a control device of the peeling device.
[Explanation of symbols]
1; adherend, 3; adhesive part, 4; peeling tool, 5; base plate,
6; peeling claw; 7; link arm; 8; eccentric mechanism; 9;
10; tool holding portion; 13; eccentric shaft; 14; eccentric plate; 15; drive gear;
16: swing center axis, 17: slide groove, 20: drive motor, 21: gear,
22; flywheel, 23; rotation transmission shaft, 24; rotation transmission mechanism,
50; peeling device, 52; articulated robot, 53;
54; collection device, 55; control device.

Claims

A peeling tool for peeling a component attached to an adherend from the adherend,
A peeling unit includes a peeling unit, a holding unit, and a driving unit. The peeling unit has a peeling member at a distal end that peels off a component attached to the adherend by being pressed against the surface of the adherend, and the holding unit holds the peeling unit. And a driving means for swinging or reciprocating the holding means to move a tip end of a peeling member of the peeling means attached to the holding means in a loop shape.

The holding unit has a link arm that holds the base plate and the peeling unit, the driving unit has an eccentric mechanism unit and a rotation driving unit,
The base plate has a swing center axis at one end and an eccentric mechanism at the other end, and the link arm is spaced apart from a guide groove engaged with the swing center axis of the base plate by a predetermined distance. The rotation drive section drives the eccentric mechanism section to rotate the link section of the link arm with the eccentric mechanism section, thereby rotating the link arm to the pivot center of the base plate. The peeling tool according to claim 1, wherein the tool is swung about an axis.

3. The peeling tool according to claim 2, wherein the eccentric mechanism rotates the pivot center axis of the base plate in synchronization with the rotation of the connecting part of the link arm with the eccentric mechanism.

3. The peeling tool according to claim 2, wherein the holding means has a plurality of link arms for holding the peeling means, and the rotary drive unit swings the plurality of link arms with a phase shift.

The peeling tool according to any one of claims 2 to 4, wherein the driving unit has a driving motor and a rotation transmitting unit that transmits rotation of the driving motor to the eccentric mechanism unit, and the rotation transmitting unit is provided with a flywheel.

The holding means has a first beam and a second beam, the second beam is attached at a fixed angle to the first beam, holds the peeling means at the tip, and the driving means is the first beam. The peeling tool according to claim 1, further comprising a piezoelectric element that applies vibration to each of the beam and the second beam.

2. A peeling tool according to claim 1, wherein said holding means has two sets of sliders which are movable in an intersecting direction, and said driving means gives a reciprocating linear motion while synchronizing said two sets of sliders.

The peeling tool according to any one of claims 1 to 7, wherein the peeling member is formed of a peeling claw having a non-adhesive surface.

The peeling tool according to any one of claims 1 to 7, wherein the peeling member is formed of a high friction material having viscoelasticity and has a convex surface.

The peeling tool according to any one of claims 1 to 9, further comprising a compliance mechanism in the peeling member mounting portion or the peeling member of the peeling means.

The peeling tool according to claim 10, wherein the compliance mechanism has a compliance function in a pressing direction of the peeling member.

The peeling tool according to claim 10, wherein the compliance mechanism has a compliance function in a torsion direction of the peeling member.

A peeling method for peeling a component attached to an adherend from the adherend,
The tip of the peeling member, which is pressed against the surface of the adherend and peels off the component adhered to the adherend, is pressed against the surface of the adherend, and the leading end of the peeling member is turned into a loop to form a loop on the adherend. A peeling method characterized by peeling off a pasted component.

A peeling device using the peeling tool according to any one of claims 1 to 12,
It has an adherend fixing means and a tool moving means, the adherend fixing means holds the adherend to which the component to be peeled is attached, and the tool moving means moves the peeling tool and changes the posture of the peeling tool. And a peeling device that peels off a part attached to the adherend while moving the peeling tool by pressing the peeling tool against the adherend.

15. The peeling device according to claim 14, further comprising a compliance means at a mounting portion of the peeling tool of the tool moving means.

In the mounting portion of the peeling tool of the tool moving means, there is provided an edge detecting means for detecting an edge of the component attached to the adherend, and the edge detecting means detects the edge of the part to be peeled and peels off. The peeling device according to claim 14 or 15, wherein the tool is positioned on the adherend.

The mounting portion or the adherend fixing means of the peeling tool of the tool moving means has force detecting means for detecting a reaction force from the adherend of the peeling tool, and the reaction force of the peeling tool is detected by the reaction force detected by the force detecting means. 17. The peeling device according to claim 14, wherein the pressing force is controlled.

18. The adhesive component peeling device according to claim 14, wherein the tool moving means is an articulated robot.