JP2004231774A - Pasted member separating method and separating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stably separate members different in shape from an object they are pasted on. <P>SOLUTION: For the separation of a member 3 pasted on an object 2 with an adhesive, a part of the member 3 is separated from the object 2 by the peeling claw 20 of a chuck claw 15 of a peeling tool 6. The separated part of the member 3 is held by chuck claws 15 and 16 of the peeling tool 6, and the peeling tool 6 is moved with its attitude varied for the progress of separation. In the presence of a part in the member 3 which is prone to collect stress, the moving rate of the peeling tool 6 is varied so that the peeling rate at the part is lower than at other parts in the vicinity of the same, and this prevents the break of stress concentration part. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a peeling method and a peeling device for peeling off a seal or urethane foam attached to various devices and products in order to recycle electronic device products, transport machines, food packaging, and the like, and particularly to prevent breakage during peeling. It is concerned with stripping.
[0002]
[Prior art]
[Patent Document 1] JP-A-2002-47457
[Patent Document 2] Japanese Patent Application Laid-Open No. 7-128805
In recent years, the protection of the global environment has been increasing. 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 system, a porous soft part such as urethane foam or felt of various sizes is used to prevent toner from leaking to a part around a developing unit for forming an image. Is attached to the adherend with a double-sided adhesive tape. In order to reuse the components around the developing unit, it is essential to separate and separate the attached components. In particular, urethane foam having a small thickness is frequently used for parts attached around the developing section. At the present time, when urethane foam or the like is peeled from the adherend, an operator manually peels the urethane foam or the like adhered to the adherend using a scraper, pliers, or the like. For this reason, a large amount of work time is required for the stripping operation, and there is a great deal of variation among operators, and it is difficult to make a plan for a stable regeneration process. In addition, since it is required that there is as little residue as possible and that parts are not torn, operators are required to have a high degree of skill for peeling, and a large number of workers are required to disassemble.
[0004]
For this reason, automation of the stripping work has been desired in order to make the work more efficient and stable. As a method for automatically peeling off urethane foam or the like, for example, as shown in Patent Document 1, a hand having a chuck claw is attached to an articulated robot, and a non-sticking part is formed and attached to an adherend. The hand is moved to perform the peeling operation in a state where the non-sticking portion is gripped by the chuck claws of the hand. When performing this peeling operation, the tension applied to the component attached during peeling is detected, and the moving speed of the hand is corrected according to the detected tension to prevent the component from being torn during peeling. I have.
[0005]
[Problems to be solved by the invention]
By correcting the moving speed of the hand holding the end of the component attached to the adherend as described above according to the tension applied to the component to be separated, a component having a uniform width such as a rectangle is torn off. Although it can be peeled off without any problem, there is a limit to preventing the parts to be peeled from being torn when various irregularly shaped parts are peeled from the adherend. For example, as shown in FIGS. 12A to 12C, when the part 3 having the notched corner 23 is peeled off, and when the part 3 is peeled off from one end, the state shown in FIG. As described above, when the peeled area reaches the vicinity of the corner 23 of the notch, there are many troubles in which the stress concentrates inside the vicinity of the corner 23 of the notch, and the area is torn off from the corner 23. Further, even if the corners 23 can be peeled off without breaking, during the peeling operation after peeling off the corners 23 of the notch, the part gripped by the part 3 to be peeled and the part where the peeling is progressing Although a tension is generated, since the part 3 to be peeled has a width, as shown in FIG. Is concentrated. For this reason, a crack may be formed in the corner 23 during the peeling operation after the corner 23 of the notch is peeled, and the corner 23 may be torn from that part.
[0006]
In order to prevent cracks at the corners of the notch, for example, as shown in Patent Document 2, by increasing the cross-sectional area of the corner of the notch of the component to have strength, it is difficult to crack. However, it is difficult to locally impart strength to porous soft parts such as urethane foam or felt, labels, and the like, which are attached to various devices and the like. In addition, among various parts, the peeling force per width is close to the force of tearing off the part, and there is one that does not have a margin for strength, and the attached part deteriorates at the time of reuse. Adhesive strength tends to increase as strength decreases, and it is difficult to completely eliminate cracks only by the shape of parts.
[0007]
An object of the present invention is to improve such disadvantages and to provide a method and an apparatus for separating components capable of stably separating various and variously shaped components from an adherend.
[0008]
[Means for Solving the Problems]
A method of separating a part according to the present invention is a method of separating a part that separates a part of a part attached to an adherend with an adhesive, holds the separated part, applies a tensile force, and separates the entire part. In the case where there is a portion where the stress generated in the component at the time of peeling tends to concentrate, the peeling speed of that portion is made smaller than the peeling speed of the neighboring portion and the portion is peeled, and the stress generated in the component at the time of peeling tends to concentrate To prevent breakage.
[0009]
When the part where the stress generated in the part during this peeling tends to concentrate is the corner of the notch of the part, the peeling speed is increased according to the distance from the corner of the notch, and the center of the corner of the notch is increased. To prevent the stress from being concentrated on the corners of the notch.
[0010]
Another method of peeling a part according to the present invention is a method of peeling a part of a part which is adhered to an adherend with an adhesive, holding the peeled part and applying a tensile force to peel the whole part. In the peeling method, when there is a part where stress generated in the part at the time of peeling tends to concentrate, and the part is narrowed by the corners of the plurality of notches in the part, the width of the part is narrowed It is characterized in that a portion near the portion is peeled off while pressing the portion from above.
[0011]
In addition, after peeling off the part where stress concentration is likely to occur, the peeled part that has already been peeled off is attached to the part to be peeled off and reinforced, and the remaining part is peeled off, thereby preventing the part from breaking during peeling.
[0012]
The peeling device according to the present invention is a peeling device that peels off a part of a component attached to an adherend with an adhesive, holds the peeled portion and applies a tensile force to peel the entire component. It has a body fixing means, a peeling tool, a tool moving means, and a control device, the adherend fixing means holds an adherend to which a component is adhered with an adhesive, and the peeling tool has a peeling means and a part gripping means. The peeling means peels off a part of the component attached to the adherend, the component gripping means holds a part of the peeled part, and the tool moving means moves the peeling tool and changes the posture of the peeling tool. The control device controls the operation of the tool moving means and the peeling tool, and when the part is peeled from the adherend, when there is a part where the stress generated in the part is likely to concentrate, the part is moved by the tool moving means. By changing the moving speed of the peeling tool, the peeling speed of that part Wherein the peeling is made smaller than the peeling speed of the vicinity of.
[0013]
Also, when the part where the stress generated in the part at the time of peeling is likely to concentrate is the notch corner of the part, the control device changes the moving speed of the peeling tool around the notch corner, and The peeling speed is increased in accordance with the distance from the corner of the notch, and the fan-shaped peeling is performed around the corner of the notch.
[0014]
A second peeling device according to the present invention is a peeling device that peels off a part of a component attached to an adherend with an adhesive, holds the peeled portion and applies a tensile force to peel the entire component. , An adherend fixing means, a peeling tool, a tool moving means, and a control device, wherein the adherend fixing means holds the adherend to which the component is adhered with the adhesive, and the peeling tool comprises the peeling means and the component gripper. Means and a rotation drive means, the peeling means peels off a part of the component attached to the adherend, the component gripping means holds a part of the peeled part, and the rotation drive means rotates the component gripping means The tool moving means moves the peeling tool and changes the posture of the peeling tool, and the control device controls the operation of the tool moving means and the peeling tool. When there is a part where the generated stress tends to concentrate, rotate the gripping tool. By driving the moving means, the component gripping means is rotated around a portion where the stress generated on the component is likely to concentrate, and the peeling speed of the portion where the stress generated on the component is likely to concentrate is smaller than the peeling speed of the neighboring portion. And peeling off.
[0015]
The control device controls the driving of the rotary driving means of the gripping tool in accordance with the peeling force applied to the part to be peeled, and changes the direction of the part gripping means in a responsive manner in a portion where the stress generated in the part tends to concentrate.
[0016]
A third peeling apparatus according to the present invention is a peeling apparatus that peels off a part of a part attached to an adherend with an adhesive, holds the peeled part and applies a tensile force to peel off the entire part. , An adherend fixing means, a peeling tool, a tool moving means, and a control device, wherein the adherend fixing means holds the adherend to which the component is adhered with the adhesive, and the peeling tool comprises the peeling means and the component gripper. Means and a rotating mechanism, the peeling means peels off a part of the component attached to the adherend, the component gripping means holds a part of the peeled component, and the rotating mechanism freely rotates the component gripping means. The tool moving means moves the peeling tool and changes the posture of the peeling tool, and the control device controls the operation of the tool moving means and the peeling tool. When peeling, the part where the stress generated in the parts is likely to concentrate At one time, unlock the rotation mechanism of the gripping tool, rotate the component gripping means according to the peeling force applied to the part to be peeled, and reduce the peeling speed of the part where the stress generated in the part is likely to concentrate near Peeling is performed at a speed lower than the peeling speed of the portion.
[0017]
Further, the control device moves the tool moving means after peeling off a portion of the component where stress concentration is likely to occur, and attaches the peeled portion that has already been peeled to the portion to be peeled, and peels off the remaining portion.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a configuration diagram of the peeling apparatus of the present invention. The peeling device 1 peels and recovers a component 3 attached to a smooth surface of an adherend 2 formed of, for example, a synthetic resin, and includes an articulated robot 5 provided on a base 4 and a multi-joint robot 5. It has a peeling tool 6 attached to the articulated robot 5, an adherend fixing base 7 for fixing the adherend 2, a collecting device 8 for collecting and storing the separated parts 3, and a control device 9. As shown in the partial sectional view (a) of FIG. 2, one of the adhesive layers 11 of the double-sided adhesive tape 12 having the adhesive layers 11 on both sides of the base material 10 was attached to the component 3 to be separated by the peeling device 1. It is composed of a porous soft component 13 such as urethane foam or felt, and a label 14 having an adhesive layer 11 on the application surface, as shown in FIG. 2B.
[0019]
As shown in the configuration diagram of FIG. 3, the peeling tool 6 has a pair of chuck claws 15, 16, an opening / closing actuator 17 having, for example, a solenoid for opening and closing the chuck claws 15, 16, a compression spring, and a sliding mechanism. It has an urging mechanism section 18 and a tool mounting section 19. The chuck claw 15 has, at its tip, a peeling claw 20 that turns up the end of the component 3 to which the adherend 2 is attached, and the gripping surface contacts the adhesive surface. A non-adhesive such as a fluorine-based or fluorine-based adhesive is coated. The chuck claw 15 and the chuck claw 16 are closed by the opening / closing actuator 17 to grip the turned up end of the component 3. The gripping surface of the chuck claw 16 is subjected to, for example, a non-slip process to prevent the gripped component 3 from slipping when the end of the component 3 is gripped and a peeling force is applied. The urging mechanism 18 generates a pressing force for pressing the chuck claw 15 against the adherend 2 when turning up the end of the component 3 with the chuck claw 15. The tool mounting section 19 mounts the peeling tool 6 on the arm 21 of the articulated robot 5.
[0020]
The adherend fixing base 7 has a clamp mechanism, and holds the adherend 2 detachably. A heating means such as a halogen lamp is provided on the back surface of the holding surface for holding the adherend 2 so that the surface of the adherend 2 on which the component 3 to be peeled is stuck has a temperature of about 50 ° C. to 60 ° C. Adjust to By heating from the back surface of the adherend 2 in this manner, a temperature difference is given to the adhesive layer 10 of the component 3 so that the adhesive layer 10 is easily peeled off at the interface side. The heating range of the adherend 2 can reduce the heat energy given by irradiating a corner portion or the like in a spot according to the shape of the component 3 to which the adherend 2 is attached.
[0021]
The collecting device 8 has a scraping means 22 such as a brush for reliably collecting the component 3 separated by the separating tool 6 from the chuck claws 15 and 16.
[0022]
The control device 9 includes a central processing unit 40, an input unit 41, a program storage unit 42, a position data storage unit 43, a path generation unit 44, a drive control unit 45, and a tool control unit 46, as shown in the block diagram of FIG. The operation program stored in the program storage unit 42, the teaching position data stored in the position data storage unit 43, and the signals from the position detection unit 47 and the force detection unit 48 provided on the arm 21 of the articulated robot 5 An operation command is sent to the articulated robot 5 based on the control of the articulated robot 5 and the operation of the opening / closing actuator 17. In this teaching position data, the shape of the component 3 and a portion where stress is likely to concentrate are taught in advance, and a special peeling operation mode for peeling the position is set in the operation program. In this special peeling operation mode, when the part 3 is peeled, the peeling speed at the point where the stress is concentrated is reduced, and the peeling speed is increased in proportion to the distance from the point where the stress is concentrated. This is an operation mode in which the film 3 is stripped in a fan shape around a point where stress is concentrated.
[0023]
The operation when the part 3 attached to the adherend 2 is peeled by the peeling device 1 will be described with reference to the process chart of FIG.
[0024]
The adherend 2 to which the component 3 to be peeled is adhered is fixed to the adherend fixing base 7, and the articulated robot 5 is driven with the chuck claws 15, 16 of the peeling tool 6 open to drive the chuck claws 15. The peeling tool 6 is positioned so that the tip of the peeling claw 20 is slightly away from the end of the component 3 attached to the adherend 2. Then, the peeling claw 20 is pressed against the upper surface of the adherend 2 with a predetermined pressing force to move the peeling tool 6 toward the end of the component 3. By the movement of the peeling tool 6, the tip of the peeling claw 20 hits the end of the component 3. In this state, when the peeling tool 6 is further moved so that the tip of the peeling claw 20 bites between the adherend 2 and the component 3 by a certain distance from the end of the component 3, for example, about 5 mm, FIG. As shown, the end of the part 3 is turned up. In this state, the opening / closing actuator 17 is driven to move the chuck pawl 16 toward the end of the component 3 which has been turned up, and as shown in FIG. Hold. When it is confirmed that the end portions of the component 3 are gripped by the chuck claws 15 and 16, as shown in FIG. 5C, the peeling tool 6 is moved obliquely upward in the traveling direction, and the component 3 is held at a predetermined peeling angle α. Advance peeling. When the part 3 is peeled off, if there is a portion where stress is concentrated due to a notch or the like in the part 3, the peeling operation is performed in the special peeling operation mode.
[0025]
The operation when the component 3 is peeled off from the adherend 2 in this special peeling operation mode will be described with reference to the operation process diagram of FIG. For example, as shown in FIG. 6A, when the L-shaped part 3 having the notched corner 23 is peeled from the adherend 2, one end 3 a of the part 3 is attached to the chuck claw 15, As shown in FIG. 6B, the film is peeled by grasping at 16, and the special peeling operation mode is entered in a state where the peeling has progressed to the vicinity of the corner 23 of the notch. In the special peeling operation mode, the articulated robot 5 sets the distance L between the peeled position 24 near the corner 23 and the position 25 gripped by the chuck claws 15 and 16 while keeping the height of the peeling tool 6 constant. With the constant maintained, the peeling tool 6 is turned at a constant speed in the direction indicated by the arrow as shown in FIGS. 6 (c) to 6 (e). When the peeling tool 6 is turned, the component 3 peels off in a fan shape around the peeled position 24 near the corner 23. When the notch corner 23 is formed at an angle of 90 degrees, the peeling tool 6 rotates by an angle of 180 degrees, that is, twice the angle of the notch corner 23. When the component 3 is made of, for example, urethane foam when the component 3 is peeled off in this way, the component length is often extended by the peeling force. Therefore, the path of the peeling tool 6 is corrected by using a specific elongation rate corresponding to the component material of the component 3. When correcting the path of the peeling tool 6, in the special peeling operation mode, the path can be easily corrected by correcting only the height direction of the peeling tool 6. Further, in the special peeling operation mode, the input device is configured to input the four-component data (x, y, z, θ) of the start position, the four-component data of the end position, and the position data of the corner portion 23 to the control device 9 so that the path is obtained. The generation unit 44 can generate the turning angle and the trajectory. This input data may be obtained by teaching or may be calculated based on the shape of the component 3. Further, the lower the peeling speed, the smaller the peeling force, that is, the tensile force applied to the peeled component 3. Therefore, when the component 3 is peeled in the special peeling operation mode, the peeling speed is reduced to reduce the stress applied to the inside of the corner 23 of the notch. In addition, after the notch corner 23 is peeled off in a fan shape, the notch corner 23 is likely to be broken when going to the next peeling. Therefore, when moving to the next peeling, the moving speed of the peeling tool 6 is reduced to reduce the peeling speed. Further, when the peeling angle α is made obtuse, the component 3 can be peeled with a small peeling force.
[0026]
When all of the parts 3 are separated from the adherend 2 by this separation work, the separation tool 6 holding the separated parts 3 is moved to the upper part of the collecting device 8 and positioned, as shown in FIG. The parts 3 peeled off by opening the chuck claws 15 and 16 are collected in the collecting device 8. When the component 3 is collected by the collection device 8, the component 3 having adhesiveness can be reliably collected by scraping the component 3 with the brush 22 provided in the collection device 8.
[0027]
In the above description, the case where the peeling tool 6 is turned by the articulated robot 5 in the special peeling operation mode has been described. However, as shown in the front view of FIG. 7A and the side view of FIG. 6a, a rotation driving unit 26 having a motor or a rotation cylinder, for example, a rotation member 27 attached to a drive shaft of the rotation driving unit 26, and an offset amount D of the rotation member 27 with respect to the rotation axis. Offset adjusting means 28 for adjusting and fixing the opening / closing actuator 17 to the rotating member 27 is provided, and the chuck claws 15 and 16 are arranged so that the claw tip of the peeling claw 20 provided on the chuck claw 15 faces the rotation direction of the rotating member 27. Then, in the special peeling operation mode, the opening / closing actuator 17 and the chuck claws 15, 16 are turned by the rotation driving means 26 of the peeling tool 6, so that the notch corner 2 is formed. It can be separated in a fan shape.
[0028]
Thus, the rotation driving means 26 is provided on the peeling tool 6, and the rotation direction of the rotation driving means 26 and the start position and the end position of the special peeling operation mode are set by the output command of the operation program stored in the control device 5. By turning the opening / closing actuator 17 and the chuck claws 15, 16, the special peeling operation mode can be executed without generating a turning angle and a trajectory in the path generation unit 44 of the control device 9. Therefore, it is sufficient if there are three components (x, y, z) as input data for route generation, and route generation can be simplified.
[0029]
Further, when a rotary cylinder is used as the rotary drive method of the rotary drive unit 26, the rotation direction and the rotation amount can be adjusted by controlling the working fluid for driving the rotary cylinder with a control valve such as an electromagnetic valve, The turning radius can be adjusted by the offset adjusting means 28, and can correspond to components 3 of various shapes.
[0030]
Further, after peeling off the notch corner 23 of the component 3 in the special peeling operation mode, with the peeling of the component 3 progressing slightly, as shown in FIG. 8, the peeled portion 3a of the component 3 is peeled therefrom. By turning the actuator 17 and the chuck claws 15 and 16 so as to bring them to the part 3b side, the Z axis of the articulated robot 5 is lowered, and the peeled part 3a is adhered to the upper surface of the part to be peeled off and reinforced. In addition, when the portion 3b to be peeled is peeled, it can be more reliably prevented from being broken.
[0031]
In the above description, the case where the peeling tool 6 is provided with the rotation driving means 26 and the rotation driving means 26 turns the opening / closing actuator 17 and the chuck claws 15 and 16 in the special peeling operation mode has been described. At this time, the opening / closing actuator 17 and the chuck claws 15 and 16 may be turned by the peeling force from the part 3 that has been peeled off. As shown in the configuration diagram of FIG. 9, the peeling tool 6b in this case includes a rotating mechanism 29 provided below the urging mechanism 18 and a rotating member 27 attached to a rotating shaft of the rotating mechanism 29. , A rotation lock mechanism 30 for locking the rotation of the rotation member 27. The opening / closing actuator 17 and the chuck claws 15 and 16 are offset by a fixed distance D1 with respect to the rotation center of the rotating member 27 so that the tip of the peeling claw 20 provided on the chuck claw 15 faces the rotation center of the rotating member 27. It is attached to a rotating member 27. The opening / closing actuator 17 is for opening and closing the chuck claws 15 and 16 using, for example, an electromagnet. An opening / closing signal for driving the electromagnet is transmitted via a slip ring, and has no wiring or piping in the rotating portion. You can rotate to.
[0032]
As shown in FIG. 6, for example, when the part 3 having the notch corner 23 and the notch 23 is peeled from the adherend 2 by the peeling tool 6 b, first, the rotating member 30 is rotated by the rotation lock mechanism 30. One end 3a of the component 3 is peeled off while the rotation of the component 27 is locked, and the peeled end 3a is gripped by the chuck claws 15 and 16, and peeled. When the peeling proceeds to the vicinity of the notch corner 23 and enters the special peeling operation mode, the lock of the rotating member 27 by the rotation lock mechanism 30 is released, and the rotating member 27 can be freely rotated, and the path command is issued. Therefore, the peeling tool 6b is moved. In this way, the peeling is performed while the rotating member 27 is freely rotatable, and the peeling force of the component 3 gripped and peeled by the chuck claws 15 and 16, that is, the rotating member 27 is determined by the direction in which the tension acts. Can rotate to naturally determine the attitude of the chuck claws 15 and 16, and the component 3 can be peeled off in a fan shape about the corner 23 of the notch. As described above, since the postures of the chuck claws 15 and 16 are changed by the peeling force of the part 3 to be peeled off, only the positions of the three axes need to be set at all times when teaching the path. Can easily be taught.
[0033]
In the above description, the case where the attitude of the chuck claws 15 and 16 is passively changed according to the direction of the tension acting on the peeled component 3 has been described, but the direction of the tension acting on the peeled component 3 is detected. The posture of the chuck claws 15, 16 holding the end of the component 3 may be changed according to the direction of the detected tension. The peeling tool 6d in this case, as shown in the configuration diagram of FIG. 10, has a rotation mechanism 29 and a rotation driving means 26 having a motor, and in the special peeling operation mode, the posture of the chuck claws 15, 16 is changed. The rotation load at the time of change is minimized by the rotation driving means 26. As shown in the block diagram of FIG. 11, a control system for controlling the operation of the rotation driving means 26 includes a position control for feeding back an output signal of a position detection unit 47 provided on the arm 21 of the articulated robot 5 and a force control. The configuration is such that the force control for feeding back the output signal from the detection unit 48 is switched.
[0034]
When the component 3 is gripped and peeled in the normal operation mode, the control of the rotation drive unit 26 is performed by position control. When the special separation operation mode is entered, the control of the rotation drive unit 26 is switched to force control, When the peeling operation mode ends, the mode is switched to the position control again. The target value of the force in this force control is set to be zero. With this setting, in the special peeling operation mode, the postures of the chuck claws 15 and 16 are maintained in the direction of the tension applied to the part 3 being peeled off, and the part 3 is fan-shaped about the corner 23 of the notch. Can be peeled off. Further, since the moment applied to the chuck claws 15 and 16 can also be detected, the direction of the chuck claws 15 and 16 can be changed to more accurately follow the direction in which the parts 3 are pulled off.
[0035]
In the above description, the case where the component 3 having the L-shaped notch corner 23 is peeled off as shown in FIG. 12A has been described. However, as shown in FIG. A description will be given of a case where the component 3 having the cutout 23 has a concave notch and has a locally narrow width as shown in FIG. In this case, as shown in the configuration diagram of FIG. 13, the gripping tool 6 d has a rotation driving unit 26 having, for example, a motor or a rotating cylinder below the urging mechanism 18, and the chuck claws 15, 16 are rotated by the rotation driving unit. An opening / closing actuator 17 is attached to the rotation axis of the rotation driving means 26 so as to be parallel to the rotation axis of the rotation driving means 26.
[0036]
Then, after the end of the component 3 is peeled off by the chuck pawl 15, the gripping tool 6d is rotated by approximately 90 degrees by the articulated robot 5, and the peeled end of the component 3 is held by the chuck pawls 15 and 16. Then, as shown in FIG. 14, while rotating the chuck claws 15, 16 in the peeling direction by the rotation driving means 26, the peeling tool 6d is moved in the peeling direction in synchronization with the rotation of the chuck claws 15, 16, and The part 3 is taken up by the chuck claws 15 and 16 while being peeled off. When the component 3 is peeled and wound, the adhesive surface of the peeled component 3 is on the outside, so that the newly peeled portion can be reattached to the adhesive surface of the already peeled component 3 to reinforce. In this manner, by peeling off the area in the vicinity of the narrowed part while pressing it from above, the peeling speed in the area where the stress is easily concentrated and the peeling rate in the vicinity can be made the same, and the stress is easily concentrated. The part can be peeled off without giving a large tensile stress to the part, and the part 3 can be prevented from breaking during peeling.
[0037]
As described above, when the component 3 having the notch corner 23 is peeled off, a large stress is likely to be locally applied to the vicinity of the notch corner 23. Therefore, as shown in the plan view of FIG. 15A and the side view of FIG. 15B, a reinforcing member such as a PET film having a thickness of about 0.05 mm is provided in the vicinity of the notch corner 23. By providing a notch 31 or adding a radius to the notch corner 23 to reinforce it, or as shown in FIG. The component 3 attached to the body 2 can be more stably peeled off.
[0038]
In the above description, the case where the end of the component 3 stuck to the adherend 2 is not peeled off by the peeling claw 2 provided on the chuck claw 15 is described. However, the same applies to the case where the end of the component 3 is peeled by another method. Can be applied to
[0039]
【The invention's effect】
As described above, according to the present invention, when there is a portion where the stress generated in the component at the time of peeling tends to concentrate, the peeling speed of that portion is made smaller than the peeling speed of the nearby portion, and the peeling occurs, and the component is generated at the time of peeling. Since the applied stress is dispersed, it is possible to prevent breakage at a portion where the stress generated in the component at the time of peeling is likely to concentrate, and to stably peel the component from the adherend.
[0040]
When the part where the stress generated in the part during this peeling tends to concentrate is the corner of the notch of the part, the peeling speed is increased according to the distance from the corner of the notch, and the center of the corner of the notch is increased. This prevents the stress from concentrating on the corners of the notch, prevents the breakage at the corners, and allows the component to be stably peeled from the adherend.
[0041]
In addition, when the part where the stress generated in the part at the time of peeling is apt to concentrate is narrowed by the corners of the notches of the part, the part where the width of the part is narrow is pressed from above By peeling off the portion in the vicinity thereof, it is possible to prevent stress from being concentrated on the corner of the notch, prevent breakage at that portion, and stably peel off the component from the adherend.
[0042]
In addition, after peeling off the part where stress concentration is likely to occur, the peeled part that has already been peeled off is attached to the part to be peeled off and reinforced, and the remaining part is peeled off, thereby preventing the part from breaking during peeling.
[0043]
In addition, the gripping tool is provided with a rotary driving means for rotating the component gripping means, and when there is a portion where the stress generated in the component is likely to concentrate, the rotary driving means is driven to concentrate the stress generated in the component. By rotating the component gripping means around the center, the peeling speed of the part where the stress generated in the part is likely to be concentrated is made smaller than the peeling speed of the nearby part, and the path is easily generated when the part is peeled. Can be
[0044]
Furthermore, by controlling the drive of the rotary driving means of the gripping tool in accordance with the peeling force applied to the part to be peeled in a portion where the stress generated in the part is likely to concentrate, the direction of the part gripping means can be changed with good response. In addition, the component can be stably peeled from the adherend.
[0045]
In addition, the gripping tool is provided with a rotation mechanism that freely rotates the component gripping means and locks the rotation, and unlocks the rotation mechanism in a portion where the stress generated in the component is likely to concentrate, and the peeling applied to the part to be peeled off By rotating the component gripping means according to the force, the peeling speed of the part where the stress generated in the component is likely to be concentrated is made smaller than the peeling speed of the neighboring part, and the direction of the component gripping means is responsive. Alternatively, the component can be stably peeled from the adherend.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a peeling device of the present invention.
FIG. 2 is a sectional view showing a part to be peeled.
FIG. 3 is a configuration diagram of a peeling tool.
FIG. 4 is a block diagram illustrating a configuration of a control device.
FIG. 5 is a process chart showing a peeling operation of the component.
FIG. 6 is a process chart showing an operation when peeling off a corner of the notch;
FIG. 7 is a configuration diagram of a second peeling tool.
FIG. 8 is a schematic view showing a process after peeling off a corner of a notch;
FIG. 9 is a configuration diagram of a third peeling tool.
FIG. 10 is a configuration diagram of a fourth peeling tool.
FIG. 11 is a block diagram illustrating a configuration of a control system of a rotation driving unit of the peeling tool.
FIG. 12 is a plan view of a component having a portion where stress tends to concentrate during peeling.
FIG. 13 is a configuration diagram of a fifth peeling tool.
FIG. 14 is a perspective view showing a state in which a component is peeled by a fifth peeling tool.
FIG. 15 is a configuration diagram of a part in which a corner of a notch is reinforced or non-sticked.
FIG. 16 is a perspective view showing a state in which components are peeled off.
[Explanation of symbols]
1; peeling device; 2; adherend; 3; component; 4; base; 5;
6: peeling tool, 7: substrate to be adhered, 8: collection device, 9; control device,
15, 16; chuck jaws, 17; opening / closing actuator, 18; biasing mechanism,
19; tool mounting portion, 20; peeling claw, 21; arm, 23;
40; central processing unit; 41; input means; 42; program storage unit;
43; a data storage unit; 44; a path generation unit; 45; a drive control unit;
46; a tool control unit; 47; a position detection unit; 48; a force detection unit.

Claims (10)

In a component peeling method of peeling a part of a part attached to an adherend with an adhesive, holding the peeled part and applying a tensile force to peel the entire part,
A method for peeling a component, wherein, when there is a portion where stress generated in the component tends to be concentrated at the time of peeling, the peeling speed of the portion is made lower than the peeling speed of a nearby portion to peel. When the part where the stress generated in the part during peeling is likely to be concentrated is the corner of the notch of the part, the peeling speed is increased according to the distance from the corner of the notch, and the corner of the notch is centered. 2. The method for separating a component according to claim 1, wherein the component is stripped in a fan shape. In a component peeling method of peeling a part of a part attached to an adherend with an adhesive, holding the peeled part and applying a tensile force to peel the entire part,
When there is a part where the stress generated in the part at the time of peeling tends to concentrate, and that part is narrowed by the corners of the notches of the part, the part where the part width is narrowed from the top A method for peeling a component, comprising peeling off a portion in the vicinity of the part while holding down. 4. The method of claim 1, wherein after peeling off the portion where the stress concentration is likely to occur, the peeled portion that has already been peeled off is attached to a portion to be peeled off, and the remaining portion is peeled off. 5. In a peeling device that peels off a part of a component attached to an adherend with an adhesive, holds the peeled portion and applies a tensile force to peel off the entire part,
An adherend fixing means, a peeling tool, a tool moving means, and a control device, wherein the adherend fixing means holds the adherend to which the component is attached with an adhesive; and A gripping means, a peeling means for peeling off a part of the component attached to the adherend, a component gripping means for holding a part of the peeled part, and the tool moving means for moving and peeling the peeling tool The posture of the tool is changed, and the control device controls the operation of the tool moving means and the peeling tool.When peeling the part from the adherend, when there is a part where the stress generated in the part is likely to concentrate. A moving speed of a peeling tool moved by the tool moving means, and a peeling speed of the portion is made lower than a peeling speed of a portion near the peeling tool to peel off. The control device, when the part where the stress generated in the part during peeling is likely to concentrate is the corner of the notch of the part, changes the moving speed of the peeling tool around the corner of the notch, 6. The peeling device according to claim 5, wherein the peeling speed is increased in accordance with the distance from the corner, and the fan is peeled off in a fan shape around the corner of the notch. In a peeling device that peels off a part of a component attached to an adherend with an adhesive, holds the peeled portion and applies a tensile force to peel off the entire part,
An adherend fixing means, a peeling tool, a tool moving means, and a control device, wherein the adherend fixing means holds the adherend to which the component is attached with an adhesive; and A gripping unit and a rotation driving unit are provided, the peeling unit peels off a part of the component attached to the adherend, the component gripping unit holds a part of the peeled component, and the rotation driving unit pulls the component gripping unit. Rotate, the tool moving means moves the peeling tool and changes the posture of the peeling tool, and the control device controls the operation of the tool moving means and the peeling tool, and peels the part from the adherend. When there is a portion where the stress generated in the component is likely to concentrate, the rotation driving means of the gripping tool is driven to rotate the component gripping means around the portion where the stress generated in the component is likely to concentrate, and Peeling speed of parts where generated stress is likely to concentrate Peeling apparatus characterized by peeling in less than a peeling rate of the vicinity of the. The peeling device according to claim 7, wherein the control device controls the driving of the rotation driving means of the gripping tool in a portion where the stress generated in the component is likely to be concentrated according to the peeling force applied to the component to be peeled. In a peeling device that peels off a part of a component attached to an adherend with an adhesive, holds the peeled portion and applies a tensile force to peel off the entire part,
An adherend fixing means, a peeling tool, a tool moving means, and a control device, wherein the adherend fixing means holds the adherend to which the component is attached with an adhesive; and It has a gripping means and a rotating mechanism, the peeling means peels off a part of the component attached to the adherend, the component gripping means holds a part of the peeled part, and the rotating mechanism freely rotates the component gripping means. Rotating and locking the rotation, the tool moving means moves the peeling tool and changes the posture of the peeling tool, and the control device controls the operation of the tool moving means and the peeling tool, When peeling the part from the body, when there is a part where the stress generated in the part is likely to concentrate, unlock the rotation mechanism of the gripping tool and move the part gripping means according to the peeling force applied to the part to be peeled. Rotate to adjust the response There peeling apparatus characterized by peeling the peeling rate of the concentrated portion easily made smaller than the peeling speed of the vicinity of. 10. The control device according to claim 5, wherein the control device moves the tool moving unit after peeling off a portion of the component where stress concentration is likely to occur, and affixes the peeled portion that has already been peeled to a portion to be peeled off, and peels off the remaining portion. The peeling device according to any one of the above.

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