JP2020189742A - Adhesive sheet peeling system - Google Patents

Abstract

To provide an adhesive sheet peeling system that can peel an adhesive sheet from a mount even when the adhesive sheet is thin.SOLUTION: There is provided an adhesive sheet peeling system that peels an adhesive sheet (50) attached to a mount (60), including: a claw portion (22) with an insertion portion formed in a plate shape having a predetermined width and thinner toward a tip; a movement mechanism (10A) that moves the claw portion; a platform (70) including a displacement portion (72) in which a drag force is applied in a direction opposite to a pushed direction and a surface moves in the pushed direction; and a control unit (36) that controls the movement mechanism so that the insertion portion pushes an outer periphery of an end portion at a part facing the displacement portion of the mount and the insertion portion is inserted between the mount and the adhesive sheet, with the mount placed on a base so that an end (50a) of the adhesive sheet projects to a position facing the displacement portion.SELECTED DRAWING: Figure 1

Description

The present invention relates to a system for peeling an adhesive sheet attached to a mount.

Conventionally, one of the pair of gripping claws of the robot hand is pushed into the end face of the adhesive sheet perpendicular to the mount, and the deformed portion is gripped by the pair of gripping claws so that the adhesive material of the adhesive sheet slightly rises with respect to the mount. , There is a system in which the robot hand is raised to peel off a part of the adhesive material from the mount (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-20883

By the way, the system described in Patent Document 1 is intended to peel off a thick rubber sheet attached to a mount. On the other hand, when peeling off the thin adhesive sheet, it is difficult to push one of the pair of gripping claws into the end face of the adhesive sheet perpendicular to the mount to deform it. Further, when the gripping claw is inserted between the adhesive material and the mount, the adhesive sheet may be crushed into a wavy shape or the mount may be torn.

The present invention has been made to solve such a problem, and a main object thereof is to provide an adhesive sheet peeling system capable of peeling an adhesive sheet from a mount even when the adhesive sheet is thin. It is in.

The first means for solving the above problems is
An adhesive sheet peeling system that peels off the adhesive sheet attached to the mount.
A claw part including an insertion part that is plate-shaped with a predetermined width and is formed thinner toward the tip,
A moving mechanism for moving the claws and
A table including a displacement portion that exerts a drag force in the direction opposite to the pushed direction and moves the surface in the pushed direction.
In a state where the mount is placed on the base so that the end of the adhesive sheet projects to a position facing the displacement portion, the outer circumference of the end portion is different in the portion of the mount facing the displacement portion. A control unit that controls the movement mechanism so that the insertion portion is pushed and the insertion portion is inserted between the mount and the adhesive sheet.
To be equipped.

According to the above configuration, the claw portion includes a plate-shaped insertion portion having a predetermined width and formed thinner toward the tip. Then, the claw portion can be moved by the moving mechanism.

Here, the control unit makes a difference in the outer circumference of the end portion at the portion facing the displacement portion of the mount in a state where the mount is placed on the base so that the end portion of the adhesive sheet projects to the position facing the displacement portion. The movement mechanism is controlled so that the displacement is pushed. At this time, since the displacement portion exerts a drag force in the direction opposite to the pushed direction, the mount is supported by the displacement portion. Moreover, the insertion portion is plate-shaped with a predetermined width and is formed as thin as the tip, and the tip of the insertion portion is not sharp. Therefore, it is possible to prevent the insertion portion from sticking to the mount, and it is possible to prevent the mount from being torn.

Furthermore, since the surface of the displacement portion moves in the pressed direction, the mount pressed by the insertion portion moves relative to the adhesive sheet in the pressed direction, and a gap is created between the adhesive sheet and the mount. It will be easier. In that state, the control unit controls the moving mechanism so that the insertion portion is inserted between the mount and the adhesive sheet, so that it is possible to prevent the adhesive sheet from being crushed and becoming wavy. Therefore, even when the adhesive sheet is thin, the adhesive sheet can be peeled off from the mount.

In the second means, the control unit inserts the mount between the mount and the adhesive sheet after the insertion portion pushes the outer periphery of the end portion at a portion of the mount facing the displacement portion. The movement mechanism is controlled so that the portion is inserted. Therefore, after forming a gap between the adhesive sheet and the adhesive sheet, it becomes easy to insert the insertion portion between the adhesive sheet and the adhesive sheet.

In the third means, since the displacement portion is formed of rubber, the function of supporting the mount and the function of moving the surface in the pressed direction can be easily realized.

In the fourth means, the moving mechanism is an arm of a robot, and the claw portion and a suction portion for sucking the adhesive sheet are attached to the arm.

According to the above configuration, the claw portion can be moved by the arm of the robot. Further, since the arm is attached with a suction portion for sucking the adhesive sheet, the adhesive sheet whose end portion is peeled off from the mount can be sucked by the suction portion. Therefore, it becomes easy to completely peel off the adhesive sheet from the mount, or to attach the completely peeled adhesive sheet to a predetermined place.

In the fifth means, the pressure-sensitive adhesive sheet includes a sheet portion formed in a sheet shape containing a magnetic material and an adhesive portion for adhering the sheet portion to the mount.

According to the above configuration, even when the adhesive sheet including the sheet portion formed in the form of a sheet containing the magnetic material and the adhesive portion for adhering the sheet portion to the mount is thin, the adhesive sheet is peeled off from the mount. be able to.

In the sixth means, the adhesive sheet includes a sheet portion formed in a sheet shape containing a magnetic material and an adhesive portion for adhering the sheet portion to the mount, and the suction portion is subjected to the adhesive by magnetic force. Suck the sheet.

According to the above configuration, the pressure-sensitive adhesive sheet includes a sheet portion formed in a sheet shape containing a magnetic material. Therefore, the suction unit can suck the adhesive sheet by magnetic force. When the suction unit sucks the adhesive sheet by vacuum suction, the adhesive sheet is easily deformed.

Here, if the suction force of the suction portion is too strong, the adhesive sheet may not be released from the suction portion even if the adhesive sheet is attached to a predetermined place after the adhesive sheet is sucked by the suction portion. In this respect, since the adhesive sheet is easily peeled off from the mount, the suction force by the suction portion can be weakened, and the adhesive sheet can be released from the suction portion.

In the seventh means, the thickness of the pressure-sensitive adhesive sheet is 0.1 to 0.5 mm.

According to the above configuration, the pressure-sensitive adhesive sheet can be peeled off from the mount even when the pressure-sensitive adhesive sheet is thin, such that the thickness of the pressure-sensitive adhesive sheet is 0.1 to 0.5 mm.

The schematic diagram which shows the ferrite sheet peeling system. A plan view showing a state in which a ferrite sheet is attached to a part. The plan view which shows the mount and the ferrite sheet. The front view which shows the claw part of a hand, and the edge part of a ferrite sheet. The plan view which shows the claw part of a hand, and the edge part of a ferrite sheet. The front view which shows the peeling mode of the ferrite sheet in the comparative example. Front view showing the claw portion of the hand, the base, and the end portion of the ferrite sheet. The front view which shows the peeling mode of a ferrite sheet. The front view which shows the modification example of the displacement member. The front view which shows the change example of the displacement part.

Hereinafter, an embodiment in which the ferrite sheet peeling system is embodied in an articulated robot and a table will be described with reference to the drawings.

As shown in FIG. 1, the ferrite sheet peeling system (adhesive sheet peeling system) includes a robot 10 and a base 70.

The robot 10 is, for example, a 6-axis vertical articulated robot, and includes a base 11 (base) and an arm 10A. Adjacent links 13, 15 (only partially shown) of the arm 10A are connected in order via joints 12, 14, 16 (only partially shown) so as to be relatively rotatable. Each of the joints 12, 14 and 16 is driven by a motor (not shown) corresponding to each of the joints 12, 14 and 16.

For example, the joints 12, 14 and 16 of the robot 10 are provided with encoders 31, 32 and 33 for detecting the rotation angles of the joints 12, 14 and 16, respectively. That is, the encoders 31, 32, and 33 detect the position and orientation of the control point of the arm 10A (hereinafter, referred to as "position and orientation of the arm 10A"). The control point is set at the center of the tip of the arm 10A.

Inside the base 11, a control unit 36 for controlling the operation of the robot 10, that is, the position and posture of the arm 10A is provided. The control unit 36 is configured as a computer including a CPU, a ROM, a RAM, a drive circuit, an input / output interface, and the like.

A mount 60 to which a ferrite sheet 50 (adhesive sheet) is attached is placed on the base 70. The mount 60 is fixed to the mount 70. As shown in FIG. 4, the ferrite sheet 50 includes a sheet portion 51 formed in a sheet shape containing a magnetic material, and an adhesive portion 52 (adhesive layer) for adhering the sheet portion 51 to the mount 60. The adhesive portion 52 is formed of glue or the like. Since the sheet portion 51 of the ferrite sheet 50 contains a magnetic material, it can be attracted by magnetic force. In FIGS. 1 and 4, the thicknesses of the mount 60 and the ferrite sheet 50 are exaggerated.

A hand 20 is attached to the tip of the arm 10A. The hand 20 includes a rectangular parallelepiped main body 24, a claw portion 22, and a suction portion 21. The claw portion 22 is used when peeling off the end portion 50a of the ferrite sheet 50. The suction unit 21 is formed in a rectangular parallelepiped shape by a permanent magnet having a predetermined magnetic force. The suction portion 21 is attached to the bottom of the main body 24. The suction portion 21 is used when sucking the ferrite sheet 50 from which the end portion 50a has been peeled off. The arm 10A of the robot 10 constitutes a moving mechanism for moving the claw portion 22.

First, the outline of the process of peeling the ferrite sheet 50 from the mount 60 and attaching it to the component 80 will be described.

The control unit 36 controls the operation of the arm 10A so that the end portion 50a of the ferrite sheet 50 is peeled off from the mount 60 by the claw portion 22. That is, the claw portion 22 creates a trigger for peeling the entire ferrite sheet 50 from the mount 60.

Subsequently, the control unit 36 controls the operation of the arm 10A so that the suction unit 21 sucks the ferrite sheet 50. The control unit 36 controls the operation of the arm 10A so as to peel off from the end portion 50a to the opposite end portion 50b in the longitudinal direction of the ferrite sheet 50. As a result, the entire ferrite sheet 50 is peeled from the mount 60, and the peeled ferrite sheet 50 is in a state of being sucked by the suction unit 21.

Subsequently, as shown in FIG. 2, the control unit 36 controls the operation of the arm 10A so as to press the ferrite sheet 50 against the predetermined portion P of the component 80. Then, the control unit 36 controls the operation of the arm 10A so as to release the hand 20 from the component 80. As a result, the ferrite sheet 50 is attached to the component 80, and the hand 20 is released from the component 80.

After that, the control unit 36 moves the hand 20 to the position of the next ferrite sheet 50, and repeats the above steps.

Next, the mount 60 and the ferrite sheet 50 will be described in detail.

As shown in FIG. 3, the ferrite sheet 50 is attached to the mount 60. The ferrite sheet 50 is formed by removing an unnecessary portion of the ferrite sheet by half-cutting it from a die-cutting material on which the ferrite sheet is attached to the entire surface of the mount 60. In the half cut, only the unnecessary portion of the ferrite sheet out of the mount 60 and the ferrite sheet is cut and removed.

The mount 60 is formed in the shape of a rectangular sheet by the paper and the plastic film covering the surface of the paper. The thickness of the mount 60 is 0.1 to 0.2 mm. The mount 60 may be formed only of a plastic film (resin film). That is, the mount 60 is not limited to the one made of paper, but also includes the one made of a resin film or the like.

The plurality of ferrite sheets 50 are arranged on the mount 60 at predetermined intervals. For example, the plurality of ferrite sheets 50 are formed in a rectangular sheet shape with the same size and the same shape. The thickness of the ferrite sheet 50 is 0.1 to 0.5 mm. The outer shape of the bottom surface 21a of the suction portion 21 matches (substantially matches) the outer shape of the ferrite sheet 50. That is, the size and shape of the suction portion 21 are set according to the size and shape of each ferrite sheet 50 to be peeled off.

In FIG. 3, the plurality of ferrite sheets 50 are arranged in 20 rows × 2 columns. In the 20 (plural) ferrite sheets 50 included in the same row, the positions of the ends in the longitudinal direction coincide with each other. In the two (plurality) ferrite sheets 50 included in the same row, the positions of the ends in the width direction (direction perpendicular to the longitudinal direction) coincide with each other.

Next, the claw portion 22 of the hand 20 will be described with reference to FIGS. 4 and 5. FIG. 4 is an enlarged front view showing a part of the hand 20, a part of the mount 60, and a part of the ferrite sheet 50. FIG. 5 is an enlarged plan view showing a part of the hand 20, a part of the mount 60, and a part of the ferrite sheet 50. In FIG. 4, the thicknesses of the mount 60 and the ferrite sheet 50 are exaggerated.

The claw portion 22 is made of metal and is formed in a square columnar shape (plate shape) with a uniform width W. The base end 22a of the claw portion 22 is fixed to the side surface of the main body 24 of the hand 20.

The claw portion 22 extends diagonally toward the insertion portion 22b, which is the tip end, so as to be separated from the main body 24. The bottom surface 22c of the insertion portion 22b is located on the extension surface (substantially on the extension surface) of the bottom surface 21a of the suction portion 21. The bottom surface 21a of the suction portion 21 and the bottom surface 22c of the insertion portion 22b are parallel (substantially parallel). The insertion portion 22b is formed thinner toward the tip. That is, the insertion portion 22b is formed in a plate shape having a width W (predetermined width), and is formed thinner toward the tip of the insertion portion 22b. The tip of the insertion portion 22b is formed in a thin plate shape instead of a needle shape.

Here, a mode in which the end portion 50a of the ferrite sheet 50 is peeled off will be described using the base 170 of the comparative example with reference to FIGS. 4 and 6. The base 170 is formed of metal in a rectangular plate shape.

In FIG. 4, the bottom surface 22c of the insertion portion 22b of the claw portion 22 is arranged so as to coincide with the surface of the mount 60. That is, the tip of the insertion portion 22b is arranged so as to face the boundary between the mount 60 and the adhesive portion 52 of the ferrite sheet 50.

FIG. 6 shows a state in which the claw portion 22 is moved in the direction of the ferrite sheet 50 (to the right in FIG. 6) from the state of FIG. Although the insertion portion 22b is formed thinner toward the tip, the mount 60 and the adhesive portion 52 are adhered to each other. Therefore, even if the insertion portion 22b of the claw portion 22 is inserted into the boundary between the mount 60 and the adhesive portion 52 in a state where the mount 60 and the end portion 50a of the ferrite sheet 50 are not peeled off, the ferrite sheet 50 Is crushed and wavy.

Next, the table 70 of the present embodiment will be described in detail with reference to FIGS. 1 and 7.

The base 70 is formed of metal in a rectangular plate shape. Two linear grooves 71 are formed in the base 70. The two grooves 71 extend in the depth direction of the base 70 (the direction perpendicular to the paper surface of FIGS. 1 and 7). The two grooves 71 extend parallel to each other. The distance L between the center of one groove 71 and the center of the other groove 71 is the distance between the end 50a of the ferrite sheet 50 in one row and the end 50a of the ferrite sheet 50 in the other row. There is a match (almost a match).

A displacement member 72 extending linearly is fitted in each of the two grooves 71. The displacement member 72 (displacement portion) is formed in a square columnar shape that can be fitted in the groove 71, that is, in a size and shape corresponding to the size and shape of the groove 71. The surface of the base 70 and the surface of the displacement member 72 coincide with each other. The bottom surface of the displacement member 72 is supported by the bottom surface of the groove 71 of the base 70. The displacement member 72 is formed of rubber having a predetermined hardness and a predetermined elasticity. The rubber may be natural rubber or synthetic rubber.

Since the displacement member 72 is made of rubber, an elastic force (drag force) is applied in a direction opposite to the pressed direction. For example, when the surface of the displacement member 72 is pushed downward by the claw portion 22, the displacement member 72 exerts an elastic force upward on the claw portion 22. At that time, the surface of the displacement member 72 moves downward, that is, the surface of the displacement member 72 moves in the pushed direction.

Next, a step of peeling the end portion 50a of the ferrite sheet 50 from the mount 60 placed on the base 70 by the claw portion 22 will be described in detail.

As shown in FIGS. 1 and 7, the mount 60 is placed on the mount 70 so that the end portion 50a of the ferrite sheet 50 projects to a position facing the displacement member 72. The length X at which the end portion 50a projects toward the position facing the displacement member 72 is set to a predetermined length. The predetermined length is a length that can prevent the end portion 50a from being lowered (bent) following the mount 60 when the portion of the mount 60 facing the displacement member 72 is pushed and lowered. For example, it is 2 to 5 mm. The predetermined length is appropriately set according to the hardness of the ferrite sheet 50, the adhesive force between the mount 60 and the adhesive portion 52, the hardness of the displacement member 72, and the like. The step of placing the mount 60 on the base 70 may be performed by an operator or by the robot 10.

In this state, the control unit 36 is an arm of the robot 10 so that the insertion portion 22b of the claw portion 22 pushes the outer periphery of the end portion 50a of the ferrite sheet 50 downward at the portion of the mount 60 facing the displacement member 72. Control 10A. At this time, since the displacement member 72 exerts an elastic force upward in the direction opposite to the pushing direction, the mount 60 is supported by the displacement member 72. Since the surface of the displacement member 72 moves downward, the mount 60 pushed by the insertion portion 22b of the claw portion 22 moves downward relative to the ferrite sheet 50, and the adhesive portion 52 of the end portion 50a and the mount 60 It becomes easy to create a gap between the two.

After that, as shown in FIG. 8, the control unit 36 controls the arm 10A so as to insert the insertion portion 22b of the claw portion 22 between the mount 60 and the adhesive portion 52 of the end portion 50a. Specifically, the control unit 36 controls the arm 10A so as to move the claw portion 22 in the direction of the ferrite sheet 50 (to the right in FIG. 8). As a result, the adhesive portion 52 of the end portion 50a is peeled off from the mount 60.

In short, in the control unit 36, the insertion portion 22b of the claw portion 22 pushes the outer periphery of the end portion 50a of the ferrite sheet 50 at the portion of the mount 60 facing the displacement member 72, and between the mount 60 and the ferrite sheet 50. The arm 10A is controlled so that the insertion portion 22b of the claw portion 22 is inserted.

In that state, the control unit 36 rotates the hand 20 horizontally around the insertion portion 22b of the claw portion 22 so that the suction portion 21 faces the ferrite sheet 50. At that time, the control unit 36 may raise the claw portion 22 by a predetermined amount or tilt the claw portion 22 by a predetermined angle. After that, the control unit 36 moves the hand 20 downward by a predetermined amount and presses the suction unit 21 against the ferrite sheet 50. As a result, the ferrite sheet 50 is sucked by the suction unit 21. That is, the control unit 36 controls the operation of the arm 10A so that the suction unit 21 sucks the ferrite sheet 50. After that, the control unit 36 executes the process described in the above outline.

The present embodiment described in detail above has the following advantages.

The control unit 36 is described in the portion of the mount 60 facing the displacement member 72 in a state where the mount 60 is placed on the base 70 so that the end portion 50a of the ferrite sheet 50 projects to a position facing the displacement member 72. The arm 10A is controlled so that the insertion portion 22b of the claw portion 22 pushes the outer circumference of the end portion 50a. At this time, since the displacement member 72 exerts a drag force in the direction opposite to the pushing direction, the mount 60 is supported by the displacement member 72. Moreover, the insertion portion 22b has a plate shape having a predetermined width and is formed as thin as the tip, and the tip of the insertion portion 22b is not sharp. Therefore, it is possible to prevent the insertion portion 22b from sticking to the mount 60, and it is possible to prevent the mount 60 from being torn.

Since the surface of the displacement member 72 moves in the pushed direction, the mount 60 pushed by the insertion portion 22b moves relative to the ferrite sheet 50 in the pushed direction, and the ferrite sheet 50 and the mount 60 move together. It becomes easy to create a gap between them. In this state, the control unit 36 controls the arm 10A so that the insertion portion 22b is inserted between the mount 60 and the ferrite sheet 50, so that the ferrite sheet 50 is crushed into a wavy shape (see FIG. 6). Can be suppressed. Therefore, as shown in FIG. 8, the ferrite sheet 50 can be peeled from the mount 60 even when the ferrite sheet 50 is thin.

The control unit 36 inserts the insertion portion 22b between the mount 60 and the ferrite sheet 50 after the insertion portion 22b pushes the outer periphery of the end portion 50a at the portion of the mount 60 facing the displacement member 72. Controls the arm 10A. Therefore, after forming a gap between the ferrite sheet 50 and the mount 60, it becomes easy to insert the insertion portion 22b between the mount 60 and the ferrite sheet 50.

Since the displacement member 72 is made of rubber, it is possible to easily realize the function of supporting the mount 60 and the function of moving the surface in the pressed direction.

-The claw portion 22 can be moved by the arm 10A of the robot 10. Further, since the suction portion 21 for sucking the ferrite sheet 50 is attached to the arm 10A, the ferrite sheet 50 from which the end portion 50a is peeled off from the mount 60 can be sucked by the suction portion 21.

The ferrite sheet 50 includes a sheet portion 51 formed in a sheet shape containing a magnetic material. Therefore, the suction unit 21 can attract the ferrite sheet 50 by magnetic force. When the suction unit 21 sucks the ferrite sheet 50 by vacuum suction, the ferrite sheet 50 is easily deformed.

If the suction force of the suction unit 21 is too strong, the ferrite sheet 50 may not be released from the suction unit 21 even if the ferrite sheet 50 is attached to a predetermined place after the ferrite sheet 50 is sucked by the suction unit 21. In this respect, since the ferrite sheet 50 is easily peeled off from the mount 60 (claw portion 22, displacement member 72, etc.), the suction force by the suction portion 21 can be weakened, and the ferrite sheet can be easily peeled off from the suction portion 21. 50 can be opened. If the end portion 50a of the ferrite sheet 50 is not peeled off by the claw portion 22 and the ferrite sheet 50 is to be peeled off from the mount 60 only by the magnetic force of the suction portion 21, the suction force by the suction portion 21 becomes too strong.

-The ferrite sheet 50 can be peeled off from the mount 60 even when the ferrite sheet 50 is thin, such that the thickness of the ferrite sheet 50 is 0.1 to 0.5 mm.

The claw portion 22 is attached to the side surface of the main body 24 of the hand 20. Therefore, it is possible to prevent the claw portion 22 from interfering with the ferrite sheet 50 when the suction portion 21 sucks the ferrite sheet 50.

It should be noted that the above embodiment can be modified and implemented as follows. The same parts as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted.

The thickness of the mount 60 is not limited to 0.1 to 0.2 mm, and may be thinner than 0.1 mm or thicker than 0.2 mm.

The thickness of the ferrite sheet 50 is not limited to 0.1 to 0.5 mm, and may be thinner than 0.1 mm or thicker than 0.5 mm.

-The base 70 is not limited to metal, and may be made of glass or the like. In short, the base 70 may be made of a material harder than the displacement member 72.

The control unit 36 inserts the insertion portion 22b between the mount 60 and the ferrite sheet 50 while the insertion portion 22b pushes the outer periphery of the end portion 50a at the portion of the mount 60 facing the displacement member 72. The arm 10A can also be controlled. That is, the insertion portion 22b may push the outer periphery of the end portion 50a and the insertion portion 22b may be moved in the direction of the ferrite sheet 50 at the same time.

-Since the ferrite sheet 50 is easily peeled off from the mount 60 (claw portion 22, displacement member 72, etc.), the suction force of the suction portion 21 can be weakened. Therefore, as the suction unit 21, a configuration in which the ferrite sheet 50 is sucked by vacuum suction can be adopted.

-The displacement member 72 can also be made of silicone rubber, which is harder than standard silicone rubber. Further, as shown in FIG. 9, a displacement member 172 (displacement portion) formed in a square columnar shape (rectangular parallelepiped shape) having a cavity by rubber can also be adopted. When the displacement member 72 is made of a plastic or the like that does not have a predetermined elasticity, even if the insertion portion 22b of the claw portion 22 is inserted into the boundary between the mount 60 and the ferrite sheet 50, FIG. Similarly, the ferrite sheet 50 is crushed into a wavy shape. Further, when the displacement member 72 is made of a sponge or the like having a predetermined hardness, the insertion portion 22b is pierced into the mount 60 when the mount 60 is pushed by the insertion portion 22b of the claw portion 22.

-As shown in FIG. 10, the displacement portion can also be formed by the plate member 272 and the spring 273. The spring 273 exerts an urging force (drag) in the direction opposite to the pushing direction, and the surface of the plate member 272 moves in the pushing direction. The surface of the base 70 and the surface of the plate member 272 coincide with each other.

-The object to be peeled off (adhesive sheet) is not limited to the ferrite sheet 50, but includes a seal including paper and an adhesive portion (adhesive layer), an adhesive film including a resin film and an adhesive portion, and a rubber portion and an adhesive portion. It may be an adhesive rubber sheet or the like.

The moving mechanism for moving the claw portion 22 is not limited to the arm 10A of the robot 10, and may be a mechanism that combines a plurality of moving tables.

10 ... Robot, 10A ... Arm, 20 ... Hand, 21 ... Suction part, 22 ... Claw part, 22b ... Insert part, 36 ... Control part, 50 ... Ferrite sheet, 50a ... End part, 51 ... Sheet part, 52 ... Adhesive part, 60 ... mount, 70 ... base, 71 ... groove, 72 ... displacement member, 172 ... displacement member, 272 ... plate member, 273 ... spring.

Claims (7)

An adhesive sheet peeling system that peels off the adhesive sheet attached to the mount.
A claw part including an insertion part that is plate-shaped with a predetermined width and is formed thinner toward the tip,
A moving mechanism for moving the claws and
A table including a displacement portion that exerts a drag force in the direction opposite to the pushed direction and moves the surface in the pushed direction.
In a state where the mount is placed on the base so that the end of the adhesive sheet projects to a position facing the displacement portion, the outer circumference of the end portion is different in the portion of the mount facing the displacement portion. A control unit that controls the movement mechanism so that the insertion portion is pushed and the insertion portion is inserted between the mount and the adhesive sheet.
Adhesive sheet peeling system with. The control unit inserts the insertion portion between the mount and the adhesive sheet after the insertion portion pushes the outer periphery of the end portion at a portion of the mount facing the displacement portion. The adhesive sheet peeling system according to claim 1, which controls the moving mechanism. The adhesive sheet peeling system according to claim 1 or 2, wherein the displacement portion is made of rubber. The moving mechanism is an arm of a robot.
The adhesive sheet peeling system according to any one of claims 1 to 3, wherein the claw portion and the suction portion for sucking the adhesive sheet are attached to the arm. The pressure-sensitive adhesive sheet according to any one of claims 1 to 4, wherein the pressure-sensitive adhesive sheet includes a sheet portion formed in a sheet shape containing a magnetic material and a pressure-sensitive adhesive portion that adheres the sheet portion to the mount. Peeling system. The adhesive sheet includes a sheet portion formed in a sheet shape containing a magnetic material and an adhesive portion for adhering the sheet portion to the mount.
The pressure-sensitive adhesive sheet peeling system according to claim 4, wherein the suction unit sucks the pressure-sensitive adhesive sheet by a magnetic force. The pressure-sensitive adhesive sheet peeling system according to any one of claims 1 to 6, wherein the thickness of the pressure-sensitive adhesive sheet is 0.1 to 0.5 mm.

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