JP4156944B2

JP4156944B2 - Adhesive removing device and member peeling system provided with the adhesive removing device

Info

Publication number: JP4156944B2
Application number: JP2003037287A
Authority: JP
Inventors: 明弘渕上
Original assignee: Ricoh Co Ltd
Current assignee: Ricoh Co Ltd
Priority date: 2003-02-14
Filing date: 2003-02-14
Publication date: 2008-09-24
Anticipated expiration: 2023-02-14
Also published as: JP2004244192A

Description

【０００１】
【発明の属する技術分野】
本発明は、製品のリサイクル又はリユースのために、両面テープ等の粘着剤で部品に接着された発泡ウレタンやプラスチックフィルム等の柔軟な部材を部品から剥離する部材剥離装置の可動体に対して、付着した粘着剤を除去する粘着剤除去装置と、その部材剥離装置及び粘着剤除去装置を備えた部材剥離システムに関する。
【０００２】
【従来の技術】
粘着剤により部品に貼着（接着）された柔軟な部材を部品から剥離する部材剥離装置として、出願人は既に特願２００２−０６２９２５号、特願２００２−１７６７７１号等に記載の自動シール剥離ツールを開発している。この剥離ツールは、ウレタンゴム製の無端ベルト（可動体）とこのベルトを回転させる駆動機構とを備え、剥離したい部材（シール）の端部から回転駆動されたベルトが部材と部品との間に入り込み、摩擦力により部材を順次押し起こして部品から剥離させる。
【０００３】
ところで、この剥離ツールでは、使用を重ねるにつれてベルトの表面に粘着剤が付着し、これを放置したのではベルトに部品や部材がくっついたり、ベルトによる部品又は部材の押付け力が不均一になったり、ベルトに付着した粘着剤が再度部品に付着して部品を汚したりする。このため、剥離ツールの長時間の使用に支障を来し、剥離ツールの実用化への大きな問題となっている。
【０００４】
そこで、ベルトに付着した粘着剤を適宜除去することが考えられるが、そのための方法としては、例えば溶媒を含ませたブラシをベルトに接触させて粘着剤の除去を行う手法や、より凝集力の強い粘着性のシートをベルトに押し当ててシートをベルト面の法線方向に再剥離し、ベルトに付着した粘着剤をシートに集めて除去する手法が経験的に知られている。
【０００５】
ところが、前者の方法では粘着剤が溶媒に溶けて拡がってしまうため、多量の粘着剤に対しては却ってベルトを汚してしまうという問題がある。また、後者の方法では粘着剤の除去効果は高いが、非常に効率が悪く除去作業に時間がかかる。加えて、シートに集められた粘着剤がベルトに再付着することを防止するためにシートを頻繁に交換する必要があり、実用レベルで次々と粘着剤を除去しなければならない場合には現実的ではない。
【０００６】
一方、特許文献に記載の付着物除去方法としては、例えば特許文献１や特許文献２に記載の方法がある。特許文献１はたばこの原料を搬送する搬送ベルトの清掃方法に関し、同文献では表面に螺旋状の突起が形成され、かつ、搬送ベルトの戻り側の下面を支持する支持ローラーが搬送ベルトの移動に伴い回転して搬送ベルトの付着物を除去し、その支持ローラーの下方に配設されたブラシ部材が支持ローラーに接触して支持ローラーを清掃する。また、特許文献２もベルトコンベアのリターンベルトの清掃方法に関し、同文献では表面に植毛を有し、かつ、リターンベルトの進行方向と同一の方向に進行するクリーナベルトをリターンベルトに接触させ、両ベルトを若干異なる速度で運転することによりリターンベルトの付着物を除去している。
【０００７】
【特許文献１】
特許第３０９６６４４号公報
【特許文献２】
特開平６−１７１７３３号公報
【０００８】
【発明が解決しようとする課題】
しかしながら、特許文献１に記載された方法では、上記剥離ツールにおけるような強粘着性の付着物に応用しようとした場合、除去能力が限られるという不都合がある。さらに、付着物が支持ローラーに付着するにつれ、支持ローラーに付着した付着物が逆にベルトに付着する逆転現象が発生するという問題もある。
【０００９】
また、特許文献２に記載された方法でも、強粘着性の付着物を除去対象とした場合、クリーナベルトに付着物が付着してそれが除去しにくいために、長時間の使用が難しいという問題がある。加えて、同文献に記載のように付着物の転写体（クリーナベルト）を清掃対象となるベルトよりも遅く走行させたのでは、短時間に多量の付着物を除去することが困難である。
【００１０】
これらの方法の他に、回転体を接触させることにより粘着性のある物質をその回転体に移動させる方法として、粘着性材料を塗布するコーター等で使用されている手法があるが、このような手法を上記粘着剤除去に応用しようとすると以下の諸点につき対策を講じる必要がある。
【００１１】
▲１▼ 付着物が除去されるベルトの摩耗防止
剥離ツールのベルト上における粘着剤は、生産装置であるコーター等における場合と異なり量にばらつきがあり、その量は除去プロセス中にも変化する。
【００１２】
よって、ベルト上の粘着剤の量が少ないにも拘わらず、粘着剤の量が多いときと同様の条件でベルトに回転体（転写体）を圧接させていると、ベルトが摩耗して傷んでしまう。
【００１３】
▲２▼ 除去品質の低下防止
回転体にベルトから除去した粘着剤が残存していると、その粘着剤が糸を引いたり飛散あるいは転写してベルトに再度付着し、除去品質が低下する。
【００１４】
▲３▼ 除去した粘着物の効率的廃棄
除去した粘着剤が効率的に廃棄されないと、除去した粘着剤が回転体等に蓄積され、長時間の連続使用に支障を来すおそれがある。
【００１５】
本発明は、上記の事情に鑑みて為されたもので、可動体に付着した粘着物を効率的に除去することができ、さらには可動体の摩耗、除去した粘着剤の可動体への再付着や蓄積を防止して長時間の連続的使用も可能な粘着剤除去装置と、この粘着剤除去装置を備えた部材剥離システムを提供することを課題としている。
【００１６】
【課題を解決するための手段】
上記課題を解決するため、請求項１に係る発明は、粘着剤が付着した可動体に当接する転写体と、該転写体を駆動する駆動手段とを備え、該駆動手段が前記転写体を前記可動体以上の線速度で駆動することにより、前記可動体に付着した粘着剤を前記転写体に転写させて除去する粘着剤除去装置において、
前記転写体としての転写回転体及び前記駆動手段に直接駆動される駆動回転体を含む複数の回転体を前記可動体と前記駆動手段との間に直列に備え、前記駆動回転体を除く各回転体が前記駆動手段側に隣接する回転体よりも小さい線速度で回転することを特徴とする。
【００１７】
請求項１に係る発明によれば、駆動手段が転写体を可動体以上の線速度で駆動することにより、粘着剤が高速駆動側に偏る性質を利用し可動体に付着した粘着剤を転写体に転写させて除去するので、粘着剤の除去が溶剤等の薬品を使用せず簡単に完了し、その除去作業を効率的に行うことができる。
さらに、可動体と駆動手段との間に直列に配置された各回転体（駆動回転体を除く。）が駆動手段側に隣接する回転体よりも小さい線速度で回転するので、可動体から除去された粘着剤が順次駆動手段側の回転体に転写され、可動体に近い回転体に残存する粘着剤の割合が低くなるので、除去した粘着剤の可動体への再付着が有効に防止される。
【００１８】
請求項２に係る発明は、請求項１に記載の粘着剤除去装置において、前記駆動手段が、前記粘着剤の前記転写体への転写が進行するにつれて前記転写体の線速度を減少させることを特徴とする。
【００１９】
請求項２に係る発明によれば、粘着剤の転写体への転写が進行するにつれて駆動手段が転写体の線速度を減少させるので、可動体の摩耗を防止することができる。すなわち、可動体に付着した粘着剤は可動体表面を保護するとともに転写体との摩擦係数を低減させるが、この粘着剤が除去されると可動体の表面が露出して（転写体の当接面状態が変わらなければ）転写体との摩擦係数も大きくなる。したがって、転写体の線速度が粘着剤の除去作業を通じて一定の場合には、その線速度が作業後期においては過大となり可動体を摩耗させる事態が生じ得るが、本請求項に係る発明では可動体から粘着剤が除去されるにつれて転写体の線速度が減少するので、転写体の線速度が作業後期においても過大とならず可動体の摩耗が抑制される。
【００２０】
請求項３に係る発明は、請求項１に記載の粘着剤除去装置において、前記転写体としての転写回転体及び前記駆動手段に直接駆動される駆動回転体を含む複数の回転体を前記可動体と前記駆動手段との間に直列に備え、前記駆動回転体を除く各回転体が前記駆動手段側に隣接する回転体よりも小さい線速度で回転することを特徴とする。
【００２１】
請求項３に係る発明によれば、可動体と駆動手段との間に直列に配置された各回転体（駆動回転体を除く。）が駆動手段側に隣接する回転体よりも小さい線速度で回転するので、可動体から除去された粘着剤が順次駆動手段側の回転体に転写され、可動体に近い回転体に残存する粘着剤の割合が低くなるので、除去した粘着剤の可動体への再付着が有効に防止される。
【００２２】
請求項３に係る発明は、請求項１または２に記載の粘着剤除去装置において、前記駆動回転体を除く各回転体が前記駆動手段側に隣接する回転体から伝達される力により駆動されることを特徴とする。
【００２３】
請求項４に係る発明は、請求項１または２に記載の粘着剤除去装置において、前記転写回転体が前記駆動手段側に隣接する回転体から伝達される力により駆動されることを特徴とする。
【００２４】
請求項３又は請求項４に係る発明によれば、各回転体又は転写回転体が駆動手段側に隣接する回転体から伝達される力により駆動されるので、回転体ごとに駆動源を設けることなく各回転体又は転写回転体を自動的に駆動手段側に隣接する回転体よりも小さい線速度で回転させることができる。また、転写回転体については付着した粘着剤が駆動手段側の回転体に転写されていくので、可動体に付着した粘着剤が減少するにつれて可動体との摩擦係数が増大し、線速度が経時的に減少する。したがって、請求項２に係る発明が奏する可動体の摩耗防止の効果を簡単な構成により得ることができる。
【００２５】
請求項５に係る発明は、請求項１乃至請求項４のいずれかに記載の粘着剤除去装置において、前記転写体の線速度を検出する線速度検出手段を備えたことを特徴とする。
【００２６】
請求項５に係る発明によれば、線速度検出手段により検出した線速度に基づいて除去作業の進捗状況を判断し、その作業を適時に終了することが可能となるので、除去作業の効率を一層高めることができる。
【００２７】
請求項６に係る発明は、請求項１乃至請求項５のいずれかに記載の粘着剤除去装置において、前記転写体の前記可動体との当接位置よりも駆動方向下流側に、前記転写体と前記可動体との間に糸引き状に跨る粘着剤を捕捉する捕捉手段が設けられていることを特徴とする。
【００２８】
請求項６に係る発明によれば、転写体と可動体との間に粘着剤が糸引き状に跨ったとしても、その粘着剤が捕捉手段により捕捉されるので、粘着剤の糸が飛散等することにより可動体に再付着することが防止される。
【００２９】
請求項７に係る発明は、請求項１乃至請求項６のいずれかに記載の粘着剤除去装置において、前記転写体に付着した粘着剤を塊状に纏める粘着剤凝集手段を備えたことを特徴とする。
【００３０】
請求項８に係る発明は、請求項７に記載の粘着剤除去装置において、前記粘着剤凝集手段が、前記転写体に当接しながら回転し、かつ、前記転写体との当接面が一部を除き非粘着加工された凝集回転体を備え、前記転写体に付着した粘着剤が前記当接面の非粘着加工されていない一部によって塊状に纏められることを特徴とする。
【００３１】
請求項９に係る発明は、請求項７又は請求項８に記載の粘着剤除去装置において、前記塊状に纏められた粘着剤を分離する分離手段を備えたことを特徴とする。
【００３２】
請求項７乃至請求項９のいずれかに係る発明によれば、転写体に付着した粘着剤が粘着剤凝集手段により塊状に纏められるので、転写体から粘着剤を容易に取り除くことができ、粘着剤の蓄積に伴う不都合も容易に防止することができる。また、塊状となった粘着剤はそれのみを取り除くことができるので、粘着剤廃棄用の消耗品等を用意する必要がなくなる。
【００３３】
請求項１０に係る発明は、請求項１乃至請求項９のいずれかに記載の粘着剤除去装置において、前記転写体が当接した後に前記可動体に残存する粘着剤を払拭する払拭手段を備えたことを特徴とする。
【００３４】
請求項１０に係る発明によれば、転写体が当接した後もなお可動体に粘着剤が残存したとしても、その粘着剤が払拭手段により払拭されるので、粘着剤の除去品質を高めることができる。
【００３５】
請求項１１に係る発明は、請求項１乃至請求項１０のいずれかに記載の粘着剤除去装置において、前記転写体がベルト状、ローラー状又は円盤状であることを特徴とする。
【００３６】
請求項１１に係る発明によれば、転写体を可動体に対して連続的に当接させることが容易であり、粘着剤の除去を短時間で行うことが容易となる。
【００３７】
請求項１２に係る発明は、請求項１乃至請求項１１のいずれかに記載の粘着剤除去装置において、前記転写体が前記可動体と同一の材質からなることを特徴とする。
【００３８】
請求項１２に係る発明によれば、転写体が可動体と同一の材質からなるので、転写体の特性と可動体の特性とが略同時に変化し、転写体への粘着剤の転写が安定して行われる。
【００３９】
請求項１３に係る発明は、請求項１乃至請求項１２のいずれかに記載の粘着剤除去装置において、前記転写体に付着した粘着剤を回収する回収手段を備えたことを特徴とする。
【００４０】
請求項１４に係る発明は、請求項１３に記載の粘着剤除去装置において、前記回収手段が、前記転写体に当接する回収回転体と、該回収回転体を駆動する回収用駆動手段とを備え、前記回収回転体が前記回収用駆動手段により前記転写体以上の線速度で回転することによって、前記転写体に付着した粘着剤を回収することを特徴とする。
【００４１】
請求項１５に係る発明は、請求項１３に記載の粘着剤除去装置において、前記回収手段が、前記転写体に当接し粘着剤を吸着する棒状の吸着回転体と、該吸着回転体を長手方向に送る送り手段とを備え、前記吸着回転体が前記転写体と連れ回りながら前記送り手段により前記長手方向に送られることによって、前記転写体に付着した粘着剤を吸着して回収することを特徴とする。
【００４２】
請求項１６に係る発明は、請求項１３に記載の粘着剤除去装置において、前記回収手段が、前記転写体に接触し粘着剤を吸着する吸着テープと、該吸着テープを走行させる走行手段とを備え、前記吸着テープが前記転写体と接触しながら走行することによって、前記転写体に付着した粘着剤を吸着して回収することを特徴とする。
【００４３】
請求項１３乃至請求項１６のいずれかに係る発明によれば、転写体に付着した粘着剤が回収手段により回収されるので、その粘着剤の可動体への再付着が防止される。
【００４４】
請求項１７に係る発明は、請求項１乃至請求項１２のいずれかに記載の粘着剤除去装置において、前記可動体が部品に接着された部材を該部材と前記部品との間に入り込み可動して摩擦力により剥離させ、前記可動体を有する部材剥離装置に前記転写体及び前記駆動手段が一体に設けられ、前記可動体に前記部材の剥離時に付着した粘着剤を除去することを特徴とする。
【００４５】
請求項１７に係る発明によれば、可動体を有する部材剥離装置に転写体及び駆動手段が一体に設けられているので、部材剥離装置を部材剥離作業位置から移動させることなく可動体に付着した粘着剤の除去を行うことができる。
【００４６】
請求項１８に係る発明は、請求項１７に記載の粘着剤除去装置において、前記駆動手段として前記可動体の駆動装置が用いられていることを特徴とする。
【００４７】
請求項１８に係る発明によれば、可動体の駆動装置が駆動手段として共用されているので、部材剥離装置に別途駆動源を設ける必要がなく部材剥離装置を小型化することができる。
【００４８】
請求項１９に係る発明は、請求項１７又は請求項１８に記載の粘着剤除去装置において、前記転写体に付着した粘着剤を回収する回収手段が前記部材剥離装置に一体に設けられていることを特徴とする。
【００４９】
請求項２０に係る発明は、請求項１９に記載の粘着剤除去装置において、前記回収手段が前記転写体に当接する回収回転体を備え、該回収回転体が前記転写体以上の線速度で回転することによって、前記転写体に付着した粘着剤を回収することを特徴とする。
【００５０】
請求項１９又は請求項２０に係る発明によれば、転写体に付着した粘着剤が回収手段により回収されるので、その粘着剤の可動体への再付着が防止される。
【００５１】
請求項２１に係る発明は、請求項２０に記載の粘着剤除去装置において、前記部材剥離装置がロボットアームに設けられて所定領域内で可動可能であり、前記回収回転体に当接する収集回転体と該収集回転体を駆動する収集用駆動手段とが前記部材剥離装置とは別体で前記所定領域内に設けられ、前記部材剥離装置が可動して前記回収回転体が前記収集回転体に当接する清掃位置に移動したときに、前記収集回転体が、前記収集用駆動手段により前記回収回転体以上の線速度で回転することによって、前記回収回転体により回収された粘着剤を集めて前記回収回転体を清掃することを特徴とする。
【００５２】
請求項２１に係る発明によれば、回収回転体に付着した粘着剤が収集回転体により清掃されるので、粘着剤の回収回転体への蓄積が防止されて部材剥離装置が長時間使用可能となる。
【００５３】
請求項２２に係る発明は、請求項２１に記載の粘着剤除去装置において、前記部材剥離装置が前記部材の剥離作業中に所定時間ごとに前記清掃位置に移動することを特徴とする。
【００５４】
請求項２２に係る発明によれば、部材剥離装置が部材の剥離作業中に所定時間ごとに前記清掃位置に移動するので、回収回転体に付着した粘着剤が定期的に清掃されて部材剥離装置による長時間の連続的な剥離作業が可能となる。
【００５５】
請求項２３に係る発明は、請求項２１又は請求項２２に記載の粘着剤除去装置において、前記収集回転体に付着した粘着剤を塊状に纏める粘着剤凝集手段が前記収集回転体の近傍に設けられていることを特徴とする。
【００５６】
請求項２４に係る発明は、請求項２３に記載の粘着剤除去装置において、前記粘着剤凝集手段が、前記収集回転体に当接しながら回転し、かつ、前記収集回転体との当接面が一部を除き非粘着加工された凝集回転体を備え、前記収集回転体に付着した粘着剤が、前記当接面の非粘着加工されていない一部によって塊状に纏められることを特徴とする。
【００５７】
請求項２５に係る発明は、請求項２３又は請求項２４に記載の粘着剤除去装置において、前記塊状に纏められた粘着剤を分離する分離手段が前記収集回転体又は前記粘着剤凝集手段の近傍に設けられていることを特徴とする。
【００５８】
請求項２３乃至請求項２５のいずれかに係る発明によれば、収集回転体に付着した粘着剤が粘着剤凝集手段により塊状に纏められるので、収集回転体から粘着剤を容易に取り除くことができ、粘着剤の蓄積に伴う不都合も容易に防止することができる。また、塊状となった粘着剤はそれのみを取り除くことができるので、粘着剤廃棄用の消耗品等を用意する必要がなくなる。
【００５９】
請求項２６に係る発明は、請求項１乃至請求項１６のいずれかに記載の粘着剤除去装置と、部品に接着された部材を該部材と前記部品との間に入り込み可動して摩擦力により剥離させる可動体を有する部材剥離装置とを備え、前記粘着剤除去装置が前記部材剥離装置の可動体に付着した粘着剤を除去する部材剥離システムを特徴とする。
【００６０】
請求項２７に係る発明は、請求項１７乃至請求項２５のいずれかに記載の粘着剤除去装置及び部材剥離装置を備えた部材剥離システムを特徴とする。
【００６１】
請求項２６又は請求項２７に係る発明によれば、粘着材除去装置が設けられているので、可動体に付着した粘着剤を適宜除去することができて部材剥離装置による長時間の連続的な剥離作業が可能となる。
【００６２】
【発明の実施の形態】
本発明の実施の形態を図面に基づいて説明する。
【００６３】
［実施の形態１］
図１は本実施の形態に係る粘着剤除去装置１及びこの粘着剤除去装置１が粘着剤を除去する対象となる部材剥離装置としてのシール剥離ツール２の概略構成を示す。
【００６４】
シール剥離ツール２は、モーター３及びガイド付きギア４からなる駆動機構５と、先端に小径のプーリー６が設けられたアーム７と、駆動機構５及びアーム７を固定するベース８と、ギア４及びプーリー６に架け渡された可動体としてのウレタンゴム製無端ベルト（以下「ツールベルト」という。）９とを備える。ツールベルト９は、その全周長が約２８０ｍｍ、幅が約６ｍｍであり、モーター３の回転により１００〜２００ｍｍ／ｓの線速度で駆動されて回転する。
【００６５】
この剥離ツール２は、ベルト摩擦方式により部品に接着された部材を剥離させるもので、例えば図２に示すように、矢印Ａ₁方向に回転するツールベルト９の先端部（プーリー６の位置にある部分）が、使用済みの樹脂製トナーカートリッジケース１０にアクリル系粘着剤により貼着された幅１０ｍｍ以下の小片のシール１１の端部１１ａに一定以上の荷重で押し当てられると、ツールベルト９とシール１１との間に摩擦力が作用してシール１１が押し起こされ、トナーカートリッジケース１０から剥離する。この際、シール１１の粘着面１１ｂをツールベルト９が擦るために、連続してシール１１の剥離作業を行うとツールベルト９の表面９ａに粘着剤が付着する。付着した粘着剤は、ツールベルト９の表面９ａに薄く広がり、かつ、強い粘着力を有するため、ブレード等の掻き落とし手段でこれを完全に除去することは困難であり、粘着剤除去装置１はその粘着剤の除去に用いられる。
【００６６】
粘着剤除去装置１は、ツールベルト９に当接して粘着剤が転写される転写体としてのウレタンゴム製無端ベルト（以下「転写ベルト」という。）１２と、転写ベルト１２を駆動する駆動部１３とを備える。駆動部１３は、駆動手段としてのモーター１４と、モーター１４により駆動されて矢印Ｂ方向に回転するガイド付きギア１５と、ガイド付きギア１５とともに転写ベルト１２が架け渡されるプーリー１６と、モーター１４の回転を制御して転写ベルト１２の線速度を調整する制御部１７とにより概略構成されている。転写ベルト１２には歯付きベルトが用いられてガイド付きギア１５（及びプーリー１６）との滑りが防止され、転写ベルト１２の幅は約１０ｍｍでツールベルト９よりも幅広となっている。
【００６７】
粘着剤除去装置１によりツールベルト９の表面９ａに付着した粘着剤を除去するには、転写ベルト１２を矢印Ｃ方向に回転させるとともにツールベルト９を矢印Ａ₂方向に回転させ、ツールベルト９の先端部を転写ベルト１２の表面１２ａに一定時間押し付ける。
【００６８】
ここで、ツールベルト９及び転写ベルト１２が図１（ａ）に示すように連れ回り方向に回転して両者の速度差が小さい場合には、図３（ａ）に示すように粘着剤が長く糸を引き、その中央で切れてツールベルト９及び転写ベルト１２にほぼ等量ずつ付着する。また、ツールベルト９及び転写ベルト１２の速度差が大きくなると、図３（ｂ）に示すように糸引きの角度が転写ベルト１２に沿うようになるか糸引きが生じないようになり、転写ベルト１２に転写する粘着剤の割合が増えていく。一方、ツールベルト９と転写ベルト１２とが連れ回り方向とは逆の方向に回転した場合には、図３に示すような糸引きは発生せず、線速度の速い方に粘着剤が偏って付着する。
【００６９】
よって、転写ベルト１２はツールベルト９以上の線速度で回転駆動させ、具体的には転写ベルト１２の線速度を３００ｍｍ／ｓ、ツールベルト９の線速度を１００ｍｍ／ｓとして、ツールベルト９上の粘着剤の大部分をそれが約２周する６秒の間に転写ベルト１２上に転写させる。なお、転写ベルト１２に対するツールベルト９の押付力は、アクリル系粘着剤がツールベルト９に付着した直後であれば４．９Ｎ（０．５ｋｇｆ）程度とすれば、転写ベルト１２への粘着剤の転写が可能である。
【００７０】
また、制御部１７により、粘着剤がツールベルト９から転写ベルト１２に移動するにつれて転写ベルト１２の線速度を徐々に低減させることにしてもよい。つまり、ツールベルト９に付着した粘着剤はその表面９ａを保護するとともに転写ベルト１２との摩擦係数を低減させ、この粘着剤が除去されるとツールベルト９の表面９ａが露出して転写ベルト１２との摩擦係数が増大し得るが、上記のように粘着剤の転写が進行するにつれて転写ベルト１２の線速度を徐々に減少させることにより、たとえ粘着剤の除去作業が進行しても転写ベルト１２がツールベルト９に与える摩擦力の影響が過大にならず、ツールベルト９の摩耗が抑制されてツールベルト９及び転写ベルト１２の長寿命化を図ることができる。
【００７１】
なお、ここでは転写ベルト１２にツールベルト９と同じ材質（ウレタンゴム）を使用しており、これにより長時間の使用においてもツールベルト９及び転写ベルト１２の各特性が同時に変化して転写作用を安定させることができるが、粘着剤が粘着しやすいという性能を具備するのであれば、金属等の他の材質を使用してもかまわない。さらに、図１では転写体としてベルト状のものを用いたが、図４に示すようにローラー状の転写体１８を用いても、あるいは、図５に示すように円盤状の転写体１９を用いても、それが連続的に回転動作するのであれば上記同様の粘着剤除去を行うことができる。
【００７２】
［実施の形態２］
図６は本実施の形態に係る粘着剤除去装置２０の概略構成を示す。この粘着剤除去装置２０は、粘着剤除去装置１の構成要素に加えて、回収回転体としてのローラー２１と、回収用駆動手段としてのモーター２２とを備える。転写ベルト１２は回転方向（矢印Ｃ方向）に沿ってツールベルト９との当接位置の直後でローラー２１と当接し、モーター２２は制御部１７により制御されてローラー２１を矢印Ｄ方向に駆動する。このローラー２１は転写ベルト１２よりも高速の線速度で駆動され、これにより転写ベルト１２に転写された粘着剤がローラー２１に移動して転写ベルト１２上の粘着剤が少なくなり、転写ベルト１２からツールベルト９への粘着剤の再転写が防止されて除去品質が向上する。
【００７３】
［実施の形態３］
図７は本実施の形態に係る粘着剤除去装置２３の概略構成を示す。この粘着剤除去装置２３は、粘着剤除去装置１の構成要素に加えて、吸着回転体としての転写バー２４と、送り手段としての送り機構２５とを備える。転写バー２４は断面円形の棒状を呈して図７（ａ）における紙面垂直方向に延び、転写ベルト１２と当接して転写ベルト１２の回転力を受けることにより矢印Ｅ方向に連れ回りながら、同図（ｂ）に示すように送り機構２５により長手方向（軸方向：矢印Ｆ方向）に送られる。転写バー２４の材質は粘着剤を吸着しやすいものであれば特に限られないが、後述のように廃棄又は洗浄されるのでそれに適したものが望ましく、転写バー２４が使用後廃棄される消耗品の場合には紙製ならば安価であるので好ましい。
【００７４】
粘着剤除去装置２３による粘着剤の除去作業時には、転写ベルト１２に付着した粘着剤が転写バー２４に吸着される。このとき、転写バー２４は長手方向に送られながら転写ベルト１２の回転に合わせて回転し、これにより転写ベルト１２には転写バー２４の常に新しい面（汚れていない面）が当接してそこに粘着剤が転写されるので、転写バー２４の既に粘着剤を吸着した面が転写ベルト１２に接しないようになっている。よって、転写ベルト１２の表面１２ａが常にきれいに保たれ（又は過剰な粘着剤が除去された状態となり）、転写ベルト１２からツールベルト９への粘着剤の再付着が有効に防止されている。なお、転写バー２４は全面に粘着剤が付着すると、廃棄又は洗浄後に再利用される。
【００７５】
［実施の形態４］
図８は本実施の形態に係る粘着剤除去装置２６の概略構成を示す。この粘着剤除去装置２６は、粘着剤除去装置１の構成要素に加えて、吸着テープ２７と、走行手段としての走行機構２８とを備える。走行機構２８は、モーター２９と、テープ２７が巻回された送りリール３０と、モーター２９により駆動され、送りリール３０に巻回されたテープ２７を巻き取って矢印Ｇ方向に走行させる巻取りリール３１と、送りリール３０及び巻取りリール３１の間に設けられてテープ２７を転写ベルト１２に当接させるローラー３２とを備える。テープ２７の材質も実施の形態３における転写バー２４と同様に粘着剤を吸着しやすいものであれば特に限られないが、紙製ならば安価であるので好ましい。
【００７６】
粘着剤除去装置２６による粘着剤の除去作業時には、テープ２７が転写ベルト１２に対して十分速い速度（望ましくは転写ベルト１２よりも大きい線速度）で走行し、転写ベルト１２に付着した粘着剤がテープ２７に吸着される。このとき、転写ベルト１２にはテープ２７の常に新しい面が当接してそこに粘着剤が転写されるので、テープ２７の既に粘着剤を吸着した面が転写ベルト１２に当接しないようになっている。よって、転写ベルト１２の表面１２ａが常にきれいに保たれ（又は過剰な粘着剤が除去された状態となり）、転写ベルト１２からツールベルト９への粘着剤の再付着が有効に防止されている。なお、テープ２７が消耗品の場合には、巻取りリール３１に一定量が巻き取られるとその部分が切断されて廃棄される。
【００７７】
ところで、実施の形態２におけるローラー２１、実施の形態３における転写バー２４及び本実施の形態におけるテープ２７への粘着剤の転写は、必ずしも転写ベルト１２がツールベルト９から粘着剤を除去しているときに同時に行う必要はなく、剥離ツール２がシール１１の剥離作業を行ってツールベルト９が粘着剤除去装置から離れている間に行ってもよい。こうすることにより、転写ベルト１２の線速度の下限がツールベルト９の線速度に規制されず、転写ベルト１２やローラー２１等の運転を低速にすることができ、特に転写バー２４やテープ２７が廃棄される場合には、それらを高速で駆動する必要がないのでそれらの消耗量を減らすことができる。
【００７８】
［実施の形態５］
上記各実施の形態では、粘着剤の除去能力を高める方法として回転体間（ツールベルト９及び転写ベルト１２等）の速度差を大きくする手法があるが、その結果ツールベルト９には過大な負荷がかかって磨耗が進行する。特に互いに当接する回転体が連れ回りでない方向に回転する場合には、両者の摩擦が大きくなり摩耗が顕著となるので、本実施の形態ではこの点を考慮した粘着剤除去装置について説明する。
【００７９】
図９は本実施の形態に係る粘着剤除去装置３３の概略構成を示す。この粘着剤除去装置３３は、転写回転体としての一次転写ローラー３４を備えている。一次転写ローラー３４は駆動源に直結されておらず回転自在に配置され、転写ベルト１２（本実施の形態では駆動回転体として機能し、「二次転写ベルト１２」という。）と当接してその回転力を受けることにより、かつ、ツールベルト９から抵抗力を受けながら、矢印Ｈ方向に連れ回りを行う。このとき、ツールベルト９の表面線速度Ｖ_t、一次転写ローラー３４の表面線速度Ｖ₁、二次転写ベルト１２の表面線速度Ｖ₂の間にはＶ_t＜Ｖ₁＜Ｖ₂が成り立ち、ツールベルト９に付着した粘着剤は一次転写ローラー３４に転写された後に二次転写ベルト１２に転写される。
【００８０】
図１０は、一次転写体（一次転写ローラー３４に相当）から駆動側にある二次転写体（二次転写ベルト１２に相当）への粘着剤の転写の一般的概念を示し、二次転写体３５の線速度をツールベルト９の線速度より大きく設定すると、一次転写体３６の線速度はツールベルト９の線速度及び二次転写体３５の線速度の中間の値となる。よって、粘着剤の転写がツールベルト９から一次転写体３６を介して二次転写体３５の方向に進行し、この二次転写体３５に粘着剤が集中すると、ツールベルト９及び一次転写体３６に付着した粘着剤が少なくなる。ここで、粘着剤は流動性を備え、潤滑剤としても機能するため、二次転写体３５に粘着剤が集中するにつれてツールベルト９と一次転写体３６との間に作用する摩擦力が増大し、ツールベルト９と一次転写体３６との速度差が自然に（いわば自動的に）縮小してツールベルト９の磨耗が抑制される。
【００８１】
この現象を粘着剤除去装置３３について具体的に説明すると、二次転写ベルト１２、一次転写ローラー３４及びツールベルト９はすべて互いに連れ回り方向に回転し、上述したようにツールベルト９の表面線速度をＶ_t、一次転写ローラー３４の表面線速度をＶ₁、二次転写ベルト１２の表面線速度をＶ₂（＞Ｖ_t）とすると、粘着剤除去作業の初期では粘着剤が潤滑剤としても作用してツールベルト９の摩擦係数が低いため、各線速度の間にはＶ_t＜Ｖ₁≒Ｖ₂の関係が成立する（ただし、一次転写ローラー３４は駆動源に接続されておらずツールベルト９からの抵抗も受けるため、線速度Ｖ₁は線速度Ｖ₂を超えるものではない。）。
【００８２】
そして、ツールベルト９、一次転写ローラー３４及び二次転写ベルト１５の各接触位置で速度差が存在するため、粘着剤は上述したように低速回転側から高速回転側に転写され、一定時間経過後には粘着剤の付着量は
二次転写ベルト１２＞一次転写ローラー３４＞ツールベルト９
となって最終的には二次転写ベルト１２上に粘着剤が集中する（この段階で、ツールベルト９に接触する一次転写ローラー３４は過度の粘着剤が付着していない状態にあり、一次転写ローラー３４からツールベルト９へ逆転写する粘着剤は極少量となる。）。
【００８３】
この粘着剤の転写過程で、ツールベルト９と一次転写ローラー３４との間の摩擦係数は上昇し、一次転写ローラー３４と二次転写ベルト１２との間の摩擦係数は粘着剤の介在により低下するので、粘着剤がツールベルト９からほぼ除去された時点で、各線速度の間にはＶ_t≒Ｖ₁＜Ｖ₂の関係が成立する。換言すれば、粘着剤がツールベルト９から除去されるにつれて一次転写ローラー３４の回転速度が徐々にツールベルト９の回転速度にならい、これにより両者の速度差が小さくなってツールベルト９の磨耗が防止される。
【００８４】
なお、以上では粘着材除去装置が一次転写体及び二次転写体を有する場合について説明したが、ツールベルト９とモーター１４との間で直列となるようにさらに多くの回転体（三次転写体、四次転写体等）を設けてもよく、各回転体はベルト状でもローラー状でも円盤状でもよい。このように複数の回転体を直列配置したときに、各回転体の線速度をモーター１４側に隣接する回転体の線速度よりも小さくすることによって、ツールベルト９から除去された粘着剤を順次モーター１４側に転写させることができ、粘着剤のツールベルト９への再付着を有効に防止することができる。
【００８５】
また、粘着剤は付着してから時間が経過するほど界面に粘着して除去しにくくなるため、ここでは一次転写ローラー３４とツールベルト９との当接位置から見て一次転写ローラー３４の回転方向下流側でなるべく近い位置に一次転写ローラー３４と二次転写ベルト１２との当接位置がくるように、一次転写ローラー３４及び二次転写ベルト１２が配置されている。
【００８６】
さらに、図９に示すように粘着剤除去装置３３に線速度検出手段としての回転速度計３７を設け、この回転速度計３７により一次転写ローラー３４の線速度Ｖ₁を計測して二次転写ベルト１２の線速度Ｖ_t（制御部１７により既知）との差を監視することによって、ツールベルト９からの粘着剤の除去の程度、つまり、除去作業の進捗状況を推定することができる。具体的には、線速度Ｖ₁と線速度Ｖ_tとの差が予め定義した閾値以下になった時点で、粘着剤の転写が完了したと判断して除去作業を終了することによって、もはやほとんど転写が行われていないような実効性の低い処理時間が減少し、除去作業の効率化及びツールベルト９等の負荷の軽減を図ることができる。
【００８７】
［実施の形態６］
粘着剤は剥離力が加えられたとき、分断前に伸びて糸を引く性質がある。上記各実施の形態に係る粘着剤除去装置のように、粘着剤を転写により除去する場合、転写体等の回転に合わせて糸引きが連続的に発生する。このように発生した粘着剤の糸条は、最終的にはちぎれるが、その際に飛散すると転写側のみならず被転写側に再付着して除去効率の低下を招くことがある。本実施の形態では、この点を考慮した粘着剤除去装置について説明する。
【００８８】
図１１は本実施の形態に係る粘着剤除去装置３８の概略構成を示す。この粘着剤除去装置３８は、粘着剤除去装置１の構成要素に加えて、捕捉手段としての捕捉バー３９を備える。捕捉バー３９は、糸引きが発生すると予想される回転体間つまり、ツールベルト９と転写ベルト１２との間に位置している。この捕捉バー３９は容易に交換可能なように図示を略す側板に対するはめ込み式で設置されており、転写ベルト１２に対して固定されてもかまわないが、ここでは図示を略す駆動源により矢印Ｉ方向に回転するようになっている。
【００８９】
図１２（ａ）に示すように、捕捉バー３９が設けられていない場合、連れ回り方向に回転するツールベルト９及び転写ベルト１２の当接位置直後では、粘着剤がツールベルト９及び転写ベルト１２に跨って糸引き状となり糸条が伸長する。これに対し、本実施の形態に係る粘着剤除去装置３８では、粘性を具備する粘着剤の糸条が同図（ｂ）に示すように伸長する前に捕捉バー３９に絡み付いてこれに巻き取られる。これにより、粘着剤が飛散等によって転写ベルト１２に再付着することが防止される。また、粘着剤が十分巻き取られた時点で捕捉バー３９を廃棄して交換することにより、粘着剤の蓄積が防止されて除去品質がさらに向上する。
【００９０】
［実施の形態７］
図１３は本実施の形態に係る粘着剤除去装置４０の概略構成を示す。この粘着剤除去装置４０は、ガイド付きギア４１及びプーリー４２に架設されてツールベルト９に当接する転写回転体としての一次転写ベルト４３と、ガイド付きギア４４及びプーリー４５に架設された駆動回転体及び凝集回転体としての二次転写ベルト４６とを備え、ギア４４は制御部１７により駆動制御されるモーター１４に直結され、ギア４１は制御部１７により駆動制御されるモーター１４’に直結されている。プーリー４２及びプーリー４５は回転自在に配置され、一次転写ベルト４３は二次転写ベルト４６に当接し、一次転写ベルト４３がモーター１４’により矢印Ｋ方向に駆動されると、二次転写ベルト４６はモーター１４により一次転写ベルト４３よりも十分に速い線速度で矢印Ｊ方向に駆動される。
【００９１】
二次転写ベルト４６は、図１４に模式的に示すように、表面４６ａの一部４６ｂが粘着剤と粘着しやすく他の部分４６ｃが粘着しにくい非粘着特性を備える。二次転写ベルト４６は、フロン系のコーティングで非粘着加工されたベルト表面の一部をやすりで研磨する等して製作され、コーティングが削れて露出した部分には、非粘着加工が施された他の部分よりも粘着剤が付着しやすくなる。
【００９２】
この粘着剤除去装置４０による粘着剤の除去作業時には、二次転写ベルト４６を一次転写ベルト４３よりも十分速い線速度で回転させながら、一次転写ベルト４３とツールベルト９とを接触させる。すると、ツールベルト９から一次転写ベルト４３に除去された粘着剤が、一次転写ベルト４３と二次転写ベルト４６との速度差によってせん断されるが、一方、粘着剤は上記非粘着特性を有する二次転写ベルト４６には粘着しにくいため、たとえ粘着剤が二次転写ベルト４６に一旦付着したとしてもそれが一次転写ベルト４３に再度転写されることもある。
【００９３】
ところで、このような転写を繰り返しつつも、粘着剤同士には基本的に凝集し合う性質があるため、粘着剤は二次転写ベルト４６の非粘着加工されていない一部４６ｂの作用によって最終的には塊状（ダマ状）に成長し、図１３及び図１４において符号４７で表すような塊になる。このダマ状に成長した粘着剤の塊４７は、ブレード等により掻き取って除去しやすく、消耗品を使用することなくそのまま廃棄することが可能であるので、粘着剤の除去作業が効率的、経済的になる。
【００９４】
なお、ここでは塊４７は一定の大きさになるまでは積極的に取り除かれないが、そのような塊状の粘着剤が一次転写ベルト４３と二次転写ベルト４６との当接位置を通過することがあったとしても、一次転写ベルト４３又は二次転写ベルト４６がその分撓むので実用上問題にならない。また、一定の大きさになった塊４７を自動的に廃棄するために、粘着剤除去装置４０に次述の爪部材のような分離手段を設けてもよい。
【００９５】
［実施の形態８］
図１５はシール剥離ツール４８に転写体等が搭載された粘着剤除去装置４９を示す。剥離ツール４８は、剥離ツール２の構成要素に加えて、ツールベルト９に当接する転写体としての金属製の一次転写ローラー５０と、一次転写ローラー５０に当接する回収回転体としての二次転写ローラー５１と、ギア４及び二次転写ローラー５１に架け渡されてモーター３の駆動力を二次転写ローラー５１に分配する駆動ベルト５２とを備える。二次転写ローラー５１は、ツールベルト９が矢印Ａ₁方向に回転するときに駆動ベルト５２により駆動されて矢印Ｌ方向に回転し、一次転写ローラー５０は二次転写ローラー５１の回転力を受けて矢印Ｍ方向に回転する。二次転写ローラー５１の線速度は、ツールベルト９の線速度に対して十分大きな差を持つ必要があるため、二次転写ローラー５１の駆動力は変速比の大きな変速ギアによって伝達されるものとする。
【００９６】
一方、粘着剤除去装置４９は、上記一次転写ローラー５０、二次転写ローラー５１及び駆動ベルト５２に加えて、収集回転体としての収集ローラー５３と、収集用駆動手段としてのモーター５４と、モーター５４に直結されたローラー５５と、分離手段としての爪部材５６とを剥離ツール４８とは別体で（剥離ツール４８が後述のようにロボットアームに取り付けられる場合には、剥離ツール４８の可動領域内に）備える。ローラー５５は実施の形態７における二次転写ベルト４６と同様に周面が一部を除いて非粘着加工され、モーター５４により駆動されて矢印Ｎ方向に回転する。ローラー５３はローラー５５に当接するように回転自在に配置され、ローラー５５の回転力を受けて矢印Ｏ方向に回転する。爪部材５６は、その先端部５６ａがローラー５３と所定の微小間隔だけ離間して近接するように、ローラー５３の近傍に設けられている。
【００９７】
この実施の形態では、剥離ツール４８においてツールベルト９、一次転写ローラー５０及び二次転写ローラー５１が駆動されると、ツールベルト９に付着した粘着剤は一次転写ローラー５０により除去され、最終的には二次転写ローラー５１にトラップされる。剥離ツール４８は、二次転写ローラー５１がローラー５３に接触する清掃位置に適宜移動するが（図１５（ｂ）参照）、このとき以下の関係を満たすようにローラー５３及びローラー５５も駆動される。
【００９８】

ローラー５５は、その周面の一部にしか粘着剤が付着しないので、ローラー５３に付着した粘着剤をダマ状にまとめることができ、発生した粘着剤の塊が一定以上の大きさになると、爪部材５６の先端部５６ａに当たってローラー５３から分離されて廃棄される。
【００９９】
この実施の形態に係る粘着剤除去装置４９によれば、剥離ツール４８を剥離作業位置から移動させることなくツールベルト９に付着した粘着剤の除去を行うことができる。さらに、剥離ツール４８を所定時間ごとに清掃位置に移動させることにより、剥離作業を長時間連続的に行うことが可能となるが、この剥離ツール４８を次述のロボットアームに搭載することによって、その清掃位置への移動も自動で行うことが可能となる。
【０１００】
［実施の形態９］
図１６は本実施の形態に係る部材剥離システム５７の概略構成を示す。この部材剥離システム５７は、６つの自由度（Ｘ軸方向、Ｙ軸方向、Ｚ軸方向並びにＸ軸回り、Ｙ軸回り、Ｚ軸回り）を有するロボットアーム５８の先端に衝撃吸収用のクッション５９を介して固定されることにより、所定の可動領域内で自由な位置・姿勢をとることができる剥離ツール２と、この剥離ツール２のツールベルト９に付着した粘着剤を除去する粘着剤除去装置６０と、これらを統合制御する制御部６１とを備える。
【０１０１】
粘着剤除去装置６０は、モーター６２と、モーター６２により駆動されて矢印Ｐ方向に回転する転写体としての転写ローラー６３と、転写ローラー６３に当接するように回転自在に配置され、転写ローラー６３の回転力を受けて矢印Ｑ方向に回転する回収回転体としての転写バー６４と、転写ローラー６３と同一鉛直面内に回転自在に配置された払拭手段としてのワイプローラー６５とを備える。転写ローラー６３はツールベルト９から多量の粘着剤を転写によって除去し、ワイプローラー６５は転写ローラー６３により除去しきれなかった極少量の粘着剤を拭取りによって除去する。このワイプローラー６５の材質としては、溶剤を含浸可能な布やスポンジを用いることが好ましい。
【０１０２】
この部材剥離システム５７では、制御部６１の制御により、剥離ツール２によるシール１１の剥離作業が自動で行われる。そして、剥離ツール２のツールベルト９に粘着剤が付着すると、転写ローラー６３がツールベルト９の線速度より高速で駆動され、図１６（ａ）に示すようにツールベルト９が転写ローラー６３に当接する。このとき、ツールベルト９及び転写ローラー６３の速度差はツールベルト９に付着した粘着剤の量により最適値が変化するが、ツールベルト９の表面９ａにアクリル系の粘着剤がおおよそ均一に付着した状態では、ツールベルト９の線速度１００ｍｍ／ｓに対して転写ローラー６３の線速度を３００ｍｍ／ｓ程度とすればよく、これにより粘着剤の大部分をツールベルト９が約２周する間に除去することができる。
【０１０３】
また、粘着剤の凝集力が低く流動性が高い場合には、転写ローラー６３に当接した後もツールベルト９の表面９ａにわずかに粘着剤の薄膜が残存する。このような場合、今度は図１６（ｂ）に示すようにツールベルト９をワイプローラー６５に当接させてワイプローラー６５によりツールベルト９を払拭するが、もしツールベルト９のワイプローラー６５との接触位置に過剰な粘着剤が残存すると、ワイプローラー６５の表面に多量な粘着剤が付着して本来の拭取り機能が低下するので、上記のようにツールベルト９はまず転写ローラー６３に接触し、ツールベルト９が約２周以上した後でないと、ワイプローラー６５との接触位置に移動することができないようになっている。
【０１０４】
ツールベルト９をワイプローラー６５に接触させた状態で、ツールベルト９を回転させると、ワイプローラー６５は自体の回転負荷によりツールベルト９より低速で連れ回り、これにより両者の間に摩擦が生じてツールベルト９上の粘着剤が拭き取られる。ワイプローラー６５に用いる溶剤には、例えばイソプロピルアルコール等をわずかに含ませるとより良好な除去品質が得られる。また、図１６（ｂ）に示すようにワイプローラー６５を転写ローラー６３よりもツールベルト９の回転方向下流側に位置させることによって、転写ローラー６３による清掃の直後にワイプローラー６５による清掃を行うことができる。
【０１０５】
この実施の形態に係る部材剥離システム５７によれば、粘着材除去装置６０が設けられているので、ツールベルト９に付着した粘着剤を適宜除去することができて剥離ツール２による長時間の連続的な剥離作業が可能となる。
【０１０６】
なお、本発明は以上説明した各実施の形態に限られるものではなく、例えば本実施の形態ではワイプローラー６５を連れ回り方式で回転させることとしたが、駆動源に直結して自転方式で回転させてもかまわない。
【０１０７】
以上説明したように、請求項１に係る発明によれば、駆動手段が転写体を可動体以上の線速度で駆動することにより、粘着剤が高速駆動側に偏る性質を利用し可動体に付着した粘着剤を転写体に転写させて除去するので、粘着剤の除去が溶剤等の薬品を使用せず簡単に完了し、その除去作業を効率的に行うことができる。
さらに、可動体と駆動手段との間に直列に配置された各回転体（駆動回転体を除く。）が駆動手段側に隣接する回転体よりも小さい線速度で回転するので、可動体から除去された粘着剤が順次駆動手段側の回転体に転写され、可動体に近い回転体に残存する粘着剤の割合が低くなるので、除去した粘着剤の可動体への再付着が有効に防止される。
【０１０８】
請求項２に係る発明によれば、粘着剤の転写体への転写が進行するにつれて駆動手段が転写体の線速度を減少させるので、可動体の摩耗を防止することができる。すなわち、可動体に付着した粘着剤は可動体表面を保護するとともに転写体との摩擦係数を低減させるが、この粘着剤が除去されると可動体の表面が露出して（転写体の当接面状態が変わらなければ）転写体との摩擦係数も大きくなる。したがって、転写体の線速度が粘着剤の除去作業を通じて一定の場合には、その線速度が作業後期においては過大となり可動体を摩耗させる事態が生じ得るが、本請求項に係る発明では可動体から粘着剤が除去されるにつれて転写体の線速度が減少するので、転写体の線速度が作業後期においても過大とならず可動体の摩耗が抑制される。
【０１１０】
請求項３又は請求項４に係る発明によれば、各回転体又は転写回転体が駆動手段側に隣接する回転体から伝達される力により駆動されるので、回転体ごとに駆動源を設けることなく各回転体又は転写回転体を自動的に駆動手段側に隣接する回転体よりも小さい線速度で回転させることができる。また、転写回転体については付着した粘着剤が駆動手段側の回転体に転写されていくので、可動体に付着した粘着剤が減少するにつれて可動体との摩擦係数が増大し、線速度が経時的に減少する。したがって、請求項２に係る発明が奏する可動体の摩耗防止の効果を簡単な構成により得ることができる。
【０１１１】
請求項５に係る発明によれば、線速度検出手段により検出した線速度に基づいて除去作業の進捗状況を判断し、その作業を適時に終了することが可能となるので、除去作業の効率を一層高めることができる。
【０１１２】
請求項６に係る発明によれば、転写体と可動体との間に粘着剤が糸引き状に跨ったとしても、その粘着剤が捕捉手段により捕捉されるので、粘着剤の糸が飛散等することにより可動体に再付着することが防止される。
【０１１３】
請求項７乃至請求項９のいずれかに係る発明によれば、転写体に付着した粘着剤が粘着剤凝集手段により塊状に纏められるので、転写体から粘着剤を容易に取り除くことができ、粘着剤の蓄積に伴う不都合も容易に防止することができる。また、塊状となった粘着剤はそれのみを取り除くことができるので、粘着剤廃棄用の消耗品等を用意する必要がなくなる。
【０１１４】
請求項１０に係る発明によれば、転写体が当接した後もなお可動体に粘着剤が残存したとしても、その粘着剤が払拭手段により払拭されるので、粘着剤の除去品質を高めることができる。
【０１１５】
請求項１１に係る発明によれば、転写体を可動体に対して連続的に当接させることが容易であり、粘着剤の除去を短時間で行うことが容易となる。
【０１１６】
請求項１２に係る発明によれば、転写体が可動体と同一の材質からなるので、転写体の特性と可動体の特性とが略同時に変化し、転写体への粘着剤の転写が安定して行われる。
【０１１７】
請求項１３乃至請求項１６のいずれかに係る発明によれば、転写体に付着した粘着剤が回収手段により回収されるので、その粘着剤の可動体への再付着が防止される。
【０１１８】
請求項１７に係る発明によれば、可動体を有する部材剥離装置に転写体及び駆動手段が一体に設けられているので、部材剥離装置を部材剥離作業位置から移動させることなく可動体に付着した粘着剤の除去を行うことができる。
【０１１９】
請求項１８に係る発明によれば、可動体の駆動装置が駆動手段として共用されているので、部材剥離装置に別途駆動源を設ける必要がなく部材剥離装置を小型化することができる。
【０１２０】
請求項１９又は請求項２０に係る発明によれば、転写体に付着した粘着剤が回収手段により回収されるので、その粘着剤の可動体への再付着が防止される。
【０１２１】
請求項２１に係る発明によれば、回収回転体に付着した粘着剤が収集回転体により清掃されるので、粘着剤の回収回転体への蓄積が防止されて部材剥離装置が長時間使用可能となる。
【０１２２】
請求項２２に係る発明によれば、部材剥離装置が部材の剥離作業中に所定時間ごとに前記清掃位置に移動するので、回収回転体に付着した粘着剤が定期的に清掃されて部材剥離装置による長時間の連続的な剥離作業が可能となる。
【０１２３】
請求項２３乃至請求項２５のいずれかに係る発明によれば、収集回転体に付着した粘着剤が粘着剤凝集手段により塊状に纏められるので、収集回転体から粘着剤を容易に取り除くことができ、粘着剤の蓄積に伴う不都合も容易に防止することができる。また、塊状となった粘着剤はそれのみを取り除くことができるので、粘着剤廃棄用の消耗品等を用意する必要がなくなる。
【０１２４】
請求項２６又は請求項２７に係る発明によれば、粘着材除去装置が設けられているので、可動体に付着した粘着剤を適宜除去することができて部材剥離装置による長時間の連続的な剥離作業が可能となる。
【図面の簡単な説明】
【図１】実施の形態１に係る粘着剤除去装置を示し、（ａ）はその側面図、（ｂ）は正面図である。
【図２】図１の粘着剤除去装置が除去対象とするシール剥離ツールを示す説明図である。
【図３】ツールベルト及び転写ベルトの線速度差と粘着剤との関係を示し、（ａ）はその線速度差が小さい場合、（ｂ）は大きい場合を示す説明図である。
【図４】転写体がローラー状の場合を示す説明図である。
【図５】転写体が円盤状の場合を示す説明図である。
【図６】実施の形態２に係る粘着剤除去装置を示す側面図である。
【図７】実施の形態３に係る粘着剤除去装置を示し、（ａ）はその全体の側面図、（ｂ）は部分拡大図である。
【図８】実施の形態４に係る粘着剤除去装置を示す側面図である。
【図９】実施の形態５に係る粘着剤除去装置を示す側面図である。
【図１０】ツールベルト、一次転写体及び二次転写体の間における粘着剤の転写を示す説明図である。
【図１１】実施の形態６に係る粘着剤除去装置を示す側面図である。
【図１２】図６の捕捉バーの機能を示し、（ａ）は捕捉バーがない場合、（ａ）は捕捉バーがある場合を示す説明図である。
【図１３】実施の形態７に係る粘着剤除去装置を示す側面図である。
【図１４】図１３の非粘着加工が施された二次転写ベルトを模式的に示す説明図である。
【図１５】実施の形態８に係る粘着剤除去装置を示し、（ａ）はシール剥離ツールが通常位置にある場合、（ｂ）は清掃位置にある場合を示す説明図である。
【図１６】実施の形態９に係る部材剥離システムを示し、（ａ）はツールベルトが転写ローラーに当接している場合を示す説明図、（ｂ）はワイプローラーに当接している場合を示す説明図、（ｃ）はロボットアーム先端のシール剥離ツールを正面から見た場合を示す説明図である。
【符号の説明】
１粘着剤除去装置
２シール剥離ツール（部材剥離装置）
３モーター（駆動装置）
９ツールベルト
１０トナーカートリッジケース（部品）
１１シール（部材）
１２転写ベルト（転写体、駆動回転体）
１４モーター（駆動手段）
２０粘着剤除去装置
２１ローラー（回収回転体）
２２モーター（回収用駆動手段）
２３粘着剤除去装置
２４転写バー（吸着回転体）
２５送り機構（送り手段）
２６粘着剤除去装置
２７吸着テープ
２８走行機構（走行手段）
３３粘着剤除去装置
３４一次転写ローラー（転写回転体）
３７回転速度計（線速度検出手段）
３８粘着剤除去装置
３９捕捉バー（捕捉手段）
４０粘着剤除去装置
４３一次転写ベルト（転写回転体）
４６二次転写ベルト（駆動回転体、凝集回転体）
４８シール剥離ツール
４９粘着剤除去装置
５０一次転写ローラー（転写体）
５１二次転写ローラー（回収回転体）
５３ローラー（収集回転体）
５６爪部材（分離手段）
５７部材剥離システム
５８ロボットアーム
６０粘着剤除去装置
６５ワイプローラー（払拭手段）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a movable body of a member peeling apparatus that peels a flexible member such as foamed urethane or plastic film adhered to a part with an adhesive such as a double-sided tape for recycling or reuse of the product. The present invention relates to a pressure-sensitive adhesive removing device that removes a sticky pressure-sensitive adhesive, and a member peeling system including the member peeling device and the pressure-sensitive adhesive removing device.
[0002]
[Prior art]
As a member peeling device for peeling a flexible member adhered (adhered) to a part with an adhesive, the applicant has already applied an automatic seal peeling tool described in Japanese Patent Application No. 2002-062925, Japanese Patent Application No. 2002-176771, etc. Is developing. This peeling tool includes an endless belt (movable body) made of urethane rubber and a drive mechanism for rotating the belt, and the belt driven to rotate from the end of the member (seal) to be peeled is between the member and the part. The member is sequentially pushed up by frictional force and peeled off from the part.
[0003]
By the way, with this peeling tool, the adhesive adheres to the surface of the belt as it is used repeatedly. If this is left unattended, parts or members may stick to the belt, or the pressing force of the parts or members by the belt may become uneven. The adhesive attached to the belt again adheres to the part and soils the part. This hinders long-term use of the peeling tool, which is a big problem for practical use of the peeling tool.
[0004]
Therefore, it is conceivable to remove the pressure-sensitive adhesive attached to the belt as appropriate, but as a method therefor, for example, a method of removing the pressure-sensitive adhesive by bringing a brush containing a solvent into contact with the belt or a more cohesive force. It is empirically known that a strong adhesive sheet is pressed against the belt, the sheet is peeled again in the normal direction of the belt surface, and the adhesive attached to the belt is collected on the sheet and removed.
[0005]
However, in the former method, since the adhesive is dissolved in the solvent and spreads, there is a problem that the belt is soiled for a large amount of the adhesive. Moreover, although the latter method has a high effect of removing the adhesive, it is very inefficient and takes a long time for the removal work. In addition, in order to prevent the adhesive collected on the sheet from re-adhering to the belt, it is necessary to change the sheet frequently, and it is practical when the adhesive must be removed one after another at a practical level. is not.
[0006]
On the other hand, examples of the deposit removal method described in Patent Literature include the methods described in Patent Literature 1 and Patent Literature 2. Patent Document 1 relates to a method for cleaning a transport belt that transports tobacco materials. In this document, a spiral protrusion is formed on the surface, and a support roller that supports the lower surface on the return side of the transport belt is used to move the transport belt. Along with the rotation, the adhering matter on the conveyor belt is removed, and the brush member disposed below the support roller comes into contact with the support roller to clean the support roller. Patent Document 2 also relates to a method for cleaning a return belt of a belt conveyor. In this document, a cleaner belt having flocking on the surface and traveling in the same direction as that of the return belt is brought into contact with the return belt. Return belt deposits are removed by operating the belt at slightly different speeds.
[0007]
[Patent Document 1]
Japanese Patent No. 3096644
[Patent Document 2]
JP-A-6-171733
[0008]
[Problems to be solved by the invention]
However, the method described in Patent Document 1 has a disadvantage that the removal capability is limited when it is applied to a strongly sticky deposit as in the above-described peeling tool. Further, as the deposit adheres to the support roller, there is a problem that a reverse phenomenon occurs in which the deposit adhering to the support roller conversely adheres to the belt.
[0009]
In addition, even in the method described in Patent Document 2, when a strongly sticky deposit is targeted for removal, the deposit adheres to the cleaner belt and is difficult to remove, which makes it difficult to use for a long time. There is. In addition, it is difficult to remove a large amount of deposits in a short time when the deposit transfer body (cleaner belt) is run slower than the belt to be cleaned as described in the document.
[0010]
In addition to these methods, as a method of moving a sticky substance to the rotating body by contacting the rotating body, there is a technique used in a coater or the like for applying an adhesive material. In order to apply the method to the above adhesive removal, it is necessary to take measures against the following points.
[0011]
(1) Prevention of belt wear from which deposits are removed
The amount of the pressure-sensitive adhesive on the belt of the peeling tool differs from the case of a coater that is a production apparatus, and the amount varies during the removal process.
[0012]
Therefore, even if the amount of adhesive on the belt is small, if the rotating body (transfer body) is pressed against the belt under the same conditions as when the amount of adhesive is large, the belt will be worn and damaged. End up.
[0013]
(2) Prevention of reduction in removal quality
If the pressure-sensitive adhesive removed from the belt remains on the rotating body, the pressure-sensitive adhesive pulls, scatters or transfers the yarn and adheres to the belt again, and the removal quality decreases.
[0014]
(3) Efficient disposal of removed adhesives
If the removed pressure-sensitive adhesive is not discarded efficiently, the removed pressure-sensitive adhesive accumulates on a rotating body or the like, which may hinder continuous use for a long time.
[0015]
The present invention has been made in view of the above circumstances, and can efficiently remove the sticky material adhering to the movable body. Further, the movable body is worn, and the removed pressure-sensitive adhesive is reapplied to the movable body. It is an object of the present invention to provide a pressure-sensitive adhesive removing device that can prevent sticking and accumulation and can be used continuously for a long time, and a member peeling system including the pressure-sensitive adhesive removing device.
[0016]
[Means for Solving the Problems]
  In order to solve the above-described problem, the invention according to claim 1 includes a transfer body that contacts the movable body to which the adhesive is attached, and a drive unit that drives the transfer body. By driving at a linear velocity higher than the movable body, the adhesive attached to the movable body is transferred to the transfer body and removed.In the adhesive removing device
  A plurality of rotating bodies including a transfer rotating body as the transfer body and a driving rotating body that is directly driven by the driving means are provided in series between the movable body and the driving means, and each rotation excluding the driving rotating body The body rotates at a linear velocity smaller than that of the rotating body adjacent to the driving means side.
[0017]
  According to the first aspect of the present invention, the adhesive attached to the movable body is transferred to the transfer body by utilizing the property that the drive means drives the transfer body at a linear velocity higher than that of the movable body and the adhesive is biased toward the high-speed drive side. Therefore, the pressure-sensitive adhesive can be easily removed without using a chemical such as a solvent, and the removal operation can be performed efficiently.
  Further, since each rotating body (excluding the driving rotating body) arranged in series between the movable body and the driving means rotates at a lower linear velocity than the rotating body adjacent to the driving means side, it is removed from the movable body. The transferred adhesive is sequentially transferred to the rotating body on the driving means side, and the ratio of the adhesive remaining on the rotating body close to the movable body is reduced, so that the reattachment of the removed adhesive to the movable body is effectively prevented. The
[0018]
According to a second aspect of the present invention, in the pressure-sensitive adhesive removing apparatus according to the first aspect, the drive means decreases the linear velocity of the transfer body as the transfer of the pressure-sensitive adhesive to the transfer body proceeds. Features.
[0019]
According to the second aspect of the present invention, the driving means decreases the linear velocity of the transfer body as the transfer of the pressure-sensitive adhesive to the transfer body proceeds, so that the wear of the movable body can be prevented. That is, the adhesive attached to the movable body protects the surface of the movable body and reduces the coefficient of friction with the transfer body. However, when the adhesive is removed, the surface of the movable body is exposed (the contact of the transfer body). If the surface state does not change, the coefficient of friction with the transfer body also increases. Therefore, when the linear velocity of the transfer body is constant throughout the adhesive removal operation, the linear velocity may become excessive in the latter stage of the operation, and the movable body may be worn. Since the linear velocity of the transfer body decreases as the pressure sensitive adhesive is removed, the linear velocity of the transfer body does not become excessive even in the later stage of work, and the wear of the movable body is suppressed.
[0020]
According to a third aspect of the present invention, in the pressure-sensitive adhesive removing apparatus according to the first aspect, the movable body includes a plurality of rotating bodies including a transfer rotating body as the transfer body and a driving rotating body that is directly driven by the driving means. And the driving means, and each rotating body except the driving rotating body rotates at a linear velocity smaller than that of the rotating body adjacent to the driving means side.
[0021]
According to the invention of claim 3, each rotating body (excluding the driving rotating body) arranged in series between the movable body and the driving means has a smaller linear velocity than the rotating body adjacent to the driving means side. Since it rotates, the adhesive removed from the movable body is sequentially transferred to the rotary body on the drive means side, and the ratio of the adhesive remaining on the rotary body close to the movable body is reduced, so that the removed adhesive is moved to the movable body. Is effectively prevented from reattachment.
[0022]
  Claim3The invention according toClaim 1 or 2In the pressure-sensitive adhesive removing apparatus according to the item 1, each rotating body except the driving rotating body is driven by a force transmitted from a rotating body adjacent to the driving means side.
[0023]
  Claim4The invention according to claim1 or 2In the pressure-sensitive adhesive removing apparatus according to claim 1, the transfer rotator is driven by a force transmitted from a rotator adjacent to the driving means.
[0024]
  Claim3Or claims4According to the invention, since each rotating body or transfer rotating body is driven by the force transmitted from the rotating body adjacent to the driving means side, each rotating body or transfer rotation without providing a driving source for each rotating body. The body can be automatically rotated at a smaller linear velocity than the rotating body adjacent to the drive means side. Further, since the adhesive that has adhered to the transfer rotating body is transferred to the rotating body on the drive means side, the friction coefficient with the movable body increases as the adhesive that adheres to the movable body decreases, and the linear velocity increases over time. Decrease. Therefore, the effect of preventing wear of the movable body exhibited by the invention according to claim 2 can be obtained with a simple configuration.
[0025]
  Claim5The invention according to claim 1 to claim 14The pressure-sensitive adhesive removing apparatus according to any one of the above, further comprising linear velocity detecting means for detecting a linear velocity of the transfer body.
[0026]
  Claim5According to the invention according to the present invention, it is possible to determine the progress of the removal work based on the linear velocity detected by the linear velocity detection means, and to finish the work in a timely manner, thereby further improving the efficiency of the removal work. Can do.
[0027]
  Claim6The invention according to claim 1 to claim 15In the pressure-sensitive adhesive removing apparatus according to any one of the above, the pressure-sensitive adhesive straddles in a string-like manner between the transfer body and the movable body on the downstream side in the driving direction from the contact position of the transfer body with the movable body. It is characterized by the fact that capturing means for capturing is provided.
[0028]
  Claim6According to the invention according to the present invention, even if the pressure-sensitive adhesive straddles between the transfer body and the movable body, the pressure-sensitive adhesive is captured by the capturing means. Reattachment to the movable body is prevented.
[0029]
  Claim7The invention according to claim 1 to claim 16The pressure-sensitive adhesive removing apparatus according to any one of the above, further comprising pressure-sensitive adhesive aggregating means for collecting the pressure-sensitive adhesive attached to the transfer body into a lump.
[0030]
  Claim8The invention according to claim7In the pressure-sensitive adhesive removing apparatus according to claim 1, the pressure-sensitive adhesive aggregating means rotates while abutting on the transfer body, and the aggregating rotary body that is non-adhesive processed except for a part of the contact surface with the transfer body. And the pressure-sensitive adhesive attached to the transfer body is collected in a lump by a part of the contact surface that is not non-adhesive processed.
[0031]
  Claim9The invention according to claim7Or claims8The pressure-sensitive adhesive removing apparatus according to claim 1, further comprising a separating unit that separates the pressure-sensitive adhesives collected in a lump.
[0032]
  Claim7To claims9According to the invention according to any one of the above, since the pressure-sensitive adhesive attached to the transfer body is collected in a lump by the pressure-sensitive adhesive aggregation means, the pressure-sensitive adhesive can be easily removed from the transfer body. It can be easily prevented. Further, since only the adhesive that has become agglomerated can be removed, there is no need to prepare a consumable for discarding the adhesive.
[0033]
  Claim10The invention according to claim 1 to claim 19The pressure-sensitive adhesive removing apparatus according to any one of the above, further comprising a wiping means for wiping off the pressure-sensitive adhesive remaining on the movable body after the transfer body abuts.
[0034]
  Claim10According to the invention, even if the adhesive remains on the movable body even after the transfer body abuts, the adhesive is wiped off by the wiping means, so that the removal quality of the adhesive can be improved.
[0035]
  Claim11The invention according to claim 1 to claim 110In the pressure-sensitive adhesive removing apparatus according to any one of the above, the transfer body is in the form of a belt, a roller, or a disk.
[0036]
  Claim11According to the invention, it is easy to continuously bring the transfer body into contact with the movable body, and it is easy to remove the adhesive in a short time.
[0037]
  Claim12The invention according to claim 1 to claim 111In the pressure-sensitive adhesive removing apparatus according to any one of the above, the transfer body is made of the same material as the movable body.
[0038]
  Claim12According to the invention, since the transfer body is made of the same material as the movable body, the characteristics of the transfer body and the characteristics of the movable body change substantially simultaneously, and the transfer of the adhesive to the transfer body is stably performed. .
[0039]
  Claim13The invention according to claim 1 to claim 112The pressure-sensitive adhesive removing apparatus according to any one of the above, characterized by comprising a recovery means for recovering the pressure-sensitive adhesive attached to the transfer body.
[0040]
  Claim14The invention according to claim13In the pressure-sensitive adhesive removing apparatus according to claim 1, the recovery means includes a recovery rotator that contacts the transfer body and a recovery drive means that drives the recovery rotator, and the recovery rotator is the recovery drive means. The pressure-sensitive adhesive attached to the transfer body is recovered by rotating at a linear velocity higher than that of the transfer body.
[0041]
  Claim15The invention according to claim13In the pressure-sensitive adhesive removing apparatus according to claim 1, the recovery means includes a stick-shaped suction rotating body that contacts the transfer body and sucks the pressure-sensitive adhesive, and a feeding means that sends the suction rotating body in the longitudinal direction, and the suction rotation The adhesive is collected by adsorbing the adhesive adhering to the transfer body by being fed in the longitudinal direction by the feeding means while the body rotates with the transfer body.
[0042]
  Claim16The invention according to claim13In the pressure-sensitive adhesive removing apparatus according to claim 1, the recovery means includes an adsorbing tape that contacts the transfer body and adsorbs the adhesive, and a traveling means that runs the adsorbing tape, and the adsorbing tape contacts the transfer body. By traveling while running, the adhesive adhering to the transfer body is adsorbed and collected.
[0043]
  Claim13To claims16According to any of the inventions, since the adhesive attached to the transfer body is recovered by the recovery means, the adhesion of the adhesive to the movable body is prevented.
[0044]
  Claim17The invention according to claim 1 to claim 112In the pressure sensitive adhesive removing apparatus according to any one of the above, a member peeling apparatus having the movable body, wherein the movable body is moved between the member and the component by moving the member bonded to the component and separated by a frictional force. The transfer body and the driving means are integrally provided, and the adhesive that is attached to the movable body when the member is peeled is removed.
[0045]
  Claim17According to the invention, since the transfer member and the driving means are integrally provided in the member peeling device having the movable body, the adhesive attached to the movable body without moving the member peeling device from the member peeling work position. Removal can be performed.
[0046]
  Claim18The invention according to claim17In the pressure-sensitive adhesive removing apparatus according to item 1, the driving unit for the movable body is used as the driving unit.
[0047]
  Claim18According to the invention, since the drive device for the movable body is shared as the drive means, it is not necessary to provide a separate drive source for the member peeling device, and the member peeling device can be downsized.
[0048]
  Claim19The invention according to claim17Or claims18In the pressure-sensitive adhesive removing apparatus according to item 1, a recovery unit that recovers the pressure-sensitive adhesive attached to the transfer body is provided integrally with the member peeling apparatus.
[0049]
  Claim20The invention according to claim19The adhesive removing apparatus according to claim 1, wherein the recovery unit includes a recovery rotator that abuts on the transfer body, and the recovery rotator rotates at a linear velocity higher than that of the transfer body, so that the adhesive adhered to the transfer body. The agent is recovered.
[0050]
  Claim19Or claims20According to the invention, the adhesive that has adhered to the transfer body is recovered by the recovery means, so that the adhesive is prevented from reattaching to the movable body.
[0051]
  Claim21The invention according to claim20The adhesive removing device according to claim 1, wherein the member peeling device is provided in a robot arm and is movable within a predetermined area, and a collection rotating body that contacts the collection rotating body and a collection drive that drives the collection rotating body Means is provided in the predetermined area separately from the member peeling device, and the collecting device is moved when the member peeling device is moved to move to a cleaning position where the collection rotating member contacts the collecting rotating member. The rotating body is rotated at a linear velocity higher than that of the collecting rotator by the collecting drive means, thereby collecting the adhesive collected by the collecting rotator and cleaning the collecting rotator.
[0052]
  Claim21According to the invention, the adhesive attached to the collection rotator is cleaned by the collection rotator, so that accumulation of the adhesive in the collection rotator is prevented and the member peeling apparatus can be used for a long time.
[0053]
  Claim22The invention according to claim21In the pressure-sensitive adhesive removing device according to claim 1, the member peeling device moves to the cleaning position every predetermined time during the peeling work of the member.
[0054]
  Claim22According to the invention, since the member peeling device moves to the cleaning position every predetermined time during the member peeling operation, the adhesive adhering to the collection rotator is periodically cleaned and the member peeling device takes a long time. The continuous peeling work can be performed.
[0055]
  Claim23The invention according to claim21Or claims22In the pressure-sensitive adhesive removing apparatus described in (1), pressure-sensitive adhesive aggregating means for collecting the pressure-sensitive adhesive attached to the collecting rotator in a lump is provided in the vicinity of the collecting rotator.
[0056]
  Claim24The invention according to claim23In the pressure-sensitive adhesive removing apparatus according to claim 1, the pressure-sensitive adhesive aggregating means rotates while abutting on the collecting rotating body, and the aggregating rotation in which a contact surface with the collecting rotating body is non-adhesive processed except for a part thereof The pressure-sensitive adhesive attached to the collection rotating body is collected into a lump by a part of the contact surface that is not non-adhesive processed.
[0057]
  Claim25The invention according to claim23Or claims24In the pressure-sensitive adhesive removing apparatus according to the item 1, a separating means for separating the pressure-sensitive adhesives collected in the lump is provided in the vicinity of the collecting rotating body or the pressure-sensitive adhesive aggregating means.
[0058]
  Claim23To claims25According to the invention according to any one of the above, since the adhesive attached to the collecting rotator is collected in a lump by the adhesive aggregating means, the adhesive can be easily removed from the collecting rotator, and accumulating the adhesive Inconvenience can be easily prevented. Further, since only the adhesive that has become agglomerated can be removed, there is no need to prepare a consumable for discarding the adhesive.
[0059]
  Claim26The invention according to claim 1 to claim 116The adhesive removing device according to any one of the above and a member peeling device having a movable body that moves between the member and the component to move the member bonded to the component and peels it by a frictional force. The agent removing device is characterized by a member peeling system for removing the adhesive attached to the movable body of the member peeling device.
[0060]
  Claim27The invention according to claim17To claims25The member peeling system provided with the adhesive removal apparatus and member peeling apparatus in any one of these is characterized.
[0061]
  Claim26Or claims27According to the invention according to the above, since the adhesive material removing device is provided, the adhesive attached to the movable body can be appropriately removed, and a continuous peeling operation for a long time by the member peeling device is possible.
[0062]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
[0063]
[Embodiment 1]
FIG. 1 shows a schematic configuration of a pressure-sensitive adhesive removing device 1 according to the present embodiment and a seal peeling tool 2 as a member peeling device to which the pressure-sensitive adhesive removing device 1 is to remove pressure-sensitive adhesive.
[0064]
The seal peeling tool 2 includes a drive mechanism 5 including a motor 3 and a gear 4 with a guide, an arm 7 provided with a small-diameter pulley 6 at the tip, a base 8 that fixes the drive mechanism 5 and the arm 7, a gear 4 and An endless belt made of urethane rubber (hereinafter referred to as “tool belt”) 9 is provided as a movable body spanned over the pulley 6. The tool belt 9 has a total circumference of about 280 mm and a width of about 6 mm, and is driven to rotate at a linear speed of 100 to 200 mm / s by the rotation of the motor 3.
[0065]
This peeling tool 2 is for peeling a member adhered to a part by a belt friction method. For example, as shown in FIG.₁The end of the tool belt 9 rotating in the direction (the portion at the position of the pulley 6) is attached to the used resin toner cartridge case 10 with an acrylic adhesive and the end of a small seal 11 having a width of 10 mm or less. When pressed against the portion 11 a with a certain load or more, a frictional force acts between the tool belt 9 and the seal 11 to push up the seal 11 and peel from the toner cartridge case 10. At this time, since the tool belt 9 rubs against the adhesive surface 11 b of the seal 11, when the seal 11 is continuously peeled, the adhesive adheres to the surface 9 a of the tool belt 9. Since the adhering adhesive spreads thinly on the surface 9a of the tool belt 9 and has a strong adhesive force, it is difficult to completely remove the adhesive with a scraping means such as a blade. Used to remove the adhesive.
[0066]
The adhesive removing device 1 includes a urethane rubber endless belt (hereinafter referred to as a “transfer belt”) 12 as a transfer body to which the adhesive is transferred in contact with the tool belt 9, and a drive unit 13 that drives the transfer belt 12. With. The drive unit 13 includes a motor 14 as drive means, a gear 15 with a guide that is driven by the motor 14 and rotates in the direction of arrow B, a pulley 16 on which the transfer belt 12 is bridged together with the gear 15 with guide, A control unit 17 that controls the rotation to adjust the linear velocity of the transfer belt 12 is used. A toothed belt is used as the transfer belt 12 to prevent sliding with the guide gear 15 (and the pulley 16). The width of the transfer belt 12 is about 10 mm, which is wider than the tool belt 9.
[0067]
In order to remove the adhesive adhered to the surface 9a of the tool belt 9 by the adhesive removing device 1, the transfer belt 12 is rotated in the direction of arrow C and the tool belt 9 is moved to the arrow A.₂The tip of the tool belt 9 is pressed against the surface 12a of the transfer belt 12 for a certain time.
[0068]
Here, when the tool belt 9 and the transfer belt 12 rotate in the rotating direction as shown in FIG. 1A and the speed difference between the two is small, the adhesive is long as shown in FIG. The yarn is pulled and cut at the center thereof, and is attached to the tool belt 9 and the transfer belt 12 by substantially equal amounts. Further, when the speed difference between the tool belt 9 and the transfer belt 12 becomes large, as shown in FIG. 3B, the thread pulling angle becomes along the transfer belt 12 or no thread pulling occurs. The ratio of the adhesive transferred to 12 increases. On the other hand, when the tool belt 9 and the transfer belt 12 rotate in the direction opposite to the rotational direction, the stringing as shown in FIG. 3 does not occur, and the adhesive is biased toward the higher linear velocity. Adhere to.
[0069]
Therefore, the transfer belt 12 is rotationally driven at a linear velocity higher than that of the tool belt 9. Specifically, the linear velocity of the transfer belt 12 is 300 mm / s, and the linear velocity of the tool belt 9 is 100 mm / s. The majority of the adhesive is transferred onto the transfer belt 12 during the 6 seconds that it takes about 2 turns. If the pressing force of the tool belt 9 against the transfer belt 12 is about 4.9 N (0.5 kgf) immediately after the acrylic adhesive is attached to the tool belt 9, the pressure of the adhesive to the transfer belt 12 can be reduced. Transcription is possible.
[0070]
Further, the linear velocity of the transfer belt 12 may be gradually reduced by the control unit 17 as the adhesive moves from the tool belt 9 to the transfer belt 12. That is, the adhesive adhered to the tool belt 9 protects the surface 9a and reduces the friction coefficient with the transfer belt 12. When the adhesive is removed, the surface 9a of the tool belt 9 is exposed and the transfer belt 12 is removed. Although the coefficient of friction with the adhesive increases, the linear velocity of the transfer belt 12 is gradually decreased as the transfer of the adhesive proceeds as described above, so that the transfer belt 12 can be removed even if the adhesive is removed. Thus, the influence of the frictional force exerted on the tool belt 9 is not excessive, and the wear of the tool belt 9 is suppressed, so that the tool belt 9 and the transfer belt 12 can have a long life.
[0071]
In this case, the transfer belt 12 is made of the same material (urethane rubber) as the tool belt 9, so that the characteristics of the tool belt 9 and the transfer belt 12 change at the same time even when used for a long time. Although it can be stabilized, other materials such as metal may be used as long as it has the performance that the adhesive is easily adhered. Further, although a belt-like transfer member is used in FIG. 1, a roller-like transfer member 18 as shown in FIG. 4 or a disc-like transfer member 19 as shown in FIG. 5 is used. However, if it rotates continuously, the same adhesive removal as described above can be performed.
[0072]
[Embodiment 2]
FIG. 6 shows a schematic configuration of the pressure-sensitive adhesive removing apparatus 20 according to the present embodiment. In addition to the constituent elements of the adhesive removing device 1, the adhesive removing device 20 includes a roller 21 as a recovery rotating body and a motor 22 as a recovery drive unit. The transfer belt 12 contacts the roller 21 immediately after the contact position with the tool belt 9 along the rotation direction (arrow C direction), and the motor 22 is controlled by the control unit 17 to drive the roller 21 in the arrow D direction. . The roller 21 is driven at a linear velocity higher than that of the transfer belt 12, whereby the adhesive transferred to the transfer belt 12 moves to the roller 21, and the adhesive on the transfer belt 12 is reduced. The retransfer of the adhesive to the tool belt 9 is prevented, and the removal quality is improved.
[0073]
[Embodiment 3]
FIG. 7 shows a schematic configuration of the pressure-sensitive adhesive removing apparatus 23 according to the present embodiment. In addition to the constituent elements of the adhesive removing device 1, the adhesive removing device 23 includes a transfer bar 24 as an adsorption rotating body and a feeding mechanism 25 as a feeding means. The transfer bar 24 has a bar shape with a circular cross section and extends in the direction perpendicular to the paper surface in FIG. 7A. The transfer bar 24 abuts on the transfer belt 12 and receives the rotational force of the transfer belt 12, thereby rotating along the arrow E direction. As shown in (b), the feed mechanism 25 feeds in the longitudinal direction (axial direction: arrow F direction). The material of the transfer bar 24 is not particularly limited as long as it easily adsorbs an adhesive, but is preferably discarded or washed as will be described later, and is a consumable that is discarded after the transfer bar 24 is used. In this case, paper is preferable because it is inexpensive.
[0074]
When the adhesive is removed by the adhesive removing device 23, the adhesive attached to the transfer belt 12 is adsorbed to the transfer bar 24. At this time, the transfer bar 24 is rotated in accordance with the rotation of the transfer belt 12 while being fed in the longitudinal direction, so that a new surface (a surface that is not soiled) of the transfer bar 24 is always in contact with the transfer belt 12. Since the adhesive is transferred, the surface of the transfer bar 24 that has already adsorbed the adhesive does not come into contact with the transfer belt 12. Therefore, the surface 12a of the transfer belt 12 is always kept clean (or in a state where excess adhesive is removed), and re-adhesion of the adhesive from the transfer belt 12 to the tool belt 9 is effectively prevented. The transfer bar 24 is reused after being discarded or washed when the adhesive adheres to the entire surface.
[0075]
[Embodiment 4]
FIG. 8 shows a schematic configuration of the adhesive removing device 26 according to the present embodiment. In addition to the constituent elements of the pressure-sensitive adhesive removing apparatus 1, the pressure-sensitive adhesive removing apparatus 26 includes an adsorption tape 27 and a traveling mechanism 28 as traveling means. The traveling mechanism 28 includes a motor 29, a feed reel 30 around which the tape 27 is wound, and a take-up reel that is driven by the motor 29 and winds the tape 27 wound around the feed reel 30 to travel in the direction of arrow G. 31, and a roller 32 provided between the feed reel 30 and the take-up reel 31 to bring the tape 27 into contact with the transfer belt 12. The material of the tape 27 is not particularly limited as long as it easily adsorbs the adhesive as in the transfer bar 24 in the third embodiment, but is preferably made of paper because it is inexpensive.
[0076]
When the adhesive is removed by the adhesive removing device 26, the tape 27 travels at a sufficiently high speed (preferably a linear velocity higher than the transfer belt 12) with respect to the transfer belt 12, and the adhesive attached to the transfer belt 12 is removed. Adsorbed to the tape 27. At this time, since a new surface of the tape 27 is always in contact with the transfer belt 12 and the adhesive is transferred there, the surface of the tape 27 that has already adsorbed the adhesive does not contact the transfer belt 12. Yes. Therefore, the surface 12a of the transfer belt 12 is always kept clean (or in a state where excess adhesive is removed), and re-adhesion of the adhesive from the transfer belt 12 to the tool belt 9 is effectively prevented. When the tape 27 is a consumable item, when a certain amount is wound around the take-up reel 31, that portion is cut and discarded.
[0077]
By the way, in the transfer of the adhesive to the roller 21 in the second embodiment, the transfer bar 24 in the third embodiment, and the tape 27 in the present embodiment, the transfer belt 12 does not necessarily remove the adhesive from the tool belt 9. It is not necessary to carry out at the same time, and it may be carried out while the peeling tool 2 performs the peeling work of the seal 11 and the tool belt 9 is away from the adhesive removing device. By doing so, the lower limit of the linear velocity of the transfer belt 12 is not restricted by the linear velocity of the tool belt 9, and the operation of the transfer belt 12, the roller 21 and the like can be slowed down. When discarded, it is not necessary to drive them at high speed, so that their consumption can be reduced.
[0078]
[Embodiment 5]
In each of the above embodiments, there is a method for increasing the speed difference between the rotating bodies (tool belt 9 and transfer belt 12 and the like) as a method for increasing the adhesive removal capability. As a result, the tool belt 9 has an excessive load. The wear progresses due to. In particular, when the rotating bodies that are in contact with each other rotate in a direction that does not rotate with each other, the friction between them increases and the wear becomes significant. In this embodiment, an adhesive removing device that takes this point into account will be described.
[0079]
FIG. 9 shows a schematic configuration of the pressure-sensitive adhesive removing apparatus 33 according to the present embodiment. The adhesive removing device 33 includes a primary transfer roller 34 as a transfer rotator. The primary transfer roller 34 is not directly connected to a drive source but is rotatably arranged, and abuts against the transfer belt 12 (in this embodiment, functions as a drive rotating body and is referred to as “secondary transfer belt 12”). By receiving the rotational force and receiving the resistance force from the tool belt 9, it is rotated in the direction of the arrow H. At this time, the surface linear velocity V of the tool belt 9_t, Surface linear velocity V of primary transfer roller 34₁, Surface linear velocity V of the secondary transfer belt 12₂V between_t<V₁<V₂Thus, the adhesive adhered to the tool belt 9 is transferred to the primary transfer roller 34 and then transferred to the secondary transfer belt 12.
[0080]
FIG. 10 shows a general concept of the transfer of the adhesive from the primary transfer body (corresponding to the primary transfer roller 34) to the secondary transfer body (corresponding to the secondary transfer belt 12) on the driving side. When the linear velocity of 35 is set larger than the linear velocity of the tool belt 9, the linear velocity of the primary transfer body 36 becomes an intermediate value between the linear velocity of the tool belt 9 and the linear velocity of the secondary transfer body 35. Accordingly, the transfer of the adhesive proceeds from the tool belt 9 to the secondary transfer body 35 via the primary transfer body 36, and when the adhesive concentrates on the secondary transfer body 35, the tool belt 9 and the primary transfer body 36. Less adhesive sticks to the surface. Here, since the adhesive has fluidity and functions as a lubricant, the frictional force acting between the tool belt 9 and the primary transfer body 36 increases as the adhesive concentrates on the secondary transfer body 35. The difference in speed between the tool belt 9 and the primary transfer body 36 is naturally reduced (that is, automatically), so that wear of the tool belt 9 is suppressed.
[0081]
This phenomenon will be described in detail with respect to the adhesive removing device 33. The secondary transfer belt 12, the primary transfer roller 34, and the tool belt 9 all rotate in the rotating direction, and the surface linear velocity of the tool belt 9 as described above. V_tThe surface linear velocity of the primary transfer roller 34 is V₁The surface linear velocity of the secondary transfer belt 12 is V₂(> V_t), The adhesive acts as a lubricant at the initial stage of the adhesive removing operation, and the friction coefficient of the tool belt 9 is low._t<V₁≒ V₂(However, since the primary transfer roller 34 is not connected to a drive source and receives resistance from the tool belt 9, the linear velocity V₁Is the linear velocity V₂It does not exceed. ).
[0082]
Since there is a speed difference at each contact position of the tool belt 9, the primary transfer roller 34, and the secondary transfer belt 15, the adhesive is transferred from the low-speed rotation side to the high-speed rotation side as described above, and after a certain time has elapsed. Is the amount of adhesive
Secondary transfer belt 12> Primary transfer roller 34> Tool belt 9
Finally, the pressure-sensitive adhesive concentrates on the secondary transfer belt 12 (At this stage, the primary transfer roller 34 that is in contact with the tool belt 9 is in a state where no excessive pressure-sensitive adhesive is attached, and the primary transfer is performed. The amount of the adhesive that is reversely transferred from the roller 34 to the tool belt 9 is extremely small.)
[0083]
In this adhesive transfer process, the friction coefficient between the tool belt 9 and the primary transfer roller 34 increases, and the friction coefficient between the primary transfer roller 34 and the secondary transfer belt 12 decreases due to the presence of the adhesive. Therefore, when the adhesive is almost removed from the tool belt 9, V_t≒ V₁<V₂The relationship is established. In other words, as the adhesive is removed from the tool belt 9, the rotational speed of the primary transfer roller 34 gradually follows the rotational speed of the tool belt 9, thereby reducing the speed difference between the two and reducing wear of the tool belt 9. Is prevented.
[0084]
In the above, the case where the adhesive material removing device has the primary transfer body and the secondary transfer body has been described. However, more rotating bodies (tertiary transfer body, tertiary transfer body, and so on) are connected in series between the tool belt 9 and the motor 14. A quaternary transfer member or the like, and each rotating member may be in the form of a belt, a roller, or a disk. Thus, when the plurality of rotating bodies are arranged in series, the pressure-sensitive adhesives removed from the tool belt 9 are sequentially made by making the linear velocity of each rotating body smaller than the linear velocity of the rotating body adjacent to the motor 14 side. It can be transferred to the motor 14 side, and reattachment of the adhesive to the tool belt 9 can be effectively prevented.
[0085]
In addition, since the adhesive sticks to the interface and becomes difficult to be removed as time passes after the adhesion, the rotation direction of the primary transfer roller 34 as viewed from the contact position between the primary transfer roller 34 and the tool belt 9 is here. The primary transfer roller 34 and the secondary transfer belt 12 are arranged so that the contact position between the primary transfer roller 34 and the secondary transfer belt 12 is as close as possible to the downstream side.
[0086]
Furthermore, as shown in FIG. 9, the adhesive removing device 33 is provided with a rotational speed meter 37 as a linear speed detecting means, and the rotational speed meter 37 allows the linear speed V of the primary transfer roller 34 to be detected.₁Is measured and the linear velocity V of the secondary transfer belt 12 is measured._tBy monitoring the difference from (known by the control unit 17), the degree of removal of the adhesive from the tool belt 9, that is, the progress of the removal work can be estimated. Specifically, the linear velocity V₁And linear velocity V_tWhen the difference between and becomes less than a predefined threshold, it is judged that the transfer of the adhesive has been completed and the removal operation is completed, so that the processing time is low so that the transfer is hardly performed anymore. Therefore, the efficiency of the removal work and the load on the tool belt 9 can be reduced.
[0087]
[Embodiment 6]
The pressure-sensitive adhesive has a property of stretching before pulling and pulling a thread when a peeling force is applied. When the pressure sensitive adhesive is removed by transfer as in the pressure sensitive adhesive removing apparatus according to each of the above embodiments, stringing is continuously generated in accordance with the rotation of the transfer body or the like. The thread of the pressure-sensitive adhesive generated in this way is finally broken, but if it is scattered at that time, it may reattach not only to the transfer side but also to the transfer side, leading to a reduction in removal efficiency. In the present embodiment, an adhesive removing device taking this point into account will be described.
[0088]
FIG. 11 shows a schematic configuration of the adhesive removing device 38 according to the present embodiment. The adhesive removing device 38 includes a capturing bar 39 as a capturing means in addition to the components of the adhesive removing device 1. The catching bar 39 is located between the rotating bodies where stringing is expected to occur, that is, between the tool belt 9 and the transfer belt 12. The catch bar 39 is installed so as to be easily exchangeable with a side plate (not shown) and may be fixed to the transfer belt 12. Here, the direction of the arrow I is determined by a drive source (not shown). It is designed to rotate.
[0089]
As shown in FIG. 12A, in the case where the capture bar 39 is not provided, immediately after the contact position of the tool belt 9 and the transfer belt 12 rotating in the accompanying direction, the adhesive is transferred to the tool belt 9 and the transfer belt 12. The thread becomes stretched over the thread. On the other hand, in the pressure-sensitive adhesive removing device 38 according to the present embodiment, the pressure-sensitive adhesive yarn is entangled with the catching bar 39 before being stretched as shown in FIG. It is done. This prevents the adhesive from reattaching to the transfer belt 12 due to scattering or the like. Further, by discarding and replacing the capture bar 39 when the adhesive is sufficiently wound up, the accumulation of the adhesive is prevented and the removal quality is further improved.
[0090]
[Embodiment 7]
FIG. 13 shows a schematic configuration of the pressure-sensitive adhesive removing apparatus 40 according to the present embodiment. The adhesive removing device 40 includes a primary transfer belt 43 as a transfer rotating body that is installed on a guide gear 41 and a pulley 42 and contacts the tool belt 9, and a guide rotating gear 44 and a drive rotating body that is installed on a pulley 45. And a secondary transfer belt 46 as an aggregating rotator, the gear 44 is directly connected to the motor 14 that is driven and controlled by the control unit 17, and the gear 41 is directly connected to the motor 14 ′ that is driven and controlled by the control unit 17. Yes. The pulley 42 and the pulley 45 are rotatably arranged, the primary transfer belt 43 contacts the secondary transfer belt 46, and when the primary transfer belt 43 is driven in the direction of arrow K by the motor 14 ', the secondary transfer belt 46 is The motor 14 is driven in the arrow J direction at a linear velocity sufficiently higher than that of the primary transfer belt 43.
[0091]
As schematically shown in FIG. 14, the secondary transfer belt 46 has a non-adhesive characteristic in which a part 46 b of the surface 46 a easily adheres to the adhesive and the other part 46 c does not easily adhere. The secondary transfer belt 46 is manufactured by, for example, sanding a part of the belt surface that has been non-adhesive processed with a fluorocarbon coating with a file, and non-adhesive processing has been applied to the exposed portion of the coating. The adhesive is more likely to adhere than the other parts.
[0092]
When the adhesive is removed by the adhesive removing device 40, the primary transfer belt 43 and the tool belt 9 are brought into contact with each other while the secondary transfer belt 46 is rotated at a sufficiently higher linear velocity than the primary transfer belt 43. Then, the adhesive removed from the tool belt 9 to the primary transfer belt 43 is sheared by the speed difference between the primary transfer belt 43 and the secondary transfer belt 46, while the adhesive has two non-adhesive properties. Since it is difficult to adhere to the secondary transfer belt 46, even if the adhesive once adheres to the secondary transfer belt 46, it may be transferred again to the primary transfer belt 43.
[0093]
By the way, the adhesive is basically agglomerated with each other while repeating such a transfer, so that the adhesive is finally formed by the action of the non-adhesive part 46 b of the secondary transfer belt 46. Grows in a lump shape (dama shape) and becomes a lump as indicated by reference numeral 47 in FIGS. The lump 47 of the adhesive grown in a damped shape is easy to be removed by scraping with a blade or the like, and can be discarded as it is without using consumables. Become.
[0094]
Here, the block 47 is not actively removed until it reaches a certain size, but such block adhesive passes through the contact position between the primary transfer belt 43 and the secondary transfer belt 46. Even if there is, there is no practical problem because the primary transfer belt 43 or the secondary transfer belt 46 bends accordingly. Further, in order to automatically discard the lump 47 having a certain size, the adhesive removing device 40 may be provided with a separating means such as a claw member described below.
[0095]
[Embodiment 8]
FIG. 15 shows an adhesive removing device 49 in which a transfer body or the like is mounted on the seal peeling tool 48. In addition to the components of the peeling tool 2, the peeling tool 48 includes a metal primary transfer roller 50 as a transfer body that comes into contact with the tool belt 9 and a secondary transfer roller as a collection rotating body that comes into contact with the primary transfer roller 50. 51, and a drive belt 52 that spans the gear 4 and the secondary transfer roller 51 and distributes the driving force of the motor 3 to the secondary transfer roller 51. In the secondary transfer roller 51, the tool belt 9 has an arrow A.₁When it rotates in the direction, it is driven by the drive belt 52 and rotates in the direction of arrow L, and the primary transfer roller 50 receives the rotational force of the secondary transfer roller 51 and rotates in the direction of arrow M. Since the linear velocity of the secondary transfer roller 51 needs to have a sufficiently large difference with respect to the linear velocity of the tool belt 9, the driving force of the secondary transfer roller 51 is transmitted by a transmission gear having a large gear ratio. To do.
[0096]
On the other hand, in addition to the primary transfer roller 50, the secondary transfer roller 51, and the drive belt 52, the adhesive removing device 49 includes a collection roller 53 as a collection rotating body, a motor 54 as a collection drive unit, and a motor 54. A roller 55 directly connected to the claw member 56 and a claw member 56 as a separating means are separated from the peeling tool 48 (when the peeling tool 48 is attached to a robot arm as described later, within the movable region of the peeling tool 48. Prepare for. As with the secondary transfer belt 46 in the seventh embodiment, the roller 55 is non-adhesive except for a part of its peripheral surface, and is driven by the motor 54 to rotate in the arrow N direction. The roller 53 is rotatably arranged so as to contact the roller 55, and rotates in the direction of arrow O in response to the rotational force of the roller 55. The claw member 56 is provided in the vicinity of the roller 53 so that the tip end portion 56a thereof is close to the roller 53 with a predetermined minute interval.
[0097]
In this embodiment, when the tool belt 9, the primary transfer roller 50, and the secondary transfer roller 51 are driven by the peeling tool 48, the adhesive adhered to the tool belt 9 is removed by the primary transfer roller 50, and finally. Is trapped by the secondary transfer roller 51. The peeling tool 48 is appropriately moved to a cleaning position where the secondary transfer roller 51 contacts the roller 53 (see FIG. 15B). At this time, the roller 53 and the roller 55 are also driven so as to satisfy the following relationship. .
[0098]

Since the pressure-sensitive adhesive adheres only to a part of the peripheral surface of the roller 55, the pressure-sensitive adhesive attached to the roller 53 can be gathered into a lump, and when the generated pressure-sensitive adhesive lump becomes a certain size or larger, The claw member 56 hits the tip 56a and is separated from the roller 53 and discarded.
[0099]
According to the pressure-sensitive adhesive removing apparatus 49 according to this embodiment, the pressure-sensitive adhesive attached to the tool belt 9 can be removed without moving the peeling tool 48 from the peeling work position. Furthermore, by moving the peeling tool 48 to the cleaning position every predetermined time, it becomes possible to perform the peeling operation continuously for a long time. By mounting this peeling tool 48 on the robot arm described below, It is possible to automatically move to the cleaning position.
[0100]
[Embodiment 9]
FIG. 16 shows a schematic configuration of a member peeling system 57 according to the present embodiment. This member peeling system 57 has a shock absorbing cushion 59 at the tip of a robot arm 58 having six degrees of freedom (X-axis direction, Y-axis direction, Z-axis direction and X-axis, Y-axis, and Z-axis rotations). The peeling tool 2 that can be freely positioned / posture within a predetermined movable region by being fixed via the adhesive, and the adhesive removing device that removes the adhesive attached to the tool belt 9 of the peeling tool 2 60 and a control unit 61 that integrally controls them.
[0101]
The adhesive removing device 60 is arranged so as to be rotatable in contact with the transfer roller 63, a motor 62, a transfer roller 63 that is driven by the motor 62 and rotates in the direction of arrow P, and a transfer roller 63. A transfer bar 64 serving as a collection rotator that rotates in the direction of arrow Q in response to a rotational force, and a wipe roller 65 serving as a wiping means that is rotatably disposed in the same vertical plane as the transfer roller 63 are provided. The transfer roller 63 removes a large amount of adhesive from the tool belt 9 by transfer, and the wipe roller 65 removes an extremely small amount of adhesive that could not be removed by the transfer roller 63 by wiping. As the material of the wipe roller 65, it is preferable to use a cloth or sponge that can be impregnated with a solvent.
[0102]
In this member peeling system 57, the peeling operation of the seal 11 by the peeling tool 2 is automatically performed under the control of the control unit 61. When the adhesive adheres to the tool belt 9 of the peeling tool 2, the transfer roller 63 is driven at a higher speed than the linear velocity of the tool belt 9, and the tool belt 9 contacts the transfer roller 63 as shown in FIG. Touch. At this time, the optimum value of the speed difference between the tool belt 9 and the transfer roller 63 varies depending on the amount of the adhesive attached to the tool belt 9, but the acrylic adhesive adhered to the surface 9a of the tool belt 9 approximately uniformly. In this state, the linear velocity of the transfer roller 63 may be about 300 mm / s with respect to the linear velocity of the tool belt 9 of 100 mm / s, whereby most of the adhesive is removed while the tool belt 9 makes about two rounds. can do.
[0103]
When the cohesive force of the adhesive is low and the fluidity is high, a slight adhesive thin film remains on the surface 9 a of the tool belt 9 even after contacting the transfer roller 63. In this case, this time, as shown in FIG. 16B, the tool belt 9 is brought into contact with the wipe roller 65 and the tool belt 9 is wiped off by the wipe roller 65. If excessive pressure-sensitive adhesive remains in the contact position, a large amount of pressure-sensitive adhesive adheres to the surface of the wipe roller 65 and the original wiping function deteriorates. Therefore, the tool belt 9 first contacts the transfer roller 63 as described above. The tool belt 9 cannot move to the contact position with the wipe roller 65 unless it is after about two rounds.
[0104]
When the tool belt 9 is rotated in a state where the tool belt 9 is in contact with the wipe roller 65, the wipe roller 65 is rotated at a lower speed than the tool belt 9 by its own rotational load, and friction is generated between the two. The adhesive on the tool belt 9 is wiped off. If the solvent used for the wipe roller 65 contains a small amount of, for example, isopropyl alcohol, better removal quality can be obtained. Also, as shown in FIG. 16B, the wipe roller 65 is positioned downstream of the transfer roller 63 in the rotation direction of the tool belt 9 so that the wipe roller 65 performs cleaning immediately after the transfer roller 63 is cleaned. Can do.
[0105]
According to the member peeling system 57 according to this embodiment, since the adhesive removing device 60 is provided, the adhesive attached to the tool belt 9 can be removed as appropriate, and the peeling tool 2 can continue for a long time. Exfoliation work becomes possible.
[0106]
The present invention is not limited to each of the embodiments described above. For example, in the present embodiment, the wipe roller 65 is rotated by a follow-up method, but it is directly connected to a drive source and rotated by a rotation method. It doesn't matter if you let them.
[0107]
  As described above, according to the first aspect of the present invention, the driving means drives the transfer body at a linear velocity higher than that of the movable body, so that the adhesive is attached to the movable body by utilizing the property of being biased toward the high-speed drive side. Since the pressure-sensitive adhesive is transferred to the transfer body and removed, the pressure-sensitive adhesive can be easily removed without using a chemical such as a solvent, and the removal operation can be performed efficiently.
  Further, since each rotating body (excluding the driving rotating body) arranged in series between the movable body and the driving means rotates at a lower linear velocity than the rotating body adjacent to the driving means side, it is removed from the movable body. The transferred adhesive is sequentially transferred to the rotating body on the driving means side, and the ratio of the adhesive remaining on the rotating body close to the movable body is reduced, so that the reattachment of the removed adhesive to the movable body is effectively prevented. The
[0108]
According to the second aspect of the present invention, the driving means decreases the linear velocity of the transfer body as the transfer of the pressure-sensitive adhesive to the transfer body proceeds, so that the wear of the movable body can be prevented. That is, the adhesive attached to the movable body protects the surface of the movable body and reduces the coefficient of friction with the transfer body. However, when the adhesive is removed, the surface of the movable body is exposed (the contact of the transfer body). If the surface state does not change, the coefficient of friction with the transfer body also increases. Therefore, when the linear velocity of the transfer body is constant throughout the adhesive removal operation, the linear velocity may become excessive in the latter stage of the operation, and the movable body may be worn. Since the linear velocity of the transfer body decreases as the pressure sensitive adhesive is removed, the linear velocity of the transfer body does not become excessive even in the later stage of work, and the wear of the movable body is suppressed.
[0110]
  Claim3Or claims4According to the invention, since each rotating body or transfer rotating body is driven by the force transmitted from the rotating body adjacent to the driving means side, each rotating body or transfer rotation without providing a driving source for each rotating body. The body can be automatically rotated at a smaller linear velocity than the rotating body adjacent to the drive means side. Further, since the adhesive that has adhered to the transfer rotating body is transferred to the rotating body on the drive means side, the friction coefficient with the movable body increases as the adhesive that adheres to the movable body decreases, and the linear velocity increases over time. Decrease. Therefore, the effect of preventing wear of the movable body exhibited by the invention according to claim 2 can be obtained with a simple configuration.
[0111]
  Claim5According to the invention according to the present invention, it is possible to determine the progress of the removal work based on the linear velocity detected by the linear velocity detection means, and to finish the work in a timely manner, thereby further improving the efficiency of the removal work. Can do.
[0112]
  Claim6According to the invention according to the present invention, even if the pressure-sensitive adhesive straddles between the transfer body and the movable body, the pressure-sensitive adhesive is captured by the capturing means. Reattachment to the movable body is prevented.
[0113]
  Claim7To claims9According to the invention according to any one of the above, since the pressure-sensitive adhesive attached to the transfer body is collected in a lump by the pressure-sensitive adhesive aggregation means, the pressure-sensitive adhesive can be easily removed from the transfer body. It can be easily prevented. Further, since only the adhesive that has become agglomerated can be removed, there is no need to prepare a consumable for discarding the adhesive.
[0114]
  Claim10According to the invention, even if the adhesive remains on the movable body even after the transfer body abuts, the adhesive is wiped off by the wiping means, so that the removal quality of the adhesive can be improved.
[0115]
  Claim11According to the invention, it is easy to continuously bring the transfer body into contact with the movable body, and it is easy to remove the adhesive in a short time.
[0116]
  Claim12According to the invention, since the transfer body is made of the same material as the movable body, the characteristics of the transfer body and the characteristics of the movable body change substantially simultaneously, and the transfer of the adhesive to the transfer body is stably performed. .
[0117]
  Claim13To claims16According to any of the inventions, since the adhesive attached to the transfer body is recovered by the recovery means, the adhesion of the adhesive to the movable body is prevented.
[0118]
  Claim17According to the invention, since the transfer member and the driving means are integrally provided in the member peeling device having the movable body, the adhesive attached to the movable body without moving the member peeling device from the member peeling work position. Removal can be performed.
[0119]
  Claim18According to the invention, since the drive device for the movable body is shared as the drive means, it is not necessary to provide a separate drive source for the member peeling device, and the member peeling device can be downsized.
[0120]
  Claim19Or claims20According to the invention, the adhesive that has adhered to the transfer body is recovered by the recovery means, so that the adhesive is prevented from reattaching to the movable body.
[0121]
  Claim21According to the invention, the adhesive attached to the collection rotator is cleaned by the collection rotator, so that accumulation of the adhesive in the collection rotator is prevented and the member peeling apparatus can be used for a long time.
[0122]
  Claim22According to the invention, since the member peeling device moves to the cleaning position every predetermined time during the member peeling operation, the adhesive adhering to the collection rotator is periodically cleaned and the member peeling device takes a long time. The continuous peeling work can be performed.
[0123]
  Claim23To claims25According to the invention according to any one of the above, since the adhesive attached to the collecting rotator is collected in a lump by the adhesive aggregating means, the adhesive can be easily removed from the collecting rotator, and accumulating the adhesive Inconvenience can be easily prevented. Further, since only the adhesive that has become agglomerated can be removed, there is no need to prepare a consumable for discarding the adhesive.
[0124]
  Claim26Or claims27According to the invention according to the above, since the adhesive material removing device is provided, the adhesive attached to the movable body can be appropriately removed, and a continuous peeling operation for a long time by the member peeling device is possible.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 shows an adhesive removing device according to Embodiment 1, wherein (a) is a side view thereof and (b) is a front view.
FIG. 2 is an explanatory view showing a seal peeling tool to be removed by the adhesive removing device of FIG.
FIGS. 3A and 3B show a relationship between a linear velocity difference between a tool belt and a transfer belt and an adhesive, and FIG. 3A is an explanatory diagram showing a case where the linear velocity difference is small and FIG.
FIG. 4 is an explanatory diagram showing a case where the transfer body is in the form of a roller.
FIG. 5 is an explanatory diagram showing a case where the transfer body is disk-shaped.
FIG. 6 is a side view showing an adhesive removing device according to a second embodiment.
7A and 7B show a pressure-sensitive adhesive removing apparatus according to Embodiment 3, wherein FIG. 7A is a side view of the whole, and FIG. 7B is a partially enlarged view.
FIG. 8 is a side view showing an adhesive removing device according to a fourth embodiment.
FIG. 9 is a side view showing an adhesive removing device according to a fifth embodiment.
FIG. 10 is an explanatory diagram showing transfer of an adhesive between a tool belt, a primary transfer body, and a secondary transfer body.
FIG. 11 is a side view showing an adhesive removing device according to a sixth embodiment.
FIGS. 12A and 12B show functions of the capture bar of FIG. 6. FIG. 12A is an explanatory diagram showing a case where there is no capture bar, and FIG.
FIG. 13 is a side view showing an adhesive removing device according to a seventh embodiment.
14 is an explanatory view schematically showing a secondary transfer belt on which non-adhesive processing shown in FIG. 13 has been performed.
FIGS. 15A and 15B show an adhesive removing device according to an eighth embodiment, where FIG. 15A is an explanatory view showing a case where a seal peeling tool is in a normal position, and FIG.
16A and 16B show a member peeling system according to a ninth embodiment, where FIG. 16A is an explanatory diagram showing a case where the tool belt is in contact with a transfer roller, and FIG. 16B is a case where the tool belt is in contact with a wipe roller. Explanatory drawing, (c) is explanatory drawing which shows the case where the seal peeling tool of the robot arm tip is seen from the front.
[Explanation of symbols]
1 Adhesive removal device
2 Seal peeling tool (member peeling device)
3 Motor (drive device)
9 Tool belt
10 Toner cartridge case
11 Seal (member)
12 Transfer belt (transfer body, drive rotating body)
14 Motor (drive means)
20 Adhesive remover
21 Roller (Recovery rotating body)
22 Motor (drive means for recovery)
23 Adhesive remover
24 Transfer bar (adsorption rotating body)
25 Feeding mechanism (feeding means)
26 Adhesive remover
27 Adsorption tape
28 Traveling mechanism (traveling means)
33 Adhesive remover
34 Primary transfer roller (Rotating transfer body)
37 Tachometer (Linear speed detection means)
38 Adhesive remover
39 Capture bar (capture means)
40 Adhesive remover
43 Primary transfer belt (Rotating transfer body)
46 Secondary transfer belt (drive rotating body, aggregating rotating body)
48 Seal peeling tool
49 Adhesive remover
50 Primary transfer roller (transfer body)
51 Secondary transfer roller (collection rotating body)
53 Roller (collecting rotating body)
56 Claw member (separation means)
57 Member peeling system
58 Robot arm
60 Adhesive removal device
65 Wipe roller (wiping means)

Claims

The movable body includes a transfer body that contacts the movable body to which the adhesive is attached, and a drive unit that drives the transfer body, and the drive unit drives the transfer body at a linear velocity higher than that of the movable body. In the pressure-sensitive adhesive removing apparatus for transferring the pressure-sensitive adhesive attached to the transfer body to remove the pressure-sensitive adhesive,
A plurality of rotating bodies including a transfer rotating body as the transfer body and a driving rotating body that is directly driven by the driving means are provided in series between the movable body and the driving means, and each rotation excluding the driving rotating body A pressure-sensitive adhesive removing apparatus, wherein the body rotates at a smaller linear velocity than a rotating body adjacent to the drive means side.

2. The pressure-sensitive adhesive removing apparatus according to claim 1, wherein the driving unit decreases the linear velocity of the transfer body as the transfer of the pressure-sensitive adhesive to the transfer body proceeds.

The pressure-sensitive adhesive removing apparatus according to claim 1 or 2, wherein each rotary body except the drive rotary body is driven by a force transmitted from a rotary body adjacent to the drive means side. apparatus.

The pressure-sensitive adhesive removing apparatus according to claim 1 or 2, wherein the transfer rotating body is driven by a force transmitted from a rotating body adjacent to the driving means side.

5. The pressure-sensitive adhesive removing apparatus according to claim 1, further comprising a linear velocity detecting unit that detects a linear velocity of the transfer body.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 5, wherein the transfer body is disposed between the transfer body and the movable body on the downstream side in the driving direction from the contact position of the transfer body with the movable body. A pressure-sensitive adhesive removing apparatus comprising a capturing means for capturing pressure-sensitive adhesive straddling a string.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 6, further comprising pressure-sensitive adhesive aggregating means for collecting the pressure-sensitive adhesive attached to the transfer body into a lump.

8. The pressure-sensitive adhesive removing apparatus according to claim 7, wherein the pressure-sensitive adhesive aggregating means rotates while being in contact with the transfer body, and the contact surface with the transfer body is non-adhesive processed except for a part thereof. A pressure-sensitive adhesive removing apparatus comprising a rotating body, wherein the pressure-sensitive adhesive attached to the transfer body is collected in a lump by a portion of the contact surface that is not non-stick processed.

9. The pressure-sensitive adhesive removing apparatus according to claim 7 or 8, further comprising a separating unit that separates the pressure-sensitive adhesive collected in a lump.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 9, further comprising a wiping means for wiping off the pressure-sensitive adhesive remaining on the movable body after the transfer body abuts. Removal device.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 10, wherein the transfer body has a belt shape, a roller shape, or a disk shape.

12. The pressure-sensitive adhesive removing apparatus according to claim 1, wherein the transfer body is made of the same material as the movable body.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 12, wherein the transfer body is attached. A pressure-sensitive adhesive removing apparatus comprising a collecting means for collecting a worn pressure-sensitive adhesive.

14. The pressure-sensitive adhesive removing apparatus according to claim 13, wherein the recovery unit includes a recovery rotator that contacts the transfer body, and a recovery drive unit that drives the recovery rotator, and the recovery rotator is the recovery unit. The pressure-sensitive adhesive removing apparatus recovers the pressure-sensitive adhesive attached to the transfer body by rotating at a linear velocity higher than that of the transfer body by the driving means.

The pressure-sensitive adhesive removing apparatus according to claim 13, wherein the recovery means includes a rod-like adsorption rotating body that contacts the transfer body and adsorbs the adhesive, and a feeding means that sends the adsorption rotating body in the longitudinal direction. The pressure-sensitive adhesive removing apparatus characterized in that the pressure-sensitive adhesive attached to the transfer body is sucked and collected by being fed in the longitudinal direction by the feeding means while the suction rotating body is rotated with the transfer body.

14. The pressure-sensitive adhesive removing apparatus according to claim 13, wherein the recovery means includes a suction tape that comes into contact with the transfer body and adsorbs the pressure-sensitive adhesive, and a running means that runs the suction tape, and the suction tape is the transfer tape. A pressure-sensitive adhesive removing apparatus, wherein the pressure-sensitive adhesive attached to the transfer body is adsorbed and collected by running while contacting the body.

The pressure-sensitive adhesive removing apparatus according to any one of claims 1 to 12, wherein the movable body is moved between the member and the component by moving the member bonded to the component and is peeled off by a frictional force. The pressure-sensitive adhesive removing apparatus, wherein the transfer body and the driving unit are integrally provided in a member peeling apparatus having a movable body, and the pressure-sensitive adhesive attached to the movable body at the time of peeling the member is removed.

The pressure-sensitive adhesive removing apparatus according to claim 17, wherein the movable body driving device is used as the driving means.

The pressure-sensitive adhesive removing apparatus according to claim 17 or 18, wherein a recovery means for recovering the pressure-sensitive adhesive attached to the transfer body is provided integrally with the member peeling apparatus. .

20. The adhesive removing device according to claim 19, wherein the recovery means includes a recovery rotator that contacts the transfer body, and the recovery rotator rotates at a linear velocity higher than that of the transfer body. A pressure-sensitive adhesive removing apparatus that collects the pressure-sensitive adhesive that has adhered.

21. The pressure-sensitive adhesive removing apparatus according to claim 20, wherein the member peeling device is provided in a robot arm and is movable within a predetermined region, and drives the collection rotating body that contacts the collection rotating body and the collection rotating body. The collecting drive means is provided in the predetermined area separately from the member peeling device, and when the member peeling device is moved and the collection rotating body moves to a cleaning position where it contacts the collecting rotating body The collection rotator is rotated at a linear velocity higher than that of the collection rotator by the collection drive means, thereby collecting the adhesive collected by the collection rotator and cleaning the collection rotator. An adhesive remover.

The pressure-sensitive adhesive removing device according to claim 21, wherein the member peeling device moves to the cleaning position every predetermined time during the peeling work of the member.

23. The pressure-sensitive adhesive removing apparatus according to claim 21 or 22, wherein pressure-sensitive adhesive aggregating means for collecting the pressure-sensitive adhesive attached to the collecting rotator in a lump is provided in the vicinity of the collecting rotator. Adhesive removal device.

24. The pressure-sensitive adhesive removing apparatus according to claim 23, wherein the pressure-sensitive adhesive aggregating means rotates while being in contact with the collection rotating body, and a contact surface with the collection rotating body is non-adhesive processed except for a part thereof. A pressure-sensitive adhesive removing apparatus comprising: the coagulating rotating body, wherein the pressure-sensitive adhesive attached to the collecting rotating body is collected in a lump by a part of the contact surface that is not subjected to non-adhesive processing.

25. The pressure-sensitive adhesive removing apparatus according to claim 23 or 24, wherein a separating means for separating the pressure-sensitive adhesive collected in a lump is provided in the vicinity of the collecting rotating body or the pressure-sensitive adhesive aggregating means. An adhesive remover.

17. A member peeling device comprising: the pressure-sensitive adhesive removing device according to claim 1; and a movable member that moves a member bonded to a component between the member and the component and moves the member by a frictional force. A member peeling system, wherein the pressure-sensitive adhesive removing device removes the pressure-sensitive adhesive attached to the movable body of the member peeling device.

A member peeling system comprising the pressure-sensitive adhesive removing device and the member peeling device according to any one of claims 17 to 25.