Sheet peeling device

Abstract

To provide a sheet peeling device capable of stably peeling a top sheet 15 of a laminated sheet 14 from a next sheet 16 located thereunder.SOLUTION: A sheet peeling device 100 sucks a first suction cup 132 and a second suction cup 134 at a predetermined interval to a top sheet 15 located at the uppermost part of a laminated sheet 14 formed by laminating a plurality of sheets, applies negative pressure to the first suction cup 132 and the second suction cup 134, respectively, to draw the top sheet 15 into a first hole 35 and a second hole 36 formed therein, thereby causes a misalignment at the ends of the top sheet 15 and the second sheet 16, further brings the first suction cup 132 and the second suction cup 134 closer to each other, thereby forming wrinkles 50 whose height changes between the first suction cup 132 and the second suction cup 134, thereby allows air to flow into the wrinkles 50, facilitating the peeling of the top sheet 15 from the second sheet 16.SELECTED DRAWING: Figure 4A

Description

[Technical field]

[0001] The present invention relates to a sheet peeling device that peels the uppermost sheet (hereinafter referred to as the top sheet) from the sheet (hereinafter referred to as the second sheet) located below it in a laminated sheet in which multiple sheets are stacked. [Background technology]

[0002] When multiple sheets are stacked, the air between the sheets is naturally expelled, and the sheets become in close contact with each other. Once the air is expelled between the sheets in a stacked state, it is not easy to form an air layer between the sheets. This makes it necessary to peel the top sheet from the second sheet. In actual operating devices, there is an issue where this peeling process cannot be performed properly.

[0003] The sheet to be peeled off is usually the top sheet of a stack of sheets. Various technologies have been proposed for automatically peeling the top sheet from the second sheet using a dedicated peeling machine. In the case of a sheet that does not bend easily, i.e., has a very high rigidity, peeling the top sheet is relatively easy. However, in general, the rigidity of sheets is not that high. For this reason, it is very difficult to automatically peel the top sheet from the second sheet using a machine, which is a major challenge in the automation process. Various methods have been proposed for peeling the top sheet from the sheet located below it. As representative examples, patent documents 1 to 4 are shown below. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 62-88733 [Patent Document 2] Patent No. 6689728 [Patent Document 3] Japanese Patent Application Publication No. 6-329286 [Patent Document 4] Patent Publication No. 2022-096922

[0005] In Patent Document 1, first, the entire laminated sheet is pressed down from above the top sheet 36 by a sheet holding means 5 having a pressing piece 13. Next, the top sheet 36 is moved toward the sheet holding means 5 by a sheet pushing tool 16. This movement forms wrinkles in the top sheet 36. The device described here peels the top sheet 36 off the next sheet by forming wrinkles in this way.

[0006] This method may give good results when the sheets are very stiff. However, in general, it is difficult to automatically and reliably separate the top sheet 36 from the next sheet. In the described method, wrinkles are formed in the top sheet 36, but not only the top sheet 36 but also the next sheet is wrinkled similarly to the top sheet 36 while in close contact with the top sheet 36. For this reason, in practice, there are many cases where the top sheet 36 cannot be separated from the next sheet. There is still a problem in reliably peeling the top sheet 36 from the next sheet.

[0007] The method described in Patent Document 1 also has a major problem from another perspective. This problem is that pressure is applied to the entire sheet from above the top sheet 36. In order to quickly separate the top sheet 36 from the next sheet, it is important to quickly form an air layer between the top sheet 36 and the next sheet, and to quickly expand the air layer. When pressure is applied to the entire sheet from above the top sheet 36 as in the method described in Patent Document 1, this is an extremely large obstacle to the formation and expansion of the air layer. Even if wrinkles are formed by the above method and an air layer is formed in a part of the sheet as a result, the expansion of the formed air layer is prevented by the pressure from above. In this respect, the method described in Patent Document 1 also has a major problem.

[0008] In Patent Document 2, the edge of the top sheet 10 is fixed by the regulating portion 18, the top sheet 10 is pressed from above by the pressing portion 23, and the top sheet 10 is moved toward the regulating portion 18 in this pressed state. The top sheet 10 between the pressing portion 23 and the regulating portion 18 is in a warped state. In this way, the top sheet 10 is peeled off from the next sheet. However, in reality, not only the top sheet 10 but also the next sheet moves toward the regulating portion 18 while in close contact with the top sheet 10, and wrinkles similar to those of the top sheet 10 are formed. Therefore, in reality, there is still a problem in stably peeling the top sheet 10 from the next sheet.

[0009] In the method described in Patent Document 2, as in the method described in Patent Document 1, wrinkles of the same shape are generated in the top sheet 10 and the second sheet, which is the next sheet. Therefore, the top sheet 10 and the second sheet are maintained in close contact with each other. Furthermore, in the method described in Patent Document 2, as in the description of Patent Document 1, the top sheet 10 is pressed from above by the pressing unit 23, so that even if an air layer is formed between the top sheet 10 and the second sheet, the expansion of the formed air layer is prevented. In this regard, too, a major problem remains.

[0010] Unlike the above-mentioned Patent Documents 1 and 2, Patent Document 3 does not have a structure that presses downward from the top sheet. On the contrary, it has a structure in which a suction cup 21 for suction is provided at the tip of a piston rod 30. Paragraph

[0018] of Patent Document 3 describes that the suction cup 21 attracts the outermost card 10a, and the outermost card 10a is pressed against the support wall 11A, thereby deforming the outermost card 10a. This deformation reduces the contact area between the outermost card 10a and the lower card 10b adjacent to the outermost card 10a. In the description of FIG. 2(A) of Patent Document 3, only the outermost card 10a is curved, and the card 10b immediately below it is not curved at all. However, in an actual work process using a machine, it is difficult to stably create such an ideal state. When the outermost card 10a is curved, the card 10b immediately below it is also curved in close contact with the outermost card 10a. Therefore, there remains a problem regarding the stable and reliable separation of the outermost card 10a from the card 10b immediately below it. That is, the outermost card 10a and the card 10b immediately below it form wrinkles of the same shape. Furthermore, there is no disclosure or suggestion of a method or configuration for actively expanding the formed air layer.

[0011] In Patent Document 4, two sets of adsorption members 43a are lowered toward the topmost sheet S, and the two sets of adsorption members 43a are adsorbed to the topmost sheet S. Next, the adsorption members 43a reciprocate in a direction approaching and moving away from each other. After the two sets of adsorption members 43a have repeatedly reciprocated, the two sets of adsorption members 43a move to positions closer to each other than their initial positions, causing the topmost sheet S to bend upward. This document describes that a space G penetrating in the Y direction is formed between the topmost sheet S bent upward and the second sheet S.

[0012] This method aims to form an air layer between the top sheet S and the second sheet S by repeatedly moving back and forth between the two pairs of adsorption members 43a. However, with ordinary sheets, the sheets do not easily separate even if the two pairs of adsorption members 43a repeatedly move closer to and away from each other. A mechanism is needed to form an air layer between the top sheet S and the second sheet S, and a mechanism is also needed to expand the air layer. Summary of the Invention [Problem to be solved by the invention]

[0013] The problem to be solved by the present invention is to automatically peel the top sheet located at the top of a laminated sheet from the second sheet located next to the top sheet by mechanical operation. First, the basic idea for solving this problem will be explained.

[0014] Explanation of the basic approach to solving the above issues The reason why the top sheet of the laminated sheet adheres to the next sheet (hereinafter referred to as the second sheet) and cannot be easily separated is because there is no air layer between the top sheet and the second sheet, or a state close to that, making it difficult for air to flow in to form an air layer. Therefore, when the top sheet is lifted, the space between the top sheet and the second sheet, which is in close contact with the top sheet, is in a vacuum state or a state close to that where air is difficult to introduce, and the adhesion between the top sheet and the second sheet cannot be broken, so the second sheet is lifted together with the top sheet. Furthermore, since they are strongly adsorbed to each other in a vacuum state or a state close to that, when the top sheet deforms, the second sheet also deforms in the same way, and the adhesion is maintained. Therefore, even if an attempt is made to peel the top sheet from the second sheet by automatic mechanical work, the state in which it cannot be easily peeled is maintained. The important thing here is how to introduce air between the top sheet and the second sheet and rapidly expand the air layer.

[0015] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide a sheet peeling device capable of stably peeling a top sheet of a laminated sheet from a next sheet located thereunder. [Means for solving the problem]

[0016] [First invention] A first invention relates to a sheet peeling device which applies a first suction cup and a second suction cup to a top sheet located at the top of a laminated sheet formed by stacking a plurality of sheets, and further brings the first suction cup and the second suction cup closer to each other to form wrinkles in the top sheet, and peels the top sheet from a second sheet located next to the top sheet, the first suction cup has a first hole therein having a first opening, and the second suction cup has a second hole therein having a second opening; while the top sheet located between the first suction cup and the second suction cup is stretched, the first opening of the first suction cup and the second opening of the second suction cup are each tightly attached to an upper surface of the top sheet; Furthermore, the top sheet is sucked by a predetermined negative pressure supplied to the first suction cup and the second suction cup, so that the top sheet is drawn into the first hole through the first opening of the first suction cup, and further drawn into the second hole through the second opening of the second suction cup, a first displacement is generated between a first end of the top sheet and a first end of the second sheet, the first end being located in an opposite direction to the second suction cup of the first suction cup, by drawing the top sheet into the first hole of the first suction cup; and pulling the top sheet into the second hole of the second suction cup to generate a second deviation between a second end of the top sheet and a second end of the second sheet, the second end being positioned in an opposite direction to the first suction cup of the second suction cup, while the first deviation and the second deviation are occurring, the first suction cup and the second suction cup are brought closer to each other to form wrinkles between the first suction cup and the second suction cup; the wrinkles are shaped such that a height at a position on a suction cup arrangement axis connecting the first suction cup and the second suction cup is greater than a height at a position away from the suction cup arrangement axis, This is a sheet peeling device, characterized in that peeling of the top sheet from the second sheet is promoted by forming the wrinkles having a shape that varies in height.

[0017] [Explanation of the Function and Effect of the First Invention] In order to facilitate understanding of the effects of the first invention described below, in the embodiments described below with reference to the drawings, reference symbols are used to refer to the configurations in the embodiments that correspond to the configurations of the first invention. This is merely to facilitate understanding of the first invention, and does not limit the configurations of the first invention described in the claims to the specific configurations described in the embodiments below. Note that in the second and subsequent inventions described following the first invention, reference symbols are used to refer to the configurations of the embodiments that correspond to the configurations described in the claims for each invention, in order to facilitate understanding. This is merely to facilitate understanding, and does not limit the configurations of each invention to the specific configurations of the embodiments.

[0018] In the first invention, as shown in Fig. 3A, first, the topsheet 15 between the first suction cup 132 and the second suction cup 134 is maintained in a state without slack, and the topsheet 15 is sucked by the first suction cup 132 and the second suction cup 134. Due to the strong suction forces of the first suction cup 132 and the second suction cup 134, the topsheet 15 can be sucked into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134, respectively, as shown in Fig. 3B and Fig. 3C.

[0019] As shown in FIG. 3C, the topsheet 15 located between the first suction cup 132 and the second suction cup 134 does not move because the first suction cup 132 and the second suction cup 134 are attracted to each other. Other parts of the topsheet 15 are drawn into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134 by the suction force. In other words, the topsheet 15 located around the first hole 35 other than the topsheet 15 located between the first suction cup 132 and the second suction cup 134 is drawn into the first hole 35 of the first suction cup 132. Similarly, the part of the topsheet 15 located around the second hole 36, excluding the side of the first suction cup 132, is drawn into the second hole 36 of the second suction cup 134. At this time, a strong force acts in a complex direction on the topsheet 15 around the first suction cup 132, and similarly, a force also acts in a very complex direction on the topsheet 15 around the second suction cup 134.

[0020] As a result, the second sheet 16 maintains a state of close contact with the top sheet 15, and is difficult to enter the first hole 35 together with the top sheet 15, relative to the top sheet 15 being drawn into the first hole 35 of the first suction cup 132. As a result, the top sheet 15 is drawn into the first hole 35 of the first suction cup 132 in a state in which it is peeled off from the second sheet 16 around the first suction cup 132. This causes a misalignment between the end of the top sheet 15 and the end of the second sheet 16. Similarly, with respect to the second hole 36 of the second suction cup 134, a complex force acts on the top sheet 15 around the second hole 36, and the second sheet 16 cannot maintain a state of close contact with the top sheet 15 being drawn into the second hole 36. These results cause a misalignment between the end of the top sheet 15 around the first suction cup 132 and the end of the second sheet 16. Similarly, a gap also occurs between the end of the topsheet 15 and the end of the second sheet 16 around the second suction cup 134. Conversely, by sucking the topsheet 15 with the first suction cup 132 or the second suction cup 134 with a strength that causes a gap between the end of the topsheet 15 and the end of the second sheet 16 around the first suction cup 132 or the second suction cup 134, a state in which the second sheet 16 cannot adhere to the topsheet 15 can be created, and the topsheet 15 can be partially peeled off from the second sheet 16. By controlling the suction force of the first suction cup 132 or the second suction cup 134 so as to cause a gap at the ends of the topsheet 15 and the second sheet 16, it becomes possible to appropriately control the peeling between the topsheet 15 and the second sheet 16 even if the state of the sheets changes.

[0021] As described above, as shown in Fig. 3B and Fig. 3C, in a state where a misalignment occurs at the ends of the top sheet 15 and the second sheet 16, the first suction cup 132 and the second suction cup 134 are then brought closer to each other. This control causes wrinkles 50 to be formed between the first suction cup 132 and the second suction cup 134. As described above, the top sheet 15 between the first suction cup 132 and the second suction cup 134 maintains the same length as before it was sucked, since the suction forces of the first suction cup 132 and the second suction cup 134 interact with each other. The fixed region 41 shown in Fig. 3C is a portion that cannot move due to the attractive force between the suction forces of the first suction cup 132 and the second suction cup 134.

[0022] On the other hand, other parts of the topsheet 15 are parts where the topsheet 15 has shifted due to the suction force of the first suction cup 132 and the suction force of the second suction cup 134, as shown as moving region 42 in Fig. 3C. For example, when a suction cup arrangement axis 84 connecting the first suction cup 132 and the second suction cup 134 is set, the parts along the suction cup arrangement axis 84 maintain the state before the first suction cup 132 and the second suction cup 134 were attracted to each other by the suction force of the first suction cup 132 and the suction force of the second suction cup 134. However, the topsheet 15 at the one end 23 and the other end 24 shown in Fig. 3C, which are parts away from the suction cup arrangement axis 84, moves due to the influence of the retraction of the topsheet 15 into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134. Due to this difference, when first suction cup 132 and second suction cup 134 are brought close to each other, wrinkles 50 formed between first suction cup 132 and second suction cup 134 have a shape that varies rather than a constant height. Specifically, wrinkles 50 are high at the portion along suction cup arrangement axis 84 and become lower as they move away from suction cup arrangement axis 84. As a result, the ends of wrinkles 50 located away from suction cup arrangement axis 84 are low, and air flows from these ends, one end 23 and the other end 24 shown in FIG. 4B , toward the portion of wrinkles 50 that crosses suction cup arrangement axis 84, and the air that has flowed in between top sheet 15 and second sheet 16 reliably peels top sheet 15 from second sheet 16.

[0023] [Differences from Patent Document 4] A similar operation is described in the above-mentioned Patent Document 4. However, Patent Document 4 does not describe at all the idea of ​​drawing the top sheet S into the adsorption member 43a and causing a misalignment at the ends of the top sheet S and the second sheet S. In FIG. 1 of Patent Document 4, the ends of the top sheet S and the second sheet S are aligned. When the two adsorption members 43a are brought close to each other, the height of the wrinkles formed between the two adsorption members 43a is constant, as shown in FIG. 3 and FIG. 4 of Patent Document 4. In this operation method, the second sheet S forms wrinkles together with the top sheet S while in close contact with the top sheet S. For this reason, Patent Document 4 requires the operation of bringing the adsorption member 43a closer and further away from each other many times, as described in paragraph

[0032] .

[0024] [Second Invention] The second invention is the sheet peeling device of the first invention, the top sheet and the second sheet have one end and the other end respectively extending in a direction along the suction cup arrangement axis, and the one end and the other end of each of the top sheet and the second sheet form sheet ends that are positioned opposite each other, the wrinkles formed by bringing the first suction cup and the second suction cup closer to each other in a state in which the first deviation and the second deviation are generated extend to the one end or the other end, and an air inlet is formed by the wrinkles at the one end or the other end or at both the one end and the other end, The wrinkles have a shape such that a height at a position intersecting the suction cup arrangement axis is greater than a height at the air inlet, Due to the difference between the height of the wrinkles at the position intersecting the suction cup arrangement axis and the height of the wrinkles at the air inlet, air is sucked into the gap between the top sheet and the second sheet from the air inlet, A sheet peeling device that promotes peeling of the top sheet from the second sheet.

[0025] [Effects of the second invention] The basic effects of the second invention have already been described as the effects of the first invention. As described above, when the first suction cup 132 or the second suction cup 134 is brought closer to the first suction cup 132 in a state where the edge of the top sheet 15 and the edge of the second sheet 16 are misaligned around the first suction cup 132 or the second suction cup 134 by the action of drawing the top sheet 15 into the first hole 35 of the first suction cup 132 or the second hole 36 of the second suction cup 134, wrinkles 50 with a varying height are formed between the first suction cup 132 and the second suction cup 134, in other words, wrinkles with an uneven height of the ridge portion. The wrinkles 50 are high at the suction cup arrangement axis 84, which is the portion between the first suction cup 132 and the second suction cup 134, while the height is low at the one end 23 and the other end 24 as shown in FIG. 4B. As a result, the second sheet 16 cannot be maintained in close contact with the top sheet 15. Furthermore, when attention is paid to the gap, i.e., space, generated between top sheet 15 and second sheet 16, the space tends to be larger where wrinkles 50 are high. Conversely, the space tends to be smaller at one end 23 and the other end 24 of the ridges of wrinkles 50. As a result, outside air is sucked into gap 55 formed between first suction cup 132 and second suction cup 134, which is at the position of suction cup arrangement axis 84, via one end 23 and the other end 24. This phenomenon of sucking in air accelerates the peeling phenomenon in which top sheet 15 is peeled off from second sheet 18. Also, as first suction cup 132 and second suction cup 134 are moved closer to each other, the rate at which gap 55 at the position of suction cup arrangement axis 84 expands becomes larger than the rate at which one end 23 and the other end 24 expand. Therefore, the air sucked in from one end 23 or the other end 24 tends to accelerate in response to the change in the movement of bringing the first suction cup 132 and the second suction cup 134 closer to each other. This phenomenon acts to further expand and accelerate the peeling phenomenon in which the top sheet 15 peels off from the second sheet 18.

[0026] [Third Invention] The third invention is the sheet peeling device of the second invention, by moving the first suction cup and the second suction cup in a direction in which they approach each other while the first deviation or the second deviation is formed, the wrinkle having the air inlet port at least at the one end or the other end is formed, by moving the first suction cup and the second suction cup in a direction approaching each other, a change in height of the wrinkles at a position intersecting the suction cup arrangement axis relative to the amount of movement becomes greater than a change in height of the wrinkles at the position of the air inlet, and air flows from the air inlet toward a gap formed between the top sheet and the second sheet at the position of the wrinkle intersecting the suction cup arrangement axis, A sheet peeling device that promotes peeling of the top sheet from the second sheet.

[0027] [Fourth Invention] The fourth aspect of the present invention is the sheet peeling device of the third aspect of the present invention, The size of the surface sheet and the second sheet is smaller than A0 size, The sheet peeling device is further characterized in that the thickness of the top sheet and the second sheet is less than 0.5 mm.

[0028] [Effects of the third and fourth inventions] The effects of the third and fourth inventions have already been explained in the effects of the first and second inventions. In the fourth invention, the size and thickness of the top sheet 15 and the second sheet 16 are clarified. To produce the effects of the invention more effectively, the optimal size and thickness are related. If the size of the top sheet 15 or the second sheet 16 becomes too large, the effect is weakened. Furthermore, if the thickness of the top sheet 15 or the second sheet 16 becomes too thick, the effect is weakened.

[0029] [Fifth Invention] A fifth aspect of the present invention is the sheet peeling device according to the fourth aspect of the present invention, wherein the top sheet and the second sheet each have a four-sided quadrangle, the four sides of the quadrangle have the one end and the other end positioned opposite each other, and are further configured with the first end and the second end positioned opposite each other and intersecting at right angles with the one end and the other end, In a state where a first axis extending in a direction along the first end and the other end is set in the center between the one end and the other end, the first suction cup and the second suction cup are brought into close contact with the top sheet 15 on the one end side with respect to the first axis, a negative pressure that is lower than atmospheric pressure is further supplied to the first suction cup and the second suction cup to suck the top sheet, a portion of the top sheet located around the first suction cup excluding the portion between the first suction cup and the second suction cup being sucked into the first hole of the first suction cup, a portion of the top sheet located around the second suction cup excluding the portion between the first suction cup and the second suction cup being sucked into the second hole of the second suction cup, forming the first gap between the first end of the top sheet located in the vicinity of the first suction cup and the first end of the second sheet, and forming the second gap between the second end of the top sheet located in the vicinity of the second suction cup and the second end of the second sheet, by an action of bringing the first suction cup and the second suction cup closer to each other, the wrinkle having the air inlet port at least at the one end or the other end is formed between the first suction cup and the second suction cup; The sheet peeling device further generates a first rotational force directed from the first end of the top sheet to the other end, and generates a second rotational force directed from the second end of the top sheet to the other end, and the first rotational force and the second rotational force cause a number of wrinkles to be generated on the other end side of the top sheet.

[0030] [Sixth Invention] A sixth aspect of the present invention is the sheet peeling device according to the fifth aspect of the present invention, wherein the top sheet and the second sheet each form a rectangle having the four sides, the four sides of the rectangle have the one end and the other end which are in a positional relationship opposite to each other, and further have the first end and the second end which are in a positional relationship intersecting at right angles to the one end and the other end, the one end and the other end of the four sides of the top sheet excluding the one end are connected to the one end and the other end of the four sides of the second sheet excluding the one end, respectively, and the top sheet and the second sheet form a bag-like sheet with an opening formed by the one end of the top sheet and the one end of the second sheet, the first suction cup and the second suction cup are brought into close contact with the top sheet at a position a predetermined length away from the one end of the top sheet along the one end of the top sheet, and while the top sheet between the first suction cup and the second suction cup is stretched flat, the top sheet is sucked by the first suction cup and the second suction cup, so that a portion of the top sheet around the first suction cup is sucked into the first hole of the first suction cup, and a portion of the top sheet around the second suction cup is sucked into the second hole of the second suction cup, Next, the first suction cup and the second suction cup are brought closer to each other, so that wrinkles are formed between the first suction cup and the second suction cup, The sheet peeling device is characterized in that the wrinkles are higher at a position between the first suction cup and the second suction cup than at the position of the one end of the top sheet.

[0031] [Effects of the third to sixth aspects of the invention] The basic effects of the third to sixth inventions are the same as those of the first and second inventions. Specific effects of the third to sixth inventions will be described in the examples. Effect of the Invention

[0032] According to the present invention, it is possible to obtain a sheet peeling device that can stably peel the top sheet located at the top of stacked sheets from the second sheet located below it. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is an explanatory diagram illustrating an overview of a sheet peeling device 100 to which the present invention is applied. [Diagram 2] FIG. 2 is a plan view of the sheet peeling device 100 shown in FIG. [Figure 3A] 11 is an explanatory diagram illustrating a state in which a first suction cup 132 and a second suction cup 134 are attached to a top sheet 15. FIG. [Figure 3B] 11 is a cross-sectional view showing a state in which the topsheet 15 is drawn into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134. FIG. [Figure 3C] 3C is a cross-sectional view taken along line AA in FIG. 3B. [Figure 4A] FIG. 3B is an explanatory diagram illustrating a state in which the first suction cup 132 and the second suction cup 134 are brought close to each other. [Figure 4B] FIG. 4B is a cross-sectional view of FIG. 4A. [Figure 5A] FIG. 11 is an explanatory diagram showing a state in which the top sheet 15 is pulled into the inside of each of the first suction cup 132 and the second suction cup 134 in another embodiment to which the present invention is applied. [Figure 5B] 5B is a cross-sectional view taken along CC in FIG. 5A. [Figure 6A] FIG. 5A is an explanatory diagram illustrating a state in which the first suction cup 132 and the second suction cup 134 are brought close to each other. [Figure 6B] 6B is a cross-sectional view taken along the line DD in FIG. 6A. [Figure 7A] FIG. 11 is an explanatory view showing a state in which the top sheet 15 is pulled into the inside of each of the first suction cup 132 and the second suction cup 134 in still another embodiment to which the present invention is applied. [Figure 7B] FIG. 7A is an explanatory diagram illustrating a state in which the first suction cup 132 and the second suction cup 134 are brought close to each other. [Figure 7C] 7C is a cross-sectional view of FIG. 7B taken along line F-F. [Figure 7D] 7C is a cross-sectional view of FIG. 7B taken along an E-E line. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] [Introduction] A sheet peeling device 100 to which the present invention is applied will be described using an embodiment. In the following description, the same reference numerals perform the same function and provide the same effect. To avoid complication of the description, the description of the function and effect of the same reference numerals may be omitted. Furthermore, in this specification, the shape of the bend or the wave shape formed on the sheet will be expressed as a wrinkle. Furthermore, in this specification, the technical term "negative pressure" is used. In this specification, "negative pressure" means an air pressure lower than the air pressure at the location where the sheet peeling device 100 is placed. Raising or increasing the negative pressure means increasing the difference with respect to the atmospheric pressure, and in terms of absolute air pressure, it means lowering the absolute air pressure. Furthermore, lowering or decreasing the negative pressure means bringing it closer to the atmospheric pressure.

[0035] 1. Description of the basic configuration of a sheet peeling device 100 according to a first embodiment of the present invention Fig. 1 is an explanatory diagram illustrating the basic configuration of a sheet peeling device 100 according to an embodiment of the present invention. Fig. 2 is a plan view of the sheet peeling device 100 illustrated in Fig. 1. The sheet peeling device 100 is a device that peels a top sheet 15 located on the uppermost surface of a laminated sheet 14 held by a sheet holding device 10 from a second sheet 16 located immediately below the top sheet 15 stacked on the laminated sheet 14. The top sheet 15 peeled from the second sheet 16 may be moved to a transport destination 90, for example, or may be passed to another device (not shown) for further processing.

[0036] 1 and 2, the sheet peeling device 100 includes a main body 110, and an X-axis moving mechanism 122 and a Y-axis moving mechanism 124 provided on the main body 110. The main body 110 further includes a suction drive unit 114 having a vacuum pump 115, a control device 112 for controlling the operation of the entire main body 110, and the like. In response to a command from the control device 112, the X-axis moving mechanism 122 and the Y-axis moving mechanism 124 are operated to move a suction cup control unit 128 having a first suction cup 132 and a second suction cup 134 for sucking the top sheet 15 located on the uppermost surface of the laminated sheet 14 to a predetermined position on the top sheet 15. The first suction cup 132 and the second suction cup 134 are supported by the suction cup control unit 128 via a first suction pipe 131 and a second suction pipe 133, each of which has an air passage in the center. The control device 112 is provided with an input / output device 113, and the positions of the suction cup control unit 128 in the X and Y directions, as well as the height direction, can be set from the input / output device 113 to control the positions and heights of the first suction cup 132 and the second suction cup 134. Furthermore, these settings can specifically set the contents of the operation sequence in accordance with the control contents, such as the stop position and movement speed for each state in the operation sequence of the entire device, and the start and end conditions of each sequence in the entire operation sequence. Furthermore, the distance between the first suction cup 132 and the second suction cup 134, and the suction forces of the first suction cup 132 and the second suction cup 134 can also be set for each operation in association with the respective operations.

[0037] As will be explained below, it is important to appropriately control the suction force of the first suction cup 132 and the second suction cup 134. The suction force applied to the first suction cup 132 and the second suction cup 134, i.e., the negative pressure applied to the first suction cup 132 and the second suction cup 134 from the suction drive unit 114 via the suction cup control unit 128, is set by the input / output device 113 of the control device 112 to an appropriate value.

[0038] The appropriate negative pressure to be applied to the first suction cup 132 and the second suction cup 134 may vary depending on the material of the sheets to be peeled, such as the top sheet 15 and the second sheet 16, or the thickness of the top sheet 15 and the second sheet 16, and further depending on the material, the temperature and humidity of the work site. Therefore, an appropriate negative pressure is set from the input / output device 113 based on these conditions. Based on this set negative pressure, the suction drive unit 114 is controlled by the control device 112, and an appropriate negative pressure is applied to the first suction cup 132 and the second suction cup 134 via the suction cup control unit 128.

[0039] In this embodiment, as described in detail below, it is possible to easily determine whether the negative pressure applied to the first suction cup 132 or the second suction cup 134 is appropriate, whether the negative pressure should be further increased, or conversely, whether the negative pressure should be reduced to approach atmospheric pressure. The amount of deviation at the ends of the top sheet 15 and the second sheet 16 based on the negative pressure applied to the first suction cup 132 or the second suction cup 134, which plays a very important role in the action of peeling the top sheet 15 from the second sheet 16, can be detected and confirmed. The deviation at the ends of the top sheet 15 and the second sheet 16 may be determined by the step at the ends of the top sheet 15 and the second sheet 16. If deviation occurs between the top sheet 15 and the second sheet 16, a step occurs. Therefore, it is possible to recognize the deviation and the step as the same thing. The negative pressure applied to the first suction cup 132 or the second suction cup 134 can be set so that this deviation occurs, and this makes it possible to perform an optimal peeling operation.

[0040] 2. Peeling of the top sheet 15 from the second sheet 16 (1) Position control of the first suction cup 132 and the second suction cup 134 As described above, the suction cup control unit 128 maintains the distance between the first suction cup 132 and the second suction cup 134 at a predetermined length L1 based on commands from the control device 112. The first suction cup 132 and the second suction cup 134 are moved to predetermined positions relative to the topsheet 15 by the X-axis movement mechanism 122 and the Y-axis movement mechanism 124 under the control of the control device 112. Next, the suction cup control unit 128 operates to control the vertical positions of the first suction cup 132 and the second suction cup 134 based on commands from the control device 112, and the first suction cup 132 and the second suction cup 134 are brought into contact with the upper surface of the topsheet 15.

[0041] 2 is a plan view of the sheet peeling device 100. The suction cup control unit 128 having the first suction cup 132 and the second suction cup 134 can be moved to a desired position in the X-axis direction by the X-axis moving mechanism 122, and the entire X-axis moving mechanism 122 can be moved to a desired position in the Y-axis direction by the Y-axis moving mechanism 124. Therefore, by controlling the Y-axis moving mechanism 124 and the X-axis moving mechanism 122 by the control device 112, the suction cup control unit 128 having the first suction cup 132 and the second suction cup 134 can be moved to a desired position relative to the topsheet 15 held by the sheet holding device 10. As described above, the distance between the first suction cup 132 and the second suction cup 134 can be controlled and maintained at the distance L1 by a command from the control device 112. The height relationship with respect to the topsheet 15 can also be controlled by the suction cup control unit 128.

[0042] 1 and 2, the first suction cup 132 and the second suction cup 134 are maintained at a predetermined distance from the suction cup control unit 128 by the first suction pipe 131 and the second suction pipe 133, and by controlling the height of the suction cup control unit 128 maintained by the support unit 126 by the control device 112, it is possible to change the length in the height direction of the support unit 126 between the X-axis moving mechanism 122 and the suction cup control unit 128, and to control the height of the first suction cup 132 and the second suction cup 134. In addition, the interval L1, which is the length between the first suction cup 132 and the second suction pipe 133, can be controlled by a command from the control device 112, and can be made shorter than the interval L1 or longer than the interval L1.

[0043] Negative pressure is generated by the suction drive unit 114 equipped with a vacuum pump 115, and the negative pressure is transmitted to the suction cup control unit 128 via negative pressure transmission pipes provided inside the Y-axis movement mechanism 124, the X-axis movement mechanism 122, and the support unit 126. A negative pressure control mechanism 129 may be provided inside the suction cup control unit 128, or the negative pressure generated by the suction drive unit 114 may be applied directly to the first suction cup 132 and the second suction cup 134. When the suction cup control unit 128 has a negative pressure control mechanism 129 for fine adjustment, a highly accurate negative pressure is generated by the negative pressure control mechanism 129 of the suction cup control unit 128 in accordance with a command from the control device 112, and the highly accurate negative pressure is sent to the first suction cup 132 and the second suction cup 134 via the first suction pipe 131 and the second suction pipe 133. In this case, a highly accurate negative pressure with high responsiveness can be supplied to the first suction cup 132 and the second suction cup 134. As described above, the negative pressure can also be controlled by the suction drive unit 114 having the vacuum pump 115, and the negative pressure of the first suction cup 132 and the second suction cup 134 may be directly controlled by controlling the operation of the vacuum pump 115.

[0044] The top sheet 15 is peeled off from the second sheet 16 by the method described below. The peeled top sheet 15 can be transported to the destination 90 or the like, and the next operation can be performed. The transported sheet 18 is transported to the destination 90, for example, and the next operation is performed. What is important here is that the top sheet 15 is peeled off from the second sheet 16 accurately and preferably in a short time. A method for peeling the top sheet 15 off from the second sheet 16 accurately and in a short time will be described below. Here, as an example, the peeled top sheet 15 is moved to the destination 90, but after the top sheet 15 is peeled off from the second sheet 16, various processing can be performed. It is possible to not only transport it to the destination 90, but also to pass it to a processing device (not shown) for the next processing.

[0045] (2) Structure of the first suction cup 132 and the second suction cup 134 3A is a partially enlarged view showing the state where the first suction cup 132 and the second suction cup 134 are in contact with the top sheet 15 of the laminate sheet 14, and the suction cup control unit 128 and the like are omitted. The first suction cup 132 and the second suction cup 134 each have a first hole 35 and a second hole 36 on the inside for sucking the top sheet 15 and drawing it in. The upper part of the first hole 35 formed inside the first suction cup 132 is connected to the first suction pipe 131 for applying negative pressure from the first suction pipe 131 for sucking the top sheet 15 to the first hole 35. Meanwhile, a first opening 37 for drawing in the top sheet 15 is formed below the first hole 35 of the first suction cup 132. Similarly, in the second suction cup 134, the upper part of the second hole 36 is connected to a second suction pipe 133 that applies negative pressure to the second hole 36 for suction, and a second opening 38 is formed below the second hole 36 for sucking and drawing in the surface sheet 15.

[0046] The suction cups currently in general use are intended to move the top sheet 15 by sucking it, and are not intended to suck the top sheet 15 into the first suction cup 132 or the second suction cup 134. In other words, the negative pressure that sucks the top sheet 15 is not high, and is close to atmospheric pressure. If the negative pressure is made higher than the negative pressure required for transporting the top sheet 15, the top sheet 15 is drawn into the first suction cup 132 or the second suction cup 134. Generally, a net is provided at the first opening 37 of the first suction cup 132 or the second opening 38 of the second suction cup 134 to prevent the top sheet 15 from entering the first hole 35 or the second hole 36. However, in this embodiment, as described below, the structure is such that the top sheet 15 is actively sucked into the first hole 35 or the second hole 36 inside the first suction cup 132 or the second suction cup 134 from the first opening 37 or the second opening 38 by the suction force of the negative pressure. This structure and operation makes it possible to peel the top sheet 15 from the second sheet 16 reliably.

[0047] (3) The operation of retracting the first suction cup 132 and the second suction cup 134 of the top sheet 15 into the inside As shown in Fig. 3A, the first opening 37 of the first suction cup 132 and the second opening 38 of the second suction cup 134 are brought into contact with the topsheet 15 while being maintained at a predetermined distance L1. At this time, it is desirable that as few wrinkles as possible are formed between the first suction cup 132 and the second suction cup 134. Since the negative pressure created by the vacuum pump 115 of the suction drive unit 114 is transmitted to the suction cup control unit 128, when the first suction cup 132 and the second suction cup 134 are attached to the topsheet 15 in the state shown in Fig. 3A, the negative pressure of the first suction cup 132 and the second suction cup 134 immediately acts on the topsheet 15.

[0048] When negative pressure created by suction drive unit 114 is applied to first suction cup 132 and second suction cup 134 shown in Fig. 3A, top sheet 15 is drawn from first opening 37 of first suction cup 132 and second opening 38 of second suction cup 134 into first hole 35 and second hole 36 via first opening 37 and second opening 38. This state is shown in Fig. 3B. Also, a top view of Fig. 3B taken along line AA in Fig. 3B is shown in Fig. 3C.

[0049] In this embodiment, as shown in FIG. 3A, when the first suction cup 132 and the second suction cup 134 are in contact with the topsheet 15, the area between the first suction cup 132 and the second suction cup 134 is flat and no wrinkles are formed. FIG. 3B shows the topsheet 15 sucked into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134. In this state, the topsheet 15 located between the first suction cup 132 and the second suction cup 134 remains flat. FIG. 3C is a cross-sectional view taken along line A-A in FIG. 3B. In the portion of the topsheet 15 located above the suction cup arrangement axis 84, the pulling force based on the negative pressure of the first suction cup 132 and the pulling force based on the negative pressure of the second suction cup 134 are balanced. Therefore, the topsheet 15 located on the suction cup arrangement axis 84 cannot enter the first hole 35 of the first suction cup 132 or the second hole 36 of the second suction cup 134.

[0050] In FIG. 3C, the portion of the topsheet 15 located in the fixed region 41 hardly moves due to a balance between the pulling force based on the negative pressure of the first suction cup 132 and the pulling force based on the negative pressure of the second suction cup 134. On the other hand, in the moving region 42 of the topsheet 15, the topsheet 15 moves by being drawn into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134. In the moving region 42 of the topsheet 15, fine wrinkles (not shown) are generated around the first opening 37 of the first suction cup 132 and around the second opening 38 of the second suction cup 134 as the topsheet 15 moves. The second sheet 16 cannot follow the fine wrinkles generated in the topsheet 15. Furthermore, the second sheet 16 cannot cope with the strong suction forces from the first suction cup 132 and the second suction cup 134 acting on the topsheet 15. For this reason, the second sheet 16 cannot follow the deformation of the top sheet 15 around the first suction cup 132 and the second suction cup 134. As a result, the top sheet 15 is sucked into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134, but the second sheet 16 is not sucked in. Due to this difference in deformation in response to the negative pressure between the top sheet 15 and the second sheet 16, deviations indicated by a first deviation 25, a second deviation 26, a third deviation 27, and a fourth deviation 28 occur between the end of the top sheet 15 in the movement area 42 and the end of the corresponding portion of the second sheet 16.

[0051] As shown in FIG. 3B, the top sheet 15 is drawn into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134, and wrinkles 48 and 49 are formed inside the second hole 36 and the second hole 36. These wrinkles 48 and 49 are created when the top sheet 15 is drawn in by a strong negative pressure. As described above, in the area of ​​the first opening 37 of the first suction cup 132 and the second opening 38 of the second suction cup 134, many small wrinkles are formed in a complex manner, although not shown. In addition, as shown by the torsional force 30, torsional force 31, torsional force 32, and torsional force 33 in FIG. 3C, forces accompanied by rotation are generated. Due to these factors, it becomes difficult for the second sheet 16 to deform in accordance with the top sheet 15, as described above. Due to these factors, misalignment occurs between the top sheet 15 and the second sheet 16 at the end of the top sheet 15 and the end of the second sheet 16, for example, at the first end 21 and the second end 22.

[0052] The first deviation 25 and the second deviation 26 may or may not occur appropriately depending on the magnitude of the negative pressure applied to the first suction cup 132 and the second suction cup 134. This is due to differences in the material and thickness of the top sheet 15 and the second sheet 16. In some cases, temperature and humidity may also have an effect. If the negative pressure is increased, the first deviation 25 and the second deviation 26 occur, but if the negative pressure is increased more than necessary, it may cause damage to the top sheet 15 and the second sheet 16. It is desirable to change the set value from the input / output device 113 of the control device 112 shown in FIG. 1 to adjust the magnitude of the negative pressure so that the first deviation 25 and the second deviation 26 are generated at an appropriate magnitude. In this embodiment, since the magnitude of the first deviation 25 and the second deviation 26 can be visually confirmed, it is very easy to maintain the negative pressure of the first suction cup 132 and the second suction cup 134 at an appropriate magnitude.

[0053] In this case, if the magnitude of the first deviation 25 or the second deviation 26 is smaller than the target value, the amount of negative pressure is increased, and conversely, if the magnitude of the first deviation 25 or the second deviation 26 is larger than the target value, the amount of negative pressure is decreased to bring the negative pressure closer to the atmosphere. Also, if no deviation occurs even when the negative pressure is increased, i.e., even when the pressure applied to the first suction cup 132 or the second suction cup 134 is reduced, or if the magnitude of the deviation does not reach the target value, it can be determined that an abnormal state has occurred.

[0054] (4) Creases 50 and air suction Next, a command is sent from the control device 112 to the suction cup control unit 128, and an approaching operation is performed to bring the first suction cup 132 and the second suction cup 134 closer to each other. For example, as shown in FIG. 4A, the distance is brought closer to the distance L2 from the predetermined distance L1. As previously shown in FIG. 3C, the portion of the topsheet 15 on the suction cup arrangement axis 84 is hardly affected by the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134 being pulled into the topsheet 15, compared to other portions. For this reason, when an approaching operation is performed to bring the first suction cup 132 and the second suction cup 134 closer to each other, the height of the wrinkles 50 formed between the first suction cup 132 and the second suction cup 134 is not constant. The height of the wrinkles 50 changes. In this case, the height of the wrinkles 50 on the suction cup arrangement axis 84 is higher than other portions.

[0055] A cross-sectional view taken along line BB of Fig. 4A is shown in Fig. 4B. Apex 51, which is the peak of wrinkle 50 located between first suction cup 132 and second suction cup 134, i.e., the portion of wrinkle 50 on suction cup arrangement axis 84, is higher than the other portions, and the height of peak 51 of wrinkle 50 decreases as it moves away from suction cup arrangement axis 84. That is, the height of wrinkle 50 at one end 23 or the other end 24 shown in Fig. 3C is lower than the other portions, for example, the portion of suction cup arrangement axis 84. However, since wrinkles 50 are in a shape that continues continuously, air inlet 57 or air inlet 58 is formed at the portion where the peak of wrinkle 50 hits one end 23 or the other end 24.

[0056] The height of the ridges of wrinkles 50 is not constant as shown in FIG. 4B, and the portion of suction cup arrangement axis 84 is higher than the other portions. This makes it impossible for second sheet 16 to follow the formation of wrinkles 50 of varying height by top sheet 15. If the height of wrinkles 50 is constant, second sheet 16 can follow the shape of top sheet 15 in a state of close contact with top sheet 15. However, top sheet 15 is restrained from moving by first suction cup 132 and second suction cup 134, and as a result, when the height of the ridges of wrinkles 50 is changing, second sheet 16 is not restrained by first suction cup 132 and second suction cup 134, so an air layer is formed between top sheet 15 and second sheet 16, and top sheet 15 can be easily peeled off from second sheet 16.

[0057] Furthermore, when first suction cups 132 and second suction cups 134 are moving toward each other, the heights of the ridges of wrinkles 50 differ, and the rate of change differs depending on the height of the ridges. The change in height is large in the portion of wrinkles 50 along suction cup arrangement axis 84, and the rate of change becomes smaller as one end 23 and the other end 24 are approached. For this reason, the rate of increase in gaps 55 generated between top sheet 15 and second sheet 16 is large in the portion of wrinkles 50 along suction cup arrangement axis 84, and this accelerates the flow rate of air flowing into wrinkles 50 from one end 23 and the other end 24. This accelerated phenomenon of air inflow from one end 23 and the other end 24 accelerates the peeling of top sheet 15 from second sheet 16.

[0058] For example, in Patent Document 4 [JP Patent Publication 2022-096922 A], the wrinkle height is constant, and air is unlikely to flow between the top sheet 15 and the second sheet 16. Of course, when the second sheet 16 is in close contact with the top sheet 15, a space is unlikely to form between the top sheet 15 and the second sheet 16, but even if it does form, as described above, air is unlikely to flow in. In contrast, in this embodiment, air can be reliably caused to flow in from one end 23 or the other end 24, or both. This makes it possible to generate a stable peeling phenomenon.

[0059] After the top sheet 15 has been peeled off from the second sheet 16, the first suction cup 132 and the second suction cup 134 can be lifted up, making it possible to move only the top sheet 15 in the state in which the top sheet 15 has been peeled off from the second sheet 16. The top sheet 15 may be transported to the destination 90, or may be handed over to another device.

[0060] The mechanism by which the top sheet 15 is peeled off from the second sheet 16 has been described above. The above peeling phenomenon occurs due to the relationship between the first suction cup 132 and the second suction cup 134 and the top sheet 15 and the second sheet 16. For this reason, if the top sheet 15 or the second sheet 16 is very large, it becomes difficult to peel them off. For this reason, the size of the top sheet 15 or the second sheet 16 is suitable to be A0 size, 841 mm x 1189 mm or less. More preferably, it is A1 size, 594 mm x 841 mm.

[0061] The thickness of the top sheet 15 and the second sheet 16 varies depending on the relationship of hardness with the top sheet 15 and the second sheet 16. A thick sheet is less likely to develop fine wrinkles, so a thinner sheet is preferable. A hard sheet is not preferable because it is required to penetrate into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134 described above. Generally speaking, a thickness of 1 mm or less is desirable. An even thinner thickness is better, with a thickness of 0.5 mm or less being more desirable.

[0062] 3. Description of the second embodiment to which the present invention is applied The second embodiment will be described with reference to Figs. 5A to 6B. The top sheet 15 and the second sheet 16 are rectangular with four sides. The four sides are composed of a first end 21 and a second end 22 arranged to face each other, and a first end 23 and a second end 24 that intersect at right angles to the first end 21 and the second end 22. The first end 21 and the second end 22 each have a length L4, and the first end 23 and the second end 24 each have a length L5. In order to explain the arrangement of the first suction cup 132 and the second suction cup 134, a first axis 80 is set that passes through the center of each of the first end 21 and the second end 22. A second axis 82 is set that passes through the center of each of the first end 23 and the second end 24. The first suction cup 132 and the second suction cup 134 are arranged at a position that is biased toward the first end 23 from the first axis 80 set at the center of the first end 23 and the second end 24. The suction cup arrangement axis 84 is a line set at a position connecting the center of the first suction cup 132 and the center of the second suction cup 134. The distance between one end 23 and the suction cup arrangement axis 84 is defined as a length L3.

[0063] The first suction cup 132 and the second suction cup 134 are arranged at a position biased toward one end 23 by moving the X-axis moving mechanism 122 and the Y-axis moving mechanism 124 equipped with the suction cup control unit 128 based on a command from the X-axis moving mechanism 122, as described with reference to Figs. 1 and 2. The movement of the suction cup control unit 128 is stopped at a set position relative to the top sheet 15 and the second sheet 16 of the laminated sheet 14, and the first suction cup 132 and the second suction cup 134, which are maintaining a predetermined interval L1, are lowered by the operation of the suction cup control unit 128 and brought into contact with the top sheet 15. Next, negative pressure is applied to the first suction cup 132 and the second suction cup 134, and the top sheet 15 is drawn into the first hole 35 of the first suction cup 132 and the second hole 36 of the second suction cup 134. This operation is the same as the operation described with reference to Fig. 3B. The topsheet 15 is strongly and rapidly stretched by the first suction cup 132 and the second suction cup 134, and is drawn into the first hole 35 and the second hole 36 shown in FIG. 5B. However, as described above, at the position of the suction cup arrangement axis 84 set to connect the first suction cup 132 and the second suction cup 134, the topsheet 15 is pulled by both the first suction cup 132 and the second suction cup 134, and cannot move. However, other parts of the topsheet 15 are drawn into the first hole 35 of 132 and the second hole 36 of the second suction cup 134. As a result, a deviation occurs between the end of the topsheet 15 and the end of the second sheet 16. This deviation is, for example, a fifth deviation 86 or a sixth deviation 87 caused by the first suction cup 132, and a seventh deviation 88 or an eighth deviation 89 caused by the second suction cup 134. The magnitude of these deviations can be detected by the second deviation detection device 144 described above, and the magnitude of the negative pressure applied to the first suction cup 132 and the second suction cup 134 can be adjusted so that a deviation of a preset magnitude occurs.

[0064] As explained in the above embodiment, the occurrence of such a shift means that the second sheet 16 is no longer able to follow the movement based on the wrinkles or complex forces that have occurred in the top sheet 15, and the adhesion between the top sheet 15 and the second sheet 16 has begun to break down. These shifts act as triggering actions, leading to the peeling phenomenon of the top sheet 15 from the second sheet 16. As described above, by observing whether the fifth shift 86, sixth shift 87, seventh shift 88, and eighth shift 89 occur, the negative pressure applied to the first suction cup 132 and the second suction cup 134 can be set to an appropriate negative pressure. This is very important for the stable operation of the sheet peeling device 100. As described above, by detecting the shift between the top sheet 15 and the second sheet 16 using a method including image recognition, it is possible to automatically adjust the negative pressure applied to the first suction cup 132 and the second suction cup 134 to a desired negative pressure. By appropriately adjusting the negative pressure, it becomes possible to reliably peel, in other words separate, the top sheet 15 from the second sheet 16 while minimizing the load on the top sheet 15.

[0065] In the state where the fifth to eighth deviations 86 to 89 have occurred, the first suction cup 132 and the second suction cup 134 are then brought closer to each other. For example, the distance between the first suction cup 132 and the second suction cup 134 is reduced from the distance L1 to the distance L2, which is between about two-thirds and one-third of the distance L1. As shown in FIG. 6A, a large wrinkle 65 is generated. Furthermore, a first rotational force 63 having a center point near the connection point between the first end 21 and the other end 24 and a second rotational force 64 having a center point near the connection point between the second end 22 and the other end 24 are generated, and wrinkles 68 and 69, which are complex wrinkles based on the first rotational force 63 and the second rotational force 64, are generated.

[0066] FIG. 6B is a cross-sectional view taken along the line DD of FIG. 6A. As described in the above embodiment, at the ridge of wrinkle 65, part 66 between first suction cup 132 and second suction cup 134 has a high ridge height, and the ridge height decreases as the distance from part 66 increases. By bringing first suction cup 132 and second suction cup 134 closer to each other, wrinkle 65 grows. At this time, the growth rate is large at part 66, and air gap 55 formed inside part 66 relative to one end 23 at the end of one end 23 of wrinkle 65 becomes negative pressure, and air flows into air gap 55 with force. Air further passes through air gap 55 and flows toward the other end 24. This promotes and expands the peeling phenomenon of top sheet 15 from second sheet 16. Furthermore, although not shown in Fig. 6B, numerous fine wrinkles such as wrinkles 68 and wrinkles 69 shown in Fig. 6A are formed, and air is supplied into these wrinkles from one end 23. Such phenomena occur in succession, and the peeling phenomenon of top sheet 15 from second sheet 16 spreads to the entire sheet.

[0067] In the other embodiments described using Figures 5A, 5B, 6A, and 6B, it is also possible to peel the top sheet 15 from the second sheet 16, and a stable peeling operation can be achieved.

[0068] 4. Description of the third embodiment to which the present invention is applied 7A, 7B, and 7C are explanatory diagrams for explaining a third embodiment, which is yet another embodiment. The top sheet 15 and the second sheet 16 are in a state where three sides are joined together to form a bag-like sheet. That is, the first ends 21, the second ends 22, and the other ends 24 of the top sheet 15 and the second sheet 16 are joined together to form a bag-like shape. Only one end 23 of the top sheet 15 and the second sheet 16 is separated, and as described above, forms an opening 73 of the bag-like sheet formed by the top sheet 15 and the second sheet 16. However, in a storage state or the like, the space that existed between the top sheet 15 and the second sheet 16 disappears, and the top sheet 15 and the second sheet 16 are in a state of close contact with each other. For this reason, the opening 73 is in a closed state, and it is difficult to insert an object into the inside of the bag-like sheet through the opening 73. One end 23 of the top sheet 15 forms the opening end 74 of the opening 73, and as described above, the opening end 74 is in close contact with the second sheet 16. Furthermore, one end 23 of the second sheet 16 is provided with a lid 75 for closing the opening 73 after an item has been inserted into the bag-like sheet.

[0069] If the top sheet 15 and the second sheet 16 are in close contact with each other, it is not possible to put anything in the bag. It is desirable to automatically open the opening 73 by a machine and automatically form a space between the top sheet 15 and the second sheet 16. The above-mentioned problem can be solved by the configuration and method described in the second embodiment. First, as described in the second embodiment, the first suction cup 132 and the second suction cup 134 are arranged at a predetermined interval L1 on the side of the opening end 74, i.e., on the side of the one end 23, of the first axis 80 set in the center between the one end 23 and the other end 24 of the top sheet 15, and are brought into close contact with the top sheet 15. The method of positioning the first suction cup 132 and the second suction cup 134 is the same as the configuration and method described in the first and second embodiments.

[0070] 7A, the position where the first suction cup 132 or the second suction cup 134 is brought into close contact with the topsheet 15 is closer to the one end 23 than the first axis 80 set in the center of the first end 21 or the second end 22, and if the diameter of the first suction cup 132 or the second suction cup 134 is length L6, the distance between the center of the first suction cup 132 or the second suction cup 134 and the one end 23 is length L3 which is longer than length L6. It is desirable that length L3 be longer than length L6, and it is desirable that length L3 be three times or more longer than length L6 if possible.

[0071] After the first suction cup 132 and the second suction cup 134 are brought into close contact with the topsheet 15, negative pressure is introduced to the first suction cup 132 and the second suction cup 134 in the same manner as in the first and second embodiments, and the topsheet 15 is drawn into the first hole 35 and the second hole 36 inside the first suction cup 132 and the second suction cup 134. FIG. 7A shows the state in which the topsheet 15 is sucked into the first hole 35 and the second hole 36. As shown in this figure, a fifth deviation 86 and a sixth deviation 87 occur between the first end 21 of the topsheet 15 and the first end 21 of the second sheet 16. Furthermore, a seventh deviation 88 and an eighth deviation 89 occur between the second end 22 of the topsheet 15 and the second end 22 of the second sheet 16. As described above, the fifth offset 86, the sixth offset 87, the seventh offset 88, and the eighth offset 89 represent states in which the top sheet 15 is pulled into the first hole 35 of the first suction cup 132 or the second hole 36 of the second suction cup 134.

[0072] As explained in the first and second embodiments, by detecting the states of the fifth deviation 86, sixth deviation 87, seventh deviation 88, and eighth deviation 89, for example, whether the magnitude is appropriate using the first deviation detection device 142 and the second deviation detection device 144, it is possible to determine whether the magnitude of the negative pressure introduced to the first suction cup 132 and the second suction cup 134 is appropriate. The optimal magnitude of the negative pressure introduced to the first suction cup 132 and the second suction cup 134 differs depending on the material of the top sheet 15 and the second sheet 16. The optimal negative pressure also differs depending on the thickness of the top sheet 15 and the second sheet 16. It may also be affected by temperature and humidity. Therefore, as in the first and second embodiments, the magnitude of the deviation may be detected, and the negative pressure applied to the first suction cup 132 and the second suction cup 134 may be feedback-controlled to an optimal state inside the suction cup control unit 128 so that the deviation is a predetermined magnitude. Moreover, if the above-mentioned deviation does not appear, or if the deviation does not change even when the negative pressure applied to the first suction cup 132 or the second suction cup 134 is increased, it is desirable to issue a warning indicating the occurrence of an abnormal state from the input / output device 113 of the control device 112. This is true not only for the third embodiment, but also for the first and second embodiments.

[0073] With the above-mentioned misalignment formed, first suction cup 132 and second suction cup 134 are brought closer to each other. By this control, wrinkles 65 as shown in Fig. 7B and Fig. 7C are formed. Wrinkles 65 are higher at portions 66 located between first suction cup 132 and second suction cup 134, and the height of the wrinkles decreases as they move away from the position between first suction cup 132 and second suction cup 134 toward opening end 74 or toward the other end 24. Fig. 7C is an E-E cross-sectional view of Fig. 7B. In the wrinkles 65, a portion 66 between the first suction cup 132 and the second suction cup 134 is high, and therefore, in an operating state in which the first suction cup 132 and the second suction cup 134 are brought closer to each other, the change in height of portion 66 based on the change in distance between the first suction cup 132 and the second suction cup 134 is greater than that of other portions, and this acts to suck air into the gap between portion 66 and the second sheet 16 from the opening 73 created between the opening end 74 and the second sheet 16.

[0074] 7B and 7C, fine wrinkles are omitted, but many fine wrinkles occur as in the second embodiment. This prevents the second sheet 16 from adhering to the top sheet 15, and the air sucked in from the opening 73 rapidly expands the peeling phenomenon of the top sheet 15 from the second sheet 16. Therefore, the top sheet 15 is peeled off from the second sheet 16 reliably in an extremely short time.

[0075] 7D is an EE cross-sectional view of FIG. 7B. In the third embodiment, the second sheet 16 of the surface bag-like sheet 70, which is composed of the surface sheet 15 and the second sheet 16, is pulled by the surface sheet 15, so that the second sheet 16 is deformed. An air layer is formed between the surface sheet 15 of the second bag-like sheet 71 located below the surface bag-like sheet 70, and the second sheet 16 of the surface bag-like sheet 70 is peeled off from the surface sheet 15 of the second bag-like sheet 71. Therefore, when the surface sheet 15 of the surface bag-like sheet 70 is peeled off from the second sheet 16 and air enters the inside of the surface bag-like sheet 70, the second sheet 16 of the surface bag-like sheet 70 is peeled off from the surface sheet 15 of the second bag-like sheet 71. Therefore, by peeling the surface sheet 15 from the second sheet 16 for each of the surface bag-like sheet 70 and the second bag-like sheet 71, the surface bag-like sheet 70 can be peeled off from the second bag-like sheet 71. [Explanation of symbols]

[0076] REFERENCE SIGNS LIST 10 sheet holding device, 14 laminated sheets, 15 top sheet, 16 second sheet, 21 first end, 22 second end, 23 one end, 24 other end, 25 first offset, 26 second offset, 27 third offset, 28 fourth offset, 30 twisting force, 31 twisting force, 32 33...Twisting force, 35...First hole, 36...Second hole, 37...First opening, 38...Second opening, 41...Fixed area, 42...Moving area, 48...Wrinkle, 49...Wrinkle, 50...Wrinkle, 51...Top, 54...Vacuum, 55...Vacuum, 57...Air inlet, 58...Air inlet, 70... Surface bag-shaped sheet, 71, second bag-shaped sheet, 74, opening end, 75, lid, 76, opening rib, 80, first axis, 82, second axis, 84, suction cup arrangement axis, 86, fifth offset, 87, sixth offset, 88, seventh offset, 89, eighth offset, 90, conveying destination, 110, main body, 112, control device a vacuum pump, 120 moving mechanism, 122 X-axis moving mechanism, 124 Y-axis moving mechanism, 128 suction cup control section, 129 negative pressure control mechanism, 131 first suction pipe, 132 first suction cup, 133 second suction pipe, 134 second suction cup.

Claims

1. A sheet peeling device which adheres a first suction cup and a second suction cup to a top sheet located at the top of a laminated sheet formed by stacking a plurality of sheets, and further brings the first suction cup and the second suction cup closer to each other to form wrinkles in the top sheet, and peels the top sheet from a second sheet located next to the top sheet, the first suction cup has a first hole therein having a first opening, and the second suction cup has a second hole therein having a second opening; while the topsheet located between the first suction cup and the second suction cup is stretched, the first opening of the first suction cup and the second opening of the second suction cup are brought into close contact with an upper surface of the topsheet, Furthermore, the top sheet is sucked by a predetermined negative pressure supplied to the first suction cup and the second suction cup, so that the top sheet is drawn into the first hole through the first opening of the first suction cup, and further the top sheet is drawn into the second hole through the second opening of the second suction cup, a first suction cup is inserted into the first hole of the top sheet, causing a first displacement between a first end of the top sheet and a first end of the second sheet, the first end being located in an opposite direction to the second suction cup of the first suction cup; and pulling the top sheet into the second hole of the second suction cup to generate a second deviation between a second end of the top sheet and a second end of the second sheet, the second end being located in an opposite direction to the first suction cup of the second suction cup, while the first deviation and the second deviation are occurring, the first suction cup and the second suction cup are brought closer to each other to form wrinkles between the first suction cup and the second suction cup; the wrinkles have a shape such that a height at a position of a suction cup arrangement axis connecting the first suction cup and the second suction cup is greater than a height at a position away from the suction cup arrangement axis, A sheet peeling device, characterized in that peeling of the top sheet from the second sheet is promoted by forming the wrinkles having a shape with varying height.

2. The sheet peeling device according to claim 1, the top sheet and the second sheet have one end and the other end extending in a direction along the suction cup arrangement axis, and the one end and the other end of each of the top sheet and the second sheet form sheet ends that are positioned opposite each other, the wrinkles formed by bringing the first suction cup and the second suction cup closer to each other in a state in which the first misalignment and the second misalignment are generated extend to the one end or the other end, and an air inlet is formed by the wrinkles at the one end or the other end or at both the one end and the other end, The wrinkles have a shape such that a height at a position intersecting the suction cup arrangement axis is greater than a height at the air inlet, Due to a difference between the height of the wrinkles at a position intersecting the suction cup arrangement axis and the height of the wrinkles at the air inlet, air is sucked into the gap between the top sheet and the second sheet from the air inlet, A sheet peeling device, characterized in that peeling of the top sheet from the second sheet is promoted.

3. The sheet peeling device according to claim 2, by moving the first suction cup and the second suction cup in a direction in which they approach each other while the first deviation or the second deviation is formed, the wrinkle having the air inlet port at least at the one end or the other end is formed, by moving the first suction cup and the second suction cup in a direction approaching each other, a change in height of the wrinkles at a position intersecting the suction cup arrangement axis relative to the amount of movement becomes greater than a change in height of the wrinkles at the position of the air inlet, and air flows from the air inlet toward a gap formed between the top sheet and the second sheet at the position of the wrinkle intersecting the suction cup arrangement axis, A sheet peeling device, characterized in that peeling of the top sheet from the second sheet is promoted.

4. The sheet peeling device according to claim 3, The size of the surface sheet and the second sheet is smaller than A0 size, The sheet peeling device is further characterized in that the thickness of the top sheet and the second sheet is less than 0.5 mm.

5. 5. The sheet peeling device according to claim 4, wherein the top sheet and the second sheet each have a quadrangle shape having four sides, the four sides of the quadrangle have the one end and the other end positioned opposite each other, and are further configured with the first end and the second end positioned opposite each other and intersecting at right angles with the one end and the other end, In a state where a first axis extending in a direction along the first end and the other end is set in the center between the one end and the other end, the first suction cup and the second suction cup are brought into close contact with the top sheet 15 on the one end side with respect to the first axis, a negative pressure that is lower than atmospheric pressure is further supplied to the first suction cup and the second suction cup to suck the top sheet, a portion of the top sheet located around the first suction cup excluding the portion between the first suction cup and the second suction cup being sucked into the first hole of the first suction cup, a portion of the top sheet located around the second suction cup excluding the portion between the first suction cup and the second suction cup being sucked into the second hole of the second suction cup, forming the first gap between the first end of the top sheet located in the vicinity of the first suction cup and the first end of the second sheet, and forming the second gap between the second end of the top sheet located in the vicinity of the second suction cup and the second end of the second sheet, by an operation of bringing the first suction cup and the second suction cup closer to each other, the wrinkle having the air inlet port at least at the one end or the other end is formed between the first suction cup and the second suction cup; a first rotational force directed from the first end of the top sheet toward the other end, and a second rotational force directed from the second end of the top sheet toward the other end, the first rotational force and the second rotational force causing a number of wrinkles to form on the other end side of the top sheet.

6. 6. The sheet peeling device according to claim 5, wherein the top sheet and the second sheet each form a quadrangle having four sides, the four sides of the rectangle have the one end and the other end which are in a positional relationship opposite to each other, and further have the first end and the second end which are in a positional relationship intersecting at right angles with the one end and the other end, the one end and the other end of the four sides of the top sheet excluding the one end are connected to the one end and the other end of the four sides of the second sheet excluding the one end, respectively, and the top sheet and the second sheet form a bag-like sheet having an opening formed by the one end of the top sheet and the one end of the second sheet, the first suction cup and the second suction cup are brought into close contact with the top sheet at a position a predetermined length away from the one end of the top sheet along the one end of the top sheet, and while the top sheet between the first suction cup and the second suction cup is stretched flat, the top sheet is sucked by the first suction cup and the second suction cup, so that a portion of the top sheet around the first suction cup is sucked into the first hole of the first suction cup, and a portion of the top sheet around the second suction cup is sucked into the second hole of the second suction cup, Next, the first suction cup and the second suction cup are brought closer to each other, so that wrinkles are formed between the first suction cup and the second suction cup; a height of the wrinkles at a position between the first suction cup and the second suction cup being greater than a height of the wrinkles at a position at the one end of the top sheet;

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