Packaging sheet unpacking device and unpacking method

Abstract

To provide an unpacking device and an unpacking method for a packaging sheet capable of reliably removing the packaging sheet while reducing the possibility of damaging a cylindrical object body.SOLUTION: A packaging sheet unpacking device 1 which unpacks a packaging sheet covering a cylindrical object body includes: a fixing part 10 which rotatably fixes a cylindrical object; a peripheral surface cutting part 20 having a guide 230, a cutter blade 240, and a first suction part 220; and a peeling part 30 which is movable along an axial direction and has a claw part 50 and a second suction part 40. The peripheral surface cutting part 20 can suck and separate the packaging sheet, and insert the guide 230 into a gap, and rotate the cylindrical object in a suction stopped state to cut the peripheral surface of the packaging sheet with the cutter blade 240. The peeling part 30 can suck and separate the packaging sheet, and inserts the claw part into the gap, and presses the second suction part and the claw part together to hold the sheet while maintaining suction, and the peeling part 30 can be moved in the axial direction to separate the packaging sheet from the cylindrical object body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a wrapping sheet unpacking device and an unpacking method for unpacking a wrapping sheet covering a cylindrical object body. [Background technology]

[0002] Conventionally, cylindrical objects made of long strips of functional film, metal plate, paper, etc. wound into a roll are wrapped with a protective wrapping sheet. Here, wrapping a cylindrical object means covering the circumferential surface of the cylindrical object body and the end faces of the cylindrical object body, also called ears, with a wrapping sheet. However, there are various specifications for the wrapping method of cylindrical objects depending on the convenience of the processing machine of the processing company. For example, there is a specification in which only the circumferential surface of the cylindrical object body is covered with a wrapping sheet, and the end faces of the cylindrical object body are not covered. There is also a specification in which the circumferential surface and end faces of the cylindrical object body are covered with a wrapping sheet, and the excess of the wrapping sheet covering the end faces is inserted into the axial hole of the cylindrical object body. On the other hand, there is also a specification in which the cylindrical object body has a body part protruding outward in the axial direction, and the excess of the wrapping sheet is wrapped around the body part and fixed with tape or the like.

[0003] Manually opening such a cylindrical object covered with a packaging sheet using a cutter or the like not only requires skill, but also results in a large variation in quality depending on the worker. That is, depending on how the cutter blade is inserted, the cylindrical object may be damaged, or remnants of the packaging sheet may remain on the end face, causing problems during subsequent processing. In response to this, a device has been proposed that automatically or semi-automatically opens the packaging sheet from the cylindrical object.

[0004] For example, Patent Document 1 describes a roll package unpacking device that unpacks a package covering at least the outer periphery of a roll, the device having a rotary cutting means that pierces the package at the cut end of the roll package with a cutter and rotates the roll package while holding the cutter handle to cut and peel the package over the entire circumference, and a roll package holding means that is inserted into the center of the roll package and holds the rotary cutting means approximately parallel to the outer periphery of the roll package. Patent Document 2 describes a packing roll end cutting device that has a packing roll support and rotation device that supports the packing roll and rotates it around its central axis, an end face cutter that cuts the end face packing material of the packing roll from the center to the outer periphery and lifts one of the parts cut near the outer periphery of the end face packing material from the end face of the internal roll-like object, and a peripheral cutter equipped with a cutting knife that is provided so as to be pressed near the outer periphery of the end face of the packing roll and near the position where the end face cutter comes into contact. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2006-213367 A [Patent Document 2] Japanese Patent Application Publication No. 5-261694 Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, there are various specifications for packaging cylindrical objects depending on the convenience of the processing machines of the processor, and the packaging sheet may be a thin material. For such a wide variety of packaging specifications for cylindrical objects, the methods described in Patent Documents 1 and 2 may cause damage to the cylindrical object itself, and depending on the packaging specifications for the cylindrical object, there may be a risk that the packaging sheet at the end face portion cannot be removed properly.

[0007] The present disclosure has been made in consideration of the above-mentioned circumstances, and has an objective of providing an unpacking device and an unpacking method for packaging sheets that reduce the possibility of damaging the cylindrical object itself and can reliably remove the packaging sheet for a wide variety of packaging specifications for cylindrical objects. [Means for solving the problem]

[0008] A first configuration of a packaging sheet unpacking device for unpacking a packaging sheet covering a cylindrical object body in a cylindrical object according to the present embodiment includes a fixing portion for fixing the cylindrical object rotatably around an axis, a circumferential cutting portion having a guide, a cutter blade and a first suction portion, and a peeling portion movable along the axial direction of the cylindrical object and having a claw portion and a second suction portion, wherein the circumferential cutting portion adsorbs the packaging sheet with the first suction portion, separates a first portion of the packaging sheet from the cylindrical object body, inserts the guide into the gap between the cylindrical object body and the packaging sheet by piercing the packaging sheet, and then rotates the cylindrical object at the fixing portion while stopping adsorption by the first suction portion, thereby cutting the circumferential surface of the packaging sheet that moves along the guide while maintaining a state of being separated from the cylindrical object body with the cutter blade, and the peeling portion is configured to cut the circumferential surface of the packaging sheet by the cutter blade. One of the two portions of the packaging sheet that has been divided into two is adsorbed by the second suction portion, the second portion of the packaging sheet is separated from the cylindrical body, the claw portion is inserted into the gap between the cylindrical body and the packaging sheet, and then, while maintaining the adsorption by the second suction portion, the second suction portion and the claw are pressed against each other so as to sandwich and hold the second portion, and the peeling portion is moved along the axial direction of the cylindrical body, thereby separating one of the portions of the packaging sheet from the cylindrical body.

[0009] According to another embodiment of the present invention, a second cylindrical configuration of a packaging sheet unpacking device for unpacking a packaging sheet covering a cylindrical body of a cylindrical object is the above-mentioned first configuration, and in a state in which the guide is inserted by piercing into the gap between the cylindrical body of the cylindrical object and the packaging sheet, the tip of the guide may be curved from the packaging sheet toward the cylindrical body of the cylindrical object.

[0010] According to another embodiment of the present invention, a third cylindrical configuration of a packaging sheet unpacking device for unpacking a packaging sheet covering a cylindrical body of a cylindrical object may be such that, in the first or second configuration described above, a portion of the cutter blade extends onto the surface excluding the tip of the guide.

[0011] According to another embodiment of the present invention, a fourth cylindrical configuration of a packaging sheet unpacking device for unpacking a packaging sheet covering a cylindrical object body in a cylindrical object may be any of the first to third configurations described above, wherein the peeling unit further has a third suction unit and a second claw unit, and for the other of the two pieces of the packaging sheet that have been cut in half, the peeling unit may further have a third suction unit and a second claw unit, and the peeling unit may be configured to adsorb the packaging sheet with the third suction unit, separate the third part of the packaging sheet from the cylindrical object body, insert the second claw unit into the gap between the cylindrical object body and the packaging sheet, and then, while maintaining suction by the third suction unit, press the third suction unit and the second claw unit against each other so as to sandwich and hold the third part, and move the peeling unit along the axial direction of the cylindrical object in the opposite direction to that of one of the packaging sheets, thereby separating the other of the packaging sheet from the cylindrical object body.

[0012] A fifth configuration of the method for unpacking a packaging sheet covering a cylindrical object according to the present embodiment includes a step of fixing the cylindrical object rotatably around an axis, a step of suctioning the packaging sheet and separating a first portion of the packaging sheet from the cylindrical object body, a step of inserting a guide into the packaging sheet by piercing it into a gap between the cylindrical object body and the packaging sheet, a step of rotating the cylindrical object while stopping the suctioning, and a step of rotating the cylindrical object while the packaging sheet moves along the guide while maintaining a state where it is separated from the cylindrical object body. The method includes the steps of: cutting with a cutter blade; adsorbing one of the two pieces of the packaging sheet with an adsorption portion and separating a second portion of the packaging sheet from the cylindrical body; inserting a claw portion into the gap between the cylindrical body and the packaging sheet and pressing the adsorption portion and the claw portion against each other so as to sandwich and hold the second portion while maintaining the adsorption; and moving the adsorption portion and the claw portion along the axial direction of the cylindrical body to separate one of the pieces of the packaging sheet from the cylindrical body. Effect of the Invention

[0013] According to this embodiment, it is possible to provide a packaging sheet unpacking device and unpacking method that can reduce the possibility of damaging the cylindrical object body and reliably remove the packaging sheet for a wide variety of cylindrical object packaging specifications. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic perspective view illustrating an example of a packaging sheet unpacking device according to an embodiment. [Diagram 2] FIG. 4 is an explanatory diagram illustrating a configuration of a circumferential cut portion. [Diagram 3] 11 is an explanatory diagram illustrating the operation of a circumferential cutting unit. FIG. [Figure 4] 11A and 11B are explanatory diagrams illustrating the operation of a peeling unit. [Diagram 5] 11A and 11B are explanatory diagrams illustrating the operation of a peeling unit. [Figure 6]11A and 11B are explanatory diagrams illustrating the operation of a peeling unit. [Figure 7] 11A and 11B are explanatory diagrams illustrating the operation of a peeling unit. [Figure 8] 1. FIG. 4 is a schematic perspective view corresponding to FIG. 1, illustrating a state after an unpacking operation of the packaging sheet unpacking device is completed. [Figure 9] FIG. 4 is a flow diagram illustrating an unpacking operation by the packaging sheet unpacking device. [Figure 10] FIG. 4 is a flow diagram illustrating an unpacking operation by the packaging sheet unpacking device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an example of an unpacking device and an unpacking method for a packaging sheet according to the present disclosure will be described with reference to the drawings, etc. However, the unpacking device and the unpacking method for a packaging sheet according to the present disclosure are not limited to the device and the method according to the embodiment described below.

[0016] The figures shown below are schematic. Therefore, the size, shape, thickness of each layer in the cross-sectional view, etc. are appropriately exaggerated to facilitate understanding. In addition, hatching showing the cross section of the member is appropriately omitted in each figure. The numerical values ​​of the dimensions and material names of each member described in this specification are examples of embodiments, and are not limited to these and can be appropriately selected and used. In this specification, terms that specify the shape or geometric conditions, such as parallel, orthogonal, and vertical, are intended to include substantially the same state in addition to their strict meaning. In addition, for convenience of explanation, the terms "upper" or "lower" may be used in the description relative to the paper, but the up-down direction may be reversed, and the same applies to the left-right direction.

[0017] 1. Embodiments of the present disclosure A typical embodiment of the unpacking device for a packaging sheet covering a cylindrical object body of the present disclosure will be described. Here, for convenience of describing the unpacking device for a packaging sheet, an XYZ coordinate system is provided. In the packaging sheet unpacking device 1, the Z axis is provided along the vertical direction. In addition, the X axis is provided along a direction perpendicular to the Z axis and parallel to the rotation axis when the cylindrical object 600 is placed at a predetermined position, and the Y axis is provided along a direction connecting the front and back of the packaging sheet unpacking device 1. The X axis, the Y axis, and the Z axis are approximately perpendicular to each other, but may be oblique to each other. In addition, the direction toward the right along the X axis as viewed from the worker on the front side of the packaging sheet unpacking device 1 is the +X direction, and the opposite direction is the -X direction. In addition, the direction toward the back along the Y axis as viewed from the worker is the +Y direction, and the opposite direction is the -Y direction, the vertical upward direction is the +Z direction side, and the vertical downward direction is the -Z direction side.

[0018] 1 and other figures, the packaging sheet unpacking device 1 can fix the cylindrical object 600 rotatably around its axis by supporting both ends of the shaft 120 that passes through the shaft hole of the cylindrical object 600 with a fixing part 10 including a shaft support plate 112. The packaging sheet unpacking device 1 also includes a circumferential cutting part 20 equipped with a guide 230, a cutter blade 240 and a suction unit 220, and a peeling part 30 that can move along the X-axis direction, which is the axial direction of the cylindrical object 600, and has a claw part 50 and a suction part 40.

[0019] The suction unit 220 may be referred to as a first suction section, and the +X side unit of the pair of first suction units 420 described later and the +X side unit of the pair of second suction units 520 of the suction section 40 may be collectively referred to as a second suction section. Furthermore, the -X side unit of the pair of first suction units 420 described later and the -X side unit of the pair of second suction units 520 of the suction section 40 may be collectively referred to as a third suction section.

[0020] The cylindrical object 600 is a cylindrical object main body 610 whose circumferential surface and end surfaces are covered with a packaging sheet 700. The cylindrical object main body 610 refers to any article having a cylindrical outer shape with an axial hole, in which a functional film, a resin film, a metal plate, a paper material, etc. are wound in a roll around a hollow paper tube, a resin tube, a metal tube, etc. If the film, paper material, etc., which is the product, is exposed on the outermost surface of the cylindrical object main body 610, it is easily affected by external impacts, attachment of foreign matter, changes in temperature and humidity, etc. during transportation and storage. For this reason, it is necessary to package the product with a packaging sheet 700 made of resin or paper so that it does not deteriorate during transportation or storage.

[0021] Although details will be described later, in the packaging sheet unpacking device 1, the circumferential cutting section 20 adsorbs the packaging sheet 700 with the adsorption unit 220 and separates a part of the packaging sheet 700 from the cylindrical object main body 610. Then, a guide 230, typically an elongated plate, is inserted into the gap between the cylindrical object main body 610 and the packaging sheet 700 by piercing the packaging sheet 700. Then, with the adsorption by the adsorption unit 220 stopped, the cylindrical object 600 is rotated by the fixing section 10 that rotatably supports the cylindrical object 600. This makes it possible to cut the circumferential surface of the packaging sheet 700, which moves along the guide 230 while maintaining a state of being separated from the cylindrical object main body 610, with the cutter blade 240.

[0022] One of the packaging sheets 700 thus cut into two halves, left and right, is adsorbed by the adsorption unit 40 of the peeling unit 30, and a portion of one of the packaging sheets 700 is separated from the cylindrical object main body 610. For example, the one of the packaging sheets 700 is the right packaging sheet 700 as seen from the worker's side. Next, a claw unit 50, for example a first claw 430, is inserted into the gap between the cylindrical object main body 610 and the packaging sheet 700 from the end of the left packaging sheet 700 toward the right side.

[0023] Thereafter, while maintaining adhesion by the adhesion portion 40, the adhesion portion 40 and the first claw 430 are pressed against each other so as to sandwich and hold a portion of the packaging sheet 700. While the adhesion portion 40 adheres to a portion of the packaging sheet 700 and sandwiches the portion of the packaging sheet 700 together with the first claw 430, the entire peeling portion 30 including the adhesion portion 40 and the first claw 430 is moved along the axial direction of the cylindrical object 600, in this case to the right. As a result, one side of the packaging sheet 700 (in this case, the right-side fragment) can be easily separated from the cylindrical object main body 610.

[0024] In this way, the packaging sheet unpacking device 1 according to the embodiment of the present disclosure can first cut the packaging sheet 700 along the circumferential direction of the cylindrical object 600 to divide it into two pieces by the circumferential cutting unit 20. Moreover, since a gap is formed between the cylindrical object main body 610 and the packaging sheet 700 by the guide 230 in the previous stage, it is possible to prevent the cutter blade 240 used to cut the packaging sheet 700 from directly damaging the cylindrical object main body 610. Note that the packaging sheet unpacking device 1 according to the present disclosure is not limited to cutting the packaging sheet 700 into two pieces, and may divide it into three or more pieces.

[0025] Thereafter, the peeling unit 30 adheres one of the two divided packaging sheets 700 to the adsorption unit 40 while clamping it between the adsorption unit 40 and the claw unit 50, and in this state, the entire peeling unit 30 can move the packaging sheet 700 along the axial direction of the cylindrical object 600. That is, the peeling unit 30 clamps a part of the packaging sheet 700 covering the peripheral surface of the cylindrical object main body 610 and moves it in the axial direction, so that the packaging sheet 700 covering the end surface of the cylindrical object main body 610 also moves away from the cylindrical object main body 610. For this reason, it is possible to reliably and easily remove the packaging sheet from the cylindrical object by the same method for any cylindrical object 600 having a wide variety of packaging specifications for the end surface.

[0026] The configuration of the packaging sheet unpacking device 1 according to an embodiment of the present disclosure will be described in detail below.

[0027] [1] Configuration of packaging sheet unpacking device [a] Fixed part As shown in FIG. 1, the fixing part 10 is a part having a function of fixing the cylindrical object 600 so as to be rotatable around an axis, and for example, the shaft part 120, which is a shaft that passes through the shaft hole of the cylindrical object 600, corresponds to this. The shaft part 120 may be configured so that the shaft passes completely through the shaft hole of the cylindrical object 600, but the shaft part 120 is usually configured so that the shaft is partially inserted into the shaft hole of the cylindrical object 600 from both the left and right end faces. In addition, the fixing part 10 may include a shaft part support plate 112, which is a plate-like member that supports the shaft part 120 at both ends, and further, the fixing part 10 may include a base plate 111 that fixes the shaft part support plate 112. The shaft part support plate 112 and the base plate 111 are also base frames of the packaging sheet unpacking device 1, and these can be referred to as a frame 110.

[0028] The cylindrical object 600 refers to any article having a cylindrical outer shape with an axial hole, in which a functional film, a resin film, a metal plate, a paper material, etc. is wound in a roll around a hollow paper tube, a resin tube, a metal tube, etc. There are no particular restrictions on the size of the cylindrical object 600, but generally the diameter of the cylinder is 150 mm or more and 1000 mm or less, and the width between the end faces of the cylinder (the height of the cylinder when it is upright) is often 1000 mm or more and 3000 mm or less.

[0029] If the product, such as a film or paper material, is exposed on the outermost surface of the cylindrical object 600, it is susceptible to external impacts, adhesion of foreign matter, changes in temperature and humidity, and the like during transportation and storage. For this reason, it is necessary to package the product in a resin or paper packaging sheet 700 so that the product does not deteriorate during transportation or storage. Typically, a thin resin film with a thickness of 5.0 μm or more and 50.0 μm or less, on which a metal such as aluminum is vapor-deposited, is used as the packaging sheet 700 for packaging the functional film.

[0030] 1, depending on the specifications of the cylindrical object 600, a resin pipe or a metal pipe may protrude along the axial direction from the axial hole portions on both end faces of the cylindrical object main body 610. This protruding portion may be referred to as a body portion 620. In this case, the shaft portion 120, which is a shaft, is inserted into the hollow portion of the body portion 620 of the cylindrical object 600 from the left and right axial holes, thereby fixing the cylindrical object 600 to the packaging sheet unpacking device 1 so as to be rotatable around the axis.

[0031] In this embodiment, the shaft 120 can be inserted from the left and right sides of the body 620 of the cylindrical object 600 and can be retracted to the outside. A shaft support plate 112 of the packaging sheet unpacking device 1 supports both ends of the cylindrical object 600 along the axial direction, and a bearing 130 having a U-shaped opening at the top that allows the shaft 120 to be detached and held is attached to the shaft support plate 112. A body receiving portion 140 is attached to the base plate 111, and the U-shaped opening at the top that allows the body 620 to be detached and held can be raised and lowered in the vertical direction.

[0032] However, the configuration of the fixing unit 10 in the packaging sheet unpacking device 1 that fixes the cylindrical object 600 rotatably around its axis is not limited to the above, and may be other configurations. For example, a configuration in which a plurality of rollers that can rotate around an axis parallel to the axial direction of the cylindrical object 600 are arranged on the lower side of the cylindrical object 600 may be used. In this case, the cylindrical object 600 is placed on the plurality of rollers, and when the cylindrical object 600 is manually rotated, the plurality of rollers rotate following the cylindrical object 600, so that the cylindrical object 600 can be rotated with a relatively low rotational resistance. In addition, a configuration in which a driving roller that comes into contact with the cylindrical object 600 is provided and the driving roller is automatically rotated to rotate the cylindrical object 600 by frictional force may be used.

[0033] [b] Peripheral cutting section The peripheral cutting section 20 is attached to any part of the base plate 111 of the packaging sheet unpacking device 1 so as to be position-adjustable and movable, and includes at least a guide 230, a cutter blade 240, and a suction unit 220. The suction unit 220 may be referred to as a first suction unit. The details of the configuration of the peripheral cutting section 20 will be described with reference to Figs. 2(a), 2(b), 2(c) and 3(a), 3(b), 3(c), and 3(d). Fig. 2(a) is an enlarged perspective view of the peripheral cutting section 20 in Fig. 1, and Fig. 2(b) is a side view of the peripheral cutting section 20, particularly enlarged from the +X direction, of the guide 230 and the cutter blade 240 connected thereto. Fig. 2(c) is a cross-sectional view of an enlarged area A of the tip of the guide 230. 3(a) to 3(d) are explanatory views seen from the +X direction, illustrating the operation of cutting the circumferential surface of the packaging sheet 700 by the circumferential cutting unit 20. FIG.

[0034] As shown in Fig. 2(a), the peripheral cutting section 20 includes a guide 230, a cutter blade 240, and a pair of suction units 220 fixed to a flat base 250, and the base 250 can be adjusted in position or moved relative to the base plate 111 or the like via some power such as an air cylinder or a motor. The pair of suction units 220 are, for example, an air cylinder, a hydraulic cylinder, an electric cylinder, or the like that has a suction head that is a suction cup for suction at the tip and can reciprocate approximately in the vertical direction. In this embodiment, the suction units 220 are provided as air cylinders or the like at two locations, but are not limited thereto, and the suction units 220 may be composed of air cylinders or the like at one location or at three or more locations.

[0035] As shown in FIG. 2(b) and other figures, the circumferential cutting unit 20 has a configuration in which a long, thin, flat guide 230 and a part of a cutter blade 240 are extended onto the surface of the guide 230 facing downward, excluding the tip on the +Y direction side. In other words, the circumferential cutting unit 20 has an integral structure in which the guide 230 and the cutter blade 240 are attached to the lower side of the guide 230. The cutter blade 240 is composed of a cutting edge 240a on the +Y direction side and a main body 240b other than the guide 230. In other words, the tip of the guide 230 and the cutting edge 240a of the cutter blade 240 are provided on the +Y side, which is the same direction.

[0036] The guide 230 and the cutter blade 240 do not need to be an integral structure, and may be provided separately from each other. However, by having the guide 230 and the cutter blade 240 be an integral structure, it is possible to simultaneously replace the guide 230 and the cutter blade 240 with different types of guide 230 and cutter blade 240 according to the specifications of the cylindrical object 600 (the size of the cylindrical object main body 610 and the packaging specifications of the packaging sheet 700), making the work easier. In addition, it is preferable that the guide 230 and the cutter blade 240 are an integral structure and can be easily attached and detached from each other. As a result, even if only one of the guide 230 and the cutter blade 240 deteriorates, it is easy to replace only the deteriorated part, so that the time required for parts replacement and parts inventory can be reduced.

[0037] The guide 230 and the cutter blade 240 may each be made of metal or resin. The guide 230 needs to have the function of piercing the packaging sheet 700 and the function of guiding the transported packaging sheet 700 in a predetermined direction, so it does not need to be sharp and may be made of either metal or resin. On the other hand, the cutter blade 240 has the function of directly cutting the packaging sheet 700, so it is preferably made of a sharp metal like a so-called cutter knife.

[0038] As shown in FIG. 2(c), the cross section of the tip of the elongated flat guide 230 is somewhat pointed but not sharp, and the upper and lower sides are rounded with a predetermined curvature radius R2 and R3, respectively. In addition, the cross section of the tip where the upper and lower sides intersect is inclined at an angle θ between the tangent of the tip cross section and the line of the cross section along the thickness direction of the packaging sheet 700, and is not sharp compared to the cutting edge 240a of the cutter blade 240. Furthermore, the tip of the guide 230 is curved. That is, when the guide 230 is inserted by piercing the gap between the cylindrical object main body 610 and the packaging sheet 700, the tip of the guide 230 is curved from the packaging sheet 700 toward the cylindrical object main body 610. The central axis of the cross section of the tip of the guide 230 draws a curve with a predetermined curvature radius R1.

[0039] Typically, R1 has a radius of 100 mm or more and 200 mm or less, R2 and R3 have a radius of 10 mm or more and 20 mm or less, and the angle θ is preferably 10° or more and 30° or less, but is not necessarily limited to these ranges.

[0040] In this way, in the cross section of the tip of the guide 230, the upper and lower surfaces are rounded with a predetermined radius of curvature R2 and R3, respectively. As a result, the closer the extension direction of the guide 230 and the surface direction of the packaging sheet 700 are to a perpendicular state, the easier it becomes for the non-sharp tip of the guide 230 to break through the packaging sheet 700. On the other hand, the closer the extension direction of the guide 230 and the surface direction of the packaging sheet 700 are to a parallel state, the more difficult it becomes for the non-sharp tip of the guide 230 to break through the packaging sheet 700. At this time, the guide 230 is bent by the tension of the packaging sheet 700, or the packaging sheet 700 is deformed inversely by the rigidity of the guide 230.

[0041] In addition, the tip of the guide 230 is curved, and the central axis of the cross section of the tip of the guide 230 is curved with a predetermined curvature radius R1. Here, assume that the guide 230 is inserted into the gap between the cylindrical object main body 610 and the packaging sheet 700 and the cylindrical object 600 is rotated around its axis. At this time, the tip of the guide 230 contacts the packaging sheet 700 in a positional relationship in which the extension direction of the guide 230 and the surface direction of the packaging sheet 700 are nearly parallel. However, since the tip of the guide 230 is curved from the packaging sheet 700 toward the cylindrical object main body 610, the tip of the guide 230 is prevented from breaking through the packaging sheet 700, and the packaging sheet 700 is conveyed while being appropriately guided by the guide 230.

[0042] Next, a process in which the peripheral cutting unit 20 cuts the packaging sheet 700 covering the cylindrical object main body 610 along the peripheral surface will be described. First, as shown in Fig. 3(a), the suction head of the suction unit 220 is raised from below the cylindrical object 600 to suction the packaging sheet 700. The suction can be achieved by, for example, sucking air by driving a vacuum motor or the like, and the suction can be switched on and off at any timing by controlling the opening and closing of the air flow path with an electromagnetic valve or the like.

[0043] 3(b), the suction unit 220 is lowered while the suction unit 220 is still suctioning the packaging sheet 700. As a result, a part of the packaging sheet 700 is separated from the cylindrical body 610, and a space that is approximately triangular or approximately trapezoidal in cross section is formed between the two. The part of the packaging sheet 700 at this time may be referred to as a first part.

[0044] 3(c), the guide 230 is moved horizontally from the -Y direction side to the +Y direction side so that the tip of the guide 230 pierces the first portion of the packaging sheet 700. As a result, the tip of the guide 230 is inserted into the gap between the cylindrical object main body 610 and the packaging sheet 700.

[0045] Thereafter, as shown in FIG. 3(d), while the position of the guide 230 is fixed, the shaft portion 120 of the fixing portion 10 in FIG. 1 is rotated to rotate the cylindrical object 600 clockwise in FIG. 3(d). As a result, as described above, the tip of the guide 230 contacts the packaging sheet 700 in a positional relationship in which the extension direction of the guide 230 and the surface direction of the packaging sheet 700 are nearly parallel to each other. Furthermore, in this state, the packaging sheet 700 is conveyed sequentially as the cylindrical object 600 rotates. At this time, the packaging sheet 700 is conveyed while being appropriately guided by the guide 230. As a result, the packaging sheet 700 is cut along the circumferential surface of the cylindrical object main body 610 and divided into two.

[0046] [c] Peeling part The peeling unit 30 is fixed to any part of the shaft support plate 112 of the packaging sheet unpacking device 1, and is attached to a slide rail 310 extending horizontally along the X-axis direction. The peeling unit 30 is fixed to the slide rail 310 via a plate-shaped peeling unit frame 330 so as to be horizontally movable along the X-axis direction, and the suction unit 40, the claw unit 50, and the moving unit 60 for moving the claw unit 50 horizontally are attached to the peeling unit frame 330. The details of the configuration and operation of the peeling unit 30 will be described with reference to Figures 4(a), 4(b), 5(a), 5(b), 5(c), 5(d), 6(a), 6(b), 6(c), 7(a), and 7(b).

[0047] 4(a) is an enlarged perspective view of the peeling unit 30 in FIG. 1, and FIG. 4(b) is a side view of the peeling unit 30 seen from the +X direction. FIG. 5(a) is a plan view of the peeling unit 30 seen from the direction B in FIG. 4(b), for explaining the arrangement and operation of the first claw 430 and the third claw 440 constituting the claw unit 50, and the first moving unit 410 constituting the moving unit 60 that controls the movement of both of them. In FIG. 4(b), the direction B is a direction toward the cylindrical object 600, which is approximately perpendicular to the surface of the peeling unit frame 330 at the upper end of the peeling unit 30, which is inclined toward the cylindrical object 600. FIG. 5(b) is a front view of the part of FIG. 5(a) seen from the direction C shown in FIG. 4(b), which is perpendicular to the direction B. In FIG. 4(b), direction C is a direction from the center to the upper end of the peeling unit frame 330, which is approximately parallel to the surface of the peeling unit frame 330 that is inclined toward the cylindrical object 600 at the upper end of the peeling unit 30.

[0048] FIG. 5(c) is a plan view similar to FIG. 5(a) for explaining the operation of the first claw 430, the third claw 440, the first moving unit 410, and the first suction unit 420 constituting the suction unit 40 of the peeling unit 30. FIG. 5(d), FIG. 6(a) to FIG. 6(c), FIG. 7(a), and FIG. 7(b) are front views similar to FIG. 5(b) for explaining the operation of the first claw 430, the third claw 440, the first moving unit 410, and the first suction unit 420 constituting the suction unit 40 of the peeling unit 30. Note that the first claw 430, the second claw 530, the third claw 440, and the fourth claw 540 are collectively referred to as the claw unit 50, but the first claw 430 may be referred to as the claw unit and the second claw 530 may be referred to as the second claw unit. In addition, first claw 430 and second claw 530 may be referred to as a claw portion, and third claw 440 and fourth claw 540 may be referred to as a second claw portion.

[0049] As shown in Fig. 4(a), the peeling unit 30 includes a plate-shaped peeling unit frame 330 with an inclination at the upper and lower ends, and an adsorption unit 40, a claw unit 50, and a moving unit 60 attached thereto. The peeling unit frame 330 is fixed to the slide rail 310 so as to be horizontally movable, so that the entire peeling unit 30 can move horizontally along the X-axis direction. The slide rail 310 and the peeling unit frame may be configured as a so-called linear guide.

[0050] The linear guide is composed of a rail and a carriage (block) that slides on the rail, and multiple metal balls and a holder for holding them are incorporated in the carriage, and the balls circulate to move on the rail with low contact resistance. The movement of the peeling unit 30 relative to the slide rail 310 may be manual or automatic. When moving automatically, for example, the drive may be performed by a servo motor or a stepping motor, and the rotation amount may be converted into the horizontal movement amount by the rotation of a ball screw to move the peeling unit frame 330 connected to the carriage by a predetermined amount.

[0051] As shown in Fig. 4(a) and Fig. 4(b), the peeling unit frame 330 has a central portion extending vertically, and its upper and lower ends are bent and inclined toward the cylindrical object 600. A pair of first suction units 420 of the suction unit 40 are arranged side by side in the horizontal direction on the inclined surface at the upper end of the peeling unit frame 330. Also, a first claw 430 arranged on the +X direction side and a third claw 440 arranged on the -X direction side are provided as the claw unit 50 in the vicinity of the first suction units 420. Also, a first moving unit 410 that controls the movement of the first claw 430 and the third claw 440 is provided as the moving unit 60.

[0052] In addition, in a symmetrical arrangement to the above, a pair of second suction units 520 of the suction section 40 are arranged on the inclined surface at the lower end of the peeling section frame 330. Also provided nearby as the claw section 50 are a second claw 530 arranged on the +X direction side and a fourth claw 540 arranged on the -X direction side, and as the movement section 60, a second moving unit 510 that controls the movement of the second claw 530 and the fourth claw 540 is arranged.

[0053] The pair of first suction units 420 and second suction units 520 are, for example, air cylinders, hydraulic cylinders, electric cylinders, etc., which have suction heads at their tips as suction cups for suction and can reciprocate along a direction substantially perpendicular to the surface of the peeling unit frame 330. In this embodiment, the first suction units 420, etc. are provided as air cylinders at two locations, but the present invention is not limited to this, and the first suction units 420, etc. may be composed of air cylinders at one location or three or more locations. Suction can be achieved by, for example, sucking air by driving a vacuum motor, etc., and suction can be switched on and off at any timing by controlling the opening and closing of the air flow path with an electromagnetic valve, etc.

[0054] As shown in FIG. 5(a) and the like, the first claw 430 and the third claw 440 have a tip shape that is slightly tapered toward the +X direction side and the -X direction side, respectively. Typically, the tip is formed to include three vertices of a triangle in a plan view. However, the tip shape is not limited to this, and may be an arc or curved surface, or may be formed to include vertices of a rectangle or polygon. However, by making the tip shape tapered, it becomes easier to insert the first claw 430 and the like between the cylindrical object main body 610 and the packaging sheet 700, and it is expected that damage to the cylindrical object main body 610 and the packaging sheet 700 due to catching or resistance when inserting can be suppressed.

[0055] On the other hand, as shown in FIG. 5(b) and the like, the first claw 430 and the third claw 440 are formed so that the tips of both the left and right ends are formed at a low position when viewed from the front, and the central portion is bent to be at a high position. Furthermore, the tips of the central portions of the first claw 430 and the third claw 440 overlap each other. Here, the first claw 430 can be moved to the +X direction side (the right side of the paper in FIG. 5(b)) or returned to its original position by some driving force. The state (position D) before the first claw 430 moves to the +X direction side is shown in FIG. 5(a) and FIG. 5(b), and the state (position E) after the first claw 430 moves to the +X direction side is shown in FIG. 5(c) and FIG. 5(d). In the state (position E) after the movement to the +X direction side, the tip of the first claw 430 and the first suction unit 420 are in a positional relationship in which they overlap in a plan view.

[0056] On the other hand, the third claw 440 can also be moved in the -X direction (the left side of the paper in FIG. 5(b)) or returned to its original position. In other words, the first claw 430 and the third claw 440 can move in the horizontal direction independently of each other. Such movement of the claw section 50 is performed by the first moving unit 410, which is the moving section 60, using a motor or other power source. The above content also applies to the second claw 530, the fourth claw 540, and the second moving unit 510.

[0057] As described above, the peeling unit frame 330 of the peeling unit 30 has a central portion extending in the vertical direction, and its upper and lower ends are bent and inclined toward the cylindrical object 600. The first suction unit 420 etc., which is the suction unit 40, are composed of an air cylinder etc. that can reciprocate along the substantially vertical direction of the surface of the peeling unit frame 330. The first claws 430 etc., which are the claw units 50, have tapered flat portions at their tips that are arranged substantially parallel to the surface of the peeling unit frame 330.

[0058] This makes the movement axis of the first suction unit 420 etc. approximately parallel to the normal to the outer periphery of the cylindrical object 600, and effectively suctions the wrapping sheet 700 and separates the wrapping sheet 700 from the cylindrical object main body 610. In addition, the tip surface of the first claw 430 etc. is approximately parallel to the tangent to the outer periphery of the cylindrical object 600, and the risk of damaging the cylindrical object main body 610 or the wrapping sheet 700 is reduced, and the first claw can be reliably inserted between the cylindrical object main body 610 and the wrapping sheet 700.

[0059] The tip of the first claw 430 etc., which is the claw portion 50, may be made of metal or resin. The function of the claw portion 50 is to insert the tip of the first claw 430 etc. between the cylindrical object main body 610 and the packaging sheet 700, and move the packaging sheet 700 while holding the packaging sheet 700 between the first suction unit 420. Therefore, the tip of the first claw 430 etc. does not need to be sharp like a cutter blade, and the thickness does not need to be extremely thin. However, from the viewpoint of suppressing damage to the cylindrical object main body 610 and the packaging sheet 700 when inserted, the thickness of the tip of the claw portion 50 is 5 mm or less, and it is preferable that the tip is tapered to become thinner.

[0060] Next, a process in which the peeling unit 30 separates one side of the packaging sheet 700 from the cylindrical object main body 610 and removes it after the circumferential cutting unit 20 cuts the packaging sheet 700 covering the cylindrical object main body 610 along the circumferential surface will be described. In Fig. 1(a), it is assumed that the packaging sheet unpacking device 1 cuts the packaging sheet 700 along the circumferential surface approximately near the center in the width direction of the cylindrical object 600 through the above-mentioned process by the circumferential cutting unit 20, dividing it into two. Here, a process in which the +X direction side of the cut packaging sheet 700, i.e., the fragment on the right side, will be removed will be described.

[0061] First, as shown in Figures 4(a) and 4(b), the peeling unit frame 330 is translated along the slide rail 310 so that the peeling unit 30 is at an appropriate position on the X-axis. At the predetermined position, as shown in Figure 6(a), of the pair of first suction units 420 arranged on the inclined surface at the upper end of the peeling unit frame 330, at least the first suction unit 420 on the +X direction side is lowered to suck the packaging sheet 700 at the lower end.

[0062] 6(b), the first suction unit 420 is raised while the first suction unit 420 is still suctioning the packaging sheet 700. As a result, a part of the packaging sheet 700 is separated from the cylindrical body 610, and a gap with one side open is formed between the two. The part of the packaging sheet 700 at this time may be referred to as the second part.

[0063] Next, as shown in FIG. 6(c), the first moving unit 410 is driven to insert the tip of the first claw 430 into the gap between the cylindrical body 610 and the left end of the packaging sheet 700 that is open. That is, the first claw 430 is moved from position D to position E. Furthermore, in this state, as shown in FIG. 7(a), the first suction unit 420 is lowered while suctioning the packaging sheet 700, so that the first suction unit 420 comes into contact with the first claw 430. As a result, the second portion of the packaging sheet 700 is suctioned by the first suction unit 420 and is sandwiched between the first suction unit 420 and the first claw 430, so that the peeling section 30 can firmly hold the packaging sheet 700.

[0064] 7(b), the peeling section 30 moves along the moving direction of the slide rail 310, i.e., the +X direction, while the second portion of the packing sheet 700 is adsorbed by the first suction unit 420 and held between the first suction unit 420 and the first claw 430. As a result, the right half of the packing sheet 700 is separated rightward from the cylindrical object main body 610 and removed.

[0065] 1 and other figures, when the packaging sheet unpacking device 1 fixes the cylindrical object 600 rotatably around an axis by penetrating both ends of the shaft portion 120 into the left and right shaft holes of the cylindrical object 600, it is difficult to remove the fragment of the packaging sheet 700 from the shaft portion 120. That is, even if the peeling portion 30 holding the fragment of the right half of the packaging sheet 700 moves rightward as described above, the fragment of the packaging sheet 700 is arranged to surround the outer periphery of the shaft portion 120 and cannot be removed from the shaft portion 120.

[0066] In this case, as shown in Fig. 8, by separating one end shaft portion 120 from cylindrical object 600, it is possible to separate fragment 710 of packing sheet 700 from shaft portion 120. Fig. 8 is a perspective view similar to Fig. 1 for explaining the operation of separating fragment 710 of packing sheet 700 from shaft portion 120. First, as described above, peeling unit 30 of packing sheet unpacking device 1 holds fragment 710 of the right half of packing sheet 700 and separates it a predetermined distance to the right from cylindrical object main body 610.

[0067] Next, the trunk receiving part 140, which is disposed on the base plate 111, can be raised and lowered in the vertical direction, and has a U-shaped opening at the top that allows the trunk part 620 to be attached, detached, and held, is raised to a predetermined height. As a result, the trunk part 620, which is the protruding part at both the left and right ends of the cylindrical object 600, is supported from below by the trunk receiving part 140 provided corresponding to the trunk part 620. At this time, it is assumed that the piece 710 of the moving packaging sheet 700 has already moved rightward beyond the right trunk part 620.

[0068] Here, the shaft portion 120 penetrating the shaft hole on the right side of the cylindrical object 600 is moved rightward so as to retreat from the cylindrical object 600. As a result, as shown in FIG. 8, the shaft portion 120 on the right side of the cylindrical object 600 is separated from the body portion 620. In this state, the peeling portion 30 holding the fragment 710 of the packaging sheet 700 can be moved further rightward, or the fragment 710 of the packaging sheet 700 can be removed from the shaft portion 120 by manually removing the fragment 710 of the packaging sheet 700 held by the peeling portion 30. Finally, the peeling portion 30 releases the fragment 710 of the packaging sheet 700, so that the packaging sheet 700 can be removed.

[0069] The above description of the operation of the peeling section 30 has focused on the operation of the pair of first suction units 420, first claws 430, and first moving unit 410 arranged on the inclined surface at the upper end of the peeling section frame 330. However, as described above, the packaging sheet unpacking device 1 according to this embodiment further has a pair of second suction units 520, second claws 530, and second moving unit 510 arranged on the inclined surface at the lower end of the peeling section frame 330. Moreover, these are arranged vertically symmetrically with the pair of first suction units 420, first claws 430, and first moving unit 410 arranged on the inclined surface at the upper end of the peeling section frame 330, and have the same functions.

[0070] Therefore, a description of the case where a pair of second suction units 520, second claws 530, and second moving units 510 are provided on the inclined surface at the lower end of the peeling unit frame 330 will be omitted. By providing a vertically symmetrical configuration on the inclined surface at the upper end and the inclined surface at the lower end of the peeling unit frame 330 in this manner, the effect of the peeling unit 30 in separating and removing the fragments of the packaging sheet 700 from the cylindrical object main body 610 can be further improved. However, the present disclosure is not limited to this, and the peeling unit frame 330 may be provided with the suction unit 40, the claw unit 50, and the moving unit 60 only on one of the inclined surfaces at the upper end or the lower end.

[0071] Following the above, a process will be described in which the peeling unit 30 separates and removes the other part of the packaging sheet 700 from the cylindrical body 610 after the circumferential cutting unit 20 cuts the packaging sheet 700 covering the cylindrical body 610 along the circumferential surface. That is, a process will be described in which the cutting unit 20 cuts the packaging sheet 700 along the circumferential surface near the approximate center in the width direction of the cylindrical body 600 in Fig. 1 and divides it into two parts, removing the -X direction side of the cut packaging sheet 700, i.e., the left side fragment.

[0072] First, the peeling unit frame 330 is moved in parallel along the slide rail 310 so that the peeling unit 30 is at an appropriate position on the X-axis. At a predetermined position, one of the pair of first suction units 420 arranged on the inclined surface at the upper end of the peeling unit frame 330 is lowered at least in the -X direction to adsorb the packaging sheet 700 at the lower end. Next, the first suction unit 420 is raised while the packaging sheet 700 is still adsorbed by the first suction unit 420. The other part of the packaging sheet 700 at this time may be referred to as a third part. This corresponds to the above-mentioned first suction unit 420 being referred to as a second part, which is a part of the packaging sheet 700 that is adsorbed when the first suction unit 420 is lowered in the +X direction.

[0073] Next, the first moving unit 410 is driven to insert the tip of the third claw 440 into the gap between the cylindrical body 610 and the right end of the packaging sheet 700 that is open. Furthermore, in this state, the first suction unit 420 is lowered while still adsorbing the packaging sheet 700, and the first suction unit 420 is brought into contact with the third claw 440. As a result, the third portion of the packaging sheet 700 is adsorbed by the first suction unit 420 and is sandwiched between the first suction unit 420 and the third claw 440.

[0074] Thereafter, the other third portion of the packing sheet 700 is attracted to the first suction unit 420 and is held between the first suction unit 420 and the third claw 440, while the peeling unit 30 moves along the moving direction of the slide rail 310, i.e., the -X direction. By moving the packing sheet in the opposite direction to the one side, the left half of the packing sheet 700 is separated leftward from the cylindrical object main body 610 and removed.

[0075] As described above, in the packaging sheet unpacking device 1 according to this embodiment, a pair of second suction units 520, a fourth claw 540, and a second moving unit 510 are further arranged on the inclined surface at the lower end of the peeling section frame 330. Moreover, these are arranged vertically symmetrically with the pair of first suction units 420, a third claw 440, and a first moving unit 410 arranged on the inclined surface at the upper end of the peeling section frame 330, and their functions are similar.

[0076] Therefore, a description of the case where a pair of second suction units 520, a fourth claw 540, and a second moving unit 510 are provided on the inclined surface at the lower end of the peeling unit frame 330 will be omitted. In this way, by providing a vertically and horizontally symmetrical configuration on the inclined surface at the upper end and the inclined surface at the lower end of the peeling unit frame 330, the effect of separating and removing the fragments of the packaging sheet 700 from the cylindrical object main body 610 by the peeling unit 30 can be further improved. However, the present disclosure is not limited to this, and the peeling unit frame 330 may be provided with the suction unit 40, the claw unit 50, and the moving unit 60 only at one location on the left or right side. In this case, for example, after cutting and removing the packaging sheet 700 on the right half of the cylindrical object 600, the cylindrical object 600 may be reversed and rearranged, and the removal operation of the packaging sheet 700 of the unpacking device 1 for packaging sheets may be repeated again.

[0077] [d] Operation of packaging sheet unpacking device Next, the operation of the unpacking device 1 for unpacking a packing sheet will be described based on the flow diagrams of Fig. 9 and Fig. 10, although there are some overlapping points with the above description. Fig. 9 is an operation flow diagram of the peripheral cutting unit 20 cutting the peripheral portion of the packing sheet 700 of the cylindrical object 600, and Fig. 10 is an operation flow diagram of the peeling unit 30 separating and removing the fragment 710 of the packing sheet 700 after the peripheral cutting from the cylindrical object main body 610. First, the cylindrical object 600 is fixed to the fixing unit 10 of the unpacking device 1 for unpacking a packing sheet. For example, both ends of the shaft portion 120 included in the fixing unit 10 are passed through the left and right shaft holes of the cylindrical object 600 to fix the cylindrical object 600 rotatably around the shaft (step S701 in Fig. 9).

[0078] Next, the packaging sheet 700 packaging the cylindrical object body 610 of the cylindrical object 600 is sucked by the suction unit 220, and one part (first part) of the packaging sheet 700 is separated from the cylindrical object body 610 (step S702). Next, the guide 230 of the circumferential cut portion 20 is inserted into the gap between the cylindrical object body 610 and the packaging sheet 700 by piercing the packaging sheet 700 (step S703).

[0079] Then, the suction of the suction unit 220 is stopped (step S704). In this state, the cylindrical object 600 is rotated by the rotation drive of the fixing part 10 so that the packaging sheet 700 faces in the opposite direction to the insertion direction of the guide 230 (step S705). Next, the circumferential surface of the packaging sheet 700 moving along the guide 230 while maintaining a space from the cylindrical object main body 610 is cut by the cutter blade 240 (step S706). Then, the guide 230, the cutter blade 240 and the suction unit 220 are retracted (step S707). With the above, the peripheral cutting of the packaging sheet 700 on the peripheral portion of the cylindrical object 600 by the peripheral cutting part 20 is completed.

[0080] Next, one of the pieces 710 of the packaging sheet 700 that has been cut into two is adsorbed by the adsorbing unit 40, and a part (second portion) of the packaging sheet 700 is separated from the cylindrical object main body 610 (step S721 in FIG. 10). Next, the claw unit 50 is inserted into the gap between the cylindrical object main body 610 and the packaging sheet 700 (step S722). In this state, the adsorbing unit 40 and the claw unit 50 are pressed against each other to sandwich and hold the second portion while maintaining the adsorption by the adsorbing unit 40 (step S723).

[0081] The suction part 40 and the claw part 50 are moved along the axial direction of the cylindrical object 600 to separate one of the fragments 710 of the packaging sheet 700 from the cylindrical object main body 610 (step S724). Then, as necessary, the body support part 140 is raised to a predetermined height to support the body part 620 of the cylindrical object 600 from below (step S725), and the shaft part 120 is separated from the cylindrical object 600. Thereafter, the step of moving the suction part 40 and the claw part 50 along the axial direction of the cylindrical object 600 to separate one of the fragments 710 of the packaging sheet 700 from the cylindrical object main body 610 (step S724) may be repeated (step S726). Thereafter, the suction portion 40 and the claw portion 50 are retracted, and one piece 710 of the packing sheet 700 is completely separated from the unpacking device 1 for packing sheets and the cylindrical object main body 610, and is removed (step S727).

[0082] As described above, the other piece 710 of the packaging sheet 700, which has been cut into two pieces, can then be separated from the cylindrical body 610 and removed by the same operation. That is, the packaging sheet 700 is adsorbed by the adsorption unit 40, and the other part (third part) of the packaging sheet 700 is separated from the cylindrical body 610 (corresponding to step S721 in FIG. 10). Next, the claw unit 50 is inserted into the gap between the cylindrical body 610 and the packaging sheet 700 (corresponding to step S722). In this state, the adsorption unit 40 and the claw unit 50 are pressed against each other so as to sandwich and hold the third part while maintaining the adsorption by the adsorption unit 40 (corresponding to step S723).

[0083] The suction portion 40 and the claw portion 50 are moved along the axial direction of the cylindrical object 600 to separate the other fragment 710 of the packaging sheet 700 from the cylindrical object main body 610 (corresponding to step S724). Then, as necessary, operations corresponding to steps S725 to S727 are performed thereafter to completely separate and remove the other fragment 710 of the packaging sheet 700 from the packaging sheet unpacking device 1 and the cylindrical object main body 610. [Explanation of symbols]

[0084] 1 Packaging sheet unpacking device 10 Fixed part 20 Peripheral cut section 30 Peeling section 40 Adsorption part 50 Claw part 60 Mobile Part 110 Frames 111 Base plate 112 Shaft support plate 120 Shaft 130 Bearing section 140 Body support part 210 Mobile Unit 220 Suction unit 230 Guide 240 Cutter blade 240a cutting edge 240b Main unit 250 Pedestal 310 Slide Rail 320 Horizontal moving part 330 Peeling frame 410 First Mobile Unit 420 First suction unit 430 First Claw 440 Third Claw 510 Second Mobile Unit 520 Second suction unit 530 Second Claw 540 4th Claw 600 Cylindrical object 610 Cylindrical body 620 Torso 700 Packaging Sheet 710 Fragment

Claims

1. A packaging sheet unpacking device for unpacking a packaging sheet covering a cylindrical object, comprising: A fixing part that fixes the cylindrical object so that the cylindrical object can rotate around an axis; a circumferential cutting portion having a guide, a cutter blade, and a first suction portion; a peeling unit that is movable along an axial direction of the cylindrical object and has a claw portion and a second suction portion; the circumferential cutting section adsorbs the packaging sheet with the first suction section, separates a first portion of the packaging sheet from the cylindrical body, inserts the guide into the gap between the cylindrical body and the packaging sheet by piercing the packaging sheet, and then rotates the cylindrical body with the fixing section while stopping suction by the first suction section, thereby allowing the cutter blade to cut the circumferential surface of the packaging sheet that moves along the guide while maintaining a spaced-apart state from the cylindrical body; The peeling unit is capable of adsorbing one of the cut and divided pieces of the packaging sheet with the second suction unit, separating the second portion of the packaging sheet from the cylindrical object main body, inserting the claw into the gap between the cylindrical object main body and the packaging sheet, and then pressing the second suction unit and the claw unit against each other so as to sandwich and hold the second portion while maintaining suction by the second suction unit, and moving the peeling unit along the axial direction of the cylindrical object, thereby separating one of the pieces of the packaging sheet from the cylindrical object main body.

2. 2. The packaging sheet unpacking device according to claim 1, wherein when the guide is inserted into the gap between the cylindrical body and the packaging sheet, the tip of the guide is curved from the packaging sheet toward the cylindrical body.

3. The packaging sheet unpacking device according to claim 1 , wherein a part of the cutter blade extends onto a surface of the guide excluding a tip end thereof.

4. The peeling portion further includes a third suction portion and a second claw portion, 2. The packaging sheet unpacking device of claim 1, wherein the other of the two pieces of the packaging sheet cut in half is adsorbed by the third suction portion, the third portion of the packaging sheet is separated from the cylindrical body, the second claw portion is inserted into the gap between the cylindrical body and the packaging sheet, and then, while maintaining suction by the third suction portion, the third suction portion and the second claw portion are pressed against each other so as to sandwich and hold the third portion, and the peeling portion is moved along the axial direction of the cylindrical body in the opposite direction to that of the one piece of the packaging sheet, thereby separating the other piece of the packaging sheet from the cylindrical body.

5. A method for unpacking a packaging sheet covering a cylindrical object, the method comprising the steps of: Fixing the cylindrical object so as to be rotatable about an axis; a step of adsorbing the packaging sheet and separating a first portion of the packaging sheet from the cylindrical body; a step of inserting a guide into a gap between the cylindrical body and the packaging sheet by piercing the packaging sheet; a step of rotating the cylindrical object while stopping the suction and cutting the peripheral surface of the packaging sheet, which moves along the guide while maintaining a space from the cylindrical object body, with a cutter blade; a step of adsorbing one of the two pieces of the packaging sheet with an adsorption portion and separating the second portion of the packaging sheet from the cylindrical body; a step of inserting a claw portion into a gap between the cylindrical body and the packaging sheet, and pressing the suction portion and the claw portion against each other so as to sandwich and hold the second portion while maintaining the suction; a step of moving the suction portion and the claw portion along the axial direction of the cylindrical object to separate one side of the packaging sheet from the cylindrical object body.

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