Desorption device and printing system

Abstract

To provide a desorption device which can achieve work of desorbing a medium from a platen even in a case in which there is no excess part in the medium, and a printing system which has the desorption device.SOLUTION: A desorption device 20 desorbs a medium including a first part extending along a first surface as an end face in a first direction of a platen, a second part extending along a second surface as an end face in a second direction of the platen, and a third part folded back on an end in a third direction of the platen, from the platen. The desorption device 20 includes: a first support part 2 positioned opposite to the platen in the first direction with respect to the first part of the medium; a second support part 3 having rotors 6B and 7B which are brought into contact with a surface opposite to a surface facing the platen in the second part of the medium and are movable in the third direction; and a connection part 4 positioned opposite to the platen in the third direction with respect to the first support part 2 and the second support part 3, and connecting the first support part 2 and the second support part 3.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a removal device that removes a medium from a platen, and a printing system that includes the removal device. [Background technology]

[0002] There is known a printing system that prints on a medium such as a cloth held on a platen. Also, a device has been proposed for automating the task of removing the printed medium from the platen. Patent Document 1 discloses a technology for folding and stacking T-shirts using a robot arm attached to a robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-110874 A Summary of the Invention [Problem to be solved by the invention]

[0004] The robot hand of the robot arm usually pinches and grasps an object with multiple fingers. Here, when attempting to remove a medium held on a platen using the robot hand, the robot hand needs to pinch and grasp the excess portion of the medium that is not in close contact with the platen with multiple fingers. For this reason, if there is no excess portion formed on the medium, the robot arm may fail to remove the medium from the platen.

[0005] An object of the present invention is to provide a detachment device that can perform the task of detaching a medium from a platen even when there is no excess portion of the medium, and a printing system that includes the detachment device. [Means for solving the problem]

[0006] A detachment device according to a first aspect of the present invention is a detachment device that detaches a medium from a platen, the medium including a first portion extending along a first surface that is an end face of the platen in a first direction, a second portion extending along a second surface that is an end face of the platen in a second direction opposite to the first direction, and a third portion that connects the first portion and the second portion and is folded back at an end of the platen in a third direction perpendicular to the first direction and the second direction, the detachment device being characterized by comprising: a first support portion that is positioned opposite the platen in the first direction relative to the first portion of the medium; a second support portion that has a second contact portion that contacts a surface of the second portion of the medium opposite to the surface facing the platen, the second contact portion being movable in the third direction; and a connecting portion that is positioned opposite the platen in the third direction relative to the first support portion and the second support portion and that connects the first support portion and the second support portion.

[0007] According to the first aspect, the detachment device can detach the medium from the platen by moving the second contact portion of the second support part in the third direction while the second contact portion is in contact with the second portion of the medium. In this case, the detachment device can detach the medium from the platen even if there is no excess portion of the medium.

[0008] A printing system according to a second aspect of the present invention includes a platen, and a detachment device that detaches a medium from the platen, the medium including a first portion extending along a first surface that is an end face of the platen in a first direction, a second portion extending along a second surface that is an end face of the platen in a second direction opposite to the first direction, and a third portion that connects the first portion and the second portion and is folded back at an end of the platen in a third direction perpendicular to the first direction and the second direction, the detachment device including a first support portion that is located opposite the platen in the first direction with respect to the first portion of the medium, a second support portion having a second contact portion that contacts a surface of the second portion of the medium opposite to a surface facing the platen and that is movable in the third direction, and a connecting portion that is located opposite the platen in the third direction with respect to the first support portion and the second support portion and connects the first support portion and the second support portion. According to the second aspect, it is possible to achieve an effect similar to that of the first aspect. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an overview of a printing system 1. [Diagram 2] FIG. 2 is a perspective view of the detachment device 20 and the platen unit 8. [Diagram 3] FIG. 2 is a perspective view of the detachment device 20. [Figure 4] FIG. 2 is a plan view of the desorption device 20. [Diagram 5] 5 is a cross-sectional view taken along line II in FIG. 4, seen from the direction of the arrow. [Figure 6] 13 is a diagram showing a first step of detaching the fabric T from the platen 84. FIG. [Figure 7] 13 is a diagram showing a second step of detaching the fabric T from the platen 84. FIG. [Figure 8] 13 is a diagram showing a third step of detaching the fabric T from the platen 84. FIG. [Figure 9] 13 is a diagram showing a fourth step of detaching the fabric T from the platen 84. FIG. [Figure 10]13 is a diagram showing a fifth step of detaching the fabric T from the platen 84. FIG. [Figure 11] 13 is a diagram showing a sixth step of detaching the fabric T from the platen 84. FIG. [Figure 12] 13 is a diagram showing a seventh step of detaching the fabric T from the platen 84. FIG. [Figure 13] 4 is an explanatory diagram for explaining the relationship of forces acting on the detachment device 20. FIG. [Figure 14] 4 is an explanatory diagram for explaining the relationship of forces acting on the detachment device 20. FIG. [Figure 15] 1 is a right side view of a detachment device 20 including a first motor 15, a second motor 16A, and a third motor 17A. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of a printing system 1 according to the present invention will be described with reference to the drawings. The drawings to be referred to are used to explain technical features that may be adopted by the present invention. The configurations of the device described are merely illustrative examples and are not intended to be limiting. The upper, lower, lower left, upper right, upper left, and lower right in Fig. 2 are the upper, lower, front, rear, left, and right of the removal device 20 and the platen unit 8, respectively.

[0011] <Outline of Printing System 1> As shown in FIG. 1, the printing system 1 includes a detachment device 20, a platen unit 8, and a printer 9. The platen unit 8 is transported with the fabric T held on the platen 84. The type of the fabric T is not particularly limited. In this embodiment, the fabric T is a T-shirt. The platen unit 8 is transported in a transport direction Y1. The printer 9 is provided in a part of the transport path of the platen unit 8. The printer 9 includes a head 9A that ejects ink. The printer 9 prints on the fabric T by ejecting ink from the head 9A onto the fabric T held on the platen 84. The detachment device 20 is located on the downstream side of the transport path of the platen unit 8 in the transport direction Y1 relative to the printer 9. The detachment device 20 is movable in an approaching direction Y21 from a position away from the transport path of the platen unit 8 toward a position close to the transport path, and in a separating direction Y22 from a position close to the transport path of the platen unit 8 toward a position away from the transport path. The detaching device 20 detaches the fabric T, on which printing has been performed by the printer 9, from the platen .

[0012] <Platen unit 8> 2, the conveying direction Y1 of the platen unit 8 coincides with the left. The platen unit 8 includes a base 81, a right side plate 82A, a left side plate, a back plate 83, and a platen .

[0013] The base 81 has a rectangular shape in a plan view. A right support member 820A and a left support member 820B are fixed to an upper surface of the base 81. The right support member 820A and the left support member 820B are spaced apart from each other in the left-right direction. The right support member 820A is located to the right of the left support member 820B.

[0014] The right side plate 82A has a plate shape and is perpendicular to the left-right direction. The right side plate 82A has a first extension portion 821 and a second extension portion 822. The first extension portion 821 extends upward from a portion rearward from approximately the center in the front-rear direction of the right support member 820A. The second extension portion 822 extends forward from a position spaced upward from the front end and lower end of the first extension portion 821. The base 81 and the second extension portion 822 are spaced apart in the up-down direction. The left side plate has the same shape as the right side plate 82A. The first extension portion of the left side plate extends upward from a portion rearward from approximately the center in the front-rear direction of the left support member 820B. The second extension portion of the left side plate is spaced apart upward from the base 81. The right side plate 82A and the left side plate are spaced apart from each other in the left-right direction. The back plate 83 has a plate shape and extends upward from the rear end of the base 81 .

[0015] The platen 84 has a plate shape. In a plan view, the shape of the platen 84 is a substantially rectangular shape that is long in the front-rear direction. The platen 84 has an upper surface 841 and a lower surface 842. The upper surface 841 is an upper end surface of the platen 84. The lower surface 842 is a lower end surface of the platen 84. The upper surface 841 and the lower surface 842 extend horizontally and are perpendicular to the up-down direction. The upper ends of the second extension portion 822 of the right side plate 82A and the second extension portion of the left side plate are fixed to the lower surface 842 of the platen 84. The front end of the platen 84 is referred to as the "front end portion 84F". The right end of the platen 84 is referred to as the "right end portion 84R". The left end of the platen 84 is referred to as the "left end portion 84L". The rear end of the platen 84 is referred to as the "rear end portion 84S". The front end portion 84F, the right end portion 84R, the left end portion 84L, and the rear end portion 84S extend in the vertical direction between the upper surface 841 and the lower surface 842, and connect the upper surface 841 and the lower surface 842. The front end portion 84F, the right end portion 84R, and the left end portion 84L each extend linearly. The rear end portion 84S extends in a curved manner.

[0016] A fabric T, such as a T-shirt, is attached to the platen 84. When the fabric T is attached to the platen 84, the neck portion of the fabric T is located at the front end portion 84F of the platen 84. The fabric T is folded back at a portion facing the front end portion 84F of the platen 84. The hem portion of the fabric T is located at the rear end portion 84S.

[0017] When the fabric T is attached to the platen 84, the fabric T is pulled backward, left, and right so that the fabric T does not slacken relative to an upper surface 841 of the platen 84. The neck portion of the fabric T is in close contact with a front end portion 84F of the platen 84. The portion of the fabric T extending from the right sleeve to the hem is folded back at a right end portion 84R of the platen 84 and fed between a lower surface 842 of the platen 84 and a second extension portion 822 of the right side panel 82A. The portion of the fabric T extending from the left sleeve to the hem is folded back at a left end portion 84L of the platen 84 and fed between a lower surface 842 of the platen 84 and the second extension portion of the left side panel.

[0018] <Desorption device 20> An approaching direction Y21 in which the detachment device 20 moves from a position distant from the transport path of the platen unit 8 to a position close to it coincides with the rear. A separating direction Y22 in which the detachment device 20 moves from a position close to the transport path of the platen unit 8 to a position distant from it coincides with the front. As shown in FIGS. 3 to 5, the detachment device 20 includes a first support portion 2, a second support portion 3, a connecting portion 4, and a rotation mechanism 5.

[0019] <Rotation mechanism 5> The rotation mechanism 5 includes an end effector 5A connected to a robot arm. The robot arm is a vertical articulated robot and has links and joints. The end effector 5A is attached to the tip of the robot arm. A planar portion 50 perpendicular to the front-rear direction is formed at the rear end of the end effector 5A. The end effector 5A supports a claw unit 51 that protrudes rearward from the planar portion 50. The claw unit 51 has a claw 51A. The claw 51A has a U-shaped groove 51B.

[0020] The robot arm can at least move the end effector 5A in the front-rear direction or the up-down direction, and the end effector 5A can move the claw unit 51 in the up-down direction.

[0021] <Connection part 4> The connecting part 4 is connected to the end effector 5A. The connecting part 4 moves in the front-rear direction or the up-down direction in response to the robot arm moving the end effector 5A. The connecting part 4 is provided in front of a first support part 2 and a second support part 3, which will be described later, and connects the first support part 2 and the second support part 3 to each other.

[0022] The connecting portion 4 has a base 41. The base 41 has a plate shape that is long in the left-right direction and is perpendicular to the front-rear direction. The vertical length of the base 41 is approximately the same as the vertical length of the planar portion 50 of the end effector 5A. The horizontal length of the base 41 is greater than the horizontal length of the planar portion 50 of the end effector 5A. The base 41 is connected to the end effector 5A. A central portion in the left-right direction of the front surface of the base 41 faces the planar portion 50 of the end effector 5A.

[0023] A through hole 50H is provided in the center in the left-right direction of the base 41. The claw unit 51 extending from the planar portion 50 of the end effector 5A is inserted into the through hole 50H and protrudes rearward beyond the rear surface of the base 41.

[0024] An upward extension 42A is provided near the right end of the base 41. An upward extension 42B is provided near the left end of the base 41. Upward extensions 42A and 42B each protrude upward beyond the upper end of the base 41.

[0025] A rear extension portion 43A is provided on the rear surface of the base 41, to the right of the center in the left-right direction. The rear extension portion 43A extends rearward. The rear extension portion 43A is plate-shaped and perpendicular to the left-right direction. A bridge portion 45A is provided on the right surface of the rear extension portion 43A. The bridge portion 45A is rod-shaped and extends to the right. A rear extension portion 44A is provided at the right end portion of the bridge portion 45A. The rear extension portion 44A extends diagonally upward and rearward. The rear extension portion 44A is plate-shaped and perpendicular to the left-right direction. The rear extension portions 43A, 44A are spaced apart in the left-right direction.

[0026] A rear extension portion 43B is provided on the rear surface of the base 41, left of the center in the left-right direction. The rear extension portion 43B extends rearward. The rear extension portion 43B is plate-shaped and perpendicular to the left-right direction. A bridge portion 45B is provided on the left surface of the rear extension portion 43B. The bridge portion 45B is rod-shaped and extends leftward. A rear extension portion 44B is provided at the left end portion of the bridge portion 45B. The rear extension portion 44B extends diagonally upward and rearward. The rear extension portion 44B is plate-shaped and perpendicular to the left-right direction. The rear extension portions 43B, 44B are spaced apart in the left-right direction.

[0027] A through hole extending in the left-right direction is provided at the rear end of each of the rear extensions 43A, 43B, 44A, and 44B. The through holes of each of the rear extensions 43A, 43B, 44A, and 44B are aligned in a straight line in the left-right direction.

[0028] <First support part 2> The first support portion 2 contacts and supports the fabric T attached to the platen 84 from above. The first support portion 2 has a first right support portion 2A and a first left support portion 2B. The first right support portion 2A and the first left support portion 2B have the same shape.

[0029] The first right support part 2A has an extension part 21A and a plate body 22A. The extension part 21A has a plate shape and is perpendicular to the up-down direction. The extension part 21A extends rearward from the upper end part of the upward extension part 42A of the connecting part 4. The plate body 22A is connected to the rear end part of the extension part 21A. The plate body 22A has a base plate 23A and a rubber plate 24A. The base plate 23A is made of metal, and the rubber plate 24A is made of rubber. The rubber plate 24A is joined to the lower surface of the base plate 23A.

[0030] The plate body 22A extends obliquely upward and rearward from the connection portion with the extension portion 21A. A rubber plate 24A is exposed on a lower surface 220A of the plate body 22A. The lower surface 220A is inclined with respect to the horizontal direction. The direction perpendicular to the lower surface 220A and facing away from the base plate 23A faces obliquely downward and rearward.

[0031] The first left support part 2B has an extension part 21B and a plate body 22B. The extension part 21B extends rearward from the upper end part of the upward extension part 42B of the connecting part 4. The plate body 22B has a base plate 23B and a rubber plate 24B. The extension part 21B, the plate body 22B, the base plate 23B, and the rubber plate 24B correspond to the extension part 21A, the plate body 22A, the base plate 23A, and the rubber plate 24A of the first right support part 2A. The lower surface 220B of the plate body 22B corresponds to the lower surface 220A of the plate body 22A.

[0032] <Second support part 3> The second support part 3 contacts and supports the fabric T attached to the platen 84 from below. The second support part 3 has a second right support part 3A, a second left support part 3B, and a bridge part 3C. The second right support part 3A and the second left support part 3B have the same shape. The bridge part 3C is bridged between the second right support part 3A and the second left support part 3B.

[0033] The second right support portion 3A has a link mechanism 6A. The link mechanism 6A has a first section 61 and a second section 62.

[0034] The first section 61 has plate-like supports 61A and 61B that are substantially L-shaped when viewed from the right side. The supports 61A and 61B have the same shape. The supports 61A and 61B are perpendicular to the left-right direction. The support 61A is located to the left of the rear extension 44A of the connecting part 4. The support 61B is located to the right of the rear extension 43A of the connecting part 4.

[0035] The support 61A has extensions 601, 602 extending from a left portion of the rear extension 44A of the connecting portion 4. The directions in which the extensions 601, 602 extend are perpendicular to each other. The extensions 601, 602 of the support 61B extend from a right portion of the rear extension 43A of the connecting portion 4. In each of the supports 61A, 61B, a through hole is formed at the portion where the extensions 601, 602 intersect.

[0036] The rotating shaft 46 has a cylindrical shape and extends in the left-right direction. The rotating shaft 46 is inserted through the through holes of the rear extensions 43A, 43B, 44A, and 44B of the connecting part 4 and through holes of the supports 61A and 61B. The first section 61 is supported by the connecting part 4 so as to be rotatable about the rotating shaft 46.

[0037] The first section 61 further has a mounting body 61C and a rotating shaft 63. The mounting body 61C is provided between the tip ends of the extensions 602 of the supports 61A and 61B. A through hole is provided in the mounting body 61C. The rotating shaft 63 has a cylindrical shape and extends in the left-right direction. The rotating shaft 63 is inserted into a through hole provided in the tip end of the extensions 601 of the supports 61A and 61B. The right end of the rotating shaft 63 protrudes to the right beyond the support 61A. The left end of the rotating shaft 63 protrudes to the left beyond the support 61B.

[0038] The second section 62 has plate-shaped supports 62A and 62B that bend and extend. The supports 62A and 62B are perpendicular to the left-right direction. One end of the support 62A is located to the right of the tip of the extension portion 601 of the support 61A of the first section 61. A through hole provided at one end of the support 62A is inserted into a portion of the rotation shaft 63 that protrudes to the right from the support 61A. One end of the support 61B is located to the left of the tip of the extension portion 601 of the support 61B of the first section 61. A through hole provided at one end of the support 62B is inserted into a portion of the rotation shaft 63 that protrudes to the left from the support 61B. The second section 62 is supported by the first section 61 so as to be rotatable about the rotation shaft 63.

[0039] The second section 62 further has a rotating shaft 64. The rotating shaft 64 is inserted into a through hole provided at the other end of each of the supports 62A and 62B of the second section 62. The rotating shaft 64 extends between the other ends of the supports 62A and 62B of the second section 62.

[0040] The second right support portion 3A further has a rotating body 6B. The rotating body 6B has a cylindrical shape. The central axis of the rotating body 6B extends in the left-right direction. A through hole is formed in the rotating body 6B along the central axis. The rotating shaft 64 is inserted into the through hole of the rotating body 6B. The rotating body 6B is supported between the other ends of the supports 62A, 62B of the second section 62 so as to be rotatable about the rotating shaft 64. The rotating body 6B has a rubber cylindrical body 65. The outer peripheral surface of the rubber cylindrical body 65 comes into contact with the fabric T, thereby allowing the fabric T to be pulled out.

[0041] A one-way clutch is built into the rotating body 6B. The one-way clutch allows the rotating body 6B to rotate in a counterclockwise direction when viewed from the right side (hereinafter referred to as a "first rotation direction D1"). On the other hand, the one-way clutch prohibits the rotating body 6B from rotating in a clockwise direction when viewed from the right side (hereinafter referred to as a "second rotation direction D2").

[0042] The second right support part 3A further has a biasing mechanism 6C. The biasing mechanism 6C includes a clamp 67, a support rod 68, and a spring 69. The clamp 67 has a pair of bearing parts located on both the left and right sides of the rotating body 6B, and a bridge part that is bridged between the pair of bearing parts. The support rod 68 extends from the bridge part of the clamp 67 toward the bridge body 61C of the first section 61. The end of the support rod 68 opposite to the clamp 67 is inserted into a through hole of the bridge body 61C. The spring 69 is a compression coil spring. The spring 69 is interposed between the clamp 67 and the bridge body 61C. The spring 69 biases the rotating shaft 64 and the rotating body 6B via the clamp 67. A force acts on the rotating body 6B in a direction away from the bridge body 61C.

[0043] The second left support part 3B has a link mechanism 7A, a rotating body 7B, and a biasing mechanism 7C. The link mechanism 7A has a first section 71 and a second section 72. The first section 71 has supports 71A and 71B, a mounting body 71C, and a rotating shaft 73. The second section 72 has supports 72A and 72B, and a rotating shaft 74. The rotating body 7B has a rubber cylindrical body 75. The biasing mechanism 7C includes a clamp 77, a support rod 78, and a spring 79.

[0044] The extensions 601, 602 of the support 71A of the first section 71 extend from the left part of the rear extension 43B of the connecting part 4. The extensions 601, 602 of the support 71B of the first section 71 extend from the right part of the rear extension 44B of the connecting part 4. In each of the supports 71A, 71B, a rotation shaft 46 is inserted into a through hole provided at the intersection of the extensions 601, 602. The first section 71 is supported by the connecting part 4 so as to be rotatable around the rotation shaft 46. The second section 72 is supported at one end of each of the supports 72A, 72B of the second section 72 so as to be rotatable around the rotation shaft 73 relative to the first section 71. The rotating body 7B is supported between the other end of each of the supports 72A, 72B of the second section 72 so as to be rotatable around the rotation shaft 74.

[0045] A one-way clutch is built into the rotating body 7B. The one-way clutch allows the rotating body 7B to rotate in the first rotation direction D1. On the other hand, the one-way clutch prohibits the rotating body 7B from rotating in the second rotation direction D2.

[0046] A pair of bearing portions of the clamp 77 of the biasing mechanism 7C are located on both the left and right sides of the rotating body 7B. The support rod 78 of the clamp 77 extends from the mounting portion of the clamp 77 toward the mounting body 71C of the first section 71. The end of the support rod 78 opposite the clamp 77 is inserted into a through hole of the mounting body 71C. The spring 79 is interposed between the clamp 77 and the mounting body 71C. The spring 79 biases the rotating shaft 74 and the rotating body 7B via the clamp 77. A force acts on the rotating body 7B in a direction away from the mounting body 71C.

[0047] The bridging portion 3C has a rectangular columnar body 31 extending in the left-right direction. The rectangular columnar body 31 is connected to the upper end portions of the extensions 601 of the supports 61A and 61B of the second right support portion 3A and the extensions 601 of the supports 71A and 71B of the second left support portion 3B.

[0048] The installation part 3C further has an extension body 32 extending from the rectangular column body 31. The extension body 32 is connected to a central portion of the lower end face of the rectangular column body 31 in the left-right direction, and extends diagonally downward toward the front. A through hole extending left and right is formed in the lower end of the extension body 32. The rotation shaft 46 is inserted into the through hole of the extension body 32. The installation part 3C is rotatable about the rotation shaft 46 together with a first section 61 of the second right support part 3A and a first section 71 of the second left support part 3B, which are connected to the rectangular column body 31.

[0049] Supports 32A and 32B extend rearward from a position spaced diagonally upward and forward from a portion of extension body 32 where a through hole through which rotation shaft 46 is inserted is formed. Supports 32A and 32B each have a plate shape and are perpendicular to the left-right direction. Supports 32A and 32B are spaced apart in the left-right direction. Support shaft 33 is provided between the rear ends of supports 32A and 32B. Support shaft 33 has a cylindrical shape and extends in the left-right direction. Support shaft 33 fits into U-shaped groove 51B of claw 51A of claw unit 51 extending from end effector 5A of rotation mechanism 5.

[0050] When the end effector 5A moves the claw unit 51 in the vertical direction to move the support shaft 33 in the vertical direction, the support shaft 33 of the installation part 3C fitted in the U-shaped groove 51B also moves in the vertical direction. As the support shaft 33 moves in the vertical direction, the installation part 3C rotates around the rotation shaft 46 separated from the support shaft 33. As the installation part 3C rotates, the first joint 61 of the link mechanism 6A of the second right support part 3A connected via the rectangular column body 31 and the first joint 71 of the link mechanism 7A of the second left support part 3B also rotate around the rotation shaft 46. As the first joint 61 of the link mechanism 6A rotates, the rotating body 6B supported by the second joint 62 rotates around the rotation shaft 63. As the first joint 71 of the link mechanism 7A rotates, the rotating body 7B supported by the second joint 72 rotates around the rotation shaft 73.

[0051] A direction K1 is defined as extending along the supports 61A, 61B of the first section 61 of the second right support part 3A and extending from the center of the rotation shaft 46 toward the center of the rotation shaft 63. The direction K1 is defined as extending along the supports 71A, 71B of the first section 71 of the second left support part 3B and coinciding with the direction from the center of the rotation shaft 46 toward the center of the rotation shaft 63. A direction K2 is defined as extending horizontally rearward from the center of the rotation shaft 46. The angle formed by the directions K1, K2 is referred to as the "angle θ of the first sections 61, 71."

[0052] <Desorption process> 6 to 12, steps (first to seventh steps) of detaching the fabric T attached to the platen 84 of the platen unit 8 by the detaching device 20 will be described. In the following description, the operation of the first right support portion 2A of the first support portion 2 and the second right support portion 3A of the second support portion 3 of the detaching device 20 will be described, but the first left support portion 2B of the first support portion 2 and the second left support portion 3B of the second support portion 3 of the detaching device 20 also operate in the same manner. Unless otherwise specified, the rotation direction (clockwise or counterclockwise) will be described assuming that the detaching device 20 is viewed from the right.

[0053] In the first step shown in FIG. 6, the user attaches the fabric T to the platen 84. A portion of the fabric T that extends along the upper surface 841 of the platen 84 is referred to as a "first portion 86," and a portion that faces the lower surface 842 of the platen 84 is referred to as a "second portion 87." A portion of the fabric T that is folded back at the front end portion 84F of the platen 84, i.e., the neck portion of the T-shirt, is referred to as a "third portion 88." The detachment device 20 is disposed at a position spaced forward from the platen 84. The connection portion 4 of the detachment device 20 is located opposite the platen unit 8 in the front-rear direction with respect to the first right support portion 2A. The angle θ of the first section 61 is approximately 30 degrees.

[0054] In the second step shown in FIG. 7, as the robot arm moves the end effector 5A rearward, the detachment device 20 moves rearward (arrow Y31). The detachment device 20 approaches the rear platen unit 8 from the front. The first right support portion 2A is located above the first portion 86 of the fabric T in the vertical direction. The plate body 22A is spaced upward from the upper surface 841 of the platen 84 and the first portion 86 of the fabric T. The lower surface 220A of the plate body 22A faces the first portion 86 of the fabric T. The second right support portion 3A is located below the second portion 87 of the fabric T in the vertical direction. The rotating body 6B is spaced downward from the lower surface 842 of the platen 84 and the second portion 87 of the fabric T.

[0055] In the third step shown in Fig. 8, as the robot arm moves the end effector 5A downward, the detachment device 20 moves downward (arrow Y32). The plate body 22A approaches the platen 84 from above. The lower surface 220A of the plate body 22A comes into contact with the surface of the fabric T opposite the surface facing the platen 84. The fabric T is sandwiched between the plate body 22A and the platen 84 from both sides in the vertical direction. After the fabric T comes into contact with the plate body 22A, the robot arm stops the downward movement of the end effector 5A. This causes the downward movement of the detachment device 20 to also stop.

[0056] Here, while upper surface 841 of platen 84 extends in the horizontal direction, lower surface 220A of plate body 22A is inclined with respect to the horizontal direction. Therefore, as plate body 22A approaches platen 84, the boundary portion between first portion 86 and third portion 88 of fabric T attached to platen 84 comes into contact with lower surface 220A of plate body 22A.

[0057] 9, the end effector 5A of the rotation mechanism 5 moves the claw unit 51 downward (arrow Y33). As a result, the first section 61 rotates about the rotation shaft 46 by about 15 degrees in the counterclockwise direction (arrow Y34). The angle θ of the first section 61 becomes about 45 degrees.

[0058] In response to the rotation of the first section 61, the rotating body 6B connected to the first section 61 via the second section 62 moves upward. The rotating body 6B comes into contact with the second portion 87 of the fabric T from below. In response to the further upward movement of the rotating body 6B, the rotating body 6B sandwiches the second portion 87 of the fabric T between itself and the lower surface 842 of the platen 84.

[0059] In the fifth step shown in FIG. 10, the end effector 5A of the rotation mechanism 5 moves the claw unit 51 further downward. As a result, the first section 61 rotates counterclockwise around the rotation shaft 46 (arrow Y35). In the fourth step, the rotating body 6B holds the fabric T between the platen 84 and the rotating body 6B, and in the fifth step, the first section 61 rotates further. As a result, the second section 62 rotates clockwise around the rotation shaft 63 relative to the first section 61 (arrow Y36). As a result, the spring 69 is compressed. The spring 69 biases the rotating body 6B toward the platen 84. After the angle θ of the first section 61 exceeds 90 degrees, the rotating body 6B moves forward in contact with the second portion 87 of the fabric T from below (arrow Y37).

[0060] Since the first portion 86 of the fabric T is sandwiched between the lower surface 220A of the plate 22A and the platen 84, the forward movement of the first portion 86 of the fabric T is restricted. Furthermore, since the rotating body 6B has a built-in one-way clutch, the rotating body 6B does not rotate in the second rotation direction D2 when moving forward. Therefore, the second portion 87 of the fabric T moves forward in response to the forward movement of the rotating body 6B. When the rotating body 6B moves forward of the front end portion 84F of the platen 84, a part of the fabric T is detached from the platen 84. A part of the fabric T that is not in close contact with the platen 84 (hereinafter referred to as the "detached part 80") is formed in the fabric T.

[0061] Detached portion 80 of fabric T extends forward from a portion facing upper surface 841 of platen 84, bends at the front end, and extends toward a portion facing lower surface 842 of platen 84. Plate body 22A and rotating body 6B sandwich a portion of detached portion 80 spaced rearward from the bent portion at the front end from both sides in the up and down direction.

[0062] When the angle θ of the first section 61 reaches approximately 100 degrees, the end effector 5A of the rotation mechanism 5 stops the downward movement of the claw unit 51. This causes the rotation of the first section 61 to stop.

[0063] In the fifth step, the area through which the rotation axis 63 located at the connection between the first section 61 and the second section 62 passes is represented as a "movement trajectory U." An imaginary plane extending along the lower surface 220A of the plate body 22A is represented as an "imaginary plane P." At this time, a part of the movement trajectory U passes on the opposite side of the imaginary plane P to the first portion 86 of the fabric T, i.e., above the imaginary plane P.

[0064] 11, the detachment device 20 moves forward (arrow Y38) in response to the robot arm moving the end effector 5A forward. The fabric T moves forward relative to the platen unit 8 and is detached from the platen 84.

[0065] In the seventh step shown in FIG. 12, the end effector 5A of the rotation mechanism 5 moves the claw unit 51 upward (arrow Y39). As a result, the first section 61 rotates clockwise around the rotation shaft 46 (arrow Y40). The rotating body 6B moves backward. Note that the one-way clutch built into the rotating body 6B does not restrict the rotation of the rotating body 6B in the first rotation direction D1. Therefore, the rotating body 6B rotates in the first rotation direction D1 while moving backward while contacting the plate body 22A.

[0066] As first section 61 further rotates clockwise around rotation shaft 46, rotating body 6B moves downward. Rotating body 6B moves downward away from plate body 22A. The state in which fabric T is sandwiched between plate body 22A and rotating body 6B is released. This makes it possible to remove fabric T from detachment device 20.

[0067] When the angle of the first section 61 reaches approximately 30 degrees, the end effector 5A of the rotation mechanism 5 stops the upward movement of the claw unit 51. This causes the rotation of the first section 61 to stop.

[0068] <Actions and Effects of the Present Embodiment> The detachment device 20 moves the rotors 6B, 7B of the second support part 3 forward by rotating the first sections 61, 71 while keeping the rotors 6B, 7B in contact with the second portion 87 of the fabric T. In this way, the detachment device 20 forms a detached portion 80 in the fabric T, and moves the formed detached portion 80 forward while being clamped between the first support part 2 and the second support part 3. As a result, the fabric T is detached from the platen 84. In this way, the detachment device 20 can detach the fabric T from the platen unit 8 even if the fabric T does not have a gripping portion 80A.

[0069] In the process of detaching the fabric T from the platen 84, the bent portion at the front end of the gripping margin 80A of the fabric T is not directly clamped by the first support portion 2 and the second support portion 3. Therefore, the detaching device 20 can prevent the formation of creases in the fabric T clamped between the first support portion 2 and the second support portion 3.

[0070] The second support portion 3 has rotating bodies 6B, 7B as portions that come into contact with the second portion 87 of the fabric T. The rotating bodies 6B, 7B rotate in the process of rotating the first sections 61, 71 in the seventh step to remove the fabric T, which has been detached from the platen 84, from the first support portion 2 and the second support portion 3. By rotating the rotating bodies 6B, 7B, the detachment device 20 can reduce the force required when the end effector 5A moves the claw unit 51 upward to rotate the first sections 61, 71. Therefore, the detachment device 20 can facilitate the operation of removing the fabric T by the end effector 5A.

[0071] The second support portion 3 has link mechanisms 6A and 7A. The link mechanism 6A has a first joint 61 and a second joint 62, and the link mechanism 7A has a first joint 71 and a second joint 72. The detachment device 20 transmits the force generated when the first joints 61 and 71 are rotated by the rotation mechanism 5 to the rotating bodies 6B and 7B via the second joints 62 and 72. This allows the detachment device 20 to move the rotating bodies 6B and 7B forward, and detach the fabric T from the platen 84.

[0072] The second support portion 3 has springs 69, 79 that bias the rotating bodies 6B, 7B toward the platen 84. The biasing forces of the springs 69, 79 allow the rotating bodies 6B, 7B to clamp the fabric T between themselves and the platen 84 with an appropriate strength of force. Therefore, the rotating bodies 6B, 7B can appropriately clamp the fabric T between themselves and the platen 84 and detach the fabric T from the platen 84. By using compression springs as the springs 69, 79, it is possible to increase the precision of the strength with which the rotating bodies 6B, 7B clamp the fabric T between themselves and the platen 84, compared to the case where other types of springs are used.

[0073] The rotating bodies 6B, 7B are provided with a built-in one-way clutch. The one-way clutch can restrict the rotating bodies 6B, 7B from rotating in the second rotation direction D2 when the fabric T is detached from the platen 84. Therefore, the rotating bodies 6B, 7B can appropriately hold the fabric T between themselves and the platen 84, and can detach the fabric T from the platen 84. On the other hand, the one-way clutch can rotate the rotating bodies 6B, 7B in the first rotation direction D1 when the first sections 61, 71 are rotated in the seventh step to remove the fabric T detached from the platen 84 from the first support part 2 and the second support part 3. Therefore, the detachment device can facilitate the operation of the end effector 5A, which moves the claw unit 51 upward to detach the fabric T.

[0074] The rotation mechanism 5 moves the support shaft 33 in the vertical direction by the claw unit 51, thereby rotating the installation part 3C on which the support shaft 33 is provided, about the rotation shaft 46 separated from the support shaft 33. In this case, the first joints 61, 71 connected to the rectangular column body 31 of the installation part 3C also rotate about the rotation shaft 46, and the rotating bodies 6B, 7B move in the front-rear direction. The detachment device 20 converts the vertical linear movement of the claw unit 51 of the rotation mechanism 5 into rotational motion by the installation part 3C, thereby rotating the first joints 61, 71 and moving the rotating bodies 6B, 7B in the front-rear direction.

[0075] The lower surface 220A of the plate body 22A of the first support part 2 and the lower surface 220B of the plate body 22B face the first portion 86 of the fabric T attached to the platen 84. The first support part 2 can appropriately hold the fabric T between the platen 84 and the plates 22A and 22B. The lower surfaces 220A and 220B are inclined with respect to the horizontal direction. Therefore, the detachment device 20 can reduce the contact area between the fabric T attached to the upper surface 841 of the platen 84 extending in the horizontal direction and the lower surface 220A of the plate body 22A and the lower surface 220B of the plate body 22B. Therefore, the detachment device 20 can reduce the possibility that the fabric T will be soiled due to contact between the plates 22A and 22B and the fabric T.

[0076] Rotating body 6B has a rubber cylinder 65, and rotating body 7B has a rubber cylinder 75. Rubber plate 24A is exposed on lower surface 220A of plate 22A, and rubber plate 24B is exposed on lower surface 220B of plate 22B. Therefore, detaching device 20 can bring rotating bodies 6B, 7B and plates 22A, 22B into close contact with fabric T, so that first supporting portion 2 and second supporting portion 3 can appropriately hold fabric T.

[0077] The printing system 1 includes a platen unit 8, a detachment device 20, and a printer 9. In the printing system 1, the fabric T, which has been printed by ejecting ink from a head 9A of the printer 9, can be easily detached from the platen 84 of the platen unit 8 by the detachment device 20.

[0078] The robot arm moves the detachment device 20 in the front-to-rear direction. This allows the printing system 1 to bring the detachment device 20 close to the platen unit 8 to detach the fabric T from the platen 84, and then move the detachment device 20 away from the platen unit 8. Therefore, the printing system 1 can use the detachment device 20 to remove the fabric T from the platen 84 while preventing the detachment device 20 from interfering with the transport of the platen unit 8.

[0079] Unlike the present embodiment, a case will be taken as an example in which the movement trajectory U of the center of the rotation shaft 63 of the second right support part 3A is located below the virtual plane P. As shown in FIG. 13, the frictional force acting on the lower surface of the fabric T due to the contact between the rotating body 6B and the fabric T is denoted as "F11". The frictional force acting on the rotating body 6B due to the contact between the rotating body 6B and the fabric T is denoted as "F12". The frictional force acting on the upper surface of the fabric T due to the contact between the plate body 22A and the fabric T is denoted as "F21". The frictional force acting on the plate body 22A due to the contact between the plate body 22A and the fabric T is denoted as "F22". The pressing force by the rotating body 6B is denoted as "F10". The reaction force acting on the plate body 22A is denoted as "F20". The force pulling the fabric T toward the platen 84 is denoted as "F0". The distance between the virtual plane P and the center of the rotation shaft 63 is denoted as "L1". The distance between the center of the rotation shaft 63 and the center of the rotation shaft 64 is denoted as "L2". The rotation torque of the support 62A of the second section 62 is denoted as "Q". The friction coefficient of rubber is denoted as "μ".

[0080] Considering the balance of forces, the following relationship is satisfied. F0=F11+F21,F11=F12=μ×F10,F21=F22=μ×F20 Q = F12 x L1 = μ x F10 x L1

[0081] The reaction force F20 is the resultant force of the pressing force F10 and the pressing force due to the rotational torque Q. The pressing force due to the rotational torque Q acts in the opposite direction (loss direction) to the pressing force F10. Therefore, the following relationship is satisfied. F20=F10-Q / L2=F10-F12×L1 / L2=F10-(μ×F10)×L1 / L2=(1-μ×L1 / L2)×F10

[0082] Therefore, the force F0 pulling the fabric T toward the platen 84 satisfies the following relationship. F0=F11+F21=μ×(F10+F20)=μ×(F10+(1-μ×L1 / L2)×F10)=μ×F10×(2-μ×L1 / L2)

[0083] In other words, the term "-μ×L1 / L2" corresponds to the loss. For this reason, for example, the larger L1 is, that is, the lower the rotation axis 63 that is the center of rotation of the support 62A of the second section 62 is located, the larger the loss will be.

[0084] On the other hand, as in this embodiment, a part of the movement trajectory U of the center of the rotation shaft 63 of the second right support part 3A is located above the imaginary plane P. As shown in Fig. 14, the reaction force F20 is the resultant force of the pressing force F10 and the pressing force due to the rotation torque Q, and in this case, the pressing force due to the rotation torque Q acts in the same direction as the pressing force F10. Therefore, the following relationship is satisfied. F20=F10+Q / L2=F10+F12×L1 / L2=F10+(μ×F10)×L1 / L2=(1+μ×L1 / L2)×F10

[0085] Therefore, the force F0 pulling the fabric T toward the platen 84 satisfies the following relationship. F0=F11+F21=μ×(F10+F20)=μ×(F10+(1+μ×L1 / L2)×F10)=μ×F10×(2+μ×L1 / L2)

[0086] In other words, friction increases by the term μ×L1 / L2. For this reason, for example, the larger L1 is, that is, the higher the rotation axis 63, which is the center of rotation of the support 62A of the second section 62, is located, the more pressing force can be obtained that is greater than the biasing force of the spring 69.

[0087] Therefore, by positioning the rotation axis 63 so that part of the movement trajectory U passes above the imaginary plane P, the detachment device 20 can maintain the frictional force between the first support part 2 and the fabric T, and the frictional force between the rotating bodies 6B, 7B of the second support part 3 and the fabric T. Therefore, the detachment device 20 can appropriately detach the fabric T from the platen 84.

[0088] <Modification> The detachment device 20 may further include at least one of a first motor 15, a second motor 16, and a third motor 17 shown in Fig. 15. Specifically, the following is provided.

[0089] The first motor 15 is provided in place of the claw unit 51 provided on the end effector 5A of the rotation mechanism 5. In this case, the rotating shaft 46 is connected to the first nodes 61, 71 of the second support part 3. The rotating shaft of the first motor 15 is connected to the rotating shaft 46. When the rotating shaft 46 is rotated by the drive of the first motor 15, the first nodes 61, 71 connected to the rotating shaft 46 rotate with respect to the connecting part 4. This allows the rotating bodies 6B, 7B of the second support part 3 to move in the front-rear direction.

[0090] As described above, when the first motor 15 is provided in the detachment device 20, the force generated when the first joints 61, 71 are rotated by the first motor 15 can be transmitted to the rotating bodies 6B, 7B via the second joints 62, 72. As a result, the detachment device 20 moves forward relative to the platen 84 to detach the fabric T from the platen 84, and then the rotating bodies 6B, 7B can be moved backward to detach the fabric T from the detachment device 20. Furthermore, compared to a case in which the linear motion of the claw unit 51 is converted into rotational motion by the installation portion 3C to move the rotating bodies 6B, 7B, the driving force of the rotation mechanism 5 can be transmitted more efficiently to rotate the rotating bodies 6B, 7B.

[0091] The second motor 16A is provided instead of the biasing mechanism 6C. In this case, the rotating shaft 63 of the second right support part 3A is connected to the second joint 62 of the second right support part 3A. The rotating shaft of the second motor 16A is connected to the rotating shaft 63. When the rotating shaft 63 rotates by the drive of the second motor 16, the second joint 62 connected to the rotating shaft 63 rotates relative to the first joint 61. In this case, the rotating body 6B supported by the second joint 62 also rotates.

[0092] Although not described, a second motor similar to the second motor 16A is also connected to the rotating shaft 73 of the second left support part 3B. Hereinafter, the second motor 16A provided in the second right support part 3A and the second motor provided in the second left support part 3B will be collectively referred to as the "second motor 16."

[0093] As described above, when the detachment device 20 is provided with the second motor 16, the fabric T can be clamped between the platen 84 and the rotating bodies 6B, 7B with an appropriate force by the torque of the second motor 16. Furthermore, by adjusting the torque of the second motor 16, an appropriate torque according to the material of the fabric T can be applied to the rotating bodies 6B, 7B. Therefore, the rotating bodies 6B, 7B can detach the fabric T from the platen 84 by appropriately clamping the fabric T between the platen 84 and the rotating bodies 6B, 7B.

[0094] The third motor 17A is used in place of a one-way clutch built into the rotating body 6B. In this case, the rotating shaft 64 is connected to the rotating body 6B. The rotating shaft of the third motor 17A is connected to the rotating shaft 64. When the third motor 17A is excited, the rotation of the rotating shaft 64 is restricted, and therefore the rotation of the rotating body 6B is also restricted. On the other hand, when the excited state of the third motor 17A is released, the rotating shaft 64 becomes rotatable, and therefore the rotating body 6B also becomes rotatable.

[0095] Although not described, a third motor similar to the third motor 17A is also connected to the rotating shaft 74 of the second left support part 3B. Hereinafter, the third motor 17A provided in the second right support part 3A and the third motor provided in the second left support part 3B will be collectively referred to as the "third motor 17."

[0096] As described above, when the detachment device 20 is provided with the third motor 17, the third motor 17 can be excited to restrict the rotation of the rotating bodies 6B, 7B when the fabric T is removed from the platen 84. On the other hand, when the fabric T detached from the platen 84 is removed from the detachment device 20, the rotating bodies 6B, 7B can be set to a rotatable state.

[0097] Depending on the product configuration and size of the fabric T, the rotating bodies 6B and 7B may come into contact with the second portion 87 of the fabric T near the front end of the platen 84 in the fourth step shown in Fig. 9. In this case, even if the rotating bodies 6B and 7B are moved forward in the fifth step shown in Fig. 10, it may not be possible to ensure a sufficiently large gripping allowance 80A.

[0098] In such a case, for example, the detachment device 20 may rotate the rotors 6B and 7B in the first rotation direction D1 by the third motor 17 after bringing the rotors 6B and 7B into contact with the second portion 87 of the fabric T in the fourth step. In this case, the detachment device 20 can make the movement amount when moving the second portion 87 of the fabric T forward larger than the case where the rotors 6B and 7B do not rotate. As a result, the detachment device 20 can form a sufficiently large gripping margin 80A on the fabric T even when the rotors 6B and 7B contact the vicinity of the front end portion of the platen 84 in the second portion 87 of the fabric T due to the product configuration and size of the detachment device 20 and the platen 84. As a result, the fabric T can be securely clamped by the rotors 6B and 7B and the plates 22A and 22B.

[0099] <Other Modifications> The present invention is not limited to the above-described embodiment and modified examples, and various modifications are possible. In the printing system 1, the detachment device 20 may not move in the front-rear direction, and instead the platen unit 8 may be movable in the front-rear direction. In this case, the fabric T may be detached from the platen 84 after the platen unit 8 moves in a direction approaching the detachment device 20. The platen unit 8 including the platen 84 from which the fabric T has been detached may then move in a direction away from the detachment device 20. The detachment device 20 may be provided integrally with the platen unit 8. In this case, the detachment device 20 may be provided in each of the multiple platen units.

[0100] The printing method used by the printer 9 is not limited to the inkjet method, and the printer may use various other printing methods.

[0101] The detachment device 20 may have only one of the first right support part 2A and the first left support part 2B, or may have only one of the second right support part 3A and the second left support part 3B.

[0102] The second support portion 3 may have a movement mechanism capable of moving the rotating bodies 6B, 7B in the front-rear direction, instead of the link mechanisms 6A, 7A. The detachment device 20 may detach the fabric T from the platen 84 by horizontally moving the rotating bodies 6B, 7B forward.

[0103] Rotating bodies 6B, 7B may be unable to rotate in either first rotation direction D1 or second rotation direction D2 relative to second sections 62, 72. A prism body, a plate body, or the like may be provided instead of rotating bodies 6B, 7B. The second support part 3 may detach the fabric T from the platen 84 by moving forward with a prism body, a plate body, or the like in contact with the second portion 87 of the fabric T.

[0104] The biasing mechanisms 6C, 7C may have torsion coil springs provided on the rotating shafts 63, 73 instead of the springs 69, 79. The biasing mechanisms 6C, 7C may bias the second sections 62, 72 with the torsion coil springs to bias the rotating bodies 6B, 7B toward the platen 84. By using the torsion coil springs, the space required to store the second support part 3 can be reduced, and the detachment device 20 can be made more compact.

[0105] The lower surfaces 220A, 220B of the plates 22A, 22B of the first support 2 may extend horizontally. The first support 2 may have a rotating body instead of the plates 22A, 22B of the first support 2. This rotating body may be rotated by a motor. The lower surfaces 220A, 220B of the plates 22A, 22B are not limited to being made of rubber, and other materials having a friction coefficient similar to or greater than that of rubber may be used. The rotating bodies 6B, 7B may not have the rubber cylinders 65, 75. The rotating bodies 6B, 7B themselves may be made of rubber.

[0106] <Other> The upper side is an example of the "first direction" of the present invention. The lower side is an example of the "second direction" of the present invention. The front side is an example of the "third direction" of the present invention. The upper surface 841 of the platen 84 is an example of the "first surface" of the present invention. The lower surface 842 of the platen 84 is an example of the "second surface" of the present invention. The fabric T is an example of the "medium" of the present invention. The rotating bodies 6B and 7B are an example of the "second contact portion" of the present invention. The claw unit 51 is an example of the "axial support member" of the present invention. The support shaft 33 is an example of the "first shaft" of the present invention. The rotating shaft 46 is an example of the "second shaft" of the present invention. The end effector 5A is an example of the "moving mechanism" of the present invention. The lower surfaces 220A and 220B of the plates 22A and 22B are an example of the "third surface" of the present invention. [Explanation of symbols]

[0107] 1: Printing system 2: 1st support part 3:Second support part 4:Connection part 5: Rotation mechanism 5A: End effector 6A, 7A: Link mechanism 6B, 7B: Rotating body 9A: Head 15: First motor 16: Second motor 20: Desorption device 22A, 22B: Plate body 33: Support shaft 46, 63, 64, 73, 74: Rotation axis 51: Claw unit 61, 71: Section 1 62, 72: Section 2 69, 79: Spring 84: Platen T:Fabric

Claims

1. 1. A detachment device that detaches a medium from a platen, the medium including: a first portion extending along a first surface that is an end surface of a platen in a first direction; a second portion extending along a second surface that is an end surface of the platen in a second direction opposite to the first direction; and a third portion that connects the first portion and the second portion and is folded back at an end of the platen in a third direction perpendicular to the first direction and the second direction, a first support portion located opposite the platen in the first direction with respect to the first portion of the medium; a second support portion having a second contact portion that contacts a surface of the second portion of the medium opposite to a surface facing the platen, the second contact portion being movable in the third direction; a connecting portion that is located opposite the platen in the third direction with respect to the first support portion and the second support portion, and that connects the first support portion and the second support portion; A desorption device comprising:

2. The first support portion is 2. The detachment device according to claim 1, wherein when the second contact portion of the second support portion moves in the third direction while in contact with the second portion of the medium, the second contact portion contacts a surface of the first portion of the medium opposite to a surface that faces the first surface of the platen.

3. The second contact portion is 2. The detachment device according to claim 1, further comprising a rotor that is rotatable about a rotation axis perpendicular to the first direction, the second direction, and the third direction.

4. The second support portion has a link mechanism, The link mechanism includes: A first section having one end connected to the connecting portion; a second section having one end connected to the other end of the first section; Equipped with The rotating body is provided at the other end of the second section, The detachment device according to claim 3 , further comprising a rotation mechanism that rotates the first section relative to the connecting portion.

5. 5. The detachment device according to claim 4, further comprising a spring for urging the rotor toward the platen.

6. The rotating body has a one-way clutch, The one-way clutch is The rotating body is made rotatable in a first rotation direction in which the contact portion with the medium moves in the third direction, and the rotating body is made unrotatable in a second rotation direction opposite to the first rotation direction.

5. The desorption device according to claim 4.

7. The second support portion has a first axis, The rotation mechanism includes: a shaft support member for supporting the first shaft; a moving mechanism that moves the pivot member in the first direction and the second direction; Equipped with 5. The detachment device according to claim 4, wherein the second support portion is rotatable about a second axis spaced apart from the first axis by movement of the pivot support member in the first direction and the second direction.

8. The detachment device according to claim 4 , wherein the rotation mechanism includes a first motor.

9. 5. The detachment device according to claim 4, further comprising a second motor for rotating the second joint relative to the first joint.

10. The first support portion is 4. The desorption device according to claim 3, further comprising a plate having a third surface facing the first portion of the medium.

11. The desorption device according to claim 10 , wherein the third surface is inclined with respect to a direction parallel to the first surface.

12. the second contact portion is made of rubber; 11. The desorption device of claim 10, wherein the third surface is made of rubber.

13. The second support portion has a link mechanism, The link mechanism includes: A first section having one end connected to the connecting portion; a second section having one end connected to the other end of the first section; Equipped with The rotating body is provided at the other end of the second section, A rotation mechanism is further provided to rotate the first joint relative to the connecting portion, The detachment device described in claim 10, characterized in that when the first node is rotated by the rotation mechanism, the movement trajectory of the connection portion between the first node and the second node passes opposite the first portion of the medium in the first direction from an imaginary plane extending along the third surface of the first support portion.

14. A platen, a detachment device that detaches from the platen a medium including a first portion extending along a first surface that is an end surface of the platen in a first direction, a second portion extending along a second surface that is an end surface of the platen in a second direction opposite to the first direction, and a third portion that connects the first portion and the second portion and is folded back at an end of the platen in a third direction perpendicular to the first direction and the second direction; A printing system comprising: The desorption device includes: a first support portion located opposite the platen in the first direction with respect to the first portion of the medium; a second support portion having a second contact portion that contacts a surface of the second portion of the medium opposite to a surface facing the platen, the second contact portion being movable in the third direction; a connecting portion that is located opposite the platen in the third direction with respect to the first support portion and the second support portion, and that connects the first support portion and the second support portion; A printing system comprising:

15. 15. The printing system according to claim 14, further comprising a head that performs printing by ejecting ink onto the medium held by the platen.

16. The second contact portion is a rotor that can rotate about a rotation axis perpendicular to the first direction, the second direction, and the third direction, The second support portion has a link mechanism, The link mechanism includes: A first section having one end connected to the connecting portion; a second section having one end connected to the other end of the first section; Equipped with The rotating body is provided at the other end of the second section, The printing system according to claim 14 , further comprising a rotation mechanism that rotates the first joint relative to the connecting portion.

17. 17. The printing system according to claim 16, further comprising a spring that biases the rotating body toward the platen.

18. The rotating body has a one-way clutch, The one-way clutch is The rotating body is made rotatable in a first rotation direction in which the contact portion with the medium moves in the third direction, and the rotating body is made unrotatable in a second rotation direction opposite to the first rotation direction.

17. The printing system according to claim 16.

19. The first support portion is a plate having a third surface facing the first portion of the medium; The printing system according to claim 15 , wherein the third surface is inclined with respect to a direction parallel to the first surface.

20. The detachment device is relatively movable in a direction approaching the platen and in a direction away from the platen.

15. The printing system according to claim 14.

Images