Peeling device and method for peeling sheet material

Abstract

The objective is to provide a peeling device and a sheet material peeling method that can suppress the occurrence of poor retention of the protected member by the protected member holding means. [Solution] The peeling device according to the present disclosure is a peeling device for peeling off a sheet material attached to the upper surface of a member to be protected, comprising: a member to be protected holding means for holding the member to be protected from a side other than the upper surface of the member to be protected; a sheet material peeling means for peeling the sheet material from the member to be protected by changing the relative position with respect to the member to be protected holding means while holding the end of the sheet material; and a position restricting means for restricting the movement of the member to be protected in a direction away from the member to be protected holding means.

Description

Technical Field

[0001] The present disclosure relates to a peeling apparatus and a sheet material peeling method.

Background Art

[0002] Conventionally, there is a protected member such as a flat plate-shaped member to which a sheet material for protecting against scratches and foreign matter adhesion is attached. Before the assembly of the protected member, a peeling step of peeling and removing the sheet material is performed.

[0003] As a conventional sheet material peeling method, for example, a sheet material peeling method is disclosed in which an end portion of the sheet material is held, and the relative position with respect to the attachment surface of the protected member to which the sheet material is attached is changed to peel the sheet material from the protected member. (For example, see Patent Document 1)

[0004] Further, conventionally, when the thickness of the protected member is small, the sheet material may be peeled using the above-described sheet material peeling method in a state where the surface of the protected member to which the sheet material is not attached is held by a protected member holding means such as a suction plate. (For example, see Patent Document 2)

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problem to be Solved by the Invention

[0006] When the sheet material is peeled off using, for example, the sheet material peeling method described in Patent Document 1, while the side of the protected member to be protected that does not have the sheet material attached is held by the protected member holding means, the protected member may peel off from the protected member holding means in accordance with the movement of the sheet material peeling off from the protected member. As a result, there was a problem of poor holding of the protected member by the protected member holding means.

[0007] This disclosure is made to solve the above-mentioned problems and aims to provide a peeling device and a method for peeling sheet material that can suppress the occurrence of poor retention of the protected member by the protected member holding means. [Means for solving the problem]

[0008] The peeling device according to the present disclosure is a peeling device for peeling off a sheet material attached to the upper surface of a member to be protected, comprising: a member to be protected holding means for holding the member to be protected from a side other than the upper surface of the member to be protected; a sheet material peeling means for peeling the sheet material from the member to be protected by changing the relative position with respect to the member to be protected holding means while holding the end of the sheet material; and a position restricting means for restricting the movement of the member to be protected in a direction away from the member to be protected holding means.

[0009] The peeling device according to this disclosure is a peeling device for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction, and comprises a member to be protected holding means for holding the member to be protected from a side other than the upper surface of the member to be protected, a sheet material peeling means for holding the tabs of the sheet material in a state where they are bent upward in a direction perpendicular to the upper surface of the sheet material, and peeling off the sheet material from the member to be protected by changing the relative position with respect to the member to be protected while holding the tabs, and a rotating means for rotating the sheet material peeling means, wherein the rotating means rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the member to be protected before the sheet material peeling means changes its relative position with respect to the member to be protected holding means.

[0010] The sheet material peeling method according to the present disclosure is a sheet material peeling method for peeling a sheet material attached to the upper surface of a member to be protected, comprising: a member to be protected holding step in which a member to be protected holding means holds the member to be protected from a side other than the upper surface of the member to be protected; a sheet material peeling step in which a sheet material peeling means holds the end of the sheet material; a sheet material peeling step in which, while holding the end of the sheet material, the sheet material peeling means changes its relative position with respect to the member to be protected holding means to peel the sheet material from the member to be protected; and a position restricting step in which, during the sheet material peeling step, a position restricting means restricts the movement of the member to be protected in a direction away from the member to be protected holding means.

[0011] The sheet material peeling method according to this disclosure is a method for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction, comprising: a member to be protected holding step in which a member to be protected holding means holds the member to be protected from a side other than the upper surface of the member to be protected; a sheet material peeling step in which a sheet material peeling means holds the tabs of the sheet material in a state in which the tabs of the sheet material are bent upward in a direction perpendicular to the upper surface of the sheet material; a rotation step in which, with the sheet material peeling means holding the tabs, a rotation means rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the member to be protected; and a sheet material peeling step in which, with the sheet material peeling means rotated by a certain angle, the sheet material peeling means changes its relative position with respect to the member to be protected holding means and peels the sheet material from the member to be protected. [Effects of the Invention]

[0012] The peeling device and sheet material peeling method described herein can provide a peeling device and sheet material peeling method that can suppress the occurrence of poor holding of the protected member by the protected member holding means. [Brief explanation of the drawing]

[0013] [Figure 1] These are schematic top and side views showing the configuration of the target member placed on the peeling device that implements the sheet material peeling method according to Embodiment 1. [Figure 2]This is a schematic top view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 3] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 4] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 5] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 6] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 7] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 8] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 1. [Figure 9] This is a flowchart showing an example of the procedure of the sheet material peeling method according to Embodiment 1. [Figure 10] This is a schematic top view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Modification 1 of Embodiment 1. [Figure 11] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Modification 2 of Embodiment 1. [Figure 12] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Modification 2 of Embodiment 1. [Figure 13] This is a schematic top view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 14] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 15] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 16]This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 17] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 18] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 19] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 2. [Figure 20] This is a flowchart showing an example of the procedure of the sheet material peeling method according to Embodiment 2. [Figure 21] This is a schematic side view showing the configuration of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 3. [Figure 22] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 3. [Figure 23] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 3. [Figure 24] This is a schematic side view showing the operation of a peeling apparatus that realizes the sheet material peeling method according to Embodiment 3. [Figure 25] This is a flowchart showing an example of the procedure of the sheet material peeling method according to Embodiment 3. [Mode for Carrying Out the Invention]

[0014] One side in the direction parallel to the depth direction of the peeling apparatus is referred to as "upper", and the other side is referred to as "lower". Of the two main surfaces of the constituent elements of the peeling apparatus, one surface is referred to as the upper surface, and the other surface is referred to as the lower surface. The "upper" and "lower" directions are not limited to the gravitational direction.

[0015] For the convenience of description, in the following, description will be given with the width direction of the peeling apparatus defined as the X-axis direction, the depth direction of the peeling apparatus intersecting the X-axis direction defined as the Y-axis direction, and the thickness direction or height direction of the peeling apparatus, that is, the normal direction to the XY plane, defined as the Z-axis direction.

[0016] Furthermore, the drawings are schematic representations, and the relative sizes and positions of images shown in different drawings are not necessarily accurately depicted and may be modified as appropriate. In the following explanation, similar components are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed explanations of these components may be omitted.

[0017] Embodiment 1. The method for peeling the sheet material according to Embodiment 1 will be described below with reference to the drawings.

[0018] First, the target member 10 placed on the peeling device 100 will be described. Figure 1 is a schematic diagram showing the configuration of the target member 10 placed on the peeling device 100 that realizes the sheet material peeling method according to Embodiment 1. Figure 1(a) is a schematic top view of the target member 10, and Figure 1(b) is a schematic side view of the target member 10.

[0019] As shown in Figures 1 and 2, the target member 10 is composed of a member to be protected 1 and a sheet material 2. The member to be protected 1 is a flat plate-shaped member, for example, a thin plate such as a deflection plate. As shown in Figure 1, the sheet material 2 is attached to the upper surface of the member to be protected 1. The sheet material 2 is attached to the member to be protected 1 to protect it from scratches and foreign matter adhesion. The sheet material 2 attached to the upper surface of the member to be protected 1 is peeled off by a peeling device 100, which will be described later. The member to be protected 1 from which the sheet material 2 has been peeled off is assembled to, for example, any product body. In this embodiment, as shown in Figure 1, the sheet material 2 has a tab 2a that, when viewed from above, protrudes outward from the upper surface of the member to be protected 1 in the outer peripheral direction, with a part of one side of the outer circumference protruding outward. The tab 2a may be provided not only in the state shown in Figure 1, but also so that the entire side of the outer circumference protrudes outward from the upper surface of the member to be protected 1 in the outer peripheral direction when viewed from above. Furthermore, the tab 2a may be provided such that, in a top view, its entire outer circumference protrudes outward from the upper surface of the protected member 1 in the outer peripheral direction. As described above, the sheet material 2 may have a peeling allowance, such as the tab 2a, that protrudes outward from the upper surface of the protected member 1 in the outer peripheral direction when viewed from above. For example, the sheet material peeling means 120, which will be described later, can hold and move this peeling allowance, thereby allowing the sheet material 2 to be peeled from the protected member 1.

[0020] Next, an example of the peeling device 100 will be described using Figures 2 to 4. Figure 2 is a schematic top view showing the configuration of the peeling device 100 that realizes the sheet material peeling method according to Embodiment 1. Figure 3 is a schematic side view showing the configuration of the peeling device 100 that realizes the sheet material peeling method according to Embodiment 1. Figure 4 is a simplified side view showing only the protected member holding means 110, the sheet material holding part 121 of the sheet material peeling means 120, and the regulating part 131 of the position regulating means 130 of the peeling device 100.

[0021] As shown in Figures 2-4, the peeling device 100 includes a member to be protected holding means 110, a sheet material peeling means 120, and a position regulating means 130. The peeling device 100 peels off the sheet material 2 attached to the upper surface of the member to be protected 1.

[0022] The protected member holding means 110 holds the protected member 1 from sides other than the top surface of the protected member 1. In this embodiment, as shown in Figure 3, the protected member holding means 110 holds the protected member 1 from the bottom surface of the protected member 1. Also in this embodiment, as shown in Figure 3, the protected member holding means 110 is positioned below the protected member 1 in the direction of gravity. However, the protected member holding means 110 may be positioned above the protected member 1 in the direction of gravity. Also in this embodiment, the protected member holding means 110 is, for example, an adsorption plate that adsorbs and holds the protected member 1 to which the sheet material 2 is attached. As for the method of holding the protected member 1, any method is acceptable as long as the protected member 1 can be fixed, such as adsorption holding, adhesive holding, or mechanical gripping.

[0023] The sheet material peeling means 120 peels the sheet material 2 from the protected member 1 by changing its relative position with respect to the protected member holding means 110 while holding the end of the sheet material 2. The sheet material peeling means 120 in this embodiment consists of a sheet material holding part 121 that holds the end of the sheet material 2 and a drive part 122 that drives the sheet material holding part 121 to change its relative position with respect to the protected member holding means 110. In the following description, the sheet material holding part 121 may also be simply referred to as the sheet material peeling means 120. In this embodiment, the tip portion 121a of the sheet material holding part 121 of the sheet material peeling means 120 peels the sheet material 2 from the protected member 1 by changing its relative position with respect to the protected member holding means 110 while holding the end of the sheet material 2. In this embodiment, as shown in Figure 2, the tip portion 121a of the sheet material holding part 121 of the sheet material peeling means 120 moves in a direction parallel to the upper and lower edges of the sheet material 2 (in the X-axis direction in Figure 2) when viewed from above. More specifically, the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 moves in the X-axis direction in Figure 2, from the positive side to the negative side of the X-axis. The tip portion 121a of the sheet material holding portion 121 may also move in the diagonal direction of the upper surface of the sheet material 2 when viewed from above. Furthermore, in this embodiment, as shown in Figure 4, the sheet material holding portion 121 uses a mechanical holding method, such as a robot hand that holds the end of the sheet material 2 by clamping it. However, a suction-type holding method, such as a suction pad that holds the upper surface end of the sheet material 2 by suction, may also be used. If the sheet material holding portion 121 uses a suction-type holding method, the tab 2a of the sheet material 2 described above may not be provided. In this embodiment, the sheet material holding portion 121 has a function to drive the tip portion 121a vertically in the thickness direction (Z-axis direction in Figure 4) of the protected member 1 in order to hold the end of the sheet material 2 by clamping it. Furthermore, in this embodiment, as shown in Figures 2 and 3, the drive unit 122 is composed of a first cylinder 122a and a first linear guide 122b.As shown in Figure 2, the first cylinder 122a and the first linear guide 122b are positioned parallel to the upper and lower edges of the sheet material 2 in a top view. Therefore, the sheet material holding portion 121 connected to the first cylinder 122a and the first linear guide 122b moves in a direction parallel to the upper and lower edges of the sheet material 2 in a top view (the X-axis direction in Figure 2).

[0024] The position restricting means 130 restricts the movement of the protected member 1 in the direction away from the protected member holding means 110. In this embodiment, the position restricting means 130 consists of a restricting portion 131 that restricts the movement of the protected member 1 in the direction away from the protected member holding means 110 (the positive Z-axis direction in Figure 4), and a support portion 132 that movably supports the restricting portion 131. In the following description, the restricting portion 131 may also be simply referred to as the position restricting means 130. In this embodiment, the restricting portion 131 is positioned near the initial position of the sheet material holding portion 121 of the sheet material peeling means 120 and moves in accordance with the movement of the peeling portion 3. The peeling portion 3 is the boundary portion with the protected member 1 that occurs when the sheet material 2 is peeled away from the protected member 1. In other words, the peeling portion 3 is the part where the sheet material 2 begins to peel away from the protected member 1, and is the part that moves in the direction in which the peeling of the sheet material 2 from the protected member 1 progresses. In this embodiment, the direction in which the peeling portion 3 extends is perpendicular to the direction of travel of the sheet material holding portion 121. In this embodiment, the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 moves in the X-axis direction in Figure 2, from the positive side to the negative side of the X-axis. Therefore, the direction in which the peeling portion 3 extends is perpendicular to the direction in which the tip portion 121a of the sheet material holding portion 121 moves (the Y-axis direction in Figure 2). Also, in this embodiment, the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 moves in the X-axis direction in Figure 2, from the positive side to the negative side of the X-axis. Therefore, the direction in which the peeling portion 3 moves is the same as the direction in which the tip portion 121a of the sheet material holding portion 121 moves. In this embodiment, the peeling portion 3 moves in the X-axis direction in Figure 2 from the positive side to the negative side of the X-axis. Therefore, the restricting portion 131 in this embodiment also moves in the X-axis direction in Figure 2 from the positive side to the negative side of the X-axis, following the movement of the peeling portion 3. The restricting portion 131 is provided on the upper surface side of the protected member 1 and is provided so as not to move in the height direction of the protected member 1 (Z-axis direction in Figure 4). In this way, the restricting portion 131 can restrict the movement of the protected member 1 in the direction away from the protected member holding means 110. The position, shape, etc. of the restricting portion 131 are arbitrary as long as it can restrict the movement of the protected member 1 in the direction away from the protected member holding means 110.In this embodiment, the restricting portion 131 is positioned near the initial position of the sheet material holding portion 121 when there is no load, i.e., when the sheet material 2 has not been peeled from the protected member 1. In this embodiment, as shown in Figure 3, the restricting portion 131 of the position restricting means 130 may be positioned on the upper surface of the sheet material 2. In this way, as the sheet material 2 peels from the protected member 1, the sheet material 2 will wrap around the restricting portion 131, causing the restricting portion 131 to move. This allows the restricting portion 131 to move in accordance with the movement of the peeling portion 3 without mechanically driving the restricting portion 131. In this case, it is desirable that the thrust of the restricting portion 131 be adjusted to be smaller than the force that moves the sheet material holding portion 121. In this way, the restricting portion 131 can be moved in accordance with the movement of the peeling portion 3. Alternatively, the restricting portion 131 of the position restricting means 130 may be positioned on the upper surface of the protected member 1. In this case, for example, the restricting portion 131 can be moved in accordance with the movement of the peeling portion 3 by mechanically driving the restricting portion 131. Also, in this embodiment, as shown in Figure 3, the restricting portion 131 of the position restricting means 130 has an inclined portion 131a that is inclined in the direction toward the peeling portion 3. Furthermore, it is desirable that the position restricting means 130 be made of a resin or metal that has high wear resistance and a low coefficient of friction. In this way, electrostatic countermeasures can be implemented when peeling the sheet material 2 from the protected member 1. Also, in this embodiment, as shown in Figure 2, the support portion 132 is composed of a second cylinder 132a and a second linear guide 132b. Since the second cylinder 132a and the second linear guide 132b are arranged parallel to the upper and lower edges of the sheet material 2 in a top view, the restricting portion 131 connected to the second cylinder 132a and the second linear guide 132b moves in a direction parallel to the upper and lower edges of the sheet material 2 in a top view (the X-axis direction in Figure 2).

[0025] The peeling device 100 of this embodiment is configured as described above.

[0026] The peeling device 100 of this embodiment includes a position restricting means 130, which restricts the movement of the protected member 1 in a direction away from the protected member holding means 110. In this way, when the sheet material peeling means 120 peels the sheet material 2 from the protected member 1, it is possible to suppress the protected member 1 from peeling off the protected member holding means 110 in accordance with the movement of the sheet material 2 peeling off the protected member 1. As a result, it is possible to suppress the occurrence of poor holding of the protected member by the protected member holding means. Here, poor holding of the protected member by the protected member holding means refers to, for example, the protected member 1 held by the protected member holding means 110 peeling off the protected member holding means 110, or moving from its initial position while being held.

[0027] Furthermore, in the conventional technology, the protected member 1 peels off from the protected member holding means 110 starting from the peeling portion 3 where the sheet material 2 peels off from the protected member 1. In the peeling device 100 of this embodiment, as described above, the position regulating means 130 is positioned near the initial position of the sheet material peeling means 120 and moves in accordance with the movement of the peeling portion 3. By doing so, when the sheet material peeling means 120 peels the sheet material 2 from the protected member 1, the protected member 1 peels off from the protected member holding means 110 in accordance with this, which further suppresses the peeling of the protected member 1 in accordance with this. As a result, the occurrence of poor holding of the protected member by the protected member holding means can be further suppressed.

[0028] Furthermore, as described above, the protected member holding means 110 may be positioned above the protected member 1 in the direction of gravity. According to the peeling device 100 of this embodiment, the occurrence of poor holding of the protected member by the protected member holding means can be further suppressed. Therefore, even if the protected member holding means 110 is positioned above the protected member 1 in the direction of gravity, it is possible to suppress the protected member 1 from peeling off from the protected member holding means 110 and falling downward.

[0029] Next, an example of a method for peeling sheet material using the peeling device 100 described above will be explained with reference to Figures 5 to 9. Figures 5 to 8 are schematic side views showing the operation of the peeling device 100. Note that Figures 5 to 8 are simplified diagrams showing only the protected member holding means 110, the sheet material holding part 121 of the sheet material peeling means 120, and the regulating part 131 of the position regulating means 130 of the peeling device 100. Figure 9 is a flowchart showing an example of the procedure for peeling sheet material according to this embodiment.

[0030] A method for peeling a sheet material from a protected member comprises a protected member holding step, a sheet material holding step, a sheet material peeling step, and a position regulating step. The method for peeling a sheet material from a protected member involves peeling off the sheet material 2 attached to the upper surface of the protected member 1.

[0031] When the peeling device 100 receives a command from an external control device (not shown) to start the process of peeling the sheet material, it starts the process shown in Figure 9. (Start) For example, the process shown in Figure 9 may be started when the target member 10 described above is placed on the peeling device 100.

[0032] In step ST1001, the protected member holding process is performed. As shown in Figure 5, in the protected member holding process, the protected member holding means 110 holds the protected member 1 from the side other than the top surface of the protected member 1.

[0033] In step ST1002, the sheet material holding process is performed. As shown in Figure 6, in the sheet material holding process, the sheet material peeling means 120 holds the end of the sheet material 2 attached to the protected member 1.

[0034] In step ST1003, a sheet material peeling process is performed. As shown in Figures 7 and 8, in the sheet material peeling process, the sheet material peeling means 120 holds the end of the sheet material 2 attached to the protected member 1 and peels the sheet material 2 from the protected member 1 by changing its relative position with respect to the protected member holding means 110. In this embodiment, as shown in Figures 7 and 8, the sheet material holding portion 121 of the sheet material peeling means 120 is moved by the drive unit 122 in a direction parallel to the upper surface of the sheet material 2 in a side view (in the X-axis direction in Figures 7 and 8). The moving speed of the sheet material peeling means 120 is set to, for example, 0.05 to 2 m / s. Furthermore, when the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110 by moving in a direction parallel to the upper surface of the sheet material 2, it is desirable that the position regulating means 130 has an inclined portion 131a that is inclined in the direction toward the peeling portion 3. In this way, as shown in Figures 6 and 7, the sheet material 2 can easily change from a 90° peeled state to a 180° peeled state during the sheet material peeling process, thereby improving the efficiency of the sheet material peeling process.

[0035] In step ST1003, a position regulating process is performed in parallel with the sheet material peeling process. As shown in Figures 7 and 8, in the position regulating process, the position regulating means 130 restricts the movement of the protected member 1 away from the protected member holding means 110 during the sheet material peeling process. In this embodiment, first, as shown in Figure 6, the regulating portion 131 of the position regulating means 130 is positioned near the initial position of the sheet material holding portion 121 of the sheet material peeling means 120. Furthermore, as shown in Figures 7 and 8, the regulating portion 131 of the position regulating means 130 moves in accordance with the movement of the peeling portion 3. In this embodiment, as shown in Figure 8, in step ST1003, the position regulating means 130 moves in accordance with the movement of the peeling portion 3 until all of the sheet material 2 is peeled from the protected member 1.

[0036] If, in step ST1004, the sheet material 2 is completely detached from the protected member 1 (step ST1004 "YES"), the process shown in Figure 9 is terminated. (Termination) If, in step ST1004, the sheet material 2 is not completely detached from the protected member 1 (step ST1004 "NO"), the process in step ST1003 is continued.

[0037] The sheet material 2 attached to the protected member 1 is peeled off using the sheet material peeling method described above. The sheet material peeling method of this embodiment includes a position regulating step, in which, during the sheet material peeling step, the position regulating means 130 restricts the movement of the protected member 1 in the direction away from the protected member holding means 110. In this way, when the sheet material 2 peels off from the protected member 1 during the sheet material peeling step, it is possible to suppress the protected member 1 from peeling off from the protected member holding means 110 in response. As a result, it is possible to suppress the occurrence of poor holding of the protected member by the protected member holding means.

[0038] Furthermore, in the conventional technology, as described above, the protected member 1 peels off from the protected member holding means 110 starting from the peeling portion 3. In the sheet material peeling method of this embodiment, as described above, in the position regulating step, the position regulating means 130 is positioned near the initial position of the sheet material peeling means 120 and moves in accordance with the movement of the peeling portion 3. By doing so, when the sheet material 2 peels off from the protected member 1 during the sheet material peeling step, the protected member 1 peels off from the protected member holding means 110 in accordance with the sheet material peeling step. As a result, the occurrence of poor holding of the protected member by the protected member holding means can be further suppressed.

[0039] Next, a modified version of Embodiment 1 will be described. First, Modification 1 of Embodiment 1 will be described using Figure 10. Figure 10 is a schematic top view of the peeling device 100A according to Modification 1. In Figure 10, only the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 is shown. Also, Figure 10 shows the state of the peeling device 100A during the sheet material peeling process described above. In the peeling device 100A of Modification 1, the support portion 132 rotatably supports the restricting portion 131. For example, as shown in Figure 10, the position restricting means 130 may further include a rotating shaft 133 and an elastic member 134. As shown in Figure 10, the rotating shaft 133 is movably attached to the support portion 132. As shown in Figure 10, both ends of the restricting portion 131 are rotatably connected to the rotating shaft 133. As shown in Figure 10, one end of the restricting portion 131 may be connected to the rotating shaft 133 via the elastic member 134. The elastic member 134 is, for example, a spring.

[0040] As shown in Figure 10, when the tip 121a of the sheet material holding portion 121 moves while holding the corner of the sheet material 2 in a top view, changing its relative position with respect to the protected member 1, the peeling speed of the sheet material 2 may slow down as it moves away from the point where the sheet material 2 is held by the tip 121a of the sheet material holding portion 121. In other words, as shown in Figure 10, in a top view, the extending direction of the peeling portion 3 may not be perpendicular to the direction of travel of the tip 121a of the sheet material holding portion 121. As described above, in the peeling device 100A of the modified example 1, the support portion 132 is configured to rotatably support the restricting portion 131, so even in the above case, the restricting portion 131 can be moved to follow the extending direction of the peeling portion 3. In this way, when the sheet material peeling means 120 peels the sheet material 2 from the protected member 1, it is possible to further suppress the protected member 1 from peeling off the protected member holding means 110 in accordance with this. As a result, the occurrence of poor retention of the protected member by the protected member holding means can be further suppressed.

[0041] Next, a modified example 2 of Embodiment 1 will be described using Figures 11 and 12. Figures 11 and 12 are schematic side views of the peeling device 100B according to Modified Example 2. Figure 11 shows the state of the peeling device 100B during the sheet material holding process described above, and Figure 12 shows the state of the peeling device 100B during the sheet material peeling process described above. In the peeling device 100B of Modified Example 2, the drive unit 122 is a rack and pinion mechanism composed of racks 122d, 122e and a pinion 122f. Furthermore, in the peeling device 100B of Modified Example 2, the sheet material holding unit 121 and the regulating unit 131 of the position regulating means 130 are driven by the rack and pinion mechanism. As shown in Figures 11 and 12, the sheet material holding unit 121 is connected to the second rack 122e, and the regulating unit 131 is connected to the first rack 122d. Furthermore, the gear ratio between the second rack 122e and pinion 122f is made greater than the gear ratio between the first rack 122d and pinion 122f. This reduces the movement speed of the restricting section 131 relative to the sheet material holding section 121. For example, the gear ratio between the first rack 122d and pinion 122f may be set to twice the gear ratio between the second rack 122e and pinion 122f.

[0042] As described above, in the peeling device 100B of the modified example 2, the drive unit 122 is a rack and pinion mechanism composed of racks 122d, 122e and a pinion 122f, and the sheet material holding unit 121 and the regulating unit 131 of the position regulating means 130 are driven by the rack and pinion mechanism, so that the regulating unit 131 can be mechanically moved to follow the movement of the peeling unit 3. In this way, the same effect as the peeling device 100 can be achieved.

[0043] Embodiment 2. The method for peeling the sheet material in Embodiment 2 will be explained with reference to Figures 13 to 15. Figure 13 is a schematic top view showing the configuration of the peeling device 200 that realizes the sheet material peeling method according to Embodiment 2. Figure 14 is a schematic side view showing the configuration of the peeling device 200 that realizes the sheet material peeling method according to Embodiment 2. Figure 15 is a simplified diagram showing only the protected member holding means 110, the sheet material holding part 121 of the sheet material peeling means 120, the regulating part 131 of the position regulating means 130, and the elastic member 135 of the peeling device 200.

[0044] The peeling device 200 that implements the sheet material peeling method of Embodiment 2 differs from the peeling device 100 of Embodiment 1 in that the position regulating means 130 moves in accordance with the movement of the peeling section 3 only during the initial peeling stage.

[0045] In Embodiment 2, the position restricting means 130 is composed of a restricting part 131 that restricts the movement of the protected member 1 in the direction away from the protected member holding means 110. In this embodiment, as shown in Figure 15, the restricting part 131 is connected to the sheet material holding part 121 of the sheet material peeling means 120 via an elastic member 135. The elastic member 135 is, for example, a spring. In this embodiment, the restricting part 131 is connected to the sheet material holding part 121 of the sheet material peeling means 120 via a plurality of elastic members 135. For example, with the above configuration, the restricting part 131 can be moved in accordance with the movement of the peeling part 3 only during initial peeling. Details will be described later. Initial peeling refers to, for example, until peeling of the entire side of the sheet material 2 begins, and for example, a distance of about 10% of the entire upper surface of the sheet material 2.

[0046] The peeling device 200 of this embodiment is configured as described above.

[0047] In conventional technology, the protected member 1 is prone to peeling off the protected member holding means 110, especially during the initial peeling stage. In the peeling device 200 of this embodiment, as described above, the position regulating means 130 moves in accordance with the movement of the peeling section 3 only during the initial peeling stage. In this way, during the initial peeling stage when the protected member 1 is prone to peeling off the protected member holding means 110, the sheet material peeling means 120 can peel the sheet material 2 from the protected member 1, thereby suppressing the protected member 1 from peeling off the protected member holding means 110 in accordance with the sheet material peeling means 120. As a result, it is possible to suppress the occurrence of poor retention of the protected member by the protected member holding means during the initial peeling stage when the protected member 1 is prone to peeling off the protected member holding means 110.

[0048] Next, an example of a method for peeling sheet material using the peeling device 200 described above will be explained with reference to Figures 16-20. Figures 16-19 are schematic side views showing the operation of the peeling device 200. Note that Figures 16-19 are simplified diagrams showing only the protected member holding means 110, the sheet material holding part 121 of the sheet material peeling means 120, the regulating part 131 of the position regulating means 130, and the elastic member 135 of the peeling device 200. Figure 20 is a flowchart showing an example of the procedure for peeling sheet material according to this embodiment.

[0049] The method for peeling the sheet material in this embodiment differs from that of Embodiment 1 in its positioning process. The following description will focus on the positioning process.

[0050] When the peeling device 200 receives a command from an external control device (not shown) to start processing, it begins the process shown in Figure 20. (Start)

[0051] Step ST2001 involves the protective member holding process. As shown in Figure 16, in the protective member holding process, the protective member holding means 110 holds the protective member 1 from sides other than the top surface of the protective member 1.

[0052] In step ST2002, the sheet material holding process is performed. As shown in Figure 17, in the sheet material holding process, the sheet material peeling means 120 holds the end of the sheet material 2 attached to the protected member 1. Note that, as shown in Figure 17, the elastic member 135 is in a compressed state before the sheet material peeling process.

[0053] Step ST2003 involves a sheet material peeling process. As shown in Figures 18 and 19, in the sheet material peeling process, the sheet material peeling means 120 holds the end of the sheet material 2 attached to the protected member 1 and peels the sheet material 2 from the protected member 1 by changing its relative position with respect to the protected member holding means 110. In this embodiment, as shown in Figures 18 and 19, the sheet material holding portion 121 of the sheet material peeling means 120 is moved by the drive unit 122 in a direction toward opposing edges on the upper surface of the sheet material 2 (X-axis direction in Figures 18 and 19). Alternatively, the sheet material holding portion 121 may be moved by the drive unit 122 in the diagonal direction of the upper surface of the sheet material 2.

[0054] Furthermore, in step ST2003, a position regulating process is performed in parallel with the sheet material peeling process. As shown in Figures 18 and 19, in the position regulating process, during the sheet material peeling process, the regulating portion 131 of the position regulating means 130 restricts the movement of the protected member 1 in the direction away from the protected member holding means 110. In this embodiment, as described above, the regulating portion 131 is connected to the sheet material holding portion 121 of the sheet material peeling means 120 via an elastic member 135. Therefore, as shown in Figure 18, by causing the elastic member 135 to stretch until the sheet material 2 is initially peeled from the protected member 1, the regulating portion 131 of the position regulating means 130 can be moved in accordance with the movement of the peeling portion 3 only during the initial peeling. Furthermore, as shown in Figure 19, after the sheet material 2 has been initially peeled from the protected member 1, the elastic member 135 is fully stretched, so the restricting portion 131 of the position restricting means 130 does not follow the movement of the peeling portion 3, but rather moves in accordance with the movement of the sheet material holding portion 121.

[0055] If, in step ST2004, the sheet material 2 is completely detached from the protected member 1 (step ST2005 "YES"), the process shown in Figure 20 is terminated. (Termination) If, in step ST2004, the sheet material 2 is not completely detached from the protected member 1 (step ST2005 "NO"), the process in step ST2003 is continued.

[0056] In the conventional technology, as described above, the protected member 1 is prone to peeling off the protected member holding means 110, especially during the initial peeling stage. In the sheet material peeling method of this embodiment, as described above, in the position regulating step, the position regulating means 130 is positioned near the initial position of the sheet material peeling means 120 and moves only during the initial peeling stage, following the movement of the peeling section 3. By doing so, during the initial peeling stage of the sheet material peeling process, when the sheet material peeling means 120 peels the sheet material 2 from the protected member 1, it is possible to suppress the protected member 1 from peeling off the protected member holding means 110 in accordance with the sheet material peeling means 120's peeling of the sheet material 2 from the protected member 1. As a result, it is possible to suppress the occurrence of poor retention of the protected member by the protected member holding means during the initial peeling stage when the protected member 1 is prone to peeling off the protected member holding means 110.

[0057] Embodiment 3. The method for peeling the sheet material in Embodiment 3 will be explained with reference to Figure 21. Figure 21 is a schematic side view showing the configuration of a peeling device 300 that realizes the sheet material peeling method according to Embodiment 3. Figure 21 is a simplified diagram showing only the sheet material holding part 121 of the sheet material peeling means 120, which is part of the peeling device 300. The sheet material holding part 121 is driven, for example, by the drive unit 122 described above. The sheet material 2 in this embodiment has the tab 2a described above. In Figure 21, the protected member holding means 110 is positioned below the protected member 1 in the direction of gravity (negative Z-axis in Figure 21), but the protected member holding means 110 may be positioned above the protected member 1 in the direction of gravity (positive Z-axis in Figure 21).

[0058] The peeling device 300, which implements the sheet material peeling method of Embodiment 3, differs from the peeling devices 100 and 200 of Embodiments 1 and 2 in that it does not have a position regulating means 130, but does have a rotating means 140.

[0059] As shown in Figure 21, the sheet material peeling means 120 holds the tab 2a of the sheet material 2 in a state where it is bent upward in a direction perpendicular to the upper surface of the sheet material 2. While holding the tab 2a, the sheet material peeling means 120 peels the sheet material 2 from the protected member 1 by changing its relative position with respect to the protected member holding means 110. In this embodiment, the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 holds the tab 2a of the sheet material 2 in a state where it is bent upward in a direction perpendicular to the upper surface of the sheet material 2, and while the tip portion 121a of the sheet material holding portion 121 holds the tab 2a, the sheet material 2 is peeled from the protected member 1 by changing its relative position with respect to the protected member holding means 110. The sheet material holding portion 121 is, for example, a robot hand that holds the tab 2a of the sheet material 2 by gripping it.

[0060] The rotating means 140 rotates the sheet material peeling means 120. Before the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110, the rotating means 140 rotates the sheet material peeling means 120 by a certain angle in a direction that approaches the center of the upper surface of the protected member 1. In this embodiment, as shown in Figure 21, the sheet material peeling means 120 is positioned at the right end of the sheet material 2 (the end on the positive X-axis in Figure 21) in a side view from the negative Y-axis side, so the rotating means 140 rotates the sheet material peeling means 120 clockwise. If the sheet material peeling means 120 is positioned at the left end of the sheet material 2 (the end on the negative X-axis in Figure 21) in a side view from the negative Y-axis side, the rotating means 140 rotates the sheet material peeling means 120 counterclockwise. The certain angle is a rotation angle sufficient to complete the initial peeling, and may be set as appropriate, for example, in the range of 20° to 45°, and is 180° or less. The rotating means 140 may be, for example, a rotary cylinder provided on the sheet material peeling means 120. For example, by using the above configuration, it is possible to suppress the occurrence of poor holding of the protected member 1 by the protected member holding means 110 during initial peeling. Details will be described later. In this embodiment, the rotating means 140 rotates the tip 121a of the sheet material holding part 121 of the sheet material peeling means 120 by a certain angle in a direction approaching the center of the upper surface of the protected member 1, before the tip 121a of the sheet material holding part 121 of the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110.

[0061] The peeling device 300 of this embodiment is configured as described above.

[0062] In the conventional technology, as described above, the protected member 1 is prone to peeling off from the protected member holding means 110, especially during the initial peeling stage. The peeling device 300 of this embodiment includes, as described above, a rotating means 140 for rotating the sheet material peeling means 120. The sheet material peeling means 120 holds the tab 2a of the sheet material 2 bent upward in a direction perpendicular to the upper surface of the sheet material 2, and while holding the tab 2a, changes its relative position with respect to the protected member holding means 110 to peel the sheet material 2 from the protected member 1. Furthermore, the rotating means 140 rotates the sheet material peeling means 120 by a certain angle in a direction approaching the center of the upper surface of the protected member 1 before the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110. In this way, during the initial peeling phase in which the protected member 1 is prone to peeling from the protected member holding means 110, the sheet material peeling means 120 can peel the sheet material 2 from the protected member 1, thereby suppressing the protected member 1 from peeling off the sheet material 2 in response to this peeling. As a result, during the initial peeling phase in which the protected member 1 is prone to peeling from the protected member holding means 110, it is possible to suppress the occurrence of poor retention of the protected member by the protected member holding means.

[0063] Next, an example of a method for peeling sheet material using the peeling device 300 described above will be explained with reference to Figures 22 to 25. Figures 22 to 24 are schematic top and side views showing the operation of the peeling device 300. Figures 22 to 24 (a) shows a schematic side view, and (b) shows a schematic top view. Note that Figures 22 to 24 are simplified diagrams showing only the protected member holding means 110 and the sheet material holding part 121 of the sheet material peeling means 120 of the peeling device 300. Figure 25 is a flowchart showing an example of the procedure for peeling sheet material according to this embodiment.

[0064] The sheet material peeling method of this embodiment does not include a position regulating step, as in Embodiments 1 and 2, but includes a rotation step. The following description will focus on the rotation step.

[0065] When the peeling device 300 receives a command from an external control device (not shown) to start processing, it begins the process shown in Figure 25. (Start)

[0066] In step ST3001, the protected member holding process is performed. In the protected member holding process, the protected member holding means 110 holds the protected member 1 from the side other than the top surface of the protected member 1.

[0067] In step ST3002, the sheet material holding process is performed. As shown in Figure 22, in the sheet material holding process, the sheet material peeling means 120 holds the tabs 2a of the sheet material 2 in a state where the tabs 2a of the sheet material 2 are bent upward in a direction perpendicular to the upper surface of the sheet material 2.

[0068] In step ST3003, a rotation process is performed. As shown in Figure 23, in the rotation process, with the sheet material peeling means 120 holding the tab 2a of the sheet material 2, the rotating means 140 rotates the sheet material peeling means 120 by a certain angle in a direction approaching the center of the upper surface of the protected member 1 (clockwise in Figure 23). In this way, the sheet material 2 is initially peeled from the protected member 1. In this embodiment, with the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 holding the tab 2a of the sheet material 2, the rotating means 140 rotates the tip portion 121a of the sheet material holding portion 121 of the sheet material peeling means 120 by a certain angle in a direction approaching the center of the upper surface of the protected member 1 (clockwise in Figure 23).

[0069] In step ST3004, the sheet material peeling process is performed. As shown in Figure 24, in the sheet material peeling process, the sheet material peeling means 120 is rotated by a certain angle, and the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110 to peel the sheet material 2 from the protected member 1. In this embodiment, the tip 121a of the sheet material holding part 121 of the sheet material peeling means 120 is rotated by a certain angle, and the tip 121a of the sheet material holding part 121 of the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110 to peel the sheet material 2 from the protected member 1. Also in this embodiment, as shown in Figure 24, the sheet material holding part 121 is moved by the drive unit 122 in the diagonal direction of the upper surface of the sheet material 2. Alternatively, the sheet material holding part 121 may be moved by the drive unit 122 in the direction toward opposing edges on the upper surface of the sheet material 2 when viewed from above (the X-axis direction in Figure 24).

[0070] If, in step ST3005, the sheet material 2 is completely detached from the protected member 1 (step ST3005 "YES"), the process shown in Figure 25 is terminated. (Termination) If, in step ST3005, the sheet material 2 is not completely detached from the protected member 1 (step ST3005 "NO"), the process in step ST3004 is continued.

[0071] In the conventional technology, as described above, the protected member 1 is prone to peeling off from the protected member holding means 110, especially during the initial peeling stage. In the sheet material peeling method of this embodiment, as described above, in the sheet material holding step, the sheet material peeling means 120 holds the tab 2a of the sheet material 2 with the tab 2a of the sheet material 2 bent upward in a direction perpendicular to the upper surface of the sheet material 2. In the rotation step, with the sheet material peeling means 120 holding the tab 2a of the sheet material 2, the rotation means 140 rotates the sheet material peeling means 120 by a certain angle in a direction approaching the center of the upper surface of the protected member 1. In the sheet material peeling step, with the sheet material peeling means 120 rotated by a certain angle, the sheet material peeling means 120 changes its relative position with respect to the protected member holding means 110 and peels the sheet material 2 from the protected member 1. In this way, the initial peeling of the protected member 1, which makes it easy to detach from the protected member holding means 110, can be performed during the rotation process, and when the sheet material peeling means 120 peels the sheet material 2 from the protected member 1, it is possible to suppress the protected member 1 from peeling off from the protected member holding means 110 in response. As a result, it is possible to suppress the occurrence of poor retention of the protected member by the protected member holding means during the initial peeling of the protected member 1, which makes it easy to detach from the protected member holding means 110.

[0072] The configurations shown in the embodiments described above are merely examples of the content of this disclosure and can be combined with other known technologies. Furthermore, the embodiments can be combined with each other. In addition, parts of the configuration can be omitted or modified without departing from the gist of this disclosure.

[0073] The various aspects of this disclosure are summarized below as an appendix. (Note 1) A peeling device for peeling off a sheet material attached to the upper surface of a protected member, A means for holding the protected member, which holds the protected member from a side other than the upper surface of the protected member, A sheet material peeling means that, while holding the end of the sheet material, changes the relative position with respect to the protected member holding means to peel the sheet material from the protected member, A peeling device comprising: a position regulating means for restricting the movement of the protected member in a direction away from the protected member holding means. (Note 2) The position regulating means is positioned near the initial position of the sheet material peeling means. The peeling device according to Appendix 1, wherein the position regulating means moves in accordance with the movement of the peeled portion, which is the boundary portion between the sheet material and the protected member that occurs when the sheet material is peeled from the protected member. (Note 3) The position regulating means is the peeling device described in Appendix 2, which is positioned on the upper surface of the sheet material. (Note 4) The sheet material peeling means changes its relative position to the protected member holding means by moving in a direction parallel to the upper surface of the sheet material. The peeling apparatus according to Appendix 3, wherein the position regulating means has an inclined portion that is inclined in the direction toward the peeling portion. (Note 5) The position regulating means is A restricting unit that restricts the movement of the protected member in a direction away from the protected member holding means, A peeling device according to any one of the appendices 2 to 4, comprising a support portion that movably supports the regulating portion. (Note 6) The support portion is the peeling device according to Appendix 5, which rotatably supports the restricting portion. (Note 7) The aforementioned sheet material peeling means is A sheet material holding portion that holds the end of the sheet material, The peeling device according to any one of the appendices 1 to 6, comprising a drive unit that drives the sheet material holding unit to change its relative position with respect to the protected member holding means. (Note 8) The aforementioned drive unit is a rack and pinion mechanism, The peeling device according to Appendix 7, wherein the sheet material holding portion and the position regulating means are movably supported by the rack and pinion mechanism. (Note 9) The peeling apparatus according to any one of Appendix 2 to Appendix 8, wherein the position regulating means moves in accordance with the movement of the peeling portion only during the initial peeling. (Note 10) The peeling apparatus as described in Appendix 9, wherein the position regulating means is connected to the sheet material peeling means via an elastic member, moves in accordance with the movement of the peeling portion only during initial peeling, and moves in accordance with the movement of the sheet material peeling means after initial peeling. (Note 11) A peeling device for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction from the upper surface of the member to be protected, A means for holding the protected member, which holds the protected member from a side other than the upper surface of the protected member, A sheet material peeling means holds the tab of the sheet material in a state where it is bent upward in a direction perpendicular to the upper surface of the sheet material, and while holding the tab, changes the relative position with respect to the protected member holding means to peel the sheet material from the protected member, The sheet material peeling means is further equipped with a rotating means for rotating the sheet material peeling means, The rotating means is a peeling device that rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the protected member before the sheet material peeling means changes its relative position with respect to the protected member holding means. (Note 12) The peeling device according to any one of the appendices 1 to 11, wherein the means for holding the protected member is positioned above the protected member in the direction of gravity. (Note 13) A method for peeling off a sheet material attached to the upper surface of a member to be protected, A protected member holding step in which the protected member holding means holds the protected member from a side other than the upper surface of the protected member, The sheet material peeling means includes a sheet material holding step of holding the end of the sheet material, A sheet material peeling step in which the sheet material peeling means holds the end of the sheet material and changes its relative position with respect to the protected member holding means to peel the sheet material from the protected member, A method for peeling a sheet material, comprising: a position regulating step in which a position regulating means restricts the movement of the protected member in a direction away from the protected member holding means during the sheet material peeling step. (Note 14) A method for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction from the upper surface of the member to be protected, A protected member holding step in which the protected member holding means holds the protected member from a side other than the upper surface of the protected member, The sheet material peeling means includes a sheet material holding step in which the tab of the sheet material is held in a state in which the tab of the sheet material is bent upward in a direction perpendicular to the upper surface of the sheet material, With the sheet material peeling means holding the tab, the rotating means rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the protected member; A method for peeling a sheet material, comprising: a sheet material peeling step of changing the relative position of the sheet material peeling means with respect to the protected member holding means while the sheet material peeling means is rotated by a certain angle, thereby peeling the sheet material from the protected member. [Explanation of symbols]

[0074] 100, 200, 300 Peeling device, 1 Protected member, 2 Sheet material, 3 Peeling section, 110 Protected member holding means, 120 Sheet material peeling means, 121 Sheet material holding section, 122 Drive section, 122d, 122e, 122f Rack and pinion mechanism, 130 Position regulating means, 131 Regulating section, 131a Inclined section, 132 Support section, 135 Elastic member, 140 Rotating means

Claims

1. A peeling device for peeling off a sheet material attached to the upper surface of a protected member, A means for holding the protected member, which holds the protected member from a side other than the upper surface of the protected member, A sheet material peeling means that, while holding the end of the sheet material, changes the relative position with respect to the protected member holding means to peel the sheet material from the protected member, A peeling device comprising: a position regulating means for restricting the movement of the protected member in a direction away from the protected member holding means.

2. The position regulating means is positioned near the initial position of the sheet material peeling means. The peeling device according to claim 1, wherein the position regulating means moves in accordance with the movement of the peeled portion, which is the boundary portion between the sheet material and the protected member that occurs when the sheet material is peeled from the protected member.

3. The peeling device according to claim 2, wherein the position regulating means is arranged on the upper surface of the sheet material.

4. The sheet material peeling means changes its relative position to the protected member holding means by moving in a direction parallel to the upper surface of the sheet material. The peeling apparatus according to claim 3, wherein the position regulating means has an inclined portion that is inclined in the direction toward the peeling portion.

5. The position regulating means is A restricting unit that restricts the movement of the protected member in a direction away from the protected member holding means, The peeling device according to claim 2, comprising a support portion that movably supports the regulating portion.

6. The peeling device according to claim 5, wherein the support portion rotatably supports the restricting portion.

7. The aforementioned sheet material peeling means is A sheet material holding portion that holds the end of the sheet material, The peeling device according to claim 2, comprising a drive unit that drives the sheet material holding unit to change its relative position with respect to the protected member holding means.

8. The aforementioned drive unit is a rack and pinion mechanism, The peeling device according to claim 7, wherein the sheet material holding portion and the position regulating means are movably supported by the rack and pinion mechanism.

9. The peeling apparatus according to claim 2, wherein the position regulating means moves in accordance with the movement of the peeling portion only during the initial peeling.

10. The peeling apparatus according to claim 9, wherein the position regulating means is connected to the sheet material peeling means via an elastic member, moves in accordance with the movement of the peeling portion only during initial peeling, and moves in accordance with the movement of the sheet material peeling means after initial peeling.

11. A peeling device for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction from the upper surface of the member to be protected, A means for holding the protected member, which holds the protected member from a side other than the upper surface of the protected member, A sheet material peeling means holds the tab of the sheet material in a state where it is bent upward in a direction perpendicular to the upper surface of the sheet material, and while holding the tab, changes the relative position with respect to the protected member holding means to peel the sheet material from the protected member, The sheet material peeling means is further equipped with a rotating means for rotating the sheet material peeling means, The rotating means is a peeling device that rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the protected member before the sheet material peeling means changes its relative position with respect to the protected member holding means.

12. The peeling device according to any one of claims 1 to 11, wherein the means for holding the protected member is positioned above the protected member in the direction of gravity.

13. A method for peeling off a sheet material attached to the upper surface of a member to be protected, A protected member holding step in which the protected member holding means holds the protected member from a side other than the upper surface of the protected member, The sheet material peeling means includes a sheet material holding step of holding the end of the sheet material, A sheet material peeling step in which the sheet material peeling means holds the end of the sheet material and changes its relative position with respect to the protected member holding means to peel the sheet material from the protected member, A method for peeling a sheet material, comprising: a position regulating step in which a position regulating means restricts the movement of the protected member in a direction away from the protected member holding means during the sheet material peeling step.

14. A method for peeling off a sheet material that is attached to the upper surface of a member to be protected and has tabs protruding outward in the outer peripheral direction from the upper surface of the member to be protected, A protected member holding step in which the protected member holding means holds the protected member from a side other than the upper surface of the protected member, The sheet material peeling means includes a sheet material holding step in which the tab of the sheet material is held in a state in which the tab of the sheet material is bent upward in a direction perpendicular to the upper surface of the sheet material, With the sheet material peeling means holding the tab, the rotating means rotates the sheet material peeling means by a certain angle in a direction approaching the center of the upper surface of the protected member; A method for peeling a sheet material, comprising: a sheet material peeling step of changing the relative position of the sheet material peeling means with respect to the protected member holding means while the sheet material peeling means is rotated by a certain angle, thereby peeling the sheet material from the protected member.

Images