Peeling device and peeling method using the same

Abstract

To stably peel off the sheet member provided on the release paper. 【Solution means】 A peeling device for peeling a sheet member from a work having a sheet member on a release paper. The sheet member is an undivided sheet member that is divided into a plurality of sheets by cuts at regular intervals and is not individually separated. It includes a peeling stage for peeling the sheet member from the release paper, an alignment table with a smooth surface in an inclined state for aligning the work, a first arm for moving the work from the alignment table to the peeling stage, a second arm having a plurality of suction parts for sucking the upper surfaces of the undivided sheet members respectively, and a spacing changing mechanism for changing the spacing between the suction parts. The peeling stage includes a peeling table on which the work is placed, a suction part for sucking the release paper from below the peeling table, and a clamp part for gripping the margin part M where the release paper protrudes from the sheet member and rotating in the opposite direction to the sheet member with the gripped part as a base point.

Description

Technical Field

[0001] The present invention relates to a peeling device for peeling a sheet member from a release paper and a peeling method thereof.

Background Art

[0002] Conventionally, the operation of peeling a plurality of sheet members provided in parallel in the length direction on a release paper has been performed entirely by hand, and the sheet members have been peeled off one by one.

[0003] When peeling the sheet members one by one by hand, the efficiency is poor, and automation and labor saving have been demanded. Therefore, Patent Document 1 discloses a peeling device capable of performing a peeling operation of a release paper by matching a feeding operation on the moving device side and a pulling operation on the roller side, and a peeling method of the release paper.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the peeling device and the peeling method described in Patent Document 1, since the sheet member moves linearly, tearing or curling defects of the release paper occur, and it is difficult to peel the sheet member from the release paper.

[0006] Therefore, in view of the above circumstances, the present invention provides a peeling device that can stably peel a sheet member from a release paper, and a peeling method using the peeling device.

Means for Solving the Problems

[0007] The peeling device according to the present invention is a peeling device for peeling a sheet member from a workpiece having the sheet member on a release paper. The sheet member is an undivided sheet member that is divided into a plurality of sheets by cuts at regular intervals and is not individually separated. The peeling device includes a peeling stage for peeling the sheet member from the release paper, an alignment table having a smooth surface in an inclined state for aligning the workpiece, a first arm for moving the workpiece from the alignment table to the peeling stage, a second arm including a plurality of suction parts for respectively sucking the upper surfaces of the undivided sheet members and a spacing changing mechanism for changing the spacing between the suction parts. The peeling stage includes a peeling table on which the workpiece is placed, a suction part for sucking the release paper from below the peeling table, and a clamp part for gripping a margin part protruding from the sheet member of the release paper and rotating in a direction opposite to the sheet member with the gripped part as a base point. The peeling device is characterized by this configuration.

[0008] Furthermore, the peeling device is characterized in that a heater is provided below the smooth surface of the alignment table.

[0009] Furthermore, the alignment table is provided with a first stopper part for blocking the movement of the workpiece in a first direction and a second stopper part for blocking the movement of the workpiece in a second direction perpendicular to the first direction on the smooth surface. The peeling device is characterized by this configuration.

[0010] Furthermore, there is a peeling method using the peeling device described above, which includes a suction step in which the suction part sucks from below the release paper, a gripping step in which the clamp part grips the margin part, a winding step in which the margin part is wound by rotating in a direction opposite to the undivided sheet member with the gripped part as a base point, a suction step in which the suction part sucks above each of the undivided sheet members, and a slight rocking step in which the second arm slightly rocks the suction part back and forth in the cutting direction. The peeling method is characterized by this configuration.

[0011] Furthermore, a peeling method using the peeling device described above, after performing the slight rocking step, while the clamping part grips the margin part, the suction part remains adsorbed above each of the undivided sheet members, and the second arm moves, thereby peeling the undivided sheet member from the release paper, a peeling step; after the suction step, the winding step, and the adsorption step, a dividing step in which the interval changing mechanism widens the interval between the suction parts to individually separate the undivided sheet members into divided sheet members. The peeling method is characterized by comprising these steps.

Effects of the Invention

[0012] According to the present invention, there are provided a plurality of suction parts that respectively adsorb the upper surfaces of undivided sheet members having cuts in the sheet members, and a second arm having an interval changing mechanism for changing the interval between the suction parts. The peeling stage includes a peeling table on which a workpiece is placed, a suction part that sucks the release paper from below the peeling table, and a clamping part that grips the margin part where the release paper protrudes from the sheet member and rotates in the direction opposite to the sheet member with the gripped portion as a base point. Therefore, the sheet member can be easily peeled from the release paper, and the undivided sheet members can be individually made into completely divided sheet members.

[0013] In addition, since a heater is provided below the smooth surface of the alignment table, it becomes easier to peel the sheet member from the release paper.

[0014] In addition, the alignment table is provided with a first stopper part that blocks the movement of the workpiece in the first direction and a second stopper part that blocks the movement of the workpiece in the second direction perpendicular to the first direction on the smooth surface. Therefore, the sheet member that falls due to gravity can be easily aligned.

[0015] In addition, since it has a slight rocking step in which the second arm slightly rocks the suction part back and forth in the direction of the cut, the slight rocking step makes it easier to peel the sheet member from the release paper.

[0016] In addition, since the interval changing mechanism has a splitting step of expanding the interval between the suction portions to individually separate the unsplit sheet members into split sheet members, the separating operation is eliminated, and the split sheet members can be directly attached to the object to be attached.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0018] Hereinafter, with reference to the drawings, the peeling device 100 and the peeling method using the peeling device 100 will be described in detail.

[0019] [Regarding the peeling device 100] The peeling device 100 is a device for peeling the sheet member S from the workpiece W having the sheet member S on the release paper R. The sheet member S is, for example, a vibration-proof material attached to a beam or the like. As shown in FIG. 1, the peeling device 100 includes a peeling stage 1 which is a place for peeling, an alignment table 2 for aligning the workpiece W, and an arm 3 having a first arm 3a and a second arm 3b which are moving means and peeling means, etc. As shown in FIG. 1, in the present embodiment, there is one peeling stage 1 and one alignment table 2, but the number of units is not particularly limited.

[0020] In the peeling device 100 in the present embodiment, the first arm 3a and the second arm 3b are respectively arranged at both left and right ends, the peeling stage 1 is arranged between the first arm 3a and the second arm 3b, and a belt conveyor B is arranged behind the peeling stage 1. Further, on the first arm 3a side, the workpiece W stacked on the workpiece table WS and the alignment table 2 are arranged. Although not shown, a collection box for collecting the release paper R after peeling is arranged on the first arm 3a side.

[0021] The sheet member S is provided with cuts H at regular intervals, is divided into a plurality of sheets, and is an undivided sheet member HS in which each is not separated. The cuts H are provided in the same direction. Although the sheet member S is provided with cuts H, the individual undivided sheet members HS are not independently divided and separated. In the present embodiment, the sheet member S is provided with eight cuts H and forms nine undivided sheet members HS arranged in parallel in the length direction.

[0022] The release paper R is a laminated processed paper having peelability, water resistance, heat resistance, abrasion resistance, etc. The sheet member S having temporary adhesiveness and the release paper R are bonded together. In order to peel the sheet member S smoothly without damaging it, the surface of the release paper R attached to the sheet member S has a glossy and highly slippery texture.

[0023] In addition, the workpiece W is provided with a margin portion M where the release paper R protrudes from the sheet member S. As shown in FIG. 1 or FIG. 2, the margin portion M is provided to be linear at one end of the sheet member S. The margin portion M only needs to have an area that can be gripped by a clamp portion 7 described later.

[0024] The peeling device 100 can not only peel the sheet member S from the release paper R, but also completely separate and divide a plurality of formed undivided sheet members HS into individual divided sheet members FS. After forming the divided sheet members FS, they are placed on a plurality of belt conveyors B according to the types with different thicknesses of the divided sheet members FS, and are conveyed to near an object to which the sheet member S is to be attached (not shown).

[0025] (Regarding the peeling stage 1) The peeling stage 1 is a stage for peeling the sheet member S from the release paper R of the workpiece W. As shown in FIG. 1, the peeling stage 1 mainly includes a peeling table 5, a suction portion 6, and a clamp portion 7. Further, it also includes an air duct 8 and a sensor 9.

[0026] The peeling table 5 is a table on which the workpiece W is placed. As shown in FIG. 1, a plurality of ventilation holes 10 are provided on the upper surface of the peeling table 5. By the suction performed by the suction portion 6 disposed below the peeling table 5, the workpiece W placed on the peeling table 5 can be sucked through the ventilation holes 10. The ventilation holes 10 are regularly arranged so that there is a certain interval between the ventilation holes 10.

[0027] As shown in FIG. 3 and the like, the suction portions 6 are arranged in a row of three below the peeling table 5 at equal intervals. The suction portions 6 perform suction through the ventilation holes 10 to suck the release paper R of the workpiece W placed on the peeling table 5, so that the workpiece W does not move from the peeling table 5. Further, the ventilation holes 10 are configured and arranged such that when the sheet member S is placed on the peeling table 5, the release paper R covers as many of the ventilation holes 10 as possible. Therefore, by blocking all of the ventilation holes 10, air does not pass through the ventilation holes 10, so that the degree of vacuum in the space between the suction portion 6 and the release paper R can be increased, and further the sheet member S becomes difficult to move from the peeling table 5.

[0028] The air supply pipes 8 are arranged in a row of nine on the support plate 17. Each air supply pipe 8 is arranged so as to be positioned in front of each undivided sheet member HS of the sheet member S placed on the peeling table 5. The number of air supply pipes 8 is configured to be the same as the number of undivided sheet members HS.

[0029] As shown in FIG. 1, motors 12 are fixed to the upper portions of the tables 11 on the left and right of the peeling table 5, and the rotating shafts 13 of the motors 12 are connected to U-shaped frame bodies 14. Fixing plates 15 are fixed to the left and right of the frame body 14. Further, as shown in FIG. 2 and the like, a support plate 17 and an operation portion 17 are fixed to the inside of the fixing plate 15. The support plate 17 adjusts and supports the angle of the air supply pipes 8, and the operation portion 17 is connected to the clamp portion 7 and controls the movement of the clamp portion 7.

[0030] When the motor 12 is driven, the frame body 14 rotates about the rotating shaft 13. On the axis of the rotating shaft 13, a base point where the clamp portion 7 grips the margin portion M is provided. When the rotating shaft 13 rotates, the frame body 14 rotates, and the fixing plate 15 fixed to the frame body 14 also rotates. Therefore, the operation portion 17 connected to the fixing plate 15 and the clamp portion 7 fixed to the operation portion 17 also rotate simultaneously, and as shown in FIG. 3(b), the winding process is started.

[0031] Further, the air duct 8 is arranged such that when the rotary shaft 13 rotates, the air outlet 8a of the air duct 8 is positioned near the space between the release paper R and the sheet member S.

[0032] As shown in FIG. 3(b), the direction of rotation is opposite to the rotation direction of the sheet member S. In this embodiment, the rotation angle is 90 degrees. However, as long as a winding start can be formed between the sheet member S and the release paper R and compressed air can be ejected by the air duct 8, the rotation angle is not limited to 90 degrees.

[0033] As shown in FIG. 3 and the like, the clamp portion 7 includes an upper jaw portion 7a and a lower jaw portion 7b, and the upper jaw portion 7a and the lower jaw portion 7b grip the margin portion M where the release paper R protrudes from the sheet member S. As shown in FIG. 3 and the like, the clamp portion 7 is fixed to the operation portion 17 via the connection portion 18. In the operation portion 17, the vertical movement of the upper jaw portion 7a and the lower jaw portion 7b can be operated.

[0034] As shown in FIG. 1, the air duct 8 is connected to a tube 19 through which compressed air passes, and the tube 19 is connected to a pump 20. By the pump 20 sending out compressed air through the tube 19, compressed air is ejected from the tip of the air duct 8. As will be described later, the timing of ejecting the compressed air is when the suction portion 22a in front of the second arm 3b rotates with the suction portion 22b in the rear as a base point and a gap 23 is formed. However, it may be controlled to eject the compressed air after a certain time has elapsed after the clamp portion 7 has rotated, or it may be controlled to eject the compressed air after confirming the operation signal of the rotation of the second arm 3b.

[0035] (Regarding the sensor 9) As shown in FIG. 3 and the like, the sensor 9 is provided behind the peeling table 5. The sensor 9 is a sensor for detecting a material and detects whether the sheet member S is placed on the peeling table 5. When the sensor 9 detects the sheet member S, the second arm 3b starts to operate.

[0036] (Regarding the alignment table 2) The alignment table 2 is for aligning the workpiece W. As shown in Fig. 2, a connecting portion 2b is provided on the table 2a, and the connecting portion 2b is connected to a smooth surface 2c in an inclined state. The smooth surface 2c is a square plate and is inclined at an angle α such that one of the four corners 2c1 is at the lowest position. The angle α is between 10 degrees and 60 degrees. Also, the smooth surface 2c is formed without irregularities and with a small coefficient of friction. When the workpiece W is placed on the smooth surface 2c, it is configured to slide down by gravity toward the corner 2c1.

[0037] On the alignment table 2, at the edge of the corner 2c1 on the smooth surface 2c, there are provided a first stopper portion 2c2 for blocking the movement of the workpiece W in the first direction and a second stopper portion 2c3 for blocking the movement of the workpiece W in the second direction perpendicular to the first direction. In the present embodiment, as shown in Fig. 2(a), the first stopper portion 2c2 and the second stopper portion 2c3 are in the shape of long bars, but they may be circular or the like as long as they can block the movement of the workpiece W, and the shape is not particularly limited.

[0038] Also, as shown in Fig. 2(b), a heater 2c4 is provided under the surface of the smooth surface 2c of the alignment table 2. By providing the heater 2c4, it has the effect of dissolving the adhesive substance of the sheet member S attached to the release paper R and making it easier to peel the sheet member S from the release paper R. The heater 2c4 may be provided under the entire surface of the smooth surface 2c, or may be along the inside of the first stopper portion 2c2 and the second stopper portion 2c3, having the same shape as the workpiece W and the minimum necessary area.

[0039] In the present embodiment, there is one alignment table 2, but a plurality of tables may be provided if necessary. Since the peeling operation on the peeling table 5 takes more time than the alignment operation of the workpiece W by the alignment table 2, the number of alignment tables 2 may be less than that of the peeling table 5.

[0040] When the number of alignment tables 2 is smaller than that of peeling tables 5, providing the heater 2c4 below the surface of the alignment table 2 instead of below the surface of the peeling table 5 can have the effect of reducing the number of heaters 2c4. Therefore, power consumption can be suppressed, and in addition to the blower pipe 8 and the tubes 19 connected to the suction parts 21 and 22, the power supply and cords of the heater 2c4 do not need to increase unnecessarily, and the entire peeling device 100 can be made simple. Also, since the peeling operation takes more time than alignment, the time for placing the workpiece W on the alignment table 2 becomes longer. Therefore, as the time becomes longer, the adhesive substance becomes more likely to dissolve, and the peeling of the sheet member S becomes easier. Thus, by providing the heater 2c4 on the alignment table 2, power consumption can be suppressed, a simple configuration can be achieved, the time during the peeling operation can be effectively utilized, and peeling becomes easier, so the efficiency of the entire operation can be improved.

[0041] (Regarding the arm 3) The arm 3 is used as a means for moving the workpiece W and a means for peeling the sheet member S. In the present embodiment, the arm 3 is a robot arm. The arm 3 is fixed to the base 4 and is rotatable, and has a plurality of joints for each arm 3, and can move freely in the plane direction and the vertical direction. The operation of the arm 3 is controlled by programming in advance, and the trajectory and timing of the movement of the arm 3 are controlled. Also, if necessary, a camera may be provided at the tip of the arm 3, and the arm 3 may be controlled to automatically recognize the workpiece and the object from the image of the camera.

[0042] The arm 3 has a first arm 3a and a second arm 3b. As end effectors of the first arm 3a and the second arm 3b, suction parts 21 and 22 are provided at the tip parts. In the present embodiment, 6 suction parts 21 of the first arm 3a are provided in a total of 3 rows × 2 columns, and 18 suction parts 22 of the second arm 3b are provided in a total of 9 rows × 2 columns.

[0043] The suction parts 21 and 22 are under negative pressure suction by a pump or the like through a tube (not shown). Rubber pads are provided at the tips of the suction parts 21 and 22, and the suction degree is increased by improving the sealing performance.

[0044] Since the suction part 22 of the second arm 3b sucks above each undivided sheet member HS, it is necessary to have at least the same number as the number of undivided sheet members HS. Also, since the undivided sheet member HS has a vertically long shape, it is arranged in two rows of the front suction part 22a and the rear suction part 22b. On the other hand, the number of the suction parts 21 of the first arm 3a is not limited as long as it can suck and hold the workpiece W and the release paper R after peeling.

[0045] As shown in FIG. 1, the first arm 3a is located on the left side of the drawing across the peeling stage 1, sucks and holds the workpiece W and moves it, and collects the release paper R after peeling. The second arm 3b is located on the left side of the drawing across the peeling stage 1, sucks and holds the sheet member S, and peels the sheet member S.

[0046] Also, the second arm 3b further includes a spacing changing mechanism 24 at its tip. As shown in FIGS. 6 and 7, the spacing changing mechanism 24 is a mechanism for changing the spacing between a plurality of suction parts 22. As will be described later, the undivided sheet member HS being adsorbed can be divided and separated by the spacing changing mechanism 24 to form a divided sheet member FS.

[0047] In the present embodiment, the spacing changing mechanism 24 changes the spacing between the suction parts 22 by a pantograph mechanism (not shown), but any mechanism may be used as long as it can change the spacing between the suction parts 22.

[0048] In the present embodiment, the arm 3 is configured with two arms, the first arm 3a and the second arm 3b, but the first arm 3a and the second arm 3b may be treated as one arm, or may be configured with three or more arms, and the number of arms is not limited.

[0049] [Peeling method] Next, a method for peeling the sheet member S from the workpiece W using the peeling device 100 will be described in order.

[0050] As shown in FIG. 1, a plurality of workpieces W are stacked on the workbench WS. The plurality of workpieces W to be placed are stacked so that the directions of the margin portions M are aligned. The workbench WS may have a frame surrounding the workpiece W so that the workpiece W does not shift when the first arm 3a sucks it.

[0051] (Regarding the alignment process) First, the first arm 3a sucks and grips the uppermost workpiece W among the plurality of workpieces W placed on the workbench WS from above. That is, the undivided sheet member HS is sucked and gripped. At this time, the first arm 3a does not need to grasp the exact position of the workpiece W and can suck and grip near the center of gravity of the workpiece W. The first arm 3a sucks and grips and lifts it, and moves the workpiece W to the smooth surface 2c of the alignment table 2.

[0052] After moving the workpiece W close to the smooth surface 2c of the alignment table 2, the suction gripping is stopped, and the workpiece W is placed on the smooth surface 2c inclined at an angle α. At this time, it is placed on the smooth surface 2c so that the release paper R contacts the smooth surface 2c. The workpiece W dropped onto the smooth surface 2c slides on the smooth surface 2c by its own weight, and as shown in FIG. 2(a), the movement of the workpiece W in the first direction is blocked by the first stopper portion 2c2 provided on the smooth surface 2c. Also, the movement in the second direction perpendicular to the movement in the first direction is blocked by the second stopper portion 2c3 provided on the smooth surface 2c. Thereby, the vertical and horizontal spatial positions of the workpiece W are specified.

[0053] Also, as shown in FIG. 2(b), a heater 2c4 is provided on the lower surface of the smooth surface 2c of the alignment table 2, and the smooth surface 2c is in a heated state. Therefore, when the workpiece W contacts the smooth surface 2c, the adhesive between the undivided sheet member HS and the release paper R melts, making it easier to peel the undivided sheet member HS from the release paper R. The heating time is performed between several seconds and several minutes.

[0054] After identifying the vertical and horizontal spatial positions of the workpiece W and warming the workpiece W, the first arm 3a that recognizes the position of the aligned workpiece W adsorbs and grips the workpiece W again and moves it to the peeling table 5 of the peeling stage 1. When adsorbing and gripping again, a specific location of the workpiece W is accurately grasped and sucked and gripped. Thereby, the workpiece W can be accurately placed at a predetermined location on the peeling table 5.

[0055] (Regarding the suction process) When placing the workpiece W on the peeling table 5, the workpiece W is accurately placed at a predetermined location on the peeling table 5 such that the release paper R is on the peeling table 5 side, the undivided sheet member HS is on the upper side, and the margin portion M faces the clamp portion 7 side. After placement, the first arm 3a stops adsorbing and gripping and returns to a predetermined standby position. The placed workpiece W starts to be sucked from below the peeling table 5 by the suction portion 6 disposed below the peeling table 5. Since the peeling table 5 is provided with ventilation holes 10 through which air can pass, the suction portion 6 starts suction through the ventilation holes 10.

[0056] Since the workpiece W is placed such that the release paper R is on the peeling table 5 side, the entire release paper R is sucked. Therefore, by being sucked, the workpiece W is adsorbed so as not to move from the peeling table 5.

[0057] (Regarding the winding process) While performing the suction process, as shown in Fig. 3(a), the clamp portion 7 grips the margin portion M. After the clamp portion 7 has gripped, as shown in Fig. 3(b), it rotates in the direction opposite to the undivided sheet member HS with the gripped portion as a base point to wind the margin portion M and create a winding trigger for peeling the undivided sheet member HS.

[0058] (Regarding the adsorption process) After creating a winding trigger, as shown in Fig. 4(a), the suction part 22, which is the end effector of the second arm 3b, sucks the upper part of the undivided sheet member HS. A total of 18 suction parts 22 are provided in 9 rows and 2 columns, and each sucks above the undivided sheet member HS divided into 9 sheets by the cut H. That is, for one undivided sheet member HS, the undivided sheet member HS is sucked by two suction parts 22 on the front side and the rear side.

[0059] (Regarding the micro-vibration process) The sheet member S after the suction process is in a state where it is sucked by the suction part 22 from above and sucked by the suction part 6 from below. Subsequently, before performing the peeling process, a micro-vibration process is performed. As shown in Fig. 4(a), the second arm 3b micro-vibrates the suction part 22 back and forth in the same direction as the direction of the cut H. The release paper R is sucked by the suction part 6, and the margin part M remains fixed by the clamp part 7 and does not move. Therefore, by the second arm 3b performing micro-vibration so that the undivided sheet member HS sucked by the suction part 22 moves back and forth in the same direction as the direction of the cut H with respect to the release paper R, the degree of adhesion of the release paper R to the undivided sheet member HS is reduced. Therefore, the micro-vibration process has the effect of making it easier to peel the sheet member S from the release paper R.

[0060] The swing amplitude of the micro-vibration is from 1 mm to 50 mm. The swing amplitude needs to be at most such that the suction part 22 does not come off from the undivided sheet member HS by performing micro-vibration. The number of swings is about 1 cycle to 20 cycles. The swing amplitude and the number of swings can be appropriately changed according to the size of the sheet member S.

[0061] (Regarding the peeling process) After the micro-vibration process, the suction gripping by the suction unit 6 is stopped. After stopping the suction gripping, as shown in Fig. 4(b), with the suction unit 22 adsorbing and gripping the undivided sheet member HS, only the front suction unit 22a is lifted upward, and the rear suction unit 22b is tilted obliquely upward with the rear suction unit 22b as the fulcrum. The release paper R on the margin M side is gripped by the clamp unit 7, and since a winding start is formed between the release paper R on the margin M side and the undivided sheet member HS, by controlling the second arm 3b so that the undivided sheet member HS on the margin M side moves upward, a gap 23 can be easily formed between the release paper R on the margin M side and the undivided sheet member HS.

[0062] While lifting the front suction unit 22a upward to form a gap 23 between the undivided sheet member HS and the release paper R, compressed air is ejected from the air supply pipe 8 toward the gap 23. By ejecting compressed air into the gap 23, it acts to separate the undivided sheet member HS and the release paper R. Therefore, by ejecting compressed air, the peeling of the sheet member S from the release paper R can be further facilitated.

[0063] While ejecting compressed air, as shown in Fig. 5, the second arm 3b is controlled to move in the right direction or the upper right direction of the drawing. As a result, since the margin M is gripped, the sheet member S can be peeled off from the release paper R at once. Also, by arranging the tip of the air supply pipe 8 directly above the portion gripped by the clamp unit 7, the release paper R gripped by the clamp unit 7 can be supported so as to be straight. This has the effect of making it difficult for the margin M to come out of the clamp unit 7. Note that the air supply pipe 8 is provided so as to come to the middle of each undivided sheet member HS for each undivided sheet member HS.

[0064] (Regarding the splitting process) After the sheet member S is peeled off from the release paper R by the suction part 22 of the second arm 3b, the state shown in FIGS. 6(a) and 6(b) is achieved. At this time, the intervals between the respective suction parts 22 are in a narrow state. Then, as shown in FIG. 7(a), the interval changing mechanism 24 expands the intervals between the respective suction parts 22 to a certain distance. As a result, the undivided sheet member HS adsorbed by the suction part 22 can be completely separated and individually divided into divided sheet members FS. Thereby, a series of peeling steps are completed.

[0065] (Other processes, etc.) Thereafter, as shown in FIG. 1, the second arm 3b places the divided sheet member FS on the belt conveyor B, thereby conveying the divided sheet member FS close to the material to be pasted and performing a pasting operation.

[0066] After the peeling process is completed, the first arm 3a adsorbs, grips, and recovers the release paper R that the clamp part 7 is gripping, and puts it into a recovery box.

[0067] Also, even before the second arm 3b peels the sheet member S, the first arm 3a may move a new workpiece W to the alignment table 2 immediately after the first arm 3a moves the workpiece W to the peeling stage 5. In this case, even during the peeling process, the workpiece W is placed on the alignment table 2 and is being heated by the heater 2c4, so the efficiency can be improved.

Explanation of reference numerals

[0068] 100 Peeling device 1 Peeling stage 2 Alignment table 2a Table 2b Connection part 2c Smooth surface 2c1 Corner 2c2 First stopper part 2c3 Second stopper part 2c4 Heater 3 Arm 3a First arm 3b Second arm 4 Base 5. Separation table 6. Suction part 7. Clamp part 7a. Upper jaw part 7b. Lower jaw part 8. Air duct 8a. Outlet 9. Sensor 10. Vent hole 11. Table 12. Motor 13. Rotating shaft 14. Frame body 15. Fixed plate 16. Support plate 17. Operation part 18. Connection part 19. Tube 20. Pump 21. Adsorption part 22. Adsorption part 22a. Front adsorption part 22b. Rear adsorption part 23. Gap 24. Gap change mechanism S. Sheet member HS. Undivided sheet member FS. Divided sheet member H. Cut M. Margin part W. Workpiece WS. Workbench R. Release paper B. Belt conveyor

Claims

1. A peeling device that peels off a sheet member from a workpiece having a release paper thereon, The sheet member is an undivided sheet member that is divided into a plurality of sheets by slits at regular intervals and the individual sheets are not separated from each other; a peeling stage for peeling the sheet member from the release paper; An alignment table having an inclined smooth surface for aligning the workpiece; a first arm that moves the workpiece from the alignment table to the peeling stage; a second arm including a plurality of suction portions that respectively suction the upper surface of the undivided sheet member, and a spacing change mechanism that changes the spacing between the suction portions; having The peeling stage includes: A peeling table on which the workpiece is placed; A suction unit that sucks the release paper from below the peeling table; a clamping portion that grips a marginal portion of the release paper that protrudes from the sheet member and rotates in a direction opposite to that of the sheet member with the gripped portion as a base point; A peeling device comprising:

2. The peeling apparatus according to claim 1 , further comprising a heater disposed below the smooth surface of the alignment table.

3. The alignment table is placed on the smooth surface. A first stopper portion that blocks movement of the workpiece in a first direction; A second stopper portion that blocks movement of the workpiece in a second direction perpendicular to the first direction; The peeling device according to claim 1 , further comprising:

4. A peeling method using the peeling device according to any one of claims 1 to 3, A suction step in which the suction unit sucks from below the release paper; a gripping step in which the clamp unit grips the marginal portion; and a turning step in which the clamp unit rotates in a direction opposite to that of the sheet member from the gripped portion as a base point to turn over the marginal portion. a suction step in which the suction portions suction the upper portions of the undivided sheet members; a micro-swinging step in which the second arm slightly swings the suction portion back and forth in the cutting direction after the suction step, the turning step, and the suction step; A peeling method comprising the steps of:

5. A peeling method using the peeling device according to any one of claims 1 to 3, a peeling process in which, after the fine rocking process, the clamping portion grips the marginal portion while the suction portion adsorbs the upper portion of each of the undivided sheet members, and the second arm moves to peel the undivided sheet members off from the release paper; a dividing step in which, after the peeling step, the interval changing mechanism widens the interval between the adsorption portions to divide the undivided sheet member into individual separated divided sheet members; The method according to claim 4, further comprising:

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