peeling device

Abstract

To provide a peeling device capable of more reliably peeling off a film for adsorbing a component bonded to a component.SOLUTION: A peeling device 1 for peeling off a film for adsorbing a component bonded to a component, includes: a holding portion 12 for rotatably holding an annular tape body 6 having an adhesive tape 7 wound in an annular shape; a head portion 13 having a head 13a for pressing an adhesive surface of the adhesive tape 7 drawn out from the annular tape body 6 against the film bonded to the component; a head unit 10 having a drawing portion 15 for drawing out the adhesive tape 7 from the annular tape body 6 via the head 13a; a moving portion that relatively moves the head unit 10 and the component to which the film is bonded; and a control portion 30 that controls at least the moving unit to peel the film bonded to the component using the adhesive force of the adhesive tape 7.SELECTED DRAWING: Figure 3A

Description

Technical Field

[0001] The present invention relates to a peeling device for peeling a film for component adsorption attached to a component.

Background Art

[0002] Conventionally, components such as electronic components have been automatically mounted on a substrate by air adsorption. In order to perform such adsorption, it is necessary for the component to have a flat adsorption surface. Therefore, for components without a flat adsorption surface for adsorption, such as connectors and dip switches, for example, a film for component adsorption is attached to the component, and the film surface is adsorbed to automatically mount the component on the substrate.

[0003] The film attached to such a component hinders the appearance inspection and electrical test of the substrate on which the component is mounted. Therefore, the film has been removed from the component after reflow. The removal of the film has been performed, for example, by a method of deforming the film by heat and then peeling the deformed film by blowing (see Patent Document 1) or by manual work.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Manually peeling off the film is burdensome for workers and time-consuming. Furthermore, the method described in Patent Document 1 cannot remove the film from the part if, for example, a film that does not deform when heated is used. Also, if the film has strong adhesive properties, it may not be possible to peel it off by blowing air. Thus, the method described in Patent Document 1 has the problem of low reliability when peeling the film from the part.

[0006] The present invention was made to solve the above problems and aims to provide a peeling device that can more reliably peel off a film used for adhering parts to parts. [Means for solving the problem]

[0007] To achieve the above objective, a peeling device according to one aspect of the present invention is a peeling device for peeling off a film used for adhering parts to a part, comprising: a holding unit that rotatably holds an annular tape body having an adhesive tape wound in an annular shape; a head unit having a head that presses the adhesive surface of the adhesive tape pulled out from the annular tape body onto a film attached to a part; and a pulling unit that pulls out the adhesive tape from the annular tape body via the head; a moving unit that moves the head unit and the part to which the film is attached relatively; and a control unit that controls at least the moving unit in order to peel off the film attached to the part using the adhesive force of the adhesive tape. This configuration allows the adhesive tape to be used to remove the film used to hold the component in place. Therefore, the film can be removed more reliably than when heat and air are used to remove it. In addition, since manual removal of the film is no longer required, the workload on workers is reduced, and the film can be removed in a shorter time.

[0008] Furthermore, in a peeling device according to one aspect of the present invention, the head is a rotatably supported roller, and the outer surface of the roller may be made of an elastic member. This configuration allows the adhesive tape to adhere tightly to the film using the roller head, resulting in a more reliable removal of the film.

[0009] Furthermore, in a peeling device according to one aspect of the present invention, in the head portion, the roller is supported so as to be movable in a direction perpendicular to the pressing direction of the roller and perpendicular to the rotation axis of the roller, and may be biased in the direction of the surface component of the roller perpendicular to the pressing direction in the direction of movement of the adhesive tape. With this configuration, for example, the roller can be rolled while the adhesive tape is pressed against the film, thereby increasing the surface area of ​​the film to which the adhesive tape adheres and improving the adhesion between the two.

[0010] Furthermore, in a peeling device according to one aspect of the present invention, the head unit further includes a locking mechanism for locking the movement of a roller in the head section, and the control unit, with the movement of the roller locked by the locking mechanism, presses the adhesive surface of the adhesive tape on the outer surface of the roller against the film attached to the component using the moving section, and after pressing, with the locking mechanism releasing the lock on the movement of the roller, pulls out the adhesive tape from the annular tape body using the pull-out section. With this configuration, when the roller presses the adhesive surface of the adhesive tape against the film, the movement of the roller is locked, ensuring that, for example, the adhesive tape and the film adhere tightly at the edges of the film. After unlocking, the roller can move, allowing the adhesive tape to adhere to the film over a wider area while peeling the film from the edges, thus enabling more reliable film removal.

[0011] Furthermore, in a peeling device according to one aspect of the present invention, the control unit may change the time for which the head presses the adhesive tape against the film attached to the part, depending on the type of part to which the film is attached. This configuration allows for more reliable removal of the film, and also reduces the overall time required to remove multiple films compared to a method where the pressure applied to the adhesive tape is uniformly extended.

[0012] Furthermore, a peeling device according to one aspect of the present invention may further include a remaining amount acquisition unit that acquires the remaining amount of adhesive tape in an annular tape body, and an output unit that outputs a message indicating that the remaining amount of adhesive tape in the annular tape body is low when the remaining amount acquired by the remaining amount acquisition unit falls below a threshold. This configuration allows, for example, replacement annular tape units to be prepared in advance.

[0013] Furthermore, a peeling device according to one aspect of the present invention may further include a detection unit for detecting the presence or absence of adhesive tape pulled from an annular tape body, and an output unit that outputs a statement indicating the absence of adhesive tape when the detection unit detects the absence of adhesive tape. This configuration allows for the attachment of a new annular tape unit depending on the output.

[0014] Furthermore, in a peeling device according to one aspect of the present invention, the device may further include an imaging unit that acquires an image of a component to which the film is attached, and the control unit may use the image to identify the position of the film and control the moving unit so that the head moves to the identified position of the film. With this configuration, the position of the film is determined using the captured image, eliminating the need for manual teaching, for example. Furthermore, if, for example, an image is acquired for each substrate, even if the actual position where the film is attached deviates from the predetermined position, such films can be removed more reliably.

[0015] Further, the peeling device according to one aspect of the present invention further includes an imaging unit that acquires an imaging image of a component after performing control to peel a film adhered to the component by a control unit, and the control unit, in the imaging image acquired after the control to peel the film is performed, if the component to which the film is adhered exists, may perform the control to peel the film again. With such a configuration, the film can be more reliably peeled from the component.

Advantages of the Invention

[0016] According to the peeling device according to one aspect of the present invention, the film for component adsorption adhered to the component can be more reliably peeled using an adhesive tape.

Brief Description of the Drawings

[0017] [Figure 1A] Front view showing the appearance of the peeling device according to an embodiment of the present invention [Figure 1B] Side view showing the appearance of the peeling device according to the same embodiment [Figure 2] Functional block diagram showing the configuration of the peeling device according to the same embodiment [Figure 3A] Front view showing the appearance of the head unit in the same embodiment [Figure 3B] Side view showing the appearance of the head unit in the same embodiment [Figure 4] Schematic diagram showing the internal structure of the head unit in the same embodiment [Figure 5] Vertical cross-sectional view of the head portion and the locking mechanism in the same embodiment [Figure 6] Plan view showing an example of the substrate in the same embodiment [Figure 7] Flowchart showing the operation of the peeling device according to the same embodiment [Figure 8] Diagram for explaining the process of peeling the film in the same embodiment [Figure 9] Diagram showing the movement status of the head in the same embodiment [Figure 10] This figure shows another example of the head's pressing position in the same embodiment. [Modes for carrying out the invention]

[0018] The peeling device according to the present invention will be described below using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and their further description may be omitted. The peeling device according to this embodiment uses the adhesive force of an adhesive tape to peel off a film used for adhering parts to parts.

[0019] Figure 1A is a front view of the peeling device 1 according to this embodiment, Figure 1B is a side view of the peeling device 1, Figure 2 is a functional block diagram showing the configuration of the peeling device 1, Figure 3A is a front view of the head unit 10 of the peeling device 1, Figure 3B is a side view of the head unit 10, Figure 4 is a schematic diagram showing the internal structure of the head unit 10, Figure 5 is a longitudinal cross-sectional view of the head section 13 and the locking mechanism 14, and Figure 6 is a plan view showing an example of a substrate 4 on which the component 2 is mounted. For the sake of explanation, in this embodiment, it is assumed that an xyz Cartesian coordinate system is set up as shown in Figures 1A and 1B. Here, the x-axis direction and the y-axis direction are horizontal directions, and the z-axis direction is the vertical direction.

[0020] The peeling device 1 according to this embodiment peels off a film 3 for adhering parts that is attached to a part 2, and includes a head unit 10 having a holding part 12 that rotatably holds an annular tape body 6, a head part 13 having a head 13a that presses the adhesive surface of the adhesive tape 7 pulled out from the annular tape body 6 against the film 3 attached to the part 2, a locking mechanism 14 that locks the movement of the head 13a, and a pull-out part 15 that pulls out the adhesive tape 7 from the annular tape body 6 via the head 13a, and the attachment of the head unit 10 to the film 3 The device includes a moving unit 20 that moves the attached part 2 relatively, a control unit 30 that controls at least the moving unit 20 to peel off the film 3 attached to the part 2 using the adhesive force of the adhesive tape 7, a remaining amount acquisition unit 31 that acquires the remaining amount of adhesive tape 7 in the annular tape body 6, a detection unit 32 that detects the presence or absence of adhesive tape 7 pulled out from the annular tape body 6, an output unit 33 that outputs according to the acquisition result by the remaining amount acquisition unit 31 and the detection result by the detection unit 32, and an imaging unit 34 that photographs the part 2 to which the film 3 is attached.

[0021] Component 2 may be, for example, an electronic component or other component mounted on a substrate 4. The substrate 4 may be, for example, a circuit board or a printed circuit board, or any other type of substrate. Furthermore, the substrate 4 may be, for example, a single-sided substrate, a double-sided substrate, or a multilayer substrate.

[0022] Film 3 is a film used, for example, to hold component 2 in place when mounting component 2 onto a substrate 4. One side of film 3 is an adhesive surface, and film 3 is attached to component 2 by adhering this adhesive surface to component 2. When a reflow process is performed with film 3 attached to component 2, it is preferable that film 3 has heat resistance. The material of film 3 is not particularly limited, but may be polyimide, for example. Film 3 may be colored, for example, yellow or red, to make it easier to identify the position of film 3.

[0023] The component 2 to which the component suction film 3 is attached may be fixed to the substrate 4, for example, as shown in Figure 6. Alternatively, as shown in Figure 6, the film 3 may be attached to only some of the components 2 mounted on the substrate 4. For example, the film 3 does not need to be attached to a component 2 that has a flat suction surface capable of air suction. Such a component 2 without a suction surface may be, for example, a connector or switch with a non-flat top surface.

[0024] The annular tape body 6 has an adhesive tape 7 wound in an annular shape. The annular tape body 6 may, for example, be a cylindrical core around which the adhesive tape 7 is wound. The adhesive tape 7 is a tape having an adhesive surface on at least one side, and may be, for example, an adhesive tape having an adhesive surface on only one side, or a double-sided tape having adhesive surfaces on both sides. In this embodiment, the former case will be mainly described. The adhesive tape 7 may be, for example, cellophane tape, kraft adhesive tape, vinyl tape, mending tape, etc. For example, the annular tape body 6 may be a commercially available cellophane tape wound in an annular shape.

[0025] In the head unit 10, the holding part 12, the head part 13, and the pull-out part 15 may be attached to the unit body 11. The locking mechanism 14 may also be attached to the head part 13. The unit body 11 may also be provided with a guide 11a for guiding the adhesive tape 7, if necessary.

[0026] The holding part 12 rotatably holds the annular tape body 6. The holding part 12 may also detachably hold the annular tape body 6. For example, the holding part 12 may have a holding ring 12a to which the annular tape body 6 is attached, and support parts 12c that support both ends of the rotation axis 12b of the holding ring 12a so that the holding ring 12a can rotate. The holding ring 12a may be detachably attached to the support parts 12c. Furthermore, the holding ring 12a supported by the support parts 12c may rotate about the rotation axis 12b in accordance with the pulling out of the adhesive tape 7 by the pull-out part 15.

[0027] The head portion 13 may include, for example, a head 13a that presses the adhesive surface of the adhesive tape 7 against the film 3 attached to the component 2, a support portion 13b that supports the head 13a, and a biasing means 13c that biases the head 13a in the pressing direction. The pressing direction may be, for example, the direction normal to the surface of the adhesive tape 7 or the film 3 when the adhesive tape 7 is adhered to the film 3, and may also be the direction of movement of the head 13a when the adhesive tape 7 is pressed against the film 3. If the adhesive tape 7 has an adhesive surface on only one side, the surface of the adhesive tape 7 that contacts the head 13a is the surface opposite to the adhesive surface.

[0028] The head 13a can be any type that can press the adhesive surface of the adhesive tape 7 against the film 3 attached to the component 2, but in this embodiment, the case in which the head 13a is a rotatably supported roller will be mainly described. Therefore, the head 13a may also be referred to as the roller 13a below. In this case, the support portion 13b may support the rotation axis of the roller 13a so that the roller 13a can rotate.

[0029] The outer surface of the roller 13a may be made of an elastic material. The elastic material is not particularly limited as long as it is made of an elastic material, but may be, for example, urethane, silicone, rubber, urethane rubber, silicone rubber, thermoplastic polyurethane, etc. The Shore A hardness of the elastic material may be, for example, 70 degrees or less, or 60 degrees or less. Alternatively, the Shore A hardness of the elastic material may be, for example, 30 degrees or more, or 40 degrees or more. By making the outer surface of the roller 13a of an elastic material, when the adhesive surface of the adhesive tape 7 is pressed against the film 3 by the roller 13a, the adhesive tape 7 can adhere more firmly to the film 3.

[0030] The biasing means 13c may be, for example, an air cylinder, or an elastic body such as a spring or rubber. In this embodiment, the case in which the biasing means 13c is an air cylinder and the support portion 13b is biased vertically downward by the biasing means 13c, i.e., in the negative direction of the z-axis, will be mainly described. Furthermore, the vertical movement of the support portion 13b due to the biasing force of the biasing means 13c may be restricted by a stopper (not shown) or the like so that the support portion 13b stops at a predetermined position. As an example, when the biasing means 13c is an air cylinder, the downward movement of the support portion 13b will stop when the piston rod of the air cylinder is pushed out to its maximum extent.

[0031] In the head portion 13, the roller 13a may be supported so as to be movable in a direction perpendicular to the pressing direction of the roller 13a and perpendicular to the rotation axis of the roller 13a. In Figure 3A, the pressing direction of the roller 13a is the vertical direction, and the rotation axis of the roller 13a extends perpendicular to the plane of the paper. Therefore, the direction perpendicular to the pressing direction of the roller 13a and perpendicular to the rotation axis of the roller 13a is the left-right direction in Figure 3A. In this embodiment, as an example, the head portion 13 further includes a rail 13d extending in the left-right direction in Figure 3A, fixed to the tip side (i.e., the lower end side) of the piston rod of the biasing means 13c, which is an air cylinder, and a slider 13e slidably assembled to the rail 13d, and the roller 13a is supported so as to be movable by a support portion 13b fixed to the slider 13e.

[0032] The movably supported roller 13a may be biased by a biasing means 13f in a direction perpendicular to the pressing direction of the roller 13a in the direction of movement of the adhesive tape 7. This direction of movement of the adhesive tape 7 may be, for example, the direction of movement of the adhesive tape 7 at the position of the roller 13a when the adhesive tape 7 is pulled out by the pull-out section 15. Also, the pressing direction of the roller 13a may be the vertical direction in Figure 3A, as described above. Therefore, the direction of the plane component perpendicular to the pressing direction of the roller 13a in the direction of movement of the adhesive tape 7 may be the direction obtained by projecting the direction of movement of the adhesive tape 7 near the roller 13a onto a plane perpendicular to the pressing direction of the roller 13a, i.e., the leftward direction in Figure 3A. The biasing means 13f may be, for example, an elastic body such as a spring or rubber. In this embodiment, the case where the biasing means 13f is a tension spring will be mainly described as shown in Figure 3A, etc., but the biasing means 13f may be a compression spring or other elastic body. Furthermore, the movement of the support portion 13b along the longitudinal direction of the rail 13d due to the biasing force of the biasing means 13f may be restricted by a stopper (not shown) so that the support portion 13b stops at a reference position. This reference position may, for example, be the position where the roller 13a is on a straight line along the central axis of the piston rod of the biasing means 13c, which is an air cylinder. Note that the biasing force by the biasing means 13f only needs to have at least a leftward component in Figure 3A. Therefore, the biasing force by the biasing means 13f may be, for example, a leftward force in Figure 3A, or an upward-leftward force.

[0033] The locking mechanism 14 is a mechanism that can lock and release the movement of the roller 13a in the head portion 13. In this embodiment, as shown in Figure 5, the case in which the locking mechanism 14 has, for example, a plate-shaped member 14b having a locking hole 14a, a locking pin 14c that engages with the locking hole 14a, and a driving means 14d for moving the locking pin 14c in and out of the locking hole 14a will be mainly described, but the locking mechanism 14 may have other configurations. The plate-shaped member 14b may, for example, be fixed to the support portion 13b of the head portion 13 so that its surface direction is horizontal. The locking hole 14a provided on the upper surface of the plate-shaped member 14b may, for example, be a hole extending in the vertical direction. The locking pin 14c may, for example, be supported so that its longitudinal direction is vertical. The driving means 14d is not particularly limited as long as it can move the locking pin 14c in its longitudinal direction, but may be, for example, an air cylinder, a solenoid, a linear actuator, etc. This embodiment mainly describes the case where the driving means 14d is an air cylinder. The movement of the roller 13a is locked and unlocked as the lock pin 14c is moved in and out of the lock hole 14a by the driving means 14d. This embodiment mainly describes the case where the movement of the support portion 13b can be locked by the lock mechanism 14 when the support portion 13b is in a reference position.

[0034] The pull-out section 15 pulls out the adhesive tape 7 from the annular tape body 6 via the roller (head) 13a. In this embodiment, the case in which the pull-out section 15 has a bobbin 15a for winding the adhesive tape 7 and a motor 15b for rotating the bobbin 15a will be mainly described. When the adhesive tape 7 is pulled out from the annular tape body 6 held by the holding section 12 by the pull-out section 15, it is preferable that a tension is applied to the adhesive tape 7 between the annular tape body 6 and the pull-out section 15 that is sufficient to prevent the adhesive tape 7 from becoming loose. In this embodiment, in Figure 4, the bobbin 15a is rotated counterclockwise by the motor 15b, and the adhesive tape 7 is wound onto the bobbin 15a, thereby pulling out the adhesive tape 7 from the annular tape body 6. Also, in accordance with the winding of the adhesive tape 7, in Figure 4, the holding ring 12a of the holding section 12 is also rotated counterclockwise.

[0035] In this embodiment, the case in which the motor 15b rotates the bobbin 15a via the pulley 15c and belt 15d will be mainly described. However, the motor 15b may also rotate the bobbin 15a via other mechanisms, such as a chain or gears, and the bobbin 15a may be directly connected to the rotating shaft of the motor 15b.

[0036] Furthermore, this embodiment mainly describes the case in which the pull-out unit 15 winds the adhesive tape 7 onto the bobbin 15a to pull the adhesive tape 7 from the annular tape body 6 via the head 13a. However, the pull-out unit 15 does not necessarily have to wind the adhesive tape 7. For example, the pull-out unit 15 may use rollers or the like to pull the adhesive tape 7 from the annular tape body 6 and feed it.

[0037] The moving unit 20 moves the head unit 10 and the component 2 to which the film 3 is attached relatively. The moving unit 20 may, for example, move only the head unit 10, move only the component 2, or move both. Note that when the moving unit 20 moves the component 2, it may also mean, for example, that the moving unit 20 moves the substrate 4 on which the component 2 is mounted. In this embodiment, the latter case will be mainly described.

[0038] The moving section 20 may, for example, include a first moving mechanism 21 for moving the head unit 10 in the x-axis direction, a second moving mechanism 22 for moving the substrate 4 in the y-axis direction, a third moving mechanism 23 for moving the head unit 10 in the z-axis direction, and a rotating mechanism 24 for rotating the head unit 10 about a rotation axis in the vertical direction (z-axis direction). The rotating mechanism 24 may rotate the head unit 10 in a range of 90 degrees or 180 degrees. These mechanisms are already known, for example, as linear actuators, and a detailed explanation thereof is omitted.

[0039] The control unit 30 controls at least the moving unit 20 in order to peel off the film 3 attached to the component 2 using the adhesive force of the adhesive tape 7. When peeling off the film 3 using the adhesive tape 7, the control unit 30 may, for example, control only the moving unit 20, or it may control both the head unit 10 and the moving unit 20. The control of the head unit 10 may, for example, be control related to the pulling out of the adhesive tape 7 by the pull-out unit 15, or it may be control related to the locking of the movement of the roller 13a by the lock mechanism 14. The control of the moving unit 20 may, for example, be control for pressing the adhesive surface of the adhesive tape 7 located at the position of the head 13a of the head unit 10 against the film 3 attached to the component 2, that is, control related to the movement of the head 13a. In this embodiment, the case in which the control unit 30 controls both the head unit 10 and the moving unit 20 when peeling off the film 3 using the adhesive tape 7 will be mainly described, and the case in which only the moving unit 20 is controlled will be described later.

[0040] As an example, the control unit 30 may, with the movement of the roller 13a locked by the locking mechanism 14, cause the moving unit 20 to press the adhesive surface of the adhesive tape 7 on the outer surface of the roller 13a against the film 3 attached to the part 2. For example, the adhesive surface of the adhesive tape 7 may be pressed against the edge of the film 3 attached to the part 2. Alternatively, after pressing, the control unit 30 may release the lock on the movement of the roller 13a by the locking mechanism 14 and cause the pulling unit 15 to pull out the adhesive tape 7 from the annular tape body 6. In response to this pulling out of the adhesive tape 7, the roller 13a may roll on the film 3, causing the adhesive tape 7 to adhere to the film 3 and the film 3 to be peeled off from the part 2. Details of this process will be described later.

[0041] The remaining amount acquisition unit 31 acquires the remaining amount of adhesive tape 7 in the annular tape body 6. The remaining amount of adhesive tape 7 may be the length of the adhesive tape 7 remaining on the annular tape body 6. The remaining amount acquisition unit 31 may also determine, for example, whether the acquired remaining amount is less than a threshold. The method by which the remaining amount acquisition unit 31 acquires the remaining amount of adhesive tape 7 in the annular tape body 6 is not specified. Below, two methods by which the remaining amount acquisition unit 31 acquires the remaining amount of adhesive tape 7 in the annular tape body 6 will be specifically described.

[0042] The remaining amount acquisition unit 31 may, for example, acquire the amount of adhesive tape 7 used, i.e., the length used, and acquire the remaining amount by subtracting the amount used from the length of adhesive tape 7 in the annular tape body 6 before use. As an example, the remaining amount acquisition unit 31 may acquire the amount of adhesive tape 7 used according to the amount of rotation of the motor 15b in the pull-out unit 15. The amount of rotation of the motor 15b may be a value indicating how many rotations the rotation axis of the motor 15b has made. The amount of rotation of the motor 15b may be acquired, for example, using an encoder provided on the motor 15b. More specifically, the remaining amount acquisition unit 31 can determine the amount of rotation of the bobbin 15a according to the amount of rotation of the motor 15b. Furthermore, the remaining amount acquisition unit 31 can calculate the length of adhesive tape 7 wound on the bobbin 15a, i.e., the amount of adhesive tape 7 used, by multiplying the circumference of the bobbin 15a by the amount of rotation of the bobbin 15a. The remaining amount acquisition unit 31 may calculate the remaining amount of adhesive tape 7 in the annular tape body 6 by subtracting the acquired amount of used from the length of the adhesive tape 7 in the annular tape body 6 before use.

[0043] The remaining amount acquisition unit 31 may acquire the remaining amount of adhesive tape 7 by, for example, acquiring the thickness of the adhesive tape 7 in the annular tape body 6. The thickness of the adhesive tape 7 in the annular tape body 6 may be acquired, for example, using the measurement result from a displacement sensor. In this case, the displacement sensor of the remaining amount acquisition unit 31 may be, for example, positioned on the outer circumference of the annular tape body 6 held by the holding unit 12, and may measure the distance from the annular tape body 6 to the outer surface of the annular tape body 6 in the radial direction. The remaining amount acquisition unit 31 may then acquire the thickness of the adhesive tape 7 in the annular tape body 6 by calculating the absolute difference between this measurement and a measurement taken after all of the adhesive tape 7 has been pulled out from the annular tape body 6 (for example, the distance from the displacement sensor to the outer surface of the winding core held by the holding unit 12). Alternatively, the remaining amount acquisition unit 31 may determine the remaining number of turns of adhesive tape 7 in the annular tape body 6 by dividing the acquired thickness by the thickness of one sheet of adhesive tape 7, and then calculate the remaining amount of adhesive tape 7 by multiplying the remaining number of turns by the circumference of the annular tape body 6.

[0044] The detection unit 32 detects the presence or absence of the adhesive tape 7 pulled out from the annular tape body 6. The detection unit 32 may, for example, detect the presence or absence of the adhesive tape 7 pulled out from the annular tape body 6 held by the holding unit 12 between the holding unit 12 and the head 13a. In this embodiment, the case in which the detection unit 32 detects the presence or absence of the adhesive tape 7 at the position immediately after the adhesive tape 7 has been pulled out from the annular tape body 6 will be mainly described.

[0045] If the adhesive tape 7 is transparent, such as cellophane tape, the detection unit 32 may have, for example, a reflective photoelectric sensor. In this case, the detection unit 32 may, for example, shine light towards the adhesive tape 7, detect the presence of the adhesive tape 7 when it can receive the reflected light from the adhesive tape 7, and detect the absence of the adhesive tape 7 when it cannot receive the reflected light.

[0046] If the adhesive tape 7 is opaque, such as kraft adhesive tape, the detection unit 32 may have, for example, a transmissive photoelectric sensor. In this case, the detection unit 32 may have, for example, a light emitter that emits light toward the adhesive tape 7 and a light receiver that receives that light. Alternatively, the light emitter and the light receiver may be arranged such that the adhesive tape 7, pulled out from the annular tape body 6, is in the path of light from the light emitter to the light receiver. The detection unit 32 may then detect the presence of the adhesive tape 7 if the light receiver fails to receive light from the light emitter, and detect the absence of the adhesive tape 7 if the light receiver successfully receives light from the light emitter.

[0047] The output unit 33 outputs according to the results obtained by the remaining amount acquisition unit 31 and according to the detection results by the detection unit 32. Specifically, the output unit 33 may output, for example, a message indicating that the amount of adhesive tape 7 remaining on the annular tape body 6 is low when the remaining amount obtained by the remaining amount acquisition unit 31 falls below a threshold. The threshold may be set to a value that allows for the peeling of the film 3 on one or two substrates 4, for example.

[0048] Furthermore, the output unit 33 may output a message indicating that the adhesive tape 7 is missing, for example, if the detection unit 32 detects that the adhesive tape 7 is missing. The operator may, for example, set a new annular tape 6 in the holding unit 12 in response to this output. If the detection unit 32 detects that the adhesive tape 7 is missing, the control unit 30 may interrupt the process of peeling the film 3 from the component 2 until a new annular tape 6 is attached to the holding unit 12.

[0049] Here, this output may be, for example, a display on a display device (e.g., a liquid crystal display or an organic EL display), a transmission via a communication line to a predetermined device, an audio output from a speaker, the illumination of a warning light, or a handover to another component. The output unit 33 may or may not include an output device (e.g., a display device or a communication device). Furthermore, the output unit 33 may be implemented by hardware, or by software such as a driver that drives those devices.

[0050] The imaging unit 34 acquires an image of the component 2 to which the film 3 is attached. For example, the imaging unit 34 may also acquire an image of the substrate 4 on which the component 2 with the film 3 attached is mounted. This image acquisition is usually performed before the film 3 is peeled off the component 2. The image of the component 2 may be, for example, an image taken so that the normal direction of the film 3 attached to the component 2 is the optical axis. If the film 3 is colored, the image is preferably in color. This is to allow identification of the colored film 3 in the image.

[0051] The imaging unit 34 may, for example, acquire an image of the part 2 even after the control unit 30 has controlled the part 2 to peel off the film 3 attached to it. Using this image, it is possible to confirm whether the film 3 has been properly peeled off, as will be described later. If any remaining film 3 is found in this image, control may be performed again to peel off the film 3.

[0052] When an image is captured by the imaging unit 34, the control unit 30 may use the captured image to identify the position of the film 3 and control the movement unit 20 so that the head 13a moves to the identified position of the film 3. The film 3 may be identified, for example, by identifying a pre-set color area in the captured image. That color is the color of the film 3. Furthermore, if the component 2 to which the film 3 is attached is present in the captured image acquired again after the control for peeling off the film 3 has been performed, the control unit 30 may perform the control for peeling off the film 3 again. In this way, even if some of the film 3 could not be peeled off, it is possible to peel off the remaining film 3 more reliably and reduce the amount of film that is missed.

[0053] Here, we will briefly explain the procedure for setting the annular tape body 6 into the head unit 10. When attaching the annular tape body 6, first, the retaining ring 12a is removed from the support part 12c, and the annular tape body 6 is attached to the retaining ring 12a. Then, the retaining ring 12a with the annular tape body 6 attached is returned to the support part 12c, and the adhesive tape 7 pulled out from the annular tape body 6 is attached to the bobbin 15a of the pull-out part 15 via the guide 11a and roller 13a, and the bobbin 15a is rotated slightly in the winding direction. In this way, the annular tape body 6 can be set into the head unit 10.

[0054] Next, the procedure for removing the used adhesive tape 7 from the head unit 10 will be briefly explained. First, the adhesive tape 7 is removed from the bobbin 15a of the drawer section 15. For example, the adhesive tape 7 may be removed from the bobbin 15a by cutting the adhesive tape 7 wound on the bobbin 15a at a predetermined position in the circumferential direction. Alternatively, any adhesive tape 7 remaining on the guide 11a or roller 13a of the head unit 10 may be removed, and if a winding core remains on the retaining ring 12a of the holding section 12, that winding core may also be removed. In this way, the used adhesive tape 7 can be removed from the head unit 10.

[0055] Next, the operation of the peeling device 1 will be explained using the flowchart in Figure 7. This flowchart describes the case where the substrate 4 on which the component 2 with the film 3 attached is mounted is set in the peeling device 1.

[0056] (Step S101) The imaging unit 34 acquires an image of the substrate 4. The control unit 30 may, before acquiring this image, control the movement unit 20 so that the relative positional relationship between the imaging unit 34 and the substrate 4 is a predetermined positional relationship.

[0057] (Step S102) The control unit 30 performs calibration of the moving unit 20 using the captured image acquired in step S101. For example, if a reference mark indicating a reference position is displayed on the substrate 4, the control unit 30 may use the position of the reference mark in the captured image to perform calibration in the x and y axes, i.e., calibration of the first moving mechanism 21 and the second moving mechanism 22.

[0058] (Step S103) The control unit 30 uses the captured image acquired in step S101 to determine the position of the film 3 attached to the component 2. For example, the control unit 30 may determine the position of the film 3 in the captured image and then use that determined position in the captured image to determine the position of the film 3 in real space.

[0059] (Step S104) The control unit 30 instructs the detection unit 32 to detect the presence or absence of the adhesive tape 7. In response to this instruction, the detection unit 32 detects the presence or absence of the adhesive tape 7. If the adhesive tape 7 is present, the process proceeds to step S107; if the adhesive tape 7 is not present, the process proceeds to step S105.

[0060] (Step S105) The output unit 33 outputs a message indicating that there is no adhesive tape 7. In response to this output, the operator may attach a new annular tape 6 to the holding unit 12. Alternatively, the operator may input to the peeling device 1 that a new annular tape 6 has been attached. This information that a new annular tape 6 has been attached may be received by a receiving unit (not shown) and passed to the control unit 30. Before the output unit 33 outputs the message, the control unit 30 may, if necessary, move the head unit 10 to a position that facilitates the attachment of the annular tape 6.

[0061] (Step S106) The control unit 30 determines whether it has been confirmed that a new annular tape body 6 has been attached. If it has been confirmed that a new annular tape body 6 has been attached, it returns to step S101; otherwise, it repeats the process in step S106 until it is confirmed that a new annular tape body 6 has been attached. If the remaining amount acquisition unit 31 acquires the remaining amount of adhesive tape 7 according to the amount used, it is preferable that the amount used be reset to 0 when a new annular tape body 6 is attached.

[0062] (Step S107) The control unit 30 instructs the remaining amount acquisition unit 31 to acquire the remaining amount of adhesive tape 7 in the annular tape body 6. In response to this instruction, the remaining amount acquisition unit 31 acquires the remaining amount of adhesive tape 7 in the annular tape body 6 and determines whether the acquired remaining amount is less than a preset threshold. If the remaining amount is less than the threshold, the process proceeds to step S108; otherwise, the process proceeds to step S109.

[0063] (Step S108) The output unit 33 outputs a message indicating that the amount of adhesive tape 7 remaining in the annular tape body 6 is low. Then, the process proceeds to step S109. In response to this output, the operator may, for example, prepare a new annular tape body 6.

[0064] (Step S109) The control unit 30 locks the movement of the support portion 13b using the locking mechanism 14. As a result, the slider 13e no longer moves along the rail 13d, and the support portion 13b no longer moves horizontally relative to the unit body 11. The control unit 30 may also control the air cylinder to push out the piston rod, for example, if the biasing means 13c is an air cylinder.

[0065] (Step S110) The control unit 30 controls the first moving mechanism 21 and the second moving mechanism 22 so that the roller 13a is positioned above the edge of the film 3 to be peeled. As a result, the roller 13a moves to the position shown in Figure 8(a). The film 3 to be peeled is, for example, the film 3 identified in step S103, and may be a film 3 that has not yet been peeled. It is preferable that the roller 13a is oriented so that when it is moved downward, it can roll toward the center of the film 3 to be peeled. Therefore, the control unit 30 may appropriately control the rotation mechanism 24 so that the roller 13a is oriented in such a way.

[0066] (Step S111) The control unit 30 controls the third moving mechanism 23 so that the roller 13a is pressed against the edge of the film 3 to be peeled off. That is, the third moving mechanism 23 moves the roller 13a downward in the vertical direction, as shown by the arrow in Figure 8(a). As a result, the roller 13a presses the adhesive surface of the adhesive tape 7 against the edge of the film 3, as shown in Figure 8(b). Here, the roller 13a is biased downward by the biasing means 13c. Therefore, the third moving mechanism 23 may move the head unit 10 by a certain amount further downward than the position where the lower end of the roller 13a contacts the edge of the film 3.

[0067] Furthermore, in order to ensure that the adhesive surface of the adhesive tape 7 adheres securely to the film 3, the control unit 30 may control the state in which the adhesive surface is pressed against the film 3 by the roller 13a to continue for a predetermined time. This time may be, for example, 6 seconds or less, or 4 seconds or less.

[0068] At this point, the horizontal movement of the roller 13a is locked in the position shown in Figure 9(a). Therefore, even if the roller 13a hits the corner of the part 2 as shown in Figure 8(b), the roller 13a does not move in the left-right direction. Furthermore, because the outer surface of the roller 13a is made of an elastic material, when the adhesive surface of the adhesive tape 7 is pressed against the film 3, the outer surface of the roller 13a deforms slightly, causing the adhesive surface of the adhesive tape 7 to adhere to a wider area of ​​the film 3.

[0069] Note that Figure 8(a) shows the case where the film 3 extends beyond the part 2, but this is not required. As shown in Figure 10, even when the film 3 does not extend beyond the part 2, it is preferable that the roller 13a is moved so as to be pressed against the edge of the film 3.

[0070] (Step S112) The control unit 30 releases the lock mechanism 14 from the movement of the support portion 13b. As a result, the support portion 13b becomes movable horizontally relative to the unit body 11.

[0071] (Step S113) The control unit 30 controls the motor 15b of the drawer unit 15 to wind up a predetermined amount of adhesive tape 7. At this point, the roller 13a is biased in the pressing direction, i.e., downward in the vertical direction, by the biasing means 13c, so in response to the winding of the adhesive tape 7, the roller 13a moves to the right while rotating on the upper surface of the film 3, against the biasing force of the biasing means 13f, as shown in Figures 8(c) and 8(d), without lifting off the upper surface of the film 3. As a result, the roller 13a moves to the right relative to the biasing means 13c and the unit body 11, as shown in Figure 9(b). The film 3, whose end is attached to the adhesive tape 7, moves along the outer surface of the roller 13a together with the adhesive tape 7 as the roller 13a rolls, and is attached to the adhesive surface of the adhesive tape 7 on the outer surface of the roller 13a, so that it is gradually peeled away from the part 2 from the end. Furthermore, it is preferable that the adhesive tape 7 is wound up so that the film 3 is completely peeled off the part 2. The film 3, peeled off the part 2, moves together with the adhesive tape 7 until the winding of the adhesive tape 7 by the pull-out section 15 is completed.

[0072] (Step S114) The control unit 30 controls the third moving mechanism 23 so that the roller 13a moves upward to a predetermined height. As the roller 13a moves upward, the roller 13a returns to the reference position shown in Figure 9(a) due to the biasing force of the biasing means 13f.

[0073] (Step S115) The control unit 30 determines whether there is another film 3 to be peeled off. If there is another film 3 to be peeled off, it returns to step S104; otherwise, it proceeds to step S116.

[0074] (Step S116) The imaging unit 34 acquires an image of the substrate 4. The control unit 30 may, before acquiring this image, control the movement unit 20 so that the relative positional relationship between the imaging unit 34 and the substrate 4 is a predetermined positional relationship.

[0075] (Step S117) The control unit 30 uses the captured image acquired in step S116 to determine the position of the film 3 attached to the component 2.

[0076] (Step S118) The control unit 30 determines whether to perform the control to peel off the film 3 again. If it decides to perform the control to peel off the film 3 again, it returns to step S104; otherwise, the series of processes for peeling the film 3 from the part 2 is completed. The control unit 30 may, for example, decide to perform the control to peel off the film 3 again if the position of the film 3 is identified in step S117 and the number of retries is below a threshold; otherwise, it may decide not to perform the control to peel off the film 3 any further. The number of retries may be the number of times it returns from step S118 to step S104. Note that the order of processing in the flowchart in Figure 7 is just one example; the order of each step may be changed if similar results can be obtained.

[0077] As described above, with the peeling device 1 according to this embodiment, the film 3 attached to the part 2 can be peeled off using the adhesive force of the adhesive tape 7. Therefore, the film 3 can be peeled off more reliably. In addition, compared to peeling off the film 3 manually, the workload on the worker can be reduced and the time required to peel off the film 3 can be shortened. Furthermore, by rolling the roller head 13a so as to press the adhesive surface of the adhesive tape 7 against the film 3, the film 3 can be peeled off more reliably.

[0078] Furthermore, because the peeling device 1 has a remaining amount acquisition unit 31 and an output unit 33, it can notify the worker or others when the remaining amount of adhesive tape 7 is low, allowing for efficient replacement of the adhesive tape 7. As a result, the time interrupted during the peeling work due to the replacement of the adhesive tape 7 can be reduced.

[0079] Furthermore, because the peeling device 1 has a detection unit 32 and an output unit 33, it can notify the operator or others when the adhesive tape 7 runs out. Also, by interrupting the processing in the peeling device 1 when the adhesive tape 7 runs out, unnecessary processing such as pressing the roller 13a against the film 3 without the adhesive tape 7 can be prevented.

[0080] In this embodiment, the control unit 30 may, for example, change the time for which the adhesive tape 7 is pressed against the film 3 attached to the part 2 by the head 13a, depending on the type of part 2 to which the film 3 is attached. For example, the more force required to peel off the film 3 from a part 2, the longer the time for which the adhesive tape 7 is pressed against the film 3. The type of part 2 to which the film 3 is attached may, for example, be a type corresponding to the area of ​​the film 3's attachment surface. For example, the control unit 30 may press the adhesive tape 7 against the film 3 for a longer time (e.g., 6 seconds) for part 2 with a larger film 3 attachment surface area, and press the adhesive tape 7 against the film 3 for a shorter time (e.g., 3 seconds) for part 2 with a smaller film 3 attachment surface area.

[0081] For example, among the components 2 mounted on the substrate 4 shown in Figure 6, the three upper components 2 to which the film 3 is attached have the film 3 attached to only two of their four sides, while the two lower components 2 have the film 3 attached to all four sides. Therefore, the control unit 30 may, for example, shorten the pressing time for the film 3 attached to only two sides of the component 2, and lengthen the pressing time for the film 3 attached to all four sides of the component 2. By doing so, the film 3 that is attached to the component 2 with more force can be peeled off more reliably, and the overall film 3 peeling time can be shortened.

[0082] Furthermore, in this embodiment, the remaining amount acquisition unit 31 may acquire the remaining amount of adhesive tape 7 in the annular tape body 6 itself, or it may acquire an amount that has a predetermined relationship with the remaining amount. In the latter case, the remaining amount acquisition unit 31 may, for example, acquire the amount of adhesive tape 7 used in the annular tape body 6, or acquire the thickness of the adhesive tape 7 in the annular tape body 6. In this case, the output unit 33 may, for example, output a message indicating that the remaining amount of adhesive tape 7 in the annular tape body 6 is low when the amount acquired by the remaining amount acquisition unit 31 indicates that the remaining amount of adhesive tape 7 in the annular tape body 6 has fallen below a threshold, for example, when the amount of adhesive tape 7 used in the annular tape body 6 exceeds a predetermined threshold, or when the thickness of the adhesive tape 7 in the annular tape body 6 falls below a predetermined threshold.

[0083] Furthermore, although this embodiment mainly describes the case where the adhesive tape 7 is wound up to a predetermined length when peeling the film 3 from the part 2, this is not required. The amount of adhesive tape 7 wound up may be determined according to the length of the film 3 attached to the part 2, or more precisely, the length in the rolling direction of the roller 13a when peeling off the film 3. The length of the film 3 may be determined, for example, using an image captured by the imaging unit 34, or it may be determined using information indicating the length of the film 3 for each part 2 that has been set in advance. In this case, the longer the length, the larger the amount of winding up may be. Also, if the peeled film 3 is detected using a sensor between the roller 13a and the pull-out unit 15, the amount of winding up may be determined according to the detection result of the film 3 by the sensor. If the film 3 is colored and the adhesive tape 7 is transparent, for example, the sensor may have an imaging means for photographing the adhesive tape 7. The control unit 30 may, for example, use the captured image acquired by the imaging means to control the pull-out unit 15 so that the adhesive tape 7 is pulled out until the film 3 is no longer present on the adhesive tape 7 on the outer surface of the roller 13a.

[0084] Furthermore, although this embodiment describes a case where the peeling device 1 is equipped with both a remaining amount acquisition unit 31 and a detection unit 32, this is not required. For example, the peeling device 1 may not be equipped with either the remaining amount acquisition unit 31 or the detection unit 32, or it may not be equipped with both. In the latter case, the peeling device 1 may not be equipped with an output unit 33 either.

[0085] Furthermore, although this embodiment mainly describes the case in which an image is acquired for each substrate 4 and the position of the film 3 is identified using that image, this is not required. For example, the acquisition of an image may be performed only for a reference substrate 4, teaching data indicating the position of the film 3 acquired using that image may be generated, and the process of peeling the film 3 off the components 2 on the substrate 4 may be performed using that teaching data. In this case, images do not need to be acquired for substrates 4 other than the reference substrate 4. The reference substrate 4 may be, for example, the first substrate 4 to be processed for peeling off the film 3, or it may be a substrate 4 on which the film 3 is ideally attached to each mounted component 2. Thus, when we say that the control unit 30 identifies the position of the film 3 using the image and controls the movement unit 20 so that the head 13a moves to the identified position of the film 3, it may also mean, for example, that the control unit 30 identifies the position of the film 3 using the image, creates teaching data, and controls the movement unit 20 so that the head 13a moves to the position of the film 3 indicated by the created teaching data. In this case, the number of times the substrate 4 is photographed can be reduced, thus shortening the overall time required when peeling off the film 3 from multiple substrates 4.

[0086] Furthermore, although this embodiment describes a case where the position of the film 3 is automatically determined using the captured image acquired by the imaging unit 34, this is not required. The control unit 30 may, for example, determine the position of the film 3 on the component 2 mounted on the substrate 4 using information indicating the mounting position of the component 2 on the substrate 4 and information indicating the attachment position of the film 3 on the component 2 to which the film 3 is attached. Alternatively, the position of the film 3 to be peeled off may be taught by an operator using a reference substrate 4. In this case, the control unit 30 may use the position of the film 3 indicated by the teaching result to control the peeling off of each film 3. Even if captured images are not used to determine the position of the film 3, captured images may be used to confirm whether the film 3 has been peeled off. In this case, the imaging unit 34 may, for example, acquire a captured image of the component 2 after the control unit 30 has controlled the peeling off of the film 3 attached to the component 2. Furthermore, if the control unit 30 finds a component 2 to which the film 3 is attached in the captured image acquired after the control for peeling off the film 3 has been performed, it may perform the control for peeling off the film 3 again. Also, if the captured image is not used in the peeling device 1, the peeling device 1 does not need to be equipped with an imaging unit 34.

[0087] Furthermore, although this embodiment describes the case where the head unit 10 has a locking mechanism 14, this is not required. Even if the head unit 10 does not have a locking mechanism 14, the roller 13a may still be able to properly press the adhesive surface of the adhesive tape 7 against the film 3. For example, in the case shown in Figure 8(b), it is considered unlikely that the roller 13a will move to the right, so even if the head unit 10 does not have a locking mechanism 14, it is considered that the roller 13a can properly press the adhesive surface of the adhesive tape 7 against the film 3.

[0088] Furthermore, although this embodiment describes the case in which the roller 13a is supported so as to be movable in the rolling direction of the roller 13a in a direction perpendicular to the pressing direction, this is not required. If the roller 13a is not supported so as to be movable in the rolling direction of the roller 13a in a direction perpendicular to the pressing direction, the head portion 13 does not need to have the rail 13d and slider 13e. In this case, the control unit 30 may move the roller 13a by, for example, controlling the moving portion 20, similar to the description with respect to Figure 8.

[0089] Furthermore, although this embodiment mainly describes the case where the head portion 13 has a biasing means 13c for biasing the head 13a in the pressing direction, this is not required. If such biasing is not performed, the head portion 13 does not need to have a biasing means 13c.

[0090] Furthermore, although this embodiment mainly describes the case where the head 13a is a roller, this is not required. The head 13a may be something other than a roller. In this case, the head 13a may, for example, have a plate-shaped member having a surface perpendicular to the pressing direction. The adhesive surface of the adhesive tape 7 may then be pressed against the film 3 by this plate-shaped member, thereby peeling the film 3 from the part 2. In this case, the control unit 30 may, for example, control only the moving unit 20 when peeling the film 3 using the adhesive tape 7. More specifically, the control unit 30 may control the moving unit 20 to move the head 13a, which is located above the film 3, downward until the adhesive surface of the adhesive tape 7 is pressed against the film 3, and after pressing the adhesive surface against the film 3 for a predetermined time, move the head 13a upward. As the head 13a moves upward, the film 3 attached to the adhesive surface of the adhesive tape 7 is peeled off the part 2. In this case, it is preferable that the adhesive strength of the adhesive tape 7 is stronger than that of the film 3. Also, even if the head 13a is not a roller, the surface that comes into contact with the adhesive tape 7 may be made of, for example, an elastic material. Even in this case, it is preferable that the adhesive tape 7 is pulled out from the annular tape 6 by the pull-out section 15 after the film 3 has been peeled off the part 2 and adhered to the adhesive surface of the adhesive tape 7.

[0091] Furthermore, although this embodiment mainly describes the case where the film 3 is peeled off from a component 2 fixed to a substrate 4, this is not necessarily the case. For example, the film 3 may be peeled off from a component 2 fixed to something other than a substrate 4.

[0092] Furthermore, in the above embodiment, each process or function may be implemented by centralized processing by a single device or a single system, or by distributed processing by multiple devices or multiple systems.

[0093] Furthermore, in the above embodiment, each component may be configured with dedicated hardware, or, if it is a component that can be implemented by software, it may be implemented by executing a program. For example, each component can be implemented by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. During execution, the program execution unit may execute the program while accessing the storage unit or recording medium.

[0094] Furthermore, the embodiments described above are illustrative examples for specifically carrying out the present invention and do not limit the technical scope of the present invention. The technical scope of the present invention is indicated by the claims rather than by the description of the embodiments, and modifications within the literal scope and equivalent meaning of the claims are intended. [Explanation of Symbols]

[0095] 1. Peeling device 2 parts 3 Films 6. Annular tape 7 Adhesive tape 10 Head Units 12 Holding part 13 Head section 13a Head (Roller) 14. Locking mechanism 15 Drawer section 20 Mobile Unit 30 Control Unit 31. Remaining charge acquisition unit 32 Detection unit 33 Output section 34 Photography Department

Claims

1. A peeling device for removing a film used to attract parts that has been attached to a part, A holding part that rotatably holds an annular tape body having an adhesive tape wound in a ring shape, A head portion having a head that presses the adhesive surface of the adhesive tape pulled out from the annular tape body against a film attached to a component, and A head unit having a pull-out section that pulls out adhesive tape from the annular tape body via the head, The head unit and the part to which the film is attached are moved relative to each other. The system includes at least a control unit that controls the moving part in order to peel off the film attached to the part using the adhesive force of the adhesive tape, The head is a rotatably supported roller, The outer surface of the roller is made of an elastic material, In the head portion, the roller is supported so as to be movable in a direction perpendicular to the pressing direction of the roller and perpendicular to the rotation axis of the roller, and is biased in the direction of the surface component of the roller perpendicular to the pressing direction in the direction of movement of the adhesive tape.

2. The head unit further includes a locking mechanism for locking the movement of the rollers in the head portion. The peeling device according to claim 1, wherein the control unit locks the movement of the roller with the locking mechanism, presses the adhesive surface of the adhesive tape on the outer surface of the roller against the film attached to the component with the moving part, and after pressing, releases the lock on the movement of the roller with the locking mechanism, and pulls out the adhesive tape from the annular tape body with the pull-out part.

3. The peeling apparatus according to claim 1, wherein the control unit changes the time for which the head presses the adhesive tape onto the film attached to the part, depending on the type of part to which the film is attached.

4. A remaining amount acquisition unit for acquiring the remaining amount of adhesive tape in the annular tape body, The peeling device according to any one of claims 1 to 3, further comprising: an output unit that outputs a message indicating that the amount of adhesive tape remaining in the annular tape body is low when the amount of remaining tape acquired by the remaining amount acquisition unit falls below a threshold;

5. A detection unit for detecting the presence or absence of adhesive tape pulled out from the annular tape body, The peeling device according to any one of claims 1 to 3, further comprising: an output unit that outputs a statement indicating the absence of adhesive tape when the detection unit detects the absence of adhesive tape.

6. It further includes a shooting unit that acquires images of parts to which film has been attached, The peeling apparatus according to any one of claims 1 to 3, wherein the control unit identifies the position of the film using the captured image and controls the moving unit so that the head moves to the identified position of the film.

7. The control unit further includes an imaging unit that acquires an image of the component after the control unit has performed control to peel off the film attached to the component. The peeling apparatus according to any one of claims 1 to 3, wherein the control unit performs the control to peel off the film again if a component to which the film is attached is present in the captured image acquired after the control to peel off the film has been performed.

Images