Peeling device and peeling system

Abstract

The present invention provides a peeling device and peeling system that can easily peel off a member to be peeled from a substrate even when the member to be peeled is in close contact with the substrate, and furthermore, can easily peel off multiple members to be peeled from a substrate at once even when multiple members to be peeled are in close contact with the substrate. [Solution] The second peeling device 7a, 7b, 7c, or 7d peels off a member to be peeled W formed on the surface of a base material M from the base material M, and comprises a first adsorption part 13a1~13a4, a second adsorption part 13b1~13b4, a third adsorption part 13c1~13c4, or a fourth adsorption part 13d1~13d4 that can adsorb to the member to be peeled W, and a contact part 175a1~175a4, 175b1~175b4, 175c1~175c4, or 175d1~175d4 that is arranged near the first adsorption part 13a1~13a4, the second adsorption part 13b1~13b4, the third adsorption part 13c1~13c4, or the fourth adsorption part 13d1~13d4 and can abut the surface of the member to be peeled W.

Description

Technical Field

[0001] The present invention relates to a peeling device and a peeling system for peeling a peeled member formed on the surface of a substrate.

Background Art

[0002] Conventionally, a peeling device for peeling a sheet formed on the surface of an article is known.

[0003] For example, it is recognized that Patent Document 1 describes a molded product taking-out device 2 that sucks and raises the surface of a molded product P placed on a movable mold 4 by a suction part 12 (hereinafter referred to as an "adsorption part") to separate the molded product P placed on the movable mold 4 from the movable mold 4 (see FIG. 1 etc.).

[0004] Also, it is recognized that the suction part 12 described in Cited Document 1 includes a suction part main body 19, four arms 20 extending radially from the center of the suction part main body 19, and suction cups 14 arranged on each arm 20 (see FIG. 2 etc.).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, since the molded product taking-out device 2 described in Patent Document 1 separates the molded product P placed on the movable mold 4 from the movable mold 4 by sucking and raising the surface of the molded product P placed on the movable mold 4 by a suction part (hereinafter referred to as an "adsorption part") 12, when the molded product P is in close contact with the movable mold 4, there is a problem that it is difficult to separate the molded product P from the movable mold 4 (hereinafter referred to as a "substrate").

[0007] Furthermore, in the molded product removal device (hereinafter referred to as the "peeling device"), it is desirable to consider the case where a large number of molded products P (hereinafter referred to as the "parts to be peeled") are molded at once, taking production efficiency into consideration.

[0008] The present invention addresses the aforementioned problems of the prior art and aims to provide a peeling device and peeling system that can easily peel a member to be peeled from a substrate even when the member to be peeled is in close contact with the substrate, and furthermore, can easily peel multiple members to be peeled from a substrate at once even when multiple members to be peeled are in close contact with the substrate. [Means for solving the problem]

[0009] To solve the above-mentioned problems, a first aspect of the present invention is a peeling device for peeling off a peelable member formed on the surface of a substrate from the substrate, wherein the peelable member surface Adsorption portion capable of adsorption, and near the adsorption portion In this configuration, the tip is formed in a direction that is further away from the member to be peeled than the suction surface of the suction portion, and when the suction portion adheres to the member to be peeled, The peelable member The aforementioned It is characterized by comprising a contact portion that can come into contact with the surface.

[0010] Furthermore, a second aspect of the present invention is the peeling apparatus of the first aspect, The adsorption portion and the contact portion are slidably arranged along the surface of the substrate. It is characterized by being such.

[0011] Furthermore, a third aspect of the present invention is a peeling apparatus according to the first aspect, wherein the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the contact part is capable of contacting the surface of the discarded part.

[0012] Furthermore, a fourth aspect of the present invention is a peeling apparatus according to the second aspect, wherein the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the contact part is capable of contacting the surface of the discarded part.

[0013] Furthermore, a fifth aspect of the present invention is a peeling apparatus according to the first aspect, comprising: a first drive shaft provided at a first position; a first fixing part having a plurality of first arms extending radially from the first position; and the same number of first arms extending radially from the first position. multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of the first drive shaft, wherein the suction part and the contact part are slidably arranged along each of the plurality of first arms of the first fixed part and comprise a plurality of elongated first members connecting the tip of each of the plurality of second arms of the first rotating part and each of the suction parts.

[0014] Furthermore, a sixth aspect of the present invention is a peeling apparatus according to the second aspect, comprising: a first drive shaft provided at a first position; a first fixing part having a plurality of first arms extending radially from the first position; and the same number of first arms extending radially from the first position. multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of the first drive shaft, wherein the suction part and the contact part are slidably arranged along each of the plurality of first arms of the first fixed part and comprise a plurality of elongated first members connecting the tip of each of the plurality of second arms of the first rotating part and each of the suction parts.

[0015] Furthermore, a seventh aspect of the present invention is a peeling apparatus according to the first aspect, comprising: a second drive shaft provided at a second position; a second fixed part extending from the second position; a plurality of third arms extending radially from the second position; a second rotating part rotatable about the second position by the rotation of the second drive shaft; a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions; a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts; a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts; and the same number as the fourth arms extending radially from the different third positions. multiple The device comprises a plurality of third rotating parts having a fifth arm and rotatable about each of the different third positions by the rotation of the plurality of third drive shafts, wherein the suction part and the contact part are slidably arranged along each of the plurality of fourth arms of each of the plurality of sliding parts and comprise a plurality of elongated third members connecting each of the tip portions of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

[0016] Furthermore, an eighth aspect of the present invention is a peeling apparatus according to the second aspect, comprising: a second drive shaft provided at a second position; a second fixed part extending from the second position; a plurality of third arms extending radially from the second position; a second rotating part rotatable about the second position by the rotation of the second drive shaft; a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions; a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts; a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts; and the same number as the fourth arms extending radially from the different third positions. multipleThe device comprises a plurality of third rotating parts having a fifth arm and rotatable about each of the different third positions by the rotation of the plurality of third drive shafts, wherein the suction part and the contact part are slidably arranged along each of the plurality of fourth arms of each of the plurality of sliding parts and comprise a plurality of elongated third members connecting each of the tip portions of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

[0017] Furthermore, a ninth aspect of the present invention is a peeling device according to the fifth aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of the adsorption portions and the contact portions.

[0018] Furthermore, a tenth aspect of the present invention is a peeling device according to the sixth aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of the adsorption portions and the contact portions.

[0019] Furthermore, an eleventh aspect of the present invention is a peeling device according to the seventh aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of the adsorption portions and the contact portions.

[0020] Furthermore, a twelfth aspect of the present invention is a peeling device according to the eighth aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of the adsorption portions and the contact portions.

[0021] Furthermore, a thirteenth aspect of the present invention is a peeling apparatus according to the ninth aspect, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

[0022] Further, in a 14th aspect of the present invention, in the peeling device of the 10th aspect, the cutting portion cuts the gate of the molded product in conjunction with the operation of the first rotating portion.

[0023] Further, in a 15th aspect of the present invention, in the peeling device of the 11th aspect, the cutting portion cuts the gate of the molded product in conjunction with the operation of the third rotating portion.

[0024] Further, in a 16th aspect of the present invention, in the peeling device of the 12th aspect, the cutting portion cuts the gate of the molded product in conjunction with the operation of the third rotating portion.

[0025] Further, in a 17th aspect of the present invention, in a peeling device for peeling a peeled member formed on the surface of a base material from the base material, the peeled member surface has a suction portion that can be suctioned to, and in the vicinity of the suction portion In this configuration, the tip is formed in a direction that is further away from the member to be peeled than the suction surface of the suction portion, and when the suction portion is adsorbed to the member to be peeled, the surface of the member to be peeled has an insertion portion that can be inserted into, and is characterized by this.

[0026] Further, in an 18th aspect of the present invention, in the peeling device of the 17th aspect, The adsorption portion and the insertion portion are slidably arranged along the surface of the substrate. is characterized by this.

[0027] Further, in a 19th aspect of the present invention, in the peeling device of the 17th aspect, the peeled member includes an essential part constituting a component and a discarded part not constituting a component, and the insertion portion can be inserted into the discarded part, and is characterized by this.

[0028] Further, in a 20th aspect of the present invention, in the peeling device of the 18th aspect, the peeled member includes an essential part constituting a component and a discarded part not constituting a component, and the insertion portion can be inserted into the discarded part, and is characterized by this.

[0029] Furthermore, a 21st aspect of the present invention is a peeling apparatus according to the 17th aspect, comprising: a first drive shaft provided at a first position; a first fixing part having a plurality of first arms extending radially from the first position; and the same number of first fixing parts extending radially from the first position. multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of the first drive shaft, wherein the suction part and the insertion part are arranged in plurality on each of the plurality of first arms of the first fixed part so as to be slidable along each first arm, and the first rotating part comprises a plurality of elongated first members connecting the tip of each of the plurality of second arms of the first rotating part to each of the suction parts.

[0030] Furthermore, a 22nd aspect of the present invention is a peeling apparatus according to the 18th aspect, comprising: a first drive shaft provided at a first position; a first fixing part having a plurality of first arms extending radially from the first position; and the same number of first fixing parts extending radially from the first position. multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of the first drive shaft, wherein the suction part and the insertion part are arranged in plurality on each of the plurality of first arms of the first fixed part so as to be slidable along each first arm, and the first rotating part comprises a plurality of elongated first members connecting the tip of each of the plurality of second arms of the first rotating part to each of the suction parts.

[0031] Furthermore, a 23rd aspect of the present invention is a peeling apparatus according to the 17th aspect, comprising: a second drive shaft provided at a second position; a second fixed part extending from the second position; a plurality of third arms extending radially from the second position; a second rotating part rotatable about the second position by the rotation of the second drive shaft; a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions; a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts; a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts; and the same number as the fourth arms extending radially from the different third positions. multiple The suction part and the insertion part are characterized in that they are slidably arranged along each of the fourth arms of each of the plurality of sliding parts, and each of the tip portions of each of the plurality of fifth arms of each of the plurality of third rotating parts is connected to each of the suction part.

[0032] Furthermore, a 24th aspect of the present invention is a peeling apparatus according to the 18th aspect, comprising: a second drive shaft provided at a second position; a second fixed part extending from the second position; a plurality of third arms extending radially from the second position; a second rotating part rotatable about the second position by the rotation of the second drive shaft; a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions; a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts; a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts; and the same number as the fourth arms extending radially from different third positions. multipleThe suction part and the insertion part are characterized in that they are slidably arranged along each of the fourth arms of each of the plurality of sliding parts, and each of the tip portions of each of the plurality of fifth arms of each of the plurality of third rotating parts is connected to each of the suction part.

[0033] Furthermore, a 25th aspect of the present invention is a peeling device according to the 21st aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of suction portions and insertion portions.

[0034] Furthermore, a 26th aspect of the present invention is a peeling device according to the 22nd aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of suction portions and insertion portions.

[0035] Furthermore, a 27th aspect of the present invention is a peeling device according to the 23rd aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of the suction portions and the insertion portions.

[0036] Furthermore, a 28th aspect of the present invention is a peeling device according to the 24th aspect, wherein the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between a plurality of suction portions and insertion portions.

[0037] Furthermore, a 29th aspect of the present invention is a peeling apparatus according to the 25th aspect, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

[0038] Furthermore, a 30th aspect of the present invention is a peeling apparatus according to the 26th aspect, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

[0039] Furthermore, a 31st aspect of the present invention is a peeling apparatus according to the 27th aspect, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section.

[0040] Furthermore, a 32nd aspect of the present invention is a peeling apparatus according to the 28th aspect, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section.

[0041] Furthermore, the peeling system according to the 33rd aspect of the present invention is characterized by comprising an articulated robot and a peeling device according to any one of claims 1 to 32 connected to the tip of the articulated robot. [Effects of the Invention]

[0042] According to a first aspect of the present invention, the first aspect of the present invention is a peeling device for peeling off a peelable member formed on the surface of a substrate from the substrate, wherein the peelable member surface Adsorption part that can be adsorbed, and near the adsorption part In this configuration, the tip is formed in a direction that is further away from the material to be peeled than the suction surface of the suction part, and when the suction part adheres to the material to be peeled, Since it is equipped with a contact portion that can come into contact with the surface of the member to be peeled off, even when the member to be peeled off is in close contact with the base material, To minimize any impact on the adsorption operation of the adsorption part, The material to be peeled can be easily removed from the base material.

[0043] Furthermore, according to a second aspect of the present invention, in the peeling apparatus of the first aspect, The adsorption portion and the contact portion are arranged to slide along the surface of the substrate. Therefore, in addition to the effects of the peeling apparatus of the first embodiment, Even when the material to be peeled off is in close contact with the substrate, Remove the peeled-off member from the base material moreover It can be easily peeled off.

[0044] Furthermore, according to a third aspect of the present invention, in the peeling apparatus of the first aspect, the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the contact part can contact the surface of the discarded part. In addition to the effects of the peeling apparatus of the first aspect, the member to be peeled can be easily peeled from the substrate without damaging the main part.

[0045] Furthermore, according to a fourth aspect of the present invention, in the peeling apparatus of the second aspect, the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the contact part can contact the surface of the discarded part. In addition to the effects of the peeling apparatus of the second aspect, the member to be peeled can be easily peeled from the substrate without damaging the main part.

[0046] Furthermore, according to a fifth aspect of the present invention, in the peeling apparatus of the first aspect, a first drive shaft provided at a first position, a first fixing part having a plurality of first arms extending radially from the first position, and the same number as the first arms extending radially from the first position multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of a first drive shaft, and the suction part and contact part are slidably arranged along each of the multiple first arms of the first fixed part, and a plurality of elongated first members are provided that connect the tip of each of the multiple second arms of the first rotating part and each of the suction parts. In addition to the effects of the peeling device of the first embodiment, even when the member to be peeled is in close contact with the substrate, the spacing between the plurality of suction parts and contact parts can be easily expanded and contracted by a single first drive shaft, making it even easier to peel the member to be peeled from the substrate.

[0047] Furthermore, according to a sixth aspect of the present invention, in the peeling apparatus of the second aspect, a first drive shaft provided at a first position, a first fixing part having a plurality of first arms extending radially from the first position, and the same number as the first arms extending radially from the first position multipleThe device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of a first drive shaft, and the suction part and contact part are slidably arranged along each of the multiple first arms of the first fixed part, and a plurality of elongated first members connecting the tip of each of the multiple second arms of the first rotating part and each of the suction parts, so that in addition to the effects of the peeling device of the second embodiment, even when the member to be peeled is in close contact with the substrate, the spacing between the multiple suction parts and contact parts can be easily expanded and contracted by a single first drive shaft, and the member to be peeled can be peeled from the substrate even more easily.

[0048] Furthermore, according to a seventh aspect of the present invention, in the peeling apparatus of the first aspect, a second drive shaft provided at a second position, a second fixed part extending from the second position, a second rotating part having a plurality of third arms extending radially from the second position and rotatable about the second position by the rotation of the second drive shaft, a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions, a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts, a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts, and the same number as the fourth arms extending radially from different third positions multipleThe device has a fifth arm and comprises a plurality of third rotating parts that can rotate about different third positions by the rotation of a plurality of third drive shafts, and the suction part and contact part are slidably arranged along each of the plurality of fourth arms of each of the plurality of slide parts and comprises a plurality of elongated third members that connect the tip of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts. In addition to the effects of the peeling device of the first embodiment, the spacing between the plurality of slide parts can be easily expanded or contracted by a single second drive shaft to match the size of the peeling member and the substrate, and even when the peeling member is in close contact with the substrate, the spacing between the plurality of suction parts can be easily expanded or contracted by a single third drive shaft to easily peel the peeling member from the substrate, and a large number of peeling members can be easily peeled from the substrate at once by the plurality of third drive shafts.

[0049] Furthermore, according to the eighth aspect of the present invention, in the peeling apparatus of the second aspect, a second drive shaft provided at a second position, a second fixed part extending from the second position, a second rotating part having a plurality of third arms extending radially from the second position and rotatable about the second position by the rotation of the second drive shaft, a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions, a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts, a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts, and the same number as the fourth arms extending radially from different third positions multipleThe device has a fifth arm and comprises a plurality of third rotating parts that can rotate about different third positions by the rotation of a plurality of third drive shafts, and the suction part and contact part are slidably arranged along each of the plurality of fourth arms of each of the plurality of slide parts and comprises a plurality of elongated third members that connect the tip of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts. In addition to the effects of the peeling device of the second embodiment, the spacing between the plurality of slide parts can be easily expanded or contracted by a single second drive shaft to match the size of the peeling member and the substrate, and even when the member to be peeled is in close contact with the substrate, the spacing between the plurality of suction parts can be easily expanded or contracted by a single third drive shaft to easily peel the member to be peeled from the substrate, and a large number of members to be peeled can be easily peeled from the substrate at once by the plurality of third drive shafts.

[0050] Furthermore, according to the ninth aspect of the present invention, in the peeling device of the fifth aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting section for cutting the gate of the molded product is provided between the plurality of suction parts and contact parts. In addition to the effects of the peeling device of the fifth aspect, the molded product can be fixed by adsorbing it with the suction parts and contacting it with the contact parts, and the gate can be easily cut.

[0051] Furthermore, according to the tenth aspect of the present invention, in the peeling device of the sixth aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between the plurality of suction portions and contact portions. In addition to the effects of the peeling device of the sixth aspect, the molded product can be fixed by adsorbing it with the suction portions and contacting it with the contact portions, and the gate can be easily cut.

[0052] Furthermore, according to the 11th aspect of the present invention, in the peeling device of the 7th aspect, the member to be peeled is a molded product, and the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between the plurality of suction portions and contact portions. In addition to the effects of the peeling device of the 7th aspect, the molded product can be fixed by adsorbing it with the suction portions and contacting it with the contact portions, and the gate can be easily cut.

[0053] Furthermore, according to a twelfth aspect of the present invention, in the peeling device of the eighth aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting portion for cutting the gate of the molded product is provided between the plurality of suction portions and contact portions. In addition to the effects of the peeling device of the eighth aspect, the molded product can be fixed by adsorbing it with the suction portions and contacting it with the contact portions, and the gate can be easily cut.

[0054] Furthermore, according to the 13th aspect of the present invention, in the peeling apparatus of the 9th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section. Therefore, in addition to the effects of the peeling apparatus of the 9th aspect, the gate can be easily cut with a single first drive shaft.

[0055] Furthermore, according to the 14th aspect of the present invention, in the peeling apparatus of the 10th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section. Therefore, in addition to the effects of the peeling apparatus of the 10th aspect, the gate can be easily cut with a single first drive shaft.

[0056] Furthermore, according to the 15th aspect of the present invention, in the peeling device of the 11th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section. Therefore, in addition to the effects of the peeling device of the 11th aspect, the gate can be easily cut with a single third drive shaft.

[0057] Furthermore, according to the sixteenth aspect of the present invention, in the peeling device of the twelfth aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section. Therefore, in addition to the effects of the peeling device of the twelfth aspect, the gate can be easily cut with a single third drive shaft.

[0058] Furthermore, according to a 17th aspect of the present invention, in a peeling device for peeling off a peelable member formed on the surface of a substrate from the substrate, the peelable member surface Adsorption part that can be adsorbed, and near the adsorption part In this configuration, the tip is formed in a direction that is further away from the member to be peeled than the suction surface of the suction part, and when the suction part is attached to the member to be peeled, the surface of the member to be peeled Since it is equipped with an insertion part that can be inserted into the substrate, the member to be peeled off can be easily peeled off from the substrate even when the member to be peeled off is in close contact with the substrate.

[0059] Furthermore, according to the 18th aspect of the present invention, in the peeling apparatus of the 17th aspect, The suction part and the insertion part are arranged to slide along the surface of the substrate. Therefore, in addition to the effects of the peeling apparatus of the 17th embodiment, Even when the material to be peeled off is in close contact with the substrate, Remove the peeled-off member from the base material moreover It can be easily peeled off.

[0060] Furthermore, according to the 19th aspect of the present invention, in the peeling apparatus of the 17th aspect, the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the insertion part can be inserted into the discarded part. Therefore, in addition to the effects of the peeling apparatus of the 17th aspect, the member to be peeled can be easily peeled from the substrate without damaging the main part.

[0061] Furthermore, according to the 20th aspect of the present invention, in the peeling apparatus of the 18th aspect, the member to be peeled comprises a main part that constitutes a component and a discarded part that does not constitute a component, and the insertion part can be inserted into the discarded part. Therefore, in addition to the effects of the peeling apparatus of the 18th aspect, the member to be peeled can be easily peeled from the substrate without damaging the main part.

[0062] Furthermore, according to the 21st aspect of the present invention, in the peeling apparatus of the 17th aspect, a first drive shaft provided at a first position, a first fixing part having a plurality of first arms extending radially from the first position, and the same number as the first fixing part extending radially from the first position multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of a first drive shaft, and the suction part and insertion part are arranged in multiple quantities so as to be slidable along each of the multiple first arms of the first fixed part, and the device comprises multiple elongated first members connecting the tip of each of the multiple second arms of the first rotating part to each of the suction parts. In addition to the effects of the peeling device of the 17th embodiment, even when the member to be peeled is in close contact with the substrate, the spacing between the multiple suction parts and insertion parts can be easily expanded and contracted by a single first drive shaft, making it even easier to peel the member to be peeled from the substrate.

[0063] Furthermore, according to the 22nd aspect of the present invention, in the peeling apparatus of the 18th aspect, a first drive shaft provided at a first position, a first fixing part having a plurality of first arms extending radially from the first position, and the same number as the first fixing part extending radially from the first position multiple The device comprises a first rotating part having a second arm and rotatable about a first position by the rotation of a first drive shaft, and the suction and insertion parts are arranged in multiple quantities so as to be slidable along each of the multiple first arms of the first fixed part, and the device comprises multiple elongated first members connecting the tips of each of the multiple second arms of the first rotating part to each of the multiple suction parts. In addition to the effects of the peeling device of the 18th embodiment, even when the member to be peeled is in close contact with the substrate, the spacing between the multiple suction and insertion parts can be easily expanded and contracted by a single first drive shaft, making it even easier to peel the member to be peeled from the substrate.

[0064] Furthermore, according to the 23rd aspect of the present invention, in the peeling apparatus of the 17th aspect, a second drive shaft provided at a second position, a second fixed part extending from the second position, a second rotating part having a plurality of third arms extending radially from the second position and rotatable about the second position by the rotation of the second drive shaft, a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions, a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts, a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts, and the same number as the fourth arms extending radially from different third positions multiple The device has a fifth arm and comprises a plurality of third rotating parts that can rotate about different third positions by the rotation of a plurality of third drive shafts, and the suction part and insertion part are slidably arranged along each of the plurality of fourth arms of each of the plurality of slide parts and comprises a plurality of elongated third members that connect the tip of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts. In addition to the effects of the peeling device of the 17th embodiment, the spacing between the plurality of slide parts can be easily expanded or contracted by a single second drive shaft to match the size of the peeling member and the substrate, and even when the peeling member is in close contact with the substrate, the spacing between the plurality of suction parts can be easily expanded or contracted by a single third drive shaft to easily peel the peeling member from the substrate, and a large number of peeling members can be easily peeled from the substrate at once by the plurality of third drive shafts.

[0065] Furthermore, according to the 24th aspect of the present invention, in the peeling apparatus of the 18th aspect, a second drive shaft provided at a second position, a second fixed part extending from the second position, a second rotating part having a plurality of third arms extending radially from the second position and rotatable about the second position by the rotation of the second drive shaft, a plurality of sliding parts slidably arranged on the second fixed part and having a plurality of fourth arms extending radially from different third positions, a plurality of elongated second members connecting the respective tips of the plurality of third arms of the second rotating part to each of the plurality of sliding parts, a plurality of third drive shafts provided at the third position of each of the plurality of sliding parts, and the same number as the fourth arms extending radially from different third positions multiple The device has a fifth arm and comprises a plurality of third rotating parts that can rotate about different third positions by the rotation of a plurality of third drive shafts, and the suction part and insertion part are slidably arranged along each of the plurality of fourth arms of each of the plurality of slide parts and comprises a plurality of elongated third members that connect the tip of each of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts. In addition to the effects of the peeling device of the 18th embodiment, the spacing between the plurality of slide parts can be easily expanded or contracted by a single second drive shaft to match the size of the peeling member and the substrate, and even when the peeling member is in close contact with the substrate, the spacing between the plurality of suction parts can be easily expanded or contracted by a single third drive shaft to easily peel the peeling member from the substrate, and a large number of peeling members can be easily peeled from the substrate at once by the plurality of third drive shafts.

[0066] Furthermore, according to the 25th aspect of the present invention, in the peeling device of the 21st aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting section for cutting the gate of the molded product is provided between the plurality of suction parts and insertion parts. In addition to the effects of the peeling device of the 21st aspect, the molded product can be fixed by adsorbing it with the suction parts and inserting the insertion parts, and the gate can be easily cut.

[0067] Furthermore, according to the 26th aspect of the present invention, in the peeling device of the 22nd aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting section for cutting the gate of the molded product is provided between the plurality of suction parts and insertion parts. In addition to the effects of the peeling device of the 22nd aspect, the molded product can be fixed by adsorbing it with the suction parts and inserting the insertion parts, and the gate can be easily cut.

[0068] Furthermore, according to the 27th aspect of the present invention, in the peeling device of the 23rd aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting section for cutting the gate of the molded product is provided between the plurality of suction parts and insertion parts. In addition to the effects of the peeling device of the 23rd aspect, the molded product can be fixed by adsorbing it with the suction parts and inserting the insertion parts, and the gate can be easily cut.

[0069] Furthermore, according to the 28th aspect of the present invention, in the peeling device of the 24th aspect, the member to be peeled is a molded product, the base material is a mold for molding the molded product, and a cutting section for cutting the gate of the molded product is provided between the plurality of suction parts and insertion parts. In addition to the effects of the peeling device of the 24th aspect, the molded product can be fixed by adsorbing it with the suction parts and inserting the insertion parts, and the gate can be easily cut.

[0070] Furthermore, according to the 29th aspect of the present invention, in the peeling device of the 25th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section. Therefore, in addition to the effects of the peeling device of the 25th aspect, the gate can be easily cut with a single first drive shaft.

[0071] Furthermore, according to the 30th aspect of the present invention, in the peeling apparatus of the 26th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section. Therefore, in addition to the effects of the peeling apparatus of the 26th aspect, the gate can be easily cut with a single first drive shaft.

[0072] Furthermore, according to the 31st aspect of the present invention, in the peeling apparatus of the 27th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section. Therefore, in addition to the effects of the peeling apparatus of the 27th aspect, the gate can be easily cut with a single third drive shaft.

[0073] Furthermore, according to the 32nd aspect of the present invention, in the peeling apparatus of the 28th aspect, the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section. Therefore, in addition to the effects of the peeling apparatus of the 28th aspect, the gate can be easily cut with a single third drive shaft.

[0074] Furthermore, according to the 33rd aspect of the present invention, the peeling system comprises an articulated robot and a peeling device of any of the first to 32 aspects connected to the tip of the articulated robot, so that the peeling device can be placed in a narrow area. Susumu By inserting it, the material to be peeled off can be easily removed from the base material. [Brief explanation of the drawing]

[0075] [Figure 1] This is an overall perspective view of the peeling system according to the first embodiment of the present invention. [Figure 2] This is an enlarged view of section A in Figure 1. [Figure 3] This is a bottom view of the first peeling device of this embodiment when the workpiece width is increased and the suction section width is increased. [Figure 4] This is a front view of the first peeling apparatus of this embodiment when the workpiece width is increased and the suction section width is increased. [Figure 5] This is a bottom view of the first peeling device of this embodiment when the workpiece width is reduced and the suction section width is increased. [Figure 6] This is a front view of the first peeling apparatus of this embodiment when the workpiece width is reduced and the suction section width is increased. [Figure 7] This is a bottom view of the first peeling device of this embodiment when the workpiece width is reduced and the suction section width is reduced. [Figure 8] This is a front view of the first peeling apparatus of this embodiment when the workpiece width is reduced and the suction section width is reduced. [Figure 9] This is a bottom view of the first peeling apparatus of this embodiment when the workpiece width is reduced and the cutter section is cut. [Figure 10] This is a front view of the first peeling apparatus of this embodiment when the workpiece width is reduced and the cutter section is cut. [Figure 11] This is a block diagram of the peeling system of this embodiment. [Figure 12] This is a block diagram of the main controller of the peeling system in this embodiment. [Figure 13] This is a flowchart of the main program in the peeling system of this embodiment. [Figure 14] This is an overall plan view of the member to be peeled used in the peeling system of this embodiment. [Figure 15] This figure shows the state of the first peeling device of this embodiment before adjusting the workpiece width to match the member to be peeled. [Figure 16] This figure shows the state after the first peeling device of this embodiment has adjusted the width of the workpiece to match the member to be peeled. [Figure 17] This is an enlarged view of section B in Figure 16. [Figure 18] This figure shows the state in which the adsorption part adsorbs the member to be peeled in the peeling system of this embodiment. [Figure 19] This is an enlarged view of section C in Figure 18. [Figure 20] This figure shows the peeling system of this embodiment, in which the suction part has adsorbed the member to be peeled and the width of the suction part has been reduced. [Figure 21] This figure shows the state in the release system of this embodiment where the adsorption part separates the member to be released from the substrate, and the release agent is sprayed from the release agent spray nozzle. [Figure 22] This figure shows the state in the release system of this embodiment, where the release agent has been sprayed from the release agent spray nozzle and the member to be released has been separated from the substrate. [Figure 23] This figure shows the peeling system of this embodiment, with the peeled member placed back onto another plate. [Figure 24]This figure shows the state in which the cutter section of the peeling system of this embodiment is set on the gate of the member to be peeled. [Figure 25] This figure shows the state in which the cutter unit of the peeling system of this embodiment has been activated to cut the gate of the member to be peeled. [Figure 26] This is a front view of the first peeling apparatus of the second embodiment when the workpiece width is increased and the suction section width is increased. [Figure 27] Figure 26 is equivalent to Figure 17. [Figure 28] Figure 26 is equivalent to Figure 19. [Modes for carrying out the invention]

[0076] Embodiments of the present invention will be described below with reference to the drawings.

[0077] (First Embodiment) First, a first embodiment of the present invention will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions. Figure 1 is an overall perspective view of the peeling system of the first embodiment of the present invention, and Figure 2 is an enlarged view of part A in Figure 1.

[0078] In this embodiment, peeling system 1 and peeling system 101 of the embodiment described later use a mold as an example of the "substrate" and a molded product as an example of the "member to be peeled" of the present invention, and an embodiment is described in which a molded product of a highly malleable and ductile thin film formed by a mold is peeled off by a peeling device. However, the peeling system of the present invention is not limited to this embodiment and can be implemented in all embodiments in which a member to be peeled off, including a molded product, is peeled off from the surface of a substrate to which a member to be peeled off can be attached, including a mold.

[0079] However, the peeling system 1, first peeling device 5, second peeling devices 7a, 7b, 7c, and 7d of this embodiment, as well as the peeling system 101 and first peeling device 105 of the embodiment described later, are particularly effective when peeling a thin film to be peeled from a substrate, which has high malleability and ductility.

[0080] Furthermore, because the peeling system 1 of this embodiment has a very large number of parts, it was not possible to assign reference numerals (part numbers) to all the parts shown on the paper due to space limitations. Therefore, these reference numerals (part numbers) are assigned to other drawings, and this embodiment and the implementation described later will be explained while referring to multiple drawings.

[0081] As shown in Figures 1 and 2, the peeling system 1 of this embodiment comprises an articulated robot 3 and a first peeling device 5 rotatably connected to the tip of the articulated robot 3.

[0082] The articulated robot 3 is a standard 7-axis articulated robot installed at location G and operated by commands from the robot controller 8 (see Figure 11).

[0083] The articulated robot 3 has seven axes: a first rotation axis 31 for rotating the second base 32 relative to the first base 30; a second rotation axis 33 for rotating the lower arm 34 forward and backward relative to the second base 32; a third rotation axis 35 for rotating the upper arm 36 up and down relative to the lower arm 34; a fourth rotation axis 37 for coaxially rotating the lower middle arm 38 relative to the upper and lower arm 36; a fifth rotation axis 39 for coaxially rotating the upper middle arm 40 relative to the lower middle arm 38; a sixth rotation axis 41 for rotating the lower upper arm 42 up and down relative to the upper middle arm 40; and a seventh rotation axis 43 for rotating the upper upper arm 44 up and down relative to the lower upper arm 42.

[0084] As described above, the first peeling device 5 is rotatably connected to the tip of the upper arm portion 44 of the articulated robot 3, and peels off the peelable member (molded product) W, which will be described later, that has adhered to the surface of the base material (mold) M, after molding, from the base material M.

[0085] Furthermore, the first peeling device 5 of this embodiment can change the spacing (work width) of the four second peeling devices 7a, 7b, 7c, and 7d, which will be described later, according to the size of the base material M and the member to be peeled W, and the width between the adsorption parts (adsorption part width), which will be described later, can also be changed in order to peel the member to be peeled W from the base material M.

[0086] Furthermore, the first peeling device 5 of this embodiment can individually and simultaneously peel off the four divided members W1, W2, W3, and W4 from the base material M using four second peeling devices 7a, 7b, 7c, and 7d, which will be described later (see Figure 14).

[0087] In this embodiment, the first peeling device 5 peels off the four peelable members W1, W2, W3, and W4 from the base material M individually and simultaneously. However, by removing or not operating some of the suction parts, it is possible to peel off not just the four peelable members, but three, two, or one peelable member individually and simultaneously.

[0088] Figure 3 is a bottom view of the first peeling apparatus of this embodiment when the workpiece width is increased and the suction section width is increased, Figure 4 is a front view thereof, Figure 5 is a bottom view of the first peeling apparatus of this embodiment when the workpiece width is decreased and the suction section width is increased, and Figure 6 is a front view thereof.

[0089] As shown in Figures 2 to 4, the first peeling device 5 of this embodiment comprises a hollow box-shaped housing 69, which is rotatably connected to the tip of the upper arm 44 of the articulated robot 3 and has a roughly rectangular shape in plan view; a main frame 29 (corresponding to the "second fixing part of the present invention") connected to the housing 69 for moving four second peeling devices 7a, 7b, 7c, and 7d, which will be described later, radially in directions approximately 90 degrees from the center (which is the same position as the main rotation center 67); and four second peeling devices 7a, 7b, 7c, and 7d (see Figure 3) that can move along the main frame 29 in directions approximately 90 degrees different from each other.

[0090] Furthermore, the first peeling device 5 is connected to the bottom surface of the housing 69 and includes a main motor 9 for moving the four second peeling devices 7a, 7b, 7c, and 7d along the main frame 29 in directions approximately 90 degrees apart from each other, a main motor pulley 77 connected to the motor shaft of the main motor 9, a main rotating part timing belt 73 with one end wound around the main motor pulley 77, and a main rotating part pulley 71 wound around the other end of the main rotating part timing belt 73 and rotating around the same position as the main rotating part center 67 (corresponding to the "second position" of the present invention, see Figure 7) (the rotation center of the main rotating part 71 corresponds to the "second drive shaft" of the present invention).

[0091] Furthermore, the first peeling device 5 includes a main rotating part 45 (corresponding to the "second rotating part" of the present invention) which is connected coaxially to the rotation center of the main rotating part pulley 71 and has a roughly cross shape in plan view (a state in which one end of the four main rotating bars (corresponding to the "third arm" of the present invention) is joined at a single point at an angle of approximately 90 degrees) in order to change the spacing between the second peeling devices 7a, 7b, 7c, and 7d.

[0092] Furthermore, the first peeling device 5 further includes an auxiliary part moving link 47a (corresponding to the "second member" of the present invention, see Figure 5) that connects the end of one main rotating bar of the main rotating part 45 to the auxiliary frame 65a (corresponding to the "first fixing part" and "sliding part" of the present invention) and an auxiliary part moving link 47b (corresponding to the "first fixing part" and "sliding part" of the present invention) that connects the end of the other main rotating bar of the main rotating part 45 to the auxiliary frame 65b (corresponding to the "first fixing part" and "sliding part" of the present invention) The device comprises: a "second component" (corresponding to the "second component" of the present invention, see Figure 5); an auxiliary component movement link 47c (corresponding to the "second component" of the present invention, see Figure 5) that connects the end of one other main rotating bar of the main rotating component 45 to the auxiliary frame 65c (corresponding to the "first fixed component" and "sliding component" of the present invention); and an auxiliary component movement link 47d (corresponding to the "second component" of the present invention, see Figures 3 and 5) that connects the end of one other main rotating bar of the main rotating component 45 to the auxiliary frame 65d (corresponding to the "first fixed component" and "sliding component" of the present invention).

[0093] In this embodiment, the first peeling device 5 is configured to transmit the driving force of the main motor 9 via the main rotating pulley 71 in order to move the four second peeling devices 7a, 7b, 7c, and 7d in directions that are approximately 90 degrees apart from each other. However, the driving force may also be transmitted directly from the motor shaft of the main motor 9.

[0094] Furthermore, the main rotating bar (corresponding to the "third arm" of the present invention) refers to the four protruding parts of the main rotating part 45 that extend radially from the main rotating part center 67 (see Figure 7) of the main rotating part 45 in directions of approximately 90 degrees.

[0095] As shown in Figures 2 to 4, the main frame 29 has a grid shape with a total of eight protrusions on its outer circumference: two protrusions 79a1 and 79a2, two protrusions 79b1 and 79b2, two protrusions 79c1 and 79c2, and two protrusions 79d1 and 79d2, respectively, so that each of the auxiliary frames 65a, 65b, 65c, and 65d of the second peeling device, which will be described later, can move. Overall, it has a roughly rectangular shape in plan view.

[0096] Furthermore, the main frame 29 is formed along the two aforementioned protrusions 79a1 and 79a2 and includes two auxiliary frame movement rails 25a1 and 25a2 for the auxiliary frame 65a (described later) to move along the main frame 29; two auxiliary frame movement rails 25b1 and 25b2 for the auxiliary frame 65b (described later) to move along the main frame 29, formed along two protrusions 79b1 and 79b2; two auxiliary frame movement rails 25c1 and 25c2 for the auxiliary frame 65c (described later) to move along the main frame 29, formed along two protrusions 79c1 and 79c2; and two auxiliary frame movement rails 25d1 and 25d2 for the auxiliary frame 65d (described later) to move along the main frame 29, formed along two protrusions 79d1 and 79d2.

[0097] Furthermore, the first peeling device 5 includes auxiliary frame moving carriages 81a1 and 81a2 (see Figure 7) that can move along two auxiliary frame moving rails 25a1 and 25a2, auxiliary frame moving carriages 81b1 and 81b2 (see Figure 7) that can move along two auxiliary frame moving rails 25b1 and 25b2, auxiliary frame moving carriages 81c1 and 81c2 (see Figure 7) that can move along two auxiliary frame moving rails 25c1 and 25c2, and auxiliary frame moving carriages 81d1 and 81d2 (see Figure 7) that can move along two auxiliary frame moving rails 25d1 and 25d2.

[0098] Furthermore, the first peeling device 5 is equipped with three mold release agent spray nozzles 63a, 63b, and 63c (corresponding to the "coating section" of the present invention) for applying a mold release agent to the surface of the base material M after the member to be peeled W has been peeled from the base material M, in order to facilitate the next peeling of the member to be peeled W from the base material M.

[0099] Specifically, the mold release agent spray nozzle 63b located in the center is provided on the main frame 29 on the side opposite to the articulated robot 3 relative to the main frame 29, the mold release agent spray nozzle 63a, which is positioned adjacent to the mold release agent spray nozzle 63b, is provided on the auxiliary frame 65a on the side opposite to the articulated robot 3 relative to the auxiliary frame 65a, and the mold release agent spray nozzle 63c, which is positioned on the opposite side from the mold release agent spray nozzle 63a relative to the mold release agent spray nozzle 63b, is provided on the auxiliary frame 65b on the side opposite to the articulated robot 3 relative to the auxiliary frame 65b.

[0100] Next, we will explain the operation of the first peeling device 5 described above.

[0101] In the first peeling device 5, when the main motor 9 is rotated counterclockwise toward the motor shaft tip, the main motor pulley 77, the main rotating part timing belt 73, and the main rotating part pulley 71 rotate in the same direction, and the main rotating part 45 rotates clockwise toward the plane of the paper in Figure 5.

[0102] Then, in Figure 5, when the main rotating part 45 rotates clockwise toward the plane of the paper, the auxiliary frames 65a, 65b, 65c, and 65d move outward by the auxiliary moving links 47a, 47b, 47c, and 47d.

[0103] Specifically, the auxiliary frame movement link 47a moves the auxiliary frame movement carriages 81a1 and 81a2 (see Figure 7) of the auxiliary frame 65a outward along the two auxiliary frame movement rails 25a1 and 25a2 (see Figure 7), and the auxiliary frame movement link 47b moves the auxiliary frame movement carriages 81b1 and 81b2 (see Figure 7) of the auxiliary frame 65b outward along the two auxiliary frame movement rails 25b1 and 25b2 (see Figure 7). As the auxiliary frame is moved, the auxiliary frame movement carriages 81c1 and 81c2 (see Figure 7) of the auxiliary frame 65c move outward along the two auxiliary frame movement rails 25c1 and 25c2 (see Figure 7) by the auxiliary frame movement link 47c, and the auxiliary frame movement carriages 81d1 and 81d2 (see Figure 7) of the auxiliary frame 65d move outward along the two auxiliary frame movement rails 25d1 and 25d2 (see Figure 7) by the auxiliary frame movement link 47d.

[0104] Figure 3 is a bottom view showing the state in which auxiliary frames 65a, 65b, 65c, and 65d have moved outwards, and Figure 4 is a front view thereof.

[0105] On the other hand, in the first peeling device 5, when the main motor 9 is rotated clockwise toward the motor shaft tip, the main motor pulley 77, the main rotating part timing belt 73, and the main rotating part pulley 71 rotate in the same direction, and the main rotating part 45 rotates counterclockwise toward the plane of the paper in Figure 3.

[0106] Then, in Figure 3, when the main rotating part 45 rotates counterclockwise toward the plane of the paper, the auxiliary frames 65a, 65b, 65c, and 65d move inward by the auxiliary moving links 47a, 47b, 47c, and 47d.

[0107] Specifically, the auxiliary frame movement link 47a moves the auxiliary frame movement carriages 81a1 and 81a2 (see Figure 7) of the auxiliary frame 65a inward along the two auxiliary frame movement rails 25a1 and 25a2 (see Figure 7), and the auxiliary frame movement link 47b moves the auxiliary frame movement carriages 81b1 and 81b2 (see Figure 7) of the auxiliary frame 65b inward along the two auxiliary frame movement rails 25b1 and 25b2 (see Figure 7). As the auxiliary frame is moved, the auxiliary frame movement carriages 81c1 and 81c2 (see Figure 7) of the auxiliary frame 65c move inward along the two auxiliary frame movement rails 25c1 and 25c2 (see Figure 7) by the auxiliary frame movement link 47c, and the auxiliary frame movement carriages 81d1 and 81d2 (see Figure 7) of the auxiliary frame 65d move inward along the two auxiliary frame movement rails 25d1 and 25d2 (see Figure 7) by the auxiliary frame movement link 47d.

[0108] Figure 5 is a bottom view showing the state in which the auxiliary frames 65a, 65b, 65c, and 65d have moved inward, and Figure 6 is a front view thereof.

[0109] As described above, the first peeling device 5 of this embodiment can change the spacing (work width) of the four second peeling devices 7a, 7b, 7c, and 7d, which will be described later, according to the size of the base material M and the member to be peeled W.

[0110] The second peeling device 7a peels the member to be peeled W1, described later, from the base material M by changing the width between the adsorption parts (adsorption part width), described later, and consists of an auxiliary frame 65a (see Figure 5) which is roughly cross-shaped in plan view (a state in which one end of four auxiliary frame bars (corresponding to the "first arm" and "fourth arm" of the present invention) is joined at one point at an angle of approximately 90 degrees), an auxiliary motor 11a positioned in the center of the auxiliary frame 65a (the intersection of the cross shape), and the auxiliary motor 11 The device includes an auxiliary rotating part 21a (corresponding to the "first rotating part" and "third rotating part" of the present invention) which is connected to the motor shaft of a (corresponding to the "first drive shaft" and "third drive shaft" of the present invention) and is rotatable about the auxiliary rotating part center 23a (corresponding to the "first position" and "third position" of the present invention), and has a roughly cross shape in plan view (a state in which one end of the four auxiliary rotating part bars (corresponding to the "second arm" and "fifth arm" of the present invention) is joined at a single point at an angle of approximately 90 degrees).

[0111] Furthermore, the auxiliary frame bar (corresponding to the "first arm" and "fourth arm" of the present invention) refers to the four protruding parts of the auxiliary frame 65a that extend radially at approximately 90 degrees from the center of the auxiliary frame 65a (which is the same position as the auxiliary rotating part center 23a), and the auxiliary rotating part bar (corresponding to the "second arm" and "fifth arm" of the present invention) refers to the four protruding parts of the auxiliary rotating part 21a that extend radially at approximately 90 degrees from the auxiliary rotating part center 23a of the auxiliary rotating part 21a.

[0112] Furthermore, the second peeling device 7a includes suction unit moving rails 27a1, 27a2, 27a3, and 27a4 formed along four auxiliary frame bars of the auxiliary frame 65a, and suction unit moving carriages 17a1, 17a2, 17a3, and 17a4 that are movable along each of the suction unit moving rails 27a1, 27a2, 27a3, and 27a4.

[0113] Furthermore, the second peeling device 7a includes a first suction part 13a1 having a suction hole 15a1 and connected to a carriage for moving the suction part 17a1, a first suction part 13a2 having a suction hole 15a2 and connected to a carriage for moving the suction part 17a2, a first suction part 13a3 having a suction hole 15a3 and connected to a carriage for moving the suction part 17a3, and a first suction part 13a4 having a suction hole 15a4 and connected to a carriage for moving the suction part 17a4.

[0114] Furthermore, the second peeling device 7a includes a suction unit moving link 19a1 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one auxiliary rotating bar of the auxiliary rotating unit 21a to the suction unit moving carriage 17a1, and a suction unit moving link 19a2 (corresponding to the "first member" and "third member" of the present invention) that connects the end of the other auxiliary rotating bar of the auxiliary rotating unit 21a to the suction unit moving carriage 17a2. The device comprises: a suction part moving link 19a3 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating bar of the auxiliary rotating part 21a to the suction part moving carriage 17a3; and a suction part moving link 19a4 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating bar of the auxiliary rotating part 21a to the suction part moving carriage 17a4.

[0115] Furthermore, the second peeling device 7a includes a needle portion 75a1 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the first suction portion 13a1, a needle portion 75a2 (corresponding to the "insertion portion" of the present invention) located near the first suction portion 13a2, a needle portion 75a3 (corresponding to the "insertion portion" of the present invention) located near the first suction portion 13a3, and a needle portion 75a4 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the first suction portion 13a4.

[0116] Furthermore, the second peeling device 7a includes a cutter section 53a (corresponding to the "cutting section" of the present invention) that rotates and opens and closes around the cutter section rotation center 51a by opening and closing the cutter first gripping section 55a and the cutter second gripping section 57a; a cutter section lowering plate 59a connected to the suction section moving carriage 17a2 and having an inclined surface that slopes downward toward the outside, for lowering the cutter section 53a to the cutting position in order to cut the gate formed on the peeled part W1, which will be described later; and a rotatable cutter section lowering pulley 61a connected to the auxiliary frame bar of the auxiliary frame 65a and for lowering the cutter section 53a to the cutting position along the cutter section lowering plate 59a.

[0117] Furthermore, the distance between the lower end of the cutter section 53a and the lower ends of the first suction sections 13a1 to 13a4 is X1, as shown in Figures 4 and 6, before the cutter section 53a is lowered to the cutting position by the cutter section lowering plate 59a and the cutter section lowering pulley 61a, and after the cutter section 53a is lowered to the cutting position by the cutter section lowering plate 59a and the cutter section lowering pulley 61a, it is X2, which is shorter than X1, as shown in Figures 8 and 10, which will be described later.

[0118] Furthermore, the second peeling device 7a includes a cutter operating roller 49a that is rotatably connected to the outermost end of the auxiliary rotating bar of the auxiliary rotating bar 21a of the auxiliary rotating bar 21a, which is on the outer side of the connection point between the auxiliary rotating bar of the auxiliary rotating bar 21a and the suction unit moving link 19a4, in order to operate the cutter unit 53a.

[0119] Furthermore, the second peeling device 7b also peels the member to be peeled off, described later, W2 from the base material M by changing the width between the adsorption parts (adsorption part width), and comprises an auxiliary frame 65b (see Figure 5) which has a roughly cross shape in plan view (a state in which one end of four auxiliary frame bars is joined at one point at an angle of approximately 90 degrees), an auxiliary motor 11b positioned in the center of the auxiliary frame 65b (the intersection of the cross shape), and an auxiliary rotating part 21b (corresponding to the "first rotating part" and "third rotating part" of the present invention) which has a roughly cross shape in plan view (a state in which one end of four auxiliary rotating part bars (corresponding to the "second arm" and "fifth arm" of the present invention) is joined at one point at an angle of approximately 90 degrees), and is connected to the motor shaft of the auxiliary motor 11b (corresponding to the "first drive shaft" and "third drive shaft" of the present invention) and is rotatable about the auxiliary rotating part center 23b (corresponding to the "first position" and "third position" of the present invention).

[0120] Furthermore, the auxiliary frame bar (corresponding to the "first arm" and "fourth arm" of the present invention) refers to the four protruding parts of the auxiliary frame 65b that extend radially at approximately 90 degrees from the center of the auxiliary frame 65b (which is the same position as the auxiliary rotating part center 23b), and the auxiliary rotating part bar (corresponding to the "second arm" and "fifth arm" of the present invention) refers to the four protruding parts of the auxiliary rotating part 21b that extend radially at approximately 90 degrees from the auxiliary rotating part center 23b of the auxiliary rotating part 21b.

[0121] Furthermore, the second peeling device 7b includes suction unit moving rails 27b1, 27b2 (see Figure 5), 27b3, and 27b4 (see Figure 5) formed along four auxiliary frame bars of the auxiliary frame 65b, and suction unit moving carriages 17b1, 17b2, 17b3, and 17b4 that are movable along each of the suction unit moving rails 27b1, 27b2, 27b3, and 27b4, respectively.

[0122] Furthermore, the second peeling device 7b includes a second suction part 13b1 having a suction hole 15b1 and connected to a carriage for moving the suction part 17b1, a second suction part 13b2 having a suction hole 15b2 and connected to a carriage for moving the suction part 17b2, a second suction part 13b3 having a suction hole 15b3 and connected to a carriage for moving the suction part 17b3, and a second suction part 13b4 having a suction hole 15b4 and connected to a carriage for moving the suction part 17b4.

[0123] Furthermore, the second peeling device 7b includes a suction unit moving link 19b1 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one auxiliary rotating bar of the auxiliary rotating unit 21b to the suction unit moving carriage 17b1, and a suction unit moving link 19b2 (corresponding to the "first member" and "third member" of the present invention) that connects the end of the other auxiliary rotating bar of the auxiliary rotating unit 21b to the suction unit moving carriage 17b2. The device comprises: a suction part moving link 19b3 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating bar of the auxiliary rotating part 21b to the suction part moving carriage 17b3; and a suction part moving link 19b4 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating bar of the auxiliary rotating part 21b to the suction part moving carriage 17b4.

[0124] Furthermore, the second peeling device 7b includes a needle portion 75b1 (corresponding to the "insertion portion" of the present invention) located near the second suction portion 13b1, a needle portion 75b2 (corresponding to the "insertion portion" of the present invention) located near the second suction portion 13b2, a needle portion 75b3 (corresponding to the "insertion portion" of the present invention) located near the second suction portion 13b3, and a needle portion 75b4 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the second suction portion 13b4.

[0125] Furthermore, the second peeling device 7b includes a cutter section 53b (corresponding to the "cutting section" of the present invention) that rotates and opens and closes around the cutter section rotation center 51b by opening and closing the cutter first gripping section 55b and the cutter second gripping section 57b; a cutter section lowering plate 59b connected to the suction section moving carriage 17b2 and having an inclined surface that slopes downward toward the outside, for lowering the cutter section 53b to the cutting position in order to cut the gate formed on the peeled part W2, which will be described later; and a rotatable cutter section lowering pulley 61b connected to the auxiliary frame bar of the auxiliary frame 65b and for lowering the cutter section 53b to the cutting position along the cutter section lowering plate 59b.

[0126] Furthermore, the distance between the lower end of the cutter section 53b and the lower ends of the second suction sections 13b1 to 13b4 is X1, as shown in Figures 4 and 6, before the cutter section 53b is lowered to the cutting position by the cutter section lowering plate 59b and the cutter section lowering pulley 61b, and after the cutter section 53b is lowered to the cutting position by the cutter section lowering plate 59b and the cutter section lowering pulley 61b, it is X2, which is shorter than X1, as shown in Figures 8 and 10, which will be described later.

[0127] Furthermore, the second peeling device 7b includes a cutter operating roller 49b that is rotatably connected to the outermost end of the auxiliary rotating bar of the auxiliary rotating bar 21b of the auxiliary rotating bar 21b, which is on the outer side of the connection point between the auxiliary rotating bar of the auxiliary rotating bar 21b and the suction unit moving link 19b4, in order to operate the cutter unit 53b.

[0128] Furthermore, the second peeling device 7c also peels the member to be peeled off, described later, W3 from the base material M by changing the width between the adsorption parts (adsorption part width), and comprises an auxiliary frame 65c (see Figure 5) which has a roughly cross shape in plan view (a state in which one end of four auxiliary frame bars is joined at one point at an angle of approximately 90 degrees), an auxiliary motor 11c which is positioned in the center of the auxiliary frame 65c (the intersection of the cross shape), and an auxiliary rotating part 21c (corresponding to the "first rotating part" and "third rotating part" of the present invention) which has a roughly cross shape in plan view (a state in which one end of four auxiliary rotating part bars (corresponding to the "second arm" and "fifth arm" of the present invention) is joined at one point at an angle of approximately 90 degrees), and is connected to the motor shaft of the auxiliary motor 11c (corresponding to the "first drive shaft" and "third drive shaft" of the present invention) and is rotatable about the auxiliary rotating part center 23c (corresponding to the "first position" and "third position" of the present invention).

[0129] Furthermore, the auxiliary frame bar (corresponding to the "first arm" and "fourth arm" of the present invention) refers to the four protruding parts of the auxiliary frame 65c that extend radially at approximately 90 degrees from the center of the auxiliary frame 65c (which is the same position as the auxiliary rotating part center 23c), and the auxiliary rotating part bar (corresponding to the "second arm" and "fifth arm" of the present invention) refers to the four protruding parts of the auxiliary rotating part 21c that extend radially at approximately 90 degrees from the auxiliary rotating part center 23c of the auxiliary rotating part 21c.

[0130] Furthermore, the second peeling device 7c includes suction unit moving rails 27c1, 27c2, 27c3, and 27c4 formed along four auxiliary frame bars of the auxiliary frame 65c, and suction unit moving carriages 17c1, 17c2, 17c3, and 17c4 that are movable along each of the suction unit moving rails 27c1, 27c2, 27c3, and 27c4.

[0131] Furthermore, the second peeling device 7c includes a third suction part 13c1 having a suction hole 15c1 and connected to a carriage for moving the suction part 17c1, a third suction part 13c2 having a suction hole 15c2 and connected to a carriage for moving the suction part 17c2, a third suction part 13c3 having a suction hole 15c3 and connected to a carriage for moving the suction part 17c3, and a third suction part 13c4 having a suction hole 15c4 and connected to a carriage for moving the suction part 17c4.

[0132] Furthermore, the second peeling device 7c includes a suction unit moving link 19c1 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one auxiliary rotating bar of the auxiliary rotating unit 21c to the suction unit moving carriage 17c1, and a suction unit moving link 19c2 (corresponding to the "first member" and "third member" of the present invention) that connects the end of the other auxiliary rotating bar of the auxiliary rotating unit 21c to the suction unit moving carriage 17c2. The device comprises: a suction part moving link 19c3 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating part bar of the auxiliary rotating part 21c to the suction part moving carriage 17c3; and a suction part moving link 19c4 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating part bar of the auxiliary rotating part 21c to the suction part moving carriage 17c4.

[0133] Furthermore, the second peeling device 7c includes a needle portion 75c1 (corresponding to the "insertion portion" of the present invention) located near the third suction portion 13c1, a needle portion 75c2 (corresponding to the "insertion portion" of the present invention) located near the third suction portion 13c2, a needle portion 75c3 (corresponding to the "insertion portion" of the present invention) located near the third suction portion 13c3, and a needle portion 75c4 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the third suction portion 13c4.

[0134] Furthermore, the second peeling device 7c includes a cutter section 53c (corresponding to the "cutting section" of the present invention) that rotates and opens and closes around the cutter section rotation center 51c by opening and closing the cutter first gripping section 55c and the cutter second gripping section 57c; a cutter section lowering plate 59c connected to the suction section moving carriage 17c4 and having an inclined surface that slopes downward toward the outside, for lowering the cutter section 53c to the cutting position in order to cut the gate formed on the peeled part W3, which will be described later; and a rotatable cutter section lowering pulley 61c (see Figure 5) connected to the auxiliary frame bar of the auxiliary frame 65c, which lowers the cutter section 53c to the cutting position along the cutter section lowering plate 59c.

[0135] Furthermore, the distance between the lower end of the cutter section 53c and the lower ends of the third suction sections 13c1 to 13c4 is X1, as shown in Figures 4 and 6, before the cutter section 53c is lowered to the cutting position by the cutter section lowering plate 59c and the cutter section lowering pulley 61c, and after the cutter section 53c is lowered to the cutting position by the cutter section lowering plate 59c and the cutter section lowering pulley 61c, it is X2, which is shorter than X1, as shown in Figures 8 and 10, which will be described later.

[0136] Furthermore, the second peeling device 7c includes a cutter operating roller 49c that is rotatably connected to the outermost end of the auxiliary rotating bar of the auxiliary rotating bar 21c, which is on the outer side of the connection point between the auxiliary rotating bar of the auxiliary rotating bar 21c and the suction unit moving link 19c2, in order to operate the cutter unit 53c.

[0137] Furthermore, the second peeling device 7d also peels the member to be peeled W4, described later, from the base material M by changing the width between the adsorption parts (adsorption part width), and comprises an auxiliary frame 65d which is roughly cross-shaped in plan view (with one end of each of the four auxiliary frame bars joined at one point at an angle of approximately 90 degrees), an auxiliary motor 11d which is positioned in the center of the auxiliary frame 65d (the intersection of the cross shape), and an auxiliary rotating part 21d which is roughly cross-shaped in plan view (with one end of each of the four auxiliary rotating bars (corresponding to the "second arm" and "fifth arm" of the present invention) joined at one point at an angle of approximately 90 degrees), and is connected to the motor shaft of the auxiliary motor 11d (corresponding to the "first drive shaft" and "third drive shaft" of the present invention) and rotatable about the auxiliary rotating part center 23d (corresponding to the "first position" and "third position" of the present invention).

[0138] Furthermore, the auxiliary frame bar (corresponding to the "first arm" and "fourth arm" of the present invention) refers to the four protruding parts of the auxiliary frame 65d that extend radially at approximately 90 degrees from the center of the auxiliary frame 65d (which is the same position as the auxiliary rotating part center 23d), and the auxiliary rotating part bar (corresponding to the "second arm" and "fifth arm" of the present invention) refers to the four protruding parts of the auxiliary rotating part 21d that extend radially at approximately 90 degrees from the auxiliary rotating part center 23d of the auxiliary rotating part 21d.

[0139] Furthermore, the second peeling device 7d includes suction unit moving rails 27d1, 27d2, 27d3, and 27d4 formed along four auxiliary frame bars of the auxiliary frame 65d, and suction unit moving carriages 17d1, 17d2, 17d3, and 17d4 that are movable along each of the suction unit moving rails 27d1, 27d2, 27d3, and 27d4.

[0140] Furthermore, the second peeling device 7d includes a fourth suction part 13d1 having a suction hole 15d1 and connected to a carriage for moving the suction part 17d1, a fourth suction part 13d2 having a suction hole 15d2 and connected to a carriage for moving the suction part 17d2, a fourth suction part 13d3 having a suction hole 15d3 and connected to a carriage for moving the suction part 17d3, and a fourth suction part 13d4 having a suction hole 15d4 and connected to a carriage for moving the suction part 17d4.

[0141] Furthermore, the second peeling device 7d includes a suction unit moving link 19d1 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one auxiliary rotating bar of the auxiliary rotating unit 21d to the suction unit moving carriage 17d1, and a suction unit moving link 19d2 (corresponding to the "first member" and "third member" of the present invention) that connects the end of the other auxiliary rotating bar of the auxiliary rotating unit 21d to the suction unit moving carriage 17d2. The device comprises: a suction part moving link 19d3 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating part bar of the auxiliary rotating part 21d to the suction part moving carriage 17d3; and a suction part moving link 19d4 (corresponding to the "first member" and "third member" of the present invention) that connects the end of one other auxiliary rotating part bar of the auxiliary rotating part 21d to the suction part moving carriage 17d4.

[0142] Furthermore, the second peeling device 7d includes a needle portion 75d1 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the fourth suction portion 13d1, a needle portion 75d2 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the fourth suction portion 13d2, a needle portion 75d3 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the fourth suction portion 13d3, and a needle portion 75d4 (corresponding to the "insertion portion" of the present invention, see Figure 5) located near the fourth suction portion 13d4.

[0143] Furthermore, the second peeling device 7d includes a cutter section 53d (corresponding to the "cutting section" of the present invention) that rotates and opens and closes around the cutter section rotation center 51d by opening and closing the cutter first gripping section 55d and the cutter second gripping section 57d; a cutter section lowering plate 59d connected to the suction section moving carriage 17d4 and having an inclined surface that slopes downward toward the outside, for lowering the cutter section 53d to the cutting position in order to cut the gate formed on the peeled part W4, which will be described later; and a rotatable cutter section lowering pulley 61d connected to the auxiliary frame bar of the auxiliary frame 65d and for lowering the cutter section 53d to the cutting position along the cutter section lowering plate 59d.

[0144] Furthermore, the distance between the lower end of the cutter section 53d and the lower ends of the fourth suction sections 13d1 to 13d4 is X1, as shown in Figures 4 and 6, before the cutter section 53d is lowered to the cutting position by the cutter section lowering plate 59d and the cutter section lowering pulley 61d. After the cutter section 53d is lowered to the cutting position by the cutter section lowering plate 59d and the cutter section lowering pulley 61d, it is X2, which is shorter than X1, as shown in Figures 8 and 10, which will be described later.

[0145] Furthermore, the second peeling device 7d includes a cutter operating roller 49d that is rotatably connected to the outermost end of the auxiliary rotating bar of the auxiliary rotating bar 21d of the auxiliary rotating bar 21d, which is on the outer side of the connection point between the auxiliary rotating bar of the auxiliary rotating bar 21d and the suction unit moving link 19d2, in order to operate the cutter unit 53d.

[0146] Next, we will explain the operation of the four second peeling devices 7a, 7b, 7c, and 7d described above.

[0147] Figure 7 is a bottom view of the first peeling apparatus of this embodiment when the workpiece width and the suction section width are reduced, and Figure 8 is a front view thereof.

[0148] In the second peeling device 7a, when the auxiliary motor 11a is rotated clockwise toward the motor shaft tip, the auxiliary rotating part 21a rotates counterclockwise toward the plane of the paper in Figure 7.

[0149] Then, in Figure 7, when the auxiliary rotating part 21a rotates counterclockwise toward the plane of the paper, the suction part moving links 19a1, 19a2, 19a3, and 19a4 move the suction part moving carriages 17a1, 17a2, 17a3, and 17a4 outward along the suction part moving rails 27a1, 27a2, 27a3, and 27a4, and as a result the four first suction parts 13a1, 13a2, 13a3, and 13a4 move outward.

[0150] Furthermore, in the second peeling device 7b, when the auxiliary motor 11b is rotated clockwise toward the motor shaft tip, the auxiliary rotating part 21b rotates counterclockwise toward the plane of the paper in Figure 7.

[0151] Then, in Figure 7, when the auxiliary rotating part 21b rotates counterclockwise toward the plane of the paper, the suction part moving links 19b1, 19b2, 19b3, and 19b4 move the suction part moving carriages 17b1, 17b2, 17b3, and 17b4 outward along the suction part moving rails 27b1, 27b2, 27b3, and 27b4, and as a result the four second suction parts 13b1, 13b2, 13b3, and 13b4 move outward.

[0152] Furthermore, in the second peeling device 7c, when the auxiliary motor 11c is rotated clockwise toward the tip of the motor shaft, the auxiliary rotating part 21c rotates counterclockwise toward the plane of the paper in Figure 7.

[0153] Then, in Figure 7, when the auxiliary rotating part 21c rotates counterclockwise toward the plane of the paper, the suction part moving links 19c1, 19c2, 19c3, and 19c4 move the suction part moving carriages 17c1, 17c2, 17c3, and 17c4 outward along the suction part moving rails 27c1, 27c2, 27c3, and 27c4, and as a result the four third suction parts 13c1, 13c2, 13c3, and 13c4 move outward.

[0154] Furthermore, in the second peeling device 7d, when the auxiliary motor 11d is rotated clockwise toward the motor shaft tip, the auxiliary rotating part 21d rotates counterclockwise toward the plane of the paper in Figure 7.

[0155] Then, in Figure 7, when the auxiliary rotating part 21d rotates counterclockwise toward the plane of the paper, the suction part moving links 19d1, 19d2, 19d3, and 19d4 move the suction part moving carriages 17d1, 17d2, 17d3, and 17d4 outward along the suction part moving rails 27d1, 27d2, 27d3, and 27d4, and as a result the four fourth suction parts 13d1, 13d2, 13d3, and 13d4 move outward.

[0156] Figure 5 is a bottom view showing the state in which the auxiliary frames 65a, 65b, 65c, and 65d are moved inward, and the four auxiliary motors 11a, 11b, 11c, and 11d are rotated clockwise toward the motor shaft tip, causing the suction unit moving carriages 17a1-17a4, 17b1-17b4, 17c1-17c4, and 17d1-17d4 to move outward along the suction unit moving rails 27a1-27a4, 27b1-27b4, 27c1-27c4, and 27d1-27d4, respectively, resulting in the first suction unit 13a1-13a4, the second suction unit 13b1-13b4, the third suction unit 13c1-13c4, and the fourth suction unit 13d1-13d4 moving outward, and Figure 6 is a front view showing the same state.

[0157] On the other hand, in the second peeling device 7a, when the auxiliary motor 11a is rotated counterclockwise toward the tip of the motor shaft, the auxiliary rotating part 21a rotates clockwise toward the plane of the paper in Figure 5.

[0158] Then, in Figure 5, when the auxiliary rotating part 21a rotates clockwise toward the plane of the paper, the suction part moving links 19a1, 19a2, 19a3, and 19a4 move the suction part moving carriages 17a1, 17a2, 17a3, and 17a4 inward along the suction part moving rails 27a1, 27a2, 27a3, and 27a4, and as a result the four first suction parts 13a1, 13a2, 13a3, and 13a4 move inward.

[0159] Furthermore, in the second peeling device 7b, when the auxiliary motor 11b is rotated counterclockwise toward the motor shaft tip, the auxiliary rotating part 21b rotates clockwise toward the plane of the paper in Figure 5.

[0160] Then, in Figure 5, when the auxiliary rotating part 21b rotates clockwise toward the plane of the paper, the suction part moving links 19b1, 19b2, 19b3, and 19b4 move the suction part moving carriages 17b1, 17b2, 17b3, and 17b4 inward along the suction part moving rails 27b1, 27b2, 27b3, and 27b4, and as a result the four second suction parts 13b1, 13b2, 13b3, and 13b4 move inward.

[0161] Furthermore, in the second peeling device 7c, when the auxiliary motor 11c is rotated counterclockwise toward the tip of the motor shaft, the auxiliary rotating part 21c rotates clockwise toward the plane of the paper in Figure 5.

[0162] Then, in Figure 5, when the auxiliary rotating part 21c rotates clockwise toward the plane of the paper, the suction part moving links 19c1, 19c2, 19c3, and 19c4 move the suction part moving carriages 17c1, 17c2, 17c3, and 17c4 inward along the suction part moving rails 27c1, 27c2, 27c3, and 27c4, and as a result the four third suction parts 13c1, 13c2, 13c3, and 13c4 move inward.

[0163] Furthermore, in the second peeling device 7d, when the auxiliary motor 11d is rotated counterclockwise toward the motor shaft tip, the auxiliary rotating part 21d rotates clockwise toward the plane of the paper in Figure 5.

[0164] Then, in Figure 5, when the auxiliary rotating part 21d rotates clockwise toward the plane of the paper, the suction part moving links 19d1, 19d2, 19d3, and 19d4 move the suction part moving carriages 17d1, 17d2, 17d3, and 17d4 inward along the suction part moving rails 27d1, 27d2, 27d3, and 27d4, and as a result the four fourth suction parts 13d1, 13d2, 13d3, and 13d4 move inward.

[0165] Figure 7 is a bottom view showing the state in which the auxiliary frames 65a, 65b, 65c, and 65d are moved inward, and the four auxiliary motors 11a, 11b, 11c, and 11d are rotated counterclockwise toward the motor shaft tip, causing the suction unit moving carriages 17a1-17a4, 17b1-17b4, 17c1-17c4, and 17d1-17d4 to move inward along the suction unit moving rails 27a1-27a4, 27b1-27b4, 27c1-27c4, and 27d1-27d4, respectively, resulting in the first suction unit 13a1-13a4, the second suction unit 13b1-13b4, the third suction unit 13c1-13c4, and the fourth suction unit 13d1-13d4 moving inward, and Figure 8 is a front view showing the same state.

[0166] As described above, the second peeling devices 7a, 7b, 7c, and 7d can change the width between the adsorption parts (adsorption part width) in order to peel the member to be peeled off from the substrate M.

[0167] In this embodiment, as shown in Figures 5 and 7, we have described a configuration in which the second peeling devices 7a, 7b, 7c, and 7b are operated simultaneously. However, since the second peeling devices 7a, 7b, 7c, and 7b each have their own auxiliary motors 11a, 11b, 11c, and 11d, they can be operated individually.

[0168] However, considering the efficiency of peeling the members to be peeled from the base material M, it is better to peel the four members to be peeled W1, W2, W3, and W4 from the base material M simultaneously, and it is better to operate the second peeling devices 7a, 7b, 7c, and 7b simultaneously.

[0169] Next, the operation of the cutter sections of the second peeling devices 7a, 7b, 7c, and 7d for cutting the gate of the member to be peeled W will be described.

[0170] Figure 9 is a bottom view of the first peeling apparatus of this embodiment when the workpiece width is reduced and the cutter section is cut, and Figure 10 is a front view thereof.

[0171] In this embodiment, the cutter section is operated by rotating the auxiliary motor, similar to how the width between the suction sections (suction section width) is changed as described above. However, it does not operate from the state shown in Figure 5 to the state shown in Figure 7. It only operates when the auxiliary motor is further rotated in the same direction from the state shown in Figure 7.

[0172] Furthermore, in the stages shown in Figures 5 and 6, as shown in Figures 5 and 6, the cutter section lowering plate 59a is separated from the cutter section lowering pulley 61a, the cutter section lowering plate 59b is separated from the cutter section lowering pulley 61b, the cutter section lowering plate 59c is separated from the cutter section lowering pulley 61c, and the cutter section lowering plate 59d is separated from the cutter section lowering pulley 61d.

[0173] First, in the second peeling device 7a, as described above, when the auxiliary motor 11a is rotated counterclockwise toward the motor shaft tip from the state shown in Figures 5 and 6, the auxiliary rotating part 21a rotates clockwise toward the plane of the paper in Figure 5.

[0174] Then, in Figure 5, when the auxiliary rotating part 21a rotates clockwise toward the plane of the paper, the suction part moving carriages 17a1, 17a2, 17a3, and 17a4 move inward along the suction part moving rails 27a1, 27a2, 27a3, and 27a4 by the suction part moving links 19a1, 19a2, 19a3, and 19a4, causing the four first suction parts 13a1, 13a2, 13a3, and 13a4 to move inward, and the cutter part lowering plate 59a, which has an inclined surface that slopes downward toward the outside, comes into contact with the cutter part lowering pulley 61a, causing the cutter part lowering pulley 61a to rotate and descend along the cutter part lowering plate 59a, and the auxiliary frame 65a to which the cutter part lowering pulley 61a is connected also descends.

[0175] Furthermore, in the second peeling device 7b, as described above, when the auxiliary motor 11b is rotated counterclockwise toward the motor shaft tip from the state shown in Figures 5 and 6, the auxiliary rotating part 21b rotates clockwise toward the plane of the paper in Figure 5.

[0176] Then, in Figure 5, when the auxiliary rotating part 21b rotates clockwise toward the plane of the paper, the suction part moving carriages 17b1, 17b2, 17b3, and 17b4 move inward along the suction part moving rails 27b1, 27b2, 27b3, and 27b4 by the suction part moving links 19b1, 19b2, 19b3, and 19b4, causing the four second suction parts 13b1, 13b2, 13b3, and 13b4 to move inward, and the cutter part lowering plate 59b, which has an inclined surface that slopes downward toward the outside, comes into contact with the cutter part lowering pulley 61b, causing the cutter part lowering pulley 61b to rotate and descend along the cutter part lowering plate 59b, and the auxiliary frame 65b to which the cutter part lowering pulley 61b is connected also descends.

[0177] Furthermore, in the second peeling device 7c, as described above, when the auxiliary motor 11c is rotated counterclockwise toward the motor shaft tip from the state shown in Figures 5 and 6, the auxiliary rotating part 21c rotates clockwise toward the plane of the paper in Figure 5.

[0178] Then, in Figure 5, when the auxiliary rotating part 21c rotates clockwise toward the plane of the paper, the suction part moving carriages 17c1, 17c2, 17c3, and 17c4 move inward along the suction part moving rails 27c1, 27c2, 27c3, and 27c4 by the suction part moving links 19c1, 19c2, 19c3, and 19c4, causing the four third suction parts 13c1, 13c2, 13c3, and 13c4 to move inward, and the cutter part lowering plate 59c, which has an inclined surface that slopes downward toward the outside, comes into contact with the cutter part lowering pulley 61c, causing the cutter part lowering pulley 61c to rotate and descend along the cutter part lowering plate 59c, and the auxiliary frame 65c to which the cutter part lowering pulley 61c is connected also to descend.

[0179] Furthermore, in the second peeling device 7d, as described above, when the auxiliary motor 11d is rotated counterclockwise toward the motor shaft tip from the state shown in Figures 5 and 6, the auxiliary rotating part 21d rotates clockwise toward the plane of the paper in Figure 5.

[0180] Then, in Figure 5, when the auxiliary rotating part 21d rotates clockwise toward the plane of the paper, the suction part moving carriages 17d1, 17d2, 17d3, and 17d4 move inward along the suction part moving rails 27d1, 27d2, 27d3, and 27d4 by the suction part moving links 19d1, 19d2, 19d3, and 19d4, causing the four fourth suction parts 13d1, 13d2, 13d3, and 13d4 to move inward, and the cutter part lowering plate 59d, which has an inclined surface that slopes downward toward the outside, comes into contact with the cutter part lowering pulley 61d, causing the cutter part lowering pulley 61d to rotate and descend along the cutter part lowering plate 59d, and the auxiliary frame 65d to which the cutter part lowering pulley 61d is connected also to descend.

[0181] Figure 7 is a bottom view showing the state in which the auxiliary frames 65a, 65b, 65c, and 65d are moved inward, the four auxiliary motors 11a, 11b, 11c, and 11d are rotated counterclockwise toward the motor shaft tip, the first suction parts 13a1-13a4, the second suction parts 13b1-13b4, the third suction parts 13c1-13c4, and the fourth suction parts 13d1-13d4 move inward, and the cutter section lowering plates 59a-59d come into contact with the cutter section lowering pulleys 61a-61d, causing the cutter section lowering pulleys 61a-61d and auxiliary frames 65a-65d to descend, and Figure 8 is a front view of the same.

[0182] Furthermore, in the second peeling device 7a, if the auxiliary motor 11a is rotated further counterclockwise toward the motor shaft tip from the state shown in Figures 7 and 8 above, the auxiliary rotating part 21a rotates further clockwise toward the plane of the paper in Figure 7.

[0183] Then, in Figure 7, when the auxiliary rotating part 21a rotates further clockwise toward the plane of the paper, the cutter operating roller 49a, which is rotatably connected to the outer end of one of the auxiliary rotating bar bars of the auxiliary rotating part 21a, comes into contact with the cutter first gripping part 55a, causing the cutter first gripping part 55a to rotate around the cutter rotation center 51a. As a result, the cutter part 53a cuts the gate of the member to be peeled W by closing the cutter first gripping part 55a and the cutter second gripping part 57a.

[0184] Furthermore, in the second peeling device 7b, if the auxiliary motor 11b is rotated further counterclockwise toward the motor shaft tip from the state shown in Figures 7 and 8 above, the auxiliary rotating part 21b rotates further clockwise toward the plane of the paper in Figure 7.

[0185] Then, in Figure 7, when the auxiliary rotating part 21b rotates further clockwise toward the plane of the paper, the cutter operating roller 49b, which is rotatably connected to the outer end of one of the auxiliary rotating bar bars of the auxiliary rotating part 21b, comes into contact with the cutter first gripping part 55b, causing the cutter first gripping part 55b to rotate around the cutter rotation center 51b. As a result, the cutter part 53b cuts the gate of the member to be peeled W by closing the cutter first gripping part 55b and the cutter second gripping part 57b.

[0186] Furthermore, in the second peeling device 7c, if the auxiliary motor 11c is rotated further counterclockwise toward the motor shaft tip from the state shown in Figures 7 and 8 above, the auxiliary rotating part 21c will rotate further clockwise toward the plane of the paper in Figure 7.

[0187] Then, in Figure 7, when the auxiliary rotating part 21c rotates further clockwise toward the plane of the paper, the cutter operating roller 49c, which is rotatably connected to the outer end of one of the auxiliary rotating bar bars of the auxiliary rotating part 21c, comes into contact with the cutter first gripping part 55c, causing the cutter first gripping part 55c to rotate around the cutter rotation center 51c. As a result, the cutter part 53c cuts the gate of the member to be peeled W by closing the cutter first gripping part 55c and the cutter second gripping part 57c.

[0188] Furthermore, in the second peeling device 7d, if the auxiliary motor 11d is rotated further counterclockwise toward the motor shaft tip from the state shown in Figures 7 and 8 above, the auxiliary rotating part 21d rotates further clockwise toward the plane of the paper in Figure 7.

[0189] Then, in Figure 7, when the auxiliary rotating part 21d rotates further clockwise toward the plane of the paper, the cutter operating roller 49d, which is rotatably connected to the outer end of one of the auxiliary rotating bar bars of the auxiliary rotating part 21d, comes into contact with the cutter first gripping part 55d, causing the cutter first gripping part 55d to rotate around the cutter rotation center 51d. As a result, the cutter part 53d cuts the gate of the member to be peeled W by closing the cutter first gripping part 55d and the cutter second gripping part 57d.

[0190] Figure 9 is a bottom view showing the state in which the auxiliary frames 65a, 65b, 65c, and 65d are moved inward, and the four auxiliary motors 11a, 11b, 11c, and 11d are rotated further counterclockwise toward the motor shaft tip, closing the first cutter gripping section 55a and the second cutter gripping section 57a, closing the first cutter gripping section 55b and the second cutter gripping section 57b, closing the first cutter gripping section 55c and the second cutter gripping section 57c, and closing the first cutter gripping section 55d and the second cutter gripping section 57d, and Figure 10 is a front view of the same state.

[0191] Furthermore, if the auxiliary rotating part 21a then rotates counterclockwise toward the paper, the first cutter gripping part 55a and the second cutter gripping part 57a will open due to the compression springs (not shown) engaged with them, and the cutter part 53a will also open.

[0192] Furthermore, if the auxiliary rotating part 21b subsequently rotates counterclockwise toward the paper, the first cutter gripping part 55b and the second cutter gripping part 57b will open due to the compression springs (not shown) engaged with them, and the cutter part 53b will also open.

[0193] Furthermore, when the auxiliary rotating part 21c rotates counterclockwise toward the paper, the first cutter gripping part 55c and the second cutter gripping part 57c open due to the compression springs (not shown) engaged with them, and the cutter part 53c also opens.

[0194] Furthermore, when the auxiliary rotating part 21d rotates counterclockwise toward the paper, the first cutter gripping part 55d and the second cutter gripping part 57d open due to the compression springs (not shown) engaged with them, and the cutter part 53d also opens.

[0195] Next, a block diagram of the peeling system 1 of this embodiment will be described.

[0196] Figure 11 is a block diagram of the peeling system of this embodiment, and Figure 12 is a block diagram of the main controller of the peeling system of this embodiment.

[0197] In Figure 11, the peeling system 1 comprises a main controller 6 electrically connected to a power supply 4, a robot controller 8 electrically connected to the main controller 6 for controlling the articulated robot 3, a motor driver 10 electrically connected to the main controller 6 for driving the main motor 9 and four auxiliary motors 11a, 11b, 11c, and 11d, an air compressor 12 electrically connected to the main controller 6 for driving the first suction parts 13a1, 13a2, 13a3, and 13a4, the second suction parts 13b1, 13b2, 13b3, and 13b4, the third suction parts 13c1, 13c2, 13c3, and 13c4, the fourth suction parts 13d1, 13d2, 13d3, and 13d4, and the mold release agent spray nozzles 63a, 63b, and 63c, and an operation panel 2 for the operator of the peeling system 1 to send commands to the peeling system 1.

[0198] Furthermore, in Figure 12, the main controller 6 includes a CPU (Central Processing Unit) 14, a RAM (Random Access Memory) 16 connected to the CPU 14 for input / output, and a ROM (Read Only Memory) 18 connected to the CPU 14 for input / output.

[0199] RAM16 includes a mold information table 16a that stores information such as the shape of the base material (mold) M used by the peeling system 1, and a peelable member information table 16b that stores information such as the shape and number of peelable members to be peeled off by the peeling system 1.

[0200] Furthermore, the ROM 18 includes a main program 18a that controls the operation of the entire peeling system 1 of this embodiment.

[0201] Next, the operation of the peeling system 1 with the above configuration will be described.

[0202] Figure 13 is a flowchart of the main program in the peeling system of this embodiment, and Figure 14 is an overall plan view of the member to be peeled used in the peeling system of this embodiment.

[0203] As described above, the peeling system 1 of this embodiment comprises an articulated robot 3 and a first peeling device 5 rotatably connected to the tip of the articulated robot 3. The first peeling device 5, using four second peeling devices 7a, 7b, 7c, and 7d, can individually and simultaneously peel off four separate peeling members W1, W2, W3, and W4 from the base material M, which are obtained by dividing the member to be peeled W.

[0204] Therefore, the peeling member W used in the peeling system of this embodiment is peeled off from the substrate M, as shown in Figure 14, and comprises four peeling members W1, W2, W3, and W4, each of which is peeled off individually.

[0205] Furthermore, the peelable member W1 comprises a main part W1a that constitutes the final part to be used, a discarded part W1b that does not constitute the part, and a gate G1 for flowing the molten material of the peelable member W1 onto the base material M; the peelable member W2 comprises a main part W2a that constitutes the final part to be used, a discarded part W2b that does not constitute the part, and a gate G2 for flowing the molten material of the peelable member W2 onto the base material M; the peelable member W3 comprises a main part W3a that constitutes the final part to be used, a discarded part W3b that does not constitute the part, and a gate G3 for flowing the molten material of the peelable member W3 onto the base material M; the peelable member W4 comprises a main part W4a that constitutes the final part to be used, a discarded part W4b that does not constitute the part, and a gate G4 for flowing the molten material of the peelable member W4 onto the base material M.

[0206] In Figure 13, first, the operator of the peeling system 1 turns on the power switch, then inputs information such as the type of base material (mold) M, the size of the member to be peeled, and the number of items to be processed using the operation buttons on the operation panel 2, and presses the start button. The peeling system 1 then moves the arm of the articulated robot 3 to its initial position (S1), obtains base material (mold) information from the mold information table 16a based on the input information (S3), obtains member to be peeled information from the member to be peeled information table 18b (S5), and sets the number of members to be peeled W to be processed (S7).

[0207] Then, it is determined whether or not molding by the base material (mold) M is completed (S9). If it is determined that molding by the base material (mold) M is not completed (S9: No), the system waits until molding is completed. If it is determined that molding by the base material (mold) M is completed (S9: Yes), the main rotating part 45 of the first peeling device 5 is rotated to move the suction positions of the auxiliary frames 65a, 65b, 65c, and 65d in the +X direction and / or Xj direction, adjusting them to match the four peelable members W1, W2, W3, and W4 formed by dividing the peelable member W formed on the base material (mold) (S11).

[0208] Figure 15 shows the state before the first peeling device 5 rotates the main rotating part 45 to match the sizes of the four peeling members W1, W2, W3, and W4, and Figure 16 shows the state after the first peeling device 5 rotates the main rotating part 45 to match the sizes of the four peeling members W1, W2, W3, and W4.

[0209] Furthermore, Figure 17 is an enlarged view of section B in Figure 16, in which case the lower ends of the needle sections 75a1-75a4, 75b1-75b4, 75c1-75c4 and 75d1-75d4 are located at a distance X3 above the lower ends of the first suction sections 13a1-13a4, the second suction sections 13b1-13b4, the third suction sections 13c1-13c4 and the fourth suction sections 13d1-13d4, respectively.

[0210] Returning to the main program, the main rotating part 45 of the first peeling device 5 is rotated to adjust the suction positions of the auxiliary frames 65a, 65b, 65c, and 65d to match the four peeling members W1, W2, W3, and W4 which are formed by dividing the peeling member W formed on the base material (mold) (S11). Then, the first peeling device 5 moves the four second peeling devices 7a, 7b, 7c, and 7d downwards (in the -Z direction, see Figure 16) to adsorb the four peeling members W1, W2, W3, and W4, respectively (S13).

[0211] Figure 18 shows the state in which the four second peeling devices 7a, 7b, 7c, and 7d of the first peeling device 5 have adsorbed the four peeling members W1, W2, W3, and W4, respectively, and Figure 19 is an enlarged view of section C in Figure 18.

[0212] Here, the first adsorption parts 13a1-13a4, the second adsorption parts 13b1-13b4, the third adsorption parts 13c1-13c4, and the fourth adsorption parts 13d1-13d4 flex when adsorbing the member to be peeled W, so that the needle parts 75a1-75a4, 75b1-75b4, 75c1-75c4, and 75d1-75d4 are inside the member to be peeled W. SusumuThe lower ends of the needle portions 75a1-75a4, 75b1-75b4, 75c1-75c4, and 75d1-75d4 are located at a distance X4 below the lower ends (surface of the peeled member W) of the first suction portion 13a1-13a4, the second suction portion 13b1-13b4, the third suction portion 13c1-13c4, and the fourth suction portion 13d1-13d4, respectively.

[0213] Furthermore, the first suction parts 13a1-13a4, the second suction parts 13b1-13b4, the third suction parts 13c1-13c4, and the fourth suction parts 13d1-13d4 are positioned to adsorb the member to be peeled W, and the needle parts 75a1-75a4, 75b1-75b4, 75c1-75c4, and 75d1-75d4 are positioned within the member to be peeled W. Susumu The insertion points correspond to the discarded portions W1b, W2b, W3b, and W4b of the member to be peeled W, respectively. Since these are parts that do not ultimately constitute a component, the member to be peeled W can be peeled from the base material M without damaging the essential parts that ultimately constitute the component.

[0214] If there are no surface scratches or other issues, the positions in which the first suction parts 13a1~13a4, the second suction parts 13b1~13b4, the third suction parts 13c1~13c4 and the fourth suction parts 13d1~13d4 adsorb onto the member to be peeled W, and the needle parts 75a1~75a4, 75b1~75b4, 75c1~75c4 and 75d1~75d4 are located within the member to be peeled W. Susumu The insertion point can be any position on the member W to be peeled off.

[0215] Then, the auxiliary rotating parts 21a, 21b, 21c, and 21d provided on each of the four second peeling devices 7a, 7b, 7c, and 7d are rotated to reduce the spacing between the first adsorption parts 13a1 to 13a4, the second adsorption parts 13b1 to 13b4, the third adsorption parts 13c1 to 13c4, and the fourth adsorption parts 13d1 to 13d4 (S15).

[0216] As shown in Figure 20, the peelable members W1, W2, W3, and W4 formed on the substrate (mold) M are then peeled away from the substrate (mold) M. Figure 20 shows the state in which, after the first adsorption parts 13a1-13a4, the second adsorption parts 13b1-13b4, 13a1-13a4, and the second adsorption parts 13b1-13b4 each adsorb the peelable members W1, W2, W3, and W4, the distances between the first adsorption parts 13a1-13a4, the second adsorption parts 13b1-13b4, the third adsorption parts 13c1-13c4, and the fourth adsorption parts 13d1-13d4 are reduced, and the peelable members W1, W2, W3, and W4 are peeled away from the substrate (mold) M.

[0217] Then, the first peeling device 5, which is equipped with the second peeling device 7a, the second peeling device 7b, the second peeling device 7c, and the second peeling device 7d, is moved upward (in the +Z direction, see Figure 21) to separate it from the base material (mold) M, and the peeled members W1, W2, W3, and W4 are removed from the base material (mold) M (S17).

[0218] At that time, in order to facilitate the removal of the member to be removed W during the next molding process, a release agent is sprayed onto the surface of the base material (mold) M by three release agent spray nozzles 63a, 63b, and 63c that are evenly arranged along the entire width of the base material (mold) M (S19).

[0219] Figure 21 shows the state in which the first release device 5, equipped with second release devices 7a, 7b, 7c, and 7d, separates from the substrate (mold) M while adsorbing the member to be released W, and the three release agent spray nozzles 63a, 63b, and 63c spray the release agent toward the surface of the substrate (mold) M. Figure 22 shows the state after the spraying.

[0220] Then, the auxiliary rotating parts 21a, 21b, 21c, and 21d provided on each of the four second peeling devices 7a, 7b, 7c, and 7d are rotated in the reverse direction to expand the spacing between the first suction parts 13a1 to 13a4, the second suction parts 13b1 to 13b4, the third suction parts 13c1 to 13c4, and the fourth suction parts 13d1 to 13d4 (S21). The first peeling device 5, equipped with the second peeling devices 7a, 7b, 7c, and 7d, is moved downward (-Z direction, see Figure 22) to temporarily place the member to be peeled W onto another plate P, and the first peeling device 5 is moved upward again (+Z direction, see Figure 23) (S23).

[0221] Figure 23 shows the state in which the auxiliary rotating parts 21a, 21b, 21c, and 21d are rotated in the reverse direction to expand the spacing between the first suction parts 13a1 to 13a4, the second suction parts 13b1 to 13b4, the third suction parts 13c1 to 13c4, and the fourth suction parts 13d1 to 13d4, and the member to be peeled off W is temporarily placed on another plate.

[0222] Then, the auxiliary rotating parts 21a, 21b, 21c, and 21d of the four second peeling devices 7a, 7b, 7c, and 7d are rotated in the forward direction to reduce the distance between the first suction parts 13a1 to 13a4, the second suction parts 13b1 to 13b4, the third suction parts 13c1 to 13c4, and the fourth suction parts 13d1 to 13d4 to such an extent that the cutter parts 53a, 53b, 53c, and 53d do not operate. After that, the four second peeling devices 7a, 7b, 7c, and 7d are used to re-adsorb the four peeling members W1, W2, W3, and W4, respectively.

[0223] Subsequently, the auxiliary rotating parts 21a, 21b, 21c, and 21d are further rotated in the forward direction to close the cutter first gripping part 55a and cutter second gripping part 57a, the cutter first gripping part 55b and cutter second gripping part 57b, the cutter first gripping part 55c and cutter second gripping part 57c, and the cutter first gripping part 55d and cutter second gripping part 57d, so that the cutter part 53a, cutter part 53b, cutter part 53c, and cutter part 53d cut the gates G1, G2, G3, and G4 of the peeled members W1, W2, W3, and W4 (S25).

[0224] Figure 24 shows the state in which the cutter sections 53a, 53b, 53c, and 53d are set on the gates G1, G2, G3, and G4 of the members to be peeled W1, W2, W3, and W4, and Figure 25 shows the state in which the cutter sections 53a, 53b, 53c, and 53d are operated to cut the gates G1, G2, G3, and G4 of the members to be peeled W1, W2, W3, and W4.

[0225] Then, the first peeling device 5 moves away from the member to be peeled W (S27), and it is determined whether the number of peeling devices processed by the peeling system 1 has reached the number of peeling devices entered by the operator (S29). If the number of peeling devices processed by the peeling system 1 has not reached the number of peeling devices entered by the operator (S29: No), the process from S9 to S29 is repeated until the number of peeling devices is reached. If the number of peeling devices processed by the peeling system 1 has reached the number of peeling devices entered by the operator (S29: Yes), the process is terminated (S31).

[0226] The second peeling device 7a, 7b, 7c, or 7d of this embodiment is intended for peeling a member to be peeled W formed on the surface of a base material M from the base material M, and in particular includes first adsorption parts 13a1-13a4, second adsorption parts 13b1-13b4, third adsorption parts 13c1-13c4, or fourth adsorption parts 13d1-13d4 that can adsorb to the member to be peeled W, and needle parts 75a1-75a4, 75b1-75b4, 75c1-75c4, or 75d1-75d4 that are arranged near the first adsorption parts 13a1-13a4, second adsorption parts 13b1-13b4, third adsorption parts 13c1-13c4, or fourth adsorption parts 13d1-13d4 and can be inserted into the member to be peeled W. Therefore, even when the member to be peeled W is in close contact with the base material M, the member to be peeled W can be easily peeled from the base material M.

[0227] Furthermore, according to the second peeling device 7a, 7b, 7c, or 7d of this embodiment, the tips of the needle portions 75a1-75a4, 75b1-75b4, 75c1-75c4, or 75d1-75d4 are formed at a distance X3 away from the member to be peeled from the suction surface of the first suction portion 13a1-13a4, second suction portion 13b1-13b4, third suction portion 13c1-13c4, or fourth suction portion 13d1-13d4. Therefore, the member to be peeled from the substrate M can be easily peeled away without significantly affecting the suction operation of the first suction portion 13a1-13a4, second suction portion 13b1-13b4, third suction portion 13c1-13c4, or fourth suction portion 13d1-13d4.

[0228] Furthermore, according to the second peeling device 7a, 7b, 7c, or 7d of this embodiment, the member to be peeled W comprises essential parts W1a, W2a, W3a, or W4a that constitute a component, and discarded parts W1b, W2b, W3b, or W4b that do not constitute a component, and the needle parts 75a1~75a4, 75b1~75b4, 75c1~75c4, or 75d1~75d4 can be inserted into the discarded parts W1b, W2b, W3b, or W4b, so that the member to be peeled W can be easily peeled from the base material M without damaging the essential parts W1a, W2a, W3a, or W4a.

[0229] Furthermore, according to the second peeling device 7a, 7b, 7c, or 7d of this embodiment, the motor shafts of auxiliary motors 11a, 11b, 11c, or 11d provided at the auxiliary rotating part centers 23a, 23b, 23c, or 23d, the auxiliary frames 65a, 65b, 65c, or 65d each having four auxiliary frame bars extending radially from the auxiliary rotating part centers 23a, 23b, 23c, or 23d, and the same number of auxiliary rotating parts as the number of auxiliary frame bars extending radially from the auxiliary rotating part centers 23a, 23b, 23c, or 23d The device comprises an auxiliary rotating section 21a, 21b, 21c, or 21d having a bar and being rotatable about an auxiliary rotating section center 23a, 23b, 23c, or 23d by the rotation of the motor shaft of an auxiliary motor 11a, 11b, 11c, or 11d, and a first suction section 13a1~13a4 and needle section 75a1~75a4, a second suction section 13b1~13b4 and needle section 75b1~75b4, a third suction section 13c1~13c4 and needle section 75c1~75c4, or a fourth suction section 13d1~13d4 and needle section 75d1~75d4, which is an auxiliary Each of the four auxiliary frame bars of frame 65a, 65b, 65c, or 65d is slidably positioned along each auxiliary frame bar, and multiple long suction unit movement links 19a1-19a4, 19b1-19b4, 19c1-19c4, orc1-19c4, are connected to the tip of each auxiliary rotating bar of auxiliary rotating section 21a, 21b, 21c, or 21d and each of the first suction units 13a1-13a4, second suction units 13b1-13b4, third suction units 13c1-13c4, or fourth suction units 13d1-13d4. Since it is equipped with d1~19d4, even when the member to be peeled W is in close contact with the base material M, the spacing between the first suction parts 13a1~13a4 and needle parts 75a1~75a4, the second suction parts 13b1~13b4 and needle parts 75b1~75b4, the third suction parts 13c1~13c4 and needle parts 75c1~75c4, or the fourth suction parts 13d1~13d4 and needle parts 75d1~75d4 can be easily expanded or contracted by the motor shaft of a single auxiliary motor 11a, 11b, 11c or 11d, further expanding or contracting the spacing between the member to be peeled W from the base material M It can be easily peeled off.

[0230] Furthermore, according to the first peeling device 5 of this embodiment, a main rotating pulley 71 is provided at the center 67 of the main rotating part, a main frame 29 extends from the center 67 of the main rotating part, a main rotating part 45 has four main rotating bar extensions radially from the center 67 of the main rotating part and is rotatable about the center 67 of the main rotating part by the rotation of the main rotating pulley 71, and auxiliary frames 65a, 6 have four auxiliary frame bars slidably arranged on the main frame 29 and extending radially from each of the auxiliary rotating part centers 23a, 23b, 23c, and 23d. The auxiliary frame has four long auxiliary movement links 47a, 47b, 47c, and 47d connecting 5b, 65c, and 65d, the respective ends of the four main rotating bar of the main rotating section 45, and each of the auxiliary frames 65a, 65b, 65c, and 65d, and the motor shafts of auxiliary motors 11a, 11b, 11c, and 11d provided at the auxiliary rotating section centers 23a, 23b, 23c, and 23d of each of the auxiliary rotating section centers 23a, 65b, 65c, and 65d, and four auxiliary frame bars extending radially from each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d. The device comprises frames 65a, 65b, 65c, and 65d, and four auxiliary rotating section bars, the same number as the auxiliary frame bars, which extend radially from each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d, and auxiliary rotating sections 21a, 21b, 21c, and 21d that are rotatable about each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d by the rotation of the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d, and first suction sections 13a1 to 13a4 and needle sections 75a1 to 75a4, second suction sections 13b1 to 13b4 and needle sections 75b1 to 75b4, and third suction sections 13c1 to 13c4 The needle sections 75c1 to 75c4, and the fourth suction sections 13d1 to 13d4 and the needle sections 75d1 to 75d4 are slidably arranged along each of the four auxiliary frame bars of each of the auxiliary frames 65a, 65b, 65c and 65d, and a plurality of long suction section moving links 19a1 to 19a4 connect the tip of each of the auxiliary rotating section bars of each of the auxiliary rotating section 21a, 21b, 21c and 21d to each of the first suction sections 13a1 to 13a4, the second suction sections 13b1 to 13b4, the third suction sections 13c1 to 13c4 and the fourth suction sections 13d1 to 13d4.Since it is equipped with 19b1~19b4, 19c1~19c4 and 19d1~19d4, the spacing between the multiple first adsorption parts 13a1~13a4, second adsorption parts 13b1~13b4, third adsorption parts 13c1~13c4 and fourth adsorption parts 13d1~13d4 can be easily expanded or contracted by a single main rotating pulley 71 to match the size of the peeling member W and the base material M, and even when the peeling member W is in close contact with the base material M, the multiple first The spacing between the suction sections 13a1-13a4, second suction sections 13b1-13b4, third suction sections 13c1-13c4, and fourth suction sections 13d1-13d4 can be easily expanded and contracted by the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d, allowing the member to be peeled off W to be easily detached from the base material M. Furthermore, multiple members to be peeled off W can be easily detached from the base material M at once by the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d.

[0231] Furthermore, according to the second peeling device 7a, 7b, 7c, or 7d of this embodiment, the member to be peeled W is a molded product, and the base material M is a mold for molding the molded product, and between the multiple first suction parts 13a1 to 13a4 and needle parts 75a1 to 75a4, between the multiple second suction parts 13b1 to 13b4 and needle parts 75b1 to 75b4, between the multiple third suction parts 13c1 to 13c4 and needle parts 75c1 to 75c4, or between the multiple fourth suction parts 13d1 to 13d4 and needle parts 75d1 to 75d4, there are gates G1, G2 of the molded product. Since it is equipped with cutter sections 53a, 53b, 53c, or 53d for cutting G3 or G4, the molded product can be held in place by the first suction sections 13a1-13a4, the second suction sections 13b1-13b4, the third suction sections 13c1-13c4, or the fourth suction section 13d1-13d4, and the molded product can be fixed in place by inserting the needle sections 75a1-75a4, the needle sections 75b1-75b4, the needle sections 75c1-75c4, or the needle sections 75d1-75d4, thereby easily cutting the gates G1, G2, G3, or G4.

[0232] Furthermore, according to the second peeling device 7a, 7b, 7c, or 7d of this embodiment, the cutter section 53a, 53b, 53c, or 53d cuts the gate G1, G2, G3, or G4 of the molded product in conjunction with the operation of the auxiliary rotating section 21a, 21b, 21c, or 21d, so that the gate G1, G2, G3, or G4 can be easily cut by the motor shaft of a single auxiliary motor 11a, 11b, 11c, or 11d.

[0233] Furthermore, according to the peeling system 1 of this embodiment, since it includes an articulated robot 3 and a first peeling device 5, a second peeling device 7a, 7b, 7c, or 7d connected to the tip of the articulated robot 3, the first peeling device 5, the second peeling device 7a, 7b, 7c, or 7d can be used in a narrow area. Susumu By inserting it, the member to be peeled W can be easily peeled off from the base material M.

[0234] (Second Embodiment) Next, a second embodiment of the present invention will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0235] The following describes a second embodiment of the present invention. The peeling system 101, first peeling device 105, and second peeling devices 107a, 107b, 107c, and 107d of this embodiment are the same as the peeling system 1, first peeling device 5, and second peeling devices 7a, 7b, 7c, and 7d of the first embodiment, except for the contact parts 175a1 to 175a4, 175b1 to 175b4, 175c1 to 175c4, and 175d1 to 175d4 provided near the first adsorption parts 13a1 to 13a4, second adsorption parts 13b1 to 13b4, third adhesion parts 13c1 to 13c4, and fourth adsorption parts 13d1 to 13d4, respectively. Therefore, parts common to the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0236] Figure 26 is a front view of the first peeling apparatus of the second embodiment when the workpiece width is increased and the suction section width is increased, Figure 27 is a view corresponding to Figure 17 in Figure 26, and Figure 28 is a view corresponding to Figure 19 in Figure 26.

[0237] As shown in Figures 1 and 26, the peeling system 101 of this embodiment comprises an articulated robot 3 and a first peeling device 105 rotatably connected to the tip of the articulated robot 3.

[0238] The first peeling device 105, like the first peeling device 5 of the first embodiment, is rotatably connected to the tip of the upper arm portion 44 of the articulated robot 3, and peels off the peelable member (molded product) W, which will be described later, that has adhered to the surface of the base material (mold) M, described later, after molding, from the base material M.

[0239] Furthermore, in the first peeling device 105 of this embodiment, similar to the first peeling device 5 of the first embodiment, the spacing between the second peeling devices 107a, 107b, 107c, and 107d (work width) can be changed according to the size of the base material M and the member to be peeled W, and the width between the adsorption parts (adsorption part width) can also be changed in order to peel the member to be peeled W from the base material M.

[0240] Furthermore, the first peeling device 105 of this embodiment, like the first peeling device 5 of the first embodiment, can individually and simultaneously peel off the four divided members W1, W2, W3, and W4 from the base material M using four second peeling devices 107a, 107b, 107c, and 107d (see Figure 14).

[0241] In this embodiment as well, the first peeling device 105 peels the four peelable members W1, W2, W3, and W4 from the base material M individually and simultaneously. However, by removing or not operating some of the suction parts, it is possible to peel off not four peelable members, but three, two, or one peelable member individually and simultaneously.

[0242] Furthermore, the second peeling device 107a includes a contact portion 175a1 having a convex / concave 175a1t at its tip and positioned near the first suction portion 13a1, a contact portion 175a2 having a convex / concave 175a2t at its tip and positioned near the first suction portion 13a2, a contact portion 175a3 having a convex / concave 175a3t (not shown, but similar to the convex / concave 175a1t and convex / concave 175a2t) at its tip and positioned near the first suction portion 13a3 (not shown, but similar to the contact portions 175a1 and 175a2), and a contact portion 175a4 having a convex / concave 175a4t (not shown, but similar to the convex / concave 175a1t and convex / concave 175a2t) at its tip and positioned near the first suction portion 13a4 (not shown, but similar to the contact portions 175a1 and 175a2).

[0243] Furthermore, the second peeling device 107b includes a contact portion 175b1 having a convex / concave 175b1t at its tip and positioned near the second suction portion 13b1, a contact portion 175b2 having a convex / concave 175b2t at its tip and positioned near the second suction portion 13b2, a contact portion 175b3 having a convex / concave 175b3t (not shown, but similar to the convex / concave 175b1t and convex / concave 175b2t) at its tip and positioned near the second suction portion 13b3 (not shown, but similar to the contact portions 175b1 and 175b2), and a contact portion 175b4 having a convex / concave 175b4t (not shown, but similar to the convex / concave 175b1t and convex / concave 175b2t) at its tip and positioned near the second suction portion 13b4 (not shown, but similar to the contact portions 175b1 and 175b2).

[0244] Furthermore, the second peeling device 107c (not shown, but located on the back side of the paper of the second peeling device 107b, similar to the second peeling device 7c of the first embodiment) is located near the third suction part 13c1 and has a contact part 175c1 (not shown, but similar to contact parts 175b1 and 175b2) with a convex / concave 175c1t (not shown, but similar to convex / concave 175b1t and convex / concave 175b2t) at its tip, and a contact part 175c2 (not shown, but similar to convex / concave 175b1t and convex / concave 175b2t) at its tip, located near the third suction part 13c2 The device includes a contact portion 175b1 (similar to contact portions 175b1 and 175b2), a contact portion 175c3 (similar to contact portions 175b1 and 175b2, though not shown) located near the third suction portion 13c3 and having a convex / concave 175c3t (similar to convex / concave 175b1t and 175b2t, though not shown) at its tip, and a contact portion 175c4 (similar to contact portions 175b1 and 175b2, though not shown) located near the third suction portion 13c4 and having a convex / concave 175c4t (similar to convex / concave 175b1t and 175b2t, though not shown) at its tip.

[0245] Furthermore, the second peeling device 107d (not shown, but located on the back side of the paper of the second peeling device 107a, similar to the second peeling device 7d of the first embodiment) is located near the fourth suction part 13d1 and has a contact part 175d1 (not shown, but similar to contact parts 175a1 and 175a2) with a convex / concave 175d1t (not shown, but similar to convex / concave 175a1t and convex / concave 175a2t) at its tip, and a contact part 175d2 (not shown, but similar to convex / concave 175a1t and convex / concave 175a2t) at its tip, located near the fourth suction part 13d2 The device includes a contact portion 175a1 and 175a2 (though not shown, it is the same as the contact portion 175a1 and 175a2), a contact portion 175d3 (though not shown, it is the same as the contact portion 175a1 and 175a2) located near the fourth suction portion 13d3 and having a convex / concave 175d3t (though not shown, it is the same as the convex / concave 175a1t and 175a2t) at its tip, and a contact portion 175d4 (though not shown, it is the same as the contact portion 175a1 and 175a2) located near the fourth suction portion 13d4 and having a convex / concave 175d4t (though not shown, it is the same as the convex / concave 175a1t and 175a2t) at its tip.

[0246] Figure 26 shows the state before the first peeling device 105 rotates the main rotating part 45 to match the sizes of the four peeling members W1, W2, W3, and W4. In this case, the lower ends of the contact parts 175a1~175a4, 175b1~175b4, 175c1~175c4, and 175d1~175d4 are located at a distance X5 above the lower ends of the first suction parts 13a1~13a4, the second suction parts 13b1~13b4, the third attachment parts 13c1~13c4, and the fourth suction parts 13d1~13d4, respectively, as shown in Figure 27.

[0247] Then, the main rotating part 45 of the first peeling device 5 is rotated to adjust the suction positions of the auxiliary frames 65a, 65b, 65c, and 65d to match the four peeling members W1, W2, W3, and W4 formed by dividing the peeling member W formed on the base material (mold) (S11 in Figure 13). After that, the first peeling device 105 is operated by the four second peeling devices 107a, 107b, 107c, and 107d, respectively. When the four peelable members W1, W2, W3, and W4 are adsorbed (S13 in Figure 13), as shown in Figure 28, the first adsorption parts 13a1~13a4, the second adsorption parts 13b1~13b4, the third contact parts 13c1~13c4, and the fourth adsorption parts 13d1~13d4 flex when adsorbing the peelable members W, causing the contact parts 175a1~175a4, 175b1~175b4, 175c1~175c4, and 175d1~175d4 to come into contact with the peelable members W.

[0248] Furthermore, the positions where the first adsorption parts 13a1-13a4, the second adsorption parts 13b1-13b4, the third contact parts 13c1-13c4, and the fourth adsorption parts 13d1-13d4 adsorb the member to be peeled W, and the positions where the contact parts 175a1-175a4, 175b1-175b4, 175c1-175c4, and 175d1-175d4 contact the member to be peeled W, correspond to the discarded parts W1b, W2b, W3b, and W4b of the member to be peeled W, respectively. Since these are parts that do not ultimately constitute a component, the member to be peeled W can be peeled from the base material M without damaging the essential parts that ultimately constitute a component.

[0249] If there are no surface scratches or other issues, the positions where the first adsorption parts 13a1-13a4, the second adsorption parts 13b1-13b4, the third contact parts 13c1-13c4, and the fourth adsorption parts 13d1-13d4 adsorb onto the member to be peeled W, and the positions where the contact parts 175a1-175a4, 175b1-175b4, 175c1-175c4, and 175d1-175d4 contact the member to be peeled W, may be any position on the member to be peeled W.

[0250] Then, the auxiliary rotating parts 21a, 21b, 21c, and 21d provided on each of the four second peeling devices 107a, 107b, 107c, and 107d are rotated to reduce the spacing between the first adsorption parts 13a1 to 13a4, the second adsorption parts 13b1 to 13b4, the third adsorption parts 13c1 to 13c4, and the fourth adsorption parts 13d1 to 13d4 (S15 in Figure 13).

[0251] As a result, as shown in Figure 20, the peelable members W1, W2, W3, and W4 formed on the base material (mold) M peel off from the base material (mold) M.

[0252] The second peeling apparatus 107a, 107b, 107c, or 107d of this embodiment is intended for peeling off a member to be peeled W formed on the surface of a base material M from the base material M, and in particular includes a first adsorption part 13a1~13a4, a second adsorption part 13b1~13b4, a third adsorption part 13c1~13c4, or a fourth adsorption part 13d1~13d4 that can adsorb to the member to be peeled W, and the first adsorption part 13a1~13a4, the second adsorption part 13b Since the device is equipped with contact portions 175a1-175a4, 175b1-175b4, 175c1-175c4, or 175d1-175d4 that are positioned near 1-13b4, the third adsorption portion 13c1-13c4, or the fourth adsorption portion 13d1-13d4 and can contact the surface of the member to be peeled W, the member to be peeled W can be easily peeled from the base material M even when the member to be peeled W is in close contact with the base material M.

[0253] Furthermore, according to the second peeling device 107a, 107b, 107c, or 107d of this embodiment, the contact surfaces of the contact portions 175a1-175a4, 175b1-175b4, 175c1-175c4, or 175d1-175d4 are formed at a distance X5 away from the member to be peeled from the suction surface of the first suction portion 13a1-13a4, second suction portion 13b1-13b4, third suction portion 13c1-13c4, or fourth suction portion 13d1-13d4. Therefore, the member to be peeled from the substrate M can be easily peeled away without significantly affecting the suction operation of the first suction portion 13a1-13a4, second suction portion 13b1-13b4, third suction portion 13c1-13c4, or fourth suction portion 13d1-13d4.

[0254] Furthermore, according to the second peeling device 107a, 107b, 107c, or 107d of this embodiment, the member to be peeled W comprises essential parts W1a, W2a, W3a, or W4a that constitute a component, and discarded parts W1b, W2b, W3b, or W4b that do not constitute a component, and the contact parts 175a1~175a4, 175b1~175b4, 175c1~175c4, or 175d1~175d4 can contact the surface of the discarded parts W1b, W2b, W3b, or W4b, so that the member to be peeled W can be easily peeled from the base material M without damaging the essential parts W1a, W2a, W3a, or W4a.

[0255] Furthermore, according to the second peeling device 107a, 107b, 107c, or 107d of this embodiment, the motor shaft of the auxiliary motor 11a, 11b, 11c, or 11d provided at the auxiliary rotating part center 23a, 23b, 23c, or 23d, the auxiliary frame 65a, 65b, 65c, or 65d each having four auxiliary frame bars extending radially from the auxiliary rotating part center 23a, 23b, 23c, or 23d, and the same number of auxiliary rotating part bars as the number of auxiliary frame bars extending radially from the auxiliary rotating part center 23a, 23b, 23c, or 23d The device comprises auxiliary rotating parts 21a, 21b, 21c, or 21d that are rotatable about the auxiliary rotating part center 23a, 23b, 23c, or 23d by the rotation of the motor shafts of the auxiliary motors 11a, 11b, 11c, or 11d, and the first suction parts 13a1 to 13a4 and contact parts 175a1 to 175a4, the second suction parts 13b1 to 13b4 and contact parts 175b1 to 175b4, the third suction parts 13c1 to 13c4 and contact parts 175c1 to 175c4, or the fourth suction parts 13d1 to 13d4 and contact parts 175d1 to 175d4 are auxiliary frames. Each of the four auxiliary frame bars 65a, 65b, 65c, or 65d is provided with a plurality of long suction part movement links 19a1-19a4, 19b1-19b4, 19c1-19c4, or 19d1-19d4, which are slidably arranged along each auxiliary frame bar and connect the tip of each auxiliary rotating part bar of the auxiliary rotating part 21a, 21b, 21c, or 21d to each of the first suction parts 13a1-13a4, second suction parts 13b1-13b4, third suction parts 13c1-13c4, or fourth suction parts 13d1-13d4. Therefore, even when the member to be peeled W is in close contact with the base material M, the spacing between the first suction parts 13a1~13a4 and contact parts 175a1~175a4, the second suction parts 13b1~13b4 and contact parts 175b1~175b4, the third suction parts 13c1~13c4 and contact parts 175c1~175c4, or the fourth suction parts 13d1~13d4 and contact parts 175d1~175d4 can be easily expanded or contracted by the motor shaft of a single auxiliary motor 11a, 11b, 11c, or 11d, making it even easier to peel the member to be peeled W from the base material M.

[0256] Furthermore, according to the first peeling device 105 of this embodiment, a main rotating pulley 71 is provided at the center 67 of the main rotating part, a main frame 29 extends from the center 67 of the main rotating part, a main rotating part 45 has four main rotating bars extending radially from the center 67 of the main rotating part and is rotatable about the center 67 of the main rotating part by the rotation of the main rotating pulley 71, and an auxiliary frame has four auxiliary frame bars slidably arranged on the main frame 29 and extending radially from each of the auxiliary rotating part centers 23a, 23b, 23c, and 23d. The four long auxiliary movement links 47a, 47b, 47c, and 47d connect the ends of the four main rotating bars of the main rotating section 45 and each of the auxiliary frames 65a, 65b, 65c, and 65d, the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d provided at the auxiliary rotating section centers 23a, 23b, 23c, and 23d of each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d of each of the auxiliary frames 65a, 65b, 65c, and 65d, and each of the four auxiliary frame bars extending radially from each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d. It comprises auxiliary frames 65a, 65b, 65c, and 65d having, and four auxiliary rotating section bars, the same number as the auxiliary frame bars, that extend radially from each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d, and auxiliary rotating sections 21a, 21b, 21c, and 21d that are rotatable about each of the auxiliary rotating section centers 23a, 23b, 23c, and 23d by the rotation of the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d, and first suction sections 13a1~13a4 and contact sections 175a1~175a4, second suction sections 13b1~13b4 and contact section 175b1~ 175b4, the third suction parts 13c1~13c4 and contact parts 175c1~175c4, and the fourth suction parts 13d1~13d4 and contact parts 175d1~175d4 are slidably arranged along each of the four auxiliary frame bars of each of the auxiliary frames 65a, 65b, 65c and 65d, and each of the tip of each of the auxiliary rotating part bars of each of the auxiliary rotating parts 21a, 21b, 21c and 21d, and each of the first suction parts 13a1~13a4, the second suction parts 13b1~13b4, the third suction parts 13c1~13c4 and the fourth suction parts 13d1~13d4,Since it is equipped with multiple long suction part movement links 19a1-19a4, 19b1-19b4, 19c1-19c4 and 19d1-19d4 connected to each other, the spacing between the multiple first suction parts 13a1-13a4, second suction parts 13b1-13b4, third suction parts 13c1-13c4 and fourth suction parts 13d1-13d4 can be easily expanded or contracted by a single main rotating pulley 71 to match the size of the peeling member W and the base material M, and the peeling member W is in close contact with the base material M. Even in such cases, the spacing between the multiple first adsorption parts 13a1-13a4, second adsorption parts 13b1-13b4, third adsorption parts 13c1-13c4, and fourth adsorption parts 13d1-13d4 can be easily expanded and contracted by the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d, allowing the member to be peeled off W to be easily detached from the base material M. Furthermore, multiple members to be peeled off W can be easily detached from the base material M at once by the motor shafts of the auxiliary motors 11a, 11b, 11c, and 11d.

[0257] Furthermore, according to the second peeling device 107a, 107b, 107c, or 107d of this embodiment, the member to be peeled W is a molded product, and the base material M is a mold for molding the molded product, and between a plurality of first suction parts 13a1 to 13a4 and contact parts 175a1 to 175a4, between a plurality of second suction parts 13b1 to 13b4 and contact parts 175b1 to 175b44, between a plurality of third suction parts 13c1 to 13c4 and contact parts 175c1 to 175c4, or between a plurality of fourth suction parts 13d1 to 13d4 and contact parts 175d1 to 175d4, the gate G1 of the molded product Since it is equipped with cutter sections 53a, 53b, 53c, or 53d for cutting G2, G3, or G4, the molded product is held in place by the first suction sections 13a1-13a4, the second suction sections 13b1-13b4, the third suction sections 13c1-13c4, or the fourth suction sections 13d1-13d4, and the contact sections 175a1-175a4, 175b1-175b4, 175c1-175c4, or 175d1-175d4 contacting the surface to fix the molded product, making it easy to cut the gates G1, G2, G3, or G4.

[0258] Also, according to the second peeling devices 107a, 107b, 107c, or 107d of the present embodiment, the cutter parts 53a, 53b, 53c, or 53d cut the gates G1, G2, G3, or G4 of the molded product in conjunction with the operations of the auxiliary rotating parts 21a, 21b, 21c, or 21d. Therefore, the gates G1, G2, G3, or G4 can be easily cut by the motor shafts of one auxiliary motor 11a, 11b, 11c, or 11d.

[0259] Furthermore, according to the peeling system 101 of the present embodiment, since it includes the multi-joint robot 3 and the first peeling device 105 and the second peeling devices 107a, 107b, 107c, or 107d connected to the tip of the multi-joint robot 3, the first peeling device 105, the second peeling devices 107a, 107b, 107c, or 107d can be placed in a narrow area Susumu to easily peel the peeled member W from the base material M.

[0260] As described above, the peeling device and the peeling system in the embodiment of the present invention have been explained. However, the present invention is not limited to the above embodiment, and various modifications can be made and implemented without departing from the gist thereof.

[0261] For example, in the first peeling devices 5 and 105 in the above-described embodiment, only the form in which the main rotating part 45 (corresponding to the "second rotating part" of the present invention) is substantially cross-shaped in plan view (a state in which one ends of four main rotating bars (corresponding to the "third arm" of the present invention) are joined at one point at an angle of approximately 90 degrees) has been described. However, the main rotating part is not limited to having four main rotating bars, and it may be any form in which one ends of two or more (a plurality of) main rotating bars are joined at a predetermined angle.

[0262] In addition, in the second peeling devices 7a to 7d and 107a to 17d in the above-described embodiment, only the form in which the auxiliary frames 65a to 65d are substantially cross-shaped in plan view (a state in which one ends of four auxiliary frame bars are joined at one point at an angle of approximately 90 degrees) has been described. However, the auxiliary frames are not limited to those having four auxiliary frame bars, and any form is acceptable as long as one ends of two or more (a plurality of) auxiliary frame bars are joined at a predetermined angle.

[0263] In addition, in the second peeling devices 7a to 7d and 107a to 17d in the above-described embodiment, only the form in which the auxiliary rotating parts 21a to 21d are substantially cross-shaped in plan view (a state in which one ends of four auxiliary rotating part bars (corresponding to the "second arm" of the present invention) are joined at one point at an angle of approximately 90 degrees) has been described. However, the auxiliary rotating parts are not limited to those having four auxiliary rotating part bars, and any form is acceptable as long as one ends of two or more (a plurality of) auxiliary rotating part bars are joined at a predetermined angle.

[0264] Also, in the above-described embodiment, the plurality of auxiliary frames 65a and the like have been described as moving in directions that are mutually 90 degrees from the center 67 of the main rotating part. However, the present invention is not limited to this, and the plurality of auxiliary frames 65a and the like may move in any direction as long as they do not interfere with each other.

[0265] Furthermore, in the above-described embodiment, the plurality of suction parts 13a1 and the like have been described as moving in directions that are mutually 90 degrees from the center 23a of the auxiliary rotating part. However, the present invention is not limited to this, and the plurality of suction parts 13a1 and the like may move in any direction as long as they do not interfere with each other.

Explanation of Reference Numerals

[0266] 1... Peeling system 2... Operation panel 3... Articulated robot 4... Power supply 5... First peeling device (peeling device) 6... Main controller 7a,7b,7c,7d...Second peeling device (peeling device) 8. Robot Controller 9. Main motor 10. Motor Driver 11a, 11b, 11c, 11d... Auxiliary motors 12. Air compressor 13a1, 13a2, 13a3, 13a4... 1st suction part (suction part) 13b1,13b2,13b3,13b4...Second adsorption section (adsorption section) 13c1, 13c2, 13c2, 13c4... Third adsorption section (adsorption section) 13d1, 13d2, 13d3, 13d4... Fourth adsorption section (adsorption section) 14..CPU 15a1,15a2,15a3,15a4,15b1,15b2,15b3,15b4,15c1,15c2,15c2,15c4,15d1,15d2,15d3,15d4...Suction hole 16...RAM 17a1, 17a2, 17a3, 17a4, 17b1, 17b2, 17b3, 17b4, 17c1, 17c2, 17c2, 17c4, 17d1, 17d2, 17d3, 17d4... Carriage for moving the suction part 18···ROM 19a1, 19a2, 19a3, 19a4, 19b1, 19b2, 19b3, 19b4, 19c1, 19c2, 19c2, 19c4, 19d1, 19d2, 19d3, 19d4... Links for moving the suction part (first member, third member) 20... Control Panel 21a, 21b, 21c, 21d... Auxiliary rotating parts (first rotating part (second arm), third rotating part (fifth arm)) 23a, 23b, 23c, 23d... Auxiliary rotation center (first position, third position) 25a1, 25a2, 25b1, 25b2, 25c1, 25c2, 25d1, 25d2... Auxiliary frame moving rail (expansion / contraction mechanism) 27a1, 27a2, 27a3, 27a4, 27b1, 27b2, 27b3, 27b4, 27c1, 27c2, 27c2, 27c4, 27d1, 27d2, 27d3, 27d4... Rails for moving the suction part 29. Main frame (second mounting section) 45...Main rotating part (second rotating part (third arm)) 47a, 47b, 47c, 47d... Auxiliary section movement links (second component) 49a, 49b, 49c, 49d... Rollers for operating the cutter section 51a, 51b, 51c, 51d... Center of rotation of the cutter section 53a, 53b, 53c, 53d... Cutter section (cutting section) 55a, 55b, 55c, 55d... Cutter first gripping part 57a, 57b, 57c, 57d...Cutter part 2 grip part 59a, 59b, 59c, 59d... Plates for lowering the cutter section 61a, 61b, 61c, 61d... Pulleys for lowering the cutter section 63a, 63b, 63c... Release agent spray nozzle (coating part) 65a, 65b, 65c, 65d... Auxiliary frame (first fixing part (first arm), sliding part (fourth arm)) 67...Center of the main rotating part (second position) 69... cabinet 71...Main rotating part pulley (second drive shaft) 73. Main rotating part timing belt 75a1,75a2,75a3,75a4,75b1,75b2,75b3,75b4,75c1,75c2,75c2,75c4,75d1,75d2,75d3,75d4... 77. Main motor pulley 79a1,79a2,79b1,79b2,79c1,79c2,79d1,79d2...Protrusion 81a1, 81a2, 81b1, 81b2, 81c1, 81c2, 81d1, 81d2... Auxiliary frame moving carriage (expansion / contraction mechanism) 175a1,175a2,175a3,175a4,175b1,175b2,175b3,175b4,175c1,175c2,175c2,175c4,175d1,175d2,175d3,175d4... (when connecting parts) 175a1t, 175a2t, 175a3t, 175a4t, 175b1t, 175b2t, 175b3t, 175b4t, 175c1t, 175c2t, 175c2t, 175c4t, 175d1t, 175d2t, 175d3t, 175d4t...convex and concave parts B. Setting up a location G1,G2,G3,G4···ゲート M···Substrate (gold type) P···プレート W, W1, W2, W3, W4... parts that have been peeled off (molded parts) W1a, W2a, W3a, W4a... Main parts W1b, W2b, W3b, W4b... (Sheet section)

Claims

1. In a peeling apparatus for peeling off a peelable member formed on the surface of a substrate from the substrate, The suction portion is capable of adhering to the member to be peeled off, Near the adsorption portion, the tip is positioned at a distance from the tip of the adsorption portion relative to the member to be peeled, and when the adsorption portion is adsorbed to the member to be peeled, a contact portion is provided which can contact the surface of the member to be peeled. A peeling apparatus characterized by being equipped with the following features.

2. The peeling device according to claim 1, characterized in that the tip of the contact portion is formed in a direction that is further away from the member to be peeled than the adsorption surface of the adsorption portion.

3. The member to be peeled off comprises a main part that constitutes a component and a discarded part that does not constitute a component. The peeling device according to claim 1, characterized in that the contact portion is capable of contacting the surface of the discard portion.

4. The member to be peeled off comprises a main part that constitutes a component and a discarded part that does not constitute a component. The peeling device according to claim 2, characterized in that the contact portion is capable of contacting the surface of the discard portion.

5. A first drive shaft provided in the first position, A first fixing part having a plurality of first arms extending radially from the first position, A first rotating part having the same number of second arms as the first arms that extend radially from the first position, and which is rotatable about the first position by the rotation of the first drive shaft, Equipped with, The suction portion and the contact portion are slidably arranged along each of the plurality of first arms of the first fixing portion. The peeling device according to claim 1, characterized in that it comprises a plurality of elongated first members connecting the respective tip portions of the plurality of second arms of the first rotating portion and each of the suction portions.

6. A first drive shaft provided in the first position, A first fixing part having a plurality of first arms extending radially from the first position, A first rotating part having the same number of second arms as the first arms that extend radially from the first position, and which is rotatable about the first position by the rotation of the first drive shaft, Equipped with, The suction portion and the contact portion are slidably arranged along each of the plurality of first arms of the first fixing portion. The peeling device according to claim 2, characterized in that it comprises a plurality of elongated first members connecting the respective tip portions of the plurality of second arms of the first rotating portion and each of the suction portions.

7. A second drive shaft located in the second position, A second fixing portion extending from the second position, A second rotating part having a plurality of third arms extending radially from the second position, and which is rotatable about the second position by the rotation of the second drive shaft, Multiple sliding parts, each having multiple fourth arms slidably arranged on the second fixed part and extending radially from different third positions, A plurality of elongated second members connecting the respective tips of the plurality of third arms of the described second rotating part and each of the plurality of sliding parts, A plurality of third drive shafts provided at the third position of each of the plurality of slide portions, It has a plurality of third rotating parts that are rotatable about each of the respective third positions by the rotation of the plurality of third drive shafts, with the same number of fifth arms as the fourth arms that extend radially from each of the respective third positions, Equipped with, The suction portion and the contact portion are slidably arranged along each of the fourth arms of each of the plurality of sliding portions, The peeling device according to claim 1, further comprising a plurality of elongated third members connecting the respective tips of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

8. A second drive shaft located in the second position, A second fixing portion extending from the second position, A second rotating part having a plurality of third arms extending radially from the second position, and which is rotatable about the second position by the rotation of the second drive shaft, Multiple sliding parts, each having multiple fourth arms slidably arranged on the second fixed part and extending radially from different third positions, A plurality of elongated second members connecting the respective tips of the plurality of third arms of the described second rotating part and each of the plurality of sliding parts, A plurality of third drive shafts provided at the third position of each of the plurality of slide portions, It has a plurality of third rotating parts that are rotatable about each of the respective third positions by the rotation of the plurality of third drive shafts, with the same number of fifth arms as the fourth arms that extend radially from each of the respective third positions, Equipped with, The suction portion and the contact portion are slidably arranged along each of the fourth arms of each of the plurality of sliding portions, The peeling device according to claim 2, further comprising a plurality of elongated third members connecting the respective tips of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

9. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 5, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the contact portions.

10. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 6, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the contact portions.

11. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 7, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the contact portions.

12. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 8, characterized in that a cutting portion for cutting the gate of the molded product is provided between a plurality of the adsorption portions and the contact portions.

13. The peeling device according to claim 9, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

14. The peeling device according to claim 10, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

15. The peeling device according to claim 11, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the third rotating section.

16. The peeling device according to claim 12, characterized in that the cutting portion cuts the gate of the molded product in conjunction with the operation of the third rotating portion.

17. In a peeling apparatus for peeling off a peelable member formed on the surface of a substrate from the substrate, The suction portion is capable of adhering to the member to be peeled off, Near the adsorption portion, an insertion portion is provided whose tip is positioned at a distance from the tip of the adsorption portion relative to the member to be peeled, and which can be inserted into the member to be peeled when the adsorption portion is adsorbed to the member to be peeled. A peeling apparatus characterized by being equipped with the following features.

18. The peeling device according to claim 17, characterized in that the tip of the insertion portion is formed in a direction that is further away from the member to be peeled than the adsorption surface of the adsorption portion.

19. The member to be peeled off comprises a main part that constitutes a component and a discarded part that does not constitute a component. The peeling device according to claim 17, characterized in that the insertion portion is insertable into the discard portion.

20. The member to be peeled off comprises a main part that constitutes a component and a discarded part that does not constitute a component. The peeling device according to claim 18, characterized in that the insertion portion is insertable into the discard portion.

21. A first drive shaft provided in the first position, A first fixing part having a plurality of first arms extending radially from the first position, A first rotating part having the same number of second arms as the first fixed part extending radially from the first position, and which is rotatable about the first position by the rotation of the first drive shaft, Equipped with, The suction portion and the insertion portion are arranged in multiples on each of the plurality of first arms of the first fixing portion, so as to be slidable along each first arm. The peeling device according to claim 17, characterized in that it comprises a plurality of elongated first members connecting the respective tip portions of the plurality of second arms of the first rotating portion and each of the suction portions.

22. A first drive shaft provided in the first position, A first fixing part having a plurality of first arms extending radially from the first position, A first rotating part having the same number of second arms as the first fixed part extending radially from the first position, and which is rotatable about the first position by the rotation of the first drive shaft, Equipped with, The suction portion and the insertion portion are arranged in multiples on each of the plurality of first arms of the first fixing portion, so as to be slidable along each first arm. The peeling device according to claim 18, further comprising a plurality of elongated first members connecting the respective tips of the plurality of second arms of the first rotating part and each of the suction parts.

23. A second drive shaft located in the second position, A second fixing portion extending from the second position, A second rotating part having a plurality of third arms extending radially from the second position, and which is rotatable about the second position by the rotation of the second drive shaft, Multiple sliding parts, each having multiple fourth arms slidably arranged on the second fixed part and extending radially from different third positions, A plurality of elongated second members connecting the respective tips of the plurality of third arms of the described second rotating part and each of the plurality of sliding parts, A plurality of third drive shafts provided at the third position of each of the plurality of slide portions, It has a plurality of third rotating parts that are rotatable about each of the respective third positions by the rotation of the plurality of third drive shafts, with the same number of fifth arms as the fourth arms that extend radially from each of the respective third positions, Equipped with, The suction portion and the insertion portion are slidably arranged along each of the fourth arms of each of the plurality of sliding portions, The peeling device according to claim 17, further comprising a plurality of elongated third members connecting the respective tips of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

24. A second drive shaft located in the second position, A second fixing portion extending from the second position, A second rotating part having a plurality of third arms extending radially from the second position, and which is rotatable about the second position by the rotation of the second drive shaft, Multiple sliding parts, each having multiple fourth arms slidably arranged on the second fixed part and extending radially from different third positions, A plurality of elongated second members connecting the respective tips of the plurality of third arms of the described second rotating part and each of the plurality of sliding parts, A plurality of third drive shafts provided at the third position of each of the plurality of slide portions, It has a plurality of third rotating parts that are rotatable about each of the respective third positions by the rotation of the plurality of third drive shafts, with the same number of fifth arms as the fourth arms that extend radially from each of the respective third positions, Equipped with, The suction portion and the insertion portion are slidably arranged along each of the fourth arms of each of the plurality of sliding portions, The peeling device according to claim 18, further comprising a plurality of elongated third members connecting the respective tips of the plurality of fifth arms of each of the plurality of third rotating parts and each of the suction parts.

25. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 21, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the insertion portion.

26. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 22, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the insertion portion.

27. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 23, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the insertion portion.

28. The member to be peeled is a molded product, and the base material is a mold for molding the molded product. The peeling device according to claim 24, characterized in that a cutting portion for cutting the gate of the molded product is provided between the plurality of adsorption portions and the insertion portion.

29. The peeling device according to claim 25, characterized in that the cutting section cuts the gate of the molded product in conjunction with the operation of the first rotating section.

30. The peeling device according to claim 26, characterized in that the cutting portion cuts the gate of the molded product in conjunction with the operation of the first rotating portion.

31. The peeling device according to claim 27, characterized in that the cutting portion cuts the gate of the molded product in conjunction with the operation of the third rotating portion.

32. The peeling device according to claim 28, characterized in that the cutting portion cuts the gate of the molded product in conjunction with the operation of the third rotating portion.

33. Articulated robots and A peeling device according to any one of claims 1 to 32, connected to the tip of the articulated robot, A peeling system characterized by comprising the following features.

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