RELEASE PAPER PEELING DEVICE AND PEELING METHOD

• Main Author: HIDAKA NAOYA
• Format: Patent
• Language: English; Japanese
• Published: 22.09.2023
• Subjects: CONVEYING; HANDLING THIN OR FILAMENTARY MATERIAL; HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS,CABLES; PACKING; PERFORMING OPERATIONS; STORING; TRANSPORTING

To provide a release paper peeling device and a peeling method capable of minimizing a displacement of a release paper from a place gripped by a suction pad or hand and performing a reliable peeling operation.SOLUTION: A release paper peeling device includes: a peeling speed calculation unit 2 that compares a peeling amount measured by a measurement unit 1 with a predetermined reference release paper length and calculates an actual value of a peeling speed from the comparison result; and a control execution unit 3 that compares the actual value of the peeling speed calculated by the peeling speed calculating unit 2 with a theoretical threshold value of the peeling speed, and that controls a peeling operation by hand based on the comparison result. When the actual value of the peeling speed is less than the theoretical threshold value of the peeling speed, the control execution unit 3 determines that the hand has deviated from the part where the release paper is gripped, and changes an angle of the hand to the angle corresponding to a displacement amount of the hand, and controls a movement speed of the hand so that the actual value of the peeling speed becomes equal to a calculated theoretical value.SELECTED DRAWING: Figure 1 【課題】本発明は、吸着パッド又はハンドで把持した箇所からの剥離紙のずれを最小限に抑え、確実に剥離作業を行うことができる剥離紙の剥離装置及び剥離方法を提供する。【解決手段】計測部１で計測した剥離量と予め定められた基準の剥離紙長さとを比較し、該比較結果から剥離速度の実測値を算出する剥離速度算出部２と、該剥離速度算出部２で算出した剥離速度の実測値及び剥離速度の理論しきい値を比較し、その比較結果に基づきハンドによる剥離作業を制御する制御実行部３とを有する。この制御実行部３は、剥離速度の実測値が剥離速度の理論しきい値未満のとき、剥離紙を把持した箇所からハンドがずれたと判断して、該ハンドの角度をずれ量に応じた角度に変更し、また、剥離速度の実測値が、計算による理論値と等しくなるように、該ハンドの移動速度を制御する。【選択図】図１