JP2009126609A - Slip sheet removing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide slip sheet removing device and method capable of surely removing only a slip sheet, and plate taking device and method. <P>SOLUTION: This slip sheet removing device is provided with an arm, a head engaged with a distal end part of the arm, and a moving mechanism for moving the arm in a direction where the head approaches a planar body or in a direction where the head recedes from the planar body. The head is provided with a head body and at least a nipping mechanism for nipping a slip sheet. The moving mechanism moves the arm in the direction where the head approaches the planar body, the nipping mechanism nips the slip sheet on the topmost surface, the moving mechanism moves the arm in the direction where the head recedes from the planer body, and subsequently the nipping mechanism releases the nipped slip sheet and removes the slip sheet from the planar body. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention removes a slip sheet (hereinafter also referred to as a slip sheet) disposed on the front surface of a large glass plate used in a flat body display (FPD) such as a liquid crystal display or a plasma display. The present invention relates to a slip sheet removing device and a slip sheet removing method, and a stripping device and a stripping method for removing a slip sheet by using the slip sheet removing device and taking out a plate-like body.

  For example, in a glass plate processing step, a container (pallet) containing a predetermined number of glass plates is conveyed to a predetermined position by a forklift or the like, and the glass plates are sucked and held from the container one by one by a robot or a dedicated machine. Are taken out and put into the next process. When the extraction of the predetermined number of glass plates stored in the container is completed, the empty container is replaced with a container storing the glass plate to be processed next, and the above operation is repeated.

  When the glass plates are stored in the container, the glass plates are sequentially stored in a state where a slip sheet, which is a thin paper for protecting the glass plates, is sandwiched between the glass plates. The slip sheet covers, for example, substantially the entire front surface (excluding a part of the lower part) of the glass plate stored in a standing state in the glass storage part of the vertical container, and protrudes a predetermined length from the upper part and both side parts. The board is protected. Therefore, when taking out a glass plate from a container, after removing the interleaving paper arrange | positioned covering the glass plate of the outermost surface, a glass plate is taken out.

Patent document 1 is related with a glass substrate conveying apparatus. In the same document, according to the distance to the glass substrate detected by the sensor, the suction pad is moved to press and adsorb the slip sheet covering the glass substrate, the suction pad is moved away from the glass substrate and the slip sheet is peeled off, After that, it is disclosed that the peeled slip sheet is put into a slip sheet input box and carried out.
However, when adsorbing the slip sheet portion on the glass plate in this way, when the slip sheet is removed, a problem may occur that the glass plate covered with the slip sheet is taken out together with the slip sheet. It was.

Patent Document 2 relates to an unpacking system and an unpacking method. In the same document, the slip sheet peeling device is moved and arranged immediately above the end portion of the slip sheet, and the slip sheet suction device is rotated while the slip sheet is sucked by the suction pad, and the end portion of the slip sheet is bent. Move the chuck device, grab the edge of the slip sheet with the clamp, stop the suction of the slip sheet by the suction pad, raise the slip sheet suction device, and blow air into the gap between the substrate and the slip sheet using the blow device It is disclosed that the chuck device is rotated while peeling the interleaving paper from the laminate, and the interleaving paper is stored in a trash can.
However, when adsorbing the slip sheet portion that protrudes from the glass plate, the slip sheet may escape when the suction pad or the like is brought close to the slip sheet, and an adsorption error may occur. There is a problem that the wrinkles are likely to be wrinkled. If wrinkles are generated, air leaks from the wrinkles, and the suction force is extremely reduced.
The above problem occurs not only in the case of the glass plate but also in the case where the interleaf sheet covers and arranges a plate-like body such as a glass plate.

JP 2000-351449 A JP 2007-161354 A

  An object of the present invention is to provide an interleaving paper removing device and an interleaving paper removing method that can solve the above-described problems of the prior art and reliably remove interleaving paper, as well as a planing device and a planing method.

In order to achieve the above object, the present invention provides a slip sheet removing device that removes slip sheets arranged so as to cover the front surface of a plate-like body,
An arm, a head engaged with the tip of the arm, and a moving mechanism for moving the arm in a direction in which the head approaches the plate-like body or in a direction away from the plate-like body,
The head includes at least one clamping mechanism for clamping the head main body and the interleaf.

Here, the plate-like body and the slip sheet are arranged to be inclined with respect to the horizontal plane,
It is preferable that the position of the slip sheet sandwiched by the gripping mechanism is in a region that is approximately half or less in the longitudinal direction of the slip sheet.

  Moreover, it is preferable that the said clamping mechanism is equipped with a pair of finger which clamps a slip sheet by sliding in the state contact | abutted with a slip sheet, and the opening-closing mechanism which opens and closes the said finger.

  Further, when the finger abuts on the slip sheet, the pinching mechanism is pivoted to the head body so as to rotate within a certain range so that the abutment surface of the finger substantially coincides with the surface of the slip sheet. It is preferable that it is supported.

Moreover, the upper part in the vertical direction of the slip sheet protrudes from the upper part in the vertical direction of the plate-like body,
It is provided with an interleaf presser that presses the portion of the slip sheet protruding from the upper part in the longitudinal direction of the plate member, or releases the presser of the slip sheet when removing the slip sheet. preferable.

Further, the present invention is a slip sheet removing method for removing a slip sheet disposed so as to cover the front surface of a plate-shaped body,
An arm, a head engaged with the tip of the arm, and a moving mechanism for moving the arm,
In the slip sheet removing apparatus, wherein the head includes at least one clamping mechanism,
The moving mechanism moves the arm in a direction in which the head approaches the plate-like body;
The sandwiching mechanism sandwiches the outermost sheet,
The moving mechanism moves the arm in a direction in which the head separates from the plate-like body;
Thereafter, the sandwiching mechanism releases the sandwiched slip sheet and removes the slip sheet from the plate-like body.

  In addition, the present invention includes a plate removing device comprising: the slip sheet removing device according to any one of the above, and a plate removing mechanism that takes out a plate-like body from which the slip sheet has been removed by the slip sheet removing device. I will provide a.

  In addition, the present invention provides a process for removing the slip sheet by any of the above-described slip sheet removing apparatuses and a step of taking out the sheet material by the plate removing mechanism described above. The present invention provides a plate cutting method characterized in that it is alternately repeated until a sheet and a plate-like body disappear from a container that is alternately stacked and stored.

  According to the present invention, the interleaving paper is removed by sandwiching the interleaving paper with a pair of clamping mechanisms and pulling the interleaving paper away from the plate-like body, so that the interleaving paper arranged covering the front surface of the plate-like body is surely removed. be able to. Therefore, according to the present invention, the operation loss of the apparatus can be reduced.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of an interleaf removal apparatus and an interleaf removal method, and a board removal apparatus and a board removal method of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic side view of a glass plate taking-up apparatus of the present invention, and FIG. 2 is a schematic plan view thereof. The plate removing device 10 shown in these drawings removes the interleaf paper 24 from the vertical container 12 in which a predetermined number of glass plates 22 and interleaf paper 24 are alternately stacked and stored, and takes out the glass plate 22 to the next process. Is repeatedly performed. The plate take-up device 10 is constituted by an inter-sheet removing device 14 according to the present invention, an inter-sheet collecting device 16, and a plate taking robot (plate taking mechanism) 18.

  The interleaf paper 24 protects the glass plate 22, and sheets of paper, resin, etc. of various materials are used. Further, as shown in FIG. 3, the interleaf 24 is predetermined from the upper part and both side parts thereof except for a predetermined area at the lower part of the glass plate 22 stored in a standing state in a glass storage part of the vertical container 12 described later. The front surface of the glass plate 22 is covered by protruding the length.

  The reason why the interleaf paper 24 is not covered by a predetermined area under the glass plate 22 is that when the interleaf paper 24 is removed, the interleaf paper is sandwiched between the lower sides of the next glass, and the glass plate 22 is dragged out or dropped. The area is not limited at all. In the present invention, the length of the slip sheet 24 protruding from the upper part and both side parts of the glass plate 22 is not limited. Furthermore, in the present invention, it is not essential that the interleaf paper 24 protrudes from the upper part and both side parts of the glass plate 22.

  The vertical container 12 has a back surface portion 28 and a bottom surface portion 30 that forms an angle of approximately 90 degrees with the back surface portion 28 on the pedestal 26 so that the back surface portion 28 is 10 to 85 degrees with respect to the horizontal plane. An L-shaped space (glass storage part) is defined as a storage part of the glass plate 22. In the example of FIG. 1, the slip sheet 24 is disposed on the back surface portion 28 of the container 12, the glass sheets 22 and the slip sheets 24 are alternately stacked thereon, the slip sheet 24 is disposed on the outermost surface, and the glass sheet 22. Is stored. That is, the glass plate 22 and the interleaf paper 24 are disposed to be inclined with respect to the horizontal plane, and the interleaf paper 24 is disposed so as to cover the front surface of the glass plate 22.

  A flat container can be used in place of the vertical container 12. The case of using a flat container will be described later.

  The slip sheet removing device 14 removes the outermost slip sheet 24 arranged so as to cover the glass plate 22 taken out from the container 12 by the scraping robot 18 and transports it to the slip sheet collecting device 16.

The plate removing robot 18 takes out the outermost glass plate 22 after the slip sheet 24 is removed by the slip sheet removing device 14 and supplies the plate glass to a processing step or the like. The plate picking robot 18 shown in FIGS. 1 and 2 lifts the glass plate 22 by the hand 36 engaged with the tip of the arm 34, moves the arm 34, and carries the glass plate to a predetermined position.
At the glass plate supply position, a conveyor for conveying the glass plate to an apparatus for the next process is installed.

Details of the slip sheet removing device 14 will be described.
The slip sheet removing device 14 basically includes an arm 42, a head 44, and an arm moving mechanism 46. The arm 42 is a rod-shaped member, and a head 44 is engaged with a tip portion thereof.
In the example shown in FIG. 1, the slip sheet removing device 14 further includes an electrostatic removing device 48, a slip sheet press 49, and a collected slip sheet press 50.

FIG. 4 is a diagram illustrating the entire head 44, and FIG. 5 is a diagram illustrating the main part of the head 44. As shown in FIG. 4, the head 44 includes a head main body 54 that extends in the lateral direction of the interleaf paper 24 (a direction perpendicular to the paper surface in FIG. 1), and, for example, four clamping mechanisms 56. The head 44 and the arm 42 are moved to a position (the left side in FIG. 1) for the head 44 to remove the interleaf 24 by the arm moving mechanism 46, and the leading end portion of the pinching mechanism 56 (a pair of finger contacts described later) The clamping mechanism 56 is pivotally supported by the head main body 54 so that the front end of the clamping mechanism 56 substantially coincides with the surface of the slip sheet 24 when the contact surface) abuts the slip sheet 24. In other words, the clamping mechanism 56 is pivotally supported by the head main body 54 so that the angle of the front end portion of the clamping mechanism 56 substantially matches the inclination angle of the interleaf sheet 24. Further, the clamping mechanism 56 is rotatable about the shaft 57 in the longitudinal direction of the interleaf sheet 24 within a certain range with respect to the head main body 54.
That is, as shown in FIG. 5, an inclination angle adjusting member 52 is provided in the installation portion of the clamping mechanism 56 of the head body 54 so that the rotatable range is a certain range.

  On the other hand, the clamping mechanism 56 is provided with a protrusion 58 so as to be in contact with an inclination angle adjusting member 52 provided on the head main body 54. When the tip of the clamping mechanism 56 is not in contact with the glass plate, the protrusion 58 provided in the clamping mechanism 56 and the inclination angle adjusting member 52 provided in the head main body 54 come into contact with each other. The front end portion stops in a state where it is inclined several degrees, for example, 0.5 to 10 degrees on the horizontal plane side with respect to the inclination angle of the glass plate. On the other hand, when the tip of the clamping mechanism 56 comes into contact with the glass plate, the tip of the clamping mechanism 56 becomes substantially the same angle following the inclination of the glass plate, and the protrusion 58 and the inclination angle adjusting member 52 are separated from each other. The tilt angle adjusting member 52 is not particularly limited as long as it is a member that performs the above-described mechanism. However, a metal, resin, or an elastic member that can expand and contract, such as rubber or a spring, may be used. The head main body 54 and the clamping mechanism 56 may be fixed, and the head 44 and the arm 42 may be rotatably attached.

The sandwiching mechanism 56 sandwiches the slip sheet 24. As shown in FIG. 4, the sandwiching mechanism 56 is formed on the surface of the head body 54 facing the slip sheet 24 in the length direction of the head body 54 (lateral direction of the slip sheet). They are arranged at substantially equal intervals. As shown in FIG. 5, each sandwiching mechanism 56 includes a pair of fingers 60 that sandwich the slip sheet 24 by sliding from the open body to the closed body in contact with the slip sheet 24, and the slip sheet. An opening / closing mechanism 62 that opens and closes the fingers 60 is provided so as to sandwich the 24 or release the interleaf 24. In the present embodiment, an air cylinder 64 is used as the opening / closing mechanism 62. The fingers 60 are provided so as to face each other in the longitudinal direction of the interleaf 24. The air cylinder 64 is provided with an air supply pipe (not shown), and the air supply pipe is connected to an air supply source to open and close the finger 60 freely.
Note that it is sufficient that at least one clamping mechanism 56 is provided, and any configuration may be used as long as the interleaf sheet 24 can be clamped. In addition to the air cylinder 64, the opening / closing mechanism 62 can be configured using, for example, an air chuck or a motor.

  A member (not shown) made of a material capable of obtaining a sufficient frictional force with the interleaf paper 24 is used for the surface (contact surface) of the finger 60 that abuts the interleaf paper 24. As the member, for example, various rubbers such as NBR, CR, NR, and Viton, urethane, and the like are used. Further, it is desirable that a predetermined pattern is formed on the surface of the member that comes into contact with the slip sheet 24 in order to increase the frictional force between the slip sheet 24 and the surface of the tire tread. Although the pattern is not limited at all, for example, a groove pattern in a direction parallel to the opening and closing direction of the finger 60 (vertical direction of the slip sheet 24) or a vertical direction (lateral direction of the slip sheet 24) can be exemplified.

  When the interleaving paper 24 is removed, the clamping mechanism 56 interposes the finger 60 in an area that is approximately half or less in the longitudinal direction of the interleaving paper 24 that is disposed at an inclination, and more preferably in an area that is 1/3 or less. There is space in the lower part of the boarding robot 18. Therefore, when the clamping mechanism 56 clamps the lower part of the interleaf paper 24 in the vertical direction, the space can be used effectively, and the plate cutting apparatus 10 can be configured compactly. Further, when removing the slip sheet 24, there is an effect that the glass plate 22 can be prevented from being dragged and collapsed by the slip sheet 24 due to the influence of static electricity or the like.

  The arm moving mechanism 46 moves the arm 42 along the guide 66 between a position for removing the slip sheet 24 (left side in FIG. 1) and a position where the slip sheet collecting device 16 is disposed (same right side). In other words, the arm 42 engaged with the head 44 is reciprocated along the guide 66 in a direction in which the head 44 approaches the glass plate 22 or in a direction away from the glass plate 22. As the arm moving mechanism 46, for example, those having various configurations such as an air cylinder, a timing belt, a gear, and a motor can be used.

In the present embodiment, an interleaf presser 49 shown as an example in FIG. 8 is provided. An interleaf presser 49 shown in the figure includes a plate-like presser 80, a rotary shaft 82 to which the presser 80 is attached, and an interleaf presser moving mechanism 84 that moves the rotary shaft 82 in the thickness direction of the glass plate 22. .
The rotary shaft 82 is rotatably supported by the main body of the interleaf sheet presser 49 (not shown), and is located above the vertical container 12 and in the vicinity of the interleaf sheet 24 (when the presser 80 is aligned when the glass plate 22 is taken up). It extends in the lateral direction of the interleaf 24 at a distance that reaches the top of the paper 24). In the example of FIG. 8, four flat plate-like pressers 80 are attached to the rotary shaft 82 at substantially equal intervals. The interleaf presser moving mechanism 84 is pivotally supported along the guide 86 so as to be reciprocally movable, and is engaged with the rotary shaft 82 on both sides in the length direction of the rotary shaft 82 with the four pressers 80 interposed therebetween. .

  The interleaf sheet presser 49 presses the interleaf sheet 24 with the presser 80 by rotating the rotary shaft 82 of the portion of the interleaf sheet 24 protruding from the upper part of the glass plate 22 or releases the presser. The slip sheet retainer 49 opens the slip sheet 24 only when the slip sheet is removed. That is, at the time of removing the interleaf, the rotary shaft 82 is rotated so that the presser 80 holding the portion protruding from the upper portion of the glass plate 22 of the interleaf paper 24 from the front side of the glass plate is lifted upward. The presser of the slip sheet 24 is released. On the other hand, when the glass plate 22 is removed, the rotary shaft 82 rotates so that the upper portion of the interleaf paper 24 is pressed by the presser 80, and the presser 80 protrudes from the upper surface of the glass plate 22 of the interleaf paper 24 from the front side of the glass plate. Press the part that is.

  Further, depending on the loading amount (number of sheets) of the glass plate 22, the interleaf presser moving mechanism 84 follows the guide 86 in the thickness direction of the glass plate 22 (the rear side of the vertical container 12 when the glass plate 22 is taken up, By moving the vertical container 12 forward), the rotary shaft 82 is also moved back and forth in the thickness direction of the glass plate 22. As a result, the rotary shaft 82 is moved to a distance above the vertical container 12 and so that the presser 80 always reaches the upper part of the interleaf sheet 24 when the glass plate 22 is taken up.

  By providing the slip sheet retainer 49, it is possible to prevent the slip sheet 24 from being taken out together when the glass plate 22 is cut. Further, when the frontmost surface is the slip sheet 24, it is possible to prevent the slip sheet 24 from being partially or wholly peeled off.

  The material of the presser 80 is preferably a flexible rubber, but a member that performs the same function such as a resin or a leaf spring may be used. Further, the movement of the rotation shaft 82 in the thickness direction of the glass plate 22 may be performed in advance by setting the positional relationship between the loading amount of the glass plate 22 and the slip sheet 24 and the rotation shaft 82. Then, the loading amount of the glass plate 22 may be detected and grasped by a sensor, and the rotary shaft 82 may be moved.

In the present embodiment, an electrostatic removing device 48 is provided above the glass plate 22. The static eliminator 48 reduces static electricity generated between the plate glass and the interleaf, and can be exemplified by a static elimination blower that reduces static electricity between the glass plate 22 and the interleaf 24 by blowing ion wind, for example. By providing the static eliminating device 48, static electricity between the glass plate 22 and the slip sheet 24 can be reduced, and when the slip sheet 24 is removed as described above, the glass plate 22 is dragged by the slip sheet 24 due to static electricity. It is possible to prevent collapse as much as possible.
Although the electrostatic removing device 48 is not essential, it is desirable that the electrostatic removing device 48 is provided so that the interleaf paper 24 can be reliably removed. The static eliminator 48 may be provided on one or both sides of the glass plate 22 in the lateral direction, or may be provided above the glass plate 22 and on both sides in the lateral direction.

The recovered interleaf presser 50 holds the interleaving paper 24 released from the interleaf paper removing device 14 in the interleaving paper recovery device 16 so that it cannot be neatly stacked. The bulk of the laminated interleaf paper 24 is reduced. In the present embodiment, a mechanism for extending and retracting an arm with an air cylinder 68 is used as the collected interleaf presser 50. By providing the recovered interleaf presser 50, more interleaving paper can be stored in the interleaf recovery device 16, and the recovery efficiency can be increased.
The recovered interleaf presser 50 is not essential, but is preferably provided to increase the efficiency of recovering the interleaf.

  The slip sheet collecting device 16 accommodates a predetermined number of slip sheets 24 removed by the slip sheet removing device 14, and collects the slip sheets 24 for each of the accommodated predetermined number of sheets. As the slip sheet collecting device 16 shown in FIGS. 1 and 2, a slip sheet storage can 32 is used. Further, as the slip sheet collecting device 16, a belt conveyor or the like may be installed instead of the slip sheet storage can 32, and the slip sheet may be collected at a place away from the equipment of the plate taking device 10.

Next, along with the operation of the plate cutting apparatus 10, the slip sheet removing method and plate cutting method of the present invention will be described.
First, the outermost interleaf paper 24 disposed so as to cover the front surface of the glass plate 22 is removed by the interleaf paper removing device 14.
In other words, the arm 42 is moved by the arm moving mechanism 46 until the head 44 reaches the position for removing the interleaf 24. Subsequently, as shown in FIG. 5, the head clamping mechanism 56 contacts the interleaf 24, and as shown in FIG. 6, the separation distance of the fingers 60 is narrowed by the operation of the air cylinder 64 and the interleaf 24 is sandwiched. . When the slip sheet 24 is sandwiched, the arm 42 is moved again by the arm moving mechanism 46 until the head 44 reaches the position of the slip sheet collecting device 16. Subsequently, the fingers 60 are released so that the slip sheets 24 can be stacked one by one, and the slip sheet 24 is pressed from above by the collected slip sheet presser 50 and efficiently stored in the slip sheet storage can 32. .

Subsequently, the uppermost glass plate 22 from which the interleaf disposed so as to cover the front surface is removed from the vertical container 12 by the plate removing robot 18.
That is, the arm 34 of the plate removing robot 18 moves to a position for taking out the glass plate 22, and then the glass plate 22 is adsorbed by the hand 44 engaged with the distal end portion of the arm 34. When the glass plate 22 is adsorbed, the arm 34 is moved again to carry the taken glass plate 22 to the supply position. Thereafter, the glass plate 22 transported from the plate picking robot 18 is transported by the transport device 20 or the like to the next process device.

  Thereafter, until the slip sheet 24 and the glass plate 22 stored in the vertical container 12 are removed, the slip sheet 24 is removed by the slip sheet removing device 14, and the glass plate 22 is taken out by the scraping robot 18 and the transport device 20 is removed. The process of transporting to and from is repeated alternately. When the slip sheet 24 and the glass plate 22 stored in the vertical container 12 are exhausted, the empty vertical container 12 is replaced with the vertical container 12 storing the glass plate 22 to be processed next. The above operation is repeated again.

  Here, while the sheet take-up robot 18 is carrying the glass plate 22 taken out from the container 12 to the conveying device 20, a step of removing the next slip sheet 24 is performed by the slip sheet removing device 14. Further, while the slip sheet removing device 14 stores the removed slip sheet in the slip sheet storage can 32 of the slip sheet collecting device 16, a step of taking out the next glass plate 22 is performed by the scraping robot 18. That is, since both processes proceed simultaneously in a complementary manner, work efficiency can be improved.

Next, a case where a flat container is used will be described.
As shown in FIGS. 1 and 7, the difference between the vertical container 12 and the flat container 13 is the inclination angle. That is, the inclination angle H of the flat container 13 is basically smaller than the inclination angle of the vertical container 12. Accordingly, in the case of the flat container 13, as in the case of the vertical container 12, the interleaf sheet 24 is sandwiched by the sandwiching mechanism 56 and moved in the horizontal direction (rightward in FIG. 7) by the arm moving mechanism 46. In addition, there is a possibility that the slip sheet 24 is caught by the edge portion of the bottom surface portion of the flat container 13 (portion surrounded by a dotted line in the figure) and the slip sheet 24 is detached from the clamping mechanism 56 and falls. There is.

  In order to prevent this, after sandwiching the interleaf paper 24 by the sandwiching mechanism 56, as shown in FIG. 7, for example, an expansion / contraction mechanism such as an air cylinder 69 is provided so as to be separated from the glass plate 22 in the vertical direction. The arm 42 is contracted in the direction, and the head 44 is moved upward to a predetermined height (a height that does not catch the edge portion of the bottom surface of the flat container 13), and then moved horizontally by the arm moving mechanism 46 (same right direction). ). Thereby, the malfunction which the slip sheet 24 catches on the edge of the bottom face part of the flat container 13 and generate | occur | produces can be prevented reliably. Other mechanisms are the same as those in the case where the vertical container 12 is used. In addition, the case of using the flat container 13 or the vertical container 12 has been described separately. However, regardless of the flat container 13 and the vertical container 12, the mechanism of the slip sheet removing device may be selected according to the inclination angle H. .

  The glass plate may have any size, but the present invention is suitable for a glass plate having a size or more called an eighth generation size (about 2000 mm × about 2300 mm or more). Moreover, this invention is applicable not only to a glass plate but to various plate-shaped bodies. The dimensions, weight, shape, etc. of the plate-like body are not limited. Further, it is not essential to incline the plate-like body (interleaf). The present invention can also be applied, for example, when a flat container is placed flat without being inclined.

The present invention is basically as described above.
As described above, the slip sheet removing device and the slip sheet removing method, and the plate cutting apparatus and the plate cutting method of the present invention have been described in detail, but the present invention is not limited to the above-described embodiment, and within the scope not departing from the gist of the present invention. Of course, various improvements and changes may be made.

It is a side schematic diagram of the glass plate take-up device of the present invention. FIG. 2 is a schematic plan view of the plate cutting apparatus shown in FIG. 1. It is a plane schematic showing the positional relationship of a glass plate and a slip sheet. It is a perspective schematic diagram of a head. It is a side schematic view of the head. It is a side schematic diagram showing a state when a head clamps a slip sheet. It is a side schematic diagram showing the operation of the slip sheet removing device of the present invention when a flat container is used. It is a schematic perspective view of a slip sheet presser.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Board remover 12, 13, 78 Container 14, 70 Interleaving paper removal apparatus 16 Interleaving paper collection | recovery apparatus 18 Board take-up robot 20 Conveyance apparatus 22 Glass board 24 Interleaf 26 Base 28 Back part 30 Bottom part 32 Interstitial paper accommodation can 34, 42, 72 Arm 36 Hand 38, 64, 68, 69 Air cylinder 40 Belt conveyor 44 Head 46 Arm movement mechanism 48 Electrostatic removal device 49 Interleaf presser 50 Collected interleaf presser 52 Inclination angle adjustment member 54 Head body 56 Nipping mechanism 57 Axis 58 Protruding part 60 Finger 62 Opening / closing mechanism 66 Guide 74 Suction plate 76 Suction pipe 80 Presser 82 Rotating shaft 84 Interleaf presser moving mechanism 86 Guide

Claims (8)

A slip sheet removing device that removes slip sheets arranged to cover the front surface of a plate-like body,
An arm, a head engaged with the tip of the arm, and a moving mechanism for moving the arm in a direction in which the head approaches the plate-like body or in a direction away from the plate-like body,
The slip sheet removing apparatus, wherein the head includes at least one clamping mechanism for clamping the head main body and the interleaf. The plate-like body and the slip sheet are arranged inclined with respect to the horizontal plane,
The slip sheet removing device according to claim 1, wherein the position of the slip sheet sandwiched by the gripping mechanism is in an area that is approximately half or less in the longitudinal direction of the slip sheet.   The said pinching mechanism is provided with a pair of fingers which pinch | interpose a slip sheet by sliding in the state which contact | abutted with the slip sheet, and the opening / closing mechanism which opens and closes the said finger. The slip sheet removing device as described.   The clamping mechanism is pivotally supported by the head body so as to be rotatable within a certain range so that the contact surface of the finger substantially coincides with the surface of the slip sheet when the finger contacts the slip sheet. The slip sheet removing device according to claim 3, wherein the slip sheet removing device is provided. The upper part in the vertical direction of the slip sheet protrudes from the upper part in the vertical direction of the plate-like body,
It is provided with an interleaf presser that presses the portion of the slip sheet protruding from the upper part in the longitudinal direction of the plate member, or releases the presser of the slip sheet when removing the slip sheet. The interleaf removal apparatus according to any one of claims 1 to 4, characterized in that: A slip sheet removing method for removing a slip sheet disposed to cover a front surface of a plate-like body,
An arm, a head engaged with the tip of the arm, and a moving mechanism for moving the arm,
In the slip sheet removing apparatus, wherein the head includes at least one clamping mechanism,
The moving mechanism moves the arm in a direction in which the head approaches the plate-like body;
The sandwiching mechanism sandwiches the outermost sheet,
The moving mechanism moves the arm in a direction in which the head separates from the plate-like body;
Thereafter, the sandwiching mechanism releases the sandwiched slip sheet and removes the slip sheet from the plate-like body.   6. A sheet take-up device comprising: the slip sheet removing device according to claim 1; and a plate take-up mechanism for taking out a plate-like body from which the slip sheet has been removed by the slip sheet removing device.   A process for removing a slip sheet by the slip sheet removing device according to any one of claims 1 to 5 and a process for removing a slip sheet by a plate take-off mechanism according to claim 7, comprising: Is repeated alternately until the interleaving paper and the plate-like body disappear from the container that is alternately stacked.