FILM PEELING APPARATUS AND FILM PEELING METHOD

A film peeling apparatus includes: a moving member; a first rod having a first contact portion at a lower end that contacts an upper surface of a film; a second rod having a second contact portion at a lower end; and a support portion supporting the first and second rods such that the first and the second rods move in a vertical direction with a movement of the moving member in the vertical direction. The first contact portion has a suction portion that sucks the film, the second contact portion has a sliding portion so that the film can be moved in a horizontal direction while the film is pressed by the second rod. When the moving member moves, the support portion support the first rod and the second rod so that the second rod starts to rise after the first rod starts to rise.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a film peeling apparatus and a film peeling method which peel a film from a workpiece to which the film is tightly adhered.

Description of the Related Art

As a conventional device of this type, a device that peels off a protective sheet from a prepreg sheet to which the protective sheet is attached is known. Such a device is disclosed, for example, in JP 2020-109046 A. In the device described in JP 2020-109046 A, air is injected to the end surface of the prepreg sheet to peel off the protective sheet from the prepreg sheet.

However, it is difficult to peel off the film adhered to the workpiece with a configuration that injects air, as in the device described in JP 2020-109046 A.

SUMMARY OF THE INVENTION

An aspect of the present invention is a film peeling apparatus peeling a film from a workpiece to which the film is tightly adhered. The film peeling apparatus includes: a moving member disposed above a placement member on which the workpiece is placed so as to be vertically movable between a first position and a second position above the first position; a first rod extending downward from the moving member toward the placement member and having a first contact portion at a lower end portion of the first rod that contacts an upper surface of the film when the moving member is located at the first position; a second rod extending downward from the moving member toward the placement member and having a second contact portion at a lower end portion of the second rod that contacts the upper surface of the film when the moving member is located at the first position; and a support portion configured to support the first rod and the second rod from the moving member such that the first rod and the second rod move in a vertical direction with a movement of the moving member in the vertical direction. The first contact portion has a suction portion that sucks the film, the second contact portion has a sliding portion so that the film can be moved in a horizontal direction while the film is pressed by the second rod, and when the moving member moves from the first position to the second position, the support portion supports the first rod and the second rod so that the second rod starts to rise after the first rod starts to rise.

DETAILED DESCRIPTION OF THE INVENTION

Hereinafter, an embodiment of the present invention will be described with reference toFIGS.1to7. A film peeling apparatus according to an embodiment of the present invention peels and removes a protective film from a surface of a workpiece to which the protective film has been attached in advance. The workpiece is, for example, a resin frame to be incorporated into a fuel cell stack that is a component of a fuel cell.

This frame supports an assembly of an electrolyte membrane and anode and cathode electrodes disposed on both sides of the electrolyte membrane, that is, a membrane electrode assembly (MEA), and is also called a sub-gasket. By alternately stacking a frame integrated with the assembly and a metal separator in a predetermined number of layers, a fuel cell stack containing a plurality of power generation cells is configured.

FIG.1schematically illustrates an overall configuration of a film peeling apparatus100according to an embodiment of the present invention. As illustrated inFIG.1, the film peeling apparatus100includes an industrial robot10having articulated arms11and12and a hand13provided at the end of the arm12, a support plate20attached to the hand13, and a plurality of rods30supported by the support plate20.

The arms11and12are rotatably connected via a rotary shaft10a, and the arm12and the hand13are rotatably connected via a rotary shaft10b. Note that the configuration of the robot10(the number of arms and the like) is not limited to that illustrated in the figure. The arms11and12and the hand13are rotated by the drive of an actuator14such as a servo motor provided on the rotary shafts10aand10b, for example, which changes the position and posture of the hand13. The actuator14is controlled by an ECU15. The ECU15is an electronic control unit including a computer having CPU, ROM, RAM and other peripheral circuits.

The support plate20is fixed to the plate13aat the end of the hand13via a spacer13b. Therefore, the support plate20is provided in substantially parallel with the plate13a, separated from the plate13aby a predetermined distance, and moves together with the hand13. Therefore, the position and posture of the support plate20can be controlled by the ECU15. Specifically, the support plate20can be moved in the direction of an arrow Z, that is, raised or lowered in the vertical direction, while the support plate20is held in the horizontal posture illustrated inFIG.1.

The rods30extend in a direction substantially perpendicular to the support plate20, in other words, in a vertical direction with respect to the support plate20in a horizontal posture. A pad40is provided at the lower end portion of each of the rods30. The pad40includes a suction pad that sucks an object200, such as a workpiece201and a protective film202. The rods30of the suction pads are configured in a cylindrical shape and their internal passages are connected to a vacuum generator, and a negative pressure (vacuum pressure) is generated in the suction pads via the vacuum generator, so that the object200can be sucked.FIG.1illustrates the support plate20in a horizontal posture on which the protective film202is sucked.

The support plate20is raised and lowered above a tray300whose upper surface is opened. The tray300stores the workpieces201in a stacked state, and the tray300constitutes a platform for the workpieces201. The protective films202are attached between the workpieces201, and the workpieces201and the protective films202are alternately stacked. The protective films202are flexible, bendable, thin resin films such as polyethylene naphthalate. In the tray300, the protective films202are tightly adhered to the surfaces of the workpieces201.

FIG.2Ais a plan view (arrow view IIA inFIG.1) illustrating the inside of the tray after a protective film202is separated from the surface of a workpiece201. As illustrated inFIG.2A, the workpiece201is disposed at the uppermost portion of the tray300. As described above, the workpiece201is a substantially rectangular resin frame that supports the membrane electrode assembly of the fuel cell. A substantially rectangular opening204is provided in the center of the workpiece201. After the workpiece201is taken out from the tray300, a membrane electrode assembly is formed so as to cover the opening204. The workpiece201is also provided with a plurality of through holes205that constitute flow paths for supplying and discharging fuel gas, oxidant gas, and cooling medium.

As described above, the workpiece201had the opening204and the through holes205. Therefore, when the workpiece201is located at the uppermost portion of the tray300(FIG.2A), the protective film202below the workpiece201can be pressed from above by holding pads (not illustrated) via the opening204and the through holes205. Then, vacuum breakdown can be caused at the interface between the workpiece201and the protective film202by sucking the workpiece201with the suction pads while pressing down on the protective film202with the holding pads, which allows the workpiece201and the protective film202to be separated. When the workpiece201is disposed in the tray300, the workpiece201may not have the through holes205.

On the other hand, when the protective film202is located at the uppermost portion of the tray300(FIG.2B), since the protective film202has no through holes, the workpiece201below the protective film202cannot be pressed by the holding pads from above. This makes it difficult to peel the tightly adhered protective film202from the workpiece201, and if the protective film202is raised via the suction pads, the workpiece201may also be raised with it. Therefore, in order to enable easy peeling of the protective film202even in the case illustrated inFIG.2B, the present embodiment configures the film peeling apparatus100as follows.

The film peeling apparatus100according to the present embodiment includes three types of rods and pads that operate differently from each other. Hereinafter, the three types of rods are referred to as the suction rod, first holding rod, and second holding rod for convenience, and the pads at the ends of the suction rod, first holding rod, and second holding rod are referred to as the suction pad, first holding pad, and second holding pad, respectively.

FIG.3illustrates the positions of the pads40(suction pads41, first holding pads42, and second holding pads43) that are in contact with the upper surface of the protective film202. In the figure, the suction pads41are indicated by circles, the first holding pads42by double circles, and the second holding pads43by triple circles.

First, the relationship between a suction rod31and a first holding rod32will be described. As illustrated inFIG.3, the protective film202has four corner portions202aand four sides (edge portions202b). A first holding pad42is disposed inside each of the four corner portions202a. More specifically, the first holding pads42are disposed on the diagonal line (not illustrated) connecting the corner portions202aand202aand in proximity to the edge portion202bof the protective film202. Inside each of the first holding pads42(the opposite side of the corner portion202a), a suction pad41is disposed adjacent to the first holding pad42.

FIG.4Ais a schematic view of the configuration of the suction rod31and the first holding rod32, that is, a side view of an area IV inFIG.3.FIG.4Ais a view illustrating the middle of the lowering operation of the support plate20, and illustrates the point in time at which the first holding pads42start to contact the protective film202.

As illustrated inFIG.4A, the suction rod31extends vertically through the support plate20and is supported by the support plate20via a support portion21. The support portion21is a fixing portion that fixedly supports the suction rod31on the support plate20, and fixes, for example, a flange portion extending in the horizontal direction from the outer peripheral surface of the suction rod31to the upper surface of the support plate20via a bolt. The support portion21may be configured by a joining means such as welding, and the suction rod31may be fixed to the support plate20via the joining means. The suction rod31is formed in a cylindrical shape and has an internal passage extending in the vertical direction. The internal passage connects to a vacuum generator (not illustrated).

The suction pad41is made of a member having elasticity such as rubber or resin. The suction pad41has a through hole from the upper end surface to the lower end surface, and the through hole connects to the vacuum generator via the internal passage of the suction rod31. The lower end surface of the suction pad41is a suction surface that sucks the object200such as the workpiece201or protective film202. When the vacuum generator is turned on to create a vacuum inside the through hole, a suction force acts on the object200, and the object200can be sucked. When the vacuum generator is turned off, the suction force is removed and the object200can be released from the suction surface. Turning the vacuum generator on and off includes opening and closing a solenoid valve provided in the middle of a flow path connecting the vacuum generator and the internal passage of the suction rod31. The turning on/off of the vacuum generator (for example, opening/closing of the solenoid valve) is controlled by the ECU15(FIG.1).

The first holding rod32extends vertically through the support plate20, and is supported by the support plate20via the support portion22. The support portion22includes a spring221, and supports the first holding rod32via the spring221so that it can move vertically relative to the support plate20. The spring221is, for example, a tension coil spring disposed around the first holding rod32above the support plate20. The upper end portion of the spring221is connected to the upper end portion of the first holding rod32, and the lower end portion is connected to the upper surface of the support plate20.FIG.4Aillustrates an initial state in which no biasing force acts on the spring221, and the length of the spring221is a free length.

The first holding pad42has a sliding portion421such that the protective film202can move (slide) in the horizontal direction along the upper surface of the workpiece201while the protective film202is pressed by the first holding rod32. The sliding portion421includes a ball or a roller that is rotatably supported by a case member420at the end of the first holding pad42via a rotating shaft extending in the horizontal direction. In the initial state inFIG.4A, the lower end of the first holding pad42(sliding portion421) is located below the lower end of the suction pad41by a predetermined length Z1.

With reference toFIGS.4A to4D, the operation of the film peeling apparatus100via the suction rod31and the first holding rod32will be described. The support plate20is lowered from the initial state illustrated inFIG.4A. At this time, since the lower end of the first holding rod32is already in contact with the upper surface of the protective film202, the suction rod31descends together with the support plate20while the position of the first holding rod32remains constant.

When the support plate20is lowered by the predetermined length Z1from the state inFIG.4A, the suction pad41contacts the upper surface of the protective film202as illustrated inFIG.4B. At this time, since the spring221is pulled by the predetermined length Z1, a downward pressing force acts on the first holding rod32via the spring221. Therefore, the protective film202is pressed downward via the first holding pad42. In this state, the vacuum generator is turned on to start suction of the protective film202via the suction pad41.

When the support plate20is raised from the state inFIG.4B, the suction pad41is raised. Until the support plate20is raised by the predetermined length Z1, the first holding pad42remains in contact with the protective film202due to the biasing force of the spring221. As a result, as illustrated inFIG.4C, a part of the protective film202(the opposite side of the corner portion202a) is sucked and raised by the suction pad41while the end portion of the protective film202(corner portion202a) is pressed by the first holding pad42. The end portion of the protective film202is pressed by the first holding pad42, which prevents the workpiece201from being sucked by the protective film202and raised together with the protective film202.

At this time, since a tensile force acts on the protective film202from the suction pad41, the protective film202moves in the horizontal direction (toward the suction pad side) while sliding along the upper surface of the workpiece201below the sliding portion421. In this case, since the ball or roller of the sliding portion421rotates, which promotes the movement of the protective film202while the protective film202is pressed by the first holding pad42. In a state where the support plate20is raised by the predetermined length Z1, the end portion (corner portion202a) of the protective film202is located below the first holding pad42.

When the support plate20is further raised from the state inFIG.4C, as illustrated inFIG.4D, the first holding rod32is raised together with the support plate20, and the first holding pad42is separated from the protective film202. As a result, the protective film202below the first holding pad42is peeled off from the upper surface of the workpiece201.

Next, the relationship between the suction rod31and the second holding rod33will be described. As illustrated inFIG.3, inside the middle of the four sides (edge portions202b) of the protective film202, the suction pads41and the second holding pads43are disposed side by side along the edge portions202b. Therefore, as illustrated in the area V, a pair of suction pads41are disposed on both sides of a second holding pad43, and the second holding pad43is located outside of a virtual line L1connecting the pair of suction pads41(on the edge side of the protective film202).

FIG.5Ais a schematic view of the configuration of the suction rods31and the second holding rod33, that is, a side view of the area V inFIG.3. As inFIG.4A,FIG.5Ais a view illustrating the middle of the lowering operation of the support plate20, and illustrates the point in time at which the second holding pad43starts to contact the protective film202InFIG.3, the second holding pad43is closer to one of the pair of suction pads41, butFIG.5Aillustrates the second holding pad43as being located in the middle of the pair of suction pads41for convenience.

As illustrated inFIG.5A, the second holding rod33extends vertically through the support plate20and is supported by the support plate20via a support portion23. The support portion23includes a spring231, and supports the second holding rod33via the spring231so that it can move vertically relative to the support plate20. The spring231is, for example, a tension coil spring disposed around the second holding rod33above the support plate20. The upper end portion of the spring231is connected to the upper end portion of the second holding rod33, and the lower end portion is connected to the upper surface of the support plate20.FIG.5Aillustrates an initial state in which no biasing force acts on the spring231, and the length of the spring231is a free length.

The second holding pad43includes an elastic body431so that the protective film202can be displaced while the protective film202is pressed by the second holding rod33. The elastic body431is made of rubber, resin, or the like. In the initial state inFIG.5A, the lower end of the second holding pad43is located below the lower end of the suction pads41by a predetermined length Z2. The predetermined length Z2is shorter than the predetermined length Z1(FIG.4A). Note that Z2may be equal to Z1.

With reference toFIGS.5A to5C, the operation of the film peeling apparatus100via the suction rods31and the second holding rod33will be described. The support plate20is lowered from the initial state illustrated inFIG.5A. At this time, since the lower end of the second holding rod33is already in contact with the upper surface of the protective film202, the suction rods31descend together with the support plate20while the position of the second holding rod33remains constant.

When the support plate20is lowered by a predetermined amount (predetermined length Z2) from the state inFIG.5A, the suction pads41contact the upper surface of the protective film202as illustrated inFIG.5B. At this time, since the spring231is pulled by the predetermined length Z2, a downward pressing force acts on the second holding rod33via the spring231. Therefore, the protective film202is pressed downward via the second holding pad43.

When the support plate20is raised from the state inFIG.5B, the suction pads41are raised. Until the support plate20is raised by the predetermined length Z2, the second holding pad43remains in contact with the protective film202due to the biasing force of the spring231. At this time, a tensile force acts on the protective film202while the elastic body431of the second holding pad43is elastically deformed, which causes vacuum breakdown at the interface between the workpiece201and the protective film202, allowing air to infiltrate the interface.

In this case, as indicated by an arrow A inFIG.6, air infiltrates areas AR1connecting the second holding pads43and the suction pads41from the outside, which causes wrinkles in the areas AR1. As a result, peeling of the protective film202is promoted, and the protective film202can be easily peeled off from the workpiece201when the protective film202is pulled upward by the suction pads41.

The operation of the film peeling apparatus100according to the present embodiment is summarized as follows. The following operation represents the step of peeling the protective film202by the film peeling method according to the present embodiment. First, the robot10is driven by a command from the ECU15, and the support plate20is moved to the initial position above the tray300in a horizontal posture (initial moving step). Next, the support plate20is lowered by the drive of the robot10until the suction pads41, the first holding pads42, and the second holding pads43contact the upper surface of the protective film202(lowering step). At this time, first the first holding pads42, then the second holding pads43, and finally the suction pads41contact the protective film202.

The position of the support plate20in a state where all the pads41to43are in contact with the protective film202(FIGS.4B and5B) may be referred to as a first position. The initial position of the support plate20before it is lowered may be referred to as a second position. The support plate20is provided to be movable between the first and second positions.

Next, the vacuum generator is turned on by a command from the ECU15to start suction of the protective film202by the suction pad. Further, the support plate20is raised at a predetermined speed by the drive of the robot10(raising step).FIG.7illustrates the moving amount of the pads40over time from the start point in time of the raising step. In the figure, the characteristic f0corresponds to the moving amount of the suction pads41, the characteristic f1corresponds to the moving amount of the first holding pads42, and the characteristic f2corresponds to the moving amount of the second holding pads43.

As illustrated inFIG.7, until the point t1, only the suction pads41rise while the first holding pads42and the second holding pads43press the protective film202by the biasing force of the springs221and231. By delaying the start point in time of the rise of the first holding pads42from the start point in time of the rise of the suction pads41, the rise of the workpiece201is prevented by the first holding pads42. On the other hand, since the protective film202is movable relative to the first holding pads42via the sliding portions421, the protective film202can be raised.

At this time, since the protective film202rises while being pressed by the second holding pads43, vacuum breakdown occurs in the areas AR1between the suction pads41and the second holding pads43, causing air to infiltrate the areas AR1(FIG.6). At the point t1, when the moving amount of the suction pads41reaches a predetermined value (predetermined length Z2), the second holding pads43start to rise (FIG.5C). Thereafter, until the point t2, the suction pads41and the second holding pads43rise while the first holding pads42press the protective film202by the biasing force of the spring221. At the point t2, when the moving amount of the suction pads41reaches a predetermined value (predetermined length Z1), the first holding pads42start to rise (FIG.4C). As a result, the protective film202can be easily peeled off from the workpiece201.

According to the present embodiment, the following operational effects can be achieved.(1) A film peeling apparatus100peeling a protective film202from a workpiece201to which the protective film202is tightly adhered, and includes: a support plate20disposed above a tray300on which the workpiece201is placed so as to be vertically movable between a first position and a second position above the first position; a suction rod31extending downward from the support plate20toward the tray300and having a suction pad41at its lower end portion that contacts the upper surface of the protective film202when the support plate20is located at the first position; a first holding rod32extending downward from the support plate20toward the tray300and having a first holding pad42at its lower end portion that contacts the upper surface of the protective film202when the support plate20is located at the first position; and support portions21and22which supports the suction rod31and the first holding rod32from the support plate20such that the suction rod31and the first holding rod32move in the vertical direction with the movement of the support plate20in the vertical direction (FIGS.1and4A). The suction pad41functions as a suction portion that sucks the protective film202. The first holding pad42has a sliding portion421so that the protective film202can be moved in the horizontal direction while the protective film202is pressed by the first holding rod32(FIG.4A). When the support plate20moves from the first position to the second position, the support portions21and22support the suction rod31and the first holding rod32so that the first holding rod32starts to rise after the suction rod31starts to rise (FIGS.4A to4D and7).With this configuration, the start point in time of the rise of the first holding pad42is delayed from the start point in time of the rise of the suction pad41, and thus the first holding pad42prevents the workpiece201from rising together with the protective film202when the protective film202is sucked by the suction pad41. In addition, since the protective film202is movable relative to the first holding pad42via the sliding portion421, the protective film202can be raised while sliding over the upper surface of the workpiece201. As a result, the protective film202tightly adhered to the workpiece201can be easily peeled off.(2) The sliding portion421has a rotatable ball or roller (FIG.4A). As a result, the protective film202can be easily moved in the horizontal direction with respect to the first holding pad42while being pressed by the first holding pad42.(3) The support portion21is a fixing portion that fixes the suction rod31to the support plate20, and the support portion22is a movable support portion that supports the first holding rod32so as to be vertically movable with respect to the support plate20. The movable support portion supports the first holding rod32via the spring231so that the downward biasing force of the first holding rod32increases as the protruding amount of the first holding rod32protruding downward from the support plate20decreases (FIG.4A). As a result, with a simple configuration, the suction pad41can be raised while the protective film202is pressed by the first holding pad42.(4) The suction rods31and the first holding rods32are provided such that the first holding pads42are located between the suction pads41and the edge portions202bof the protective film202when the support plate20is located at the first position (FIG.3). As a result, the protective film202is pulled inward in the horizontal direction, and the protective film202can be easily peeled off from the workpiece201.(5) The film peeling apparatus100further includes a second holding rod33extending downward from the support plate20toward the tray300and having a second holding pad43at its lower end portion that contacts the upper surface of the protective film202when the support plate20is located at the first position (FIG.5A). The second holding pad43includes an elastic body431so that the protective film202can be displaced while the protective film202is pressed by the second holding rod33(FIG.5A). When the support plate20moves from the first position to the second position, the support portions21to23further support the second holding rod33so that the second holding rod33starts to rise before the first holding rod32starts to rise after the suction rod31starts to rise (FIGS.5A to5C and7). As a result, vacuum breakdown can easily occur at the interface between the workpiece201and the protective film202, and peeling of the protective film202can be promoted.(6) The support portion23is a movable support portion that supports the second holding rod33so as to be vertically movable with respect to the support plate20, and supports the second holding rod33via the spring231so that the downward biasing force of the second holding rod33increases as the protruding amount of the second holding rod33protruding downward from the support plate20decreases (FIG.5A). The downward protrusion amount (length Z1) by which the biasing force of the first holding rod32becomes 0 is greater than the downward protrusion amount (length Z2) by which the biasing force of the second holding rod33becomes 0 (FIGS.4A and5A). As a result, with a simple configuration, the suction pads41can be raised while the protective film202is pressed by the second holding pad43. Since the relationship between the lengths Z1and Z2is Z1>Z2, the first holding pad42is separated from the protective film202after the second holding pad43is separated from the protective film202. That is, the protective film202is peeled off while the workpiece201is pressed by the first holding pads42in a state where air is infiltrated into the areas AR1(FIG.6) connecting the second holding pads43and the suction pads41to promote peeling of the protective film202. This further promotes peeling of the protective film202.(7) The film peeling apparatus100includes a pair of suction rods31on both sides of the second holding rod33(FIG.5A). The pair of suction rods31and the second holding rod33are provided such that when the support plate20is located at the first position, one of the pair of suction pads41and the second holding pad43are located adjacent to each other, and the second holding pad43is located between a virtual line L1connecting the pair of suction pads41and an edge portion22bof the protective film202(FIG.3). As a result, air can infiltrate the areas AR1on both sides of the second holding pad43, which promotes peeling of the protective film202.(8) The protective film202has a substantially rectangular shape in plan view (FIG.3). The pair of suction rods31, the first holding rod32, and the second holding rod33are provided such that when the support plate20is located at the first position, one of the pair of suction pads41and the second holding pad43are located side by side along the edge portion202bof the protective film202, the first holding pad42is located at a corner portion202aof the protective film202, and the other of the pair of suction pads41is located in line with the first holding pad42and on the opposite side of the corner portion202a(FIG.3). As a result, the first holding pad42and the second holding pad43can effectively interact with each other, and the entire protective film202can be easily peeled off.(9) A film peeling method for peeling off a protective film202from a workpiece201to which the protective film202is tightly adhered includes: an initial moving step (first step) of disposing a support plate20, which supports a suction rod31extending downward toward a tray300in which the workpiece201is placed and having a suction pad41at its lower end portion and a first holding rod32extending downward toward the tray300and having a first holding pad42at its lower end portion, above the tray300; a lowering step (second step) of lowering the support plate20to a first position where the suction pad41and the first holding pad42contact the upper surface of the protective film202; and a raising step (third step) of raising the support plate20while sucking the protective film202by the suction pad41(FIGS.4A to4D). The first holding pad42has a sliding portion421so that the protective film202can be moved in the horizontal direction while the protective film202is pressed by the first holding rod32(FIG.4A). In the raising step, the first holding rod32is not raised until the suction rod31is raised by a predetermined amount (length Z1) (FIGS.4A to4D). As a result, the protective film202tightly adhered to the workpiece201can be easily peeled off from the workpiece surface.(10) In the initial moving step, the support plate20, which extends downward toward the tray300and further supports the second holding rod33having the second holding pad43at its lower end portion, is placed above the tray300(FIG.5A). The second holding pad43includes an elastic body431so that the protective film202can be displaced while the protective film202is pressed by the second holding rod33(FIG.5A). In the raising step, the second holding rod33is not raised until the suction rods31are raised by a predetermined amount (length Z2smaller than the length Z1) (FIGS.5A to5C). The action of the second holding pad43promotes vacuum breakdown at the interface between the workpiece201and the protective film202, which further promotes peeling of the protective film202.

In the above embodiment, the support plate20(moving member) is raised and lowered above the tray300(placement member) using the articulated robot10, but the moving member may be supported so as to be vertically movable using a device other than the robot. For example, the moving member may be supported so as to be vertically movable along a frame body erected in the vertical direction. In the above embodiment, the moving member is configured with the support plate20, but the moving member may be other than the plate. The film peeling apparatus100includes the suction rod31(first rod) having the suction pad41(first contact portion) at its lower end portion, the first holding rod32(second rod) having the first holding pad42(second contact portion) at its lower end, and the second holding rod33(third rod) having the second holding pad43(third contact portion) at its lower end, but the third rod may be omitted.

In the above embodiment, a vacuum generator is connected to the suction pads41to suck the protective film202, but the configuration of the suction portions is not limited to that described above. In the above-described embodiment, the sliding portion421of the first holding pad42is configured with a rotatable ball or roller, but the configuration of the sliding portion is not limited to the above-described configuration. A highly conductive roller or ionizer may be used in the sliding portion to obtain a function of removing static electricity. In the above-described embodiment, the support portion22supports the first holding rod32so as to be vertically movable with respect to the support plate20via the spring221(first spring), but the configuration of the movable support portion (first movable support portion) is not limited to the above-described configuration. In the above embodiment, the support portion23supports the second holding rod33so as to be vertically movable with respect to the support plate20via the spring231(second spring), but the configuration of the second movable support portion is not limited to the above-described configuration.

The above embodiment describes an example of peeling off the protective film202tightly adhered to the surface of the workpiece201, using a resin frame constituting a membrane electrode assembly of a fuel cell as the workpiece201, but the present invention can be similarly applied to peeling off a film from another workpiece to which the film is tightly adhered.

According to the present invention, the film tightly adhered to the workpiece can be easily peeled off with a simple configuration.