A fully automatic film stripping device based on 3D vision robot guiding technology

Abstract

The present invention discloses a fully automatic film removal device based on 3D vision robot guiding technology, comprising: a workbench for storing, positioning and transporting the materials to be film-removed; a scanning mechanism arranged on either side of the workbench for scanning and obtaining the plane information and color information of the materials to be film-removed; a cutting mechanism arranged on either side of the workbench for scanning and obtaining the height information of the materials to be film-removed and cutting the film on the materials to be film-removed; a film peeling mechanism with at least one arranged on one side of the workbench for peeling the film cut by the cutting mechanism from the surface of the materials to be film-removed; and a control host for sending and receiving instructions and controlling the operation of the workbench, the scanning mechanism, the cutting mechanism and the film peeling mechanism. The present invention realizes automation and unmanned operation, solves the problem of imperfect existing equipment for removing the film covering solid packaging materials, and is practical and efficient in industrial production.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and particularly to a full-automatic film removing device based on 3D vision robot guiding technology. Background Art

[0002] At present, there are many packaging devices on the market. Industrial packaging automation has been basically achieved. However, due to poor material consistency and large differences in packaging forms, there is still a lack of a relatively perfect film removing device for removing the film of solid packaging materials in industry. Existing film removing devices have problems such as being only applicable to a single product specification, the movement trajectory of the cutting knife being non-adjustable, the cutting depth being uncontrollable and easily scratching the surface of the object by the cutting knife, and being unable to achieve automation, making the existing film removing devices unable to be widely applied. The films of many materials still need to be removed manually, increasing labor and material resources. Summary of the Invention

[0003] The purpose of the present invention is to provide a full-automatic film removing device based on 3D vision robot guiding technology, aiming to solve the problems of existing film removing devices such as being only applicable to a single product specification, the movement trajectory of the cutting knife being non-adjustable, the cutting depth being uncontrollable and easily scratching the surface of the object by the cutting knife, and being unable to achieve automation.

[0004] To solve the above technical problems, an embodiment of the present invention provides a full-automatic film removing device based on 3D vision robot guiding technology, including: a workbench for storing, positioning, and transporting the materials to be film-removed; a scanning mechanism disposed on any side of the workbench for scanning and obtaining the plane information and color information of the materials to be film-removed; a cutting mechanism disposed on any side of the workbench for scanning and obtaining the height information of the materials to be film-removed and cutting the film on the materials to be film-removed; a film stripping mechanism having at least one and disposed on one side of the workbench for stripping the film cut by the cutting mechanism from the surface of the materials to be film-removed; and a control host for sending and receiving instructions and controlling the operation of the workbench, the scanning mechanism, the cutting mechanism, and the film stripping mechanism.

[0005] Further, the full-automatic film removing device based on 3D vision robot guiding technology further includes a recycling mechanism having at least one and disposed on one side of the workbench for recycling the film stripped by the film stripping mechanism.

[0006] Further, the scanning mechanism includes: a scanning base; a support column, which is vertically arranged on the scanning base. An extension rod is horizontally arranged at the top of the support column, and the extension rod is located above the material with film to be removed; a 3D line structured light camera, which is arranged at the end of the extension rod and is used to scan and obtain the plane information and color information of the material with film to be removed.

[0007] Further, the cutting mechanism includes: a cutting base; a multi-axis robotic arm, which is arranged on the cutting base, and the rotating shaft at its end can rotate around the material with film to be removed. A laser scanner and a cutting component are arranged on the rotating shaft at the end. The laser scanner is used to scan and obtain the height information of the material with film to be removed. The control host combines the plane information and height information of the material with film to be removed to generate a three-dimensional point cloud map, extracts the outer contour of the material with film to be removed based on the color information of the material with film to be removed, and sends an instruction to the cutting component according to the three-dimensional point cloud map and the outer contour of the material with film to be removed to control the cutting component to complete the cutting of the film on the material with film to be removed.

[0008] Further, the cutting component includes: a guiding plate, a cutting knife and a film-hooking mechanism. The guiding plate is arranged on the rotating shaft at the end and is used to guide the actions of the cutting knife and the film-hooking mechanism. The cutting knife and the film-hooking mechanism are respectively arranged at both ends of the guiding plate. The cutting knife is used to cut the film on the material with film to be removed, and the film-hooking mechanism is used to hook the film on the material with film to be removed away from the surface of the material with film to be removed.

[0009] Further, a connecting block, a cutting knife spring and two rollers are also arranged on the guiding plate. One end of the cutting knife spring is connected to the connecting block, and the other end is connected to the cutting knife. The cutting knife spring is used to control the telescopic length of the cutting knife. The two rollers are respectively arranged on both sides of the cutting knife and are used to assist the cutting knife to complete the cutting of the film on the material with film to be removed.

[0010] Further, the film-stripping mechanism includes: a film-stripping base; a moving component, which includes: a guiding rod and at least one moving frame. The guiding rod is vertically arranged on the film-stripping base. The moving frame is arranged on the guiding rod and can move vertically along the direction of the guiding rod and move and / or rotate in the horizontal direction; at least one suction cup component, which is arranged on the moving component and is used to adsorb the film cut by the cutting mechanism; at least one film-blowing-back component, which is arranged on the moving component and is used to blow back the film cut by the cutting mechanism; a pressure sensor, which is arranged on the moving component and is used to monitor whether the film cut by the cutting mechanism falls off.

[0011] Further, the suction cup assembly includes a suction cup holder and a plurality of vacuum suction cups. The suction cup holder is arranged on the moving assembly, and the plurality of vacuum suction cups are arranged on the suction cup holder for adsorbing the film cut by the cutting mechanism.

[0012] Further, the reverse blowing film assembly includes a valve body, an air inlet pipe, and a plurality of reverse blowing pipes. The valve body is arranged on the moving assembly, the air inlet pipe is arranged on the valve body, and the plurality of reverse blowing pipes are evenly arranged on both sides of the valve body for reverse blowing the film cut by the cutting mechanism.

[0013] Further, the recycling mechanism includes: a recycling base; a clamping assembly arranged on the recycling base for removing the peeled film from the film peeling mechanism; a recycling table arranged on the recycling base and located below the clamping assembly for receiving the film removed by the clamping assembly.

[0014] An embodiment of the present invention provides a full-automatic film removing device based on 3D vision robot guiding technology, including: a workbench for storing, positioning, and transporting the material to be film removed; a scanning mechanism arranged on either side of the workbench for scanning and obtaining the plane information and color information of the material to be film removed; a cutting mechanism arranged on either side of the workbench for scanning and obtaining the height information of the material to be film removed and cutting the film on the material to be film removed; a film peeling mechanism with at least one arranged on one side of the workbench for peeling the film cut by the cutting mechanism from the surface of the material to be film removed; a control host for sending and receiving instructions and controlling the operation of the workbench, the scanning mechanism, the cutting mechanism, and the film peeling mechanism. The present invention obtains the three-dimensional information and color information of the material to be film removed through the scanning mechanism and the cutting mechanism and completes the cutting of the film on the material to be film removed under the instruction of the control host, and peels the cut film from the surface of the material to be film removed through the film peeling mechanism, thereby completing the full-automatic removal of the film on the film material. The present invention solves the problems of existing film removing equipment that can only target a single product specification, the movement trajectory of the cutting knife is not adjustable, the cutting depth cannot be controlled, resulting in the cutting knife scratching the surface of the object, and the inability to achieve automation, realizes automation and unmanned operation, is practical and efficient in industrial production, and further improves the production efficiency. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 Schematic diagram of the structure of the full-automatic film stripping device based on 3D vision robot guiding technology provided by the embodiment of the present invention;

[0017] Figure 2 Schematic diagram of the structure of the scanning mechanism provided by the embodiment of the present invention;

[0018] Figure 3 Schematic diagram of the structure of the cutting mechanism provided by the embodiment of the present invention;

[0019] Figure 4 Schematic diagram of the structure of the cutting component provided by the embodiment of the present invention;

[0020] Figure 5 Schematic diagram of the structure of the film stripping mechanism provided by the embodiment of the present invention;

[0021] Figure 6 Schematic diagram of the structure of the suction cup assembly provided by the embodiment of the present invention;

[0022] Figure 7 Schematic diagram of the structure of the recycling mechanism provided by the embodiment of the present invention;

[0023] Wherein:

[0024] 1. Workbench;

[0025] 2. Scanning mechanism; 21. Scanning base; 22. Support column; 23. Extension rod;

[0026] 3. Cutting mechanism; 31. Cutting base; 32. Multi-axis robotic arm; 33. Cutting component; 331. Guide plate; 332. Cutting knife; 333. Film hooking mechanism; 334. Connecting block; 335. Cutting knife spring; 336. Roller;

[0027] 4. Film stripping mechanism; 41. Film stripping base; 42. Moving component; 421. Guide rod; 422. Moving frame; 43. Suction cup assembly; 431. Suction cup frame; 432. Vacuum suction cup; 44. Anti-blowing film component; 441. Valve body; 442. Air inlet pipe; 443. Anti-blowing pipe;

[0028] 5. Recycling mechanism; 51. Recycling base; 52. Clamping component; 53. Recycling table;

[0029] 6. Material to be stripped of film;

[0030] 7. Coordinate system frame. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0033] It should also be understood that the terminology used in this specification of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in this specification and the appended claims, unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0034] It should be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "once" or "in response to determining" or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted as meaning "once determined" or "in response to determining" or "once detected [the described condition or event]" or "in response to detecting [the described condition or event]" according to the context.

[0036] In combination with Figure 1As shown in the figure, an embodiment of the present invention provides a fully automatic film stripping device based on 3D vision robot guiding technology, including: a workbench 1 for storing, positioning, and transporting the material 6 to be film-stripped; a scanning mechanism 2 disposed on either side of the workbench 1 for scanning and obtaining the planar information and color information of the material 6 to be film-stripped; a cutting mechanism 3 disposed on either side of the workbench 1 for scanning and obtaining the height information of the material 6 to be film-stripped and cutting the film on the material 6 to be film-stripped; a film stripping mechanism 4 having at least one and located on one side of the workbench 1 for peeling the film cut by the cutting mechanism 3 from the surface of the material 6 to be film-stripped; and a control host for sending and receiving instructions and controlling the operation of the workbench 1, the scanning mechanism 2, the cutting mechanism 3, and the film stripping mechanism 4.

[0037] In the embodiment of the present invention, the workbench transports the material 6 to be film-stripped to the film stripping position. The scanning mechanism 2 obtains the planar information and color information of the material 6 to be film-stripped, and the cutting mechanism 3 obtains the height information of the material 6 to be film-stripped. The control host issues instructions to the cutting mechanism 3 according to the three-dimensional information and color information of the material to complete the cutting of the film on the material 6 to be film-stripped. The film stripping mechanism 4 peels the cut film from the surface of the material 6 to be film-stripped, thereby completing the full-automatic removal of the film on the film-applied material. The present invention solves the problems of existing film stripping equipment that can only target a single product specification, the movement trajectory of the cutting tool is not adjustable, the cutting depth cannot be controlled, resulting in the cutting tool scratching the surface of the object, and the inability to achieve automation, realizes automation and unmanned operation, is practical and efficient in industrial production, and further improves production efficiency.

[0038] Further, the fully automatic film stripping device based on 3D vision robot guiding technology further includes a recycling mechanism 5 having at least one and located on one side of the workbench 1 for recycling the film peeled off by the film stripping mechanism 4. In this embodiment, the recycling mechanism 5 recycles the peeled film, supplements the entire automated process, and promotes the safety and cleanliness of the entire production workshop. In a specific embodiment, two film stripping mechanisms 4 and two recycling mechanisms 5 are provided, with one film stripping mechanism 4 and one recycling mechanism 5 disposed on each side of the workbench 1, facilitating the peeling and recycling of the cut film from the surface of the material 6 to be film-stripped.

[0039] Combined with Figure 2As shown in the figure, the scanning mechanism 2 includes: a scanning base 21; a support column 22, which is vertically arranged on the scanning base 21. A horizontal extension rod 23 is arranged at the top of the support column 22, and the extension rod 23 is located above the material 6 with the film to be removed. A 3D line-structured light camera (not shown in the figure) is arranged at the end of the extension rod 23 and is used to scan and obtain the plane information and color information of the material 6 with the film to be removed. In this embodiment, the scanning base 21 is arranged on the ground and is used to support the other components of the scanning mechanism 2. The 3D line-structured light camera is arranged at the end of the extension rod 23 and is located above the material 6 with the film to be removed, which is convenient for obtaining the plane information and color information of the material 6 with the film to be removed. In a specific embodiment, the 3D line-structured light camera is fixed on the extension rod 23 to make it more stable and the obtained information more accurate.

[0040] Combined with Figure 3 As shown in the figure, the cutting mechanism 3 includes: a cutting base 31; a multi-axis robotic arm 32, which is arranged on the cutting base 31. The end rotating shaft of the multi-axis robotic arm 32 can rotate around the material 6 with the film to be removed. A laser scanner (not shown in the figure) and a cutting component 33 are arranged on the end rotating shaft. The laser scanner is used to scan and obtain the height information of the material 6 with the film to be removed. The control host generates a three-dimensional point cloud map by combining the plane information and height information of the material 6 with the film to be removed, extracts the edge according to the color information of the material 6 with the film to be removed to obtain the circumscribed contour of the material 6 with the film to be removed, and sends an instruction to the cutting component according to the three-dimensional point cloud map and the circumscribed contour of the material 6 with the film to be removed to control the cutting component 3 to complete the cutting of the film on the material 6 with the film to be removed. In this embodiment, the cutting base 31 is arranged on the ground and is used to support the other components of the cutting mechanism 3. The laser scanner obtains the height information of the material 6 with the film to be removed through the principle of triangulation ranging. Specifically, combined with Figure 1 As shown in the figure, in this embodiment, a coordinate system frame 7 is also set up to facilitate the acquisition of the three-dimensional information of the material 6 with the film to be removed. The three-dimensional information of the material 6 with the film to be removed is used to determine its approximate position in space. The rough positioning function is to identify the solid material from the background to prevent the background information from interfering with the final processing result. The color information of the material 6 with the film to be removed is used to estimate the precise position of the object in space. The control host generates a three-dimensional point cloud map according to the three-dimensional information and color information of the material 6 with the film to be removed. The precise positioning process is to extract the edge of the area where the material 6 with the film to be removed is located and perform line fitting to finally determine the circumscribed contour of the material 6 with the film to be removed, accurately position the position of the material 6 with the film to be removed, and obtain the contour map of the material 6 with the film to be removed. The contour map obtained through algorithm operation ensures the automatic planning of the film removal path and facilitates the cutting of the cutting mechanism 3.

[0041] Combined with Figure 4As shown in the figure, the cutting assembly 33 includes a guide plate 331, a cutter 332, and a film-hooking mechanism 333. The guide plate 331 is arranged on the end rotating shaft and is used to guide the actions of the cutter 332 and the film-hooking mechanism 333. The cutter 332 and the film-hooking mechanism 333 are respectively arranged at both ends of the guide plate 331. The cutter 332 is used to cut the film on the material 6 to be demembraned, and the film-hooking mechanism 333 is used to hook the film on the material 6 to be demembraned from the surface of the material 6 to be demembraned. In this embodiment, the cutting mechanism 3 sets the cutting path according to the contour map of the material 6 to be demembraned. The setting of the film-hooking mechanism 333 is to prevent the cut film from continuing to adhere to the surface of the material 6 to be demembraned. Specifically, the multi-axis robotic arm 32 needs to carry the cutter 332 to feed along the gap between each material to prevent scratching the material. In a more specific embodiment, the first cutting path of the cutter 332 is a circular cutting to ensure that the film is divided into two major parts, left and right. The second cutting path is to cut the four corners of the solid material, cooperating with the film-hooking mechanism 333 to prevent the situation of film hanging in the subsequent process of removing the two-sided film.

[0042] Specifically, the cutting path of the cutting mechanism 3 is set by an algorithm. Since the outer contour of the material 6 to be demembraned is basically a cube, the circular cutting path can be decomposed into multiple point-to-point linear motion trajectories. Assume that the starting pose and the ending pose in the Cartesian task space are respectively X start =[R start ,p start ∈SE(3) and X end =[R end ,p end ∈SE(3), where R start ,R end ∈SO(3) is the rotation matrix of the tool, and p start ,p end ∈R 3 is the translation vector of the tool. In order to make the tool move linearly from X start to X end within time T, we define the time scale s(t) to assign a value s to each moment within the interval t∈[0,T], that is, s:[0,T]→[0,1].

[0043] Therefore, the motion path of the tool can be defined as follows: p(s)=p start +s(p end -p start ), where the origin p of the tool coordinate system moves linearly in the task space.

[0044] In practical applications, the time scale s(t) of the path should ensure that the motion is appropriately smooth and satisfy the motion constraints on the robot's velocity and acceleration, such as the initial velocity, terminal velocity, initial acceleration, and terminal acceleration are all zero. Therefore, a fifth-order polynomial can be used to model the time scale, that is, s(t) = a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5 , and substitute the motion constraints: s(0) = 0, s(T) = 1, It can be solved that: a0=a1=a2=0,

[0045] Furthermore, the guide plate 331 is also provided with a connecting block 334, a cutter spring 335 and two rollers 336. One end of the cutter spring 335 is connected to the connecting block 334, and the other end is connected to the cutter 332. The cutter spring 335 is used to control the telescopic length of the cutter 332. The two rollers 336 are respectively arranged on both sides of the cutter 332 to assist the cutter 332 in completing the cutting of the film on the film material 6 to be removed. In this embodiment, the cutter spring 335 is used to set the length of the cutter 332 to prevent the cutter 332 from being too long to cause material damage or too short to cause incomplete film cutting. The two rollers 336 not only guide the cutter 332, but also further reinforce the cutter 332, and have a certain effect of preventing the material from being damaged by the cutter 332.

[0046] Combination Figure 5As shown, the film stripping mechanism 4 includes: a film stripping base 41; a moving component 42, the moving component 42 includes: a guide rod 421 and at least one moving frame 422, the guide rod 421 is vertically arranged on the film stripping base 41, the moving frame 422 is arranged on the guide rod 421, and can move vertically along the direction of the guide rod 421, and move and / or rotate in the horizontal direction; at least one suction cup component 43, the suction cup component 43 is arranged on the moving component 42, and is used to absorb the film cut by the cutting mechanism 3; at least one back-blowing film component 44, the back-blowing film component 44 is arranged on the moving component 42, and is used to back-blow the film cut by the cutting mechanism 3; a pressure sensor, the pressure sensor is arranged on the moving component 42, and is used to monitor whether the film cut by the cutting mechanism 3 falls off. In this embodiment, the film stripping base 41 is set on the ground to support the remaining components of the film stripping mechanism 4. A guide rail is set on the guide rod 421. The movable frame 422 can move vertically along the guide rail in the direction of the guide rod 421, and the movable frame 422 can move and / or rotate in the horizontal direction, so that the suction cup assembly can be used for film stripping of materials of various shapes. In a specific embodiment, two movable frames 422 are provided, and each movable frame 422 is connected by multiple connecting plates and rotating shafts to give it a higher degree of freedom.

[0047] Combination Figure 6 As shown, the suction cup assembly 43 includes a suction cup frame 431 and a plurality of vacuum suction cups 432. The suction cup frame 431 is arranged on the moving assembly 42, and the plurality of vacuum suction cups 432 are arranged on the suction cup frame 431, and are used to absorb the film cut by the cutting mechanism 3. In this embodiment, the plurality of vacuum suction cups 432 make it easier to peel off the film, and avoid the occurrence of incomplete film peeling.

[0048] Furthermore, the back-blowing film assembly 44 includes a valve body 441, an air inlet pipe 442 and a plurality of back-blowing pipes 443. The valve body 441 is arranged on the moving assembly 42, the air inlet pipe 442 is arranged on the valve body 441, and the plurality of back-blowing pipes 443 are evenly arranged on both sides of the valve body 441, and are used for back-blowing the film cut by the cutting mechanism 3. In this embodiment, the back-blowing film assembly 44 is used for back-blowing the film to separate it from the material surface, so that it is easier to be stripped by the film stripping mechanism, and is used to assist the suction cup assembly 43 in sucking the film.

[0049] Combination Figure 7As shown in the figure, the recycling mechanism 5 includes: a recycling base 51; a clamping assembly 52, which is arranged on the recycling base 51 and is used to remove the peeled film from the film peeling mechanism 4; a recycling table 53, which is arranged on the recycling base 51 and is located below the clamping assembly 52 and is used to receive the film removed by the clamping assembly 52. In this embodiment, the recycling base 51 is arranged on the ground and is used to support the other components of the recycling mechanism 5. The design of the clamping assembly 52 is used to prevent the film from adhering to the film peeling mechanism 4. Specifically, a position sensor is arranged at the clamping assembly 52. After the film on the film peeling mechanism 4 reaches the position sensor, the clamping assembly 52 receives an instruction to clamp and peel the film. The clamping assembly resets after a set time, and the film falls on the recycling table 53, completing the recycling of the film.

[0050] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0051] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

[0052] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A fully automatic film stripping device based on 3D vision robot guiding technology, characterized in that, Including: A workbench for storing, positioning, and transporting the film-removing material to be processed; A scanning mechanism disposed on either side of the workbench for scanning and obtaining the planar information and color information of the film-removing material to be processed; A cutting mechanism disposed on either side of the workbench for scanning and obtaining the height information of the film-removing material to be processed and cutting the film on the film-removing material; At least one film-stripping mechanism located on one side of the workbench for stripping the film cut by the cutting mechanism from the surface of the film-removing material; A control host for sending and receiving instructions and controlling the operation of the workbench, the scanning mechanism, the cutting mechanism, and the film-stripping mechanism; The scanning mechanism includes: a scanning base; a support column vertically disposed on the scanning base, with an extension rod horizontally disposed at the top of the support column, and the extension rod is located above the film-removing material to be processed; a 3D line structured light camera disposed at the end of the extension rod for scanning and obtaining the planar information and color information of the film-removing material to be processed; The full-automatic film-removing device based on 3D vision robot guiding technology further includes a coordinate system framework for obtaining the three-dimensional information of the film-removing material to be processed; the cutting mechanism includes: a cutting base; a multi-axis robotic arm disposed on the cutting base, and the end rotating shaft thereof can rotate around the film-removing material to be processed. A laser scanner and a cutting component are disposed on the end rotating shaft. The laser scanner is used for scanning and obtaining the height information of the film-removing material to be processed. The control host combines the planar information and height information of the film-removing material to generate a three-dimensional point cloud map, extracts the outer contour of the film-removing material based on the color information of the film-removing material, and sends instructions to the cutting component according to the three-dimensional point cloud map and the outer contour of the film-removing material to control the cutting component to complete the cutting of the film on the film-removing material; The cutting component includes: a guiding plate, a cutting knife, and a film-hooking mechanism. The guiding plate is disposed on the end rotating shaft for guiding the actions of the cutting knife and the film-hooking mechanism. The cutting knife and the film-hooking mechanism are respectively disposed at both ends of the guiding plate. The cutting knife is used for cutting the film on the film-removing material to be processed, and the film-hooking mechanism is used for hooking the film on the film-removing material from the surface of the film-removing material. Among them, the first cutting path of the cutting knife is a circular cutting, and the second cutting path is to perform cutting at the four corners of the film-removing material to be processed, and cooperate with the film-hooking mechanism to prevent film hanging when the films on both sides of the film-removing material are removed; 2. The fully automatic film stripping device based on 3D vision robot guiding technology according to claim 1, wherein It further includes at least one recycling mechanism located on one side of the workbench for recycling the film stripped by the film-stripping mechanism.

3. The fully automatic film stripping device based on 3D vision robot guiding technology according to claim 1, characterized in that, A connecting block, a cutter spring and two rollers are further arranged on the guiding plate. One end of the cutter spring is connected to the connecting block, and the other end is connected to the cutter. The cutter spring is used to control the telescopic length of the cutter. The two rollers are respectively arranged on both sides of the cutter and are used to assist the cutter to complete the cutting of the film on the material to be film-removed.

4. The full-automatic film stripping device based on 3D vision robot guiding technology according to claim 1, wherein, The film stripping mechanism comprises: A film stripping base; A moving assembly, the moving assembly comprising: a guiding rod and at least one moving frame. The guiding rod is vertically arranged on the film stripping base. The moving frame is arranged on the guiding rod and can move vertically along the direction of the guiding rod and move and / or rotate in the horizontal direction; At least one suction cup assembly, the suction cup assembly being arranged on the moving assembly and used for adsorbing the film cut by the cutting mechanism; At least one film back-blowing assembly, the film back-blowing assembly being arranged on the moving assembly and used for back-blowing the film cut by the cutting mechanism; A pressure sensor, the pressure sensor being arranged on the moving assembly and used for monitoring whether the film cut by the cutting mechanism falls off.

5. The fully automatic film stripping device based on 3D vision robot guiding technology according to claim 4, characterized in that, The suction cup assembly comprises a suction cup frame and a plurality of vacuum suction cups. The suction cup frame is arranged on the moving assembly, and the plurality of vacuum suction cups are arranged on the suction cup frame and are used for adsorbing the film cut by the cutting mechanism.

6. The full-automatic film stripping device based on 3D vision robot guiding technology according to claim 4, wherein, The film back-blowing assembly comprises a valve body, an air inlet pipe and a plurality of back-blowing pipes. The valve body is arranged on the moving assembly, the air inlet pipe is arranged on the valve body, and the plurality of back-blowing pipes are evenly arranged on both sides of the valve body and are used for back-blowing the film cut by the cutting mechanism.

7. The fully automatic film stripping device based on 3D vision robot guiding technology according to claim 2, wherein, The recovery mechanism comprises: A recovery base; A clamping assembly, the clamping assembly being arranged on the recovery base and used for taking down the stripped film from the film stripping mechanism; A recovery table, the recovery table being arranged on the recovery base and located below the clamping assembly and used for receiving the film taken down by the clamping assembly.

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