Film tearing equipment and film tearing method

Abstract

The invention relates to the technical field of automatic film tearing, in particular to film tearing equipment and a film tearing method.The film tearing equipment comprises a base, a material conveying mechanism and a film tearing device, the base is provided with a rotating disc, the rotating disc is provided with a feeding area, a discharging area and a workpiece processing area, and the workpiece processing area is located between the feeding area and the discharging area; the base is configured to place a workpiece; the material conveying mechanism comprises a feeding mechanism and a discharging mechanism, the feeding mechanism is arranged corresponding to the feeding area, and the discharging mechanism is arranged corresponding to the discharging area; the film tearing device is arranged on the outer edge of the rotary disc and located between the feeding mechanism and the discharging mechanism. The film tearing device is provided with a movable deformation fitting part, and the deformation fitting part is configured to fit and remove the film of the workpiece. According to the technical scheme, the film tearing equipment aims to fit and tear film paper with different curved surfaces and special shapes.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic film tearing, and particularly relates to a film tearing device and a film tearing method. Background Art

[0002] For relatively complex product processing processes, it is usually necessary to attach a protective film to protect the product surface during the process. Currently, the removal of curved and irregular film papers is usually manually operated, and the uncontrollability of personnel may cause scratches on the product surface.

[0003] In related technologies, there are film tearing devices for automatic film tearing operations. Most of these film tearing devices use tape to bond the film layer to achieve the purpose of film tearing, or use the method of electrostatic adsorption. However, when facing products with curved and irregular surfaces, the above two film tearing methods cannot well attach to the protective film on the product surface, and during the tearing process, the film is prone to being torn due to a small contact area. Summary of the Invention

[0004] The main object of the present invention is to provide a film tearing device and a film tearing method, aiming to fit and tear different curved and irregular film layers.

[0005] To achieve the above object, the film tearing device includes: A base, the base is provided with a turntable, the turntable has a loading area, an unloading area, and a workpiece processing area, the workpiece processing area is located between the loading area and the unloading area, and is configured to place a workpiece; A material conveying mechanism, the material conveying mechanism includes a loading mechanism and an unloading mechanism, the loading mechanism is correspondingly arranged in the loading area, and the unloading mechanism is correspondingly arranged in the unloading area; and A film tearing device, the film tearing device is arranged on the outer edge of the turntable and is located between the loading mechanism and the unloading mechanism; the film tearing device has a deformable fitting part that can move, and the deformable fitting part is configured to fit and remove the film on the workpiece.

[0006] In an embodiment of the present invention, each film tearing device includes a roller, a film tearing mechanism, and a motion module; The motion module is located on the outer edge of the turntable, and the film tearing mechanism and the roller are both arranged at the moving end of the motion module; The surface of the roller is provided with the deformable fitting part, the film tearing mechanism has a movable film tearing tape, and the deformable fitting part abuts against the film tearing tape.

[0007] In an embodiment of the present invention, the material of the roller is a flexible material, and the outer surface of the roller forms the deformable fitting part; Alternatively, a fixing groove is provided on the outer peripheral wall of the roller, the deformation fitting portion is fixedly arranged in the fixing groove, and the material of the deformation fitting portion is a flexible material.

[0008] In an embodiment of the present invention, the film tearing device further includes a pressure sensor, and the pressure sensor is arranged inside the roller; the detection probe of the pressure sensor abuts against the deformation fitting portion.

[0009] In an embodiment of the present invention, the base is provided with a film stripping disk, the film tearing device is provided with at least one film tearing device, and the film stripping disk is located in the workpiece processing area and is transmitted on the turntable; The film stripping disk is provided with at least one sub-film stripping area; The film tearing device is used to tear the film of the material in the sub-film stripping area of the film stripping disk.

[0010] In an embodiment of the present invention, each film tearing device is provided with a blowing device, and the blowing device is configured to apply a force away from the surface of the workpiece to the film.

[0011] The present invention also provides a film tearing method, which is characterized in that the film tearing method includes: Driving the deformation fitting portion of the film tearing device to fit the film on the surface of the workpiece to perform the first film tearing action; Controlling the detection unit to judge whether the film attached to the surface of the workpiece is detached; When the film is detached from the surface of the workpiece, feeding back the film tearing parameters generated by the deformation fitting portion during the first film tearing action to the data unit.

[0012] In an embodiment of the present invention, after the step of controlling the detection unit to judge whether the film attached to the surface of the workpiece is detached, it further includes: When the film is attached to the surface of the workpiece, driving the film tearing device to correct the film tearing parameters of the deformation fitting portion according to the preset parameters of the data unit; Driving the film tearing device to perform the film tearing action again, and controlling the detection unit to judge whether the film attached to the surface of the workpiece is detached; When the film is detached from the surface of the workpiece, feeding back the film tearing parameters generated by the deformation fitting portion during the second film tearing action to the data unit.

[0013] In an embodiment of the present invention, after the step of driving the film tearing device to perform the film tearing action again and controlling the detection unit to judge whether the film attached to the surface of the workpiece is detached, it further includes: When the film is attached to the surface of the workpiece, feeding back and receiving the film tearing parameters generated by the film tearing device during the second film tearing to the data unit to obtain correction data; Drive the film tearing device to correct the film tearing parameters of the deformed fitting part according to the corrected data of the data unit; Control the film tearing device to perform the film tearing action again.

[0014] In an embodiment of the present invention, the film tearing parameters include the pressure and position of the deformed fitting part relative to the surface of the workpiece.

[0015] In the technical solution of the present invention, the film tearing device is used to tear off protective films, protective papers, etc. attached to workpieces with arbitrary curvature surfaces. Specifically, after the workpiece to be torn with film is input into the workpiece processing area through the feeding mechanism, the deformed fitting part of the film tearing device can adaptively fit the film of the workpiece through its own deformation. When the deformed fitting part has a film tearing tape, the contact area between the film tearing tape and the film can be increased. Or, when the film tearing device adopts an electrostatic adsorption means, the deformed fitting part can increase the contact area between the part with an electrostatic film tearing effect and the film through its own deformation, thereby improving the film tearing success rate. After the film tearing is completed, the workpiece is conveyed to the blanking area on the turntable, and then conveyed to the next process through the blanking mechanism or the palletizing and induction of the workpiece is completed. The film tearing device proposed by the present invention can greatly improve the production efficiency and shorten the processing cycle. At the same time, the deformed fitting part is composed of a deformable material, and when fitting the film, the contact between the two is flexible, which can avoid damaging the surface of the product, thereby significantly improving the surface quality of the product, reducing the defective rate, and enhancing the product competitiveness of the enterprise. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0017] Figure 1 A top view schematic diagram of an embodiment of the film tearing device provided by the present invention; Figure 2 A three-dimensional structure schematic diagram of an embodiment of the film tearing device provided by the present invention; Figure 3 A three-dimensional structure schematic diagram of an embodiment of the film tearing device provided by the present invention; Figure 4 A flowchart schematic diagram of an embodiment of the film tearing method provided by the present invention; Figure 5 A flowchart schematic diagram of another embodiment of the film tearing method provided by the present invention; Figure 6Schematic flow chart of another embodiment of the film tearing method provided by the present invention.

[0018] Explanation of the reference numerals in the drawings: 10. Base; 11. Turntable; 12. Film stripping disc; 10a. Workpiece processing area; 20. Film tearing device; 21. Roller; 21a. Deformation fitting part; 22. Film tearing mechanism; 221. Film tearing tape; 222. Driving wheel; 23. Motion module; 30. Detection module; 40. Loading mechanism; 50. Unloading mechanism.

[0019] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0020] 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 only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0022] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes the A solution, or the B solution, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0023] Please refer to Figure 1, the film tearing device proposed by the present invention includes a base 10, a material conveying mechanism, and a film tearing device 20. The base 10 is provided with a turntable 11. The turntable 11 has a loading area, a unloading area, and a workpiece processing area 10a. The workpiece processing area 10a is located between the loading area and the unloading area and is configured to place workpieces. The material conveying mechanism includes a loading mechanism 40 and a unloading mechanism 50. The loading mechanism 40 is arranged corresponding to the loading area, and the unloading mechanism 50 is arranged corresponding to the unloading area. The film tearing device 20 is provided at the outer edge of the turntable 11 and is located between the loading mechanism 40 and the unloading mechanism 50. The film tearing device 20 has a deformable and conforming part 21a, and the deformable and conforming part 21a is configured to conform to and remove the film on the workpiece.

[0024] In the technical solution of the present invention, the film tearing device is used to tear off protective films, protective papers, etc. attached to workpieces with arbitrary curvature surfaces. Specifically, after the workpiece to be film-torn is input into the workpiece processing area 10a through the loading mechanism 40, the deformable and conforming part 21a of the film tearing device 20 can adaptively conform to the film on the workpiece through its own deformation. When the deformable and conforming part 21a has a film tearing tape 221, the contact area between the film tearing tape 221 and the film can be increased. Or, when the film tearing device 20 adopts an electrostatic adsorption means, the deformable and conforming part 21a can increase the contact area between the part with an electrostatic film tearing effect and the film through its own deformation, thereby improving the film tearing success rate. After the film tearing is completed, the workpiece on the turntable 11 is conveyed to the unloading area, and then conveyed to the next process through the unloading mechanism 50 or the palletizing and induction of the workpiece is completed. The film tearing device proposed by the present invention can greatly improve the production efficiency and shorten the processing cycle. At the same time, the deformable and conforming part 21a is made of a deformable material. When conforming to the film, the contact between the two is flexible, which can avoid damaging the surface of the product, thereby significantly improving the surface quality of the product, reducing the defective rate, and enhancing the product competitiveness of the enterprise.

[0025] The base 10 is the core support structure of the film tearing device, undertaking key functions such as workpiece positioning, module integration, and stability guarantee. It has structures such as a circuit system and an electric control system to achieve automatic film tearing operations. The base 10 is provided with a turntable 11. In one embodiment, the turntable 11 is movably arranged on the base 10. A motor is used to drive a driving gear, and the driving gear meshes with a driven member (such as a gear ring), and the driven member is connected to the turntable 11. By controlling the rotation of the motor, the rotation angle and speed of the turntable 11 can be accurately controlled, enabling the turntable 11 to accurately stop at the required position. In another embodiment, an annular belt is laid on the surface of the turntable 11, and the belt is driven by a driving wheel and a driven wheel driven by a motor to rotate in a cycle. The workpiece is placed on the belt. It can be understood that based on any of the above embodiments, the turntable 11 includes a loading area, an unloading area, and a workpiece processing area 10a. The demolding tray 12 on which the workpiece to be torn is placed passes through the workpiece processing area 10a from the loading area, thereby realizing the film tearing action. The workpiece to be torn that has completed the film tearing action is conveyed to the unloading area. During this process, the successfully torn workpieces can be discharged from the unloading area, or the workpieces with failed film tearing can be continuously conveyed from the unloading area to the workpiece processing area 10a so that the film tearing device 20 can perform the film tearing action again.

[0026] At the loading area and the unloading area corresponding to the turntable 11 of the film tearing device, a loading mechanism 40 and an unloading mechanism 50 are respectively provided. In one embodiment, both the loading mechanism 40 and the unloading mechanism 50 include a driving wheel, a driven wheel, a belt, and a driving motor. The driving wheel and the driven wheel are connected by the belt, and the driving motor drives the driving wheel to rotate, thereby making the belt rotate in a cycle. The workpiece is placed on the belt and is transported to the workpiece processing area 10a along with the belt, or the belt receives the workpiece from the workpiece processing area 10a. In another embodiment, both the loading mechanism 40 and the unloading mechanism 50 include a robotic arm, a grasping device, and a control system. The robotic arm is composed of multiple joints and connecting rods. The grasping device is arranged at the free end of the robotic arm. The grasping device can be a mechanical gripper, a vacuum chuck, or an electromagnetic chuck. The control system is used to control the actions of the robotic arm and issue grasping instructions. The free end of the robotic arm of the loading mechanism 40 can move to the workpiece position, the grasping device grasps the workpiece, moves the workpiece to the loading area and releases it. The free end of the robotic arm of the unloading mechanism 50 moves to the unloading area, and the grasping device grasps the workpiece from the unloading area so that the workpiece can enter the next process or complete the stacking and induction of the workpiece.

[0027] For the film tearing of a workpiece, in one embodiment, the film tearing device 20 has a multi-axis robotic arm, and a deformation fitting part 21a is provided at the free end of the multi-axis robotic arm. The deformation fitting part 21a can be composed of flexible parts such as silicone and pressure-sensitive adhesive that can deform. A tape for film tearing is provided on the deformation fitting part 21a. In this way, when a certain extrusion occurs between the deformation fitting part 21a and the surface of the workpiece to be film-torn, the deformation fitting part 21a can adapt to the curved surface of the workpiece through its own deformation, so that the tape can better adhere to the film on the surface of the workpiece. Then, the multi-axis robotic arm is moved to tear the film. It can be understood that under the concept of this technology, the deformation fitting part 21a can have various film tearing methods, such as back-adhesive film tearing, electrostatic adsorption, etc., which are not limited here. It can be understood that a core concept proposed by the present invention is to use the deformable deformation fitting part 21a to fit films with different curvatures, so as to increase the contact area between the film tearing structure and the film, thereby improving the film tearing efficiency.

[0028] First, it needs to be explained that the film tearing device further includes a data unit and a control unit that are electrically connected to each other. The film tearing device has a learning period before it is officially put into use. During this learning period, the film tearing device processes protective films with different curvatures. The data unit collects and processes the film tearing parameters generated by workpieces with different curvature surfaces, and aggregates all the successfully torn film tearing parameters during the learning period as the original database. It can be understood that since all the data included in the original database is generated according to different curvature surfaces, the workpieces to be film-torn that the film tearing device is adapted to can be of multiple types. After the film tearing device is officially put into use, there is no need to specifically collect the film tearing parameters of the actual workpieces to be film-torn. Based on the original database, the control unit can adjust the film tearing parameters of the deformation fitting part 21a for the film according to the curvature value corresponding to the actual workpiece to be film-torn. Among them, the film tearing parameters include the pressure value of the deformation fitting part 21a on the film and the force position between the deformation fitting part 21a and the film.

[0029] The control unit is for the integration of electronic components. It can receive the film tearing information from the data unit and control the movement position of the deformation fitting part 21a and the pressure value applied to the protective film on the workpiece surface according to the film tearing information. The movement position can include the movement starting area and the movement track. Taking the outer edge of the protective film as the first boundary and the edge at any distance from the outer edge of the protective film towards the center as the second boundary, the area enclosed by the first boundary and the second boundary on the protective film is the movement starting area. Of course, it can also be that taking the center of the protective film as the first boundary and the edge at any distance from the center of the protective film towards the outer edge as the second boundary, the area enclosed by the first boundary and the second boundary on the protective film can be the movement starting area. The movement starting area can be adaptively set according to the curvature of the specific product to be film torn, which is not limited here; the movement track is the set of positions from the movement starting point to the movement end point. Preferably, the movement track of the deformation fitting part 21a is an arc that slopes upward as a whole, which is used to simulate the film tearing action track of manual film tearing. It can be understood that the length of the movement track can be set according to the maximum diameter of the protective film, which is not limited here; at the same time, when facing products with a relatively small thickness dimension (such as millimeter level), through the customized pressure value, problems such as product depression and cracking can be avoided, and at the same time, it can ensure that the film layer is smoothly torn off.

[0030] Further, please refer to Figure 2 , the film tearing device further includes a detection module 30. The detection module 30 is electrically connected to the control unit, and the detection module 30 is configured to detect the surface state of the workpiece; The surface state has a first state and a second state. In the first state, the film is detached from the surface of the workpiece, and the control unit is further configured to feedback the detachment force parameter to the data unit; in the second state, the film is attached to the surface of the workpiece, and the control unit is further configured to receive the adjustment parameter from the data unit to adjust the film tearing parameter.

[0031] In an embodiment, the surface color of the workpiece is the first color, and the color of the protective film is the second color different from the first color. After the film tearing action is completed, the workpiece moves to the detection module 30. The detection module 30 judges whether the film tearing is successful according to the actual color obtained. If the actual color obtained is the first color, it means the film tearing is successful and the workpiece is unloaded. If the actual color obtained is the second color, it means the film tearing fails and the workpiece continues to move to the film tearing device 20 for secondary film tearing; in another embodiment, the detection module 30 integrates a micro-force sensor to obtain the friction coefficient between the probe of the micro-force sensor and the contacted surface after the film tearing action, and compares it with the friction coefficient between the probe of the micro-force sensor and the bare workpiece surface, so as to judge whether the film tearing is successful. Of course, the detection means includes and is not limited to the above two, and can be adaptively selected according to factors such as product characteristics and input costs, which is not limited here.

[0032] When the detection module 30 determines that the film is detached from the surface of the workpiece, it means that the film tearing is successful. At this time, the control unit feeds back the film tearing parameters obtained from the actual film detachment to the original database of the data unit for data supplementation and adjustment, thereby improving the film tearing success rate. When the detection module 30 determines that the film is attached to the surface of the workpiece, it means that the film tearing fails. The workpiece moves to the film tearing device 20 for secondary film tearing. At the start of the secondary film tearing, the control unit adjusts the film tearing parameters according to the adjustment parameters of the data unit. Specifically, according to the adjustment parameters, the pressure value of the deformation fitting part 21a on the film is increased, and at the same time, the position of the deformation fitting part 21a relative to the film is changed so that the three component forces of the re-increased acting force in the first direction, the second direction, and the third direction are the same. Then, the secondary film tearing is carried out and judged again. When it is determined that the secondary film tearing action is successful, the control unit feeds back the film tearing parameters generated in the secondary film tearing action to the original database of the data unit to correct and adjust the original database, thereby improving the subsequent film tearing success rate.

[0033] In one embodiment, please refer to Figure 3 , each of the film tearing devices 20 includes a roller 21, a film tearing mechanism 22, and a motion module 23; the motion module 23 is located at the outer edge of the turntable 11, and the film tearing mechanism 22 and the roller 21 are both arranged at the moving end of the motion module 23; the surface of the roller 21 is provided with the deformation fitting part 21a, and the film tearing mechanism 22 has a movable film tearing tape 221, and the deformation fitting part 21a abuts against the film tearing tape 221. Specifically, the film tearing mechanism 22 includes four tension wheels, a driven wheel, and a driving wheel. The four tension wheels, a driven wheel, and a driving wheel are all used as driving wheels 222 for transmitting the film tearing tape 221. The roller 21 is located below the four tension wheels, and the coil reel wound with the film tearing tape 221 is placed on the driven wheel. The order of the film tearing tape 221 bypassing the four tension wheels and the roller 21 starting from the driven wheel is not limited. In this embodiment, the film tearing tape 221 first bypasses two tension wheels, then bypasses the roller 21, and then bypasses the remaining tension wheels and enters the driving wheel. At this time, due to the curved surface property of the roller 21, the deformation fitting part 21a can bend the film tearing tape 221 in the initial state to better fit the surface of the workpiece. Subsequently, when the roller 21 is pressed down, the deformation fitting part 21a is in close contact with the film on the surface of the workpiece, and at the same time, the film tearing tape 221 generates a film tearing action under the drive of the film tearing mechanism 22; the motion module 23 is configured to drive the deformation fitting part 21a to move, and the motion module 23 has a linear motion rail that realizes linear motion in three axial directions (please refer to Figure 3The X-axis, Y-axis, and Z-axis (in it), a fixing plate is provided at the free end of the linear motion guide rail of the X-axis. The roller 21 and the film tearing mechanism 22 are provided on the fixing plate. In this way, the position of the deformation fitting part 21a is changed through the three-axis movement and the curved surface of the workpiece can be adapted by its own deformation. Moreover, more film tearing tapes 221 can be made to fit the film on the surface of the workpiece.

[0034] Further explain the deformation fitting part 21a on the roller 21. In one embodiment, the material of the roller 21 is a flexible material, and the outer surface of the roller 21 forms the deformation fitting part 21a. In this embodiment, the material of the roller 21 can be flexible materials such as silica gel and rubber. These materials have good elasticity and plasticity and can deform when contacting the surfaces of workpieces with different curvatures, so as to achieve close fitting with the workpiece surface. At the same time, after the film tearing is completed, the outer surface of the roller 21 can quickly deform and recover to the initial state, thus achieving zeroing; in another embodiment, a fixing groove is provided on the outer peripheral wall of the roller 21, the deformation fitting part 21a is fixedly arranged in the fixing groove, and the material of the deformation fitting part 21a is a flexible material, which can be silica gel, rubber, etc. Specifically, the fixing groove extends along the axial direction of the roller 21, and the deformation fitting part 21a is placed in the fixing groove. The position of the deformation fitting part 21a is restricted by the shape of the fixing groove to ensure that it will not shift when the roller 21 rotates. At the same time, the deformation fitting part 21a can be replaced regularly to ensure the success rate of film tearing; of course, the roller 21 can also be a layered structure. In one embodiment, the roller 21 includes a rigid support inner layer, a buffer middle layer, and a deformation fitting outer layer. The rigid support inner layer can be a metal (such as aluminum alloy) or an engineering plastic (such as POM) shaft core, which is connected to the motion module 23 to ensure the overall strength of the roller 21. The buffer middle layer uses a foaming material (such as EVA) or an elastomer to provide compression and rebound support. The deformation fitting outer layer uses a flexible material (such as silica gel), which directly contacts the workpiece surface. At the same time, a microporous adsorption structure is provided on the surface of the deformation fitting outer layer to enhance the adhesion of the film.

[0035] Furthermore, in order to improve the accuracy of the pressure value between the obtained deformation fitting part 21a and the workpiece surface, the pressure sensor of the film tearing device 20 is arranged inside the roller 21, and the detection probe of the pressure sensor abuts against the deformation fitting part 21a. A limiting groove is provided inside the roller 21, and the pressure sensor is embedded in the limiting groove. At the same time, a guiding hole is provided at the position of the roller 21 corresponding to the limiting groove. The guiding hole extends along the radial direction of the roller 21, and its detection probe extends out through the guiding hole on the roller 21 and contacts the deformation fitting part 21a. In this way, the detection accuracy of the pressure sensor can be ensured.

[0036] In one embodiment of the present invention, please refer to Figure 1, the base 10 is provided with a plurality of demolding disks 12, the film tearing device is provided with a plurality of film tearing devices 20, and the plurality of demolding disks 12 are all located in the workpiece processing area 10a and are transported on the turntable 11; each demolding disk 12 is provided with N sub-demolding areas; each film tearing device 20 is used to tear the film of the material in the Nth sub-demolding area of each demolding disk 12, and each film tearing device 20 tears the film of the material in different sub-demolding areas of each demolding disk 12; wherein, N is an integer greater than or equal to 1.

[0037] Specifically, at least one loading area is defined in the workpiece processing area 10a, and each loading area is used to load a demolding disk 12. Among them, each demolding disk 12 is provided with four groups of sub-demolding areas, which are defined as the first sub-demolding area to the fourth sub-demolding area. Each sub-demolding area has two limiting holes arranged along the diameter of the same turntable 11, and the workpiece is placed in the limiting holes. At the same time, the film tearing device is provided with four film tearing devices 20, and the four film tearing devices 20 are all located on the outer edge of the turntable 11. The four film tearing devices 20 are respectively defined as the first film tearing device to the fourth film tearing device along the rotation direction of the turntable 11 or the direction opposite to the rotation direction. In one embodiment, the first film tearing device corresponds to processing the first sub-demolding area, the second film tearing device corresponds to processing the second sub-demolding area, and so on; in another embodiment, the first film tearing device corresponds to processing the second sub-demolding area, the second film tearing device corresponds to processing the third sub-demolding area, the third film tearing device corresponds to processing the fourth sub-demolding area, and the fourth film tearing device corresponds to processing the first sub-demolding area. Based on the above two embodiments, during each film tearing, the deformation fitting part 21a always fits the protective film on the workpiece surface with the same original posture, which can improve the matching degree of the original database. At the same time, it can reduce the movement amount of the deformation fitting part 21a when secondary film tearing is required, that is, reduce the mechanical wear caused by the corresponding motion compensation. In addition, the film tearing parameters generated by each film tearing device 20 can be stored separately, reducing the programming complexity; it can be understood that the diameter of the turntable 11 can be set according to the actual site, and the number of loading areas can be adaptively divided according to the diameter. The number of required film tearing devices 20 can be set according to the production capacity requirements, which is not limited here.

[0038] Further, each film tearing device 20 is provided with a blowing device configured to apply a force away from the workpiece surface to the film. During the film tearing process, the blowing device can blow the film to weaken its adhesion to the workpiece surface, making it easier to be removed by the deformation fitting portion 21a of the film tearing device 20. When the adhesion between the film and the workpiece surface is strong, the blowing device can blow the edge of the film to separate it from the workpiece surface, facilitating the subsequent film tearing operation of the film tearing device 20. At the same time, during the film tearing process, the blowing device can prevent the torn film from re-adhering to the workpiece surface, ensuring the stability of the film tearing effect. In one embodiment, the blowing device includes a wind cylinder body, a high-speed motor, and a high-pressure air collecting hood. The wind cylinder body can be an integrated streamline structure with an air outlet at the front end and an air inlet at the rear end. The air outlet is aligned with the starting position of film tearing. The high-speed motor is installed inside the wind cylinder body to drive the air flow. The high-pressure air collecting hood is installed at the air outlet, and the cross-sectional area of its high-pressure air outlet end is smaller than the cross-sectional area of the air path at the air outlet, enabling the air flow to be squeezed at the outlet to form a high-speed and directional air flow. This design can accurately blow the air flow towards the film to help the film tearing device 20 better complete the film tearing action. In another embodiment, the blowing device is a micro fan, and the air outlet surface of the micro fan is aligned with the starting position of film tearing, which can also achieve the role of assisting film tearing. It can be understood that the blowing device includes but is not limited to the above two embodiments and is not limited herein.

[0039] The present invention also provides a film tearing method applied to the film tearing device including all the above technical solutions. Please refer to Figure 4 , and the film tearing method includes: S10: Drive the deformation fitting portion 21a of the film tearing device 20 to fit the film on the workpiece surface and perform the first film tearing action; S20: Control the detection unit to determine whether the film attached to the workpiece surface has detached; S30: When the film detaches from the workpiece surface, feedback the film tearing parameters generated by the deformation fitting portion 21a during the first film tearing action to the data unit.

[0040] First of all, it needs to be explained that the film tearing device has a learning period before it is officially put into use. During this learning period, the film tearing device processes protective films with different curvatures. The data unit of the film tearing device collects the film tearing parameters generated by processing workpieces with different curvature surfaces, and aggregates all the successfully torn film parameters during the learning period as the original database. It can be understood that since all the data included in the original database is data generated according to different curvature surfaces, the workpieces to be torn with the film tearing device can be of multiple types. After the film tearing device is officially put into use, there is no need to directionally collect the film tearing parameters of the actual workpieces to be torn with the film. Based on the original database, the data unit can drive the control unit to adjust the film tearing parameters of the deformation fitting part 21a for the film by virtue of the original database it has. Among them, the film tearing parameters include the pressure value of the deformation fitting part 21a on the film and the force position between the deformation fitting part 21a and the film.

[0041] In an embodiment of step S10, the film tearing device 20 has a multi-axis robotic arm (such as a six-axis robotic arm). The multi-axis robotic arm is installed on the base 10, and the deformation fitting part 21a is installed at the free end of the robotic arm. Each joint motor of the robotic arm moves the deformation fitting part 21a above the film on the workpiece surface to make it contact the film surface according to the film tearing data recorded in the original database, and applies a certain pressure to make the deformation fitting part 21a deform and adaptively fit the surface of the workpiece. Then, the control unit issues a film tearing instruction to drive the multi-axis robotic arm to perform a film tearing action according to the preset film tearing trajectory (the film tearing trajectory can be the film tearing trajectory generated when simulating manual film tearing). In another embodiment of step S10, the film tearing device 20 has a three-axis linear motion guide rail. The three-axis linear motion guide rail is installed on the base 10, and the deformation fitting part 21a is installed at the free end of the three-axis linear motion guide rail. Each linear guide rail of the three-axis linear motion guide rail moves the deformation fitting part 21a above the film on the workpiece surface to make it contact the film surface according to the film tearing data recorded in the original database, and applies a certain pressure to make the deformation fitting part 21a deform and adaptively fit the surface of the workpiece, and then performs a film tearing action. In the above two embodiments, the deformation fitting part 21a can be adapted to the corresponding specific film tearing structure to perform film tearing. For example, when the motion unit is a multi-axis robotic arm, the deformation fitting part 21a adopts the method of electrostatic adsorption to achieve the film tearing action. When the motion unit is a three-axis linear motion guide rail, a drivable film tearing tape 221 is installed at the free end of the three-axis linear motion guide rail, and the deformation fitting part 21a drives the film tearing tape 221 to fit the film on the workpiece surface, thereby achieving the film tearing action.

[0042] In an embodiment of step S20, the control unit controls the detection module 30 to determine the film tearing result. The detection module 30 can detect and obtain the color of the workpiece surface through a camera or a color sensor and feed it back to the data unit. The data unit determines whether the actual color obtained by the detection module 30 is consistent with the preset color (the preset color is the bare surface color of the workpiece) to determine whether the film attached to the workpiece surface has peeled off. In another embodiment, the detection module 30 can obtain the friction coefficient between the workpiece surfaces through a micro-force sensor and feed it back to the data unit. The data unit determines whether the actual friction coefficient obtained by the detection module 30 is consistent with the preset friction coefficient (the preset friction coefficient is the bare surface friction coefficient of the workpiece) to determine whether the film attached to the workpiece surface has peeled off.

[0043] In step S30, when the detection unit determines that the film has peeled off the surface of the workpiece, the control unit feeds back the film tearing parameters generated by the deformation fitting portion 21a during the first film tearing action to the data unit. The film tearing parameters include the pressure value generated after the deformation fitting portion 21a fits the film and the actual coordinate value of the free end of the motion unit relative to the zero coordinate. In an embodiment, the zero coordinate is the geometric center of the workpiece processing area 10a. For example, if the workpiece processing area 10a is the surface of a circular turntable 11, the zero coordinate is the center point of the turntable 11. Or, the zero coordinate is a fixed point on the base 10 (such as the center point of the installation surface of the base 10). For example, if the base 10 is a rectangular frame, the zero coordinate can be the center point of the frame. Therefore, the specific position of the zero coordinate is not limited. The data unit receiving the first film tearing parameters can be used for data supplement and data adjustment to improve the film tearing accuracy through continuous dynamic learning.

[0044] After step S20, please refer to Figure 5 , further including: S40: When the film is attached to the surface of the workpiece, drive the film tearing device 20 to correct the film tearing parameters of the deformation fitting portion 21a according to the preset parameters of the data unit; S50: Drive the film tearing device 20 to perform the film tearing action again, and control the detection unit to determine whether the film attached to the surface of the workpiece has peeled off; S60: When the film peels off the surface of the workpiece, feed back the film tearing parameters generated by the deformation fitting portion 21a during the second film tearing action to the data unit.

[0045] In S40, when the detection unit determines that the film is attached to the surface of the workpiece, the workpiece moves back to the film tearing device 20 where it first tears the film. The motion mechanism in the film tearing device 20 adjusts the pressure and position of the deformation fitting part 21a according to the preset parameters in the original database. Specifically, the data unit increases the pressure value of the deformation fitting part 21a on the workpiece and drives the motion unit to change the position of the deformation fitting part 21a relative to the surface of the workpiece, so that the component forces of the new pressure value in three directions (please refer to Figure 3 the X-axis, Y-axis, and Z-axis in

[0046] are equal. It can be understood that when pressure is applied between the deformation fitting part 21a and the film on the surface of the workpiece, the pressure probe connected to the deformation fitting part 21a will generate a corresponding electrical signal, and the electrical signal can enter the data unit and be converted into a digital signal, so as to determine whether the deformation fitting part 21a has completed the correction of pressure and position. Of course, it can also be that when pressure is applied between the deformation fitting part 21a and the film on the surface of the workpiece, the sensor converts the electrical signal into a digital signal and feeds the digital signal back to the data unit, and the data unit determines whether the deformation fitting part 21a has completed the correction of pressure and position.

[0047] In S50, the control unit issues a film tearing instruction to the deformation fitting part 21a that has completed the adjustment. The film tearing device 20 executes the film tearing action again under the control of the film tearing instruction. After the film tearing action is completed, the workpiece moves to the detection module 30, and the detection module 30 makes a re-judgment according to the judgment method in step S20.

[0048] After step S50, please refer to Figure 6 , and it further includes: S70: When the film is attached to the surface of the workpiece, feedback and receive the film tearing parameters generated by the film tearing device 20 during the second film tearing to the data unit to obtain correction data; S80: Drive the film tearing device 20 to correct the film tearing parameters of the deformation fitting part 21a according to the correction data of the data unit; S90: Control the film tearing device 20 to execute the film tearing action again.

[0049] When the detection unit determines that the film is attached to the surface of the workpiece, it means that the action of tearing the film again fails. The control unit feeds back the film tearing parameters generated by the film tearing device 20 during the second film tearing to the data unit. The data unit receives the film tearing parameters generated after one action adjustment. The film tearing parameters are used to correct the data in the original database to obtain new corrected data. By continuously collecting and analyzing the data generated during the film tearing process, the data processing unit can gradually adjust the film tearing parameters to adapt to the characteristics of different workpieces and films. This dynamic learning mechanism enables the film tearing device to continuously improve the success rate and accuracy of film tearing, ensuring the stability and reliability of the film tearing process.

[0050] The data unit sends the corrected data to the control unit. The control unit issues a new film tearing instruction according to the corrected data. Under this film tearing instruction, the motion mechanism in the film tearing device 20 adjusts the pressure (i.e., pressure compensation) and position (i.e., position compensation) of the deformed fitting part 21a again according to the corrected parameters. At this time, the deformed fitting part 21a increases the pressure on the workpiece again, and at the same time ensures that the new pressure value at the new position still has equal component forces in three directions (please refer to Figure 3 the X-axis, Y-axis, and Z-axis in). Subsequently, the driving motion mechanism performs the film tearing action.

[0051] The film tearing parameters proposed in the above technical solutions all include the pressure and position of the deformed fitting part 21a relative to the surface of the workpiece. At the same time, the film tearing parameters include the initial pressure value and position coordinates generated when the first film tearing action is performed, and the new pressure value and position coordinates after the position compensation is completed when the second film tearing action is performed.

[0052] As can be seen from the above, based on the first core concept (the deformed fitting part 21a deforms and adapts to fit the film attached to workpieces with different curvatures), by continuously supplementing and correcting the original database through the real-time dynamic adjustment mechanism, the success rate of film tearing can be further improved.

[0053] The above is only the preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A film tearing device, characterized in that: The film tearing device comprises: A base (10), wherein the base (10) is provided with a turntable (11), wherein the turntable has a loading area, a unloading area, and a workpiece processing area (10a), wherein the workpiece processing area (10a) is located between the loading area and the unloading area and is configured to place a workpiece; A material conveying mechanism, the material conveying mechanism comprising a loading mechanism (40) and a unloading mechanism (50), the loading mechanism (40) being arranged corresponding to the loading area, and the unloading mechanism (50) being arranged corresponding to the unloading area; and A film tearing device (20), the film tearing device (20) is arranged at the outer edge of the turntable (11) and is located between the loading mechanism (40) and the unloading mechanism (50); the film tearing device (20) has a movable deformable fitting portion (21a), and the deformable fitting portion (21a) is configured to fit and remove the film of the workpiece.

2. The film tearing device according to claim 1, characterized in that: Each of the film-tearing devices (20) comprises a roller (21), a film-tearing mechanism (22) and a motion module (23); The motion module (23) is located at the outer edge of the turntable (11), and the film tearing mechanism (22) and the roller (21) are both arranged at the motion end of the motion module (23); The surface of the roller (21) is provided with the deformable fitting portion (21a), the film-tearing mechanism (22) has a movable film-tearing tape (221), and the deformable fitting portion (21a) abuts against the film-tearing tape (221).

3. The film tearing device according to claim 2, characterized in that: The roller (21) is made of a flexible material, and the outer surface of the roller (21) forms the deformable fitting portion (21a); Alternatively, the outer peripheral wall of the roller (21) is provided with a fixing groove, the deformable fitting portion (21a) is fixedly arranged in the fixing groove, and the material of the deformable fitting portion (21a) is a flexible material.

4. The film tearing device according to claim 2, characterized in that: The film-tearing device (20) further comprises a pressure sensor, which is arranged in the roller (21); a detection probe of the pressure sensor abuts against the deformation fitting portion (21a).

5. The film tearing device according to any one of claims 1 to 4, characterized in that: The base (10) is provided with a film stripping disc (12), the film stripping equipment is provided with at least one film stripping device (20), the film stripping disc (12) is located in the workpiece processing area (10a) and is transported on the turntable (11); The stripping disc (12) is provided with at least one sub-stripping area; The film-tearing device (20) is used to tear the film of the material in the film-tearing area of ​​the film-tearing disk (12).

6. The film tearing device according to claim 1, characterized in that: Each of the film tearing devices (20) is provided with a blowing device, and the blowing device is configured to exert a force on the film away from the surface of the workpiece.

7. A film tearing method, applied to the film tearing device according to any one of claims 1 to 6, wherein the film tearing device comprises a data unit, a control unit and a detection unit, wherein: The film peeling method comprises: Driving the deformable fitting portion (21a) of the film-tearing device (20) to fit the film on the surface of the workpiece to perform a first film-tearing action; Controlling the detection unit to determine whether the film attached to the surface of the workpiece is detached; When the film is separated from the surface of the workpiece, the film-tearing parameters generated by the deformable bonding portion (21a) when performing the first film-tearing action are fed back to the data unit.

8. The film peeling method according to claim 7, characterized in that: After the step of controlling the detection unit to determine whether the film attached to the surface of the workpiece is detached, the method further includes: When the film is attached to the surface of the workpiece, the film tearing device (20) is driven to correct the film tearing parameters of the deformable bonding portion (21a) according to the preset parameters of the data unit; driving the film-tearing device (20) to perform the film-tearing action again, and controlling the detection unit to determine whether the film attached to the surface of the workpiece is detached; When the film is separated from the surface of the workpiece, the film-tearing parameters generated by the deformable bonding portion (21a) when performing the film-tearing action again are fed back to the data unit.

9. The film peeling method according to claim 8, characterized in that: After the step of driving the film-tearing device (20) to perform the film-tearing action again and controlling the detection unit to determine whether the film attached to the surface of the workpiece is detached, the method further comprises: When the film is attached to the surface of the workpiece, the film tearing parameters generated by the film tearing device (20) when the film is torn off again are fed back to the data unit to obtain correction data; Driving the film-tearing device (20) to correct the film-tearing parameters of the deformable fitting portion (21a) according to the correction data of the data unit; The film-tearing device (20) is controlled to perform the film-tearing action again.

10. The film peeling method according to any one of claims 7 to 9, characterized in that: The film tearing parameters include the pressure and position of the deformable fitting portion (21a) relative to the workpiece surface.

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