A tape peeling apparatus

Abstract

The application discloses a kind of tear glue equipment, including the plate positioning mechanism of rack, tear glue gripper mechanism, roll film mechanism and waste film collection mechanism;Tear glue gripper mechanism includes first drive assembly and gripper, first drive assembly drives gripper to hold adhesive along the preset path tortuous movement, to make at least part of adhesive separate from plate and form front tear glue area;Roll film mechanism includes second drive assembly and lever shaft, second drive assembly drives lever shaft to move to front tear glue area and peel remaining adhesive;Waste film collection mechanism includes third drive assembly and anti-sticking film pressing plate, third drive assembly drives anti-sticking film pressing plate to rotate to abut adhesive and hit to collection plate;Plate positioning mechanism includes fourth drive assembly and positioning assembly, fourth drive assembly drives positioning assembly to move to connect the plate to be torn glue. By positioning, tearing, peeling to waste collection, realize full-process automation, stable operation, high tear quality and low failure rate.

Description

Technical Field

[0001] This application belongs to the field of automated adhesive peeling technology, specifically relating to an adhesive peeling device. Background Technology

[0002] In precision manufacturing industries such as 3C, photovoltaics, and semiconductors, various sheet metal components, such as front cover glass, printed circuit boards (PCBs), and liquid crystal display panels, often require protective tapes or films to be applied to their edges during the manufacturing process. This is to protect them from scratches, dust contamination, or mechanical damage that may occur during coating, etching, and handling. While these adhesive protective materials play a crucial role in the processing, they must be completely and cleanly removed before subsequent processes; otherwise, product yield and the quality of subsequent processes will be directly affected.

[0003] Current technologies that rely on manual removal of side adhesive are not only labor-intensive and inefficient, but also prone to problems such as tape breakage, residual adhesive, adhesive layer contamination, and even damage to the edges of the boards due to inconsistent operator performance. This hinders production line automation and product quality improvement. Furthermore, with the continuous rise in labor costs and increasingly stringent requirements for cleanliness in production environments, purely manual operations are ill-suited to the demands of modern, high-standard manufacturing.

[0004] To replace manual labor, some production lines have introduced semi-automatic adhesive-removing equipment to achieve partial mechanization. However, existing equipment still has significant shortcomings in practical applications: for example, the mechanical structure is poorly adaptable to side adhesives of different viscosities, widths, and bonding positions, easily resulting in incomplete adhesive removal or breakage midway; or the adhesive-removing end actuator (such as grippers) is easily adhered by the adhesive, leading to frequent shutdowns for cleaning, affecting the continuous operation efficiency of the equipment, and most equipment lacks efficient and integrated waste film collection functions, limiting the production cycle and operational stability of the equipment, and also increasing the overall operation and maintenance costs.

[0005] Therefore, there is an urgent need for a fully automated side-adhesive removal device with a reasonable structure, stable operation, strong compatibility, and automated waste membrane processing capability, in order to overcome the technical limitations of existing manual and semi-automatic methods and meet the requirements of modern intelligent manufacturing with high cycle time, high cleanliness, and high stability. Summary of the Invention

[0006] This application provides a glue-removing device that solves at least one of the above-mentioned problems.

[0007] The technical solution adopted in this application is as follows:

[0008] A film-removing device includes a frame, a sheet positioning mechanism, a film-removing gripper mechanism, a film-rolling mechanism, and a waste film collection mechanism disposed on the frame.

[0009] The adhesive tearing gripper mechanism includes a first drive assembly and a gripper connected to the first drive assembly. The gripper is provided with an anti-stick coating. The first drive assembly drives the gripper to move to the adhesive on the board and clamps the adhesive and moves it along a preset path in a zigzag motion so that at least part of the adhesive is detached from the board to form a pre-tear adhesive area.

[0010] The roller film mechanism includes a second drive assembly and a lever shaft connected to the second drive assembly. The second drive assembly drives the lever shaft to move to the pre-peeling adhesive area and adheres to the plate, continuing to move until the remaining adhesive is peeled off.

[0011] The waste film collection mechanism includes a third drive assembly and an anti-sticking pressure plate connected to the third drive assembly. A collection plate is provided below the anti-sticking pressure plate. The third drive assembly drives the anti-sticking pressure plate to rotate to abut against the adhesive and press the adhesive onto the collection plate.

[0012] The board positioning mechanism includes a fourth driving component and a positioning component connected to the fourth driving component. The fourth driving component drives the positioning component to move to the board to which the adhesive to be peeled is attached.

[0013] Preferably, the frame includes a peeling area and a collection area, the sheet positioning mechanism and the roller film mechanism are disposed in the peeling area, the waste film collection mechanism is disposed in the collection area, and the peeling gripper mechanism moves between the peeling area and the collection area to move the adhesive to the collection area through the gripper.

[0014] Preferably, the first drive assembly includes a first lead screw module fixed vertically to the frame and a first servo motor disposed on the first lead screw module. The first lead screw module is provided with a guide block. The adhesive tearing gripper mechanism includes a mounting plate connected to the guide block. The gripper is fixed to the mounting plate. The first servo motor drives the first lead screw module to move the gripper vertically so that the gripper is located in the adhesive tearing area or the collection area.

[0015] Preferably, the first driving assembly includes a stepper motor and a motor mounting base for fixing the stepper motor. The output end of the stepper motor is provided with a transmission gear, and the mounting plate is provided with a rack that meshes with the transmission gear. The rack is arranged in a horizontal direction. One of the motor mounting base and the mounting plate is provided with a slider, and the other is provided with a slide rail adapted to the slider. The gripper is fixed to the motor mounting base by a connecting plate so that the stepper motor drives the gripper to clamp the adhesive and move it away from the board material to form the pre-peeling adhesive area.

[0016] Preferably, the first driving assembly further includes a three-axis cylinder for driving the gripper to extend and retract. The three-axis cylinder is slidably connected to the connecting plate via a limiting slide. The mounting plate is provided with a bending plate extending toward the limiting slide. The sidewall of the bending plate forms a bending slide toward the sidewall of the limiting slide. The stepper motor drives the gripper to zigzag away from the plate via the limiting slide.

[0017] Preferably, the three-axis cylinder is located at the top of the limiting slide, and the gripper includes a first gripper connected to the telescopic end of the three-axis cylinder and a second gripper fixed to the outer side wall of the limiting slide. The three-axis cylinder drives the first gripper to move to adjust the distance between the first gripper and the second gripper.

[0018] Preferably, the second drive assembly includes a second lead screw module fixed to the frame, the second lead screw module is provided with a second servo motor, and a lever shaft mounting plate slidably connected to the lead screw module is provided with a bearing seat, and the lever shaft is fixed to the bearing seat by a bearing.

[0019] Preferably, the third drive assembly includes a third servo motor, a transmission rod connected to the output end of the third servo motor, the anti-sticking pressure plate being fixed to the transmission rod, and the third servo motor driving the transmission rod to rotate the anti-sticking pressure plate.

[0020] Preferably, the waste film collection mechanism further includes an installation platform fixed to the collection area, a platform plate on the top of the installation platform, the third servo motor and the collection plate are both fixed to the platform plate, and the transmission rod is coaxially arranged with the collection plate; the end of the collection plate is provided with a handle exposed on the platform plate, and pulling the handle causes the collection plate to slide along the platform plate axis.

[0021] Preferably, the frame is provided with a positioning plate for fixing the fourth drive component. The fourth drive component includes a positioning cylinder. The positioning component includes at least two positioning columns connected to the telescopic ends of the positioning cylinder. The positioning cylinder and the positioning columns are connected by a floating joint. The positioning columns extend into the corresponding positioning holes on the plate to limit the plate.

[0022] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0023] (1) The adhesive peeling device of this solution achieves the peeling and collection of adhesives through the coordinated work of multiple components. The gripper with an anti-stick coating in the adhesive peeling gripper mechanism, driven by the first drive component, holds the adhesive and tears a portion of it through a biomimetic tortuous movement path, simulating the flexible peeling process of manual adhesive peeling, avoiding the large angle between the force direction and the adhesion direction caused by direct push-pull tearing, which may lead to breakage or unstable gripping. The anti-stick coating on the gripper can prevent the adhesive from sticking to the gripper and causing peeling difficulties, without affecting the subsequent use of the gripper. In this solution, the gripper can peel off only part of the adhesive, reducing the risk of breakage or residue caused by excessive adhesive viscosity. It works in conjunction with the subsequent mechanism to improve the integrity and success rate of adhesive peeling, and is suitable for the stable peeling of high viscosity tapes or films.

[0024] Meanwhile, this solution incorporates a roller film mechanism that works in conjunction with a peeling gripper. A lever shaft intervenes promptly after the initial peeling zone, and through continuous movement along the board surface, it efficiently and with minimal damage removes residual adhesive, avoiding scratches or deformation of the board edges caused by improper force control in traditional equipment. The waste film collection mechanism uses an anti-sticking pressure plate in conjunction with a servo drive to automate the compaction and collection of waste film. This solves the problem of frequent machine shutdowns for cleaning the grippers or manual film collection, reducing equipment malfunctions and maintenance frequency caused by adhesive adhesion, and significantly improving production continuity and overall efficiency.

[0025] In addition, the board positioning mechanism can quickly and accurately limit and fix the board, ensuring accurate positioning and no misalignment during the adhesive removal process, and ensuring that the adhesive removal process is stable and smooth.

[0026] This solution automates the entire process from positioning, adhesive removal, peeling to waste collection. The equipment operates stably, removes adhesive with high quality, and has a low failure rate.

[0027] (2) This scheme uses a three-axis cylinder to drive the gripper to extend and retract. Combined with the bending slide formed by the limiting slide table and the bending plate, it realizes the "zigzag movement" trajectory required by the gripper during the peeling process, forming the pre-peeling zone. This biomimetic movement path can more gently overcome the initial adhesion force of the adhesive, further reducing the risk of tape breakage or residue in the early stage of peeling, and improving the success rate of peeling. The second lead screw module and the second servo motor drive the lever shaft mounting plate and lever shaft to move. The surface of the lever shaft is also provided with an anti-stick coating or made of anti-stick material, realizing high-precision point control and smooth feeding of the roller film mechanism. This allows the lever shaft to accurately contact the pre-peeling zone and roll and peel along the predetermined path, applying uniform force to the surface of the board and effectively preventing scratches on the board during the peeling process. By setting bearings to make the lever shaft rotate during the feeding process, it is beneficial to accelerate peeling and avoid adhesion to the adhesive. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0029] Figure 1 This is a schematic diagram of the adhesive-removing device in one embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the adhesive-tearing gripper mechanism in one embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the connection structure of a stepper motor in one embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the connection structure of the gripper in one embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the pre-peeling adhesive area in one embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of the roller film mechanism in one embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the waste membrane collection mechanism in one embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the frame structure in one embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the plate positioning mechanism in one embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1-Frame, 11-Glue-removing area, 12-Collection area, 13-Protective outer shell, 14-Material dispensing door, 15-Positioning plate;

[0040] 2- Adhesive tearing gripper mechanism, 21- First drive assembly, 211- First lead screw module, 2111- Guide block, 212- First servo motor, 213- Stepper motor, 214- Motor mounting base, 2141- Slide rail, 215- Transmission gear, 216- Rack, 217- Three-axis cylinder, 22- Gripper, 221- First gripper, 222- Second gripper, 23- Front adhesive tearing area, 24- Mounting plate, 241- Slider, 242- Bending plate, 2421- Bending slide, 25- Connecting plate, 26- Limiting slide, 261- Floating plate, 262- Cylinder fixing plate, 263- Cam bearing;

[0041] 3-Roller die mechanism, 31-Second drive assembly, 311-Second lead screw module, 312-Second servo motor, 32-Pulley shaft, 33-Pulley shaft mounting plate, 34-Bearing;

[0042] 4-Waste film collection mechanism, 41-Third drive assembly, 411-Third servo motor, 412-Transmission rod, 42-Anti-sticking film plate, 43-Collection plate, 431-Weight reduction port, 44-Mounting platform, 45-Platform, 46-Handle;

[0043] 5-Sheet metal positioning mechanism, 51-Fourth drive assembly, 511-Positioning cylinder, 52-Positioning component, 521-Positioning column;

[0044] 6-Sheet material, 61-Adhesive, 62-Positioning hole, 63-Groove. Detailed Implementation

[0045] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0046] Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below. It should be noted that, unless otherwise specified, the embodiments of this application and the features thereof can be combined with each other.

[0047] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0050] This application provides a device for peeling off adhesive, such as... Figures 1 to 9 As shown, it includes a frame 1, a sheet positioning mechanism 5, a peeling gripper mechanism 2, a roller film mechanism and a waste film collection mechanism 4, which are installed on the frame 1.

[0051] The adhesive tearing gripper mechanism 2 includes a first drive component 21 and a gripper 22 connected to the first drive component 21. The gripper 22 is provided with an anti-stick coating. The first drive component 21 drives the gripper 22 to move to the adhesive 61 on the plate 6 and clamps the adhesive 61 and moves it along a preset path in a zigzag motion so that at least part of the adhesive 61 is detached from the plate 6 to form a pre-tear adhesive area 23.

[0052] The roller film mechanism includes a second drive assembly 31 and a lever shaft 32 connected to the second drive assembly 31. The second drive assembly 31 drives the lever shaft 32 to move to the front peeling area 23 and adhere to the plate 6, and continues to move until the remaining adhesive 61 is peeled off.

[0053] The waste film collection mechanism 4 includes a third drive assembly 41 and an anti-sticking pressure plate 42 connected to the third drive assembly 41. A collection plate 43 is provided below the anti-sticking pressure plate 42. The third drive assembly 41 drives the anti-sticking pressure plate 42 to rotate to abut against the adhesive 61 and press the adhesive 61 onto the collection plate 43.

[0054] The board positioning mechanism 5 includes a fourth drive component 51 and a positioning component 52 connected to the fourth drive component 51. The fourth drive component 51 drives the positioning component 52 to move to the board 6 connected to the adhesive to be peeled off.

[0055] This adhesive-removing device utilizes the coordinated operation of multiple components to peel off and collect the adhesive 61. The gripper 22, equipped with an anti-stick coating in the adhesive-removing gripper mechanism 2, is driven by the first drive component 21 to hold the adhesive 61 and tear it partially along a biomimetic zigzag path. This simulates the flexible peeling process of manual adhesive removal, avoiding the large angle between the force direction and the adhesion direction that can lead to breakage or unstable gripping during direct-push tearing. The anti-stick coating on the gripper 22 prevents the adhesive 61 from adhering to it, thus avoiding difficulties in peeling off and ensuring its continued usability. In this design, the gripper 22 can peel off only a portion of the adhesive 61, reducing the risk of breakage or residue due to excessive adhesive viscosity. This, combined with subsequent mechanisms, improves the integrity and success rate of the peeling process and is suitable for the stable peeling of high-viscosity tapes or films.

[0056] Meanwhile, this solution sets up a roller film mechanism that works in conjunction with the adhesive-tearing gripper 22. After the adhesive-tearing zone 23 is formed, the lever shaft 32 intervenes promptly. Through the continuous movement of the lever shaft 32 along the surface of the board 6, efficient and low-damage peeling of the remaining adhesive 61 is achieved, avoiding scratches or deformation of the board 6 edges caused by improper force control in traditional equipment. The waste film collection mechanism 4 uses an anti-sticking pressure plate 42 in conjunction with a servo drive to achieve automated compaction and collection of waste film. This solves the problem of frequent machine stops for cleaning the grippers or manual film collection, reducing equipment failures and maintenance frequency caused by adhesive adhesion, and significantly improving production continuity and overall efficiency.

[0057] In addition, the board positioning mechanism 5 can quickly and accurately limit and fix the board 6, ensuring accurate positioning and no misalignment during the adhesive removal process, and ensuring that the adhesive removal process is stable and smooth.

[0058] This solution automates the entire process from positioning, adhesive removal, peeling to waste collection. The equipment operates stably, removes adhesive with high quality, and has a low failure rate.

[0059] In one embodiment, such as Figure 1 As shown, the frame 1 includes a peeling area 11 and a collection area 12. The sheet positioning mechanism 5 and the roller film mechanism are located in the peeling area 11, the waste film collection mechanism 4 is located in the collection area 12, and the peeling gripper mechanism 2 moves between the peeling area 11 and the collection area 12 to move the adhesive 61 to the collection area 12 through the gripper 22.

[0060] By clearly dividing the internal space of the frame 1 into a tearing area 11 and a collection area 12, and enabling the tearing gripper mechanism 2 to move between the two areas, spatial separation and functional specialization of the tearing station and the collection station are achieved. This ensures that the positioning of the sheet 6, the initiation of the tearing action, and the final collection of waste film do not interfere with each other, optimizes the internal workflow layout of the equipment, reduces waiting time between mechanisms, and improves overall operating efficiency and rhythm.

[0061] In this application, the adhesive tearing gripper mechanism 2 is provided at all four corners of the plate 6, so that when tearing the side adhesive, the adhesive 61 at the four corners of the plate 6 is peeled off. When the adhesive 61 is peeled off by the lever shaft 32, the gripper 22 is always in a clamping state. After peeling is completed, the gripper 22 holds the adhesive 61 and moves it to the collection area 12. In the collection area 12, the adhesive 61 is transferred to the collection plate 43.

[0062] In one embodiment, such as Figures 2 to 5 As shown, the first drive assembly 21 includes a first lead screw module 211 fixed vertically to the frame 1 and a first servo motor 212 disposed on the first lead screw module 211. The first lead screw module 211 is provided with a guide block 2111. The adhesive tearing gripper mechanism 2 includes a mounting plate 24 connected to the guide block 2111. The gripper 22 is fixed to the mounting plate 24. The first servo motor 212 drives the first lead screw module 211 to move the gripper 22 vertically so that the gripper 22 is located in the adhesive tearing area 11 or the collection area 12.

[0063] In this application, the first drive assembly 21 uses a first lead screw module 211 and a first servo motor 212 to drive the gripper 22 to move vertically, ensuring high precision and stability of the gripper 22 in the Z-axis direction. Precise control of the first servo motor 212 ensures that the gripper 22 can accurately and quickly switch positions between the adhesive-tearing area 11 and the collection area 12, reliably moving to a predetermined height in the collection area 12 for waste film transfer, thus improving the repeatability and reliability of the action. Quickly moving the adhesive 61 to the collection area 12 and quickly returning it from the collection area 12 to the adhesive-tearing area 11 helps improve equipment efficiency.

[0064] Furthermore, the first drive assembly 21 includes a stepper motor 213 and a motor mounting base 214 for fixing the stepper motor 213. The output end of the stepper motor 213 is provided with a transmission gear 215. The mounting plate 24 is provided with a rack 216 that meshes with the transmission gear 215. The rack 216 is arranged in a horizontal direction. One of the motor mounting base 214 and the mounting plate 24 is provided with a slider 241, and the other is provided with a slide rail 2141 adapted to the slider 241. The gripper 22 is fixed to the motor mounting base 214 through a connecting plate 25 so that the stepper motor 213 drives the gripper 22 to clamp the adhesive 61 and move it away from the plate 6 to form a pre-peeling adhesive area 23.

[0065] Through the cooperation of stepper motor 213, gear rack 216, and slider 241 and slide rail 2141, the gripper 22 achieves precise and stable linear movement in the horizontal (Y-axis) direction. This structure drives the gripper 22 to move closer to or away from the plate 6. The mechanical transmission method is stable and durable. When the gripper 22 moves away from the plate 6 while holding the adhesive 61, it effectively controls the initial angle and force of peeling the adhesive, ensuring the formation of the pre-peeling zone 23. Stepper motor 213 is fixed to the first lead screw module 211 through a sliding connection between the mounting base and the mounting plate 24, thereby driving the gripper 22, which is also fixed to the motor mounting base 214, to move as a whole with the first lead screw module 211.

[0066] Specifically, the motor mounting base 214 is provided with a through hole through which the motor output shaft passes, and the end of the output shaft is provided with a transmission gear 215. The mounting plate 24 is provided with a rack 216. The two mesh to achieve relative movement. During the movement, the slide rail 2141 set on the mounting base and the slider 241 set on the mounting plate 24 are used to guide the movement, ensuring a smooth and stable movement and avoiding path deviation.

[0067] Furthermore, the first drive assembly 21 also includes a three-axis cylinder 217 that drives the gripper 22 to extend and retract. The three-axis cylinder 217 is slidably connected to the connecting plate 25 via a limiting slide 26. The mounting plate 24 is provided with a bending plate 242 extending toward the limiting slide 26. The sidewall of the bending plate 242 forms a bending slide 2421 toward the sidewall of the limiting slide 26. The stepper motor 213 drives the gripper 22 to bend and move away from the plate 6 via the limiting slide 26.

[0068] This design uses a three-axis cylinder 217 to drive the gripper 22 to extend and retract. Combined with the bending slide 2421 formed by the limiting slide 26 and the bending plate 242, it achieves the "zigzag movement" trajectory required by the gripper 22 during the adhesive removal process. This biomimetic movement path can more gently overcome the initial adhesion force of the adhesive 61, further reducing the risk of tape breakage or residue in the early stages of removal and improving the success rate of adhesive removal.

[0069] Preferably, the limiting slide 26 includes a floating plate 261 slidably connected to the connecting plate 25 and a cylinder fixing plate 262 located on the floating plate 261. The floating plate 261 is provided with a cam bearing 263 abutting against the bending slide 2421. When the gripper 22 moves backward, the cam bearing 263 moves along the bending sliding trajectory to achieve floating adhesive tearing.

[0070] Furthermore, the three-axis cylinder 217 is located on the top of the limiting slide 26, and the gripper 22 includes a first gripper 221 connected to the telescopic end of the three-axis cylinder 217 and a second gripper 222 fixed to the outer side wall of the limiting slide 26. The three-axis cylinder 217 drives the first gripper 221 to move to adjust the distance between the first gripper 221 and the second gripper 222.

[0071] In this design, the gripper 22 employs a first gripper 221 and a second gripper 222 driven by a three-axis cylinder 217 to achieve relative movement, thus enabling reliable gripping and flexible release of the adhesive material 61. The three-axis cylinder 217 ensures controllable and stable gripping force, preventing the tape from slipping during tearing and facilitating the smooth release of the waste film in the collection area 12.

[0072] It should be noted that the plate 6 of this application is provided with a groove 63 for the gripper 22 to be inserted. The plate 6 is missing at the groove 63 but there is still adhesive 61. The gripper 22 clamps the adhesive 61 at this location. The end of the second gripper 222 is provided with a clamping point. When it is necessary to tear the adhesive 61, the clamping point abuts against the adhesive 61, or the non-clamping point of the second gripper 222 abuts against the plate 6. This is considered that the second gripper 222 is in place. At this time, the first gripper 221 is moved by the three-axis cylinder 217 to adjust the distance between the first gripper 221 and the second gripper 222, so that the first gripper 221 moves closer to the second gripper 222, thereby clamping the adhesive 61.

[0073] In one embodiment, such as Figure 6 As shown, the second drive assembly 31 includes a second lead screw module 311 fixed to the frame 1. The second lead screw module 311 is equipped with a second servo motor 312. A lever shaft mounting plate 33 is slidably connected to the lead screw module. The lever shaft mounting plate 33 is equipped with a bearing 34 seat. The lever shaft 32 is fixed to the bearing 34 seat through the bearing 34.

[0074] The second lead screw module 311 and the second servo motor 312 drive the lever shaft mounting plate 33 and the lever shaft 32 to move, achieving high-precision point-to-point control and smooth feeding of the roller film mechanism. This allows the lever shaft 32 to accurately contact the pre-peeling area 23 and roll and peel off along a predetermined path, applying uniform force to the surface of the sheet 6 and effectively preventing scratches on the sheet 6 during the peeling process. By setting a bearing 34 to make the lever shaft 32 rotate during the feeding process, it is beneficial to accelerate peeling and avoid adhesion to the adhesive 61. Similarly, the surface of the lever shaft 32 is also provided with an anti-stick coating or made of anti-stick material.

[0075] Specifically, the second lead screw module 311 and the lever shaft mounting plate 33 are positioned below the placement area of ​​the plate 6. When the plate 6 is placed, it can be moved to the placement area by a robotic arm. After the positioning component 52 aligns with the plate 6, the robotic arm releases it to prevent the plate 6 from falling or shifting during the positioning process. The lever shaft mounting plate 33 extends radially along the second lead screw module 311, and lever shafts 32 are provided at both ends of the extension. The two lever shafts 32 move simultaneously, which can simultaneously peel off the adhesive 61 on both sides of the plate 6. After peeling, the two lever shafts 32 can return to the initial position along the original path, or they can move directly to the end to wait for the next round of clamping and peeling.

[0076] In one embodiment, such as Figure 7 As shown, the third drive assembly 41 includes a third servo motor 411, a transmission rod 412 connected to the output end of the third servo motor 411, and an anti-sticking pressure plate 42 fixed to the transmission rod 412. The third servo motor 411 drives the transmission rod 412 to rotate the anti-sticking pressure plate 42.

[0077] The third servo motor 411 drives the anti-sticking film plate 42 to rotate and press through the transmission rod 412, realizing the mechanization and precise control of the waste film collection action. The rotation and pressing method can effectively flatten and adhere the waste film to the collection plate 43, which is conducive to the neat stacking of waste film and subsequent cleaning, avoiding manual intervention.

[0078] Specifically, multiple anti-sticking pressure plates 42 can be spaced out on the transmission rod 412, so that the long strip of adhesive 61 has multiple flattening points and is subjected to force at multiple positions, making it easy to collect the whole thing quickly onto the collection plate 43. The waste film collection mechanism 4 can be specifically set on both sides of the plate 6, and work in coordination with the corresponding adhesive tearing gripper mechanism 2 and roller mold mechanism 3 to collect the adhesive 61 on both sides, further improving work efficiency and shortening the moving path of the corresponding adhesive tearing gripper mechanism 2.

[0079] In one embodiment, such as Figure 1 , Figure 7 As shown, the waste film collection mechanism 4 also includes a mounting platform 44 fixed to the collection area 12. The top of the mounting platform 44 is provided with a platform plate 45. The third servo motor 411 and the collection plate 43 are both fixed to the platform plate 45, and the transmission rod 412 is coaxially arranged with the collection plate 43. The end of the collection plate 43 is provided with a handle 46 exposed on the platform plate 45. Pulling the handle 46 makes the collection plate 43 slide along the platform plate 45 axially.

[0080] The collection plate 43 is slidably mounted on the mounting platform 44. The handle 46 at the end enables the waste film collection plate 43 to be quickly pulled out and placed, which makes it convenient for operators to quickly replace or clean the collection plate 43 after it is full. This greatly reduces the equipment downtime and improves the continuous operation capability.

[0081] And at the same time, such as Figure 8 As shown, the frame 1 is equipped with a protective outer shell 13, and an openable material handling door 14 is provided on the protective outer shell 13. One end of the material handling door 14 corresponds to one end of the collection plate 43, and opening the material handling door 14 allows the collection plate 43 to be pulled out via the handle 46. Two collection plates 43 can be mounted on the same mounting platform 44 to ensure the height consistency of the two collection plates 43 and improve the overall structural strength. Multiple weight-reduction ports 431 can be provided on the collection plate 43 to reduce the weight of the equipment, which is beneficial for achieving lightweight design.

[0082] In one embodiment, such as Figure 9 As shown, the frame 1 is provided with a positioning plate 15 for fixing the fourth drive assembly 51. The fourth drive assembly 51 includes a positioning cylinder 511. The positioning assembly 52 includes at least two positioning posts 521 connected to the telescopic ends of the positioning cylinder 511. The positioning cylinder 511 and the positioning posts 521 are connected by a floating joint. The positioning posts 521 extend into the corresponding positioning holes 62 on the plate 6 to limit the plate 6.

[0083] The positioning cylinder 511, in conjunction with the floating joint, drives the positioning pin 521 to insert into the positioning hole 62 of the board 6, achieving precise and flexible positioning of the board 6. Specifically, the positioning pin 521 is set on the positioning plate 15, and the two ends of the floating joint are connected to the positioning plate 15 and the positioning cylinder 511 respectively. The floating joint compensates for minor alignment errors, avoiding damage to the board 6 or the positioning mechanism during the positioning process. It also helps ensure the consistency of the loading position of multiple boards 6 of the same specification, and improves the repeatability accuracy of subsequent adhesive removal operations.

[0084] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0085] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0086] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A glue-removing device, characterized in that, Includes a frame, a sheet positioning mechanism, a peeling gripper mechanism, a roller film mechanism, and a waste film collection mechanism, all mounted on the frame; The adhesive tearing gripper mechanism includes a first drive assembly and a gripper connected to the first drive assembly. The gripper is provided with an anti-stick coating. The first drive assembly drives the gripper to move to the adhesive on the board and clamps the adhesive and moves it along a preset path in a zigzag motion so that at least part of the adhesive is detached from the board to form a pre-tear adhesive area. The roller film mechanism includes a second drive assembly and a lever shaft connected to the second drive assembly. The second drive assembly drives the lever shaft to move to the pre-peeling adhesive area and adheres to the plate, continuing to move until the remaining adhesive is peeled off. The waste film collection mechanism includes a third drive assembly and an anti-sticking pressure plate connected to the third drive assembly. A collection plate is provided below the anti-sticking pressure plate. The third drive assembly drives the anti-sticking pressure plate to rotate to abut against the adhesive and press the adhesive onto the collection plate. The board positioning mechanism includes a fourth driving component and a positioning component connected to the fourth driving component. The fourth driving component drives the positioning component to move to the board to which the adhesive to be peeled is attached. The frame includes a peeling area and a collection area. The first drive assembly includes a first lead screw module fixed vertically to the frame and a first servo motor disposed on the first lead screw module. The first lead screw module is provided with a guide block. The peeling gripper mechanism includes a mounting plate connected to the guide block. The gripper is fixed to the mounting plate. The first servo motor drives the first lead screw module to move the gripper vertically so that the gripper is located in the peeling area or the collection area. The first driving component includes a stepper motor and a motor mounting base for fixing the stepper motor. The output end of the stepper motor is provided with a transmission gear, and the mounting plate is provided with a rack that meshes with the transmission gear. The rack is arranged in a horizontal direction. One of the motor mounting base and the mounting plate is provided with a slider, and the other is provided with a slide rail adapted to the slider. The gripper is fixed to the motor mounting base through a connecting plate so that the stepper motor drives the gripper to clamp the adhesive and move it away from the board material to form the pre-peeling adhesive area. The first driving assembly further includes a three-axis cylinder for driving the gripper to extend and retract. The three-axis cylinder is slidably connected to the connecting plate via a limiting slide. The mounting plate is provided with a bending plate extending toward the limiting slide. The sidewall of the bending plate forms a bending slide toward the sidewall of the limiting slide. The stepper motor drives the gripper to zigzag away from the plate via the limiting slide.

2. The adhesive-removing device according to claim 1, characterized in that, The plate positioning mechanism and the roller film mechanism are located in the adhesive tearing area, the waste film collection mechanism is located in the collection area, and the adhesive tearing gripper mechanism moves between the adhesive tearing area and the collection area to move the adhesive to the collection area through the gripper.

3. The adhesive-removing device according to claim 1, characterized in that, The three-axis cylinder is located at the top of the limiting slide. The gripper includes a first gripper connected to the telescopic end of the three-axis cylinder and a second gripper fixed to the outer side wall of the limiting slide. The three-axis cylinder drives the first gripper to move to adjust the distance between the first gripper and the second gripper.

4. The adhesive-removing device according to claim 2, characterized in that, The second drive assembly includes a second lead screw module fixed to the frame. The second lead screw module is equipped with a second servo motor and is slidably connected to a lever shaft mounting plate of the lead screw module. The lever shaft mounting plate is equipped with a bearing seat, and the lever shaft is fixed to the bearing seat by a bearing.

5. The adhesive-removing device according to claim 2, characterized in that, The third drive assembly includes a third servo motor, a transmission rod connected to the output end of the third servo motor, and the anti-sticking pressure plate is fixed to the transmission rod. The third servo motor drives the transmission rod to rotate the anti-sticking pressure plate.

6. The adhesive-removing device according to claim 5, characterized in that, The waste film collection mechanism also includes an installation platform fixed to the collection area. The top of the installation platform is provided with a platform plate. The third servo motor and the collection plate are both fixed to the platform plate, and the transmission rod is arranged coaxially with the collection plate. The end of the collection plate is provided with a handle exposed on the platform plate. Pulling the handle makes the collection plate slide along the axial direction of the platform plate.

7. The adhesive-removing device according to claim 1, characterized in that, The frame is provided with a positioning plate for fixing the fourth drive assembly. The fourth drive assembly includes a positioning cylinder. The positioning assembly includes at least two positioning columns connected to the telescopic ends of the positioning cylinder. The positioning cylinder and the positioning columns are connected by a floating joint. The positioning columns extend into the corresponding positioning holes on the plate to limit the plate.

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