Film tearing equipment and film tearing method

Abstract

The invention discloses film tearing equipment and a film tearing method. The film tearing equipment comprises a first transferring device, a supporting and positioning device, a first film tearing device, a second transferring device and a second film tearing device, the first transferring device comprises a first suction cup mechanism, and the first transferring device at least passes through a feeding position and a first film tearing position; the supporting and positioning device is arranged at the first film tearing position; the first film tearing device comprises a first clamping jaw mechanism, and the first film tearing device at least sequentially passes through the film tearing side of the first film tearing position and the position above the first film tearing position in the inclined direction; the second transferring device comprises a second suction cup mechanism, and the second transferring device at least passes through the first film tearing position and sequentially passes through the second film tearing position, the position above the film tearing side of the second film tearing position and the discharging position in the inclined direction; the second film tearing device is arranged on the film tearing side of the second film tearing position and comprises a second clamping jaw mechanism. Soft films and hard films on the two sides of a product can be effectively torn off, and the product is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of film tearing, in particular to a film tearing device and a film tearing method. BACKGROUND

[0002] In the manufacturing and processing flow of precision products such as electronic devices, display panels and optical elements, product surface protection is a core link to ensure production yield. In order to avoid surface scratches, dirt stains and other damages of product materials during transportation, storage and previous processes, the industry generally adopts the protection method of pasting protective soft film or protective hard film on the upper and lower surfaces of the product to isolate the damage of the external environment to the product surface.

[0003] Before entering the subsequent core processes such as processing and assembly, the protective film pasted on the upper and lower surfaces of the product needs to be removed. For the removal of protective soft film, the industry often uses manual removal or simple mechanical film tearing device. Such solutions rely on the characteristics of soft film that is easy to deform and stretch, and can realize basic removal operation; but the above solutions are completely unsuitable for the removal of protective hard film, especially for large-size protective hard film. The reason is that the material characteristics of protective hard film itself are strong and not easy to deform, which makes it impossible to achieve rapid separation from the product surface by flexible stretching as soft film does in the removal process; at the same time, the large-size protective hard film has a large area of pasting with the product surface, and the intermolecular force of the adhesive layer and the electrostatic adsorption force of the pasting interface are superimposed, further increasing the difficulty of removal. In the prior art, if the mechanical structure or manual operation method for removing soft film is forcibly used to deal with large-size hard film, it is easy to cause film body fracture, bending and damage to the product surface.

[0004] Therefore, how to effectively remove the soft film and hard film on both sides of the product and prevent damage to the product is a technical problem to be solved in the field. SUMMARY

[0005] Therefore, the present application provides a film tearing device and a film tearing method, which can effectively remove the soft film and hard film on both sides of the product and prevent damage to the product.

[0006] To solve the above technical problems, the present application provides a film tearing device, comprising a first transfer device, a support positioning device, a first film tearing device, a second transfer device, a second film tearing device, a plurality of movement platforms and a waste collection bin. The first transfer device comprises a first suction disc mechanism, which is used to suck the upper surface of the first material assembly. The first material assembly comprises a soft film, a product and a hard film stacked in order from top to bottom. The first transfer device is connected to one of the movement platforms, can move along a first predetermined path and at least pass through a feeding position and a first film tearing position. The support and positioning device is located at the first tearing position and is used to support the first material component at the first tearing position and to position the hard film. The first film-tearing device includes a first gripper mechanism for gripping the edge of the soft film. The first film-tearing device is connected to one of the motion platforms and can move along a second preset path and pass sequentially along the tearing side of the first tearing position and above the first tearing position in at least the inclined direction. The second transfer device includes a second suction cup mechanism for adhering to the upper surface of the second material assembly. The second material assembly includes a product and a rigid film stacked on top of each other. The second transfer device is connected to one of the motion platforms and can move along a third preset path and pass at least the first tearing position, and sequentially pass over the second tearing position and the tearing side of the second tearing position and the unloading position in an inclined direction. The second film-tearing device is located on the film-tearing side of the second film-tearing position. The second film-tearing device includes a second gripper mechanism, which is used to grip the edge of the hard film and drive the gripped part of the hard film to bend downward to an inclined state. The waste collection bin is used to receive the soft film torn off by the first gripper mechanism and the hard film torn off by the second gripper mechanism.

[0007] Furthermore, the support and positioning device includes a vacuum adsorption stage and a plurality of pressing mechanisms. The vacuum adsorption stage is used to support the first material component and adhere the hard film. The plurality of pressing mechanisms surround the vacuum adsorption stage and are used to press the edges of the hard film onto the vacuum adsorption stage.

[0008] Furthermore, the first film-tearing device also includes a lifting mechanism, which is used to drive the first gripper mechanism to move up and down in the vertical direction. The first transfer device and the first film-tearing device are connected to the same motion platform.

[0009] Furthermore, the first transfer device also includes a first rotating mechanism, which is connected to the first suction cup mechanism and is used to drive the first suction cup mechanism to rotate in a vertical direction. The lifting mechanism is connected to the first suction cup mechanism.

[0010] Furthermore, the second film-tearing device also includes a translation mechanism, which is connected to the second gripper mechanism and is used to drive the second gripper mechanism to reciprocate between two opposite film-tearing sides at the second film-tearing position.

[0011] Furthermore, the second transfer device also includes a second rotating mechanism, which is connected to the second suction cup mechanism and is used to drive the second suction cup mechanism to rotate in a vertical direction.

[0012] Furthermore, the second transfer device is separately connected to a motion platform.

[0013] Furthermore, the first gripper mechanism includes two first grippers and a first gripper drive member. The two first grippers are used to grip the soft film, and the first gripper drive member is used to drive the two first grippers to open and close and swing around the horizontal axis in the direction of approaching and moving away from the edge of the soft film to be gripped. The gripping surfaces of the two first grippers can be concave and convex, and the first grippers are provided with a Teflon coating.

[0014] Furthermore, the second gripper mechanism includes two second grippers and a second gripper drive member. The two second grippers are used to grip the hard film, and the second gripper drive member is used to drive the two second grippers to open and close and swing around the horizontal axis downwards towards the hard film to be gripped. The gripping surfaces of the two second grippers can be concave and convex, one of the second grippers is coated with rubber, and the other second gripper is coated with Teflon.

[0015] The present invention also provides a film-peeling method, the film-peeling method comprising the following steps: S1. Transfer the first material component from the feeding position to the first film-tearing position. The first material component includes a soft film, a product, and a hard film stacked sequentially from top to bottom. S2. Position the hard film at the first tear position; S3. Clamp one corner of the soft film and pull the soft film away from the product to collect the soft film; S4. Transfer the second material component from the first film-tearing position to the second film-tearing position. The second material component includes the stacked products and the rigid film. S5. Clamp one end of the hard membrane, causing one end of the hard membrane to tilt downwards, and then move the product upwards and outwards from the clamped end of the hard membrane to separate it from the hard membrane, collect the hard membrane and transfer the product to the unloading position.

[0016] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: the film-tearing device and film-tearing method of the present invention directly drive the soft film to peel off the product through the first film-tearing device, and after the hard film is partially bent through the second film-tearing device, the product is driven to move upward along the inclined direction through the second transfer device. During the separation of the product from the hard film, the hard film does not need to be bent, and there will be no problem of hard film breakage or bending and thus scratching the product surface. It can effectively remove the soft film and hard film on both sides of the product and prevent damage to the product. Attached Figure Description

[0017] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0018] Figure 1This is a schematic diagram of the film-tearing device disclosed in this invention from one angle; Figure 2 This is a schematic diagram showing the connection between the first transfer device and the first film-tearing device disclosed in this invention; Figure 3 This is a schematic diagram showing the positions of the second transfer device and the second film-tearing device disclosed in this invention; Figure 4 This is a schematic diagram of the first gripper mechanism disclosed in this invention; Figure 5 This is a schematic diagram of the second gripper mechanism disclosed in this invention.

[0019] Explanation of reference numerals in the accompanying drawings: 1. First transfer device; 11. First suction cup mechanism; 12. First rotating mechanism; 2. Support and positioning device; 21. Vacuum adsorption stage; 22. Pressing mechanism; 3. First film tearing device; 31. First gripper mechanism; 311. First gripper; 312. First gripper drive; 32. Lifting mechanism; 4. Second transfer device; 41. Second suction cup mechanism; 42. Second rotating mechanism; 5. Second film tearing device; 51. Second gripper mechanism; 511. Second gripper; 512. Second gripper drive; 52. Translation mechanism; 6. Waste collection bin; 7. First material assembly; 8. Second material assembly. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0021] See Figures 1 to 5 As shown, this invention discloses an embodiment of a film-tearing device.

[0022] The film-tearing equipment includes a first transfer device 1, a support and positioning device 2, a first film-tearing device 3, a second transfer device 4, a second film-tearing device 5, multiple motion platforms (not shown in the figure), and a waste collection bin 6. The first transfer device 1 includes a first suction cup mechanism 11, which is used to suction the upper surface of the first material component 7. The first material component 7 includes a soft film, a product and a hard film stacked sequentially from top to bottom. The first transfer device 1 is connected to one of the aforementioned motion platforms and can move along a first preset path and pass through at least the loading position and the first film tearing position. The aforementioned support and positioning device 2 is located at the aforementioned first film-tearing position and is used to support the first material component 7 at the aforementioned first film-tearing position and to position the hard film. The first film-tearing device 3 includes a first gripper mechanism 31, which is used to grip the edge of the soft film. The first film-tearing device 3 is connected to one of the aforementioned motion platforms and can move along a second preset path and pass sequentially along the tearing side of the first film-tearing position and above the first film-tearing position in at least the inclined direction. The second transfer device 4 includes a second suction cup mechanism 41, which is used to suction the upper surface of the second material assembly 8. The second material assembly 8 includes a product and a hard film stacked on top of each other. The second transfer device 4 is connected to one of the motion platforms and can move along a third preset path and pass at least the first tearing position, and sequentially pass the second tearing position and the area above the tearing side of the second tearing position and the unloading position in the inclined direction. The second film-tearing device 5 is located on the film-tearing side of the second film-tearing position. The second film-tearing device 5 includes a second gripper mechanism 51, which is used to grip the edge of the hard film and drive the gripped part of the hard film to bend downward to an inclined state. The aforementioned waste collection bin 6 is used to receive the soft film torn off by the first gripper mechanism 31 and the hard film torn off by the second gripper mechanism 51.

[0023] In the above description, the first transfer device 1 is responsible for the transfer of the first material component 7. Equipped with a first suction cup mechanism 11, it can move along a first preset path under the drive of a motion platform, realizing the precise transfer of the first material component 7 from the loading position to the first film-tearing position. The first suction cup mechanism 11 adheres to the upper surface of the first material component 7 through vacuum adsorption, which serves to fix the material and prevent the material from shifting or falling off during transfer and film-tearing. The first preset path is a pre-set motion trajectory of the first transfer device 1, which constrains the motion direction and range of the first transfer device 1. The first material component 7 is the initial material to be processed in the film-tearing process, and its structure consists of soft film, product, and hard film stacked sequentially from top to bottom.

[0024] The support and positioning device 2 is used to support the first material component 7 while keeping the hard film stationary, ensuring that the positions of the hard film and the product remain unchanged when the soft film is torn.

[0025] The first film-tearing device 3 is used to perform the action of tearing the soft film. Equipped with a first gripper mechanism 31, it moves along a second preset path under the drive of a motion platform. By gripping the edge of the soft film and pulling it upwards in an inclined direction, it completes the separation of the soft film from the product. The first gripper mechanism 31 clamps the edge of the soft film, providing clamping force for the tearing action and ensuring that the soft film can be torn off stably and completely. The second preset path is a pre-set motion trajectory of the first film-tearing device 3, constraining the direction and range of movement of the first film-tearing device 3. The tearing side of the first tearing position refers to the outer side of the position where the soft film is gripped by the first gripper mechanism 31.

[0026] The second transfer device 4 is responsible for transferring the second material component 8. Equipped with a second suction cup mechanism 41, it can move along a third preset path under the drive of a motion platform, realizing the transfer of the second material component 8 from the first film-tearing position to the second film-tearing position, then diagonally above the second film-tearing position, and finally to the unloading position. The second suction cup mechanism 41 uses vacuum adsorption to adhere to the upper surface of the second material component 8, fixing the material and preventing material displacement or detachment during transfer and film-tearing. The third preset path is a pre-set motion trajectory of the second transfer device 4, constraining the direction and range of movement of the second transfer device 4. The film-tearing side of the second film-tearing position refers to the outer side of the position where the hard film is clamped by the second gripper mechanism 51.

[0027] The second material component 8 is the intermediate material to be processed after the soft film of the first material component 7 is removed. Its structure consists of an upper and lower stacked product and a hard film.

[0028] The second film-tearing device 5 is responsible for removing the hard film. It is equipped with a second gripper mechanism 51, which separates the hard film from the product through bending and movement in conjunction with the product's upward tilting motion. The second gripper mechanism 51 can clamp the edge of the hard film and drive the clamped part to bend downward to an inclined state. By changing the force angle of the hard film, the adhesion between the hard film and the product is reduced, thus achieving efficient film tearing.

[0029] A motion platform can drive connected devices to perform linear, tilting, and other complex movements along a preset path, and is the core power unit for automated equipment operation. Generally, a motion platform is a three-axis motion platform that can drive connected devices to perform spatial movements.

[0030] The waste collection bin 6 is used to collect waste parts and realize centralized management of waste. The soft film torn off by the first gripper mechanism 31 and the hard film torn off by the second gripper mechanism 51 can be collected in one waste collection bin 6 or in different waste collection bins 6.

[0031] Specifically, the film-peeling process of the aforementioned film-peeling equipment includes the following steps: S1. The first transfer device 1 picks up the first material component 7, and the motion platform drives the first transfer device 1 to move, transferring the first material component 7 from the loading position to the support and positioning device 2 at the first film tearing position. S2, The support and positioning device 2 positions the hard membrane on the support and positioning device 2; S3. The first film-tearing device 3 holds one corner of the soft film. The motion platform drives the first film-tearing device 3 to move from the film-tearing side of the first film-tearing position along the inclined direction to above the first film-tearing position, that is, from the film-tearing side of the support and positioning device 2 to above the support and positioning device 2, so that the soft film is peeled off the product. Then the soft film is thrown into the waste collection bin 6. During this process, the hard film and the soft film are in a horizontal state, and the soft film is detached from the product and the hard film in a bent state. S4. The second transfer device 4 picks up the second material component 8 from the support and positioning device 2. The motion platform drives the second transfer device 4 to move, transferring the second material component 8 from the first tearing position to the second tearing position. S5. The second film-tearing device 5 clamps one end of the hard film, causing one end of the hard film to tilt downwards. Then, the motion platform drives the second transfer device 4 to move from the second film-tearing position along the tilt direction to above the film-tearing side of the second film-tearing position, that is, from the side of the second film-tearing device 5 to above the second film-tearing device 5, thereby causing the product to separate from the hard film. Then, the hard film is thrown into the waste collection bin 6. The motion platform drives the second transfer device 4 to move from above the film-tearing side of the second film-tearing position to the unloading position. During this process, the product is in a horizontal state and the hard film is in an inclined state.

[0032] With the above technical solution, the first film-tearing device directly pulls the soft film off the product, and the second film-tearing device pulls the hard film partially bent. Then, the second transfer device pulls the product upward along the inclined direction. During the separation of the product from the hard film, the hard film does not need to be bent, and there will be no problem of hard film breakage or bending, and thus no scratches on the product surface. It can effectively remove the soft film and hard film on both sides of the product and prevent damage to the product.

[0033] In this embodiment, the support and positioning device 2 includes a vacuum adsorption platform 21 and a plurality of pressing mechanisms 22. The vacuum adsorption platform 21 is used to support the first material component 7 and the hard film. The plurality of pressing mechanisms 22 surround the vacuum adsorption platform 21 and are used to press the edge of the hard film onto the vacuum adsorption platform 21.

[0034] In the above description, the vacuum adsorption stage 21 is located at the center of the support and positioning device 2. It supports the first material assembly 7 and uses vacuum adsorption force to attract the hard film at the bottom of the first material assembly 7, achieving initial fixation of the material from the lower surface and providing a basic positioning for subsequent edge pressing. The pressing mechanism 22 consists of auxiliary fixing components arranged around the vacuum adsorption stage. It is used to press the edge of the hard film onto the table surface of the vacuum adsorption stage 21. The pressing mechanism 22 mainly includes a pressure plate and a pressure plate drive. The pressure plate contacts the hard film, and the pressing drive drives the pressure plate to press and release the edge of the hard film. The pressing mechanism works in conjunction with the adsorption force of the lower surface of the vacuum adsorption stage to limit the horizontal displacement and edge warping of the first material assembly 7.

[0035] Specifically, the first transfer device 1 places the first material assembly 7 onto the vacuum adsorption stage 21, then presses the edge of the hard film using the pressing mechanism 22, before starting the soft film removal process. After the soft film is removed, the pressing mechanism 22 releases the edge of the hard film, and then the second transfer device 4 picks up the second material assembly 8. The above technical solution, through a vacuum adsorption stage and a pressing mechanism, achieves dual fixation of the material, ensuring that the hard film and product positions do not shift during the film-tearing process. In this embodiment, the first film-tearing device 3 further includes a lifting mechanism 32, which is used to drive the first gripper mechanism 31 to move up and down in the vertical direction. The first transfer device 1 and the first film-tearing device 3 are connected to the same motion platform.

[0036] In the above description, both the first transfer device 1 and the first film-tearing device 3 need to move within a large range and have similar movement paths. Therefore, the first transfer device 1 and the first film-tearing device 3 are designed to share the same motion platform to reduce the number of devices. In addition, to prevent motion interference or to facilitate the first gripper mechanism 31 in gripping the soft film, a lifting mechanism 32 is further provided. The lifting mechanism 32 is used to drive the first gripper mechanism 31 to move up and down in the vertical direction, and can accurately adjust the height position of the first gripper mechanism 31.

[0037] Specifically, when the first suction cup mechanism 11 picks up the first material component 7 at the feeding position, in order to prevent interference with the first gripper mechanism 31, the lower surface of the first gripper mechanism 31 is higher than the lower surface of the first suction cup mechanism 11. When the first suction cup mechanism 11 places the first material component 7 at the first film-tearing position, due to the need for film tearing, the lower surface of the first gripper mechanism 31 is lower than the lower surface of the first suction cup mechanism 11.

[0038] Through the above technical solution, the first transfer device and the first film-tearing device share the same motion platform, reducing the number of independent motion platforms of the equipment and simplifying the equipment structure.

[0039] In this embodiment, the first transfer device 1 further includes a first rotating mechanism 12, which is connected to the first suction cup mechanism 11 and is used to drive the first suction cup mechanism 11 to rotate in a vertical direction. The lifting mechanism 32 is connected to the first suction cup mechanism 11.

[0040] In the above text, the first rotating mechanism 12 is rigidly connected to the first suction cup mechanism 11. Its core function is to drive the first suction cup mechanism 11 to rotate in the vertical direction, thereby adjusting the direction of the first material component 7 that is being attracted, so that different edges of the soft film can be aligned with the clamping position of the first gripper mechanism 31.

[0041] Specifically, when the first material component 7 includes multiple soft films, the first rotating mechanism 12 drives the different edges of the first material component 7 to rotate sequentially to a position close to the first gripper mechanism 31, and the first gripper mechanism 31 tears off the soft film close to it, thereby removing multiple soft films.

[0042] Through the above technical solution, the first transfer device includes a first rotating mechanism, which can adjust the direction of the first material component to achieve the removal of multiple soft films.

[0043] In this embodiment, the second film-tearing device 5 further includes a translation mechanism 52, which is connected to the second gripper mechanism 51 and is used to drive the second gripper mechanism 51 to reciprocate between two opposite film-tearing sides at the second film-tearing position.

[0044] In the above description, the translation mechanism 52 is used to drive the second gripper mechanism 51 to reciprocate linearly between the two opposite tearing sides at the second tearing position. The horizontal working position of the second gripper mechanism 51 can be flexibly adjusted without changing the placement or position of the second material assembly 8, thus adapting to second material assemblies 8 of different sizes and with different hard film edge clamping requirements. Specifically, when the second material component includes two hard films, the second gripper mechanism 51 first tears off the hard film on one side of the second material component 8, and then moves to the other side of the second material component 8 through the translation mechanism 52 to tear off the hard film on the other side, thereby achieving the removal of the two hard films.

[0045] Through the above technical solution, the second film-tearing device includes a translation mechanism that can adjust the position of the second gripper mechanism to achieve the tearing of the two hard films.

[0046] In this embodiment, the second transfer device 4 further includes a second rotating mechanism 42, which is connected to the second suction cup mechanism 41 and is used to drive the second suction cup mechanism 41 to rotate in the vertical direction.

[0047] In the above text, the second rotating mechanism 42 is rigidly connected to the second suction cup mechanism 41. Its core function is to drive the second suction cup mechanism 41 to rotate in the vertical direction, thereby adjusting the direction of the second material component 8 that is being attracted, so that different edges of the hard film can be aligned with the clamping position of the second gripper mechanism 51.

[0048] Specifically, when the second material component 8 includes multiple hard films, taking four hard films as an example, the second gripper mechanism 51 first tears off the hard film on the first side of the second material component 8, and then the translation mechanism 52 drives the second gripper mechanism 51 to move to the other side of the second material component 8 to tear off the hard film on the second side of the second material component 8. Then, the second rotation mechanism 42 drives the second material component 8 to rotate 90 degrees, and the second gripper mechanism 51 first tears off the hard film on the third side of the second material component 8. Then, the translation mechanism 52 drives the second gripper mechanism 51 to move to the other side of the second material component 8 to tear off the hard film on the fourth side of the second material component 8, thereby realizing the removal of multiple hard films.

[0049] Through the above technical solution, the second transfer device includes a second rotating mechanism, which can adjust the direction of the second material component to achieve the removal of multiple hard films.

[0050] In this embodiment, the second transfer device 4 is connected to a motion platform separately.

[0051] In the above text, the second transfer device 4 is equipped with a dedicated motion platform, which independently drives the second transfer device 4 to move along the third preset path.

[0052] Specifically, the second transfer device 4 adopts a different motion platform from the first transfer device 1 and the first film-tearing device 3. The motion parameters and action rhythm of the second transfer device 4 do not need to be linked with the first film-tearing process, which can avoid path interference when multiple mechanisms move at the same time and improve the adjustment flexibility of the second film-tearing process.

[0053] Through the above technical solution, the second transfer device is set up with a separate motion platform to realize independent debugging and operation of the front and rear processes, and adapt to the differences in the film peeling process of different film layers (soft film, hard film).

[0054] In this embodiment, the first gripper mechanism 31 includes two first grippers 311 and a first gripper drive 312. The two first grippers 311 are used to grip the soft film, and the first gripper drive 312 is used to drive the two first grippers 311 to open and close and swing around the horizontal axis toward the edge of the soft film to be gripped and away from it. The gripping surfaces of the two first grippers 311 can be concave and convex, and the first grippers 311 are provided with a Teflon coating.

[0055] In the above description, the clamping surface of the first gripper 311 is designed with a concave-convex interlocking structure, which increases the contact area and friction with the soft film, preventing the soft film from slipping and falling off during the tearing process. The gripper surface is coated with Teflon, which has the characteristics of high temperature resistance, low friction, and anti-adhesion, preventing the soft film from adhering to the gripper surface due to sticky residue or electrostatic adsorption. The first gripper drive 312 is connected to the two first grippers 311 and has dual drive functions: opening and closing drive: drives the two first grippers 311 to perform clamping / releasing actions to realize the clamping and release of the edge of the soft film; swing drive: drives the two first grippers 311 to swing around the horizontal axis in the direction of approaching / moving away from the edge of the soft film to be clamped, thereby adjusting the position of the first gripper 311 between the position where the soft film can be clamped and the position away from the position where the soft film can be clamped.

[0056] Specifically, the first suction cup mechanism 11 drives the first material component 7 to fall onto the support and positioning device 2, and drives the first gripper mechanism 31 to descend. Since the first gripper mechanism 31 needs to avoid the edge of the first material component 7 when descending, the horizontal distance between the first gripper mechanism 31 and the first material component 7 is large, causing the first gripper mechanism 31 to fail to grip the soft film. The first gripper drive member 312 drives the first gripper 311 to swing, so that the first gripper 311 gets closer to the soft film. Then, the first gripper drive member 312 drives the first gripper 311 to clamp the soft film.

[0057] Through the above technical solution, on the one hand, the first gripper is provided with a concave-convex structure and Teflon is provided on the first gripper to achieve wear resistance and increase friction, ensuring firm gripping of the soft film; on the other hand, the first gripper can swing, which facilitates gripping of the soft film.

[0058] In this embodiment, the second gripper mechanism 51 includes two second grippers 511 and a second gripper drive member 512. The two second grippers 511 are used to grip the hard film, and the second gripper drive member 512 is used to drive the two second grippers 511 to open and close and swing around the horizontal axis downwards towards the hard film to be gripped. The gripping surfaces of the two second grippers 511 can be concave and convex. One of the second grippers 511 is coated with rubber, and the other second gripper 511 is coated with Teflon.

[0059] In the above text, the clamping surface of the second gripper 511 adopts a concave-convex interlocking structure, which can increase the contact friction with the hard film and prevent the hard film from slipping off during bending and tearing. The two second grippers 511 have different surface treatment designs, one with rubber coating and the other with Teflon coating. The rubber-coated gripper uses the elasticity and high friction characteristics of the rubber layer to enhance the clamping force on the hard film. The Teflon-coated gripper uses the low surface energy characteristics of Teflon to prevent the hard film from adhering to the gripper surface due to stickiness or static electricity, ensuring that the hard film can be smoothly removed and fall into the waste collection bin after tearing. The second gripper drive unit 512 is connected to the two second grippers 511 and has dual drive functions: opening and closing drive: drives the two second grippers to complete the clamping / releasing action, realizing reliable clamping of the hard film edge and release after tearing; swing drive: drives the two second grippers 511 to swing around the horizontal axis downwards towards the hard film to be clamped, which can adjust the second grippers 511 from the outside or above the hard film edge to the downward posture, adapting to the tearing action of the hard film bending downwards, ensuring that the bending angle is precise and controllable.

[0060] Specifically, the second suction cup mechanism 41 drives the second material assembly 8 to the second film-tearing position, and the second gripper drive member 512 drives the second gripper 511 to clamp the hard film. Then, the second gripper drive member 512 drives the second gripper 511 to rotate, causing the clamped part of the hard film to bend downward.

[0061] Through the above technical solution, on the one hand, the second gripper is provided with a concave-convex structure, and the second gripper is coated with rubber and Teflon, which can achieve the effect of wear resistance and increase friction, ensuring that the soft film is firmly clamped. On the other hand, the second gripper can rotate, thereby bending the hard film.

[0062] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A film-tearing device, characterized in that, It includes a first transfer device, a support and positioning device, a first film-tearing device, a second transfer device, a second film-tearing device, multiple motion platforms, and a waste collection bin; The first transfer device includes a first suction cup mechanism for adhering to the upper surface of the first material component. The first material component includes a soft film, a product, and a hard film stacked sequentially from top to bottom. The first transfer device is connected to one of the motion platforms and can move along a first preset path and pass at least the loading position and the first film-tearing position. The support and positioning device is located at the first tearing position and is used to support the first material component at the first tearing position and to position the hard film. The first film-tearing device includes a first gripper mechanism for gripping the edge of the soft film. The first film-tearing device is connected to one of the motion platforms and can move along a second preset path and pass sequentially along the tearing side of the first film-tearing position and above the first film-tearing position in at least the inclined direction. The second transfer device includes a second suction cup mechanism for adhering to the upper surface of the second material assembly. The second material assembly includes a product and a hard film stacked on top of each other. The second transfer device is connected to one of the motion platforms and can move along a third preset path and pass at least the first tearing position, and sequentially pass over the second tearing position and the tearing side of the second tearing position and the unloading position in an inclined direction. The second film-tearing device is located on the film-tearing side of the second film-tearing position. The second film-tearing device includes a second gripper mechanism, which is used to grip the edge of the hard film and drive the gripped part of the hard film to bend downward to an inclined state. The waste collection bin is used to receive the soft film torn off by the first gripper mechanism and the hard film torn off by the second gripper mechanism.

2. The film-tearing device according to claim 1, characterized in that, The support and positioning device includes a vacuum adsorption platform and multiple pressing mechanisms. The vacuum adsorption platform is used to support the first material component and adhere the hard film. The multiple pressing mechanisms surround the vacuum adsorption platform and are used to press the edges of the hard film onto the vacuum adsorption platform.

3. The film-tearing device according to claim 1, characterized in that, The first film-tearing device further includes a lifting mechanism, which is used to drive the first gripper mechanism to move up and down in the vertical direction. The first transfer device and the first film-tearing device are connected to the same motion platform.

4. The film-tearing device according to claim 3, characterized in that, The first transfer device further includes a first rotating mechanism, which is connected to the first suction cup mechanism and is used to drive the first suction cup mechanism to rotate in a vertical direction. The lifting mechanism is connected to the first suction cup mechanism.

5. The film-tearing device according to claim 1, characterized in that, The second film-tearing device further includes a translation mechanism, which is connected to the second gripper mechanism and is used to drive the second gripper mechanism to reciprocate between two opposite film-tearing sides at the second film-tearing position.

6. The film-tearing device according to claim 5, characterized in that, The second transfer device further includes a second rotating mechanism, which is connected to the second suction cup mechanism and is used to drive the second suction cup mechanism to rotate in a vertical direction.

7. The film-tearing device according to claim 1, characterized in that, The second transfer device is connected separately to a motion platform.

8. The film-tearing device according to claim 1, characterized in that, The first gripper mechanism includes two first grippers and a first gripper drive. The two first grippers are used to grip the soft film. The first gripper drive is used to drive the two first grippers to open and close and swing around the horizontal axis toward the edge of the soft film to be gripped and away from it. The gripping surfaces of the two first grippers can be concave and convex and fit together. The first grippers are provided with a Teflon coating.

9. The film-tearing device according to claim 1, characterized in that, The second gripper mechanism includes two second grippers and a second gripper drive member. The two second grippers are used to grip the hard film. The second gripper drive member is used to drive the two second grippers to open and close and swing around the horizontal axis downwards towards the hard film to be gripped. The gripping surfaces of the two second grippers can be concave and convex. One of the second grippers is coated with rubber, and the other second gripper is coated with Teflon.

10. A method for peeling off a film, characterized in that, The film-peeling method includes the following steps: S1. Transfer the first material component from the feeding position to the first film-tearing position. The first material component includes a soft film, a product, and a hard film stacked sequentially from top to bottom. S2. Position the hard film at the first tear position; S3. Clamp one corner of the soft film and pull the soft film away from the product to collect the soft film; S4. Transfer the second material component from the first film-tearing position to the second film-tearing position. The second material component includes the stacked products and the rigid film. S5. Clamp one end of the hard membrane, causing one end of the hard membrane to tilt downwards, and then move the product upwards and outwards from the clamped end of the hard membrane to separate it from the hard membrane, collect the hard membrane and transfer the product to the unloading position.

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