A device for tearing off black film of an automobile window frame

Abstract

The present application relates to the technical fields of automobile window frame film pasting, more particularly to a kind of automobile window frame black film tearing and pasting device, including gantry frame and material table, material table is located on the bottom surface of gantry frame, still including grabbing module and paper stripping module, grabbing module includes mechanical arm, first suction accessory, paper stripping module includes pull rod and a plurality of second suction accessories;Pull rod is rotatably connected with material table, and second suction accessory is installed at the end of pull rod away from material table;Mechanical arm one end is fixedly connected with gantry frame, and the other end is connected with first suction accessory;Still including drive control system, drive control system drives mechanical arm to move and pull rod to rotate.The present application can realize the stable, reliable and automatic peeling of the release paper without grab point position.

Description

Technical Field

[0001] This invention relates to the field of automotive window frame film application technology, and more specifically, to a device for peeling and applying black film to automotive window frames. Background Technology

[0002] In automotive painting workshops, the automatic application process of black film (i.e., window frame decorative film) has been gradually automated. Existing automated black film application equipment can complete multiple processes such as film picking, release paper peeling, waste disposal, positioning, edge wrapping, and walking movements, significantly improving production efficiency. However, in practical applications, the release paper on the back (adhesive side) of the black film usually adopts a gripperless design—that is, there is no easy-tear handle or protrusion structure at the cut of the release paper, which makes it impossible for the mechanical gripper to effectively hold the edge of the release paper for tearing. Due to the lack of a reliable initial peel point, existing automated equipment has difficulty handling this type of gripperless release paper, often resulting in problems such as film peeling failure, release paper residue, damage to the black film itself, or wrinkling and deformation, which restricts production cycle and product yield. Summary of the Invention

[0003] The purpose of this invention is to overcome the problem that existing automated equipment is difficult to automatically peel off black film release paper, and to provide a black film peeling device for automotive window frames that can achieve stable and reliable automated peeling of release paper without gripping points.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A device for peeling and applying black film to automotive window frames is provided, comprising a gantry frame and a material platform, the material platform being located on the bottom surface of the gantry frame. It also includes a gripping module and a paper-peeling module. The gripping module includes a robotic arm and a first suction element, while the paper-peeling module includes a pull rod and several second suction elements. The pull rod is rotatably connected to the material platform, and the second suction elements are installed at the end of the pull rod away from the material platform. One end of the robotic arm is fixedly connected to the gantry frame, and the other end is connected to the first suction element. The device also includes a drive control system that drives the robotic arm to move and the pull rod to rotate.

[0005] In the above process, the car body is pushed to the bottom of the gantry frame, the robotic arm moves to the material table and grabs the non-release paper adhesive side of a black film through the first suction device. Then the robotic arm moves the black film to the pull rod, aligns the side of the black film with the release paper with the second suction device, the second suction device holds the release paper, and then the pull rod rotates away from the robotic arm to tear off the release paper. Finally, the robotic arm sticks the black film to the corresponding position on the door and window frame, realizing reliable and automated peeling of release paper at the non-grabbing point.

[0006] Furthermore, the paper-peeling module also includes a push plate, which is installed at the end of the pull rod away from the material table; the gripping module also includes a clamping paddle, which is connected to the robotic arm and is used to clamp the black film; the release paper is divided into two sections along the length of the black film. Because the black film is too long, the first adsorption member only adsorbs the middle section of the non-release paper adhesive surface of the black film when gripping it; when the robotic arm moves the black film to the position where it is attached to the second adsorption member, the push plate pushes the black film horizontally at the top of the black film, thereby folding the black film into two mutually perpendicular sections. Then the clamping paddle clamps the section folded by the push plate, and finally the pull rod rotates to peel off the release paper of the unfolded section.

[0007] Furthermore, the clamping paddle includes a base, a first clamping finger, and a second clamping finger. The base is fixedly connected to the robotic arm, and the first and second clamping fingers are rotatably connected to the base. The first and second clamping fingers are also connected to the drive control system. The clamping paddle adopts the form of dual mechanical fingers. The drive control system drives the first and second clamping fingers to rotate via a PLC. The first clamping finger rotates first, and after the push plate folds the black film by ninety degrees, the second clamping finger rotates to be directly above the first clamping finger, and the two clamp together to achieve clamping.

[0008] Furthermore, the paper-peeling module also includes a fixing rod, which is fixedly installed on the side of the material platform away from the pull rod. A second adsorption component is installed on the top of the fixing rod. The setting of the fixing rod and the second adsorption component enables the release paper peeling of the folded section of the black film. After the first release paper peeling is completed, the robotic arm moves the black film to the fixing rod, and the remaining release paper is directly peeled off through the adsorption effect of the second adsorption component and the first series attachment.

[0009] Furthermore, the drive control system includes a rotating machine, one side of which is fixedly connected to the material platform and the other side is connected to the pull rod; the rotating machine is controlled by a PLC to realize the rotation stripping and rotation reset of the pull rod.

[0010] Furthermore, it also includes a vacuum module, to which both the first and second adsorption elements are connected; the vacuum module is used to generate and regulate vacuum airflow to drive the first and second adsorption elements to achieve stable adsorption of the black film and the release paper on it.

[0011] Furthermore, the first adsorption component includes a suction cup and a mounting plate. The mounting plate is provided with an adjustment groove. The suction cup and the adjustment groove are detachably connected. The vacuum module is connected to the suction cup. The mounting plate can install a certain number of suction cups at a certain interval on the adjustment groove according to the actual needs of the working conditions. During routine maintenance and repair, the staff can directly remove the suction cups on the adjustment groove by unscrewing the threads for replacement.

[0012] Furthermore, the gripping module also includes a vision recognizer, which is mounted on the robotic arm. The vision recognizer works in coordination with the gripping paddle, the robotic arm, the first adsorption component, and the second adsorption component to accurately complete the gripping, adsorption, peeling, and attachment actions of the release paper, thereby improving the accuracy of the automation system.

[0013] Furthermore, the material platform is provided with several positioning pins; the multiple positioning pins form an area on the material platform for placing the black film, and when placed, the black film is confined within the area formed by the positioning pins, which facilitates the positioning and grasping of the robotic arm.

[0014] Furthermore, the bottom surface of the gantry frame is provided with a conveyor rail; the conveyor rail is set on the ground, and during operation, the vehicle body enters and leaves the gantry frame through the conveyor rail.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The material platform is located on the bottom surface of the gantry frame and includes a gripping module and a paper peeling module. The gripping module includes a robotic arm and a first suction element, and the paper peeling module includes a pull rod and several second suction elements. The pull rod is rotatably connected to the material platform, and the second suction elements are installed at the end of the pull rod away from the material platform. One end of the robotic arm is fixedly connected to the gantry frame, and the other end is connected to the first suction element. The system also includes a drive control system, which drives the robotic arm to move and the pull rod to rotate. The rotation of the pull rod, in conjunction with the first and second suction elements, completes the reliable and automated peeling of release paper without gripping points.

[0016] 2. Both the first and second adsorption components are connected to the vacuum module; the first adsorption component includes a suction cup and a mounting plate, the mounting plate is provided with an adjustment groove, the suction cup and the adjustment groove are detachably connected, and the vacuum module is connected to the suction cup; different numbers of suction cups can be installed on the mounting plate at different intervals to accommodate black films of different lengths. Attached Figure Description

[0017] Figure 1 A perspective view of a device for peeling off black film from car window frames; Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3 for Figure 1 A magnified view of a section at point B in the middle; Figure 4 for Figure 1 A magnified view of a section at point C; Figure 5 A plan view of the material platform and gripping module of a car window frame black film peeling and applying device during operation; Figure 6 A perspective view of the material platform and gripping module of a car window frame black film peeling and applying device in operation; Figure 7 for Figure 6 A magnified view of a section at point D.

[0018] In the attached diagram: 100, gantry frame; 200, material platform; 300, gripping module; 310, robotic arm; 320, first suction element; 321, suction cup; 322, mounting plate; 323, adjusting groove; 330, clamping lever; 331, base; 332, first gripping finger; 333, second gripping finger; 340, vision recognition device; 400, paper peeling module; 410, pull rod; 420, second suction element; 430, push plate; 440, fixing rod; 500, rotating machine; 600, vacuum module; 700, positioning pin; 800, conveyor rail. Detailed Implementation

[0019] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0020] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention 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. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0021] Example 1 This embodiment is a first embodiment of a black film removal and application device for automotive window frames, such as... Figures 1 to 7 As shown, the system includes a gantry frame 100 and a material platform 200, with the material platform 200 located on the bottom surface of the gantry frame 100. It also includes a gripping module 300 and a paper-peeling module 400. The gripping module 300 includes a robotic arm 310 and a first suction element 320. The paper-peeling module 400 includes a pull rod 410 and several second suction elements 420. The pull rod 410 is rotatably connected to the material platform 200, and the second suction elements 420 are installed at the end of the pull rod 410 away from the material platform 200. One end of the robotic arm 310 is fixedly connected to the gantry frame 100, and the other end is connected to the first suction element 320. The system also includes a drive control system that drives the robotic arm 310 to move and the pull rod 410 to rotate.

[0022] Specifically, the paper-peeling module 400 also includes a push plate 430, which is installed at the end of the pull rod 410 away from the material table 200; the gripping module 300 also includes a clamping lever 330, which is connected to the robotic arm 310 and is used to clamp the black film; the release paper is divided into two sections along the length of the black film. Since the black film is too long, the first adsorption member 320 only adsorbs the middle section of the non-release paper pasting surface of the black film when gripping it; when the robotic arm 310 moves the black film to the position where it is attached to the second adsorption member 420, the push plate 430 pushes the black film horizontally at the top of the black film, thereby folding the black film into mutually perpendicular sections. Then the clamping lever 330 clamps the section folded by the push plate 430. Finally, the pull rod 410 rotates to peel off the release paper of the unfolded section.

[0023] Specifically, the gripping paddle 330 includes a base 331, a first gripping finger 332, and a second gripping finger 333. The base 331 is fixedly connected to the robotic arm 310. The first gripping finger 332 and the second gripping finger 333 are rotatably connected to the base 331, and the first gripping finger 332 and the second gripping finger 333 are connected to the drive control system. The gripping paddle 330 adopts the form of dual mechanical fingers. The drive control system drives the first gripping finger 332 and the second gripping finger 333 to rotate through the PLC. The first gripping finger 332 rotates first. After the push plate 430 folds the black film ninety degrees, the second gripping finger 333 rotates to be directly above the first gripping finger 332, and the two are pressed together to achieve gripping.

[0024] Specifically, such as Figure 6 and Figure 7 As shown, the paper-peeling module 400 also includes a fixing rod 440, which is fixedly installed on the side of the material platform 200 away from the pull rod 410. A second adsorption member 420 is installed on the top of the fixing rod 440. The setting of the fixing rod 440 and the second adsorption member 420 realizes the peeling of the release paper of the black film fold section. After the first peeling of the release paper is completed, the robotic arm 310 moves the black film to the fixing rod 440 and peels off the remaining release paper directly through the adsorption effect of the second adsorption member 420 and the first series attachment.

[0025] Specifically, the drive control system includes a rotating machine 500, one side of which is fixedly connected to the material table 200, and the other side is connected to the pull rod 410; the rotating machine 500 realizes the rotation stripping and rotation reset of the pull rod 410 through PLC control.

[0026] Specifically, it also includes a vacuum module 600, to which both the first adsorption element 320 and the second adsorption element 420 are connected; the vacuum module 600 is used to generate and regulate the vacuum airflow, driving the first adsorption element 320 and the second adsorption element 420 to achieve stable adsorption of the black film and the release paper on it.

[0027] Specifically, the gripping module 300 also includes a vision recognizer 340, which is mounted on the robotic arm 310. The vision recognizer 340 works in coordination with the gripping paddle 330, the robotic arm 310, the first adsorption component 320, and the second adsorption component 420 to accurately complete the gripping, adsorption, peeling, and attaching actions of the release paper, thereby improving the accuracy of the automation system.

[0028] The working principle of the car window frame black film peeling device in this embodiment is as follows: The drive control system controls the robotic arm 310 to move to the material table 200, where it adsorbs the middle section of the non-release paper adhesive side of the black film via the first adsorption member 320. Then, the robotic arm 310 moves the black film to the pull rod 410 of the paper-peeling module 400, so that the side of the black film with the release paper adheres to the second adsorption member 420 at the end of the pull rod 410, where the second adsorption member 420 adsorbs and fixes the release paper. In this state, the first gripping finger 332 of the clamping lever 330 is pre-rotated to a position close to the folded section of the black film, ready for clamping. Next, the push plate 430, installed at the same end of the pull rod 410, pushes the top of the black film horizontally, folding the black film into two perpendicular sections, forming a clamping angle. After the push plate 430 completes the 90-degree fold, the second gripping finger 333 rotates to directly above the first gripping finger 332 and adheres tightly, with both gripping the folded section of the black film.

[0029] Then, the lever 410 rotates away from the robotic arm 310 under the drive of the rotating machine 500. The relative motion between the adsorption force of the second adsorption member 420 on the release paper and the clamping force of the clamping paddle 330 on the black film is used to tear the unfolded section of release paper off the black film, completing the first peeling.

[0030] For the remaining release paper, the robotic arm 310 transfers the black film to the fixed rod 440. The second adsorption element 420 at the top of the fixed rod 440 works in conjunction with the first adsorption element 320 to adsorb the remaining release paper directly by using their opposing forces.

[0031] The beneficial effects of this embodiment are: the segmented folding and peeling strategy achieves stable and complete removal of the release paper without gripping opening. The entire process is precisely controlled by the PLC to control the timing and stroke of each execution component. Combined with the positioning feedback of the vision recognition device 340, the operation is fully automated, with higher precision and fewer problems of black film damage due to tearing failure.

[0032] Example 2 This embodiment is a second embodiment of a black film removal and application device for automotive window frames, such as... Figures 4 to 7 As shown, the difference from Embodiment 1 is as follows: Specifically, it also includes a vacuum module 600, to which both the first adsorption element 320 and the second adsorption element 420 are connected; the vacuum module 600 is used to generate and regulate the vacuum airflow, driving the first adsorption element 320 and the second adsorption element 420 to achieve stable adsorption of the black film and the release paper on it.

[0033] Specifically, the first adsorption component 320 includes a suction cup 321 and a mounting plate 322. The mounting plate 322 is provided with an adjustment groove 323. The suction cup 321 and the adjustment groove 323 are detachably connected. The vacuum module 600 is connected to the suction cup 321. The mounting plate 322 can install a certain number of suction cups 321 at a certain interval on the adjustment groove 323 according to the actual needs of the working conditions. During routine maintenance and repair, the staff can directly remove the suction cups 321 from the adjustment groove 323 by unscrewing the threads for replacement.

[0034] The working principle of the car window frame black film peeling device in this embodiment is as follows: For longer or heavier black films, the number of suction cups 321 can be increased and the spacing appropriately reduced to enhance adsorption force; for shorter or lighter black films, the number of suction cups 321 can be reduced and the spacing increased to avoid deformation caused by excessive adsorption. During routine maintenance or repair, staff only need to loosen the threaded connection to remove a single suction cup 321 from the adjustment groove 323 for replacement, without having to disassemble the entire mounting plate 322, significantly reducing maintenance costs and time.

[0035] The beneficial effects of this embodiment are as follows: The first adsorption element 320 adopts a segmented vacuum suction cup 321 array structure. The position of the suction cup 321 can be quickly adjusted and modularly combined through the adjustment groove 323, which not only ensures the stability and adaptability of adsorption, but also improves the versatility and ease of maintenance of the equipment.

[0036] Example 3 This embodiment is a third embodiment of a black film removal and application device for automotive window frames, such as... Figure 5 and Figure 6 As shown, the difference from Embodiment 1 is as follows: Specifically, the material table 200 is provided with several positioning pins 700; the multiple positioning pins 700 form an area on the material table 200 for placing the black film. When placed, the black film is restricted within the area formed by the positioning pins 700, which facilitates the positioning and gripping of the robotic arm 310.

[0037] Specifically, the bottom surface of the gantry frame 100 is provided with a conveyor rail 800; the conveyor rail 800 is set on the ground, and during operation, the vehicle body enters and leaves the gantry frame 100 through the conveyor rail 800.

[0038] The working principle of the car window frame black film peeling device in this embodiment is as follows: The vehicle body enters the gantry frame 100 via the conveyor slide rail 800 and stops at the predetermined work station. After receiving the instruction from the drive control system, the robotic arm 310 first confirms the precise coordinates of the black film on the material table 200 based on the positioning information obtained by the vision recognition device 340, and then moves to the top of the material table 200, using the first adsorption element 320 to adsorb and grasp the middle section of the non-release paper pasting surface of the black film.

[0039] The beneficial effects of this embodiment are as follows: the auxiliary constraint of the positioning pin 700 allows the robotic arm 310 to achieve consistency in the gripping position each time without repeated calibration, greatly improving the success rate of gripping and the repeatability of positioning. After gripping, the robotic arm 310 carries the black film and waits for the next paper peeling operation, while the conveyor rail 800 continues to move the car body with the film applied out of the gantry frame 100, and at the same time sends in the next car body to be processed, forming a continuous automated operation cycle.

[0040] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A device for peeling and applying black film to automotive window frames, comprising a gantry frame (100) and a material table (200), wherein the material table (200) is located on the bottom surface of the gantry frame (100), characterized in that, It also includes a gripping module (300) and a paper-peeling module (400). The gripping module (300) includes a robotic arm (310) and a first adsorption element (320). The paper-peeling module (400) includes a pull rod (410) and a plurality of second adsorption elements (420). The pull rod (410) is rotatably connected to the material platform (200). The second adsorption elements (420) are installed at the end of the pull rod (410) away from the material platform (200). One end of the robotic arm (310) is fixedly connected to the gantry frame (100), and the other end is connected to the first adsorption element (320). It also includes a drive control system, which drives the robotic arm (310) to move and the pull rod (410) to rotate.

2. The automotive window frame black film peeling and sticking device according to claim 1, characterized in that, The paper-peeling module (400) further includes a push plate (430), which is installed at the end of the pull rod (410) away from the material table (200); the gripping module (300) further includes a clamping paddle (330), which is connected to the robotic arm (310) and is used to clamp the black film.

3. The device for peeling and applying black film to a car window frame according to claim 2, characterized in that, The clamping lever (330) includes a base (331), a first clamping finger (332), and a second clamping finger (333). The base (331) is fixedly connected to the robotic arm (310). The first clamping finger (332) and the second clamping finger (333) are rotatably connected to the base (331) respectively. The first clamping finger (332) and the second clamping finger (333) are respectively connected to the drive control system.

4. The device for peeling and applying black film to a car window frame according to claim 1, characterized in that, The paper-peeling module (400) also includes a fixing rod (440), which is fixedly installed on the side of the material platform (200) away from the pull rod (410), and a second suction member (420) is installed on the top of the fixing rod (440).

5. The device for peeling and applying black film to a car window frame according to claim 1, characterized in that, The drive control system includes a rotating machine (500), one side of which is fixedly connected to the material table (200), and the other side is connected to the pull rod (410).

6. The device for peeling and applying black film to a car window frame according to claim 1, characterized in that, It also includes a vacuum module (600), wherein both the first adsorption element (320) and the second adsorption element (420) are connected to the vacuum module (600).

7. The automotive window frame black film peeling and sticking device according to claim 6, characterized in that, The first adsorption component (320) includes a suction cup (321) and a mounting plate (322). The mounting plate (322) is provided with an adjustment groove (323). The suction cup (321) and the adjustment groove (323) are detachably connected. The vacuum module (600) is connected to the suction cup (321).

8. The automotive window frame black film peeling and sticking device according to claim 1, characterized in that, The grasping module (300) also includes a vision recognizer (340), which is mounted on the robotic arm (310).

9. The automotive window frame black film peeling and sticking device according to claim 1, characterized in that, The material platform (200) is provided with several positioning pins (700).

10. A device for peeling and applying black film to a car window frame according to any one of claims 1-9, characterized in that, The bottom surface of the gantry frame (100) is provided with a conveyor rail (800).

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