Film tearing mechanism

Abstract

The utility model discloses a film tearing mechanism which comprises a product carrying mechanical arm, a film tearing fixing plate, a rotating seat, clamping jaws, a clamping driving device, a rotating driving device and a controller, the rotating seat can be installed on the film tearing fixing seat in a mode of rotating around a horizontal rotating shaft, the clamping jaws in pairs are installed on the rotating seat, the clamping driving device drives the clamping jaws in pairs to move relatively, and the rotating driving device drives the film tearing fixing plate to rotate. The paired clamping jaws move relatively to clamp or loosen the protective film tearing hand part, and the product carrying manipulator can carry a product from a designated position to a film tearing position and enables the protective film tearing hand part extending out of the surface of the product to enter the space between the paired clamping jaws. The product carrying manipulator can carry the product from the film tearing position to the next procedure to enable the product to be separated from the protective film on the surface of the product, the rotary driving device can drive the rotary seat to rotate by a set angle, and the controller controls the product carrying manipulator, the clamping driving device and the rotary driving device to work. The efficiency is high and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The utility model relates to an automatic equipment especially relates to a tear film mechanism. BACKGROUND

[0002] At present in the tear film field, most are artificial tear film, need to make auxiliary jig fixed product body, artificial tear off protective film, this kind of mode is easy to knock in the process of taking and placing material, damage product, and the efficiency is low, because artificial carries out this technological process, is easy to be influenced by human factor, appears to tear, does not have recheck, uncontrollability factor is high. UTILITY MODEL CONTENTS

[0003] In order to overcome above-mentioned defects, the utility model provides a tear film mechanism, the tear film mechanism can realize the automatic tear of the protective film on the product surface, tear film efficiency is high, saves manual work, ensures that product is successfully completed assembly work in subsequent assembly work station.

[0004] The utility model discloses a tear film mechanism, including product handling manipulator, tear film fixed plate, rotating seat, clamping jaw, clamping drive arrangement, rotation drive arrangement and controller, the rotating seat can rotate the installation on tear film fixed seat around the horizontal extension's pivot, and the clamping jaw of pair can be installed on the rotating seat relative motion, clamping drive arrangement is fixedly installed on the rotating seat and can drive the relative motion of the clamping jaw of pair, and the relative motion of the clamping jaw of pair can clamp or loosen the protective film tear hand part between the clamping jaw, product handling manipulator can carry product from the specified position to tear film position, and make the protective film tear hand part that extends product surface enters the clamping jaw of pair, and product handling manipulator can also carry product from tear film position to next procedure and make product and the protective film on its surface separate, rotation drive arrangement can drive rotating seat rotation and set angle, and then make the protective film that is loosened by the clamping jaw drop under the action of gravity, and controller controls the intermittent carrying movement of product handling manipulator, and controller also controls the start-stop work of clamping drive arrangement and rotation drive arrangement.

[0005] As a further improvement of the utility model, the clamping jaw of pair includes fixed clamping jaw and movable clamping jaw, the fixed clamping jaw includes the fixed section along the radial extension of rotating seat and the clamping section along the axial extension section of rotating seat, the fixed section and clamping section form L-shaped integral structure, the movable clamping jaw can be installed on the rotating seat and extend and retract along the radial direction of rotating seat, and the movable clamping jaw and the clamping section of fixed clamping jaw move relative to each other to clamp the tear hand part of the protective film.

[0006] As a further improvement of the utility model, the clamping section of the fixed clamping jaw is formed with a V-shaped groove on the side surface facing the movable clamping jaw, and the extension direction of the V-shaped groove is perpendicular to the film tearing direction, the end of the movable clamping jaw is formed with a triangular rib structure matched with the V-shaped groove, when the movable clamping jaw moves towards the clamping section of the fixed clamping jaw, the triangular rib structure at the end of the movable clamping jaw can be inserted into the V-shaped groove to make the tear tab of the protective film bend and deform in the film tearing direction.

[0007] As a further improvement of the utility model, the clamping driving device comprises a clamping cylinder and a horizontal sliding plate, the piston of the clamping cylinder can axially extend and retract along the rotating seat, the horizontal sliding plate is fixedly connected with the piston of the clamping cylinder, the horizontal sliding plate is provided with an inclined sliding channel having an acute angle with the vertical direction, the movable clamping jaw is provided with a sliding pin, and the sliding pin can be slidably inserted into the inclined sliding channel of the horizontal sliding plate.

[0008] As a further improvement of the utility model, the rotating seat is further provided with a guide box, the guide box is fixedly connected with the fixed section of the fixed clamping jaw, the movable clamping jaw is inserted into the guide box and moves in the up-down direction, the upper side surface of the guide box is vertically arranged opposite to the clamping section of the fixed clamping jaw, the upper side surface of the guide box is provided with a movable clamping jaw avoiding opening through which the end of the movable clamping jaw extends out, the piston of the clamping cylinder extends and retracts in the front-rear direction, the two side walls of the movable clamping jaw in the left-right direction are provided with sliding pins extending horizontally in the left-right direction, the side wall of the guide box in the front-rear direction is provided with a guide socket through which the horizontal sliding plate can be slidably inserted, the side wall of the guide box in the left-right direction is provided with a guide sliding groove through which the sliding pin can be slidably inserted, the guide sliding groove extends in the vertical direction, the sliding pin is provided with a bearing, and the bearing is in rolling contact with the inner side wall of the guide sliding groove of the guide box and the inclined sliding channel of the horizontal sliding plate.

[0009] As a further improvement of the utility model, the rotating driving device is a rotating cylinder, the film tearing fixed plate is provided with a sealed cavity, the sealed cavity is communicated with the outside air source through an air pipe, the sealed cavity is further provided with a first gas supply pipeline communicated with the rotating cylinder and a second gas supply pipeline communicated with the clamping cylinder, the first gas supply pipeline and the second gas supply pipeline are provided with control valves, and the controller controls the control valves to control the rotating cylinder and the clamping cylinder.

[0010] As a further improvement of the utility model, an electrostatic eliminator and an air duct are further arranged, the electrostatic eliminator is fixedly installed on the film tearing fixed plate, the air inlet end of the air duct is fixedly installed on the air outlet of the electrostatic eliminator, a plurality of air outlet holes are arranged on the side wall of the air duct, and the air outlet holes can blow ion wind into the gap between the pair of clamping jaws to eliminate static electricity between the clamping jaw and the tear tab of the protective film.

[0011] As a further improvement of the utility model, the static electricity eliminator mounting support is provided with a bending structure of sheet metal, one end of which forms a connecting part, and at least two long strip connecting notches extending in the horizontal direction are arranged on the connecting part in up-down order, at least two connecting nut sleeves extending in the up-down direction are fixedly arranged on the film tearing fixing plate in up-down order, the connecting nut sleeves can be inserted into each connecting notch in relative horizontal movement, a connecting bolt is further arranged, the connecting bolt is movably connected with the connecting nut sleeve, the head of the connecting bolt and the film tearing fixing plate can clamp and fix the connecting part of the static electricity eliminator mounting support, the other end of the static electricity eliminator mounting support forms a mounting part, a long strip mounting hole extending in the up-down direction is arranged on the mounting part, at least two mounting screws capable of sliding up and down in the long strip mounting hole are arranged, the mounting screws are movably connected with the threaded holes on the static electricity eliminator mounting surface, and the mounting part can be clamped and fixed between the static electricity eliminator mounting surface and the head of the mounting screw.

[0012] As a further improvement of the utility model, two or more rotating seats are arranged on the film tearing fixing plate in intervals, each rotating seat is provided with a pair of clamping jaws, and the air flow pipes extend along the arrangement direction of each rotating seat, so that the air flow pipes can blow ionized air towards the gaps between all the pairs of clamping jaws.

[0013] As a further improvement of the utility model, the product carrying manipulator comprises a manipulator moving in a three-dimensional space and a negative pressure suction cup, the negative pressure suction cup is fixedly installed on the moving end of the manipulator, the negative pressure suction cup is communicated with an external negative pressure providing device through an air pipe, a negative pressure suction nozzle is arranged on the negative pressure suction cup, the negative pressure suction nozzle can suction and fix the product to be torn off the film, and the manipulator can drive the product to be torn off the film to move on the horizontal plane, so that the protective film on the product is torn off and the part of the protective film is inserted into the pair of clamping jaws, and the manipulator can move away from the pair of clamping jaws in the vertical direction and the horizontal direction to realize tearing off the protective film from the product.

[0014] The utility model has the advantages that: the automatic film tearing mode of the cylinder rotation and clamping is adopted, manual film tearing is avoided, all actions are automatically completed by the equipment, the rhythm is fast, and the efficiency is high; meanwhile, the static electricity eliminator and the air flow pipe are installed, the protective film can not be adsorbed on the clamping jaws due to static electricity after being torn off, the film throwing efficiency is high, the equipment rhythm is effectively improved, and the labor cost is saved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a perspective view of the utility model;

[0016] Figure 2 It is Figure 1 It is an enlarged view of A part in the middle;

[0017] Figure 3The figure of the state body for sending the tear hand part of the protective film on the product into the gap between the clamping jaws;

[0018] Figure 4 The structure principle diagram of the clamping driving device of the utility model;

[0019] Figure 5 For Figure 4 The enlarged view of the middle B part. DETAILED DESCRIPTION

[0020] Embodiment: a film tearing mechanism, including product carrying manipulator, film tearing fixed plate 1, rotating seat 2, clamping jaw, clamping driving device, rotating driving device 3 and controller, the rotating seat 2 can be installed on the film tearing fixed seat around the horizontal extension pivot rotation, and the pair of clamping jaws can be installed on the rotating seat 2 relative motion, the clamping driving device is fixedly installed on the rotating seat 2 and can drive the pair of clamping jaws relative motion, and the pair of clamping jaws relative motion can clamp or release the protective film tear hand part 4 between the clamping jaws, the product carrying manipulator can carry the product from the specified position to the film tearing position, and make the protective film tear hand part 4 that extends the product surface enters the pair of clamping jaws, and the product carrying manipulator can also carry the product from the film tearing position to the next process to make the product and the protective film on its surface separate, the rotating driving device 3 can drive the rotating seat 2 to rotate the set angle, in turn make the protective film that is released by the clamping jaw falls under the action of gravity, the controller controls the intermittent carrying motion of the product carrying manipulator, and the controller also controls the start-stop work of the clamping driving device and the rotating driving device 3.

[0021] When the protective film on the product surface needs to be torn, first, the product placed on the specified position is grabbed by the product carrying manipulator, and the product is carried to the film tearing station, at this time, the protective film tear hand part 4 on the product surface extends into the gap between the pair of clamping jaws, then the clamping driving device is started, so that the pair of clamping jaws relatively close to clamp the protective film tear hand part 4, then the product carrying manipulator moves with the product relative to the clamping jaw, and the best time is a certain angle with the plane where the protective film is, in this way, the protective film is torn from the product surface, and the product with the protective film torn off is sent to the next process for assembly by the product carrying manipulator, the rotating driving device 3 is started, so that the rotating seat 2 with the clamping jaw rotates around the horizontal pivot a certain angle, at this time, the protective film is in a vertical state, the clamping jaw releases the protective film, and the protective film falls down under the action of gravity, then the rotating driving device 3 resets to wait for the next product to tear the protective film, when the clamping jaw waits for the product to tear the protective film, the best is arranged in the up-down direction, the product carrying manipulator inserts the protective film tear hand part 4 on the product into the middle of the up-down arranged clamping jaw through a horizontal direction movement, then the clamping jaw moves up and down to clamp the protective film tear hand part 4, and the product carrying manipulator can be inclined upward when tearing the protective film, so that the protective film is quickly torn off without damaging the product.

[0022] The pair of clamping jaws comprises a fixed clamping jaw 5 and a movable clamping jaw 6, the fixed clamping jaw 5 comprises a fixed section extending radially along the rotating seat 2 and a clamping section extending axially along the rotating seat 2, the fixed section and the clamping section form an L-shaped integrated structure, the movable clamping jaw 6 is mounted on the rotating seat 2 and can move radially along the rotating seat 2, the movable clamping jaw 6 moves relative to the clamping section of the fixed clamping jaw 5 to clamp the tab of the protective film. The fixed clamping jaw 5 is fixed and can be used as a reference, when the tab of the protective film 4 is inserted between the movable clamping jaw 6 and the fixed clamping jaw 5, it can be attached to the lower side of the clamping section of the fixed clamping jaw 5, in addition, the two movable clamping jaws 6 can also move synchronously towards each other.

[0023] The clamping section of the fixed clamping jaw 5 is formed with a V-shaped groove 51 on the surface facing the movable clamping jaw 6, and the extension direction of the V-shaped groove 51 is perpendicular to the film tearing direction, the end of the movable clamping jaw 6 is formed with a triangular rib-shaped structure matching the V-shaped groove 51, when the movable clamping jaw 6 moves towards the clamping section of the fixed clamping jaw 5, the triangular rib-shaped structure at the end of the movable clamping jaw 6 can be inserted into the V-shaped groove 51 to make the tab of the protective film bend and deform in the film tearing direction. When the movable clamping jaw 6 clamps the tab of the protective film 4 with the fixed clamping jaw 5, the triangular rib-shaped structure at the end of the movable clamping jaw 6 is inserted into the V-shaped groove 51 on the lower side of the fixed clamping jaw 5, so that the tab of the protective film 4 is bent, avoiding the tab of the protective film being taken out of the clamping jaw by the product when the protective film is torn, ensuring that the protective film is smoothly torn off the surface of the product.

[0024] The clamping driving device comprises a clamping cylinder 7 and a horizontal sliding plate 8, the piston of the clamping cylinder 7 can move axially along the rotating seat 2, the horizontal sliding plate 8 is fixedly connected with the piston of the clamping cylinder 7, the horizontal sliding plate 8 is provided with an inclined slide 81 having an acute angle with the vertical direction, the movable clamping jaw 6 is provided with a sliding pin 9 which can be slidably inserted into the inclined slide 81 of the horizontal sliding plate 8.

[0025] Through the extension and retraction movement of the piston of the clamping cylinder 7, the horizontal sliding plate 8 is driven to slide horizontally back and forth, and then the inclined slide 81 on the horizontal sliding plate 8 forces the sliding pin 9 on the movable clamping jaw 6 to move up and down, so as to clamp or release the tab of the protective film 4, in addition, it can also be a bidirectional cylinder, which drives two clamping jaws to move synchronously towards each other, or a slanted sliding block is driven by the clamping cylinder 7 to move linearly back and forth, a matching inclined surface is arranged at the lower end of the movable clamping jaw 6, a downward reset elastic force is provided for the movable clamping jaw 6 by a spring, and the horizontal movement of the slanted sliding block driven by the clamping cylinder 7 drives the movable clamping jaw 6 to move up and down through the inclined surface. The above structure is an equivalent replacement structure which can be easily thought of by those skilled in the art according to the present application, and also belongs to the protection range of the present patent.

[0026] The rotating seat 2 is further provided with a guide box 10, the guide box 10 is fixedly connected with the fixed section of the fixed jaw 5, the movable jaw 6 is inserted in the guide box 10 and moves in the up-down direction, the upper side of the guide box 10 is opposite to the clamping section of the fixed jaw 5 in the up-down direction, the upper side of the guide box 10 is provided with a movable jaw avoiding opening 11 for the end of the movable jaw 6 to extend out, the piston of the clamping cylinder 7 moves in the front-rear direction, the two side walls of the movable jaw 6 in the left-right direction are provided with horizontal sliding pins 9 extending in the left-right direction, the side walls of the guide box 10 in the front-rear direction are provided with guide sockets 12 for the horizontal sliding plate 8 to be inserted and slid, the side walls of the guide box 10 in the left-right direction are provided with guide sliding grooves 13 for the sliding pins 9 to be inserted and slid, the guide sliding grooves 13 extend in the vertical direction, the sliding pins are provided with bearings 14, and the bearings 14 are in rolling contact with the inner side walls of the guide sliding grooves 13 of the guide box 10 and the inclined sliding grooves 81 of the horizontal sliding plate 8.

[0027] By arranging the guide box 10 on the rotating seat 2, the movable jaw 6 is guided by the inner side walls of the guide box 10, and the sliding pins are guided up and down by the guide sliding grooves 13 on the left and right side walls of the guide box 10, so that the movable jaw 6 moves linearly up and down, the horizontal sliding plate 8 is guided to slide horizontally by the guide sockets 12 on the front and rear side walls of the guide box 10, so that the horizontal sliding plate 8 and the movable jaw 6 move in the horizontal and vertical directions respectively, the bearings 14 are arranged on the sliding pins, so that they are in rolling friction with the side walls of the inclined sliding grooves 81 and the guide sliding grooves 13, the friction is small, the movable jaw 6 moves smoothly up and down, and the horizontal sliding plate 8 and the movable jaw 6 can be arranged in the left-right direction or can form a U-shaped gap on one side and be sleeved on the other side to achieve left-right balance. The person skilled in the art can design according to the actual needs.

[0028] The rotating drive device 3 is a rotating cylinder, the sealing cavity 15 is arranged on the film tearing fixed plate 1, the sealing cavity 15 is communicated with the external gas source through a gas pipe, the sealing cavity 15 is further provided with a first gas supply pipeline communicated with the rotating cylinder and a second gas supply pipeline communicated with the clamping cylinder 7, the first gas supply pipeline and the second gas supply pipeline are provided with control valves, and the controller controls the control valves to control the rotating cylinder and the clamping cylinder 7. By one sealing cavity 15, the rotating cylinder and the clamping cylinder 7 are supplied with gas, which can avoid winding caused by the gas pipe.

[0029] The static electricity eliminator 16 is fixedly installed on the film tearing fixed plate 1, and the air outlet end of the air outlet pipe 17 is fixedly installed on the air blowing port of the static electricity eliminator 16. The side wall of the air outlet pipe 17 is provided with a plurality of air outlet holes 171, which can blow ion wind to eliminate static electricity between the clamping jaw and the film tearing hand 4. The auxiliary installation of the static electricity eliminator 16 and the air outlet pipe 17 can ensure that the protective film will not be adsorbed on the clamping jaw due to static electricity after being torn off, and the film throwing efficiency is high.

[0030] The static electricity eliminator mounting bracket 18 is a sheet metal bending structure, one end of which forms a connecting part provided with at least two horizontally extending long strip-shaped connecting notches 181 arranged in an upper and lower direction. The film tearing fixed plate 1 is fixedly provided with at least two connecting nut sleeves 19 arranged in an upper and lower direction, which can be inserted into each connecting notch in a relative horizontal movement. A connecting bolt is provided, which is movably screwed with the connecting nut sleeve 19. The head of the connecting bolt and the film tearing fixed plate 1 can clamp and fix the connecting part of the static electricity eliminator mounting bracket 18. The other end of the static electricity eliminator mounting bracket 18 forms a mounting part provided with a long strip-shaped mounting hole extending in an upper and lower direction. At least two mounting screws are arranged in the long strip-shaped mounting hole in an upper and lower sliding manner. The mounting screws can be movably screwed with the threaded holes on the mounting surface of the static electricity eliminator 16. The mounting part can be tightly clamped and fixed between the mounting surface of the static electricity eliminator and the head of the mounting screw. The static electricity eliminator 16 can be adjusted in position on the film tearing fixed plate 1 through the above structure, so that the air outlet pipe 17 blows air directly opposite to the clamping jaw. The static electricity eliminator mounting bracket 18 is convenient to install and dismount on the film tearing fixed plate 1.

[0031] The film tearing fixed plate 1 is provided with two or more rotating seats 2 at intervals. Each rotating seat 2 is provided with a pair of clamping jaws. The air outlet pipe 17 extends along the arrangement direction of each rotating seat 2, and can blow ion wind to the gap between all pairs of clamping jaws. The double-head structure can realize film tearing of two products at the same time, and the film tearing efficiency is higher.

[0032] The product carrying manipulator comprises a manipulator moving in three-dimensional space and a negative pressure suction cup fixedly installed on the moving end of the manipulator, the negative pressure suction cup being communicated with an external negative pressure supply device through an air pipe, the negative pressure suction cup being provided with a negative pressure suction nozzle, the negative pressure suction nozzle being capable of suction-fixing a product to be torn film through negative pressure, and the manipulator being capable of moving the product to be torn film on a horizontal plane, extending a protective film tearing hand 4 of the product into a pair of clamping jaws, and moving away from the pair of clamping jaws in a vertical direction and a horizontal direction to realize tearing of the protective film from the product. The product carrying manipulator can be a three-axis movement mechanism for linear reciprocating movement along three mutually perpendicular directions, or a multi-axis manipulator arm mechanism with multiple manipulator arms hingedly connected, which can be selected as required.

[0033] Working principle and action flow of the film tearing mechanism:

[0034] 1. The negative pressure suction nozzle of the product carrying manipulator sucks the product and moves to a film tearing station, and the protective film tearing hand 4 is sent into the clamping gap between the fixed clamping jaw 5 and the movable clamping jaw 6;

[0035] 2. The piston of the clamping cylinder 7 is extended, the movable clamping jaw 6 is driven to move upward through the inclined slide 81 on the horizontal slide plate 8, and then the movable clamping jaw 6 and the fixed clamping jaw 5 cooperate to clamp the protective film tearing hand 4;

[0036] 3. The product carrying manipulator starts to move, the negative pressure suction nozzle thereon synchronously drives the product to move, and the protective film is torn off;

[0037] 4. The rotary cylinder drives the rotary seat 2 to overturn by 90°, the piston of the clamping cylinder 7 is retracted, the movable clamping jaw 6 and the fixed clamping jaw 5 release the protective film tearing hand 4, and the film is thrown;

[0038] During the film throwing process, the electrostatic eliminator 16 keeps working, and blows air continuously towards the clamping jaw direction to eliminate static electricity generated during the film tearing process.

Claims

1. A film tearing mechanism, characterized in that: The invention comprises a product handling robot, a film tearing fixed plate (1), a rotating seat (2), a clamping claw, a clamping drive device, a rotating drive device (3) and a controller, wherein the rotating seat can be mounted on the film tearing fixed seat and can rotate around a horizontally extending rotating shaft, and a pair of clamping claws can be mounted on the rotating seat and can move relative to each other, and the clamping drive device is fixedly mounted on the rotating seat and can drive the pair of clamping claws to move relative to each other, and the relative movement of the pair of clamping claws can clamp or release the protective film tearing hand part (4) located between the clamping claws, and the product handling robot can transport the product from the designated position to the film tearing position and make the protective film tearing hand part extending from the surface of the product enter between the pair of clamping claws, and the product handling robot can also transport the product from the film tearing position to the next process to separate the product from the protective film on its surface, and the rotating drive device can drive the rotating seat to rotate at a set angle, thereby making the protective film released by the clamping claws fall under the action of gravity, and the controller controls the intermittent transporting action of the product handling robot, and the controller also controls the start and stop of the clamping drive device and the rotating drive device.

2. The film tearing mechanism according to claim 1, wherein: The pair of clamping jaws includes a fixed clamping jaw (5) and a movable clamping jaw (6), the fixed clamping jaw includes a fixed section extending along the radial direction of the rotating seat and a clamping section extending along the axial direction of the rotating seat, the fixed section and the clamping section form an L-shaped integral structure, the movable clamping jaw can be installed on the rotating seat so as to be able to move radially and telescopically along the rotating seat, and the clamping section of the movable clamping jaw and the fixed clamping jaw move relative to each other to clamp the tearing hand portion of the protective film.

3. The film tearing mechanism according to claim 2, wherein: A V-shaped groove (51) is formed on the surface of the clamping section of the fixed clamping jaw facing the movable clamping jaw, and the extension direction of the V-shaped groove is perpendicular to the film tearing direction. The end of the movable clamping jaw is formed with a triangular prism structure matching the V-shaped groove. When the movable clamping jaw moves toward the clamping section of the fixed clamping jaw, the triangular prism structure at the end of the movable clamping jaw can be inserted into the V-shaped groove, so that the tearing hand portion of the protective film is bent and deformed in the film tearing direction.

4. The film tearing mechanism according to claim 2, wherein: The clamping drive device includes a clamping cylinder (7) and a horizontal slide (8), the piston of the clamping cylinder can move telescopically along the axial direction of the rotating seat, the horizontal slide is fixedly connected to the piston of the clamping cylinder, and the horizontal slide is provided with an inclined slide (81) with an acute angle between the extension direction and the vertical direction, and the movable clamping claw is equipped with a sliding pin (9), which can be slidably inserted into the inclined slide of the horizontal slide.

5. The film tearing mechanism according to claim 4, characterized in that: The rotating seat is also provided with a guide box (10), which is fixedly connected to the fixed section of the fixed clamping jaw, and the movable clamping jaw is inserted into the guide box for moving in the up and down directions. The upper side surface of the guide box is arranged to face the clamping section of the fixed clamping jaw up and down. The upper side surface of the guide box is provided with a movable clamping jaw avoidance opening (11) for the end of the movable clamping jaw to extend. The piston of the clamping cylinder is provided to move telescopically in the front and back directions. The two side walls of the movable clamping jaw in the left and right directions are provided with sliding pins extending horizontally in the left and right directions. The side walls of the guide box in the front and back directions are provided with guide sockets (12) for the horizontal slide to be slidably inserted. The side walls of the guide box in the left and right directions are provided with guide grooves (13) for the sliding pin to be slidably inserted. The guide grooves extend in the vertical direction. A bearing (14) is installed on the sliding pin. The bearing is in rolling contact with the guide groove on the guide box and the inner wall of the inclined slide on the horizontal slide.

6. The film tearing mechanism according to claim 1, wherein: The rotary drive device is a rotary cylinder, and a sealing cavity (15) is provided on the film tearing fixing plate. The sealing cavity is connected to an external air source through an air pipe. The sealing cavity is also provided with a first air supply pipe connected to the rotary cylinder and a second air supply pipe connected to the clamping cylinder. Control valves are provided in the first air supply pipe and the second air supply pipe. The controller controls the control valve to realize control of the rotary cylinder and the clamping cylinder.

7. The film tearing mechanism according to claim 1, wherein: A static eliminator (16) and an air filter tube (17) are also provided. The static eliminator is fixedly mounted on the film tearing fixed plate. The air inlet end of the air filter tube is fixedly mounted on the air blowing port of the static eliminator. A plurality of air outlet holes (171) are provided on the side wall of the air filter tube. The air outlet holes can blow ionized air into the gap between the paired clamping jaws to eliminate static electricity between the clamping jaws and the protective film tearing hand.

8. The film tearing mechanism according to claim 7, wherein: An electrostatic eliminator mounting bracket (18) is also provided. The electrostatic eliminator mounting bracket is a sheet metal bending structure, and a connecting portion is formed at one end thereof. The connecting portion is provided with at least two long strip connecting notches (181) arranged vertically and extending in the horizontal direction. At least two connecting nut sleeves (19) arranged vertically are fixed on the tear film fixing plate. The connecting nut sleeves can be inserted into each of the connecting notches and can be moved relatively horizontally. A connecting bolt is also provided. The connecting bolt is movably screwed with the connecting nut sleeve. The head of the connecting bolt and the tear film fixing plate can clamp and fix the connecting portion of the electrostatic eliminator mounting bracket. A mounting portion is formed at the other end of the electrostatic eliminator mounting bracket. The mounting portion is provided with a long strip mounting hole extending in the vertical direction. At least two mounting screws that can slide up and down are provided in the long strip mounting hole. The mounting screws can be movably screwed with the threaded holes on the electrostatic eliminator mounting surface. The mounting portion can be tightly clamped and fixed between the electrostatic eliminator mounting surface and the mounting screw head.

9. The film tearing mechanism according to claim 7, wherein: Two or more rotating seats are arranged at intervals on the film tearing fixing plate, each rotating seat is provided with a pair of clamping claws, and the wind bleed tube extends along the arrangement direction of each rotating seat, and the wind bleed tube can blow ion wind towards the gaps between all pairs of clamping claws.

10. The film tearing mechanism according to claim 1, wherein: The product handling robot includes a robot that moves in three-dimensional space and a negative pressure suction cup. The negative pressure suction cup is fixedly installed on the moving end of the robot. The negative pressure suction cup is connected to the external negative pressure providing device through an air pipe. The negative pressure suction cup is provided with a negative pressure suction nozzle. The negative pressure suction nozzle can fix the product to be torn off by negative pressure adsorption. The robot can drive the product to be torn off to move on the horizontal plane and extend the protective film tearing hand on the product into a pair of clamps, and can move in the vertical and horizontal directions away from the paired robot to realize the tearing of the protective film from the product.

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