CN111873605B

CN111873605B - Supplementary dyestripping device of gripper and dyestripping mechanism

Info

Publication number: CN111873605B
Application number: CN202010921541.3A
Authority: CN
Inventors: 张国军; 张臻; 明五一; 廖敦明; 尹玲; 倪明堂; 赵健州; 于海深; 张意
Original assignee: Guangdong Hust Industrial Technology Research Institute
Current assignee: Guangdong Hust Industrial Technology Research Institute
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2022-04-26
Anticipated expiration: 2040-09-04
Also published as: CN111873605A

Abstract

The invention discloses a mechanical claw assisted film tearing device and a film tearing mechanism, which comprise a rack, wherein a feeding mechanism, a clamping mechanism, an ablation mechanism and a film tearing mechanism are arranged on the rack, the ablation mechanism comprises a laser generator, a laser reflection module and a focusing lens, the film tearing mechanism is provided with a second sliding block, a film tearing module is arranged below the second sliding block, the film tearing module comprises a second driving device, a film tearing support and a mechanical arm, the second driving device is fixed on the second sliding block, and one end of the second driving device is provided with a second driving rod. According to the invention, the ablation mechanism and the film tearing mechanism are arranged, the laser beam is focused by using the focusing lens of the ablation mechanism, then the four corners of the film of the curved glass on the clamping mechanism are ablated to generate folds, and finally the folds at the four corners of the film are respectively clamped by using the manipulator of the film tearing mechanism and are torn off from the curved glass, so that the film tearing efficiency and quality are effectively improved.

Description

Supplementary dyestripping device of gripper and dyestripping mechanism

Technical Field

The invention relates to the technical field of curved glass processing, in particular to a mechanical claw assisted film tearing device and a film tearing mechanism.

Background

The 3C product is used as a product with high daily use frequency, the use comfort of the product becomes the key point of widening product requirements of various manufacturers, the most visual perception and touch experience of a user are designed on the screen, the curved-surface screen mobile phone has better visual experience and higher screen occupancy, and is popular with more and more people, the application field of the curved-surface screen relates to the manufacture of 3C products such as the curved-surface screen mobile phone, an intelligent watch and an intelligent bracelet, and various manufacturers begin to research and develop and sell curved-surface screen products to meet the use requirements of the user.

Traditional curved surface glass need protect curved surface glass at the dyestripping in-process, and traditional artifical dyestripping operation mode can lead to the fact wearing and tearing or spot for curved surface glass surface, and work efficiency is low, consequently, need to develop an efficient curved surface glass dyestripping device urgently, under the clear prerequisite in assurance curved surface glass surface, improve dyestripping efficiency and dyestripping quality.

Disclosure of Invention

In view of the above, it is necessary to provide a gripper-assisted film tearing device and a film tearing mechanism for improving film tearing efficiency and quality of curved glass.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a mechanical claw assisted film tearing device comprises a rack, wherein a feeding mechanism, a clamping mechanism, an ablation mechanism and a film tearing mechanism are arranged on the rack, a workbench is arranged on the rack, a base frame is arranged on the workbench, a first guide rail is arranged on the base frame, a material containing box is arranged on the workbench, a second guide rail is arranged on the workbench, the clamping mechanism is clamped on the second guide rail, and the feeding mechanism is clamped on the first guide rail; the clamping mechanism is provided with a sliding seat, the sliding seat is clamped on the second guide rail, a first driving seat is arranged on the sliding seat, a second driving seat is arranged on the first driving seat, the first driving seat and the second driving seat are vertically arranged, and a clamping seat is arranged on the second driving seat; the ablation mechanism is arranged on one side of the rack and comprises a laser generator, a laser reflection module and a focusing lens, the laser generator is fixed on the workbench, a supporting plate is arranged on the workbench, and the laser reflection module and the focusing lens are fixed on the supporting plate; dyestripping mechanism card is held on first guide rail, dyestripping mechanism is provided with the second slider, the second slider card is held on first guide rail, second slider below is provided with the dyestripping module, the dyestripping module includes second drive arrangement, dyestripping support and manipulator, second drive arrangement fixes on the second slider, second drive arrangement one end is provided with the second actuating lever, second drive arrangement drives second actuating lever back and forth movement from top to bottom, the dyestripping support is fixed in second actuating lever one end, the manipulator sets up respectively on the dyestripping support.

In one embodiment, a film tearing guide rail is arranged on the lower end face of the film tearing support, the manipulator is provided with a film tearing slide block and a mechanical claw module, the mechanical claw module is respectively fixed below the film tearing slide block, and the film tearing slide block is respectively arranged at four corners of the film tearing guide rail.

In one embodiment, the gripper module comprises two first bevel gears, two second bevel gears, a third bevel gear, a fourth bevel gear, a first straight gear, a second straight gear and a third straight gear, the two first bevel gears are respectively arranged on the film tearing sliding block side by side, and the two second bevel gears are connected through a rotating rod; the third bevel gear and the fourth bevel gear are respectively arranged on one side of the two first bevel gears, the second bevel gears at the two ends of the rotating rod are respectively meshed with the first bevel gears, the third bevel gear and the fourth bevel gear are respectively meshed with the two first bevel gears, the first straight gear is arranged in the middle of the rotating rod, the second straight gear is arranged on one side of the first straight gear, the third straight gear is arranged on one side of the second straight gear, the second straight gear is meshed with the first straight gear, and the third straight gear is meshed with the second straight gear; third bevel gear one side is provided with first gripper, fourth bevel gear one side is provided with the second gripper, third straight-tooth gear one side is provided with the third gripper, first gripper end portion is provided with first clamping part, second gripper end portion is provided with the second clamping part, third gripper end portion is provided with the third clamping part.

In one embodiment, the ends of the first clamping portion, the second clamping portion and the third clamping portion are respectively provided with a convex point portion at intervals.

In one embodiment, a machine vision positioning mechanism is further provided, and the machine vision positioning mechanism is arranged on the manipulator.

In one embodiment, the first clamping portion, the second clamping portion and the third clamping portion are respectively provided with a pressure sensor.

In one embodiment, the feeding mechanism is provided with a first slider, the first slider is clamped on a first guide rail, a material taking module is arranged below the first slider and comprises a first driving device, a material taking support, a vacuum pump and vacuum chucks, the first driving device is fixed on the first slider, a first driving rod is arranged at one end of the first driving device, the first driving device drives the first driving rod to move up and down, the material taking support is fixed at one end of the first driving rod, the vacuum pump is fixed on the material taking support, the vacuum chucks are respectively arranged at four corners of the material taking support, and the vacuum chucks are respectively connected with the vacuum pump.

In one embodiment, the laser reflection module comprises a first reflector, a first beam expander, a second reflector, a second beam expander, a third reflector and a third beam expander, the first reflector, the first beam expander, the second reflector, the second beam expander, the third reflector and the third beam expander are respectively fixed on a support plate, the first reflector, the first beam expander, the second reflector, the second beam expander, the third reflector and the third beam expander are used for adjusting a horizontal laser beam emitted by a laser generator into an inverted U-shaped laser beam path, specifically, the reflection surface of the first reflector and the horizontal surface are arranged at 45 degrees, the first beam expander is arranged in the vertical direction, the first beam expander is arranged between the first reflector and the second reflector, the reflection surface of the second reflector and the reflection surface of the first reflector are arranged in parallel, the second beam expander is arranged in the horizontal direction, the second beam expander is arranged between the second reflecting mirror and the third reflecting mirror, the reflecting surface of the third reflecting mirror is perpendicular to the reflecting surface of the third reflecting mirror, the third beam expander is arranged in the vertical direction, and the third beam expander is arranged between the third reflecting mirror and the focusing lens.

In one embodiment, the focusing lens comprises a focusing shell, a focusing lens is arranged at the bottom end of the focusing shell, adjusting blocks are respectively arranged on two sides of the focusing lens, an inner groove is formed in the inner side wall of the focusing shell, and the adjusting blocks slide back and forth along the direction of the inner groove.

A film tearing mechanism comprises a film tearing support and a manipulator, wherein a film tearing guide rail is arranged on the lower end face of the film tearing support, the manipulator is provided with a film tearing sliding block and a mechanical claw module, the mechanical claw module is respectively fixed below the film tearing sliding block, and the film tearing sliding block is respectively arranged on the film tearing guide rail; the mechanical claw module comprises two first bevel gears, two second bevel gears, a third bevel gear, a fourth bevel gear, a first straight gear, a second straight gear and a third straight gear, the two first bevel gears are respectively arranged on the film tearing sliding block side by side, and the two second bevel gears are connected through a rotating rod; the third bevel gear and the fourth bevel gear are respectively arranged on one side of the two first bevel gears, the second bevel gears at the two ends of the rotating rod are respectively meshed with the first bevel gears, the third bevel gear and the fourth bevel gear are respectively meshed with the two first bevel gears, the first straight gear is arranged in the middle of the rotating rod, the second straight gear is arranged on one side of the first straight gear, the third straight gear is arranged on one side of the second straight gear, the second straight gear is meshed with the first straight gear, and the third straight gear is meshed with the second straight gear; third bevel gear one side is provided with first gripper, fourth bevel gear one side is provided with the second gripper, third straight-tooth gear one side is provided with the third gripper, first gripper end portion is provided with first clamping part, second gripper end portion is provided with the second clamping part, third gripper end portion is provided with the third clamping part.

In conclusion, the auxiliary film tearing device and the auxiliary film tearing mechanism provided by the invention have the advantages that the ablation mechanism and the auxiliary film tearing mechanism are arranged, the laser beam is focused by using the focusing lens of the ablation mechanism, then, the four corners of the film of the curved glass on the clamping mechanism are ablated to generate folds, and finally, the mechanical arm of the auxiliary film tearing mechanism is used for clamping the folds at the four corners of the film and tearing the film off from the curved glass, so that the film tearing efficiency and quality are effectively improved; simultaneously, set up machine vision positioning mechanism and pressure sensor on the cooperation manipulator, press from both sides the process of getting to the manipulator and monitor, further improved curved surface glass's dyestripping success rate and work efficiency.

Drawings

FIG. 1 is a schematic structural diagram of a gripper-assisted film tearing device according to the present invention;

FIG. 2 is a schematic structural view of another view of the film tearing apparatus with the aid of the gripper according to the present invention;

FIG. 3 is a schematic structural view of a feeding mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a film tearing mechanism of the present invention;

FIG. 5 is a schematic structural view of another perspective of the film tearing mechanism of the present invention;

FIG. 6 is a schematic structural diagram of the gripper module according to the present invention;

FIG. 7 is a schematic structural view of the first clamping portion, the second clamping portion or the third clamping portion of the present invention;

FIG. 8 is a schematic view of the combination of an ablation mechanism and a clamping mechanism of the present invention;

FIG. 9 is a schematic view of a focusing lens according to the present invention;

FIG. 10 is a schematic structural diagram of a clamping mechanism according to the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 10, the auxiliary film tearing device with mechanical claws of the present invention includes a frame 100, wherein the frame 100 is provided with a feeding mechanism 200, a clamping mechanism 300, an ablation mechanism 400 and a film tearing mechanism 500, the frame 100 is provided with a workbench 110, two ends of the workbench 110 are provided with base frames 120, the base frames 120 are provided with first guide rails 130, the workbench 110 is provided with a material containing box 140, the material containing box 140 is used for placing curved glass, specifically, the material containing box 140 is provided with a material containing groove 141, and the curved glass is placed in the material containing groove 141; a second guide rail 150 is arranged on one side of the material containing box 140 on the workbench 110, the second guide rail 150 is arranged under the first guide rail 130, the clamping mechanism 300 is clamped on the second guide rail 150 and slides back and forth along the direction of the second guide rail 150, and the feeding mechanism 200 is clamped on the first guide rail 130 and slides back and forth along the direction of the first guide rail 130.

The feeding mechanism 200 is provided with a first sliding block 210, the first sliding block 210 is clamped on the first guide rail 130, the first sliding block 210 moves back and forth along the direction of the first guide rail 130, a material taking module 220 is arranged below the first sliding block 210, and the material taking module 220 is used for taking materials from the curved glass in the material containing box 140 and transferring the curved glass into the clamping mechanism 300; specifically, the material taking module 220 includes a first driving device 221, a material taking support 222, a vacuum pump 223 and a vacuum chuck 224, the first driving device 221 is fixed on the first slider 210, one end of the first driving device 221 is provided with a first driving rod 225, the first driving device 221 drives the first driving rod 225 to move up and down and back and forth, the material taking support 222 is fixed at one end of the first driving rod 225, the vacuum pump 223 is fixed on the material taking support 222, the vacuum chuck 224 is respectively arranged at four corners of the material taking support 222, the vacuum chuck 224 is respectively connected with the vacuum pump 223, and the vacuum pump 223 is used for performing vacuum pumping operation on the vacuum chuck 224, so that the vacuum chuck 224 can be stably adsorbed on the surface of the curved glass.

The clamping mechanism 300 is provided with a sliding seat 310, the sliding seat 310 is clamped on the second guide rail 150, the sliding seat 310 is provided with a first driving seat 320, the first driving seat 320 is provided with a second driving seat 330, the first driving seat 320 and the second driving seat 330 are vertically arranged, the second driving seat 330 is provided with a clamping seat 340, the middle part in the clamping seat 340 is provided with a placing table 341, and the curved glass is placed on the placing table 341, wherein the first driving seat 320 drives the second driving seat 330 to slide along the direction, the second driving seat 330 drives the clamping seat 340 to slide along the Y-axis direction, and thus the adjustment operation of the clamping seat 340 in the X-axis and Y-axis directions is completed; the clamping seat 340 is respectively provided with a limiting lug 342 at two sides of the placing table 341, and the limiting lugs 342 are used for fixing two side edges of the curved glass, so that the curved glass is prevented from sliding on the placing table 341 to influence the subsequent film tearing operation; a gap is formed between the placing table 341 and the limiting bump 342, so that the curved glass edge can be conveniently accommodated.

The ablation mechanism 400 is arranged on one side of the machine frame 100, the ablation mechanism 400 comprises a laser generator 410, a laser reflection module 420 and a focusing lens 430, the laser generator 410 is fixed on the workbench 110, a support plate 440 is arranged on the workbench 110, the laser reflection module 420 and the focusing lens 430 are fixed on the support plate 440, a laser beam emitted by the laser generator 410 is in a horizontal direction, the laser reflection module 420 is used for reflecting the laser beam emitted by the laser generator 410 and adjusting the light path of the laser beam to be vertically downward, and the focusing lens 430 is used for focusing the adjusted laser beam so as to better perform ablation treatment on a film on the surface of a curved glass; specifically, the laser generator 410 is an ultra-short pulse laser device, the pulse width of the laser beam is less than 10ps, the laser reflection module 420 includes a first reflector 421, a first beam expander 422, a second reflector 423, a second beam expander 424, a third reflector 425, and a third beam expander 426, the first reflector 421, the first beam expander 422, the second reflector 423, the second beam expander 424, the third reflector 425, and the third beam expander 426 are respectively fixed on the support plate 440, the first reflector 421, the first beam expander 422, the second reflector 423, the second beam expander 424, the third reflector 425, and the third beam expander 426 are configured to adjust the horizontal laser beam emitted by the laser generator 410 to an inverted U-shaped laser beam path, specifically, the reflection surface of the first reflector 421 is arranged at 45 ° to the horizontal plane, the first beam expander 422 is arranged in the vertical direction, the first beam expander 422 is arranged between the first reflector 421 and the second reflector 423, the reflecting surface of the second reflector 423 is arranged in parallel with the reflecting surface of the first reflector 421, the second beam expander 424 is arranged in the horizontal direction, the second beam expander 424 is arranged between the second reflector 423 and the third reflector 425, the reflecting surface of the third reflector 425 is arranged perpendicular to the reflecting surface of the third reflector 425, the third beam expander 426 is arranged in the vertical direction, the third beam expander 426 is arranged between the third reflector 425 and the focusing lens 430, and the focusing lens 430 focuses the laser beams emitted from the third beam expander 426 to better ablate the film on the curved glass surface.

In one embodiment, the focusing lens 430 includes a focusing housing 431, a focusing lens 432 is disposed at a bottom end of the focusing housing 431, adjusting blocks 433 are disposed at two sides of the focusing lens 432, an inner groove 4311 is disposed on an inner side wall of the focusing housing 431, and the adjusting blocks 433 slide up and down along the direction of the inner groove 4311 to drive the focusing lens 432 to move up and down, so as to find a focus position of the focusing lens 432, thereby facilitating a focusing operation of a laser beam reflected by the laser reflection module 420; after focusing, the focusing lens 430 focuses the laser beam reflected by the laser reflection module 420 on one side of the curved glass clamped on the clamping mechanism 300, at this time, the clamping base 340 is driven to move along the X-axis and Y-axis directions by the first driving base 320 and the second driving base 330, so that the laser beam forms an L-shaped ablation route on the film of the curved glass, wherein the lengths of two sides of the L-shaped laser route are both 3mm, wrinkles are generated at the positions of four corners on the surface of the film of the curved glass due to thermal action after the laser beam ablates the film, so that the film tearing mechanism 500 performs clamping operation.

The film tearing mechanism 500 is clamped on the first guide rail 130 and slides back and forth along the direction of the first guide rail 130, the film tearing mechanism 500 is provided with a second slide block 510, the second slide block 510 is clamped on the first guide rail 130, the second slide block 510 slides back and forth along the direction of the second guide rail 150, a film tearing module 520 is arranged below the second slide block 510, and the film tearing module 520 is used for clamping the folding positions of four corners of a film of the curved glass in the clamping mechanism 300 and tearing off the film from the curved glass; specifically, the film tearing module 520 includes a second driving device 521, a film tearing support 522 and a manipulator 523, the second driving device 521 is fixed on the second slider 510, one end of the second driving device 521 is provided with a second driving rod 524, the second driving device 521 drives the second driving rod 524 to move up and down, the film tearing support 522 is fixed at one end of the second driving rod 524, the manipulator 523 is respectively arranged at four corners of the film tearing support 522, the four manipulators 523 are centrally and symmetrically distributed on the film tearing support 522, an X-shaped film tearing guide 525 is arranged on the lower end surface of the film tearing support 522, the manipulator 523 is provided with a film tearing slider 5231 and a mechanical claw module 5232, the mechanical claw modules 5232 are respectively fixed below the film tearing slider 5231, the film tearing slider 5231 is respectively arranged at four corners of the film tearing guide 525, the film tearing slider 5231 moves towards the center of the film tearing guide 525 along the direction of the film tearing guide 525, and then the mechanical claw module 5232 is driven to move towards the center of the film tearing guide rail 525 along the direction of the film tearing guide rail 525, so that the processing procedure of tearing the film from the curved glass is completed.

The mechanical claw module 5232 comprises two first bevel gears 52321, two second bevel gears 52322, a third bevel gear 52323, a fourth bevel gear 52324, a first straight gear 52325, a second straight gear 52326 and a third straight gear 52327, the two first bevel gears 52321 are respectively arranged on the film tearing slider 5231 side by side, the two second bevel gears 52322 are connected through a rotating rod 52328, the rotating rod 52328 is connected with an external driving device, and the first bevel gear 52321, the second bevel gear 52322, the third bevel gear 52323, the fourth bevel gear 52324, the first straight gear 52325, the second straight gear 52326 and the third straight gear 52327 are driven to rotate respectively through the rotation of the rotating rod 52328; the third bevel gear 52323 and the fourth bevel gear 52324 are respectively arranged on one side of two first bevel gears 52321, the second bevel gears 52322 at two ends of the rotating rod 52328 are respectively meshed with the first bevel gears 52321, the third bevel gear 52323 and the fourth bevel gear 52324 are respectively meshed with the two first bevel gears 52321, the first straight gear 52325 is arranged in the middle of the rotating rod 52328, the second straight gear 52326 is arranged on one side of the first straight gear 52325, the third straight gear 52327 is arranged on one side of the second straight gear 52326, the second straight gear 52326 is meshed with the first straight gear 52325, and the third straight gear 52327 is meshed with the second bevel gear 52326; the first bevel gear 52321 rotates to drive the second bevel gear 52322, the third bevel gear 52323 and the fourth bevel gear 52324 to rotate, meanwhile, the second bevel gear 52322 rotates to drive the rotating rod 52328 to rotate, so that the first straight gear 52325 rotates synchronously, the second straight gear 52326 rotates to drive the second straight gear 52326 to rotate, and the third straight gear 52327 rotates along with the rotation of the second straight gear 52326; the first bevel gear 52321 is fixed by a rotating shaft connected to the film tearing slider 5231 to ensure that the center of the first bevel gear 52321 is unchanged and can rotate freely, the second bevel gear 52322 and the first straight gear 52325 are fixed to the rotating rod 52328, in order to better show the transmission relationship between the gears, intermediate fixing rods of other gears are not shown in the drawing, and the fixing rods are located at the center of each gear and keep the relative position with the film tearing slider 5231 unchanged and can enable the gears to rotate freely.

The third bevel gear 52323 is provided with a first gripper 526 on one side, the fourth bevel gear 52324 is provided with a second gripper 527 on one side, the third spur gear 52327 is provided with a third gripper 528 on one side, the first gripper 526 is provided with a first clamping portion 5261 on the end portion, the second gripper 527 is provided with a second clamping portion 5271 on the end portion, the third gripper 528 is provided with a third clamping portion on the end portion, the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion are simultaneously located on the circumference of a concentric circle, specifically, the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion respectively and the line connecting the circle centers of the concentric circle form an included angle of 120 degrees, so as to ensure that the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion simultaneously contact and clamp the fold position of a corner of the film of the curved glass, which is more similar to the manual operation, the film tearing success rate of the mechanical claw assisted film tearing device is further improved; the movement tracks of the first gripper 526, the second gripper 527 and the third gripper 528 can be ensured by controlling and adjusting the tooth number and modulus of the bevel gear and the straight gear, and the first gripper 526, the second gripper 527 and the third gripper 528 can simultaneously contact with the folding position of the film; the first gripper 526, the first gripper 527, and the first gripper 528 are respectively fixed to different gears, the corresponding transmission modes are straight gear transmission and bevel gear transmission, the rotational speeds of two bevel gears and one straight gear on the rotating rod 52328 are the same, the relationship between the tooth number and the modulus of the bevel gear with the three gripper rotational speeds being the same can be calculated according to the distance between the three and the size of the gripper, and further the required transmission ratio between the gears can be obtained, and the specific implementation method of the transmission ratio can be obtained through a gear transmission calculation formula, which is a common technical means in the field and does not need to be described herein.

In one embodiment, the ends of the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion are respectively provided with the protruding point 529 at intervals so as to increase the surface friction coefficient of the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion, so that the friction force can be increased when the wrinkle position of the film of the curved glass is clamped, and the probability that the wrinkle position of the film clamped by the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion falls is reduced; the protruding point portions 529 are respectively distributed on the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion in an array, the cross-sectional shape of the protruding point portions 529 is a regular hexagon structure with a side length of 10mm, and the interval between the protruding point portions 529 is 2 mm.

In one embodiment, the mechanical claw assisted film tearing device is further provided with a machine vision positioning mechanism, the machine vision positioning mechanism is arranged on the mechanical arms 523, specifically, the machine vision positioning mechanism can be arranged on the film tearing slide block 5231, the machine vision positioning mechanism is used for determining the position coordinates of the four mechanical arms 523 and the film center coordinate of the curved glass, and after the four mechanical arms 523 are respectively clamped at the four fold positions of the film, the film tearing slide block 5231 moves along the direction of the film tearing guide rail 525, so that the four mechanical arms 523 simultaneously move to the film center position of the curved glass; in order to prevent the interference of the movement of the four mechanical arms 523, when the distance between every two mechanical arms 523 in the four mechanical arms 523 is 10mm, the movement of the four mechanical arms 523 in the horizontal direction is stopped, and then the second driving device 521 drives the second driving rod 524 to ascend, so that the four mechanical arms 523 ascend along the Z-axis direction simultaneously until the film is torn off from the curved glass; the distance between the film tearing sliders 5231 is the distance between the two corresponding manipulators 523.

In one embodiment, pressure sensors (not shown) are respectively mounted on the first clamping portion 5261, the second clamping portion 5271 and the third clamping portion, the pressure sensor is electrically connected with a control computer, the control computer can independently control the four mechanical arms 523, when the first gripper 526, the second gripper 527 and the third gripper 528 of one of the manipulators 523 simultaneously contact one of the folding positions of the film, the rotary lever 52328 is stopped from rotating, the monitoring data of the pressure sensor is transmitted to the control computer, the amount of the rotational feed of the rotating lever 52328 is adjusted according to the kind of film of the curved glass, thereby controlling the grasping force of the first gripper 526, the second gripper 527 and the third gripper 528, the gripping force can be gradually increased in the clamping process, so that the phenomenon that the fold part is damaged and falls off due to the sudden increase of the gripping force is avoided; specifically, in the process of tearing the film by the mechanical arms 523, when the pressure value of more than 2 of the three pressure sensors of one of the mechanical arms 523 suddenly drops to 0 in the moving process, it is defined that the wrinkle position clamped by the mechanical arm 523 falls off, the mechanical arm 523 stops moving, at this time, the other three mechanical arms 523 still normally move, when the stop movement of more than 2 mechanical arms 523 is displayed, the other mechanical arms 523 all stop moving, the film tearing operation of the curved glass is defined as failure, and the curved glass in the clamping mechanism 300 is taken out by the feeding mechanism 200 and transferred to the secondary tearing box to wait for the next film tearing process.

When the device works specifically, curved glass to be subjected to film tearing is placed in the material containing box 140, the feeding mechanism 200 adsorbs the curved glass in the material containing box 140 through the vacuum chuck 224, after the curved glass is adsorbed, the clamping mechanism 300 moves along the second guide rail 150, when the sliding seat 310 of the clamping mechanism 300 moves to a position 10cm away from the material containing box 140, the feeding mechanism 200 stops moving, the feeding mechanism 200 moves along the first guide rail 130, when the curved glass moves to a position right above the clamping mechanism 300, the first driving device 221 drives the first driving rod 225 to move downwards, the adsorbed curved glass is placed on the placing table 341, the limiting lug 342 fixes the curved glass on the placing table 341, when the curved glass is stably placed on the placing table 341, the vacuum pump 223 stops working, the suction force of the vacuum chuck 224 is 0, at this time, the curved glass is separated from the vacuum chuck 224, the first driving device 221 drives the first driving rod 225 to move upwards, the first sliding block 210 moves along the first guide rail 130 to return the feeding mechanism 200 to the original position for the next material taking operation; then, the curved glass is driven by the clamping mechanism 300 to move to the lower part of the ablation mechanism 400 along the direction of the second guide rail 150, the laser emitted by the laser generator 410 enters the focusing lens 430 under the reflection of the laser reflection module 420, the laser beam is focused by the focusing lens 430, and then the curved glass is driven to move by the movement of the first driving seat 320 and the second driving seat 330 of the clamping mechanism 300, so that the positions of the four corners of the film of the curved glass are ablated according to the laser ablation route; after the film on the surface of the curved glass is ablated by laser, wrinkles are generated at the four corners of the film, the clamping mechanism 300 moves to the position right below the film tearing mechanism 500 along the second guide rail 150, after the machine vision positioning mechanism positions the position coordinates of the mechanical hand 523 and the center coordinates of the film of the curved glass, the second driving device 521 drives the second driving rod 524 to move downwards, meanwhile, the rotating rod 52328 starts to move, so that the first mechanical claw 526, the second mechanical claw 527 and the third mechanical claw 528 of each mechanical hand 523 respectively clamp the wrinkle positions at the four corners of the film, at this time, the film tearing slider 5231 moves along the direction of the film tearing guide rail 525, then the four mechanical hands 523 simultaneously move towards the center of the film of the curved glass, when the distance between every two mechanical hands 523 reaches the preset distance, the mechanical hands 523 stop moving, and finally, the four mechanical hands 523 simultaneously ascend along the Z axis under the driving of the second driving device 521 until the film is torn from the curved glass, the film tearing operation of the curved glass is completed, and the film tearing efficiency and quality of the curved glass are effectively improved; meanwhile, a machine vision positioning mechanism and a pressure sensor which are arranged at the tail end of the mechanical arm 523 are matched to monitor the clamping process of the mechanical arm 523, so that the film tearing success rate and the working efficiency of the curved glass are further improved.

The invention also provides a film tearing mechanism which comprises the film tearing support 522 and the manipulator 523 of the mechanical claw assisted film tearing device, wherein the manipulator 523 is provided with a machine vision positioning mechanism and a pressure sensor.

Other technical features of the film tearing mechanism are the same as those of the mechanical claw assisted film tearing device, and are not repeated herein.

In summary, according to the gripper-assisted film tearing device and the film tearing mechanism, the ablation mechanism 400 and the film tearing mechanism 500 are arranged, the focusing lens 430 of the ablation mechanism 400 is used for focusing the laser beam, then the ablation treatment is performed on the four corners of the film of the curved glass on the clamping mechanism 300 to generate wrinkles, and finally the manipulator 523 of the film tearing mechanism 500 is used for clamping the wrinkles at the four corners of the film and tearing the film off from the curved glass, so that the film tearing efficiency and quality are effectively improved; meanwhile, a machine vision positioning mechanism and a pressure sensor are arranged on the mechanical arm 523 in a matched mode, the clamping process of the mechanical arm 523 is monitored, and the film tearing success rate and the working efficiency of the curved glass are further improved.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a supplementary dyestripping device of gripper which characterized in that: the film cutting machine comprises a rack, wherein a feeding mechanism, a clamping mechanism, an ablation mechanism and a film tearing mechanism are arranged on the rack, a workbench is arranged on the rack, a base frame is arranged on the workbench, a first guide rail is arranged on the base frame, a material containing box is arranged on the workbench, a second guide rail is arranged on the workbench, the clamping mechanism is clamped on the second guide rail, and the feeding mechanism is clamped on the first guide rail; the clamping mechanism is provided with a sliding seat, the sliding seat is clamped on the second guide rail, a first driving seat is arranged on the sliding seat, a second driving seat is arranged on the first driving seat, the first driving seat and the second driving seat are vertically arranged, and a clamping seat is arranged on the second driving seat; the ablation mechanism is arranged on one side of the rack and comprises a laser generator, a laser reflection module and a focusing lens, the laser generator is fixed on the workbench, a supporting plate is arranged on the workbench, and the laser reflection module and the focusing lens are fixed on the supporting plate; the film tearing mechanism is clamped on the first guide rail and provided with a second sliding block, the second sliding block is clamped on the first guide rail, a film tearing module is arranged below the second sliding block and comprises a second driving device, a film tearing support and a mechanical arm, the second driving device is fixed on the second sliding block, one end of the second driving device is provided with a second driving rod, the second driving device drives the second driving rod to move up and down, the film tearing support is fixed at one end of the second driving rod, and the mechanical arm is respectively arranged on the film tearing support;

the film tearing mechanism comprises a film tearing support, a film tearing guide rail, a manipulator and a mechanical claw module, wherein the film tearing guide rail is arranged on the lower end face of the film tearing support, the mechanical claw module is respectively fixed below the film tearing guide rail, and the film tearing guide rail is respectively arranged at four corners of the film tearing guide rail;

the mechanical claw module comprises two first bevel gears, two second bevel gears, a third bevel gear, a fourth bevel gear, a first straight gear, a second straight gear and a third straight gear, the two first bevel gears are respectively arranged on the film tearing sliding block side by side, and the two second bevel gears are connected through a rotating rod; the third bevel gear and the fourth bevel gear are respectively arranged on one side of the two first bevel gears, the second bevel gears at the two ends of the rotating rod are respectively meshed with the first bevel gears, the third bevel gear and the fourth bevel gear are respectively meshed with the two first bevel gears, the first straight gear is arranged in the middle of the rotating rod, the second straight gear is arranged on one side of the first straight gear, the third straight gear is arranged on one side of the second straight gear, the second straight gear is meshed with the first straight gear, and the third straight gear is meshed with the second straight gear; a first mechanical claw is arranged on one side of the third bevel gear, a second mechanical claw is arranged on one side of the fourth bevel gear, a third mechanical claw is arranged on one side of the third spur gear, a first clamping part is arranged at the tail end part of the first mechanical claw, a second clamping part is arranged at the tail end part of the second mechanical claw, and a third clamping part is arranged at the tail end part of the third mechanical claw;

the middle part in the clamping seat is provided with a placing table, the curved glass is placed on the placing table, the clamping seat is respectively provided with limiting lugs at two sides of the placing table, the limiting lugs are used for fixing two side edges of the curved glass, and the curved glass is prevented from sliding on the placing table to influence the subsequent film tearing operation; a gap is reserved between the placing table and the limiting lug so as to accommodate the edge of the curved glass.

2. The gripper-assisted film tearing apparatus of claim 1, wherein: the end parts of the first clamping part, the second clamping part and the third clamping part are respectively provided with a convex point part at intervals.

3. The gripper-assisted film tearing apparatus of claim 1, wherein: the mechanical arm is also provided with a machine vision positioning mechanism, and the machine vision positioning mechanism is arranged on the mechanical arm.

4. The gripper-assisted film tearing apparatus of claim 1, wherein: and the first clamping part, the second clamping part and the third clamping part are respectively provided with a pressure sensor.

5. The gripper-assisted film tearing apparatus of claim 1, wherein: feeding mechanism is provided with first slider, first slider card is held on first guide rail, first slider below is provided with gets the material module, it includes first drive arrangement, gets material support, vacuum pump and vacuum chuck to get the material module, first drive arrangement fixes on first slider, first drive arrangement one end is provided with first actuating lever, first drive arrangement drives first actuating lever and makes a round trip to operate from top to bottom, it fixes in first actuating lever one end to get the material support, the vacuum pump is fixed on getting the material support, vacuum chuck sets up respectively in four corners departments of getting the material support, vacuum chuck respectively with vacuum pump connection.

6. The gripper-assisted film tearing apparatus of claim 1, wherein: the laser reflection module comprises a first reflector, a first beam expander, a second reflector, a second beam expander, a third reflector and a third beam expander, wherein the first reflector, the first beam expander, the second reflector, the second beam expander, the third reflector and the third beam expander are respectively fixed on a supporting plate, the first reflector, the first beam expander, the second reflector, the second beam expander, the third reflector and the third beam expander are used for adjusting a horizontal laser beam emitted by a laser generator into a reversed U-shaped laser beam light path, specifically, the reflecting surface and the horizontal surface of the first reflector are arranged at an angle of 45 degrees, the first beam expander is arranged in a vertical direction, the first beam expander is arranged between the first reflector and the second reflector, the reflecting surface of the second reflector is arranged in parallel with the reflecting surface of the first reflector, the second beam expander is arranged in a horizontal direction, the second beam expander is arranged between the second reflecting mirror and the third reflecting mirror, the reflecting surface of the third reflecting mirror is perpendicular to the reflecting surface of the third reflecting mirror, the third beam expander is arranged in the vertical direction, and the third beam expander is arranged between the third reflecting mirror and the focusing lens.

7. The gripper-assisted film tearing apparatus of claim 1, wherein: the focusing lens comprises a focusing shell, a focusing lens is arranged at the bottom end of the focusing shell, adjusting blocks are arranged on two sides of the focusing lens respectively, an inner groove is formed in the inner side wall of the focusing shell, and the adjusting blocks slide back and forth along the direction of the inner groove.