CN111806816A - A double-sided film tearing device - Google Patents

Abstract

The invention discloses a double-sided film tearing device, which is used for automatically removing the film on the surface of the board and automatically processing the film torn from the surface of the board, wherein the board is in a sheet shape and includes at least one corner, and the board is It includes a lower surface and an upper surface, the lower surface and the upper surface are respectively attached with films, and the double-sided film tearing device includes a material storage rack, a reclaiming device, a first film tearing station, a first film tearing mechanism, It is composed of the tearing film conveying device, the second film tearing station and the second film tearing mechanism. Compared with the prior art, the double-sided film tearing device proposed by the present invention is used for automatically tearing off the film attached to the upper and lower surfaces of the sheet plate, thereby improving the film tearing efficiency and reducing labor costs.

Description

A double-sided film tearing device

technical field

The invention relates to the technical field of mechanical equipment, in particular to a double-sided film tearing device.

Background technique

The production process of the light guide plate: cut the base material (usually optical grade acrylic or PC sheet) into a fixed size, then polish the cut base material, grind it to a precise size, and finally put the bottom surface of the base material on the bottom surface of the base material. Use laser engraving, V-shaped cross grid engraving, UV screen printing and other technologies to print the light guide dot structure.

The light guide plate substrate is generally provided with protective films on both sides to prevent the product from being scratched or polluted by the environment during transportation. Therefore, it is necessary to remove the film before engraving or embossing the light guide dot structure. At present, the removal of the film is all manual processing, the labor cost is high, and the film tearing efficiency is low.

How to reduce labor costs and improve film tearing efficiency is an urgent problem to be solved at present.

SUMMARY OF THE INVENTION

The purpose of the present invention is to: overcome the deficiencies in the prior art, solve the problems in the prior art, and provide a double-sided film tearing device, which is used for automatically tearing off the film attached to the upper and lower surfaces of the sheet plate, improving the tearing performance. Membrane efficiency and reduced labor costs.

The technical scheme of the present invention is: a double-sided film tearing device, which is used to automatically remove the film on the surface of a plate, wherein the plate is in a sheet shape and includes at least one corner, and the plate includes a lower surface and an upper surface, The lower surface and the upper surface are respectively attached with films,

The double-sided film tearing device includes:

A storage rack, a first film tearing station, a second film tearing station, wherein the storage rack is used to store the sheet, the storage rack, the first film tearing station, the second film tearing station The film tearing stations are arranged in sequence;

A reclaiming device, which is used to take out a sheet of material from the storage rack and transport the sheet to the first film tearing station;

The film tearing conveying device comprises a second manipulator and a second holding part fixedly connected with the end of the second manipulator, the second manipulator can drive the second holding part in the first film tearing station and the second holding part. Reciprocating movement between the two film tearing stations, the second holding part can adsorb and release one surface of the plate;

The first film tearing mechanism is arranged between the first film tearing station and the second film tearing station. During the process of moving to the second film tearing station, the first film tearing mechanism tears off the film on the lower surface of the plate;

The second film tearing mechanism is arranged at the end of the second mechanical arm of the tearing film conveying device, and is fixedly connected with the end of the second mechanical arm, and the second mechanical arm can drive the second film tearing mechanism in the first Reciprocating movement between the film tearing station and the second film tearing station;

Wherein the second film tearing station includes a fourth holding part, which can adsorb and release one surface of the plate, and is adsorbed and fixed by the fourth holding part on the lower surface of the plate, and the second mechanical arm In the process of driving the second film tearing mechanism to move from the second film tearing station to the first film tearing station, the second film tearing mechanism tears off the film attached to the upper surface of the plate .

Preferably, the first film tearing mechanism includes a first sticking roller, a first clamping part and a first clamping driving device, and the first clamping part can be clamped and loosened under the driving of the first clamping driving device The second film tearing mechanism includes a second sticking roller, a second clamping part and a second clamping driving device, and the second clamping part can be driven by the second clamping and driving device. Repetitive action of loosening.

Preferably, the second holding part of the film tearing conveying device absorbs the upper surface of the sheet from the first film tearing station, and the second mechanical arm drives the second holding part to move from the first film tearing station to the In the process of the second film tearing station, a corner of the lower surface of the sheet is first contacted with the first sticking roller, and the first sticking roller sticks to a corner of the film attached to the lower surface of the sheet and After rolling, the first clamping part clamps the film stuck on the first sticking roller under the driving of the first clamping driving device, and then the second mechanical arm drives the second holding part to move further to the second film tearing station, After moving to the second film tearing station, the second holding part releases the adsorbed sheet to the second film tearing station;

After the second holding part moves the sheet from the first film tearing station to the second film tearing station driven by the second robotic arm, the second holding part releases the sheet to the second film tearing station; the The lower surface of the sheet is adsorbed and fixed by the fourth holding part of the second film tearing station, and the second mechanical arm drives the second film tearing mechanism to move from the second film tearing station to the first film tearing station. The second sticking roller first comes into contact with a corner of the upper surface of the plate, the second sticking roller sticks to a corner of the film on the upper surface and rolls, and then the second clamping part is driven by the second clamping driving device. Clamping the film stuck on the second sticking roller, after that the second mechanical arm drives the second film tearing mechanism to move further to the first film tearing station until the film is detached from the upper surface of the plate;

Preferably, the storage rack includes a platform for placing plates, a plurality of baffles vertically arranged and passing through the platform, the platform and the plurality of baffles are enclosed to form a vertical storage cavity, the Sheets are stacked in the storage chamber.

Preferably, the storage rack further includes a detection device and a platform lift drive device for driving the platform to move up and down along the baffle, the platform can move down along the baffle to a first position, and the first position is the platform The lowest position moving down along the baffle, at this time the capacity of the storage cavity is the largest; the platform can move up along the baffle to the second position, and the second position is the highest position where the platform moves upward along the baffle, this When the capacity of the storage cavity is the smallest;

The detection device can detect whether there is a plate at the second position; after the plate at the second position is removed, when the detection device cannot detect the plate at the second position, the lifting drive The device drives the platform to move upward along the baffle for a certain distance, so that the plate located at the uppermost part of the storage chamber moves upward to the second position or the upper part of the second position.

Preferably, it also includes at least one first guide rail and at least one second guide rail located at the bottom of the baffle, the baffle set at the bottom on the first guide rail is the first baffle, and the baffle set at the bottom on the second guide rail is the first baffle Two baffles, the platform includes first through holes matching the number of first guide rails, the platform includes second through holes matching the number of second guide rails, the first baffle passes through The first through hole of the platform can move back and forth along the first guide rail, and the second baffle plate can move back and forth along the first guide rail through the second through hole of the platform, so as to change the storage capacity of the storage chamber. The size of the board to adapt to different sizes of boards.

Preferably, the reclaiming device includes a first mechanical arm and a first holding part fixedly connected with the end of the first mechanical arm, the first mechanical arm can drive the first holding part at the storage rack and the first holding part. A reciprocating movement between film tearing stations, the first holding part can adsorb and release one surface of the sheet; the first mechanical arm drives the first holding part to move from the first film tearing station to the storage rack When the first holding part absorbs a sheet from the storage rack, the first mechanical arm drives the first holding part with the sheet to move from the storage rack to the first film tearing station, and the first holding part is released. The adsorbed sheet is sent to the first film tearing station.

Preferably, the first holding part includes a plurality of first suction cups, a first suction cup driving device, a suction cup and a lifting driving device; the first suction cup can absorb and release the sheet under the driving of the first suction cup driving device , and the first suction cup can move up and down between two predetermined positions in the longitudinal direction under the driving of the first suction cup driving device; , and the lifting suction cup can move up and down between two predetermined positions in the longitudinal direction under the driving of the lifting suction cup driving device;

When the first mechanical arm drives the first holding part to move from the to-be-processed station to the storage rack, the lifting suction cup moves downward and absorbs the The upper surface of the uppermost plate in the storage cavity, and then the suction cup drives the uppermost plate to move upwards under the driving of the lifting drive device, and a part of the uppermost plate is separated from other plates at this time. And follow the lifting suction cup to move upward, and the other part stays in the material storage cavity to contact other plates; then the plurality of first suction cups are driven by the first suction cup driving device, move down and absorb the suction cups sucked by the lifting suction cup. The upper surface of the plate, then the plurality of first suction cups drive the plate to move upward under the driving of the first suction cup drive device; finally, the first mechanical arm drives the first holding part to move from the storage rack After arriving at the to-be-processed station, the plurality of first suction cups and the lifting suction cups are respectively driven by the first suction cup driving device and the feeding-lifting driving device to move down and release the sheet to the to-be-processed station.

Preferably, the second holding part includes a plurality of second suction cups and a second suction cup driving device, the second suction cups can suck and release the board under the driving of the second suction cup driving device, and the second suction cups can be Driven by the second suction cup driving device, it moves up and down between two predetermined positions in the longitudinal direction; the second mechanical arm drives the second holding part to move from the second film tearing station to the first tearing position When the film is in the film station, the plurality of second suction cups are driven by the second suction cup driving device to move downward and absorb the upper surface of the plate on the first film tearing station, and then the plurality of second suction cups Driven by the second suction cup driving device, the plate is driven to move upward; when the second mechanical arm drives the second holding part to move from the first film tearing station to the second film tearing station, the The plurality of second suction cups move downward under the driving of the second suction cup driving device and release the sheet to the second film tearing station, and then the plurality of second suction cups move upward under the driving of the second suction cup driving device .

Preferably, the first clamping part can reciprocate between the first clamping position and the first releasing position under the driving of the first clamping driving device; After rolling on the corner of the film of the sheet, the first clamping part moves from the first release position to the first clamping position under the driving of the first clamping driving device, and at this time the corner of the film is in the first clamping position. Between the holding part and the first sticking roller, the first holding part and the first sticking roller jointly fix a corner of the film; after the film attached to the plate is detached from the plate, the first holding part is in the first holding part. Driven by a clamping driving device, it is moved from the first clamping position to the first releasing position;

The second clamping part can reciprocate between the second clamping position and the second releasing position under the driving of the second clamping driving device; After a corner of the film is rolled, the second clamping part moves from the second release position to the second clamping position under the driving of the second clamping driving device, and at this time, a corner of the film is in the second clamping part and the second clamping part. Between the second sticking rollers, the second clamping part and the second sticking roller jointly fix a corner of the film; the film attached to the upper surface of the sheet is detached from the upper surface of the sheet and moves with the second robotic arm When reaching the first film tearing station, the second clamping part is moved from the second clamping position to the second releasing position under the driving of the second clamping driving device.

Preferably, it also includes a waste film treatment device, the waste film treatment device is arranged at the first sticking roller of the first film tearing mechanism, and includes a clamping plate device, a clamping plate driving device, a clamping plate moving driving device and a waste bin, the clamping plate The driving device can drive the clamping plate device to perform repeated actions of clamping and fixing and clamping and releasing the film, and the clamping plate moving device can drive the clamping plate device to reciprocate between the first sticking roller and the waste bin. sports;

After the film attached to the lower surface of the plate is detached from the plate and released by the first clamping part driven by the first clamping driving device, the clamping device is driven by the clamping plate driving device. The film is clamped and fixed at the bottom, and then the splint device moves from the first sticking roller to the waste bin under the drive of the splint moving drive device, and the splint device clamps and releases the film under the drive of the splint drive device. to the waste bin, and then the splint device moves from the waste bin to the first sticking roller under the driving of the splint moving driving device. When the film attached to the upper surface is detached from the upper surface of the plate and moves to the first film tearing station along with the second mechanical arm and is at the first sticking roller of the first film tearing mechanism, the second The clamping part is moved from the second clamping position to the second releasing position under the driving of the second clamping driving device. At this time, the film sticks to the second sticking roller and does not contact the second clamping part. The splint device located at the first sticking roller clamps and fixes the film under the drive of the splint driving device, and then the splint device moves from the first sticking roller to the waste bin under the driving of the splint moving drive device, The clamping plate device clamps and releases the film to the waste bin under the driving of the clamping plate driving device, and then the clamping plate device moves from the waste warehouse to the first sticking roller under the driving of the clamping plate moving driving device.

Preferably, it also includes a receiving device, the receiving device includes a third mechanical arm, a third holding part and a receiving station, the third holding part is fixedly connected with the end of the third mechanical arm, the third mechanical arm The arm can drive the third holding part to reciprocate between the second film tearing station and the receiving station, and the third holding part can adsorb and release the upper surface of the plate; in the third mechanical arm When the third holding part is driven to move from the receiving station to the second film tearing station, the third holding part absorbs the plate from the second film tearing station, and then the third mechanical arm drives the third holding part that adsorbs the plate The part moves from the second film tearing station to the receiving station, and the third holding part releases the adsorbed sheet to the receiving station.

Advantages of the present invention:

1. The double-sided film tearing device of the present invention is used for automatically tearing off the film attached to the upper and lower surfaces of the sheet-like plate, improving the film tearing efficiency and reducing labor costs.

2. The storage rack of the double-sided film tearing device of the present invention can be equipped with an automatic lifting platform. When a part of the board at the top of the storage rack is taken away, the platform of the storage rack can automatically rise.

3. The storage rack of the double-sided film tearing device of the present invention can be provided with guide rails at the bottom, so that it can store plates of different sizes.

4. The reclaiming device of the double-sided film tearing device of the present invention can be provided with a suction cup, which is used to improve the probability that the reclaiming device only transports one sheet at a time. In addition, a vibrator can be added to the reclaiming device to further improve the probability that the reclaiming device only transports one sheet at a time.

5. The double-sided film tearing device of the present invention can add a waste film processing device, which is used to automatically process the film torn off from the surface of the sheet, thereby further reducing labor costs.

6. The double-sided film tearing device of the present invention can add a material receiving device, which is used to automatically collect the sheets with the film torn in one place, thereby further reducing labor costs.

Description of drawings

FIG. 1 is a schematic perspective view of the automatic film tearing device provided by the present invention.

Fig. 2 is a perspective view of the storage rack of the automatic film tearing device provided by the present invention.

FIG. 3 is a perspective view 1 of a process in which the reclaiming device of the automatic film tearing equipment provided by the present invention takes material in the material storage rack.

FIG. 4 is a second perspective view of the process of the reclaiming device of the automatic film tearing equipment provided by the present invention taking material in the material storage rack.

5 is a first three-dimensional schematic diagram of the process of tearing off the film attached to the lower surface of the plate by the tearing conveying device and the first tearing mechanism of the automatic film tearing device provided by the present invention.

6 is a second perspective schematic diagram of the process of tearing off the film attached to the lower surface of the plate by the tearing conveying device and the first tearing mechanism of the automatic film tearing device provided by the present invention.

FIG. 7 is an enlarged perspective view of the first film tearing mechanism of the automatic film tearing device provided by the present invention during the film tearing process.

8 is a schematic perspective view of the process of tearing off the film attached to the upper surface of the plate by the second film tearing mechanism of the automatic film tearing device provided by the present invention.

9 is a three-dimensional view of the process of preparing to tear off the film attached to the upper surface of the next plate after the second film tearing mechanism of the automatic film tearing device provided by the present invention is preparing to tear off the film attached to the upper surface of the next plate after tearing off the film attached to the upper surface of the plate Schematic.

FIG. 10 is a schematic perspective view of the material collecting device of the automatic film tearing equipment provided by the present invention to collect the plates.

Detailed ways

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, wherein: 10, storage rack; 101, platform; 102, baffle; 103, first guide rail; 104, first baffle plate; 105, second guide rail; 106, second baffle plate; 107, material storage chamber; 108, detection device; 109, first position; 110, second position; 111 , the first through hole; 112, the second through hole; 113, the blowing device; 114, the lift drive device; 20, the first film tearing station; 30, the second film tearing station; 301, the fourth holding part; 40 400, the first holding part; 401, the first mechanical arm; 402, the suction cup; 403, the first suction cup; 404, the driving device for lifting; 405, the driving device for the first suction cup; 406, the vibrator 50, tearing film conveying device; 501, second mechanical arm; 502, second suction cup; 503, second holding part; 504, second suction cup driving device; 60, first film tearing mechanism; 601, first sticking roller ; 602, the first clamping part; 603, the first clamping driving device; 70, the second tearing film mechanism; 701, the second sticking roller; 702, the second clamping part; 703, the second clamping driving device; 80, waste film treatment device; 801, splint device; 802, splint drive device; 803, splint moving drive device; 90, material receiving device; 901, third robotic arm; 902, third holding part; 100, plate; 1001 , lower surface; 1002, upper surface; 1003, film.

The detailed description of the present invention is mainly presented through procedures, steps, logic blocks, processes or other symbolic descriptions, which directly or indirectly simulate the operation of the technical solutions in the present invention. Those skilled in the art use the descriptions and representations herein to effectively introduce the nature of their work to others skilled in the art.

Reference herein to "one embodiment" or "an embodiment" means that a feature, structure, or characteristic associated with the described embodiment may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, nor are they necessarily a single or alternative embodiment that is mutually exclusive of other embodiments. Furthermore, the order of modules in the methods, flowcharts, or functional block diagrams representing one or more embodiments is not a fixed order and does not refer to any particular order and does not constitute a limitation of the invention.

A protective film is provided on the surface of some sheets (such as light guide plate substrates) to prevent the sheets from being scratched or polluted by the environment during transportation. Therefore, before processing the sheets, the sheets need to be film-removed. The plate 100 is in a sheet shape and includes at least one corner, and also has a lower surface 1001 and an upper surface 1002. The film 1003 (protective film) can be attached to the lower surface or the upper surface, or both the lower surface and the upper surface. protective film), please refer to the plate shown in Figure 4 for details.

It should be noted that the plate includes an angle, which can be an angle in the normal sense (a geometric object composed of two rays with a common endpoint), or a convex part with an arc. For example, a circular plate includes a There are countless such corners. In this way, the film attached to the surface of the board is torn off from the corner of the board, which is relatively labor-saving.

The invention provides an automatic film tearing device, which is used for automatically removing the film (protective film) attached to the surface of the plate, thereby reducing labor costs and improving film tearing efficiency.

As shown in FIG. 1 , the automatic film tearing equipment of the present invention includes a storage rack 10, a first film tearing station 20, a second film tearing station 30, a reclaiming device 40, a tearing film conveying device 50, a first tearing film The film mechanism 60 and the second film tearing mechanism 70 may also include components such as a waste film processing device 80 and a material receiving device 90 .

The storage rack 10 is used for storing the sheet material 100 to be peeled off. The first film tearing station 20 is used to place a single sheet of sheet material 100 to be peeled off, and the sheet material 100 to be peeled off is waiting for the first film tearing mechanism 60 to be removed and attached to the lower surface 1001 of the sheet at the first film tearing station 20. film. The second film tearing station 30 is used to place the sheet from which the film attached to the lower surface 1001 of the sheet has been torn off, and the sheet from which the film attached to the lower surface 1001 of the sheet has been torn off waits for the second film at the second film tearing station 30 The second film peeling mechanism 70 peels off the film attached to the upper surface 1002 .

The reclaiming device 40 conveys a sheet of material in the storage rack 10 to the first film tearing station 20 , and the tearing film conveying device 50 transports the sheet placed in the first film tearing station 20 to the second film tearing station 30 During the process, cooperate with the first film tearing mechanism 60 to tear off the film attached to the lower surface of the plate. In the process of conveying the next sheet of material from the second film tearing station 30 back to the first film tearing station 20, the second film tearing mechanism 70 tears off the film fixed on the second film tearing station 30. Thin film on the upper surface 1002 of the sheet. The waste film processing device 80 is used for automatically processing the film (hereinafter referred to as waste film) torn off from the surface of the sheet. The receiving device 90 is used to automatically collect the sheets with the film torn into one place. The key components of the automatic film tearing device provided by the present invention are described in detail below.

storage rack

As shown in FIG. 2 , the storage rack 10 of the automatic film tearing device of the present invention, which is used for storing sheet-like plates, includes a platform 101 for placing the plates, a plurality of vertically arranged and passing through the platform 101 . The baffle plate 102, the platform 101 and the plurality of baffle plates 102 form a vertical storage cavity 107, the plates are stacked in the storage cavity 107, and the plate at the uppermost part of the storage cavity 107 can be remove.

In a preferred embodiment, the platform 101 of the storage rack 10 for placing plates is an automatic lifting platform, and the storage rack 101 further includes a detection device 108 and a platform lift drive device 114 for driving the platform 101 to move up and down along the baffle. , the plates are stacked on the platform 101, and as the platform 101 moves upward along the baffle, the plate located on the uppermost part of the platform 101 can be removed.

The platform 101 can move down along the baffle to the first position 109, the first position 109 is the lowest position where the platform 101 moves downward along the baffle, and the capacity of the storage chamber 107 is the largest at this time; the platform 101 It can move up along the baffle to the second position 110 , the second position 110 is the highest position where the platform 101 moves upward along the baffle, and at this time, the capacity of the material storage chamber 107 is the smallest.

The detection device 108 can detect whether a board is placed at the second position 110 . After the plate at the second position 110 is removed, when the detection device 108 cannot detect the plate at the second position 110, the lift driving device drives 114 the platform 101 to move upward along the baffle for a certain distance, The plate at the uppermost part of the storage chamber 107 is moved up to the second position 110 or the upper part of the second position 110 . Preferably, the detection device 108 is an infrared detection device, and the detection device 108 is arranged at the second position 110 .

The lifting process of the storage rack 10 with the automatic lifting platform 101: when the plates stacked on the uppermost part of the storage chamber 107 are at the second position 110, or at the upper part of the second position 110, the plates are removed one by one. When the detection device 108 detects that there is no plate at the second position 110, the lift drive device drives the platform 101 to move upward along the baffle for a certain distance, which is equivalent to the thickness of N (N>=1) plates. When the N sheets are removed again, the detection device 108 detects that there is no sheet at the second position 110 again, and the lift driving device 114 drives the platform 101 to move upward along the baffle again, and the cycle is repeated until the platform 101 is in the position of the lift driving device 114. The lower edge baffle is driven to move to the second position 110, and the platform 101 has risen to the highest position. When the detection device 108 detects that there is no plate at the second position 110, all the plates on the platform 101 have been removed. Preferably, an alarm device is added. When the platform 101 is located at the second position 110, and the detection device 108 detects that there is no plate at the second position 110, an alarm is issued, and the lift drive device drives the platform 101 to move along the baffle to the first position 109. . After the staff heard the alarm, the loading process was carried out.

In another preferred embodiment, the storage rack 10 can store plates of different sizes, and includes a platform 101 for placing the plates, a plurality of baffles vertically arranged and passing through the platform 101, and a platform 101 located in the storage At least one first guide rail 103 at the bottom of the rack 10, the baffle set on the first guide rail 103 at the bottom is a first baffle 104, and the platform 101 includes first through holes 111 matching the number of the first guide rails 103 , the first baffle plate 104 can move back and forth along the first guide rail 103 through the first through hole 111 of the platform 101 , thereby changing the size of the baffle plate that can be stored in the storage cavity 107 to store plates of different sizes .

It should be noted that, in the storage rack 10 in this preferred embodiment, at least one second guide rail 105 arranged perpendicular to the first guide rail 103 can also be added, and the baffle set at the bottom on the second guide rail 105 is the second baffle plate 106 , the platform 101 includes second through holes 112 matching the number of the second guide rails 105 , and the second baffle plate 106 can move back and forth along the second guide rails 105 through the second through holes 112 of the platform 101 . The first baffle 104 and the second baffle 106 move back and forth along the first guide rail 103 and the second guide rail 105 respectively, thereby changing the size of the storage bin 107 to store plates of different sizes.

In a specific embodiment, as shown in FIG. 2 , the storage rack 10 not only has an automatic lifting platform 101 , but also can store plates of different sizes.

It should be noted that the storage rack 10 of the automatic film tearing device of the present invention can not only store plates for the automatic film tearing device of the present invention, but can also store sheet-like plates for other automatic film tearing devices or other devices that need to be stored. of automated equipment to store plates.

Reclaimer

FIGS. 3 and 4 are three-dimensional schematic diagrams of the process of reclaiming the material in the storage rack 10 by the reclaiming device 40 of the automatic film tearing device. As shown in FIGS. 3 and 4 , the reclaiming device 40 takes out a piece of material from the storage rack 10 . The board is transported to the first film tearing station 20 .

Referring to FIGS. 1 and 3 , the reclaiming device 40 includes a first mechanical arm 401 and a first holding part 400 fixedly connected to the end of the first mechanical arm 401 . The first mechanical arm 401 can drive the first holding part in the storage rack. Reciprocating movement between the 10th position and the first film tearing station 20, the first holding part 400 can absorb and release the upper surface of the board. When the first manipulator 401 drives the first holding part to move from the first film tearing station 20 to the storage rack 10 , the first holding part 400 absorbs a sheet of material from the storage rack 10 , and then the first manipulator 401 drives the first holding part 400 with the sheet adsorbed to move from the storage rack 10 to the first film tearing station 20 , and then the first holding part 400 releases the adsorbed sheet 100 and places it in the first film tearing station 20 .

3 , in one embodiment, the first holding part 400 includes a plurality of first suction cups 403 and a first suction cup driving device 404 , and the first suction cups 403 are driven by the first suction cup driving device 404 to absorb and The sheet is released, and the first suction cup 403 moves up and down between two predetermined positions in the longitudinal direction under the driving of the first suction cup driving device 404 . When the first robotic arm 401 drives the first holding part to move from the first film tearing station 20 to the storage rack 10, or when the first robotic arm 401 is located at the storage rack 10 (initial state ), the plurality of first suction cups 403 are driven by the first suction cup driving device 405 to move downward and absorb the upper surface of the uppermost plate in the material storage chamber 107, and then the plurality of first suction cups 403 Driven by the first suction cup driving device 405, the uppermost plate is driven to move upward. Subsequently, the first robotic arm 401 drives the first holding part 400 together with the sheet material 100 to move from the storage rack 10 to the first film tearing station 20 , and the plurality of first suction cups 403 are in the first suction cups. Under the driving of the driving device 405 , the sheet moves downward and releases the sheet to the first film tearing station 20 , and then the plurality of first suction cups 403 move upward under the driving of the driving device for the first suction cups 403 .

The reclaiming device 40 of the above embodiment transports the sheet to the first film tearing station 20 by adsorbing the upper surface 1002 of the uppermost single sheet in the storage chamber 107 . However, due to the adhesion between some sheets (such as plastic sheets), when the first suction cup 403 sucks the upper surface of the uppermost sheet, other sheets in contact with the lower surface of the uppermost sheet may be transported to the first sheet at the same time. Film tearing station 20.

In order to improve the probability that the reclaiming device 40 only takes one sheet at a time, as shown in FIG. 3 and FIG. 4 , in a preferred embodiment, the reclaiming device 40 is provided with a vibrator 406, the vibrator and the first The holding part 400 is fixedly connected, and after the first suction cup 403 of the first holding part sucks a sheet of material from the storage rack 10 and moves up in the longitudinal direction, the vibrator contacts the upper surface of the sucked sheet, and the The vibrator presses the adsorbed plate downward so that the adsorbed plate forms a curved surface, so that the adsorbed plate can be separated from other plates in the material storage chamber 107 .

In order to improve the probability that the reclaiming device 40 only takes one sheet at a time, in another preferred embodiment, a suction cup 402 and a driving device 404 are added to the first holding part, and the suction cup 402 can Under the driving of the material driving device 404, the material suction cup 402 can move up and down between two predetermined positions in the longitudinal direction. The specific fetching process is as follows:

The first mechanical arm 401 drives the first holding part to move from the first film tearing station 20 to the storage rack 10 , or when the equipment is just started, the first robotic arm 401 is located at the storage rack 10 , the lifting suction cup 402 is driven by the lifting driving device 404 to move downward and absorb the upper surface of the uppermost plate in the storage chamber 107, and then the lifting suction cup 402 is driven by the lifting driving device. Driven to drive the uppermost sheet to move upward, at this time, a part of the uppermost sheet is separated from other sheets and moves up with the suction cup 402, and the other part remains in the storage chamber 107 to contact other sheets, as shown in Figure 3 As shown, this is conducive to the phase separation of the adhered sheets. Then, the plurality of first suction cups 403 are driven by the first suction cup driving device 405 to move downward and absorb the upper surface of the sheet sucked by the lifting suction cups 402 , and then the plurality of first suction cups 403 are in the first suction cup Driven by the driving device 403 , the plate is driven to move upward, as shown in FIG. 4 . Finally, the first mechanical arm 401 drives the first holding part together with the plate to move from the storage rack 10 to the first film tearing station 20 , the plurality of first suction cups 403 and the suction cups 402 are respectively Under the driving of the first suction cup driving device 405 and the feeding driving device 404 , the plate is moved downward and released to the first film tearing station 20 .

In order to further improve the probability that the reclaiming device 40 only takes one sheet at a time, a blowing device 113 can be added to the baffle of the storage rack 10 on the side of the suction cup 402, as shown in FIG. When a part of the upper plate is separated from other plates and moves upward with the suction cup 402, and the other part remains in the storage chamber 107 and contacts with other plates, the wind blown by the blowing device 113 is beneficial to the uppermost part of the storage chamber 107. The sheet is separated from other sheets in contact with it.

In another preferred embodiment, the reclaiming suction cup 402 and the first suction cup 403 of the first holding part 400 are elastic suction cups with elastic parts, and the elastic part has the longest length when it is not pressed. The elastic part is compressed and the length is shortened. When the elastic suction cup absorbs the plate in the storage cavity. When the elastic part is the longest, the elastic suction cup can absorb the board farthest from the suction cup. When the elastic part is compressed to the shortest, the elastic suction cup can absorb the board closest to the suction cup. The reclaiming process of the reclaiming device 402 with this elastic suction cup and the material storage rack with the automatic lifting platform 101 is as follows:

The plates stacked on the uppermost part of the storage cavity 107 are located at the upper part of the second position 110, and the first holding part 400 takes the plates one by one from the uppermost part of the storage cavity 107 until the plates at the second position 110 are taken out, At this time, the detection device 108 detects that there is no plate at the second position 110, and the lift drive device 114 drives the platform 101 to move upward along the baffle for a certain distance, which is equivalent to the thickness of N (N>=1) plates. Then the first holding part 400 removes the N sheets one by one again, the detection device 108 detects that there is no sheet at the second position 110 again, and the lift driving device 114 drives the platform 101 to move up a certain distance along the baffle again, and so on. Until the platform 101 moves to the second position 110 along the baffle plate under the driving of the lift drive device, at this time the platform 101 has risen to the highest position, when the detection device 108 detects that there is no plate at the second position 110, that is, the first holding part When all the plates on the platform 101 have been removed 400 , the platform 101 moves to the first position 109 under the driving of the upper driving device 114 .

It should be noted that the number of suction cups 402 may be one or plural, and the number of blowing devices 113 may be one or plural, as long as the principle and function are the same as those of the present invention, they all fall within the protection scope of the present invention .

It should be noted that the reclaiming device 40 of the automatic film tearing equipment of the present invention can not only take material for the automatic film tearing equipment of the present invention, but can also be used for other automatic film tearing equipment or other need to take sheet-shaped plates automatic equipment for reclaiming.

tear film conveyor

Referring to FIGS. 1 and 5 , after the reclaiming device 40 takes out a sheet of material from the storage rack 10 and places it at the first film tearing station 20 , the reclaiming device 40 moves back to the storage rack 10 , and then, as shown in FIG. 5 to As shown in FIG. 9 , the tearing film conveying device 50 of the automatic film tearing equipment of the present invention moves from the second film tearing station 30 to the first film tearing station 20, and transports the sheet placed in the first film tearing station 20 Go to the second film tearing station 30, and cooperate with the first film tearing mechanism 60 in the process to tear off the film attached to the lower surface of the plate. Referring to FIGS. 1 and 5 , the tear film conveying device 50 includes a second manipulator 501 and a second holding part 503 fixedly connected to the end of the second manipulator 501 , and the second manipulator 501 can drive the second holding part 503 Reciprocating movement between the first film tearing station 20 and the second film tearing station 30, the second holding part 503 can absorb and release one surface of the plate. When the second robotic arm 501 drives the second holding portion to move from the second film tearing station 30 to the first film tearing station 20 , the second holding portion 503 absorbs a sheet of material from the first film tearing station 20 Afterwards, the second robotic arm 501 drives the second holding part with the sheet to move from the first film tearing station 20 to the second film tearing station 30, and the second holding part 503 releases the adsorbed sheet to the second film tearing station 30.

Referring to FIG. 5 , in one embodiment, the second holding part 503 includes a plurality of second suction cups 502 and a second suction cup driving device 504 , and the second suction cups 502 can be driven by the second suction cup driving device 504 to suck and release the sheet 100, and the second suction cup 502 can move up and down between two predetermined positions in the longitudinal direction under the driving of the second suction cup driving device 504.

1 and 5 , when the second mechanical arm 501 drives the second holding portion 503 to move from the second film tearing station 30 to the first film tearing station 20 , the plurality of second Driven by the second suction cup driving device 504, the suction cups 502 move downward and absorb the upper surface of the sheet 100 on the first film tearing station 20, and then the plurality of second suction cups 502 are driven by the second suction cup driving device. 504 drives the plate to move upward. Next, the second manipulator 501 drives the second holding part together with the sheet to move from the first film tearing station 20 to the second film tearing station 30 , and then the plurality of second suction cups 502 are moved at the first film tearing station 20 . The second suction cup driving device 504 moves downward and releases the sheet to the second film tearing station 30 , and then the plurality of second suction cups 502 moves upward under the driving of the second suction cup driving device 504 . After releasing the sheet 100 to the second film tearing station 30, the second robotic arm 501 drives the second holding part 503 to move back from the second film tearing station 30 to the first film tearing station 20, repeating the above adsorption of the sheet and moving to Action of the second station 30 .

The first tear-off mechanism

As shown in FIGS. 5-7 , the first film tearing mechanism 60 of the automatic film tearing device of the present invention is arranged between the first film tearing station 20 and the second film tearing station 30, and the first film tearing mechanism 60 In cooperation with the tear-off film conveying device 50, the film attached to the lower surface of the sheet can be peeled off.

As shown in FIG. 7 , the first film tearing mechanism 60 includes a first sticking roller 601 , a first clamping part 602 and a first clamping driving device 603 . Repeatedly clamping and loosening under the drive.

As shown in FIG. 5 and FIG. 6 , the first film tearing mechanism 60 cooperates with the tearing film conveying device 50, and the process of tearing off the film on the lower surface of the sheet is as follows: the second holding part 503 of the tearing film conveying device 50 absorbs On the upper surface of the plate 100, when the second mechanical arm 501 drives the second holding part to move from the first film tearing station 20 to the second film tearing station 30, a corner of the lower surface of the plate 100 is first. In contact with the first sticking roller 601, the first sticking roller 601 sticks to a corner of the film attached to the lower surface of the plate and rolls, and then the first clamping part 602 is driven by the first clamping driving device 603 The film is clamped on the first sticking roller 601 under the driving of the film, and then the second manipulator 501 drives the second holding part 503 to move further to the second film tearing station 30 until the film is removed from the lower surface of the plate break away.

In a preferred embodiment, the first clamping part 602 can reciprocate between the first clamping position and the first releasing position under the driving of the first clamping driving device 603; After the sticking roller 601 sticks to a corner of the film attached to the plate and rolls, the first clamping part 602 moves from the first releasing position to the first clamping position under the driving of the first clamping driving device 603 . A corner of the film is between the first clamping portion 602 and the first adhesive roller 601, and the first clamping portion 602 and the first adhesive roller 601 jointly fix the corner of the film; After the plate is disengaged, the first clamping portion 602 is driven by the first clamping driving device 603 to move from the first clamping position to the first releasing position.

The second tear-off mechanism

As shown in FIG. 8 and FIG. 9 , the second film tearing mechanism 70 of the automatic film tearing device of the present invention can cooperate with the second film tearing station 30 under the driving of the second mechanical arm 501 to tear off the film attached to the plate. film on the upper surface.

The second film tearing mechanism 70 includes a second sticking roller 701 , a second clamping part 702 and a second clamping driving device 703 . The second clamping part 702 can be repeatedly clamped under the driving of the second clamping driving device 703 . with the loosening action.

Preferably, the second film tearing mechanism 70 is arranged at the end of the second mechanical arm 501 of the tearing film conveying device 50, and is fixedly connected with the end of the second mechanical arm 501, and the second mechanical arm 501 can drive the second film tearing mechanism 70 reciprocates between the first film tearing station 20 and the second film tearing station 30 .

10, the second film tearing station 30 is provided with a fourth holding part 301, which can adsorb and release the lower surface of the plate, and is adsorbed and fixed by the fourth holding part 301 on the lower surface of the plate At this time, the film attached to the upper surface of the board can be removed by the second film tearing mechanism 70, and when the lower surface of the board is released by the fourth holding portion 301, the board can be removed.

As shown in FIG. 8 and FIG. 9 , the second film tearing mechanism 70 is driven by the second robotic arm 501 and cooperates with the fourth holding portion 301 of the second film tearing station 30 to tear off the upper surface of the plate. The process of thin film is as follows:

After the second holding part 503 fixed with a plate is driven by the second robotic arm 501 to move the plate from the first film tearing station 20 to the second film tearing station 30, the lower surface of the plate is removed by the second tearing station 30. The fourth holding part 301 of the film station 30 is adsorbed and fixed, and the second mechanical arm 501 drives the second film tearing mechanism 70 to move from the second film tearing station 30 to the first film tearing station 20. During this process, as shown in FIG. 8 As shown, the second sticking roller 701 first comes into contact with a corner of the upper surface of the plate, the second sticking roller 701 sticks to a corner of the film on the upper surface and rolls, and then the second clamping part 702 is in the second clamping The film adhered to the second sticking roller 701 is clamped under the driving of the holding driving device 703, after which the second mechanical arm 501 drives the second film tearing mechanism 70 to move further to the first film tearing station 20 until the film is removed from the plate The upper surface of the film is disengaged, and follows the second robotic arm 501 to move toward the first film tearing station 20 . That is to say, when the conveying device 50 is moved back to the first film tearing station 20, the film on the upper surface of the board is torn off.

In a preferred embodiment of the second film tearing mechanism 70, the second clamping part 702 can reciprocate between the second clamping position and the second releasing position under the driving of the second clamping driving device 703 After the second sticking roller 701 sticks to a corner of the film attached to the plate and rolls, the second clamping part 702 is driven by the second clamping driving device 703 to move from the second release position to the first In the second clamping position, a corner of the film is between the second clamping portion 702 and the second adhesive roller 701, and the second clamping portion 702 and the second adhesive roller 701 jointly fix the corner of the film; When the film attached to the upper surface of the plate is detached from the upper surface of the plate and moves to the first film tearing station 20 following the second robotic arm 501, the second clamping part 702 is driven by the second clamping driving device 703 move from the second clamping position to the second releasing position.

The tearing film conveying device 50, the first film tearing mechanism 60, the second film tearing mechanism 70 and the fourth holding part 301 of the second film tearing station 30 of the automatic film tearing equipment of the present invention cooperate together to automatically tear off the film attached to the film. Films on the top and bottom surfaces of the sheet.

It should be noted that when the sheet-like sheet is rectangular, the positions where the sheet is placed in the first film tearing station and the second film tearing station are placed diagonally, so that when the film is torn off, the film tearing mechanism (the first tearing film The film mechanism 60 and the second film tearing mechanism 70) can be in contact with the corners of the plate first, and the film tearing is more labor-saving.

tear film unit

It can be seen from the specific implementations and examples of the above-mentioned tearing film conveying device 50 , the first tearing film mechanism 60 and the second film tearing mechanism 70 that the first film tearing mechanism 60 peels off the film and the film attached to the lower surface of the plate. The principle of the second film peeling mechanism 70 for peeling off the film attached to the upper surface of the plate is the same, all through the film peeling mechanism (such as the first film peeling mechanism 60 and the second film peeling mechanism 70 mentioned above) It performs relative movement with the holding part (such as the second holding part and the fourth holding part 301 mentioned above) on which the board is fixed to tear off the film attached to the board.

Therefore, the automatic film tearing device of the present invention also includes a film tearing unit, which is used to remove the film attached to the surface of the sheet, wherein the sheet is in a sheet shape and has at least one corner, and the sheet includes an upper surface and a There are two surfaces on the lower surface, and at least one surface is attached with a film. The film tearing unit includes a holding part and a film tearing mechanism. The holding part can fix one surface of the plate. A clamping part and a clamping driving device are provided, and the clamping part can repeatedly perform the actions of clamping and loosening under the driving of the clamping driving device.

The specific film tearing process of the film tearing unit is as follows: the holding part fixes one surface of the plate, and for the convenience of description, this surface is designated as the upper surface, the lower surface of the plate is attached with a film, and a plate is fixed on the lower surface. When the holding part of the plate and the film tearing mechanism move relative to each other, a corner of the lower surface of the plate first comes into contact with the sticking roller, and the sticking roller sticks to a corner of the film attached to the lower surface of the plate and rolling, and then the clamping part clamps the film stuck on the sticking roller under the driving of the clamping driving device, and then the holding part and the film tearing mechanism further move relative to each other until the film is detached from the plate .

It should be noted that the film tearing unit of the automatic film tearing device of the present invention is not only used for the automatic film tearing device of the present invention, but can also be used for other automatic film tearing devices or other automatic devices that require film tearing .

It should be noted that, in the film tearing mechanism of the present invention, the sticking roller, the clamping part and the clamping driving device are all arranged on a base, wherein: the sticking roller is a roller with a viscous rolling surface, and the The sticking roller is rotatably mounted on the base, and after the sticking roller contacts the film on the edge surface of the plate, the film can be stuck;

The clamping part can be repeatedly clamped and loosened under the driving of the clamping driving device. After the sticking roller separates the film on the edge of the plate from the plate, the clamping part can be clamped. The film is clamped under the drive of the holding drive device.

In a specific embodiment, the clamping part can move repeatedly towards and away from the roller surface of the sticking roller under the driving of a clamping driving device, and the clamping driving device drives the clamping part When approaching the roller surface of the sticking roller, the clamping portion is in contact with the roller surface of the sticking roller, so that the film separated from the edge of the sheet can be clamped.

In a preferred embodiment, the clamping part includes a clamping plate, the clamping plate can be repeatedly clamped and loosened under the driving of the clamping driving device, and the film on the edge of the plate is clamped by the sticking roller. After being separated from the sheet, the clamping plate can clamp the film under the drive of the clamping drive.

It should be noted that the film tearing mechanism of the automatic film tearing device of the present invention is not only applicable to the automatic film tearing device of the present invention, but can also be used for other automatic film tearing devices or other automatic devices that require film tearing .

Waste film treatment device

As shown in Fig. 5 to Fig. 7 and Fig. 9, the automatic film tearing equipment of the present invention can manually process the waste film torn off from the surface of the sheet, or a waste film processing device 80 can be added, which is used for automatic processing from Waste film torn from the surface of the sheet.

The waste film treatment device 80 is arranged near the first sticking roller 601, and includes a clamping plate device 801, a clamping plate driving device 802, a clamping plate moving driving device 803 and a waste bin, and the clamping plate driving device 802 can drive the clamping plate device 801 to do For the actions of clamping and fixing and clamping and releasing the film 1003, the clamping plate moving driving device 803 can drive the clamping plate device 801 to reciprocate between the first sticking roller 601 and the waste bin.

The process of processing the waste film is as follows: the film 1003 attached to the lower surface of the plate is detached from the plate 100 and released by the first clamping part 602 under the driving of the first clamping driving device 603 After that, the clamping plate device 801 clamps and fixes the film 1003 under the driving of the clamping plate driving device 802 , and then the clamping plate device 801 moves from the first sticking roller 601 to the waste bin under the driving of the clamping plate moving driving device 803 . Then, the clamping plate device 801 clamps and releases the film to the waste bin under the driving of the clamping plate driving device 802, and then the clamping plate device 801 is driven by the clamping plate moving driving device 803 from the waste warehouse. At the roller 601, the splint device 801 is driven by the splint drive device 802 to keep the splint device in an open state.

The film attached to the upper surface is detached from the upper surface of the plate, and follows the second robotic arm 501 to move to the first film tearing station 20 and is located at the first sticking roller 601 of the first film tearing mechanism 60 When the second clamping part 702 is driven by the second clamping driving device 703 to move from the second clamping position to the second releasing position, the film is stuck on the second sticking roller 701, The two clamping parts 702 are not in contact, the clamping device 801 located at the first sticking roller 601 clamps and fixes the film under the driving of the clamping plate driving device 802 , and then the clamping device 801 is driven by the clamping plate moving driving device 803 Then, the film is moved to the waste bin by the first sticking roller 601. The clamping plate device 801 clamps and releases the film to the waste warehouse under the driving of the clamping plate driving device 802. After that, the clamping plate device 801 is driven by the clamping plate moving driving device. Move down from the waste bin to the first sticky roller 601 .

It should be noted that, when the waste film treatment device 80 processes the waste film detached from the upper surface of the plate, the "located at the first sticking roller 601" refers to "being located near the first sticking roller 601", As shown in FIG. 9 , the waste film 1003 detached from the upper surface of the plate is near the first sticking roller 601 , and the clamping device 801 is also near the first sticking roller 601 .

Receiving device

As shown in FIG. 10 , the automatic film tearing device of the present invention can manually receive the sheet material from which the film attached to its surface has been torn off, or a receiving device 90 can be added, which is used for tearing off the sheet material attached to its surface. Sheets of membranes are automatically collected in one place. The receiving device 90 includes a third mechanical arm 901, a third holding part 902 and a receiving station (not shown), the third holding part 902 is fixedly connected with the end of the third mechanical arm 901, the third mechanical The arm 901 can drive the third holding part 902 to reciprocate between the second film tearing station 30 and the receiving station, and the third holding part 902 can adsorb and release the upper surface of the plate; in the third When the robot arm 901 drives the third holding part 902 to move from the receiving station to the second film tearing station 30, the third holding part 902 absorbs the sheet from the second film tearing station 30, and then the third robot arm 901 The third holding portion 902 on which the sheet is adsorbed is driven to move from the second film tearing station 30 to the receiving station, and the third holding portion 902 releases the adsorbed sheet to the receiving station.

The first film tearing station 20 , the second film tearing station 30 and the receiving station (not shown) can be arranged in line in sequence, and the receiving station is set to the right of the second film tearing station 30 at this time. , but the length of the entire automatic film tearing equipment is relatively long. In a preferred embodiment, the receiving station is arranged at the upper right of the second film tearing station 30. Under the condition that the linear distance between the receiving station and the second film tearing station is the same, this setting can reduce automatic film tearing. The overall length of the device. At the same time, the third manipulator 901 includes a rotating part 903, the rotating part 903 is arranged at the end of the third manipulator 901, and the rotating part 903 is fixedly connected with the third holding part 902, and the third manipulator 901 with the rotating part 903 The third holding part 902 can be driven to rotate counterclockwise by a certain angle. After the rotation, the third holding part is located above the receiving station, so the plate can be transported by the third holding part from the second film tearing station 30 to the receiving station. .

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims (12)

1. A double-sided film tearing device, which is used to automatically remove the film on the surface of a sheet, wherein the sheet is in sheet shape and includes at least one corner, the sheet includes a lower surface and an upper surface, and the lower surface and The upper surface is respectively attached with a film, It is characterized in that it includes: A storage rack, a first film tearing station, a second film tearing station, wherein the storage rack is used to store the sheet, the storage rack, the first film tearing station, the second film tearing station The film tearing stations are arranged in sequence; A reclaiming device, which is used to take out a sheet of material from the storage rack and transport the sheet to the first film tearing station; The film tearing conveying device comprises a second manipulator and a second holding part fixedly connected with the end of the second manipulator, the second manipulator can drive the second holding part in the first film tearing station and the second holding part. Reciprocating movement between the two film tearing stations, the second holding part can adsorb and release one surface of the plate; The first film tearing mechanism is arranged between the first film tearing station and the second film tearing station. During the process of moving to the second film tearing station, the first film tearing mechanism tears off the film on the lower surface of the plate; The second film tearing mechanism is arranged at the end of the second mechanical arm of the tearing film conveying device, and is fixedly connected with the end of the second mechanical arm, and the second mechanical arm can drive the second film tearing mechanism in the first Reciprocating movement between the film tearing station and the second film tearing station; Wherein the second film tearing station includes a fourth holding part, which can adsorb and release one surface of the plate, and is adsorbed and fixed by the fourth holding part on the lower surface of the plate, and the second mechanical arm In the process of driving the second film tearing mechanism to move from the second film tearing station to the first film tearing station, the second film tearing mechanism tears off the film attached to the upper surface of the plate . 2 . The double-sided film tearing device according to claim 1 , wherein the first film tearing mechanism comprises a first sticking roller, a first clamping part and a first clamping driving device, and the first clamping part Capable of performing repeated actions of clamping and loosening under the driving of the first clamping driving device, the second film tearing mechanism includes a second sticking roller, a second clamping part and a second clamping driving device, the second clamping The part can perform repeated actions of clamping and releasing under the driving of the second clamping driving device. 3. The double-sided film tearing device according to claim 2, wherein the second holding part of the tearing film conveying device absorbs the upper surface of the sheet from the first film tearing station, and the second In the process that the robot arm drives the second holding part to move from the first film tearing station to the second film tearing station, a corner of the lower surface of the plate first contacts the first sticking roller, and the first sticking roller Stick a corner of the film attached to the lower surface of the plate and roll it, then the first clamping part clamps the film stuck on the first sticking roller under the driving of the first clamping driving device, and then the second mechanical The arm drives the second holding portion to move further to the second film tearing station, and after moving to the second film tearing station, the second holding portion releases the adsorbed sheet to the second film tearing station; After the second holding part moves the sheet from the first film tearing station to the second film tearing station driven by the second robotic arm, the second holding part releases the sheet to the second film tearing station; the The lower surface of the sheet is adsorbed and fixed by the fourth holding part of the second film tearing station, and the second mechanical arm drives the second film tearing mechanism to move from the second film tearing station to the first film tearing station. The second sticking roller first comes into contact with a corner of the upper surface of the plate, the second sticking roller sticks to a corner of the film on the upper surface and rolls, and then the second clamping part is driven by the second clamping driving device. The film adhered to the second sticking roller is clamped, and then the second mechanical arm drives the second film tearing mechanism to move further toward the first film tearing station until the film is detached from the upper surface of the plate. 4. The double-sided film tearing device according to claim 1, wherein the material storage rack comprises a platform for placing plates, a plurality of baffles vertically arranged and passing through the platform, the platform It is enclosed with a plurality of baffles to form a vertical storage cavity, and the plates are stacked in the storage cavity. 5. The double-sided film tearing device according to claim 4, wherein the storage rack further comprises a detection device and a platform lift drive device for driving the platform to move up and down along the baffle, and the platform can move along the baffle. The plate moves down to the first position, the first position is the lowest position where the platform moves down along the baffle, and the capacity of the storage cavity is the largest at this time; the platform can move up along the baffle to the second position, so The second position is the highest position where the platform moves upward along the baffle, and the capacity of the storage cavity is the smallest at this time; The detection device can detect whether there is a plate at the second position; after the plate at the second position is removed, when the detection device cannot detect the plate at the second position, the lifting drive The device drives the platform to move upward along the baffle for a certain distance, so that the plate located at the uppermost part of the storage chamber moves upward to the second position or the upper part of the second position. 6. The double-sided film tearing device according to claim 4, characterized in that: it further comprises at least one first guide rail and at least one second guide rail located at the bottom of the baffle, and the baffle set at the bottom on the first guide rail is the first guide rail. A baffle, the baffle set at the bottom of the second guide rail is a second baffle, the platform includes first through holes matching the number of the first guide rails, and the platform includes a number of the second guide rails. A matching second through hole, the first baffle passing through the first through hole of the platform can move back and forth along the first guide rail, and the second baffle passing through the second through hole of the platform can move along the The first guide rail moves back and forth, thereby changing the size of the baffle plate that can be stored in the material storage chamber, so as to adapt to plates of different sizes. 7. The double-sided film tearing device according to claim 1, wherein the reclaiming device comprises a first mechanical arm and a first holding part fixedly connected with the end of the first mechanical arm, the first mechanical arm can Drive the first holding part to reciprocate between the storage rack and the first film tearing station, and the first holding part can adsorb and release one surface of the plate; the first mechanical arm drives the first When a holding part moves from the first film tearing station to the storage rack, the first holding part absorbs a sheet from the storage rack, and then the first mechanical arm drives the first holding part with the sheet to be adsorbed by the storage rack. The frame moves to the first film tearing station, and the first holding part releases the adsorbed sheet to the first film tearing station. 8 . The double-sided film tearing device according to claim 7 , wherein the first holding part comprises a plurality of first suction cups, a first suction cup driving device, a feeding suction cup and a feeding driving device; A suction cup can suck and release the sheet under the driving of the first suction cup driving device, and the first suction cup can move up and down between two predetermined positions at intervals in the longitudinal direction under the driving of the first suction cup driving device; The material suction cup can absorb and release the plate under the driving of the lifting suction cup driving device, and the material lifting suction cup can move up and down between two predetermined positions in the longitudinal direction along the longitudinal direction under the driving of the lifting suction cup driving device; When the first mechanical arm drives the first holding part to move from the to-be-processed station to the storage rack, the lifting suction cup moves downward and absorbs the The upper surface of the uppermost plate in the storage cavity, and then the suction cup drives the uppermost plate to move upwards under the driving of the lifting drive device, and a part of the uppermost plate is separated from other plates at this time. And follow the lifting suction cup to move upward, and the other part stays in the material storage cavity to contact other plates; then the plurality of first suction cups are driven by the first suction cup driving device, move down and absorb the suction cups sucked by the lifting suction cup. The upper surface of the plate, then the plurality of first suction cups drive the plate to move upward under the driving of the first suction cup drive device; finally, the first mechanical arm drives the first holding part to move from the storage rack After arriving at the to-be-processed station, the plurality of first suction cups and the lifting suction cups are respectively driven by the first suction cup driving device and the feeding-lifting driving device to move down and release the sheet to the to-be-processed station. 9 . The double-sided film tearing device according to claim 1 , wherein the second holding part comprises a plurality of second suction cups and a second suction cup driving device, and the second suction cups can be connected to the second suction cup driving device. 10 . The second suction cup can move up and down between two predetermined positions in the longitudinal direction under the driving of the second suction cup driving device; the second mechanical arm drives the second holding part When moving from the second film tearing station to the first film tearing station, the plurality of second suction cups are driven by the second suction cup driving device to move downward and absorb the first film tearing station. Then the plurality of second suction cups drive the sheet to move upward under the driving of the second suction cup driving device; the second holding part is driven by the second mechanical arm to be removed by the first tearing When the film station moves to the second film tearing station, the plurality of second suction cups move down under the driving of the second suction cup driving device and release the sheet to the second film tearing station, and then the The plurality of second suction cups move upward under the driving of the second suction cup driving device. 10. The double-sided film tearing device according to claim 2, wherein the first clamping part can be driven between the first clamping position and the first releasing position under the driving of the first clamping driving device. Reciprocating motion is performed between; after the first sticking roller sticks to a corner of the film attached to the plate and rolls, the first clamping part is driven by the first clamping drive device to move from the first release position to the second In a clamping position, a corner of the film is between the first clamping part and the first sticking roller, and the first clamping part and the first sticking roller jointly fix the corner of the film; After the film is separated from the plate, the first clamping part moves from the first clamping position to the first releasing position under the driving of the first clamping driving device; The second clamping part can reciprocate between the second clamping position and the second releasing position under the driving of the second clamping driving device; After a corner of the film is rolled, the second clamping part moves from the second release position to the second clamping position under the driving of the second clamping driving device, and at this time, a corner of the film is in the second clamping part and the second clamping part. Between the second sticking rollers, the second clamping part and the second sticking roller jointly fix a corner of the film; the film attached to the upper surface of the sheet is detached from the upper surface of the sheet and moves with the second robotic arm When reaching the first film tearing station, the second clamping part is moved from the second clamping position to the second releasing position under the driving of the second clamping driving device. 11. The double-sided film tearing device according to claim 2, characterized in that: it further comprises a waste film treatment device, and the waste film treatment device is arranged at the first sticking roller of the first film tearing mechanism, which comprises a splint device , a splint drive device, a splint moving drive device and a waste bin, the splint drive device can drive the splint device to perform repeated actions of clamping and fixing and clamping and releasing the film, and the splint moving device can drive the splint device reciprocating between the first sticking roller and the waste bin; After the film attached to the lower surface of the plate is detached from the plate and released by the first clamping part driven by the first clamping driving device, the clamping device is driven by the clamping plate driving device. The film is clamped and fixed at the bottom, and then the splint device moves from the first sticking roller to the waste bin under the drive of the splint moving drive device, and the splint device clamps and releases the film under the drive of the splint drive device. to the waste bin, and then the splint device moves from the waste bin to the first sticking roller under the driving of the splint moving driving device. When the film attached to the upper surface is detached from the upper surface of the plate and moves to the first film tearing station along with the second mechanical arm and is at the first sticking roller of the first film tearing mechanism, the second The clamping part is moved from the second clamping position to the second releasing position under the driving of the second clamping driving device. At this time, the film sticks to the second sticking roller and does not contact the second clamping part. The splint device located at the first sticking roller clamps and fixes the film under the drive of the splint driving device, and then the splint device moves from the first sticking roller to the waste bin under the driving of the splint moving drive device, The clamping plate device clamps and releases the film to the waste bin under the driving of the clamping plate driving device, and then the clamping plate device moves from the waste warehouse to the first sticking roller under the driving of the clamping plate moving driving device. 12. The double-sided film tearing device according to claim 1, characterized in that: further comprising a receiving device, the receiving device comprises a third mechanical arm, a third holding part and a receiving station, the third The holding part is fixedly connected with the end of the third mechanical arm, the third mechanical arm can drive the third holding part to reciprocate between the second film tearing station and the receiving station, and the third holding part The upper surface of the sheet can be adsorbed and released; when the third mechanical arm drives the third holding part to move from the receiving station to the second film tearing station, the third holding part is removed from the second film tearing station. The sheet is adsorbed, and then the third robotic arm drives the third holding part with the sheet adsorbed to move from the second film tearing station to the receiving station, and the third holding part releases the adsorbed sheet to the receiving station.

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