Pulling device and formation system

Abstract

This application relates to the field of automated workpiece removal, and more particularly to a removal device and a chemical forming system. The removal device includes: a frame; a removal mechanism including a connecting assembly and a removal component, the connecting assembly being mounted on the frame, and the removal component being mounted on the connecting assembly; a drive mechanism for driving the removal component via the connecting assembly, such that the removal component can be displaced relative to the frame in both a first direction and a second direction, the removal component being configured to move along the second direction to remove the workpiece. This removal device enables automated workpiece removal, improving the removal efficiency and safety of workpiece removal operations. This application also proposes a chemical forming system including this removal device.

Description

Technical Field

[0001] This application relates to the field of automated workpiece removal technology, and more particularly to a removal device and a formation system. Background Technology

[0002] In automated mass production and product testing, sometimes additional workpieces need to be inserted into the product to complete a certain process before being removed. Currently, this removal is mainly done manually, which is not only inefficient but also poses certain safety hazards. For example, during battery formation, a suction nozzle is used to cover the battery's electrolyte filling port to create negative pressure inside the battery, thereby expelling gases generated during the internal reaction. However, during this process, overflowing electrolyte and volatile gases from the electrolyte adhere to the suction nozzle, forming crystals and affecting the effectiveness of the negative pressure. Therefore, after the formation process is completed, the suction nozzle needs to be removed for cleaning, maintenance, and inspection. Currently, the nozzle is mainly removed manually from the battery, which is not only inefficient but also poses a safety hazard as workers may come into contact with residual electrolyte on the nozzle. Summary of the Invention

[0003] This application discloses a removal device and a formation system that can automatically remove workpieces, improving the removal efficiency and safety of workpiece removal operations.

[0004] Some embodiments of this application propose a removal device for removing a workpiece, comprising: a frame; a removal mechanism including a connecting assembly and a removal element, the connecting assembly being mounted on the frame and the removal element being mounted on the connecting assembly; and a driving mechanism for driving the removal element through the connecting assembly such that the removal element can be displaced relative to the frame in both a first direction and a second direction, the removal element being configured to move along the second direction to remove the workpiece.

[0005] Optionally, along the first direction, one end of the puller is mounted to the connecting assembly, and the other end is recessed to form a recess. The recess extends through the puller along the second direction and is used to accommodate a workpiece. One side of the puller along the second direction is used to abut against the workpiece.

[0006] Optionally, the second direction is a vertical direction, and the removal mechanism further includes: a first receiving member installed on the connecting assembly, the first receiving member being located on the lower side of the removal member.

[0007] Optionally, the removal device further includes: a receiving assembly mounted on the frame, the receiving assembly including a third mounting plate and a receiving box, the third mounting plate and the connecting assembly being spaced apart along the first direction, the third mounting plate being located on one side of the connecting assembly, and the receiving box being mounted on the side of the third mounting plate facing the connecting assembly; and a pushing assembly mounted on the frame, the pushing assembly including a fourth mounting plate and a pushing member, the fourth mounting plate being located on one side of the connecting assembly, and the pushing member being mounted on the side of the fourth mounting plate facing the connecting assembly; the end of the pushing member is configured to abut against the workpiece on the side of the connecting assembly away from the fourth mounting plate, so that the workpiece falls from the side of the connecting assembly away from the fourth mounting plate into the receiving box.

[0008] Optionally, the pusher is located on the upper side of the receiving box, the upper side of the receiving box has a second opening, and the end of the pusher is configured to correspond to the second opening so that the workpiece falls into the receiving box.

[0009] Optionally, the connecting assembly includes a first mounting plate and a second mounting plate, the first mounting plate being slidably mounted on the frame along the first direction, and the second mounting plate being slidably mounted on the first mounting plate along the second direction; the third mounting plate is located on the side of the second mounting plate away from the first mounting plate, the fourth mounting plate is located on the side of the second mounting plate away from the first mounting plate, the pusher is mounted on the side of the fourth mounting plate facing the second mounting plate, and the end of the pusher is configured to abut against the workpiece on the side of the second mounting plate away from the fourth mounting plate, so that the workpiece falls from the side of the second mounting plate away from the fourth mounting plate into the receiving box.

[0010] Optionally, the second mounting plate has a first clearance hole and a second clearance hole, the first clearance hole being for the pusher to pass through and the second clearance hole being for the receiving box to pass through.

[0011] Optionally, the receiving box has a first opening on its bottom side, and the pushing assembly further includes a second receiving member, which is mounted on the side of the third mounting plate facing the connecting assembly, and is configured to close the first opening from the bottom side of the receiving box.

[0012] Optionally, the third mounting plate is slidably mounted on the frame along the first direction, and the removal device further includes: a third driving assembly mounted on the frame for driving the third mounting plate to move along the first direction; a storage assembly mounted on the frame and located below the receiving assembly; the third mounting plate is configured to move away from the connecting assembly so that the receiving box and the second receiving member are offset in the first direction, and the first opening is correspondingly provided with the storage assembly.

[0013] Optionally, along the second direction, the second mounting plate switches between at least two removal areas, one of which is located above the sub-bottom and corresponds to the height position of the receiving box.

[0014] Optionally, the removal area located at the bottom corresponds to the height position of the storage assembly (160).

[0015] Optionally, the storage assembly includes: a storage bin; and a funnel, the upper end of which is used to receive workpieces falling from the first opening, and the lower end of which is connected to the storage bin.

[0016] Optionally, the storage bin has a first magnetic attraction part, and the frame has a second magnetic attraction part, wherein the first magnetic attraction part and the second magnetic attraction part are magnetically attracted to each other.

[0017] Optionally, the connection assembly includes: a first mounting plate slidably mounted on the frame along the first direction; a second mounting plate slidably mounted on the first mounting plate along the second direction, and the pull-out member is mounted on the second mounting plate.

[0018] Optionally, the driving mechanism further includes: a first driving component mounted on the frame for driving the first mounting plate to move along the first direction; and a second driving component mounted on the first mounting plate for driving the second mounting plate to move along the second direction.

[0019] Optionally, the removal device further includes: a removal detection mechanism, comprising a plurality of through-beam sensing components, the plurality of through-beam sensing components being spaced apart on the frame along the second direction, each of the through-beam sensing components comprising a set of through-beam sensors disposed opposite to each other along a third direction.

[0020] A formation system according to some embodiments of this application includes: a formation apparatus including a nozzle having a first surface; and the aforementioned removal apparatus, wherein the removal element is configured to abut against the first surface along a second direction.

[0021] Compared with the prior art, the beneficial effects of this application are as follows:

[0022] The removal device of this application includes a driving mechanism, a connecting component, and a removal component. Under the drive of the driving mechanism, the removal component can be displaced in both a first direction and a second direction, and moves along the second direction to remove the workpiece, thereby realizing automated workpiece removal operation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a removal device provided in an embodiment of this application from a first perspective;

[0025] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0026] Figure 3 This is a schematic diagram of the structure of the removal mechanism of a removal device provided in the embodiments of this application from a first perspective;

[0027] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle;

[0028] Figure 5 This is a schematic diagram of the structure of the removal component in a removal device provided in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the removal mechanism of a removal device provided in an embodiment of this application from a second perspective;

[0030] Figure 7 This is a cross-sectional schematic diagram of a removal device provided in an embodiment of this application;

[0031] Figure 8 yes Figure 7 A magnified view of a section at point C;

[0032] Figure 9 This is a schematic diagram of the material receiving mechanism of a removal device provided in an embodiment of this application;

[0033] Figure 10 This is a structural schematic diagram of a removal device provided in an embodiment of this application from a second perspective;

[0034] Figure 11 This is a third-view structural schematic diagram of the removal mechanism of a removal device provided in an embodiment of this application;

[0035] Figure 12 This is a schematic diagram of the formation system corresponding to a removal device provided in an embodiment of this application.

[0036] Figure Descriptions: 100 - Removal device; 110 - Frame; 111 - Discharge opening; 112 - First side wall; 113 - Housing; 114 - Mounting bracket; 120 - Removal mechanism; 121 - First mounting plate; 122 - Second mounting plate; 1221 - First side; 1222 - Second side; 1223 - First clearance hole; 1224 - Second clearance hole; 123 - Removal component; 1231 - Recess; 1232 - Abutment surface; 1233 - Connecting part; 124- First receiving part; 1241- First receiving surface; 125- First drive assembly; 1251- First motor; 1252- First lead screw; 1253- First nut; 126- Second drive assembly; 1261- Second motor; 1262- Second lead screw; 1263- Second nut; 127- Removal unit; 128- Removal row; 130- Receiving assembly; 131- Third mounting plate; 132- Receiving box; 1 321-First opening; 1322-Second opening; 140-Pushing assembly; 141-Fourth mounting plate; 142-Pushing component; 1421-Root; 1422-End; 143-Second receiving component; 1431-Tail side; 150-Third drive assembly; 151-Third motor; 152-Third lead screw; 153-Third nut; 160-Storage assembly; 161-Storage box; 1611-Pull rod; 162-Function funnel; 17 0 - First positioning detection mechanism; 180 - Second positioning detection mechanism; 181 - Second positioning sensor; 182 - Second sensing element; 190 - Removal detection mechanism; 191 - Through-beam sensor assembly; 1911 - Transmitting sensor; 1912 - Receiving sensor; 200 - Formation device; 210 - Nozzle; 211 - Outer peripheral surface; 212 - First surface; 300 - Formation system; X - First direction; Z - Second direction; Y - Third direction. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0039] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0040] like Figure 1 and Figure 2 As shown, the removal device 100 includes a frame 110, a removal mechanism 120, and a drive mechanism. The removal mechanism 120 includes a connecting assembly and a removal component 123. The connecting assembly is mounted on the frame 110, and the removal component 123 is mounted on the connecting assembly. The drive mechanism is used to drive the removal component 123 through the connecting assembly so that the removal component 123 can be displaced relative to the frame 110 in both the first direction X and the second direction Z. The removal component 123 is configured to move along the second direction Z to remove the workpiece.

[0041] The removal device of this application embodiment includes a driving mechanism, a connecting component and a removal component 123. Under the drive of the driving mechanism, the removal component 123 can be displaced in both the first direction X and the second direction Z, and moves along the second direction Z to remove the workpiece, thereby realizing automated workpiece removal operation.

[0042] In some embodiments of this application, the removal device 100 is used to remove the suction nozzle 210. The suction nozzle 210 extends along a second direction Z, with one end connected to the battery's electrolyte inlet and the other end connected to a negative pressure device. The second direction Z can be vertical or other directions. The removal device 100 of this application embodiment can automate the suction nozzle removal operation, not only achieving high removal efficiency but also reducing the possibility of workers coming into contact with residual electrolyte on the suction nozzle, thereby ensuring the personal safety of workers.

[0043] In other embodiments, the workpiece may also be other components that need to be removed.

[0044] In some embodiments of this application, the connecting assembly includes a first mounting plate 121 and a second mounting plate 122. The first mounting plate 121 is slidably mounted on the frame 110 along a first direction X, and the second mounting plate 122 is slidably mounted on the first mounting plate 121 along a second direction Z. The pull-out member 123 is mounted on the second mounting plate 122.

[0045] The first mounting plate 121 is configured to move the second mounting plate 122 closer to the nozzle 210 so that the removal member 123 engages with the nozzle 210. The second mounting plate 122 is configured to move the removal member 123 along the second direction Z so that the nozzle 210 can be removed from the formation device 200 by the removal member 123.

[0046] In other embodiments, the connecting component may also be a robotic arm, which is mounted on the frame 110, and the removal component 123 is mounted on the actuator end of the robotic arm.

[0047] like Figure 7 As shown, in some embodiments of this application, the frame 110 includes a housing 113 and a mounting bracket 114. The housing 113 and mounting bracket 114 are spaced apart along a first direction X. The side of the housing 113 closest to the mounting bracket 114 has an opening. A second mounting plate 122 substantially covers the opening to form a sidewall of the housing 113 along the first direction X. A pull-out member 123 is located outside the housing 113, and a first mounting plate 121 is located on the side of the second mounting plate 122 facing the interior of the housing 113. The second mounting plate 122 moves away from the interior of the housing 113 to bring the pull-out member 123 closer to the suction nozzle 210.

[0048] The outer side of the housing 113 refers to the side of the second mounting plate 122 closest to the mounting bracket 114, i.e., the second side 1222; the side of the second mounting plate 122 facing the interior of the housing 113 refers to the side of the second mounting plate 122 facing away from the mounting bracket 114, i.e., the first side 1221. Please refer to... Figure 7 The housing 113 also includes a first side wall 112, which is disposed opposite to the second mounting plate 122 along the first direction X. The movement of the second mounting plate 122 away from the interior of the housing 113 means that the second mounting plate 122 moves away from the first side wall 112.

[0049] In other embodiments, the rack 110 may also be a frame structure.

[0050] like Figure 3 and Figure 4As shown, the thickness direction of the second mounting plate 122 extends along the first direction X. Along the first direction X, the two sides of the second mounting plate 122 are the first side 1221 and the second side 1222, respectively. The first side 1221 faces the inside of the housing 113 and is connected to the first mounting plate 1221. The second side 1222 faces the outside of the housing 113 and the pull-out piece 123 is installed on the second side 1222. The second mounting plate 122 generally forms a side wall of the housing 113 along the first direction X.

[0051] In some embodiments of this application, the first direction X is a horizontal direction; in other embodiments, the first direction X may also be another direction that is inclined to the horizontal direction.

[0052] The fact that the removal member 123 engages with the suction nozzle 210 in the first direction X means that, in the second direction Z, the projection of the removal member 123 and the projection of the suction nozzle 210 at least partially overlap, so that the removal member 123 can abut against the suction nozzle 210 during the movement of the removal member 123 in the second direction Z, thereby removing the suction nozzle 210.

[0053] In some embodiments of this application, there are multiple pull-out members 123, and the multiple pull-out members 123 are arranged in a square array along the second direction Z and the third direction Y.

[0054] In other embodiments, the number and arrangement of the removal components 123 can be flexibly adjusted according to specific circumstances.

[0055] like Figure 3 and Figure 4 As shown, in some embodiments of this application, the second direction Z is the vertical direction, and the remover 123 abuts against the suction nozzle 210 in the vertically downward direction, and removes the suction nozzle 210 by moving downward.

[0056] In other embodiments, the second direction Z can also be other directions.

[0057] like Figure 4 and Figure 5 As shown, in some embodiments of this application, along the first direction X, one end of the pull-out member 123 is mounted on the second mounting plate 122, and the other end is recessed to form a recess 1231. The recess 1231 penetrates the pull-out member 123 along the second direction Z. The recess 1231 is used to accommodate the suction nozzle 210. One side of the pull-out member 123 along the second direction Z is used to abut against the suction nozzle 210.

[0058] The pull-out part 123 has a connecting part 1233 at one end along the first direction X, and a recessed part 1231 at the other end.

[0059] With this arrangement, the suction nozzle 210 can be first laterally limited, and then a force along the second direction Z can be applied to the suction nozzle 210 to remove it.

[0060] In a preferred embodiment, the second direction Z is vertical, and the lower surface of the remover 123 is used to abut against the nozzle 210.

[0061] Specifically, along the first direction X, the first mounting plate 121 switches between a first position, an intermediate position, and a second position; along the second direction Z, the second mounting plate 122 switches between a third position and a fourth position. When the first mounting plate 121 is in the intermediate position and the second mounting plate 122 is in the third position, the pull-out member 123 retracts and is flush with the nozzle 210 in height; the first mounting plate 121 moves to the second position so that the pull-out member 123 extends toward the nozzle 210 and the recess 1231 laterally limits the outer peripheral surface 211 of the nozzle 210. The lower side of the pull-out member 123 has an abutment surface 1232, and the nozzle 210 has an upwardly facing first surface 212. The abutment surface 1232 abuts downward against the first surface 212; the second mounting plate 122 descends from the third position to the fourth position, and the pull-out member 123 acts downward on the nozzle 210 to remove the nozzle 210 from the battery.

[0062] In some embodiments of this application, the nozzle 210 is a cylinder, the recess 1231 has a U-shaped groove structure, and the bottom surface of the recess 1231 is a curved surface; in other embodiments, the shape of the recess 1231 may also be square or other shapes to match the shape of the nozzle 210.

[0063] like Figure 4 As shown, in some embodiments of this application, the second direction Z is the vertical direction, and the removal mechanism 120 further includes a first receiving member 124, which is installed on the side of the second mounting plate 122 facing the outside of the frame 110, i.e., the second side 1222. The first receiving member 124 is located on the lower side of the removal member 123, and the first receiving member 124 is used to receive the dropped suction nozzle 210 after the removal member 123 removes the suction nozzle 210.

[0064] By setting the first receiving part 124, the dropped nozzle 210 can be caught, preventing the nozzle 210 from falling to the ground and facilitating the next step of recycling the nozzle 210.

[0065] Specifically, the upper side of the first receiving member 124 has a first receiving surface 1241, and in the second direction Z, the projected outline of the recess 1231 falls into the first receiving surface 1241, which is used to receive the suction nozzle 210.

[0066] Preferably, the first receiving surface 1241 is a sloped surface that slopes downward toward the second mounting plate 122, that is, one side of the first receiving surface 1241 is connected to the second mounting plate 122, and the other side edge extends upward in a sloping manner. This allows the suction nozzle 210 to be confined within the area between the first receiving member 124 and the second mounting plate 122 after being received, reducing the possibility of the suction nozzle 210 falling off the first receiving member 124.

[0067] like Figure 4 As shown, the pull-out member 123 and the first receiving member 124 located below it are configured to form a pull-out unit 127, which is used to pull out and receive a suction nozzle 210.

[0068] like Figure 6 As shown, it can be understood that the formation device 200 has multiple batteries arranged in an array along the third direction Y and the second direction Z. Correspondingly, there are multiple removal units 127, which are arranged in rows along the third direction Y to form a removal row 128. Along the second direction Z, the removal row 128 has at least one row. It is possible to use one row or several removal rows 128 to remove all the nozzles 210 in multiple times, or the number of removal rows 128 can be the same as the number of battery rows, and all the nozzles 210 can be removed at once.

[0069] In some embodiments of this application, the third direction Y is a horizontal direction, and the third direction Y is perpendicular to the first direction X; in other embodiments, the third direction Y may also be another direction that is inclined to the horizontal direction, and the first direction X and the third direction Y may also be inclined.

[0070] like Figure 3 As shown, in some embodiments of this application, the removal mechanism 120 further includes a first drive assembly 125 and a second drive assembly 126. The first drive assembly 125 is mounted on the frame 110 and is used to drive the first mounting plate 121 to move along a first direction X; the second drive assembly 126 is mounted on the first mounting plate 121 and is used to drive the second mounting plate 122 to move along a second direction Z.

[0071] The first drive component 125 enables automated driving of the first mounting plate 121 to switch between a first position, an intermediate position, and a second position; the second drive component 126 enables automated driving of the second mounting plate 122 to switch between a third position and a fourth position along the second direction Z.

[0072] like Figure 3As shown, in some embodiments of this application, the first drive assembly 125 includes a first motor 1251, a first lead screw 1252, and a first nut 1253. The first motor 1251 is mounted on the frame 110. The first lead screw 1252 extends along a first direction X and is rotatably mounted on the frame 110. The first nut 1253 is threadedly engaged with the first lead screw 1252 and is connected to the first mounting plate 121. The first motor 1251 drives the first lead screw 1252 to rotate, thereby driving the first mounting plate 121 along the first direction X via the first nut 1253. The second drive assembly 126 includes a second motor 1261, a second lead screw 1262, and a second nut 1263. The second motor 1261 is mounted on the first mounting plate 121. The second lead screw 1262 extends along the second direction Z and is rotatably mounted on the first mounting plate 121. The second nut 1263 is threadedly engaged with the second lead screw 1262 and is connected to the second mounting plate 122. The second motor 1261 is used to drive the second lead screw 1262 to rotate, so as to drive the second mounting plate 122 to move along the second direction Z through the second nut 1263.

[0073] In other embodiments, the first drive assembly 125 and the second drive assembly 126 may also be other common linear drive mechanisms, such as linear cylinders, multi-stage hydraulic cylinders, multi-stage electric cylinders, etc.

[0074] To facilitate the further recovery of the suction nozzle 210 from the first receiving member 124 to the frame 110, the removal device 100 also includes a receiving mechanism.

[0075] like Figure 7 , Figure 8 and Figure 9 As shown, the receiving mechanism includes a receiving component 130 and a pushing component 140.

[0076] In some embodiments of this application, a receiving assembly 130 is mounted on a frame 110. The receiving assembly 130 includes a third mounting plate 131 and a receiving box 132. The third mounting plate 131 and the connecting assembly are spaced apart along a first direction X. The third mounting plate 131 is located on one side of the connecting assembly, and the receiving box 132 is mounted on the side of the third mounting plate 131 facing the connecting assembly. A pushing assembly 140 is mounted on the frame 110. The pushing assembly 140 includes a fourth mounting plate 141 and a pushing member 142. The fourth mounting plate 141 is located on one side of the connecting assembly, and the pushing member 142 is mounted on the side of the fourth mounting plate 141 facing the connecting assembly. The end 1422 of the pushing member 142 is configured to abut against a suction nozzle 210 on a first receiving member 124 from the side of the connecting assembly away from the fourth mounting plate 141, so that the suction nozzle 210 falls from the side of the connecting assembly away from the fourth mounting plate 141 into the receiving box 132.

[0077] Specifically, the receiving assembly 130 is mounted on the frame 110. The receiving assembly 130 includes a third mounting plate 131 and a receiving box 132. The third mounting plate 131 is located on the side of the second mounting plate 122 facing the housing 113, i.e., the first side 1221. The receiving box 132 is mounted on the side of the third mounting plate 131 facing the second mounting plate 122.

[0078] The feeding assembly 140 is mounted on the frame 110. The feeding assembly 140 includes a fourth mounting plate 141 and a feeding member 142. The fourth mounting plate 141 is located on the side of the second mounting plate 122 facing the housing 113, i.e., the first side 1221. The feeding member 142 is mounted on the side of the fourth mounting plate 141 facing the second mounting plate 122. The first mounting plate 121 is configured to move the second mounting plate 122 towards the third mounting plate 131. The end 1422 of the feeding member 142 is configured to abut against the suction nozzle 210 on the first receiving member 124 from the side of the second mounting plate 122 away from the fourth mounting plate 141, so that the suction nozzle 210 falls from the side of the second mounting plate 122 away from the fourth mounting plate 141 into the receiving box 132.

[0079] That is, the pusher 142 includes a root 1421 and an end 1422. The root 1421 is mounted on the fourth mounting plate 141, and the end 1422 is used to act on the suction nozzle 210 from the second side 1222 of the second mounting plate 122 so that the suction nozzle 210 falls from the second side 1222 of the second mounting plate 122 into the receiving box 132.

[0080] By setting up the receiving component 130 and the pushing component 140, the first mounting plate 121 can be moved from the second position to the middle position, and the second mounting plate 122 can be moved synchronously. The first receiving component 124 drives the suction nozzle 210 to move into the housing 113. The pushing component 142 abuts against the suction nozzle 210 along the first direction X, restricting the suction nozzle 210 from continuing to move synchronously after it reaches the top of the receiving box 132, so that the suction nozzle 210 falls from the first receiving component 124 into the receiving box 132.

[0081] Furthermore, the second mounting plate 122 has a first clearance hole 1223 and a second clearance hole 1224. The first clearance hole 1223 is for the pusher 142 to pass through, and the second clearance hole 1224 is for the receiving box 132 to pass through. During the movement of the first mounting plate 121 driving the second mounting plate 122, the pusher 142 is allowed to pass through the first clearance hole 1223 so that the end 1422 of the pusher 142 is located on the second side 1222 of the second mounting plate 122, and the receiving box 132 passes through the second clearance hole 1224 so that it is at least partially located on the second side 1222 of the second mounting plate 122.

[0082] Furthermore, the pusher 142 is located on the upper side of the receiving box 132, the upper side of the receiving box 132 has a second opening 1322, and the end 1422 of the pusher 142 is configured to correspond to the second opening 1322 so that the suction nozzle 210 falls into the receiving box 132.

[0083] like Figure 2 , Figure 4 and Figure 8 As shown, specifically, the first clearance hole 1223 and the second clearance hole 1224 are respectively provided with the first receiving member 124. Each removal unit 127 includes a first clearance hole 1223 and a second clearance hole 1224. The first clearance hole 1223 is located between the removal member 123 and the first receiving member 124, and the second clearance hole 1224 is located on the lower side of the first receiving member 124 of the removal unit 127. That is to say, the pusher 142 abuts against the outer peripheral surface 211 of the suction nozzle 210 from above the first receiving member 124. The receiving box 132 has a second opening 1322 at the top. After the suction nozzle 210 falls from the first receiving member 124, it falls into the receiving box 132 through the second opening 1322.

[0084] In other embodiments, for the row of removal units 127 along the bottom side of the second direction Z, the second mounting plate 122 may not have a second clearance hole 1224, and the receiving box 132 receives the suction nozzle 210 from the bottom of the second mounting plate 122.

[0085] like Figure 7 As shown, in some embodiments of this application, the pusher assembly 140 is fixedly installed on the frame 110, that is, the position of the pusher 142 is fixed relative to the frame 110.

[0086] In some embodiments of this application, the receiving box 132 has a first opening 1321 on its bottom side, and the pushing assembly 140 further includes a second receiving member 143, which is mounted on the side of the third mounting plate 131 facing the connecting assembly. The second receiving member 143 is configured to close the first opening 1321 from the bottom side of the receiving box 132.

[0087] This design allows the receiving assembly 130 to switch between a fifth and a sixth position along the first direction X. When the receiving assembly 130 is in the sixth position, it receives the nozzle 210 through the receiving box 132. The second receiving member 143 closes the first opening 1321, and the receiving assembly 130 moves into the frame 110 to the fifth position to further transfer the nozzle 210. This facilitates the unified collection of nozzles 210 from multiple receiving boxes 132, making maintenance of the nozzle 210 removal device easier.

[0088] Specifically, along the first direction X, the second receiving member 143 includes a tail side 1431 facing the interior of the frame 110. The tail side 1431 is bent downward to achieve unobstructed movement in the first direction X, allowing the receiving box 132 to move from the sixth position to the fifth position along the first direction X, offset from the second receiving member 143, so that the first opening 1321 is correspondingly positioned with the material storage assembly 160, i.e., the first opening 1321 is exposed. When the receiving assembly 130 is in the sixth position, the second receiving member 143 closes the first opening 1321 of the receiving box 132. When the first mounting plate 121 moves from the middle position to the first position and drives the second mounting plate 122 to move synchronously, the second receiving member 143 and the receiving box 132 pass through the second clearance hole 1224 together.

[0089] In other embodiments, the receiving component 130 is fixedly installed on the frame 110, and the suction nozzle 210 is manually removed after falling into the receiving box 132; alternatively, the second receiving component 143 may not be provided, and the bottom side of the receiving box 132 may be a closed structure.

[0090] like Figure 7 As shown, in some embodiments of this application, the third mounting plate 131 is slidably mounted on the frame 110 along the first direction X. The receiving mechanism also includes a third drive assembly 150 and a storage assembly 160. The third drive assembly 150 is mounted on the frame 110 and is used to drive the third mounting plate 131 to move along the first direction X. The storage assembly 160 is mounted inside the frame 110 and is located below the receiving assembly 130. The third mounting plate 131 is configured to move away from the second mounting plate 122 so that the receiving box 132 is offset from the second receiving member 143 in the first direction X and exposed to the first opening 1321, so that the suction nozzle 210 in the receiving box 132 falls into the storage assembly 160 from the first opening 1321.

[0091] The third drive assembly 150 enables the receiving assembly 130 to switch between the fifth and sixth positions. When the receiving assembly 130 moves from the sixth position to the fifth position, the third mounting plate 131 moves further away from the second mounting plate 122 from the first side 1221. The third mounting plate 131 drives the receiving box 132 to slide along the first direction X towards the tail side 1431 of the second receiving member 143, exposing it to the first opening 1321, thereby further transferring the suction nozzle 210 to the storage assembly 160. In particular, the receiving box 132 is provided in multiple embodiments. With this arrangement, multiple suction nozzles 210 in the receiving boxes 132 can be transferred to the storage assembly 160 at one time, thereby achieving efficient collection of the suction nozzles 210.

[0092] like Figure 9As shown, in some embodiments of this application, the third drive assembly 150 includes a third motor 151, a third lead screw 152, and a third nut 153, and its working principle is similar to that of the first drive assembly 125, which will not be described further here. In other embodiments, the third drive assembly 150 may also be other linear drive mechanisms.

[0093] In some embodiments of this application, along the second direction Z, the second mounting plate 122 switches between at least two removal areas, one of which is located above the subbottom and corresponds to the height position of the receiving box 132.

[0094] With this arrangement, the receiving box 132 can be placed at the height of only one removal area. The suction nozzles 210 removed in different removal areas all fall into the receiving box 132 in the removal area corresponding to the receiving box 132, thereby reducing the number of receiving boxes 132 and allowing more space inside the frame 110 to arrange other components.

[0095] Understandably, for each removal area, the second mounting plate 122 removes the nozzle 210 by moving from the third position to the fourth position. The sub-bottom removal area refers to the removal area located above the bottommost removal area; for example, when there are two removal areas, the sub-bottom removal area refers to the upper removal area; when there are three removal areas, the sub-bottom removal area refers to the middle removal area; when there are four removal areas, the sub-bottom removal area refers to the second removal area from the bottom. At least one of the removal areas located above the sub-bottom corresponds to the height position of the receiving box 132. Compared to an embodiment where the receiving box 132 is positioned above all removal areas, this arrangement facilitates miniaturization of the removal device 100 and eliminates the need to configure a receiving box 132 for each removal area, thus reducing the number of receiving boxes 132.

[0096] In some embodiments of this application, the removal area at the bottom corresponds to the height position of the storage assembly 160.

[0097] When the removal device 100 is equipped with a storage component 160, and the receiving component 130 moves to the fifth position, the storage component 160 is located below the receiving component 130. The suction nozzle 210 falls into the storage component 160 by gravity. Therefore, the suction nozzle 210 corresponding to the height position of the storage component 160 cannot fall directly into the storage component 160 by gravity. Also, after the suction nozzle 210 corresponding to the height position of the storage component 160 or the suction nozzle 210 below the height position of the storage component 160 is removed, it is impossible to send the suction nozzle 210 into the storage component 160 by moving directly along the first direction X. Therefore, the second mounting plate 122 needs to remove the suction nozzle 210 at the bottom and then rise along the second direction Z to the height position of the receiving component 130 to transfer the suction nozzle 210 to the receiving box 132. Then the suction nozzle 210 falls into the storage component 160 by gravity.

[0098] like Figure 4 and Figure 6 As shown, in some embodiments of this application, there are two removal areas, namely an upper removal area and a lower removal area. The upper removal area corresponds to the upper multi-row suction nozzle 210, and the lower removal area corresponds to the lower multi-row suction nozzle 210. The height position of the upper removal area corresponds to that of the receiving box 132.

[0099] like Figure 6 As shown, for example, the second mounting plate 122 has four rows of removal rows 128, each row of removal rows 128 has five removal units 127, and the second mounting plate 122 has 5 x 4 suction nozzles 210 for removal operations in the upper removal area and the lower removal area respectively.

[0100] In other embodiments, the second mounting plate 122 has a first removal area, a second removal area and a third removal area from top to bottom along the second direction Z. The second mounting plate 122 corresponds to an array of multiple suction nozzles 210 in each removal area. The second mounting plate 122 removes the corresponding suction nozzle 210 in the third removal area and then moves to one of the second removal area and the first removal area to transfer the suction nozzle 210 to the receiving box 132.

[0101] like Figure 7 As shown, in some embodiments of this application, the storage assembly 160 includes a storage bin 161 and a funnel 162. The upper end of the funnel 162 is used to receive the suction nozzle 210 falling from the first opening 1321, and the lower end is connected to the storage bin 161.

[0102] The lower end of the funnel 162 can be directly connected to the storage box 161, or it can be set in a corresponding position so that the suction nozzle 210 can fall directly from the funnel 162 into the storage box 161.

[0103] By setting up the funnel 162, it is convenient to collect the suction nozzles 210 from multiple receiving boxes 132 as they fall into the storage bin 161. The funnel 162 also receives and transfers the suction nozzles 210 to the storage bin 161. On the one hand, this facilitates the miniaturization of the removal device 100, making the internal structure more compact. On the other hand, by receiving the suction nozzles 210 through the funnel 162, the height from which the suction nozzles 210 fall from the receiving box 132 is shortened, preventing the suction nozzles 210 from deviating during the fall or popping out after falling. The funnel 162 also guides the suction nozzles 210 to fall accurately into the storage bin 161.

[0104] Furthermore, the funnel 162 includes an upper opening and a lower opening. The upper opening connects to a plurality of receiving boxes 132, and the lower opening connects to a storage bin 161. In the second direction Z, the projections of the upper and lower openings are staggered. In the first direction X, the upper opening is located on the side of the lower opening closer to the second mounting plate 122. That is, the receiving assembly 130 and the storage assembly 160 are staggered in the first direction X.

[0105] This arrangement allows for a larger space under the receiving assembly 130 to accommodate other components such as the first drive assembly 125, thus miniaturizing the removal device 100. Specifically, the first mounting plate 121 moves to the first position and docks with the receiving assembly 130. The first motor 1251 of the first drive assembly 125 is located on the side of the first mounting plate 121 near the interior of the housing 113 at the first position. The storage box 161 and the first motor 1251 are both located on the bottom plate of the housing 113. The limited space inside the housing 113, coupled with the space occupied by the third drive assembly 150, means that the receiving box 132, carrying the suction nozzle 210, may not align with the opening of the storage box 161 when moving to the sixth position. By using the funnel 162 for transfer, sufficient space is provided for the first motor 1251 and the storage box 161, as well as for the accurate movement of the receiving box 132 to the sixth position.

[0106] like Figure 10 As shown, in some embodiments of this application, the storage bin 161 has a pull rod portion 1611, the frame 110 has a discharge opening 111, and the pull rod portion 1611 is exposed to the discharge opening 111.

[0107] Specifically, the pull rod 1611 is located on the side of the storage box 161 along the third direction Y, and the frame 110 has a discharge opening 111 on the same side along the third direction Y.

[0108] With this arrangement, after the storage bin 161 is filled with the suction nozzle 210, the storage bin 161 can be pulled out of the frame 110 by pulling the lever part 1611 to empty the suction nozzle 210.

[0109] In some embodiments of this application, the storage bin 161 has a first magnetic attraction part (not shown in the figure), and the frame 110 has a second magnetic attraction part (not shown in the figure). The first magnetic attraction part and the second magnetic attraction part are magnetically attracted to each other so as to realize the storage bin 161 fixedly installed on the frame 110.

[0110] Specifically, along the third direction Y, the first magnetic attraction part is located on the other side of the storage box 161 away from the pull rod part 1611, and the second magnetic attraction part is located in the corresponding position inside the frame 110.

[0111] This arrangement allows the storage bin 161 to be fixed in position inside the frame 110, thereby reliably receiving the suction nozzle 210.

[0112] like Figure 11 As shown, in some embodiments of this application, the removal device 100 further includes a first positioning detection mechanism 170 and a second positioning detection mechanism 180. The first positioning detection mechanism 170 is used to detect whether the first mounting plate 121 has moved into position, and the first drive assembly 125 is configured to respond to the positioning signal issued by the first positioning detection mechanism 170 and stop driving the first mounting plate 121 to move along the first direction X. The second positioning detection mechanism 180 is used to detect whether the second mounting plate 122 has moved into position, and the second drive assembly 126 is configured to respond to the positioning signal issued by the second positioning detection mechanism 180 and stop driving the second mounting plate 122 to move along the second direction Z.

[0113] Through the first positioning detection mechanism 170 and the second positioning detection mechanism 180, the first drive component 125 can drive the first mounting plate 121 to switch between the first position, the middle position and the second position with high precision, and the second drive component 126 can drive the second mounting plate 122 to switch between the third position and the fourth position with high precision, thereby improving the accuracy of the nozzle removal operation.

[0114] The second positioning detection mechanism 180 includes two second positioning sensors 181 and a second sensing plate 182. The two second positioning sensors 181 are mounted on the first mounting plate 121, and the second sensing plate 182 is mounted on the second mounting plate 122. The two second positioning sensors 181 are spaced apart along the second direction Z, and the two second positioning sensors 181 correspond to the third position and the fourth position of the second mounting plate 122, respectively.

[0115] Based on the aforementioned implementation where "the second mounting plate 122 has multiple removal areas," the first mounting plate 121 is provided with two corresponding second positioning sensors 181 for each removal area. For example, if there are two removal areas, four second positioning sensors 181 are arranged at intervals along the second direction Z. The two uppermost second positioning sensors 181 correspond to the third and fourth positions of the upper removal area, and the two lowermost second positioning sensors 181 correspond to the third and fourth positions of the lower removal area.

[0116] Similarly, the first positioning detection mechanism 170 includes three first positioning sensors and a first sensing plate. The three first positioning sensors are mounted on the housing 113 of the frame 110, and the first sensing plate is mounted on the first mounting plate 121. The three first positioning sensors are arranged at intervals along the first direction X, and the three first positioning sensors correspond to the first position, the middle position and the second position of the first mounting plate 121, respectively.

[0117] It is understandable that the first positioning sensor and the second positioning sensor 181 can be photoelectric sensors.

[0118] like Figure 1 and Figure 2 As shown, in some embodiments of this application, the removal device 100 further includes a removal detection mechanism 190, which includes a plurality of through-beam sensing components 191. The plurality of through-beam sensing components 191 are arranged at intervals along the second direction Z on the frame 110, and each through-beam sensing component 191 includes a set of through-beam sensors arranged opposite each other along the third direction Y.

[0119] The through-beam sensor assembly 191 is configured to detect whether a row of nozzles 210 arranged along a third direction Y has all fallen down, the third direction Y being perpendicular to the first direction X.

[0120] A set of through-beam sensors includes a transmitting sensor 1911 and a receiving sensor 1912 located on the mounting bracket 114 of the frame 110 along the third direction Y. When the receiving sensor 1912 receives the laser emitted by the transmitting sensor 1911, it sends a signal indicating that all the suction nozzles 210 have been successfully removed, thereby realizing the automated operation of the removal device 100.

[0121] like Figure 12 As shown, some embodiments of this application also propose a formation system 300, including a removal device 100 and a formation device 200. The formation device 200 includes a suction nozzle 210 having a first surface 212, and a removal member 123 is configured to abut against the first surface 212 along a second direction Z.

[0122] In some embodiments of this application, a plurality of suction nozzles 210 are located on one side of the formation apparatus 200 along a first direction X. The formation system 300 also includes a transfer device for feeding the removal device 100 into the formation apparatus 200 along a third direction Y, such that the second side 1222 of the second mounting plate 122 faces the suction nozzles 210.

[0123] In other embodiments, the removal device 100 may be fed into the formation device 200 along other paths according to the arrangement position of the suction nozzle 210 to perform the suction nozzle removal operation.

[0124] It is understood that the formation device 200 is prior art, and the specific structure of the formation device will not be described in detail in this application.

[0125] A nozzle removal method according to some embodiments of this application, implemented based on a removal device 100, includes:

[0126] S100: The first mounting plate 121 drives the second mounting plate 122 to move in the first direction X away from the inside of the frame 110, so as to realize the cooperation between the removal part 123 and the suction nozzle 210;

[0127] S200: The second mounting plate 122 drives the removal member 123 to move along the second direction Z, so as to remove the nozzle 210 through the removal member 123.

[0128] In the above manner, driven by the first mounting plate 121 and the second mounting plate 122, the removal component 123 cooperates with the suction nozzle 210 along the first direction X, and then moves along the second direction Z to remove the suction nozzle 210, thereby realizing automated suction nozzle removal operation. This not only has high removal efficiency, but also reduces the possibility of workers coming into contact with the electrolyte residue in the suction nozzle, thus ensuring the personal safety of the workers.

[0129] The working principle of the removal device 100 is as follows:

[0130] Step 1: Send the removal device 100 into the formation device 200, so that the second side 1222 of the second mounting plate 122 faces the nozzle 210. At this time, the first mounting plate 121 is in the middle position or the first position, and the second mounting plate 122 is in the third position.

[0131] Step 2: The first drive assembly 125 drives the first mounting plate 121 to move from the middle position to the second position, causing the pull-out member 123 on the second mounting plate 122 to laterally limit the outer peripheral surface 211 of the suction nozzle 210 in the upper pull-out area. The second drive assembly 126 drives the second mounting plate 122 to move from the third position to the fourth position. The pull-out member 123 moves downward to remove the suction nozzle 210 from the battery. The suction nozzle 210 falls onto the first receiving member 124 on the lower side.

[0132] Step 3: Remove the detection mechanism 190 to check whether all the corresponding row of suction nozzles 210 have been removed. If the removal is successful, the first drive assembly 125 drives the first mounting plate 121 to move from the second position to the middle position. If the removal is unsuccessful, the removal step needs to be repeated or manual processing is required.

[0133] Step 4: When the receiving assembly 130 is in the sixth position, the first drive assembly 125 drives the first mounting plate 121 to move from the middle position to the first position, which in turn drives the first receiving member 124 on the second mounting plate 122 to move into the frame 110. At the same time, the receiving box 132 and the pusher 142 passively penetrate the second mounting plate 122. The pusher 142 abuts against the suction nozzle 210 from the upper side of the first receiving member 124 until the suction nozzle 210 falls into the receiving box 132.

[0134] Step 5: The third drive assembly 150 drives the receiving assembly 130 to move from the sixth position to the fifth position, exposing the first opening 1321 of the receiving box 132. The suction nozzle 210 falls from the first opening 1321 into the funnel 162, and then from the funnel 162 into the storage box 161.

[0135] Step 6: The first drive assembly 125 drives the first mounting plate 121 to the middle position, and the second drive assembly 126 drives the second mounting plate 122 to the lower removal area to remove the nozzle 210 corresponding to the lower removal area. Repeat the detection steps of step 3, and then drive the second mounting plate 122 to the upper removal area to repeat the actions of steps 4 and 5.

[0136] Step 7: When the suction nozzles 210 stored in the storage bin 161 reach a certain height, pull out the storage bin 161 and remove the suction nozzles 210. It is understood that this step can be performed after step 6 or after step 3. Its purpose is to ensure that the storage bin 161 has sufficient space to receive the suction nozzles 210, and it is not related to whether the suction nozzle removal operation is completely completed.

[0137] In other embodiments, the fourth step of material collection can be performed after the removal of the nozzles 210 in the upper and lower removal areas is completed. That is, after the receiving box 132 has collected the nozzles 210 in the upper and lower removal areas, the two nozzles 210 are pushed into the receiving box 132 together by the pusher 142.

[0138] The removal device 100 of this application embodiment includes a removal mechanism 120, a receiving mechanism, a first positioning detection mechanism 170, a second positioning detection mechanism 180, and a removal detection mechanism 190. It can realize the nozzle removal operation of the stacked tray-type formation device 200. From removing the nozzle 210 to recycling the nozzle 210 to the storage box 161, it realizes fully automated operation, which not only has high nozzle removal efficiency, but also ensures the personal safety of the staff.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A pulling device (100) for pulling out a workpiece, characterized in that include: Rack (110); The removal mechanism (120) includes a connecting assembly and a removal component (123), the connecting assembly being mounted on the frame (110) and the removal component (123) being mounted on the connecting assembly; A drive mechanism is provided for driving the puller via the connecting assembly so that the puller (123) is displaced relative to the frame (110) in both a first direction and a second direction, the puller being configured to move in the second direction to pull out the workpiece; The second direction is the vertical direction. The removal mechanism (120) also includes a first receiving member (124) installed on the connecting assembly. The first receiving member (124) is located on the lower side of the removal member (123). The removal device (100) further includes: A pusher assembly (140) is mounted on the frame (110). The pusher assembly includes a fourth mounting plate (141) and a pusher (142). The fourth mounting plate (141) is located on one side of the connecting assembly, and the pusher (142) is mounted on the side of the fourth mounting plate (141) facing the connecting assembly. The end (1422) of the pusher (142) is configured to abut against the workpiece on the side of the connecting assembly away from the fourth mounting plate (141) so that the workpiece falls off the first receiving member (124).

2. The extraction device (100) according to claim 1, characterized in that Along the first direction, one end of the puller (123) is mounted on the connecting assembly, and the other end is recessed to form a recess (1231). The recess (1231) extends through the puller (123) along the second direction. The recess (1231) is used to accommodate the workpiece, and one side of the puller (123) along the second direction is used to abut against the workpiece.

3. The removal device (100) according to claim 1, characterized in that, The removal device (100) further includes: A receiving assembly (130) is installed on the frame (110). The receiving assembly (130) includes a third mounting plate (131) and a receiving box (132). The third mounting plate (131) and the connecting assembly are spaced apart along the first direction. The third mounting plate (131) is located on one side of the connecting assembly, and the receiving box (132) is installed on the side of the third mounting plate (131) facing the connecting assembly. The end (1422) of the pusher (142) is configured to abut against the workpiece on the side of the connecting assembly away from the fourth mounting plate (141) so that the workpiece falls from the side of the connecting assembly away from the fourth mounting plate (141) into the receiving box (132).

4. The removal device (100) according to claim 3, characterized in that, The pusher (142) is located on the upper side of the receiving box (132), the upper side of the receiving box (132) has a second opening (1322), and the end (1422) of the pusher (142) is configured to correspond to the second opening (1322) so that the workpiece falls into the receiving box (132).

5. The removal device (100) according to claim 3, characterized in that, The connecting assembly includes a first mounting plate (121) and a second mounting plate (122), wherein the first mounting plate (121) is slidably mounted on the frame (110) along the first direction, and the second mounting plate (122) is slidably mounted on the first mounting plate (121) along the second direction; The third mounting plate (131) is located on the side of the second mounting plate (122) away from the first mounting plate (121), and the fourth mounting plate (141) is located on the side of the second mounting plate (122) away from the first mounting plate (121). The pusher (142) is mounted on the side of the fourth mounting plate (141) facing the second mounting plate (122). The end (1422) of the pusher (142) is configured to abut against the workpiece on the side of the second mounting plate (122) away from the fourth mounting plate (141) so that the workpiece falls from the side of the second mounting plate (122) away from the fourth mounting plate (141) into the receiving box (132).

6. The removal device (100) according to claim 5, characterized in that, The second mounting plate (122) has a first clearance hole (1223) and a second clearance hole (1224), the first clearance hole (1223) is for the pusher (142) to pass through, and the second clearance hole (1224) is for the receiving box (132) to pass through.

7. The removal device (100) according to claim 5, characterized in that, The receiving box (132) has a first opening (1321) on its bottom side, and the pushing assembly (140) further includes: The second receiving member (143) is mounted on the side of the third mounting plate (131) facing the connecting assembly, and the second receiving member (143) is configured to close the first opening (1321) from the underside of the receiving box (132).

8. The removal device (100) according to claim 7, characterized in that, The third mounting plate (131) is slidably mounted on the frame (110) along the first direction, and the removal device (100) further includes: A third drive assembly (150), mounted on the frame (110), is used to drive the third mounting plate (131) to move along the first direction; A material storage assembly (160) is mounted on the frame (110) and located below the material receiving assembly (130); The third mounting plate (131) is configured to move away from the connecting assembly so that the receiving box (132) and the second receiving member (143) are offset in the first direction, and the first opening (1321) is correspondingly provided with the storage assembly (160).

9. The removal device (100) according to claim 8, characterized in that, Along the second direction, the second mounting plate (122) switches between at least two removal areas, one of which is located above the subbottom and corresponds to the height position of the receiving box (132).

10. The removal device (100) according to claim 9, characterized in that, The removal area located at the bottom corresponds to the height position of the storage assembly (160).

11. The removal device (100) according to claim 8, characterized in that, The storage assembly (160) includes: Storage bin (161); The funnel (162) has an upper end for receiving workpieces falling from the first opening (1321) and a lower end for docking with the storage box (161).

12. The removal device (100) according to claim 11, characterized in that, The storage bin (161) has a first magnetic attraction part, and the frame (110) has a second magnetic attraction part, wherein the first magnetic attraction part and the second magnetic attraction part are magnetically attracted to each other.

13. The removal device (100) according to claim 1, characterized in that, The connection component includes: The first mounting plate (121) is slidably mounted on the frame (110) along the first direction. The second mounting plate (122) is slidably mounted on the first mounting plate (121) along the second direction, and the removal component is mounted on the second mounting plate (122).

14. The removal device (100) according to claim 13, characterized in that, The drive mechanism also includes: A first drive assembly (125) is mounted on the frame (110) for driving the first mounting plate (121) to move along the first direction; The second drive assembly (126) is mounted on the first mounting plate (121) and is used to drive the second mounting plate (122) to move along the second direction.

15. The removal device (100) according to claim 1, characterized in that, The removal device (100) further includes: The removal detection mechanism (190) includes a plurality of through-beam sensing components (191), which are spaced apart on the frame (110) along the second direction. Each through-beam sensing component (191) includes a set of through-beam sensors arranged opposite each other along the third direction.

16. A formation system (300), characterized in that, include: The chemical formation apparatus (200) includes a nozzle (210) having a first surface (212). The removal device (100) as claimed in any one of claims 1-15, wherein the removal member is configured to abut against the first surface (212) along the second direction.

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