Automatic loading system and method of nozzle module and ink-jet printer

Abstract

The invention relates to an automatic loading system and method for a nozzle module and an ink-jet printer. The automatic loading system comprises a conveying device, a loading device and a control device, wherein the conveying device at least can drive the nozzle module to move in a first direction, a second direction and a butt joint direction; the butt joint tool is provided with a butt joint part, a detachable butt joint relation exists between the butt joint part and a butt joint pin, extending in the butt joint direction, on the spray head module, and the mounting frame is further provided with a plurality of first positioning holes; the at least two first positioning pins are detachably connected with a plurality of connecting points on the top surface of the spray head module, extend in the butt joint direction and exceed the butt joint pin, and trigger heads capable of being elastically compressed are arranged at the ends, away from the spray head module, of the first positioning pins and used for being matched with the first positioning holes one by one; the relative position relation between the connecting point and the butt joint pin is consistent with the relative position relation between the first positioning hole and the butt joint part. According to the scheme, the process of determining the mounting points on the nozzle module is completed quickly and efficiently, and the overall automatic loading efficiency of the nozzle module is improved.

Description

Technical Field

[0001] The present application relates to the technical field of inkjet printing, and particularly relates to an automatic loading system and method for a print head module and an inkjet printer. Background Art

[0002] Inkjet printing technology has broad application prospects in many manufacturing fields such as information, energy, medical, and national defense, and is increasingly applied to flexible device fields such as OLED, RFID, thin-film solar cells, wearable flexible devices, PCB, and smart skins. As one of the key technologies in the field of high-precision industrial manufacturing and printing, the performance of the core component, the print head module, directly affects the printing quality and equipment efficiency. The print head module usually has the characteristics of complex structure, high precision, and high manufacturing cost. At the same time, in actual applications, the print head module needs to be regularly maintained or replaced to ensure the printing effect, so the disassembly and installation processes of the print head module are required.

[0003] Currently, in the automatic installation process of some print head modules, to automatically install the print head module onto its working station, it is first necessary to automatically transport the print head module to the loading point aligned with the working station, and then move the print head module at the loading point vertically to the working station for docking and fixing of related components. Due to the high precision of the print head module, it has high position requirements during docking. Therefore, for the position of the loading point of the print head module, it also needs to have high position accuracy. Regarding how to determine the initial loading point of the print head module, in related technologies, the operator often remotely controls the print head module to move to different loading points respectively and then perform upward docking, and determines whether it can finally successfully align with the relevant docking structure on the working station. If it cannot be aligned, the print head module is reset to a new loading point and the attempt is continued until a certain loading point can achieve the successful docking of the print head module to the working station.

[0004] However, in the above solution, although the new loading point can be adjusted according to the docking deviation that existed at the previous loading point, since there is often a distance between the position where the operator performs the control and the working station and there is a transparent working cabin in between, although the large-range docking deviation between the print head module and the docking structure can be roughly evaluated, it is still difficult to directly observe the small-range differences. Therefore, when adjusting the loading point in the final small range, the operator needs to repeat the attempt many times, resulting in low efficiency in determining the position of the initial loading point, which is not conducive to the overall realization of the automatic loading process of the print head module and needs to be further improved. Summary of the Invention

[0005] The present application provides an automatic loading system, method and inkjet printer for a printhead module, which can solve the problem that it is difficult to quickly determine the loading point in the automatic loading process of the printhead module in the prior art.

[0006] In a first aspect, an embodiment of the present application provides an automatic loading system for a printhead module, adopting the following technical solutions:

[0007] A conveying device, on which a loading tool for carrying the printhead module is connected, and is configured to drive the loading tool to move at least in a first direction, a second direction and a docking direction that are perpendicular to each other in pairs;

[0008] A docking tool, which includes a mounting frame for docking the printhead module. The mounting frame is provided with a docking portion, and there is a detachable docking relationship between the docking portion and a docking pin extending along the docking direction on the printhead module. The mounting frame is also provided with a plurality of first positioning holes;

[0009] At least two first positioning pins, which are configured to be detachably connected to a plurality of connection points on the top surface of the printhead module, extend along the docking direction and extend beyond the docking pin, and an elastically compressible trigger head is provided at one end away from the printhead module for cooperating with the plurality of first positioning holes one by one;

[0010] The relative positional relationship between the connection point and the docking pin is the same as the relative positional relationship between the first positioning hole and the docking portion.

[0011] Combined with the first aspect, in an implementation manner, the automatic loading system for the printhead module further includes:

[0012] A second positioning pin, one end of which is fixedly connected to the top surface of the printhead module, and the other end extends along the docking direction to between the end of the first positioning pin and the end of the docking pin. The peripheral edge of the end away from the printhead module is a guiding surface with a chamfered slope / chamfered curve, and the radial distance of the guiding surface is not less than the axial deviation between the trigger head and the connection point;

[0013] The mounting frame is provided with a second positioning hole matching the second positioning pin, and the relative positional relationship between the second positioning hole and the first positioning hole is the same as the relative positional relationship between the first positioning pin and the second positioning pin.

[0014] Combined with the first aspect, in an implementation manner, the second positioning pin is fixedly connected to the printhead module, and the first positioning pin is configured to be detachably and fixedly connected to the printhead module in a coaxial arrangement sleeved outside the second positioning pin.

[0015] In combination with the first aspect, in one embodiment, the automated loading system of the nozzle module further includes:

[0016] A distance detection member, which is arranged on the mounting rack and is configured to detect the distance between the nozzle module and the mounting rack in the docking direction.

[0017] In combination with the first aspect, in one embodiment, the distance detection member is electrically connected to the docking portion, so that when the distance detection member detects that the distance between the nozzle module and the mounting rack meets the set requirements, the docking portion docks and fixes the nozzle module.

[0018] In combination with the first aspect, in one embodiment, a limiting component is arranged on the conveying device, and the limiting component is configured to provide releasable limitation for the nozzle module in the carrier tooling within the plane perpendicular to the docking direction.

[0019] In combination with the first aspect, in one embodiment, the conveying device includes a buffer driving member that drives the carrier tooling in the docking direction, and the buffer driving member drives to have a driving buffer space in the docking direction.

[0020] In a second aspect, an embodiment of the present application provides an automated loading method for a nozzle module, adopting the following technical solution:

[0021] An automated loading method based on the above-mentioned automated loading system of the nozzle module, the method includes the following steps:

[0022] Judge whether the current is the initial loading process of the target nozzle module;

[0023] If so, move the nozzle module to the initial loading position; wherein, under the initial loading position, the first positioning pin connected to the nozzle module abuts against the mounting rack and compresses the trigger head;

[0024] Move the nozzle module within the plane perpendicular to the docking direction until the trigger head pops into the first positioning hole, and record the plane coordinates of the nozzle module in the plane perpendicular to the docking direction as the loading point;

[0025] If not, obtain the recorded loading point, and move the nozzle module to the loading point within the plane perpendicular to the docking direction.

[0026] In combination with the second aspect, in one embodiment, after obtaining the recorded loading point and moving the nozzle module to the loading point within the plane perpendicular to the docking direction, the following steps are included:

[0027] Move the nozzle module in the docking direction until the nozzle module is in the docking station; wherein, during the movement, the restrictions on each side of the nozzle module by the carrying tooling in the vertical plane of the docking direction are released synchronously.

[0028] In a third aspect, an embodiment of the present application provides an inkjet printer, adopting the following technical solution:

[0029] An inkjet printer, comprising:

[0030] The automatic loading system of the nozzle module as described above;

[0031] A nozzle module, on which a docking pin matching the automatic loading system of the nozzle module is provided.

[0032] The beneficial effects brought by the technical solution provided by the embodiment of the present application include:

[0033] When it is necessary to determine the upper loading point of the nozzle module, by detachably installing a plurality of first positioning pins on the nozzle module, and then using the conveying device to drive the nozzle module until the end of the first positioning pin on it abuts against the surface of the mounting frame of the docking tooling. At this time, the trigger head at the end of the first positioning pin is elastically pressed back. Subsequently, by further driving the nozzle module to move horizontally until the plurality of trigger heads slide relative to each other to align with the plurality of first positioning holes, the trigger heads will automatically pop into the first positioning holes, realizing the alignment of the nozzle module with the docking tooling in the docking direction, that is, obtaining the position of the upper loading point required in the vertical plane of the docking direction during the subsequent automatic loading process of the nozzle module. At the same time, in this process, since both ends of the first positioning pin abut against the nozzle module and the mounting frame respectively, it also enables the operator to observe and control better from a relatively far distance. After determining the position of the upper loading point, by removing the first positioning pin, the upper loading point can be smoothly used for the automatic loading of the nozzle module in the subsequent process. Finally, the process of determining the upper loading point of the nozzle module based on automatic loading is completed quickly and efficiently, thereby improving the efficiency of the overall automatic loading process of the nozzle module. Description of the Drawings

[0034] Figure 1 It is a schematic diagram of the overall structure of the automatic loading system of the nozzle module in an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the structural state of the nozzle module and the docking tooling before determining the upper loading point in an embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of the structural state when the upper loading point of the nozzle module and the docking tooling is determined for the first time in an embodiment of the present application;

[0037] Figure 4Schematic diagram of the structural state before the nozzle module and the docking tooling are docked by means of the upper mounting point in an embodiment of the present application;

[0038] Figure 5 Schematic diagram of the length relationship between the axial deviation of the first positioning pin and the guiding surface on the second positioning pin in an embodiment of the present application;

[0039] Figure 6 Schematic diagram of the structure in which the first positioning pin on the nozzle module is sleeved outside the second positioning pin in an embodiment of the present application;

[0040] Figure 7 Schematic diagram of the step flow of the automatic loading method of the nozzle module in an embodiment of the present application.

[0041] Reference numerals:

[0042] 1. Conveyor device; 10. Carrying tooling;

[0043] 2. Docking tooling; 20. Mounting frame; 200. First positioning hole; 201. Second positioning hole; 21. Docking part; 210. Automatic fixture; 211. Docking hole; 22. Distance detection part; 220. Trigger sensor;

[0044] 3. First positioning pin; 30. Trigger head; 31. Compression spring;

[0045] 4. Nozzle module; 40. Docking pin; 41. Second positioning pin; 410. Guiding surface; 42. Contact protrusion. Detailed implementation manners

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0047] The invention key points of an automatic loading system, method and inkjet printer for a nozzle module provided by the present application are that when it is necessary to determine the upper mounting point of the nozzle module, by driving the nozzle module together with a plurality of first positioning pins to abut against the surface of the mounting frame of the docking tooling, the property that the trigger head at the end of the first positioning pin can automatically pop out when there is an extending space after being pressed back is utilized. By moving the nozzle module in the plane, the required upper mounting point can be found when the trigger head is aligned with the first positioning hole. The process of determining the upper mounting point of the nozzle module based on automatic loading is completed quickly and efficiently, thereby improving the efficiency of the overall automatic loading process of the nozzle module.

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0049] In a first aspect, an embodiment of this application provides an automated loading system for a nozzle module.

[0050] Referring to Figure 1 , Figure 1 An automated loading system for a nozzle module 4 provided in an embodiment of this application includes a conveying device 1, a docking tooling 2, and at least two first positioning pins 3. Among them, the conveying device 1 is responsible for conveying the nozzle module 4 in a three-dimensional space, enabling the nozzle module 4 to move to a suitable position in the vertical plane of the docking direction and then approach the docking tooling 2 in the docking direction and finally dock with the docking tooling 2. The docking tooling 2 is used for detachably docking the nozzle module 4 to enable the nozzle module 4 to perform subsequent operations thereon. The first positioning pins 3 are used to be installed on the nozzle module 4 when the nozzle module 4 is initially positioned and assist the nozzle module 4 in quickly finding the upper mounting point on the vertical plane of the docking direction that can align the nozzle module 4 with the docking tooling 2.

[0051] Specifically, a loading tooling 10 for carrying the nozzle module 4 is connected to the conveying device 1, and it is configured to be able to drive the loading tooling 10 to move at least in the first direction, the second direction, and the docking direction that are perpendicular to each other in pairs; in some embodiments, the conveying device 1 can only drive the loading tooling 10 in the first direction, the second direction, and the docking direction. For example, through cylinder assemblies, hydraulic cylinder assemblies, or telescopic rod members in three directions. In other embodiments, the conveying device 1 can also have more degrees of freedom in other directions, such as a multi-link robotic arm assembly, etc. This application does not limit this here.

[0052] In this embodiment, the first direction and the second direction are specifically two perpendicular directions in the horizontal plane, and the docking direction is the vertical direction. That is, the conveying device 1 can adjust the loading tooling 10 together with the nozzle module 4 to a suitable position in the horizontal plane and then lift the nozzle module 4 vertically to make it approach the upper docking tooling 2 until it finally completes the docking with the docking tooling 2.

[0053] Referring to Figure 2 , the docking tooling 2 includes a mounting frame 20 for docking the nozzle module 4. A docking portion 21 is provided on the mounting frame 20, and there is a detachable docking relationship between the docking portion 21 and a docking pin 40 extending along the docking direction on the nozzle module 4. A plurality of first positioning holes 200 are also provided on the mounting frame 20;

[0054] Among them, the docking part 21 in this embodiment specifically includes an automatic claw and a docking hole 211. The docking hole 211 extends along the docking direction and forms openings on the upper and lower surfaces of the mounting bracket 20. At the same time, the end surface of the docking pin 40 on the nozzle module 4 has a conical surface structure that matches the automatic claw, so that after it moves in the docking direction and passes through the docking hole 211, it can be clamped and cooperated with the automatic claw on the other side of the docking hole 211. When the automatic claw receives a clamping instruction, it can clamp and fix the docking pin 40, realizing detachably fixing and installing the nozzle module 4 on one side of the mounting bracket 20. The implementation form of the automatic claw can be pneumatic or electric, and this application does not limit it. In other embodiments, the docking part 21 can be other relevant structures that can be docked and fixed with the docking pin 40, such as an electric rotary nut, and the detachable docking can also be realized by controlling its rotation and further with the threaded docking pin 40. For another example, an electrode-driven stop pin is used to plug and cooperate with a further started stop groove on the docking pin 40, etc.

[0055] A plurality of first positioning pins 3 are configured to be detachably connected to a plurality of connection points on the surface of the nozzle module 4, extend along the docking direction and extend beyond the docking pin 40, and an elastically compressible trigger head 30 is provided at one end away from the nozzle module 4 for cooperating with a plurality of first positioning holes 200 one by one.

[0056] In this embodiment, two first positioning pins 3 are specifically provided. Two corresponding connection points are provided in the two corner regions of the top surface of the nozzle module 4, and the two connection points are arranged diagonally, so that the two first positioning pins 3 can be distributed on the two diagonals of the top surface of the nozzle module 4. A compression spring 31 is arranged inside the first positioning pin 3 for ejecting the trigger head 30 at the top axially outward, so that in the natural state, the trigger head 30 of the first positioning pin 3 always extends out with the maximum stroke. At the same time, the detachable connection relationship between the first positioning pin 3 and the connection point can be different in different embodiments. For example, in this embodiment, the connection point can be a convex pin body structure, and the bottom end of the first positioning pin 3 is sleeved outside the pin body structure to realize the detachable connection with the connection point. In addition, other connection forms can also be adopted in other embodiments, such as threaded cooperation between the bottom end of the first positioning pin 3 and a threaded hole as the connection point, etc.

[0057] It should be noted that for the relative position relationship between the connection point and the docking pin 40, it is necessary to be consistent with the relative position relationship between the first positioning hole 200 and the docking part 21. Furthermore, when the nozzle module 4 moves to align the first positioning pin 3 with the first positioning hole 200, the docking pin 40 thereon can be synchronously aligned with the docking part 21 on the mounting bracket 20.

[0058] With such a setting, referring to Figure 3, by detachably installing a plurality of first positioning pins 3 on the nozzle module 4, and then using the conveying device 1 to drive the nozzle module 4 until the end of the first positioning pin 3 thereon abuts against the surface of the mounting frame 20 of the docking tooling 2. At this time, the trigger head 30 at the end of the first positioning pin 3 is elastically pressed back. Subsequently, by further driving the nozzle module 4 to move horizontally until the plurality of trigger heads 30 slide relative to each other and align with the plurality of first positioning holes 200, the trigger heads 30 will automatically pop into the first positioning holes 200, realizing the alignment of the nozzle module 4 with the docking tooling 2 in the docking direction. That is, the upper loading point position required in the vertical plane of the docking direction during the subsequent automatic loading process of the nozzle module 4 is obtained. At the same time, in this process, since both ends of the first positioning pin 3 abut against the nozzle module 4 and the mounting frame 20 respectively, it also enables the operator to better observe and control from a relatively far distance. After determining the upper loading point position, the first positioning pin 3 can be removed subsequently, and then the upper loading point can be smoothly used for the automatic loading of the nozzle module 4 in the subsequent process. Finally, the process of determining the upper loading point of the nozzle module 4 based on automatic loading is completed quickly and efficiently, thereby improving the efficiency of the overall automatic loading process of the nozzle module 4.

[0059] Furthermore, since the length of the first positioning pin 3 in the axial direction is longer than that of the positioning pin, and in order to facilitate the operator to observe and control from a relatively far distance, the length of the first positioning pin 3 needs to be further increased. Then, after the trigger head 30 of the first positioning pin 3 abuts against the bottom of the mounting frame 20, a relatively obvious gap can be formed between the nozzle module 4 and the mounting frame 20 for the operator to observe and operate. However, at the same time, for the relatively long first positioning pin 3, it will be increasingly difficult to ensure the axial deviation during its axial extension as the length increases. Therefore, there will be a certain deviation in the position of the trigger head 30 at the end of the first positioning pin 3 objectively, and then the final position of the docking pin 40 positioned by the trigger head 30 will also have a certain deviation from the docking part 21.

[0060] Based on the above problems, in some embodiments, referring to Figure 4 , the automatic loading system of the nozzle module 4 further includes:

[0061] A second positioning pin 41, which is arranged on the nozzle module 4 and extends along the docking direction. The length of its extension in the docking direction is less than that of the first positioning pin 3. It extends beyond the docking pin 40 in the docking direction. At the same time, the peripheral edge of the end away from the nozzle module 4 is a guiding surface 410 with a chamfered slope / chamfered curve, and the radial distance d of the guiding surface 410 is not less than the axial deviation x between the trigger head 30 and the connection point, as shown in Figure 5 .

[0062] In addition, a second positioning hole 201 for mating with the second positioning pin 41 is further provided on the mounting bracket 20, and the relative positional relationship between the second positioning hole 201 and the first positioning hole 200 is the same as the relative positional relationship between the first positioning pin 3 and the second positioning pin 41. Wherein, the inner diameter of the second positioning hole 201 is the same as the maximum diameter of the guiding surface 410, so that the second positioning pin 41 can be smoothly inserted into the second positioning hole 201.

[0063] With such a setting, since the second positioning pin 41 is shorter than the first positioning pin 3, its machining accuracy in the axial extension direction can be better than that of the first positioning pin 3. Therefore, the influence of the axial deviation at the end of the second positioning pin 41 in practice is smaller. And since the radial distance d of the guiding surface 410 is not less than the axial deviation x between the trigger head 30 and the connection point, even if there is a corresponding positional deviation between the second positioning pin 41 and the second positioning hole 201 due to the axial deviation of the first positioning pin 3, it still enables the second positioning pin 41 to come into contact with the periphery of the second positioning hole 201 through the guiding surface 410 and perform inclined plane mating under this positional deviation, so as to guide the whole second positioning pin 41 to move within the vertical plane in the docking direction until the whole second positioning pin 41 is aligned with the second positioning hole 201 to complete the guiding docking. That is to say, it realizes guiding the whole nozzle module 4 to move within the vertical plane in the docking direction to eliminate the axial deviation x between the trigger head 30 and the connection point. In addition, since the second positioning pin 41 extends beyond the docking pin 40 in the docking direction, it can guide the nozzle module 4 first before the docking pin 40 and the docking portion 21 are engaged. That is to say, through the second positioning pin 41, it can always guide the docking pin 40 and the docking portion 21 to the aligned relative positions before the docking pin 40 and the docking portion 21 are engaged.

[0064] It can be seen that in this process, the whole nozzle module 4 needs to have a moving space within the vertical plane in the docking direction. Therefore, for some embodiments in which the nozzle module 4 is limited by a limiting component during the conveying process to keep the conveying of the nozzle module 4 stable, further in the present application, these limiting components are configured to be able to release the limit on the nozzle module 4 within the vertical plane in the docking direction in the carrying tooling 10 as needed. Specifically, for example, the limiting component can be a pressing component on the carrying tooling 10 that presses against / away from the nozzle module 4 from at least two directions, or a magnetic component that limits the nozzle module 4 by controlling the presence or absence of magnetism. Then, when the nozzle module 4 moves along the docking direction, these limiting components need to release the limit on the nozzle module 4 so that the nozzle module 4 can have a space to move within the vertical plane in the docking direction in the carrying tooling 10.

[0065] Further, referring to Figure 6, in some embodiments, the second positioning pin 41 is fixedly connected to the nozzle module 4, and the first positioning pin 3 is configured to be detachably and fixedly connected to the nozzle module 4 in a coaxial arrangement sleeved outside the second positioning pin 41.

[0066] In this embodiment, while the second positioning pin 41 serves as a guiding member to assist the nozzle module 4 in overcoming the position error caused by the first positioning pin 3, it also serves as a connection point for the first positioning pin 3 to make a detachable connection. This setting not only effectively reduces the structural complexity but also further ensures that a more accurate relative position relationship can be formed between the second positioning pin 41 and the first positioning pin 3. Correspondingly, in this embodiment, the second positioning hole 201 and the first positioning hole 200 are the same axial hole opened for installation, and in this embodiment, the maximum diameter of the guiding surface 410 of the second positioning pin 41 is kept consistent with the maximum diameter of the contact head of the first positioning pin 3.

[0067] Further, referring to Figure 2 and Figure 6 , in some embodiments, the automatic loading system of the nozzle module 4 further includes:

[0068] A distance detection member 22, which is arranged on the mounting frame 20 and is configured to detect the distance between the nozzle module 4 and the mounting frame 20 in the docking direction.

[0069] Specifically, the distance detection member 22 is also electrically connected to the docking portion 21, so as to be used to fix the nozzle module 4 by docking when the distance detection member 22 detects that the distance between the nozzle module 4 and the mounting frame 20 meets the set requirements.

[0070] Among them, in this application, the distance detection member 22 is a trigger sensor 220 installed at the bottom of the mounting frame 20. At the same time, a contact protrusion 42 is provided at the position corresponding to the trigger sensor 220 on the nozzle module 4. And the relative position relationship between the contact protrusion 42 and the top surface of the nozzle module 4 is the same as the relative position relationship between the trigger sensor 220 and the bottom surface of the mounting frame 20, so as to ensure that when the top surface of the nozzle module 4 touches the bottom surface of the mounting frame 20, the trigger sensor 220 can be informed in time. At the same time, the docking pin 40 of the nozzle module 4 will also move to the connection position where it can be directly connected to the docking portion 21. Therefore, the set requirement in this embodiment is specifically that the contact protrusion 42 on the nozzle module 4 contacts the trigger sensor 220.

[0071] In addition, through the electrical connection relationship between the trigger sensor 220 and the docking part 21, after the nozzle module 4 moves to the top and touches the mounting bracket 20, the docking instruction of the docking part 21 can be triggered, controlling the docking part 21 to connect the docking pin 40, so as to realize the fixed connection between the nozzle module 4 and the mounting bracket 20. In other embodiments, the distance detection part 22 can also be in other forms, such as a light distance sensor, etc., which is not limited in this application.

[0072] Further, in some embodiments, the conveying device 1 includes a buffer driving part that drives the carrying tooling 10 in the docking direction, and the buffer driving part drives to have a driving buffer space in the docking direction.

[0073] Specifically, the buffer driving part is specifically selected as a driving cylinder in this embodiment. When it lifts the carrying tooling 10 vertically until the top surface of the nozzle module 4 touches the mounting bracket 20, it can avoid the rigid contact between the top surface of the nozzle module 4 and the mounting bracket 20 through the driving buffer space it has, and realize having a certain compression buffer space to offset the extra lifting distance of the buffer driving part vertically. In addition, the buffer driving part can also be electrically connected to the distance detection part 22, so that after the distance detection part 22 detects that the top surface of the nozzle module 4 touches the mounting bracket 20, it can stop lifting, further avoiding excessive force between the nozzle module 4 and the mounting bracket 20.

[0074] In a second aspect, the present application provides an automatic loading method for an automatic loading system of a nozzle module 4.

[0075] Refer to Figure 7 , which is a schematic diagram of the step flow of an embodiment of the automatic loading method provided by the present application. The method specifically includes the following steps:

[0076] S100. Determine whether the current is the initial loading process of the target nozzle module 4;

[0077] S210. If so, move the nozzle module 4 to the initial loading position; wherein, the first positioning pin 3 connected to the nozzle module 4 under the initial loading position abuts against the mounting bracket 20 and compresses the trigger head 30;

[0078] S211. Move the nozzle module 4 in a plane perpendicular to the docking direction until the trigger head 30 pops into the first positioning hole 200, and record the planar coordinates of the nozzle module 4 in the vertical plane of the docking direction as the loading point;

[0079] S220. If not, obtain the recorded loading point, and move the nozzle module 4 to the loading point in the vertical plane of the docking direction.

[0080] Among them, for step S100, the specific judgment process can be based on the relevant signals actively triggered by technicians on the inkjet printer, or can be determined according to whether the current inkjet printer is in a specific state. For example, whether the nozzle module 4 is in a state of being connected to the first positioning pin 3. This application does not limit how to determine whether the current is the initial installation process of the nozzle module 4.

[0081] If it is determined that the current is the initial installation process of the nozzle module 4, the subsequent self-learning process of the installation point needs to be executed, that is, step S200. And during the execution of step S200, the nozzle module 4 needs to be first moved to an initial installation position that has an objective deviation from the final target installation point. The two-dimensional position of this initial installation position in the plane perpendicular to the docking direction can be automatically calculated according to the approximate size of the nozzle module 4 and the relevant position of the docking part 21 on the mounting rack 20, or can be actively set by the operator according to manual experience. At the same time, the position of the initial installation position in the docking direction needs to satisfy that the first positioning pin 3 on the nozzle module 4 is in contact with the surface of the mounting rack 20 near the first positioning hole 200, so that the trigger head 30 at the end of the first positioning pin 3 is elastically pressed back. Using the initial installation position, the nozzle module 4 is first moved to a position with a small position error range to improve the efficiency of finding the accurate installation point subsequently.

[0082] And in the subsequent process of step S211, the nozzle module 4 can be moved until the trigger head 30 of the first positioning pin 3 pops out automatically after being aligned with the first positioning hole 200, and then the two-dimensional position in the plane perpendicular to the current docking direction can be used as the installation point for recording and used when the same nozzle module 4 is installed subsequently.

[0083] Further, in some embodiments, after step S220, obtaining the recorded installation point and moving the nozzle module 4 to the installation point on the plane perpendicular to the docking direction, includes the following steps:

[0084] S300, moving the nozzle module 4 in the docking direction until the nozzle module 4 is in the docking station; wherein, during the moving process, the side limits of the nozzle module 4 by the carrying tooling 10 in the plane perpendicular to the docking direction are released synchronously.

[0085] Among them, the docking station in this embodiment corresponds to the position when the contact protrusion 42 on the nozzle module 4 abuts against the contact sensor on the mounting bracket 20. At this time, the docking pin 40 on the nozzle module 4 will also move to a to-be-connected position where it can be directly connected to the docking portion 21. In order to prevent the nozzle module 4 from being unable to move in the vertical plane of the docking direction during this process, resulting in the nozzle module 4 being unable to complete the correction of fine errors through the second positioning pin 41, in this embodiment, during this movement process, the side limits of the nozzle module 4 by the loading fixture 10 in the vertical plane of the docking direction will be further released.

[0086] In a third aspect, the present application provides an inkjet printer, which includes the automatic loading system of the nozzle module 4 as described above;

[0087] A nozzle module 4, on which a docking pin 40 matching the automatic loading system of the nozzle module 4 is provided.

[0088] Since this inkjet printer includes the automatic loading system of the above-mentioned nozzle module 4, the beneficial effects of this inkjet printer are the same as those of the automatic loading system of the above-mentioned nozzle module 4, and will not be elaborated here.

[0089] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0090] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0091] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An automated loading system for a nozzle module, characterized in that: It includes: A conveying device, to which a carrying fixture for carrying the nozzle module is connected, and is configured to be able to drive the carrying fixture to move in at least a first direction, a second direction and a docking direction perpendicular to each other; A docking tool, comprising a mounting frame for docking the nozzle module, the mounting frame being provided with a docking portion, the docking portion and a docking pin extending along a docking direction on the nozzle module being in a detachable docking relationship, and the mounting frame being further provided with a plurality of first positioning holes; At least two first positioning pins are configured to be detachably connected to a plurality of connection points on the top surface of the nozzle module, extend along the docking direction and exceed the docking pins, and an elastically compressible trigger head is provided at one end away from the nozzle module for one-to-one matching with the plurality of first positioning holes; The relative position relationship between the connection point and the docking pin is consistent with the relative position relationship between the first positioning hole and the docking portion.

2. The automatic loading system for the nozzle module according to claim 1, characterized in that: Also includes: A second positioning pin, one end of which is fixedly connected to the top surface of the nozzle module, and the other end of which extends along the docking direction to between the end of the first positioning pin and the end of the docking pin, and the peripheral edge of one end of the second positioning pin away from the nozzle module is a guide surface with an inclined chamfer / curved chamfer, and the radial distance of the guide surface is not less than the axial deviation between the trigger head and the connection point; The mounting frame is provided with a second positioning hole matching the second positioning pin, and the relative position relationship between the second positioning hole and the first positioning hole is consistent with the relative position relationship between the first positioning pin and the second positioning pin.

3. The automatic loading system for the nozzle module according to claim 2, characterized in that: The second positioning pin is fixedly connected to the nozzle module, and the first positioning pin is configured to be detachably fixedly connected to the nozzle module in an arrangement manner of being coaxially sleeved outside the second positioning pin.

4. The automatic loading system for the nozzle module according to claim 1, characterized in that: Also includes: A distance detection component is disposed on the mounting frame and is configured to detect the distance between the nozzle module and the mounting frame in the docking direction.

5. The automatic loading system for the nozzle module according to claim 4, characterized in that: The distance detecting member is electrically connected to the docking portion, so that when the distance detecting member detects that the distance between the nozzle module and the mounting frame meets a set requirement, the docking portion docks and fixes the nozzle module.

6. The automatic loading system for the nozzle module according to claim 2, characterized in that: The conveying device is provided with a limiting assembly, and the limiting assembly is configured to provide a releasable limit to the nozzle module in the carrying tooling in the vertical plane of the docking direction.

7. The automatic loading system for the nozzle module according to claim 1, characterized in that: The conveying device includes a buffer driving member for driving the carrying tool in the docking direction, and the buffer driving member has a driving buffer space in the docking direction.

8. An automated loading method based on the automated loading system of the nozzle module according to claim 1, characterized in that: The method comprises the following steps: Determine whether this is the first installation process of the target nozzle module; If yes, move the nozzle module to an initial mounting position; wherein, at the initial mounting position, a first positioning pin connected to the nozzle module is pressed against the mounting frame and compresses the trigger head; Move the nozzle module in a plane perpendicular to the docking direction until the trigger head pops into the first positioning hole, and record the plane coordinates of the nozzle module on the vertical plane in the docking direction as the mounting point; If not, obtain the recorded mounting point, and move the nozzle module to the mounting point on the vertical plane of the docking direction.

9. The automated loading method according to claim 8, characterized in that: After obtaining the recorded attachment point and moving the nozzle module to the attachment point on the vertical plane of the docking direction, the following steps are included: The nozzle module is moved in the docking direction until the nozzle module is in the docking position; wherein, during the movement, the side limits of the nozzle module imposed by the supporting fixture in the vertical plane in the docking direction are simultaneously released.

10. An inkjet printer, characterized in that: It includes: The automated loading system for a nozzle module according to any one of claims 1 to 7; A nozzle module is provided with a docking pin matching the automated loading system of the nozzle module.

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