Suction nozzle mounting equipment and formation machine

Abstract

The invention relates to suction nozzle mounting equipment. The suction nozzle installation equipment comprises a suction nozzle module, a first driving mechanism and a controller, the suction nozzle module comprises a suction nozzle and a detector used for sensing a suction nozzle connector, and the first driving mechanism is connected with the suction nozzle module so as to drive the suction nozzle module to move in the first direction. The controller is electrically connected with the first driving mechanism and the detector. Wherein the suction nozzle is provided with an initial position and a target position which are arranged in a spaced mode in the first direction, under the condition that the suction nozzle is located at the target position, the suction nozzle and the suction nozzle connector are oppositely arranged in a spaced mode in the second direction intersecting with the first direction, and the controller is configured to be capable of controlling the suction nozzle connector according to sensing information of the detector. And controlling the first driving mechanism to drive the suction nozzle of the suction nozzle module to move from the initial position to the target position along the first direction. By means of the suction nozzle installation equipment, the adjustment time of manual repeated adjustment can be saved, the installation efficiency of the suction nozzle is improved, and manpower can also be saved.

Description

Technical Field

[0001] The present application relates to the field of chemical formation technology, and in particular to a nozzle installation device and a chemical formation machine. Background Art

[0002] In the related art, the suction nozzle on the negative pressure rod of the formation machine is used to be adaptively inserted into the liquid filling hole of the battery so as to use the suction nozzle to inject or suck out the electrolyte. Since the suction nozzle needs to be in contact with the electrolyte, after a period of use, the suction nozzle needs to be removed from the negative pressure rod and a new suction nozzle needs to be manually aligned to the bottom of the negative pressure rod so that the new suction nozzle can be subsequently installed on the negative pressure rod. However, manually aligning the suction nozzle is time-consuming and labor-intensive. Summary of the Invention

[0003] Based on this, it is necessary to provide a nozzle installation device and a forming machine to address the problem that manual nozzle alignment is time-consuming and labor-intensive.

[0004] According to the first aspect of the present application, a nozzle installation device is provided, which is used to connect a nozzle to a nozzle connector of a forming machine. The nozzle installation device includes a nozzle module, a first drive mechanism and a controller. The nozzle module includes a nozzle and a detector for sensing the nozzle connector. The first drive mechanism is connected to the nozzle module to drive the nozzle module to move along a first direction. The controller is electrically connected to the first drive mechanism and the detector respectively. The nozzle has an initial position and a target position spaced apart along a first direction. When the nozzle is at the target position, the nozzle is opposite to the nozzle connector and spaced apart along a second direction intersecting the first direction. The controller is configured to control the first drive mechanism to drive the nozzle of the nozzle module to move from the initial position to the target position along the first direction according to the sensing information of the detector.

[0005] In the technical solution of the present application, a detector is used to sense the nozzle joint, and a controller is used to control the nozzle of the nozzle module to move from an initial position to a target position along a first direction based on the sensing information of the nozzle joint sensed by the detector. The nozzle can be arranged opposite to and spaced from the nozzle joint along a second direction, thereby facilitating the subsequent more precise installation of the nozzle on the nozzle joint, saving the adjustment time of repeated manual adjustments, improving the installation efficiency of the nozzle, and saving manpower.

[0006] In one embodiment, the controller is configured to determine a target travel distance for the suction nozzle from an initial position to a target position based on the sensing information from the detector, and to control the first drive mechanism to drive the suction nozzle of the suction nozzle module to move from the initial position to the target position along a first direction according to the target travel distance. The target travel distance determined based on the sensing information from the detector is based on the position of the suction nozzle joint along the first direction, so that the suction nozzle, when moved along the first direction to the target position according to the target travel distance, can be more accurately aligned with the suction nozzle joint, thereby improving the accuracy of the suction nozzle's alignment with the suction nozzle joint.

[0007] In one embodiment, the first driving mechanism includes a first driving member and an encoder, the output end of the first driving member is connected to the nozzle module to drive the nozzle module to move along the first direction, the encoder is provided on the output end of the first driving member and is used to obtain the stroke of the nozzle moving along the first direction; the controller is electrically connected to the first driving member and the encoder respectively, and the controller is used to obtain the stroke of the nozzle moving along the first direction when the sensing information of the detector changes, and determine the target stroke. The encoder can be used to accurately obtain the stroke of the nozzle moving along the first direction, and then accurately determine the target stroke based on the accurate acquisition of the stroke of the nozzle moving along the first direction when the sensing information of the detector changes, so that the nozzle moved to the target position along the first direction according to the target stroke can be more accurately aligned with the nozzle joint, thereby improving the alignment accuracy of the nozzle relative to the nozzle joint.

[0008] In one embodiment, the nozzle installation device further comprises a fixing base connected to the first driving mechanism, and the nozzle module is movably connected to the fixing base along the first direction, so that the nozzle module can be directionally moved along the first direction under the drive of the first driving mechanism.

[0009] In one embodiment, the nozzle module further includes a nozzle base, the detector is disposed on the nozzle base, and the nozzle base is provided with a plurality of position indicators spaced apart along a third direction. A plurality of nozzles are arranged on the nozzle base at preset intervals along the third direction according to the plurality of position indicators. The first direction, the second direction, and the third direction intersect with each other. Because the spacing between two adjacent battery cells in batteries of different battery models is different, the plurality of position indicators can be used to adjust the spacing between two adjacent nozzles along the third direction according to the spacing between the two adjacent battery cells to meet the replacement requirements of batteries of different battery models.

[0010] In one embodiment, the plurality of position indicators include multiple types of position indicators. Position indicators of the same type are arranged on the nozzle base at equal intervals along the third direction, while position indicators of different types are staggered along the third direction. The corresponding position indicator can be determined based on the spacing between two adjacent battery cells in the battery, and the nozzles can be installed based on the corresponding position indicator. This ensures that the spacing between two adjacent nozzles along the third direction meets the formation requirements of the corresponding battery, facilitating a one-to-one correspondence between the nozzles and the battery cells, allowing subsequent battery formation operations to be performed using the multiple nozzles.

[0011] In one embodiment, the nozzle module further includes a plurality of nozzle mounting bases for mounting the nozzles. The nozzle mounting bases are movably mounted on the nozzle base along a third direction. The nozzle mounting bases are provided with an alignment opening for revealing a position indicator and for aligning with the position indicator. Alternatively, the nozzle bases are provided with a plurality of first engaging portions corresponding to the position indicator, and the nozzle mounting bases are provided with a second engaging portion adapted to mate with the first engaging portions. The nozzle mounting bases can be aligned with corresponding position indicators using the alignment openings or the first engaging portions and the second engaging portions, so that the plurality of nozzles can meet the formation requirements of corresponding batteries. The spacing between two adjacent nozzles along the third direction can also be adjusted according to the battery model to meet the formation requirements of the corresponding battery.

[0012] In one embodiment, the nozzle is detachably connected to the corresponding nozzle mounting seat along the second direction, so that when one end of the nozzle along the second direction is connected to the corresponding nozzle connector, the other end of the nozzle along the second direction can be detached from the corresponding nozzle mounting seat.

[0013] In one embodiment, a sensor is provided on the nozzle base, the sensor being located along the third direction on at least one side of the plurality of nozzles. The sensor is configured to sense a signal indicating that all nozzles have been installed. The sensor can be used to confirm whether all nozzles have been installed, so that subsequent operations can be performed based on the signal indicating that all nozzles have been installed, such as resetting the nozzle installation device based on the signal indicating that all nozzles have been installed.

[0014] In one embodiment, the sensor includes an emitter for emitting a light signal and a receiver for receiving the light signal. Along a third direction, the emitter and the receiver are located on opposite sides of the plurality of nozzles. The controller is electrically connected to the receiver so as to be able to receive a signal from the receiver indicating that all nozzles have been installed. When all nozzles are installed, there is no obstruction between the emitter and the receiver along the third direction, so that the receiver can receive the light signal from the emitter, i.e., the signal indicating that all nozzles have been installed. This allows the controller to receive the signal indicating that all nozzles have been installed, so that the controller can control the nozzle installation device to perform a reset operation.

[0015] In one embodiment, the nozzle mounting device further includes a module connector, the nozzle mounting device includes a plurality of nozzle modules spaced apart along a first direction, and the first drive mechanism is connected to each of the plurality of nozzle modules via the module connector. The first drive mechanism can be used to synchronously drive the plurality of nozzle modules to move along the first direction, such that the nozzles of the plurality of nozzle modules are moved from their respective initial positions to their respective target positions along the first direction according to a target travel distance, and the nozzles of the plurality of nozzle modules can be synchronously aligned.

[0016] In one embodiment, the nozzle installation device further includes a second drive mechanism, and the nozzle further has an installation position spaced apart from the target position along a second direction. When the nozzle is in the installation position, the nozzle is adapted to be connected to a corresponding nozzle connector. The second drive mechanism is connected to the first drive mechanism to drive the first drive mechanism and the nozzle module to move along the second direction, thereby moving the nozzle from the target position to the installation position along the second direction. The second drive mechanism can be used to drive the first drive mechanism and the nozzle module to move along the second direction, thereby moving the nozzle from the target position to the installation position along the second direction, and then the nozzle can be plugged into the corresponding nozzle connector to achieve the installation of the nozzle.

[0017] In one embodiment, the second drive mechanism includes a second drive member and a transmission member, wherein an output shaft of the second drive member is connected to the transmission member to drive the transmission member to move in a fourth direction, and the transmission member is configured to convert its movement in the fourth direction into movement of the first drive mechanism in the second direction, thereby moving the suction nozzle from a target position to an installation position in the second direction. The fourth direction is parallel to the first direction, or the first direction, the second direction, and the fourth direction intersect with each other.

[0018] In one embodiment, the transmission member includes an inclined surface, which is arranged at an angle to the second direction. The transmission member uses the inclined surface to convert its movement in the fourth direction into movement of the first drive mechanism in the second direction. The inclined surface of the transmission member can be used to convert the movement of the transmission member in the fourth direction into movement of the first drive mechanism in the second direction, thereby driving the suction nozzle to move from a target position to an installation position along the second direction. In addition, compared to a mechanism such as an electric push rod, a linear motor, a motor screw structure, or a cylinder directly driving the movement of the first drive mechanism in the second direction, the provision of the inclined surface structure is more conducive to reducing the space occupied by the second drive mechanism in the second direction, thereby reducing the volume of the suction nozzle installation device.

[0019] In one embodiment, the nozzle installation device further includes a rolling member connected to the first drive mechanism, the rolling member being rotatably disposed on the inclined surface such that movement of the transmission member in the fourth direction is converted into movement of the first drive mechanism in the second direction. When the second drive member is in operation, it can drive the transmission member to move in the fourth direction, causing the rolling member to roll along the inclined surface in the fourth direction, thereby driving the first drive mechanism and the nozzle module to move in the second direction, thereby moving the nozzle along the second direction from the target position to the installation position.

[0020] In one embodiment, the nozzle mounting device further includes a device base, the second driving member is disposed on the device base, and the transmission member is movably connected to the device base along a fourth direction. This enables the transmission member to move directionally relative to the device base along the fourth direction, thereby improving the reliability of the transmission member's displacement along the fourth direction and facilitating better movement of the nozzle along the second direction from the target position to the mounting position.

[0021] In one embodiment, the nozzle installation apparatus further includes a guide member, to which the first drive mechanism is movably connected along a second direction. The guide member can be used to directionally move the first drive mechanism and the nozzle module along the second direction, thereby improving the reliability of the nozzle module's displacement along the second direction and better driving the nozzle along the second direction from a target position to an installation position.

[0022] According to a second aspect of the present application, a forming machine is provided, comprising the nozzle mounting device of any one of the above embodiments.

[0023] In one embodiment, the forming machine further includes a support platform for supporting the nozzle mounting device, the support platform being provided with a power supply unit, and the nozzle mounting device further includes a device base, the first drive mechanism and the controller being provided on the device base, and the device base being provided with a power supply unit electrically connected to the first drive mechanism and the controller, respectively, and the power supply unit being detachably connected to the power supply unit. The power supply unit can be detachably connected to the power supply unit to provide power to the first drive mechanism, the controller, the second drive mechanism, and the like.

[0024] In one embodiment, the power supply unit includes a plurality of power supply contacts, and the power extraction unit includes a plurality of power extraction contacts corresponding to the power supply contacts. When the nozzle mounting device is placed on the support platform in a predetermined posture, the power supply contacts and the corresponding power extraction contacts are in contact with each other and electrically connected. The nozzle mounting device can be placed on the support platform in a predetermined posture, so that the power supply contacts and the corresponding power extraction contacts are in contact with each other and electrically connected, thereby energizing the first drive mechanism, the controller, the second drive mechanism, etc.

[0025] In one embodiment, one of the device base and the support platform is provided with a limiting post, and the other of the device base and the support platform is provided with a limiting hole that matches the limiting post. The nozzle mounting device is placed on the support platform in a preset posture with the help of the limiting post and the limiting hole. The limiting post can be inserted into the corresponding limiting hole to place the nozzle mounting device on the support platform in the preset posture.

[0026] In one embodiment, the nozzle module includes a plurality of nozzles spaced apart along a third direction, the forming machine includes a plurality of nozzle connectors corresponding one to one with the nozzles, the plurality of nozzle connectors are arranged on the top side of the nozzle mounting device along a second direction, a plane perpendicular to the second direction is defined as a reference plane, and when the nozzle mounting device is placed on a support table in a preset posture, the orthographic projection of the nozzle on the reference plane has a first axis of symmetry extending along the first direction, and the orthographic projection of the nozzle connector on the reference plane has a second axis of symmetry that coincides with the first axis of symmetry. After the nozzle mounting device is placed on the support table in a preset posture, the position of the nozzle along the third direction can be made substantially the same as the position of the corresponding nozzle connector along the third direction, thereby reducing the process of adjusting and aligning the nozzle along the third direction and improving the installation efficiency of the nozzle mounting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A structural schematic diagram of a nozzle installation device according to an embodiment of the present application is shown.

[0028] Figure 2 A structural diagram of a nozzle module according to an embodiment of the present application is shown.

[0029] Figure 3 A schematic structural diagram of a fixing base and a first driving mechanism according to an embodiment of the present application is shown.

[0030] Figure 4 A schematic diagram showing the alignment of suction nozzles to corresponding suction nozzle joints according to an embodiment of the present application is shown.

[0031] Figure 5 A schematic structural diagram of a fixing base and a nozzle module according to another embodiment of the present application is shown.

[0032] Figure 6 Shown Figure 5 An enlarged schematic diagram of point A.

[0033] Figure 7 A structural schematic diagram of a first driving mechanism according to an embodiment of the present application is shown.

[0034] Figure 8 A schematic structural diagram of a second driving mechanism and a device base according to an embodiment of the present application is shown.

[0035] Reference numerals: 10, nozzle mounting device;

[0036] 110. Nozzle module; 111. Nozzle; 1111. Snap-fitting protrusion; 112. Detector; 113. Nozzle base; 1131. Slideway; 114. Position indicator; 115. Nozzle mounting base; 1151. Alignment opening; 1152. Mounting slot; 116. Sensor; 1161. Transmitter; 1162. Receiver; 120. Module connector;

[0037] 210, first drive mechanism; 211, first drive member; 212, first screw; 213, first screw nut; 214, nut connector; 215, first pulley; 216, second pulley; 217, first belt; 218, motor mounting plate; 219, screw bearing; 220, fixing seat; 230, rolling element; 240, first slide rail;

[0038] 310, second drive mechanism; 311, second drive member; 312, transmission member; 3121, inclined block; 31211, inclined surface; 3122, transmission base plate; 313, second screw rod; 314, screw rod pusher; 315, second belt; 320, equipment base; 321, limiting hole; 322, mounting slot; 330, second slide rail; 340, power supply unit; 341, power supply contact;

[0039] 410, guide member; 420, linear bearing; 430, guide limit member; 431, guide limit block; 432, guide limit plate;

[0040] 500, side shell;

[0041] 20. Nozzle connector; 21. Snap-fit ​​groove. DETAILED DESCRIPTION

[0042] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0043] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0045] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0046] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0048] As described in the background art, in the related art, manual adjustment is usually used to align the new suction nozzle to the bottom of the negative pressure rod. However, manual adjustment requires repeated adjustments, resulting in the problem that manual nozzle alignment is time-consuming and labor-intensive.

[0049] In order to solve the problem of time-consuming and labor-intensive manual nozzle alignment, the present application designs a nozzle installation device and a forming machine that can automatically align the nozzle, saving the adjustment time of repeated manual adjustments, improving the installation efficiency of the nozzle, and saving manpower.

[0050] The nozzle installation device and / or formation machine disclosed in the embodiments of the present application can be used, but is not limited to, in a battery formation process or a battery production process.

[0051] Figure 1 FIG. 1 shows a schematic structural diagram of a nozzle installation device 10 in an embodiment of the present application. Figure 2 1 shows a schematic structural diagram of a nozzle module 110 according to an embodiment of the present application. Figure 3 A schematic structural diagram of a fixing base 220 and a first driving mechanism 210 according to an embodiment of the present application is shown.

[0052] See also Figure 1 A nozzle installation device 10 provided in one embodiment of the present application is used to connect a nozzle 111 to a nozzle connector 20 of a forming machine. The nozzle installation device 10 includes a nozzle module 110, a first driving mechanism 210 and a controller.

[0053] The nozzle module 110 includes a nozzle 111 and a detector 112 for sensing the nozzle joint 20 .

[0054] The nozzle connector 20 may be a connector portion on the negative pressure rod of the forming machine for connecting the nozzle 111 , or may be a connector for connecting the nozzle 111 to the negative pressure rod of the forming machine.

[0055] The suction nozzle 111 refers to a hollow component that can be adaptively inserted into the liquid injection hole of the battery so that the electrolyte can be injected or sucked out using the suction nozzle 111. The suction nozzle 111 can be made of rubber material, and of course, other corrosion-resistant insulating materials can also be used.

[0056] The detector 112 may be a sensing component capable of sensing the nozzle connector 20 , and may be a fiber optic sensor (when the fiber optic sensor senses the nozzle connector 20 , the optical signal emitted by the fiber optic sensor is blocked, and a corresponding sensing signal may be emitted). Of course, other types of sensors (such as a proximity sensor, etc.) may also be used as the detector 112 . This is not a specific limitation, as long as the detector 112 can sense the nozzle connector 20 .

[0057] The first drive mechanism 210 is connected to the nozzle module 110 to drive the nozzle module 110 to move along a first direction F1. The nozzle 111 has an initial position and a target position spaced apart along the first direction F1. When the nozzle 111 is at the target position, the nozzle 111 is spaced apart from the nozzle connector 20 along a second direction F2 intersecting the first direction F1.

[0058] The initial position refers to the initial position of the suction nozzle 111 in the first direction F1 , and the target position refers to the position where the suction nozzle 111 can be positioned relative to the nozzle joint 20 along the second direction F2 .

[0059] Optionally, the first direction F1 may be perpendicular to the second direction F2. For example, the first direction F1 is parallel to the length direction or the width direction of the nozzle mounting device 10, and the second direction F2 is parallel to the height direction of the nozzle mounting device 10.

[0060] The controller is electrically connected to the first driving mechanism 210 and the detector 112 respectively. The controller is configured to control the first driving mechanism 210 to drive the nozzle 111 of the nozzle module 110 to move from an initial position to a target position along the first direction F1 according to the sensing information of the detector 112.

[0061] The controller is configured to control the output of the first drive mechanism 210 based on the sensing information of the detector 112. The controller may control the first drive mechanism 210 to stop output when the detector 112 detects the vacuum joint; or the controller may determine the target position based on the sensing information of the detector 112, and control the output of the first drive mechanism 210 so that the suction nozzle 111 moves from the initial position to the target position along the first direction F1.

[0062] In this way, when the nozzle installation device 10 of the present application is used, the detector 112 can be used to sense the nozzle connector 20, and the controller can be used to control the nozzle 111 of the nozzle module 110 to move from the initial position to the target position along F1 based on the sensing information of the nozzle connector 20 sensed by the detector 112, so that the nozzle 111 can be arranged opposite to and spaced from the nozzle connector 20 along the second direction F2, so that the nozzle 111 can be well aligned with the nozzle connector 20 along the second direction F2, thereby facilitating the subsequent more precise installation of the nozzle on the nozzle connector 20, saving the adjustment time of manual repeated adjustments, improving the installation efficiency of the nozzle, and saving manpower.

[0063] In some embodiments, the controller is configured to determine the target stroke of the suction nozzle 111 from the initial position to the target position based on the sensing information of the detector 112, and control the first driving mechanism 210 to drive the suction nozzle 111 of the suction nozzle module 110 to move from the initial position to the target position along the first direction F1 according to the target stroke.

[0064] The controller can determine the target stroke of the suction nozzle 111 from the initial position to the target position based on the sensing information of the detector 112, and then use the controller to control the first driving mechanism 210 to drive the suction nozzle 111 of the suction nozzle module 110 to move from the initial position to the target position along the first direction F1 according to the target stroke. Since the detector 112 is used to sense the suction nozzle joint 20, the target stroke determined according to the sensing information of the detector 112 is based on the position of the suction nozzle joint 20 along the first direction F1, so that the suction nozzle 111 moved to the target position along the first direction F1 according to the target stroke can be more accurately aligned with the suction nozzle joint 20, thereby improving the alignment accuracy of the suction nozzle 111 relative to the suction nozzle joint 20.

[0065] In some embodiments, the first driving mechanism 210 includes a first driving member 211 and an encoder. The output end of the first driving member 211 is connected to the nozzle module 110 to drive the nozzle module 110 to move along the first direction F1. The encoder is arranged on the output end of the first driving member 211 and is used to obtain the stroke of the nozzle 111 moving along the first direction F1. The controller is electrically connected to the first driving member 211 and the encoder, respectively. The controller is used to obtain the stroke of the nozzle 111 moving along the first direction F1 when the sensing information of the detector 112 changes, and determine the target stroke.

[0066] Optionally, the first driving member 211 may be a motor, and the encoder may be a motor encoder corresponding to the motor.

[0067] Among them, the situation in which the sensing information of the detector 112 changes includes the situation in which the sensing signal of the detector 112 suddenly becomes larger at the initial time when the detector 112 senses the nozzle joint 20, wherein the initial time of the nozzle joint 20 is the handover time from when the detector 112 does not sense the nozzle joint 20 to when the detector 112 senses the nozzle joint 20, and at this time the sensing signal of the detector 112 suddenly becomes larger.

[0068] The situation in which the sensing information of the detector 112 changes also includes the situation in which the sensing signal of the detector 112 suddenly becomes smaller at the end time when the detector 112 senses the nozzle joint 20, wherein the end time when the detector 112 senses the nozzle joint 20 is the handover time from when the detector 112 senses the nozzle joint 20 to when the detector 112 does not sense the nozzle joint 20, and at this time, the sensing signal of the detector 112 suddenly becomes smaller.

[0069] like Figure 4 As shown in FIG, “the controller is used to obtain the travel of the nozzle 111 along the first direction F1 when the sensing information of the detector 112 changes, and determine the target travel” specifically means: at the initial time when the detector 112 senses the nozzle joint 20, the travel of the nozzle 111 along the first direction F1 is recorded as the first travel L1, and at the end time when the detector 112 senses the nozzle joint 20, the travel of the nozzle 111 along the first direction F1 is recorded as the second travel L2, and the target travel L is calculated based on the first travel L1 and the second travel L2. 目 , where L 目 =L1+1 / 2*(L2-L1).

[0070] It should be noted that the detector 112 senses the nozzle joint 20. The detector 112 can directly sense the nozzle joint 20, or the detector 112 can indirectly sense the nozzle joint 20. For example, the detector 112 senses a component having the same position coordinates as the nozzle joint 20 along the first direction F1, such as setting a redundant nozzle joint 20 that can be positioned opposite the detector 112 along the second direction.

[0071] In this way, the encoder can be used to accurately obtain the stroke of the nozzle 111 moving along the first direction F1, and then according to the change in the sensing information of the detector 112, the first stroke L1 and the second stroke L2 can be accurately obtained, and the target stroke L can be accurately determined. 目 , so that the suction nozzle 111 moved to the target position along the first direction F1 according to the target stroke can be more accurately aligned with the suction nozzle joint 20 (facing the suction nozzle joint 20), thereby improving the alignment accuracy of the suction nozzle 111 relative to the suction nozzle joint 20.

[0072] In some embodiments, the nozzle installation device 10 further includes a fixing base 220 connected to the first driving mechanism 210 , and the nozzle module 110 is movably connected to the fixing base 220 along the first direction F1 .

[0073] Alternatively, the nozzle module 110 may be directly and movably connected to the fixing base 220 along the first direction F1, for example, Figure 5 As shown, the nozzle module 110 is connected to the fixing base 220 in a sliding manner along the first direction F1. Alternatively, the nozzle module 110 is indirectly connected to the fixing base 220 in a movable manner along the first direction F1, for example, Figure 1 and Figure 2 As shown, the nozzle installation device 10 further includes a first slide rail 240 provided on the fixing seat 220 , and the nozzle module 110 is slidably connected to the first slide rail 240 along the first direction F1 so as to be able to move relative to the fixing seat 220 in a direction along the first direction F1 .

[0074] Since the nozzle module 110 is movably connected to the fixing base 220 along the first direction F1 , the nozzle module 110 can be driven by the first driving mechanism 210 to move directionally along the first direction F1 .

[0075] In some embodiments, the nozzle module 110 also includes a nozzle base 113, the detector 112 is arranged on the nozzle base 113, and the nozzle base 113 is provided with a plurality of position indicating parts 114 arranged at intervals along the third direction F3. The plurality of nozzles 111 are arranged on the nozzle base 113 at preset intervals along the third direction F3 according to the plurality of position indicating parts 114, wherein the first direction F1, the second direction F2 and the third direction F3 intersect with each other.

[0076] The position indicator 114 may be an indicator scale, or an installation mark corresponding to the suction nozzles 111 at different intervals, which is not specifically limited here.

[0077] Optionally, the first direction F1, the second direction F2, and the third direction F3 are perpendicular to each other. For example, one of the first direction F1 and the third direction F3 is parallel to the length direction of the nozzle mounting device 10, the other of the first direction F1 and the third direction F3 is parallel to the width direction of the nozzle mounting device 10, and the second direction F2 is parallel to the height direction of the nozzle mounting device 10. In this embodiment, the first direction F1 is parallel to the width direction of the nozzle mounting device 10, the third direction F3 is parallel to the length direction of the nozzle mounting device 10, and the second direction F2 is parallel to the height direction of the nozzle mounting device 10.

[0078] Since the intervals between two adjacent battery cells in batteries of different battery models are different, the above-mentioned multiple position indicating parts 114 can be used to adjust the interval between two adjacent suction nozzles 111 along the third direction F3 according to the interval between the two adjacent battery cells to meet the replacement requirements of batteries of different battery models.

[0079] In some embodiments, see Figure 6 The multiple position indicating parts 114 include multiple types of position indicating parts 114. The position indicating parts 114 of the same type are arranged on the nozzle base 113 at the same intervals along the third direction F3, and the position indicating parts 114 of different types are staggered along the third direction F3.

[0080] For example, Figure 6 A schematic diagram of three types of position indicators 114 is provided. The three types of position indicators 114 are respectively marked as 8, 10 and 12.

[0081] The corresponding position indicating portion 114 can be determined according to the interval between two adjacent battery cells in the battery, and then the suction nozzle 111 can be installed according to the corresponding position indicating portion 114, so that the interval between two adjacent suction nozzles 111 along the third direction F3 meets the formation requirements of the corresponding battery, so that the suction nozzle 111 and the battery cell are one-to-one corresponding to each other, so that the multiple suction nozzles 111 can be used to perform formation operations on the battery later.

[0082] In some embodiments, the nozzle module 110 also includes a plurality of nozzle mounting seats 115 for mounting the nozzles 111. The nozzle mounting seats 115 are movably arranged on the nozzle base 113 along the third direction F3. The nozzle mounting seats 115 are provided with a positioning opening 1151 for exposing the position indicating portion 114 and for aligning with the position indicating portion 114.

[0083] Specifically, the nozzle base 113 is provided with a slide groove 1131 extending along the third direction F3, and the nozzle mounting seat 115 can be slidably connected to the slide groove 1131 along the third direction F3. Multiple nozzle mounting seats 115 can be arranged in the slide groove 1131 at intervals along the third direction F3.

[0084] Since the nozzle mounting seat 115 is movably provided on the nozzle base 113 along the third direction F3, the position of the nozzle mounting seat 115 along the third direction F3 can be adjusted along the third direction F3, and the alignment opening 1151 of the nozzle mounting seat 115 can be exposed and aligned with the corresponding position indicator 114. In this way, the interval between two adjacent nozzles 111 along the third direction F3 can be adjusted according to the battery model to meet the formation requirements of the corresponding battery.

[0085] In other embodiments, the nozzle module 110 also includes a plurality of nozzle mounting seats 115 for mounting the nozzle 111. The nozzle mounting seats 115 are movably arranged on the nozzle base 113 along the third direction F3. The nozzle base 113 is provided with a plurality of first clamping portions corresponding to the position indicating portion 114. The nozzle mounting seat 115 is provided with a second clamping portion adapted to the first clamping portion.

[0086] Wherein, one of the first clamping portion and the second clamping portion may be a clamping slot, and the other of the first clamping portion and the second clamping portion may be a clamping block adapted to the clamping slot.

[0087] In this way, the suction nozzle mounting seat 115 can be aligned with the corresponding position indicating portion 114 with the help of the first clamping portion and the second clamping portion, so that multiple suction nozzles 111 can meet the formation requirements of the corresponding batteries. The interval between two adjacent suction nozzles 111 along the third direction F3 can also be adjusted according to the battery model to meet the formation requirements of the corresponding battery.

[0088] In some embodiments, the nozzle 111 is detachably plugged into the corresponding nozzle mounting seat 115 along the second direction F2 .

[0089] This facilitates that when one end of the nozzle 111 along the second direction F2 is plugged into the corresponding nozzle connector 20 , the other end of the nozzle 111 along the second direction F2 can be detached from the corresponding nozzle mounting seat 115 .

[0090] In some embodiments, the nozzle mounting base 115 is provided with a mounting slot 1152, and the nozzle 111 is sleeved with an elastic ring that matches the mounting slot 1152, so that the nozzle 111 can be easily mounted on the corresponding mounting slot 1152 through the elastic ring, and the elastic ring can also be used to protect the nozzle 111. The inner hole of the elastic ring matches the outer peripheral wall of the nozzle 111.

[0091] The mounting slot 1152 may be in a square or circular structure.

[0092] It should be noted that the connection strength between the elastic ring and the suction nozzle 111 is weaker than the connection strength between the suction nozzle 111 and the corresponding suction nozzle connector 20 when the suction nozzle 111 is plugged into the corresponding suction nozzle connector 20, so that the end of the suction nozzle 111 can be easily detached from the corresponding suction nozzle mounting seat 115 along the second direction F2 away from the corresponding suction nozzle connector 20.

[0093] In some embodiments, a sensor 116 is provided on the nozzle base 113 . The sensor 116 is located on at least one side of the plurality of nozzles 111 along the third direction F3 . The sensor 116 is configured to sense a signal indicating that all the nozzles 111 have been installed.

[0094] The sensor 116 can be used to confirm whether all the suction nozzles 111 have been installed, so that subsequent operations can be performed based on the signal that all the suction nozzles 111 have been installed, such as resetting the suction nozzle installation device 10 based on the signal that all the suction nozzles 111 have been installed.

[0095] In some embodiments, the sensor 116 includes an emitter 1161 for emitting a light signal and a receiver 1162 for receiving a light signal. Along the third direction F3, the emitter 1161 and the receiver 1162 are located on opposite sides of the plurality of suction nozzles 111. The controller is electrically connected to the receiver 1162 so as to be able to receive signals sensed by the receiver 1162 indicating that all suction nozzles 111 have been installed.

[0096] When all the suction nozzles 111 are installed, there is no obstruction between the transmitter 1161 and the receiver 1162 along the third direction F3, so that the receiver 1162 can receive the light signal emitted by the transmitter 1161, which means that the receiver 1162 senses that all the suction nozzles 111 are installed, and the controller can receive the signal sensed by the receiver 1162 that all the suction nozzles 111 are installed, so that the controller can control the suction nozzle installation device 10 to perform the reset operation.

[0097] In some embodiments, the nozzle installation device 10 further includes a module connector 120 , and the nozzle installation device 10 includes multiple groups of nozzle modules 110 spaced apart along the first direction F1 , and the first driving mechanism 210 is respectively connected to the multiple groups of nozzle modules 110 through the module connector 120 .

[0098] For example, there are two nozzle modules 110 .

[0099] The first driving mechanism 210 can be used to synchronously drive multiple groups of suction nozzle modules 110 to move along the first direction F1, so that the suction nozzles 111 of the multiple groups of suction nozzle modules 110 are respectively moved from their respective initial positions to their respective target positions along the first direction F1 according to the target stroke. The suction nozzles 111 of the multiple groups of suction nozzle modules 110 can be synchronously aligned, which is also convenient for the subsequent installation of the suction nozzles 111 of the multiple groups of suction nozzle modules 110 on the formation machine, and the subsequent use of the suction nozzles 111 of the multiple groups of suction nozzle modules 110 to perform formation operations on multiple batteries.

[0100] In some embodiments, as Figure 7 As shown, the first driving mechanism 210 further includes a first screw 212 extending along a first direction F1, a first screw nut 213, a nut connector 214, a first pulley 215, a second pulley 216, a first belt 217, a motor mounting plate 218 and a screw bearing 219.

[0101] The first driving member 211 may be a servo motor.

[0102] The first drive member 211 is mounted on the fixed base 220 via the motor mounting plate 218, and the screw bearing 219 is mounted on the fixed base 220. A first pulley 215 is provided at the output end of the first drive member 211. The first pulley 215 and the second pulley 216 are connected by a first belt 217. The second pulley 216 and the first screw 212 are coaxially arranged. The first screw nut 213 and the screw bearing 219 are spaced apart and sleeved on the first screw 212. The first screw nut 213 is connected to the nozzle module 110 via the nut connector 214 and the module connector 120. In this way, the first drive member 211 can be used to drive the first pulley 215 to rotate, thereby driving the second pulley 216 and the first screw 212 to rotate, thereby driving the nozzle module 110 to move along the first direction F1.

[0103] Of course, the present application is not limited thereto, and a cylinder or other driving member may also be used to drive the nozzle module 110 to move along the first direction F1.

[0104] In some embodiments, the nozzle installation apparatus 10 further includes a second drive mechanism 310, and the nozzle 111 further has an installation position spaced apart from the target position along the second direction F2. When the nozzle 111 is in the installation position, the nozzle 111 is adapted to be connected to the corresponding nozzle connector 20, and the second drive mechanism 310 is connected to the first drive mechanism 210 to drive the first drive mechanism 210 and the nozzle module 110 to move along the second direction F2, thereby moving the nozzle 111 along the second direction from the target position to the installation position.

[0105] It may be that the suction nozzle 111 includes a snap-fitting protrusion 1111, and the suction nozzle connector 20 is provided with a snap-fitting groove 21 that is adapted to the snap-fitting protrusion 1111. When the suction nozzle 111 is in the installation position, the snap-fitting protrusion 1111 and the snap-fitting groove 21 can be used to adaptably snap the suction nozzle 111 to the suction nozzle connector 20.

[0106] In this way, the second driving mechanism 310 can be used to drive the first driving mechanism 210 and the suction nozzle module 110 to move along the second direction F2, so that the suction nozzle 111 can be moved from the target position to the installation position along the second direction, and then the suction nozzle 111 can be plugged into the corresponding suction nozzle connector 20 to achieve the installation of the suction nozzle 111.

[0107] In some embodiments, as Figure 8 As shown, the second driving mechanism 310 includes a second driving member 311 and a transmission member 312. The output shaft of the second driving member 311 is connected to the transmission member 312 to drive the transmission member 312 to move along the fourth direction F4. The transmission member 312 is configured to be able to convert its movement along the fourth direction F4 into the movement of the first driving mechanism 210 along the second direction F2, so as to move the suction nozzle 111 from the target position to the installation position along the second direction F2.

[0108] The fourth direction F4 is parallel to the first direction F1, or the first direction F1, the second direction F2, and the fourth direction F4 intersect with each other. In other words, the fourth direction F4 may be parallel to the first direction F1 or parallel to the third direction F3, without any specific limitation.

[0109] In this embodiment, the fourth direction F4 is parallel to the first direction F1 , which facilitates the overall layout of the nozzle installation device 10 and helps to reduce the overall volume of the nozzle installation device 10 .

[0110] The second driving mechanism 310 can drive the transmission member 312 to move along the fourth direction F4, thereby driving the first driving mechanism 210 and the nozzle module 110 to move along the second direction F2, so that the nozzle 111 moves from the target position to the installation position along the second direction F2.

[0111] In some embodiments, the transmission member 312 includes an inclined surface 31211 , which is arranged at an angle to the second direction F2 . The transmission member 312 converts its movement along the fourth direction F4 into movement of the first driving mechanism 210 along the second direction F2 by means of the inclined surface 31211 .

[0112] The transmission member 312 may be an integral inclined block, and the inclined surface 31211 is provided on the integral inclined block; or the transmission member 312 may include multiple inclined blocks 3121, and the inclined surface 31211 is provided on each inclined block 3121. For example, the transmission member 312 includes a transmission base plate 3122 and two inclined blocks 3121 arranged on the transmission base plate 3122 at intervals along the first direction F1.

[0113] The inclined surface 31211 of the transmission member 312 can be used to convert the movement of the transmission member 312 along the fourth direction F4 into the movement of the first drive mechanism 210 along the second direction F2, and the suction nozzle 111 can be driven to move from the target position to the installation position along the second direction F2. In addition, compared with the electric push rod, linear motor, motor screw structure or cylinder and other mechanisms that directly drive the first drive mechanism 210 to move along the second direction F2, by setting the structure of the inclined surface 31211, it is more conducive to reducing the space occupied by the second drive mechanism 310 along the second direction F2, which is conducive to reducing the volume of the suction nozzle installation device 10.

[0114] In some embodiments, the nozzle mounting device 10 also includes a rolling member 230 connected to the first driving mechanism 210, and the rolling member 230 is rollingly arranged on the inclined surface 31211 so that the movement of the transmission member 312 along the fourth direction F4 can be converted into the movement of the first driving mechanism 210 along the second direction F2.

[0115] Specifically, the rolling element 230 may be a roller, and the rolling element 230 may be disposed on the bottom side of the fixing seat 220 .

[0116] In this way, when the second driving member 311 is working, it can drive the transmission member 312 to move along the fourth direction F4, so that the rolling member 230 rolls along the inclined surface 31211 along the fourth direction F4, and then drives the first driving mechanism 210 and the suction nozzle module 110 to move along the second direction F2, and can move the suction nozzle 111 from the target position to the installation position along the second direction F2.

[0117] Of course, the present application is not limited thereto, and a wedge-shaped block adapted to the inclined surface 31211 may also be provided on the bottom side of the fixing seat 220 to convert the movement of the transmission member 312 along the fourth direction F4 into the movement of the first driving mechanism 210 along the second direction F2.

[0118] In some embodiments, the nozzle mounting device 10 further includes a device base 320 , the second driving member 311 is disposed on the device base 320 , and the transmission member 312 is movably connected to the device base 320 along a fourth direction F4 .

[0119] “The transmission member 312 is movably connected to the device base 320 along the fourth direction F4” can mean that the transmission member 312 is slidably connected to the device base 320 along the fourth direction F4; or Figure 8 As shown, the nozzle mounting device 10 further includes a second slide rail 330 provided on the device base 320, and the transmission member 312 is slidably connected to the second slide rail 330 along a fourth direction F4. In this embodiment, the fourth direction F4 is parallel to the first direction F1, and the transmission base plate 3122 of the transmission member 312 is slidably connected to the second slide rail 330 along the fourth direction F4.

[0120] In this way, the transmission member 312 can be moved in a directional manner relative to the equipment base 320 along the fourth direction F4, thereby improving the displacement reliability of the transmission member 312 along the fourth direction F4 and better driving the suction nozzle 111 to move from the target position to the installation position along the second direction F2.

[0121] In some embodiments, the nozzle mounting device 10 further includes a guide member 410 , and the first driving mechanism 210 is movably connected to the guide member 410 along the second direction.

[0122] In this embodiment, the guide member 410 is provided on the device base 320 . Specifically, the device base 320 is provided with a mounting groove 322 adapted to one end of the guide member 410 , and one end of the guide member 410 is installed in the mounting groove 322 .

[0123] The guide member 410 can be used to move the first driving mechanism 210 and the suction nozzle module 110 in a direction along the second direction F2, thereby improving the displacement reliability of the suction nozzle module 110 along the second direction F2 and better driving the suction nozzle 111 to move from the target position to the installation position along the second direction F2.

[0124] In some embodiments, the guide member 410 is configured as a guide optical axis, and the nozzle mounting device 10 further includes a linear bearing 420 movably sleeved on the guide member 410 along the second direction F2 , a fixing seat 220 and the linear bearing 420 .

[0125] The fixing seat 220 can be sleeved on the linear bearing 420 .

[0126] The linear bearing 420 can be used to reduce the friction generated when the fixing base 220 moves relative to the guide member 410 along the second direction F2, thereby better driving the first driving mechanism 210 and the nozzle module 110 to move along the second direction F2.

[0127] In some embodiments, the nozzle mounting device 10 further includes a guide limiter 430 , which is used to limit the linear bearing 420 from moving out of the guide member 410 along the second direction F2 .

[0128] The guide stopper 430 may include at least one of a guide stopper block 431 and a guide stopper plate 432. In this embodiment, the orthographic projection of the linear bearing 420 on the guide stopper block 431 is located within the outer edge of the guide stopper block 431. The nozzle mounting apparatus 10 includes four guide mechanisms, each of which includes the guide member 410, the linear bearing 420, and the guide stopper block 431. Two guide stopper plates 432 are provided, and each guide stopper plate 432 is connected to the guide stopper blocks 431 of two of the guide mechanisms at opposite ends along the third direction F3.

[0129] In this way, the guide limiter 430 can be used to reduce the probability of the linear bearing 420 moving out of the guide member 410 along the second direction F2, thereby improving the reliability of the nozzle mounting device 10.

[0130] In some embodiments, the second drive mechanism 310 also includes a second screw rod 313 extending along the fourth direction F4, a screw rod pushing seat 314, a third pulley, a fourth pulley and a second belt 315. A third pulley is provided on the output end of the second driving member 311. The third pulley and the fourth pulley are connected by the second belt 315. The fourth pulley and the second screw rod 313 are coaxially arranged. The nut of the second screw rod 313 is connected to the screw rod pushing seat 314, and the screw rod pushing seat 314 is connected to the transmission member 312.

[0131] The second driving member 311 may be a servo motor.

[0132] In this way, when the second driving member 311 is in operation, it can drive the third pulley to rotate, and then drive the fourth pulley and the second screw 313 to rotate, and then the screw can push the seat 314 and the transmission member 312 to move along the fourth direction F4, so as to drive the suction nozzle 111 to move from the target position to the installation position along the second direction F2.

[0133] In some embodiments, the nozzle mounting device 10 also includes a side shell 500 with openings at both ends. The device base 320 is arranged at the bottom opening of the side shell 500 to define a receiving space with the side shell 500. The first drive mechanism 210, the controller, and the second drive mechanism 310 are accommodated in the receiving space. The fixed seat 220 is arranged at the top of the side shell 500, and the nozzle module 110 is movably connected to the fixed seat 220 along the first direction F1.

[0134] The nozzle module 110 is located on the top side of the fixing base 220 , which facilitates the detector 112 to sense the nozzle connector 20 and also facilitates the installation of the nozzle 111 on the corresponding nozzle connector 20 .

[0135] The side shell 500 and the equipment base 320 can be used to improve the integrity of the nozzle installation device 10 and facilitate the overall movement of the nozzle installation device 10, such as placing the nozzle installation device 10 on the support platform described below by an automatic guided vehicle (AGV).

[0136] A forming machine provided in one embodiment of the present application includes the nozzle mounting device 10 of any of the above embodiments.

[0137] In some embodiments, the nozzle mounting device 10 includes a nozzle module 110 , a first driving mechanism 210 , a controller, and a second driving mechanism 310 .

[0138] The controller can determine the target stroke of the nozzle 111 from the initial position to the target position according to the sensing information of the detector 112, and then use the controller to control the first driving mechanism 210 to drive the nozzle 111 of the nozzle module 110 to move from the initial position to the target position along the first direction F1 according to the target stroke. Since the detector 112 is used to sense the nozzle joint 20, the target stroke determined according to the sensing information of the detector 112 is based on the position of the nozzle joint 20 along the first direction F1, so that the nozzle 111 is moved along the first direction F1 according to the target stroke. The suction nozzle 111 moved to the target position can be more accurately aligned with the suction nozzle connector 20, thereby improving the alignment accuracy of the suction nozzle 111 relative to the suction nozzle connector 20. After completing the alignment of the suction nozzle 111, the second driving mechanism 310 is used to drive the first driving mechanism 210 and the suction nozzle module 110 to move along the second direction F2, so that the suction nozzle 111 is moved from the target position to the installation position along the second direction. The suction nozzle 111 in the installation position can be installed on the corresponding suction nozzle connector 20, so that the battery formation operation can be performed more accurately using the subsequent formation machine.

[0139] In some embodiments, the forming machine also includes a support platform for supporting the nozzle mounting device 10, and a power supply part is provided on the support platform. The nozzle mounting device 10 also includes a device base 320, and the first drive mechanism 210 and the controller are arranged on the device base 320. The device base 320 is provided with a power supply part 340 which is electrically connected to the first drive mechanism 210 and the controller respectively, and the power supply part 340 is detachably electrically connected to the power supply part.

[0140] In this embodiment, the first driving mechanism 210 is provided on the fixing base 220, and the fixing base 220 is movably provided on the device base 320 along the second direction F2 through the guide member 410.

[0141] The power extraction unit 340 can be electrically connected to the first driving member 211 of the first driving mechanism 210 , and can also be electrically connected to the second driving mechanism 310 . Specifically, the power extraction unit 340 is electrically connected to the second driving member 311 of the second driving mechanism 310 .

[0142] The power taking unit 340 can be detachably electrically connected to the power supply unit to provide power to the first driving mechanism 210 , the controller, the second driving mechanism 310 , and the like.

[0143] In some embodiments, the power supply part includes multiple power supply contacts, and the power supply part 340 includes multiple power supply contacts 341 corresponding one to one with the power supply contacts. When the nozzle installation device 10 is placed on the support table in a preset posture, the power supply contacts and the corresponding power supply contacts 341 are in contact with each other and electrically connected.

[0144] It may be that the power supply contact on the support platform is constructed as a protrusion protruding from the support platform, and the device base 320 is provided with a through hole for the protrusion to pass through along the thickness direction of the device base 320, and the power supply part 340 is provided on the device base 320, so that when the suction nozzle mounting device 10 is placed on the support platform in a preset posture, the power supply contact and the corresponding power supply contact 341 are in contact with each other and electrically connected.

[0145] When in use, the nozzle installation device 10 can be placed on the support table in a preset posture, so that the power supply contact and the corresponding power supply contact 341 can be in contact with each other and electrically connected, thereby enabling the first drive mechanism 210, the controller and the second drive mechanism 310 to be in a power-on state, and the controller controls the first drive mechanism 210 to drive the nozzle module 110 to reset so that the nozzle 111 is in the initial position, and drives the nozzle module 110 to move along the first direction F1, so that the controller can obtain the information of the sensor 112 when the sensing information changes. The target stroke is determined based on the movement of the suction nozzle 111 in the first direction. The first drive mechanism 210 is then controlled to drive the suction nozzle module 110 to move in the first direction F1, thereby moving the suction nozzle 111 from the initial position to the target position. After all the suction nozzles 111 are aligned, the controller controls the second drive mechanism 310 to drive the first drive mechanism 210 and the suction nozzle module 110 to move in the second direction F1, thereby moving the suction nozzle 111 from the target position to the installation position, thereby installing the suction nozzle 111 in the corresponding suction nozzle connector 20. After all the suction nozzles 111 are installed, the controller controls the second drive mechanism 310 to drive the first drive mechanism 210 and the suction nozzle module 110 to reset.

[0146] In some embodiments, one of the device base 320 and the support platform is provided with a limiting column, and the other of the device base 320 and the support platform is provided with a limiting hole 321 adapted to the limiting column, and the suction nozzle mounting device 10 is placed on the support platform in a preset posture with the help of the limiting column and the limiting hole 321.

[0147] For example, the device base 320 is provided with a limiting hole 321 adapted to the limiting column.

[0148] In this way, the limiting column can be adaptively inserted into the corresponding limiting hole 321, so that the nozzle installation device 10 can be placed on the support table in a preset posture, so that the nozzle installation device 10 in the preset posture can automatically perform the alignment and installation operations of all nozzles 111.

[0149] In some embodiments, the nozzle module 110 includes a plurality of nozzles 111 spaced apart along a third direction F3. The forming machine includes a plurality of nozzle connectors 20 corresponding one-to-one to the nozzles 111. The plurality of nozzle connectors 20 are disposed on the top side of the nozzle mounting device 10 along the second direction F2. A plane perpendicular to the second direction F2 is defined as a reference plane. When the nozzle mounting device 10 is placed on a support table in a preset posture, the orthographic projection of the nozzles 111 on the reference plane has a first axis of symmetry extending along the first direction F1, and the orthographic projection of the nozzle connector 20 on the reference plane has a second axis of symmetry that coincides with the first axis of symmetry.

[0150] Taking the first direction F1, the second direction F2 and the third direction F3 as an example, after the nozzle installation device 10 is placed on the support table in a preset posture, the position of the nozzle 111 along the third direction F3 can be made roughly the same as the position of the corresponding nozzle connector 20 along the third direction F3, thereby reducing the process of adjusting and aligning the nozzle 111 along the third direction F3 and improving the installation efficiency of the nozzle installation device 10.

[0151] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0152] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A nozzle installation device, characterized in that: The nozzle installation device is used to connect the nozzle to the nozzle connector of the forming machine, and the nozzle installation device includes: A nozzle module (110) comprising a nozzle (111) and a detector (112) for sensing a nozzle joint; A first driving mechanism (210) is connected to the nozzle module (110) to drive the nozzle module (110) to move along a first direction; and a controller, the controller being electrically connected to the first driving mechanism (210) and the detector (112) respectively; The suction nozzle (111) has an initial position and a target position spaced apart along a first direction; when the suction nozzle (111) is at the target position, the suction nozzle (111) is spaced apart from the suction nozzle joint along a second direction intersecting the first direction; The controller is configured to control the first driving mechanism (210) to drive the suction nozzle (111) of the suction nozzle module (110) to move from the initial position to the target position along the first direction according to the sensing information of the detector (112).

2. The nozzle installation device according to claim 1, characterized in that The controller is configured to determine a target stroke of the suction nozzle (111) from the initial position to the target position based on the sensing information of the detector (112), and control the first driving mechanism (210) to drive the suction nozzle (111) of the suction nozzle module (110) to move from the initial position to the target position along the first direction according to the target stroke.

3. The nozzle installation device according to claim 2, characterized in that: The first driving mechanism (210) includes a first driving member (211) and an encoder; The output end of the first driving member (211) is connected to the suction nozzle module (110) to drive the suction nozzle module (110) to move along the first direction; The encoder is provided on the output end of the first driving member (211) and is used to obtain the travel of the suction nozzle (111) along the first direction; The controller is electrically connected to the first driving member (211) and the encoder respectively, and is used to obtain the stroke of the suction nozzle (111) moving along the first direction when the sensing information of the detector (112) changes, so as to determine the target stroke.

4. The nozzle installation device according to any one of claims 1 to 3, characterized in that: The suction nozzle installation device further comprises a fixing seat (220) connected to the first driving mechanism (210), and the suction nozzle module (110) is movably connected to the fixing seat (220) along the first direction.

5. The nozzle installation device according to any one of claims 1 to 3, characterized in that: The nozzle module (110) further includes a nozzle base (113); The detector (112) is arranged on the nozzle base (113); The nozzle base (113) is provided with a plurality of position indicating portions (114) spaced apart along a third direction; The plurality of suction nozzles (111) are arranged on the suction nozzle base (113) at preset intervals along the third direction according to the plurality of position indicating portions (114); The first direction, the second direction and the third direction intersect with each other.

6. The nozzle installation device according to claim 5, characterized in that: The plurality of position indicating portions (114) include a plurality of types of position indicating portions (114), and the position indicating portions (114) of the same type are arranged on the nozzle base (113) at the same intervals along the third direction; The position indicating parts (114) of different types are staggered along the third direction.

7. The nozzle installation device according to claim 6, characterized in that: The suction nozzle module (110) further comprises a plurality of suction nozzle mounting seats (115) for mounting the suction nozzles (111); the suction nozzle mounting seats (115) are movably arranged on the suction nozzle base (113) along the third direction; The nozzle mounting seat (115) is provided with an alignment opening (1151) for revealing the position indicating portion (114) and for aligning with the position indicating portion (114); or the nozzle base (113) is provided with a plurality of first clamping portions corresponding to the position indicating portion (114), and the nozzle mounting seat (115) is provided with a second clamping portion adapted to the first clamping portions.

8. The nozzle installation device according to claim 7, characterized in that: The suction nozzle (111) is detachably plugged into the corresponding suction nozzle mounting seat (115) along the second direction.

9. The nozzle installation device according to claim 5, characterized in that: A sensor (116) is provided on the nozzle base (113), and the sensor (116) is located on at least one side of the plurality of nozzles (111) along the third direction. The sensor (116) is used to sense a signal indicating that all the nozzles (111) have been installed.

10. The nozzle installation device according to claim 9, characterized in that: The sensor (116) includes a transmitter (1161) for emitting a light signal and a receiver (1162) for receiving the light signal; Along the third direction, the transmitter (1161) and the receiver (1162) are located on opposite sides of the plurality of suction nozzles (111); The controller is electrically connected to the receiver (1162) so as to be able to receive signals sensed by the receiver (1162) indicating that all the suction nozzles (111) have been installed.

11. The nozzle installation device according to any one of claims 1 to 3, characterized in that: The nozzle installation device further includes a module connector (120); The nozzle installation device comprises a plurality of nozzle modules (110) arranged at intervals along the first direction; The first driving mechanism (210) is respectively connected to a plurality of nozzle modules (110) via the module connector (120).

12. The nozzle installation device according to any one of claims 1 to 3, characterized in that: The nozzle installation device further includes a second driving mechanism (310); The suction nozzle (111) further has an installation position spaced apart from the target position along the second direction; when the suction nozzle (111) is in the installation position, the suction nozzle (111) is adapted to be connected to the corresponding suction nozzle connector; The second driving mechanism (310) is connected to the first driving mechanism (210) to drive the first driving mechanism (210) and the suction nozzle module (110) to move along the second direction, thereby moving the suction nozzle (111) from the target position to the installation position along the second direction.

13. The nozzle installation device according to claim 12, characterized in that: The second driving mechanism (310) comprises a second driving member (311) and a transmission member (312), wherein an output shaft of the second driving member (311) is connected to the transmission member (312) to drive the transmission member (312) to move along a fourth direction; The transmission member (312) is configured to be capable of converting its movement along the fourth direction into movement of the first driving mechanism (210) along the second direction, so as to move the suction nozzle (111) from the target position to the installation position along the second direction; The fourth direction is parallel to the first direction, or the first direction, the second direction and the fourth direction intersect with each other.

14. The nozzle installation device according to claim 13, characterized in that: The transmission member (312) includes an inclined surface (31211), the inclined surface (31211) is arranged at an angle with the second direction, and the transmission member (312) converts its movement along the fourth direction into movement of the first drive mechanism (210) along the second direction by means of the inclined surface (31211).

15. The nozzle installation device according to claim 14, characterized in that: The nozzle mounting device further comprises a rolling member (230) connected to the first drive mechanism (210), wherein the rolling member (230) is rollingly arranged on the inclined surface (31211) so that the movement of the transmission member (312) along the fourth direction can be converted into the movement of the first drive mechanism (210) along the second direction.

16. The nozzle installation device according to claim 13, characterized in that The nozzle installation device further comprises a device base (320), the second driving member (311) is arranged on the device base (320), and the transmission member (312) is movably connected to the device base (320) along the fourth direction.

17. The nozzle installation device according to claim 12, characterized in that The nozzle installation device further comprises a guide member (410), and the first driving mechanism (210) is movably connected to the guide member (410) along the second direction.

18. A forming machine, characterized in that: Comprising the nozzle mounting device according to any one of claims 1-17.

19. The chemical forming machine according to claim 18, characterized in that: The forming machine further comprises a support platform for supporting the nozzle mounting device, wherein a power supply unit is provided on the support platform; The nozzle installation device also includes a device base (320), the first drive mechanism (210) and the controller are arranged on the device base (320), and the device base (320) is provided with a power supply unit (340) electrically connected to the first drive mechanism (210) and the controller respectively, and the power supply unit (340) is detachably electrically connected to the power supply unit.

20. The chemical forming machine according to claim 19, characterized in that: The power supply portion includes a plurality of power supply contacts, and the power extraction portion (340) includes a plurality of power extraction contacts (341) corresponding one-to-one to the power supply contacts; When the nozzle mounting device is placed on the support table in a preset posture, the power supply contact and the corresponding power extraction contact (341) are in contact with each other and are electrically connected.

21. The chemical forming machine according to claim 20, characterized in that: One of the device base (320) and the support platform is provided with a limiting column, and the other of the device base (320) and the support platform is provided with a limiting hole (321) adapted to the limiting column; The nozzle mounting device is placed on the support platform in the preset posture by means of the limiting column and the limiting hole (321).

22. The chemical forming machine according to claim 20, characterized in that: The suction nozzle module (110) comprises a plurality of suction nozzles (111) spaced apart along a third direction; The forming machine comprises a plurality of nozzle connectors corresponding one to one with the nozzles (111), and the plurality of nozzle connectors are arranged on the top side of the nozzle mounting device along the second direction; defining a plane perpendicular to the second direction as a reference plane; When the suction nozzle mounting device is placed on the support table in a preset posture, the orthographic projection of the suction nozzle (111) on the reference plane has a first symmetry axis extending along the first direction, and the orthographic projection of the suction nozzle joint on the reference plane has a second symmetry axis coinciding with the first symmetry axis.

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