Plugging and unplugging tool, plugging and unplugging manipulator and suction nozzle replacement equipment

Abstract

The utility model relates to the technical field of battery processing equipment, in particular to a plugging tool, a plugging manipulator and suction nozzle replacement equipment. The utility model discloses a plugging tool, and the tool comprises a pedestal which can be disposed on a motion module; the pulling head is arranged on the base, the moving module is used for driving the pulling head to move to the target device, and the pulling head is used for pulling out a first part on the target device so that the target device can be exposed out of the plugging port; and the plug is arranged on the base, the plug is used for placing a second part, and the movement module is further used for driving the plug to move to the target device so as to plug the second part into the plugging port. According to the insertion and extraction tool provided by the invention, mutual interference between the suction nozzle extraction tool and the suction nozzle insertion tool can be avoided, or mutual interference between the suction nozzle extraction tool and the suction nozzle and between the suction nozzle insertion tool and the suction nozzle can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of battery processing equipment, and in particular to a plug-in tool, a plug-in robot, and a nozzle replacement device. Background Art

[0002] The negative pressure assembly is a device used in the formation equipment to provide negative pressure to the inner cavity of the battery so as to perform formation operations on the battery. In order to speed up the formation efficiency, the number of negative pressure assemblies is usually set to multiple, and the multiple negative pressure assemblies are arranged in rows and columns on the tray. The multiple negative pressure assemblies arranged in rows and columns correspond one to one with the multiple batteries arranged in rows and columns. The suction nozzle of each negative pressure assembly is used to dock with the injection port of the corresponding battery, so that the suction nozzle can be connected with the inner cavity of the corresponding battery through the injection port. In this way, by sucking the corresponding battery inner cavity through the suction nozzle and providing negative pressure for the corresponding battery inner cavity, the purpose of performing formation operations on multiple batteries at the same time can be achieved, thereby speeding up the formation efficiency.

[0003] Since the suction nozzles are consumables, they will inevitably leak after long-term use. When leakage is detected in the suction nozzles of multiple negative pressure assemblies in the tray, the related technology usually moves the suction nozzle extraction tooling to the negative pressure assembly to pull out all the suction nozzles of the negative pressure assemblies in the entire tray at once, and then leaves the negative pressure assembly, and then moves the suction nozzle insertion tooling to the negative pressure assembly to replace new suction nozzles for all the negative pressure assemblies. However, in the actual operation process, due to limited space and other reasons, it is inevitable that the suction nozzle extraction tooling and the suction nozzle insertion tooling will interfere with each other or the suction nozzle extraction tooling and the suction nozzle insertion tooling will interfere with each other during the movement. Utility Model Content

[0004] The present application discloses a plug-in and pull-out tooling, a plug-in and pull-out robot, and a nozzle replacement device, which can avoid mutual interference between the nozzle extraction tooling and the nozzle insertion tooling, or mutual interference between the nozzle extraction tooling and the nozzle insertion tooling and the nozzles.

[0005] In order to achieve the above objectives, in a first aspect, the present application discloses a plugging and unplugging tool, comprising:

[0006] A base, which can be arranged on the motion module;

[0007] A pulling head, the pulling head is arranged on the base, the motion module is used to drive the pulling head to move to the target device, and the pulling head is used to pull out the first part on the target device so that the target device is exposed to the plug-in port;

[0008] A plug is arranged on the base, and the plug is used to place a second part. The motion module is also used to drive the plug to move to the target device so as to insert the second part into the plug port.

[0009] Optionally, there are multiple target devices, and the multiple target devices are arranged in an array along the first direction and the second direction at intervals, and the puller and the plug are arranged along the first direction at intervals;

[0010] When the pulling head moves to any one of the multiple target devices, the plug is located at one side of any one of the target devices to avoid the target device, and / or when the plug moves to any one of the multiple target devices, the pulling head is located at one side of any one of the target devices to avoid the target device.

[0011] Optionally, the number of the pulling heads and the number of the plugs are both multiple, the multiple pulling heads and the multiple plugs are arranged along the first direction, the distance between two adjacent pulling heads is equal to the distance between two adjacent target devices arranged along the first direction, and the distance between two adjacent plugs is equal to the distance between two adjacent target devices arranged along the first direction.

[0012] Optionally, a plurality of the pulling heads form a pulling head group, a plurality of the plugs form a plug group, and the pulling head group and the plug group are arranged along the first direction.

[0013] Optionally, the plurality of pulling heads and the plurality of plugs are arranged alternately along the first direction, so that at least one of the plurality of pulling heads is located between two adjacent plugs.

[0014] Optionally, the number of the plurality of extraction heads is equal to the number of the target devices in each column arranged along the first direction, and / or the number of the plurality of plugs is equal to the number of the target devices in each column arranged along the first direction.

[0015] Optionally, the plugging and unplugging tool further includes a temporary storage component, and the temporary storage component is used for temporarily storing the first part unplugged by the pulling head in the temporary storage component.

[0016] Optionally, a through hole penetrating the base is provided on the base, at least part of the structure of the temporary storage component is located vertically below the through hole, and the through hole is used for allowing the first part pulled out by the pulling head to fall into the temporary storage component through the through hole.

[0017] Optionally, the temporary storage component includes:

[0018] A driving member, wherein the driving member is disposed on the base;

[0019] The shielding member is connected to the driving member, and the driving member is used to drive the shielding member to move to the vertical bottom of the through hole or move away from the vertical bottom of the through hole to shield or open the through hole.

[0020] Optionally, the temporary storage component includes a temporary storage box, and the temporary storage box is located vertically below the through hole.

[0021] Optionally, the pulling head comprises:

[0022] A base, the base is arranged on the base, and the base is provided with a cavity for the first part to enter;

[0023] A stopper is arranged on the base, and the stopper can allow the first part to be inserted into the cavity along an insertion direction and limit the first part from leaving the cavity along a direction opposite to the insertion direction, so as to remove the first part from the target device.

[0024] Optionally, a pull head positioning portion and a plug positioning portion are provided on the base, the pull head is provided on the pull head positioning portion, and the plug is provided on the plug positioning portion.

[0025] In a second aspect, the present application discloses a plugging and unplugging robot, the plugging and unplugging robot comprising:

[0026] The plugging and unplugging tool as described in any one of the first aspects above;

[0027] The motion module is connected to the base.

[0028] In a third aspect, the present application discloses a nozzle replacement device, comprising the plugging and unplugging robot described in the second aspect above.

[0029] Compared with the prior art, the beneficial effects of this application are:

[0030] Since the pull-out head and the plug are both arranged on the base, that is, the pull-out head and the plug are both integrated and arranged on the base, forming a plug-in tooling with both the function of pulling out the first part and the function of plugging in the second part, therefore, when the first part on the target device is replaced with the second part, the same plug-in tooling can be driven by the same motion module to achieve the movement, without the need to design the tooling for pulling out the first part and the tooling for plugging in the second part, and without the need to set up two different drives to drive the two toolings to move respectively, that is, one plug-in tooling can replace two toolings, therefore, on the one hand, the cost can be reduced. On the other hand, it can avoid the situation that two different drives interfere with each other in the process of driving the two toolings to move respectively. On the other hand, it can also avoid or reduce the situation that the two toolings interfere with each other with the first part on the target device during the movement. In the fourth aspect, it can be understood that after the motion module drives the pull-out head to pull out the first part on the target device, the motion module continues to drive the plug to move a small distance to drive the plug to the target device, therefore, it can save movement time and improve the efficiency of replacing the first part on the target device with the second part.

[0031] Based on the above description, when the plug-in and pull-out tool is used in the scenario of replacing the suction nozzle for the negative pressure component, the target device can be understood as the negative pressure component, the first part can be understood as the old suction nozzle to be replaced on the negative pressure component, and the second part can be understood as the new suction nozzle. Obviously, when replacing the suction nozzle for the negative pressure component through the plug-in and pull-out tool, it can be achieved by driving the same plug-in and pull-out tool to move through the same motion module. There is no need to specially design a nozzle extraction tool for pulling out the old suction nozzle and a nozzle insertion tool for inserting the new suction nozzle, nor is there any need to specially set up two different drives to drive the nozzle extraction tool and the nozzle insertion tool to move respectively. Therefore, on the one hand, the structure of the plug-in and pull-out tool can be simplified and the cost can be reduced. On the other hand, the two different drives can avoid interference with each other in the process of driving the nozzle extraction tool and the nozzle insertion tool to move respectively. On the other hand, it can also avoid or reduce the interference between the nozzle extraction tool and the nozzle insertion tool and the old suction nozzle on the negative pressure component due to limited movement space during the movement. Fourthly, the efficiency of replacing an old suction nozzle on a negative pressure component with a new suction nozzle can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1It is a structural schematic diagram of a plugging and unplugging tool provided in an embodiment of the present application;

[0034] Figure 2 yes Figure 1 The left view of the plugging and unplugging tooling in FIG.

[0035] Figure 3 yes Figure 1 A top view of the plugging and unplugging tooling;

[0036] Figure 4 It is a structural schematic diagram of a plugging and unplugging robot provided in an embodiment of the present application;

[0037] Figure 5 yes Figure 2 A schematic diagram of the structure of the plugging and unplugging tool when unplugging the first part on the target device;

[0038] Figure 6 yes Figure 2 A schematic diagram of the structure after the plugging and unplugging tool in the target device is unplugged;

[0039] Figure 7 This is the first arrangement of multiple plugs and multiple plugs provided in the embodiment of the present application;

[0040] Figure 8 This is the second arrangement of multiple pull-out heads and multiple plugs provided in the application embodiment;

[0041] Fig. 9 It is a structural schematic diagram of a nozzle replacement device provided in an embodiment of the present application.

[0042] Description of main reference numerals

[0043] 1-base; 11-through hole;

[0044] 2-head pulling; 20-head pulling positioning part; 21-base; 211-cavity; 22-stop member; 23-head pulling group;

[0045] 3-plug; 30-plug positioning portion; 31-plug group;

[0046] 4-temporary storage component; 41-driving member; 42-shielding member;

[0047] 100-plugging and unplugging tooling; 200-plugging and unplugging manipulator; 300-motion module; 400-nozzle replacement equipment;

[0048] A-target device; A1-plug port; B1-first part; B2-second part; F1-first direction; F2-second direction; F3-insertion direction. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0051] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0052] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0054] The technical solution of the present application will be further described below in conjunction with specific embodiments and drawings.

[0055] See also Figure 1 , Figure 2 and Figure 3 The plugging and unplugging tool 100 comprises: a base 1, a plug head 2 and a plug 3, wherein Figure 4 , Figure 5 and Figure 6The base 1 can be set on the motion module 300, the pulling head 2 is set on the base 1, the motion module 300 is used to drive the pulling head 2 to move to the target device A, the pulling head 2 is used to unplug the first part B1 on the target device A so that the target device A exposes the plug port A1, the plug 3 is set on the base 1, the plug 3 is used to place the second part B2, and the motion module 300 is also used to drive the plug 3 to move to the target device A to plug the second part B2 into the plug port A1.

[0056] In this embodiment, when it is necessary to replace the first part B1 on the target device A with the second part B2 through the plug-in tool 100, first, the base 1 can be set on the motion module 300, and then the motion module 300 can drive the base 1 to move, and then drive the pulling head 2 set on the base 1 to move to the target device A. After the pulling head 2 reaches the target device A, the pulling head 2 can unplug the first part B1 on the target device A, so that the target device A exposes the plug-in port A1.

[0057] After the target device A exposes the plug port A1, the motion module 300 can continue to drive the base 1 to move, and then drive the plug 3 set on the base 1 to move to the target device A. Since the second part B2 is placed on the plug 3, after the plug 3 moves to the target device A, the second part B2 can be inserted into the plug port A1. At this point, the purpose of replacing the first part B1 on the target device A with the second part B2 is achieved.

[0058] Among them, since the pull-out head 2 and the plug 3 are both arranged on the base 1, that is, the pull-out head 2 and the plug 3 are both integrated and arranged on the base 1, a plug-in tool 100 having both the function of pulling out the first part B1 and the function of plugging in the second part B2 is formed. Therefore, when the first part B1 on the target device A is replaced with the second part B2, the same plug-in tool 100 can be driven to move by the same motion module 300, without the need to specially design a tool for pulling out the first part and a tool for plugging in the second part, and there is no need to specially set two different drives to drive the two tools to move respectively, that is, two tools can be replaced by one plug-in tool 100, so, on the one hand, the cost can be reduced. On the other hand, it can avoid the situation that two different drives interfere with each other in the process of driving the two tools to move respectively. On the other hand, it can also avoid or reduce the situation that the two tools interfere with each other with the first part B1 on the target device A during the movement. Fourthly, it can be understood that after the motion module 300 drives the pulling head 2 to unplug the first part B1 on the target device A, the motion module 300 continues to drive the plug 3 to move a small distance to drive the plug 3 to the target device A. Therefore, the movement time can be saved and the efficiency of replacing the first part B1 on the target device A with the second part B2 can be improved.

[0059] Based on the above description, when the plug-in tool 100 is used in the scenario of replacing the suction nozzle for the negative pressure component, the target device A can be understood as the negative pressure component, the first part B1 can be understood as the old suction nozzle to be replaced on the negative pressure component, and the second part B2 can be understood as the new suction nozzle. Obviously, when the suction nozzle for the negative pressure component is replaced by the plug-in tool 100, it can be achieved by driving the same plug-in tool 100 to move by the same motion module 300. There is no need to specially design a nozzle extraction tool for pulling out the old suction nozzle and a nozzle insertion tool for inserting the new suction nozzle, nor is there any need to specially set up two different drives to drive the nozzle extraction tool and the nozzle insertion tool to move respectively. Therefore, on the one hand, the structure of the plug-in tool 100 can be simplified and the cost can be reduced. On the other hand, the two different drives can avoid interference with each other in the process of driving the nozzle extraction tool and the nozzle insertion tool to move respectively. On the other hand, it can also avoid or reduce the interference between the nozzle extraction tool and the nozzle insertion tool and the old suction nozzle on the negative pressure component due to limited movement space during the movement. Fourthly, the efficiency of replacing an old suction nozzle on a negative pressure component with a new suction nozzle can be improved.

[0060] Of course, the application of the above-mentioned plug-in tool 100 in the scenario of replacing the suction nozzle for the negative pressure component is only one possible application scenario of the plug-in tool 100 given in this embodiment. Of course, the plug-in tool 100 can also be applied in other possible scenarios. When the plug-in tool 100 is applied in other possible scenarios, the above-mentioned target device A, the first part B1 and the second part B2 can also be understood in other possible ways, and this embodiment does not limit this.

[0061] In addition, the above-mentioned old suction nozzle and new suction nozzle can also be understood in a broad sense. Specifically, the suction nozzle to be replaced can be understood as the old suction nozzle, and the suction nozzle used to replace the old suction nozzle can be understood as the new suction nozzle.

[0062] It should be noted that there are many ways for the puller 2 to pull the first part B1 out of the target device A. In one possible implementation, see Figure 3 The pull head 2 includes: a base 21 and a stopper 22, wherein the base 21 is arranged on the base 1, and a cavity 211 for the first part B1 to enter is arranged on the base 21, and the stopper 22 is arranged on the base 21, and the stopper 22 can allow the first part B1 to be inserted along the insertion direction F3 ( Figure 3 The first part B1 is inserted into the cavity 211 in the negative direction of the Z axis and is restricted to be inserted in the direction opposite to the insertion direction F3 ( Figure 3 The first part B1 leaves the cavity 211 in the positive direction of the center Z axis to remove the first part B1 from the target device A.

[0063] In this embodiment, when the first part B1 on the target device A needs to be removed, first, the pulling head 2 can be driven by the motion module 300 in a direction opposite to the insertion direction F3 ( Figure 3 The moving module 300 moves in the direction close to the first part B1 (in the positive direction of the center Z axis), so that the first part B1 is inserted into the cavity 211 of the base 21 along the insertion direction F3. After the first part B1 is inserted into the cavity 211 of the base 21 along the insertion direction F3, the moving module 300 can drive the pulling head 2 to move along the insertion direction F3. Since the check member 22 can limit the first part B1 from leaving the cavity 211 in the direction opposite to the insertion direction F3, during the process of the moving module 300 driving the pulling head 2 to move along the insertion direction F3, the first part B1 will follow the pulling head 2 to move along the insertion direction F3, thereby achieving the purpose of pulling the first part B1 out of the target device A.

[0064] It can be seen that by providing the check piece 22, the purpose of pulling the first part B1 out of the target device A can be achieved. The implementation method is simple and the technology is mature. Therefore, the reliability of the operation of the pulling head 2 can be guaranteed while simplifying the structure of the pulling head 2.

[0065] Specifically, the force of the check member 22 to limit the first part B1 from leaving the cavity 211 in a direction opposite to the insertion direction F3 can be provided by a spring or a spring sheet, etc., which is not limited in this embodiment.

[0066] In order to ensure the position accuracy of the pull head 2 and the plug 3 on the base 1, and to avoid the situation that the position error of the pull head 2 and the plug 3 on the base 1 causes a jam in the process of pulling out the first part B1 or inserting the second part B2, in some embodiments, see Figure 3 A pull head positioning portion 20 and a plug positioning portion 30 are provided on the base 1 , the pull head 2 is provided on the pull head positioning portion 20 , and the plug 3 is provided on the plug positioning portion 30 .

[0067] By setting the pulling head 2 on the pulling head positioning part 20 and the plug 3 on the plug positioning part 30, the positioning of the two positioning parts can ensure the position accuracy of the pulling head 2 and the plug 3 on the base 1 when they are installed on the base 1, thereby avoiding the pulling head 2 and the plug 3 from getting stuck during the process of pulling out the first part B1 or inserting the second part B2.

[0068] Among them, the above-mentioned head pulling positioning part 20 can be a positioning groove matching the shape of the head pulling 2, and the head pulling 2 is placed in the positioning groove, or the head pulling positioning part 20 can also be a head pulling positioning pin, and the head pulling 2 is provided with a head pulling positioning hole matching the head pulling positioning pin, and the head pulling positioning pin is passed through the head pulling positioning hole, etc. It only needs to be able to accurately install the position of the head pulling 2 on the base 1, and this embodiment is not limited to this.

[0069] The structure of the plug positioning portion 30 may be the same as or similar to that of the head pulling positioning portion 20 . For details, reference may be made to the description of the head pulling positioning portion 20 in the above embodiment. The structure of the plug positioning portion 30 will not be described in detail in this embodiment.

[0070] In addition, the above-mentioned head positioning portion 20 and plug positioning portion 30 can be manufactured by machining or other methods, which is not limited in this embodiment.

[0071] In some embodiments, see Figure 5 The number of target devices A is multiple, and the multiple target devices A are respectively along the first direction F1 ( Figure 5 X-axis direction) and the second direction F2 ( Figure 5 The pulling head 2 and the plug 3 are arranged in an array at intervals (in the Y-axis direction), the pulling head 2 and the plug 3 are arranged along the first direction F1, when the pulling head 2 moves to any target device A among the multiple target devices A, the plug 3 is located on one side of any target device A to avoid the target device A, and / or, when the plug 3 moves to any target device A among the multiple target devices A, the pulling head 2 is located on one side of any target device A to avoid the target device A.

[0072] When the pulling head 2 moves to any target device A among the multiple target devices A, the plug 3 is located at one side of any target device A to avoid the target device A, thereby avoiding interference between the plug 3 and the target device A.

[0073] When the plug 3 moves to any target device A among the multiple target devices A, the pulling head 2 is located at one side of any target device A to avoid the target device A, thereby avoiding interference between the pulling head 2 and the target device A.

[0074] In addition, by arranging the pulling head 2 and the plug 3 at intervals along the first direction F1, when it is necessary to replace the first part B1 of any target device A among multiple target devices A, or any column of target devices A arranged along the first direction F1, or any row of target devices A arranged along the second direction F2 with the second part B2, the purpose of replacement can be achieved through the mutual cooperation between the pulling head 2 and the plug 3. Based on this, when the target device A is a negative pressure component, the purpose of replacing the old suction nozzle of any negative pressure component among multiple negative pressure components, or any column of negative pressure components arranged along the first direction F1, or any row of negative pressure components arranged along the second direction F2 with a new suction nozzle can be achieved. Compared with the method in the related art that can only replace all the old suction nozzles of the entire tray of negative pressure components with new suction nozzles at one time, the plugging and unplugging tool 100 provided in this embodiment can flexibly select the number of negative pressure components that need to replace the old suction nozzles according to needs, thereby avoiding the waste of consumables caused by replacing all the old suction nozzles with new suction nozzles at one time.

[0075] It should be noted that when the above-mentioned pulling head 2 moves to any target device A among multiple target devices A, the plug 3 is located between any two adjacent target devices A. One possible understanding is that when the pulling head 2 moves to any target device A among multiple target devices A, the plug 3 is located at the mirror surface of the two target devices A.

[0076] Of course, when the pulling head 2 moves to any target device A among the multiple target devices A, the plug 3 may not be located at the mirror plane of the two target devices A. For example, the plug 3 may also deviate from the mirror plane of the two target devices A. It only needs to ensure that there is no interference between the plug 3 and the target device A. This embodiment does not limit this.

[0077] Similarly, the above-mentioned extraction head 2 being located between any two adjacent target devices A and the plug 3 being located between any two adjacent target devices A can be understood similarly, and this embodiment will not be described in detail here.

[0078] When there are multiple target devices A, and the multiple target devices A are arranged in an array along the first direction F1 and the second direction F2, in order to speed up the efficiency of replacing the first part B1 on each column of target devices A arranged along the first direction F1 with the second part B2, in some embodiments, see Figure 5 and Figure 7 The number of the pulling heads 2 and the number of the plugs 3 are both multiple, and the multiple pulling heads 2 and the multiple plugs 3 are arranged at intervals along the first direction F1. The distance between two adjacent pulling heads 2 is equal to the distance between two adjacent target devices A arranged along the first direction F1, and the distance between two adjacent plugs 3 is equal to the distance between two adjacent target devices A arranged along the first direction F1.

[0079] Since the distance between two adjacent pulling heads 2 is equal to the distance between two adjacent target devices A arranged along the first direction F1, when one of the two adjacent pulling heads 2 reaches one of the two adjacent target devices A, the other pulling head 2 can just reach the other target device A. Therefore, multiple pulling heads 2 can simultaneously pull out the first parts B1 on each column of target devices A arranged along the first direction F1.

[0080] Similarly, since the distance between two adjacent plugs 3 is equal to the distance between two adjacent target devices A arranged along the first direction F1, multiple plugs 3 can simultaneously insert multiple second parts B2 into each column of target devices A arranged along the first direction F1.

[0081] Since multiple pulling heads 2 can simultaneously unplug the first parts B1 on each column of target devices A arranged along the first direction F1, and multiple plugs 3 can simultaneously plug multiple second parts B2 into each column of target devices A arranged along the first direction F1, the efficiency of replacing the first parts B1 on each column of target devices A arranged along the first direction F1 with the second parts B2 can be accelerated.

[0082] When the number of the pull-out heads 2 and the number of the plugs 3 are both plural, and the plurality of pull-out heads 2 and the plurality of plugs 3 are arranged at intervals along the first direction F1, in some embodiments, see Figure 8 , a plurality of plugs 2 form a plug group 23, a plurality of plugs 3 form a plug group 31, the plug group 23 and the plug group 31 are arranged in sequence along the first direction F1, or, see Figure 7 At least one of the plurality of plugs 2 is located between two adjacent plugs 3 .

[0083] When the pulling head group 23 and the plug group 31 are arranged in sequence along the first direction F1, multiple pulling heads 2 can be concentrated together, and multiple plugs 3 can be concentrated together. Such an arrangement, on the one hand, can make the layout of the pulling heads 2 and the plugs 3 more regular and convenient for processing. On the other hand, it can make the pulling heads 2 and the plugs 3 farther apart, thereby avoiding or reducing the possibility of interference between the first part B1 pulled out by the pulling head 2 and the second part B2 placed on the plug 3.

[0084] When at least one of the plurality of plugs 2 is located between two adjacent plugs 3, on the one hand, the plug 3 can fully utilize the space between the two adjacent plugs 2, thereby making the structure of the entire plugging and unplugging tool 100 relatively compact. On the other hand, after the plug 2 unplugs the first part B1 on the target device A, the plug 3 can reach the target device A by only moving the base 1 along the first direction F1 by the distance between the adjacent plugs 2 and the plug 3 through the motion module 300. The moving distance is short, so the efficiency of replacing the first part B1 on the target device A with the second part B2 can be further accelerated.

[0085] Of course, the multiple pulling heads 2 and the multiple plugs 3 can also be arranged along the first direction F1 in other possible ways. For example, some of the multiple pulling heads 2 can be arranged sequentially along the first direction F1, and the remaining pulling heads 2 and the multiple plugs 3 can be arranged alternately along the first direction F1. This embodiment is not limited to this.

[0086] In some embodiments, see Figure 5 and Figure 7The number of the plurality of pull-out heads 2 is equal to the number of target devices A in each column arranged along the first direction F1, and / or the number of the plurality of plugs 3 is equal to the number of target devices A in each column arranged along the first direction F1.

[0087] By making the number of the plurality of pulling heads 2 equal to the number of target devices A in each column arranged along the first direction F1, the plurality of pulling heads 2 can pull out all the first parts B1 on each column of target devices A arranged along the first direction F1 at one time, thereby increasing the efficiency of pulling out the first parts B1 on the target devices A.

[0088] By making the number of multiple plugs 3 equal to the number of target devices A in each column arranged along the first direction F1, multiple plugs 3 can plug multiple second parts B2 into multiple target devices A at one time, thereby speeding up the efficiency of plugging the second parts B2 into the target devices A.

[0089] In order to temporarily store the first part B1 pulled out by the pulling head 2, in some embodiments, see Figure 1 and Figure 2 The plugging and unplugging tool 100 also includes a temporary storage component 4, which is used to temporarily store the first part B1 unplugged by the plugging head 2 in the temporary storage component 4.

[0090] By setting up the temporary storage component 4, the first part B1 pulled out by the pulling head 2 can be temporarily stored in the temporary storage component 4. In this way, on the one hand, the pulling head 2 can be freed up to continue the work of pulling out the first part B1. On the other hand, it can also prevent the first part B1 from being placed on the pulling head 2 for a long time and causing it to fall and damage other parts or the first part B1 itself to be injured.

[0091] In some embodiments, see Figure 2 and Figure 3 A through hole 11 is provided on the base 1 and penetrates the base 1 . At least part of the structure of the temporary storage component 4 is located vertically below the through hole 11 . The through hole 11 is used for the first part B1 pulled out by the pulling head 2 to fall into the temporary storage component 4 through the through hole 11 .

[0092] Since at least part of the structure of the temporary storage component 4 is located vertically below the through hole 11, after the first part B1 is pulled out by the pulling head 2, under the action of gravity, the first part B1 can automatically fall through the through hole 11 to the temporary storage component 4 for temporary storage, and there is no need to set up a special structure to transport the first part B1 to the temporary storage component 4 for temporary storage. Therefore, the structure of the plugging and unplugging tooling 100 can be simplified.

[0093] In addition, since the first part B1 pulled out by the pulling head 2 can fall to the temporary storage component 4 through the through hole 11, the through hole 11 can guide the first part B1 during the process of the first part B1 falling to the temporary storage component 4. Therefore, the situation in which the first part B1 deviates during the process of falling to the temporary storage component 4 and fails to fall onto the temporary storage component 4 can be avoided or reduced.

[0094] The shape of the through hole 11 may be circular or square, etc., and the shape of the through hole 11 is not limited in this embodiment.

[0095] There are many ways to implement the temporary storage component 4. In one possible implementation, see Figure 2 The temporary storage component 4 includes: a driving member 41 and a shielding member 42, wherein the driving member 41 is arranged on the base 1, and the shielding member 42 is connected to the driving member 41, and the driving member 41 is used to drive the shielding member 42 to move to the vertical bottom of the through hole 11 or move away from the vertical bottom of the through hole 11 to cover or open the through hole 11.

[0096] Since the driving member 41 is arranged on the base 1 and the shielding member 42 is connected to the driving member 41, when the first part B1 needs to be temporarily stored, the driving member 41 can drive the shielding member 42 to move to the vertical bottom of the through hole 11, so that the shielding member 42 blocks the through hole 11. In this way, in the process of the first part B1 falling through the through hole 11, the shielding member 42 can prevent the first part B1 from continuing to fall, so that the first part B1 stays on the shielding member 42, thereby achieving the purpose of temporarily storing the first part B1.

[0097] When the first part B1 needs to continue falling, the driving member 41 can drive the shielding member 42 to move away from the vertical bottom of the through hole 11, so that the through hole 11 is opened. In this way, the opened through hole 11 will allow the first part B1 to continue falling through the through hole 11.

[0098] It can be seen that when the temporary storage component 4 includes a driving member 41 and a shielding member 42, the driving member 41 drives the shielding member 42 to move to the vertical bottom of the through hole 11 or move away from the vertical bottom of the through hole 11, and it can switch freely between the two modes of temporarily storing the first part B1 or stopping temporarily storing the first part B1, which is very flexible.

[0099] The driving member 41 may be a cylinder or an electric cylinder, etc., which is not limited in this embodiment. The shielding member 42 may be a shielding plate or any other possible structure, which is not limited in this embodiment.

[0100] Of course, the temporary storage component 4 may also be implemented in other possible ways. For example, in another possible implementation, the temporary storage component 4 includes a temporary storage box, and the temporary storage box is located vertically below the through hole 11 .

[0101] Since the temporary storage box is located vertically below the through hole 11 , the first part B1 that continues to fall through the through hole 11 can enter the temporary storage box, thereby achieving the purpose of temporarily storing the first part B1 in the temporary storage box.

[0102] Since the temporary storage box has a simple structure, the cost of the temporary storage component 4 can be reduced.

[0103] The temporary storage box may be in a cylindrical, cubic or other possible shapes, and the shape of the temporary storage box is not limited in this embodiment.

[0104] The present application also provides a plug-in robot 200, see Figure 4 The plugging and unplugging robot 200 includes a plugging and unplugging tool 100 and a motion module 300 , and the base 1 is connected to the motion module 300 .

[0105] Among them, the structure of the plug-in tool 100 can be the same as the structure of any plug-in tool 100 in the above embodiments, and can bring the same or similar beneficial effects. For details, please refer to the description of the plug-in tool 100 in the above embodiments, which will not be repeated in this embodiment.

[0106] In this embodiment, the plugging and unplugging tool 100 can reduce costs, avoid the interference between two different drivers when driving the two tools to move, avoid or reduce the interference between the two tools and the first part B1 on the target device A during movement, and at the same time improve the efficiency of replacing the first part B1 on the target device A with the second part B2. Based on this, when the plugging and unplugging robot 200 includes the plugging and unplugging tool 100, the cost of the plugging and unplugging robot 200 can be lowered and the efficiency of replacing the first part B1 on the target device A with the second part B2 can be higher.

[0107] The motion module 300 may be an XYZ three-axis module or a universal robot arm, etc. This embodiment does not limit the motion module 300.

[0108] The present application also provides a nozzle replacement device 400, see Fig. 9 The nozzle replacement device 400 includes a plug-in and pull-out robot 200 .

[0109] Among them, the structure of the plug-in robot 200 can be the same as the structure of the plug-in robot 200 in the above embodiment, and can bring the same or similar beneficial effects. For details, please refer to the description of the plug-in robot 200 in the above embodiment, which will not be repeated in this embodiment.

[0110] In this embodiment, since the cost of the plug-in robot 200 is low and the efficiency of replacing the first part B1 on the target device A with the second part B2 is higher, when the nozzle replacement device 400 includes the plug-in robot 200, the efficiency of replacing the first part B1 on the target device A with the second part B2 can be improved while reducing the cost.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A plugging and unplugging tool (100), characterized in that: include: A base (1), wherein the base (1) can be arranged on the motion module (300); A pulling head (2), the pulling head (2) being arranged on the base (1), the movement module (300) being used to drive the pulling head (2) to move to the target device (A), the pulling head (2) being used to pull out the first part (B1) on the target device (A), so that the target device (A) exposes the plug-in port (A1); A plug (3), wherein the plug (3) is arranged on the base (1), and the plug (3) is used to place a second part (B2). The motion module (300) is also used to drive the plug (3) to move to the target device (A) so as to insert the second part (B2) into the plug-in port (A1).

2. The plugging and unplugging tool (100) according to claim 1, characterized in that: The number of the target devices (A) is multiple, and the multiple target devices (A) are arranged in an array along the first direction (F1) and the second direction (F2) at intervals, and the puller (2) and the plug (3) are arranged along the first direction (F1) at intervals; When the pulling head (2) moves to any one of the target devices (A), the plug (3) is located at one side of any one of the target devices (A) to avoid the target device (A), and / or when the plug (3) moves to any one of the target devices (A), the pulling head (2) is located at one side of any one of the target devices (A) to avoid the target device (A).

3. The plugging and unplugging tool (100) according to claim 2, characterized in that: The number of the extraction heads (2) and the number of the plugs (3) are both multiple, the multiple extraction heads (2) and the multiple plugs (3) are arranged along the first direction (F1), the distance between two adjacent extraction heads (2) is equal to the distance between two adjacent target devices (A) arranged along the first direction (F1), and the distance between two adjacent plugs (3) is equal to the distance between two adjacent target devices (A) arranged along the first direction (F1).

4. The plugging and unplugging tool (100) according to claim 3, characterized in that: The plurality of pulling heads (2) form a pulling head group (23), and the plurality of plugs (3) form a plug group (31), and the pulling head group (23) and the plug group (31) are arranged in sequence along the first direction (F1).

5. The plugging and unplugging tool (100) according to claim 3, characterized in that: At least one of the plurality of extraction heads (2) is located between two adjacent plugs (3).

6. The plugging and unplugging tool (100) according to claim 5, characterized in that: The number of the plurality of extraction heads (2) is equal to the number of the target devices (A) arranged in each column along the first direction (F1), and / or the number of the plurality of plugs (3) is equal to the number of the target devices (A) arranged in each column along the first direction (F1).

7. The plugging and unplugging tool (100) according to any one of claims 1 to 6, characterized in that: The plugging and unplugging tool (100) further comprises a temporary storage component (4), wherein the temporary storage component (4) is used for temporarily storing the first part (B1) unplugged by the plugging head (2) in the temporary storage component (4).

8. The plugging and unplugging tool (100) according to claim 7, characterized in that: The base (1) is provided with a through hole (11) penetrating the base (1); at least part of the structure of the temporary storage component (4) is located vertically below the through hole (11); the through hole (11) is used for allowing the first part (B1) pulled out by the pulling head (2) to fall into the temporary storage component (4) through the through hole (11).

9. The plugging and unplugging tool (100) according to claim 8, characterized in that: The temporary storage component (4) comprises: A driving member (41), wherein the driving member (41) is arranged on the base (1); A shielding member (42), wherein the shielding member (42) is connected to the driving member (41), and the driving member (41) is used to drive the shielding member (42) to move vertically below the through hole (11) or move away from the vertical below the through hole (11) to shield or open the through hole (11).

10. The plugging and unplugging tool (100) according to claim 8, characterized in that: The temporary storage component (4) comprises a temporary storage box, and the temporary storage box is located vertically below the through hole (11).

11. The plugging and unplugging tool (100) according to any one of claims 1 to 6, characterized in that: The pulling head (2) comprises: A base (21), the base (21) being arranged on the pedestal (1), and the base (21) being provided with a cavity (211) for the first part (B1) to enter; A stopper (22), wherein the stopper (22) is arranged on the base (21), and the stopper (22) can allow the first part (B1) to be inserted into the cavity (211) along an insertion direction (F3) and restrict the first part (B1) from leaving the cavity (211) along a direction opposite to the insertion direction (F3), so as to remove the first part (B1) from the target device (A).

12. The plugging and unplugging tool (100) according to any one of claims 1 to 6, characterized in that: The base (1) is provided with a pull head positioning portion (20) and a plug positioning portion (30); the pull head (2) is arranged on the pull head positioning portion (20), and the plug (3) is arranged on the plug positioning portion (30).

13. A plugging and unplugging robot (200), characterized in that: The plugging and unplugging robot (200) comprises: The plugging and unplugging tool (100) according to any one of claims 1 to 12; A motion module (300), wherein the base (1) is connected to the motion module (300).

14. A nozzle replacement device (400), characterized in that: It comprises the plugging and unplugging robot (200) as claimed in claim 13.

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