Winding mechanism

Abstract

The utility model relates to the technical field of batteries, and discloses a winding mechanism which can prevent a core-pulling phenomenon from occurring when a winding needle is pulled out of a central hole of a battery core. The winding mechanism comprises a winding needle, the winding needle comprises a first half winding needle and a second half winding needle which are oppositely arranged, the first half winding needle and the second half winding needle are arranged in the radial direction of the winding needle, and the first half winding needle and the second half winding needle can relatively move in the axis direction of the winding needle. The side, facing the second half winding needle, of the first half winding needle is provided with a first inclined face, and the first inclined face is inclined to the axis direction of the winding needle. The side, facing the first half winding needle, of the second half winding needle is provided with a second inclined face, and the second inclined face is inclined to the axis direction of the winding needle. The included angle between the extending direction of the first inclined face and the axis direction of the winding needle is equal to the included angle between the extending direction of the second inclined face and the axis direction of the winding needle.

Description

Winding mechanism Technical Field

[0001] This utility model relates to the field of battery technology, and in particular to a winding mechanism. Background Technology

[0002] During the production of cylindrical battery cells, a winding needle is used to wind the separator and electrodes. Specifically, the separator is first wound around the winding needle, then the electrodes are inserted, and the electrodes and separator are wound together around the winding needle. When the electrodes and separator are wound to a predetermined diameter, the winding of the battery cell is complete. At this point, the winding needle is still inside the center hole of the battery cell. Before proceeding with subsequent processes, the winding needle needs to be pulled out of the center hole. Because the contact between the winding needle and the separator is relatively tight, the separator can easily be pulled out during the removal of the winding needle, causing the battery cell to be scrapped. Summary of the Invention

[0003] This invention provides a winding mechanism that can be used to prevent the winding needle from pulling out the diaphragm when pulling the winding needle out of the center hole of the battery cell, thereby ensuring the quality of the battery cell.

[0004] This utility model provides a winding mechanism, including a winding needle, the winding needle including a first half-winding needle and a second half-winding needle arranged opposite to each other, the first winding needle and the second winding needle being arranged radially along the winding needle, the first half-winding needle and the second half-winding needle being able to move relative to each other along the axial direction of the winding needle, so that the first half-winding needle and the second half-winding needle are closer or farther apart.

[0005] The first half-coil needle has a first inclined surface on the side facing the second half-coil needle. The first inclined surface is set in the direction of the axis of the coil needle. Along the direction in which the second half-coil needle moves away from the first half-coil needle, the cross-sectional area of ​​the first half-coil needle perpendicular to the axis of the coil needle gradually decreases.

[0006] The second half-coil has a second inclined surface on the side facing the first half-coil. The second inclined surface is inclined to the axial direction of the coil. Along the direction in which the second half-coil moves away from the first half-coil, the cross-sectional area of ​​the second half-coil perpendicular to the coil axis gradually increases.

[0007] Wherein, the angle between the extension direction of the first inclined surface and the axial direction of the coiling needle is equal to the angle between the extension direction of the second inclined surface and the axial direction of the coiling needle, and when the first half-coil and the second half-coil move to the point where the first half-coil is attached to the second inclined surface and the two ends of the first half-coil are respectively aligned with the two ends of the second half-coil, the diameters between any parts of the coiling needle are the same.

[0008] The winding mechanism provided by this utility model includes a winding needle with an adjustable diameter. The winding needle comprises a first half-winding needle and a second half-winding needle, which are positioned opposite each other. When the ends of the first and second half-winding needles are aligned, the first and second inclined surfaces can be completely fitted together to form a winding shape for winding the separator. In this case, the diameter of the winding needle is relatively large. After winding is completed, the first and second half-winding needles move in opposite directions, causing the winding needle to change from a wound shape to a non-wound shape. In this case, the length of the winding needle can be considered to increase, thus the diameter of the non-wound shape becomes smaller. Because the diameter of the winding needle is smaller than during winding, it is beneficial for the first and second half-winding needles to disengage from the separator. Therefore, during the outward withdrawal of the first and second half-winding needles, the separator can be prevented from being carried out, thereby ensuring the quality of the battery cell. Attached Figure Description

[0009] Figure 1 is a schematic diagram of an overall structure of a coiling needle in an embodiment of this utility model;

[0010] Figure 2 is a schematic diagram of a structure in which the coiling needle is in a non-coiled state in an embodiment of this utility model;

[0011] Figure 3 is a schematic diagram of a structure in Figure 2 where the winding needle switches to a winding state;

[0012] Figure 4 is a schematic diagram of one structure of the winding mechanism in an embodiment of this utility model.

[0013] In the picture:

[0014] 100 - Needle winding; 110 - First half-winding needle; 111 - First inclined surface; 112 - First arc surface; 113 - First air blowing hole; 120 - Second half-winding needle; 121 - Second inclined surface; 122 - Second arc surface; 123 - Second air blowing hole; 200 - First frame; 300 - Second frame; 400 - First drive module; 410 - First guide rail; 420 - First cylinder; 500 - Second drive module; 510 - Second guide rail; 520 - Second cylinder; 600 - Third drive module; 610 - Third guide rail; 620 - Third cylinder; 700 - Fourth drive module; 710 - Fourth guide rail; 720 - Fourth cylinder; 800 - Fifth drive module; 900 - Sixth drive module. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Referring to Figure 1, the winding mechanism in this embodiment of the present invention may include a winding needle 100, which includes a first half-winding needle 110 and a second half-winding needle 120 arranged opposite to each other. The first half-winding needle 110 and the second half-winding needle 120 are arranged radially along the winding needle 100. That is, the winding needle 100 in this embodiment is composed of two independent first half-winding needles 110 and second half-winding needles 120. When the first half-winding needles 110 and the second half-winding needles 120 are combined together, a winding needle 100 with a cylindrical structure can be formed.

[0017] Specifically, referring to Figures 1 and 2, the first half-coil 110 has a first inclined surface 111 on the side facing the second half-coil 120, which is inclined to the axial direction of the coil 100. In the direction in which the second half-coil 120 moves away from the first half-coil 110 along the axial direction of the coil 100, the area of ​​the cross-section of the first half-coil 110 perpendicular to the axis of the coil 100 gradually decreases.

[0018] The second half-coil 120 has a second inclined surface 121 on the side facing the second half-coil 120, which is inclined to the axial direction of the coil 100. In the direction in which the second half-coil 120 moves away from the first half-coil 110 along the axial direction of the coil 100, the area of ​​the cross section of the second half-coil 120 perpendicular to the axis of the coil 100 gradually increases.

[0019] Furthermore, the angle between the first inclined surface 111 and the axis of the coiled needle 100 and the angle between the second inclined surface 121 and the axis of the coiled needle 100 are the same. At this time, when the first inclined surface 111 is directly opposite the second inclined surface 121, the first inclined surface 111 can fit with the second inclined surface 121 so that the first half coiled needle 110 and the second half coiled needle 120 are combined to form the coiled needle 100 structure.

[0020] In this embodiment, the first half-coil 110 and the second half-coil 120 can be considered as cutting the coiled needle 100 from its top in a predetermined direction when the coiled needle 100 is placed vertically with its axis as the direction of the axis. This predetermined direction forms a certain angle with the axis of the coiled needle 100, thereby obtaining the cut first half-coil 110 and the second half-coil 120. It is worth noting that the dimension of the first half-coil 110 along the axial direction of the coiled needle 100 (i.e., the length of the first half-coil 110) is the same as the dimension of the second half-coil 120 along the axial direction of the coiled needle 100. Furthermore, the slope of the first inclined surface 111 is the same as the slope of the second inclined surface 121. Regardless of whether the two ends of the first half-coil 110 are aligned with the two ends of the second half-coil 120, at least a portion of the first inclined surface 111 can fit against the second inclined surface 121.

[0021] As shown in Figure 3, with the first inclined surface 111 attached to the second inclined surface 121, and the two ends of the first half-coil needle 110 aligned with the two ends of the second half-coil needle 120, the coil needle 100 can be in a coiled shape. At this time, the diameter of any part of the coil needle 100 is the same. In this state, the coil needle 100 can be used to coil the diaphragm and the electrode sheet.

[0022] Referring again to Figure 2, with the first inclined surface 111 abutting the second inclined surface 121, when the first half-coil 110 and the second half-coil 120 move away from each other along the axial direction of the coiled needle 100, at least a portion of the first half-coil 110 does not contact the second half-coil 120. In this state, the size of the portion of the first half-coil 110 not in contact with the second half-coil 120 is smaller than the diameter of the coiled needle 100, the size of the portion of the second half-coil 120 not in contact with the first half-coil 110 is also smaller than the diameter of the coiled needle 100, and the combined size of the contact portions of the first half-coil 110 and the second half-coil 120 is also smaller than the diameter of the coiled needle 100. In other words, when the first half-coil 110 and the second half-coil 120 are moving in opposite directions, the diameter of any portion of the coiled needle 100 is smaller than the diameter of the coiled needle 100 in its coiled state.

[0023] Therefore, when winding the battery cell using the winding needle 100 in this embodiment, the two ends of the first half-winding needle 110 and the two ends of the second half-winding needle 120 can be aligned respectively, so that the winding needle 100 is in the winding shape shown in Figure 3. After the separator and electrode are wound using the winding needle 100 in this shape, the diameter of the central hole of the cylindrical battery cell is approximately equal to the diameter of the winding needle 100 in the winding shape. Then, as shown in Figure 2, the first half-winding needle 110 and the second half-winding needle 120 can be driven to move in opposite directions along the axis of the winding shaft. In this case, it is equivalent to the length of the winding needle 100 becoming longer and the diameter of the winding needle 100 decreasing, thereby allowing the non-winding needle 100 to disengage from the separator, greatly reducing the friction between the winding needle 100 and the separator. When the first half-winding needle 110 and the second half-winding needle 120 are pulled outwards, the separator will not be pulled out, thus ensuring the quality of the battery cell.

[0024] Referring again to Figure 1, the first half-coil needle 110 has a first arc surface 112 on the side opposite to the second half-coil needle 120. A first air-blowing hole 113 is provided on the first arc surface 112, which can be used to blow air onto the surface of the first half-coil needle 110. Similarly, the second half-coil needle 120 has a second arc surface 122 on the side opposite to the first half-coil needle 110. A second air-blowing hole 123 is provided on the second arc surface 122, which can be used to blow air onto the surface of the second half-coil needle 120.

[0025] When it is necessary to pull the first half-coil needle 110 and the second half-coil needle 120 out of the center hole of the battery cell, air can be blown onto the first arc surface 112 and the second arc surface 122 using the first air blowing hole 113 and the second air blowing hole 123, respectively. By blowing air, the electrostatic adsorption between the first arc surface 112 and the separator can be eliminated, and the electrostatic adsorption between the second arc surface 122 and the separator can be eliminated, making it easier for the first half-coil needle 110 and the second half-coil needle 120 to detach from the separator, thereby preventing the separator from being pulled out when the coil needle 100 is pulled out.

[0026] As an optional implementation, the winding mechanism in this embodiment may further include an air blowing device (not shown in the figure). The first half-winding needle 110 has a first air blowing chamber inside, and the air blowing device can be connected to the first air blowing chamber through a pipe. The first air blowing chamber is connected to the first air blowing hole 113, and the air blowing device can blow air through the first air blowing chamber at the first air blowing hole 113.

[0027] Similarly, the second half-coil needle 120 has a second air-blowing chamber inside. The air-blowing device can be connected to the second air-blowing chamber through another pipe. The second air-blowing chamber is connected to the second air-blowing hole 123 so that the air-blowing device can blow air through the second air-blowing chamber at the second air-blowing hole 123.

[0028] The blowing device can control the pressure of the gas in the first blowing chamber, thereby controlling the blowing pressure of the first blowing hole 113, so that the blowing pressure of the first blowing hole 113 is moderate, ensuring that the gas at the first blowing hole 113 can drive the diaphragm to disengage from the first half-coil needle 110. Similarly, the blowing device can also control the pressure of the gas in the second blowing chamber, thereby controlling the blowing pressure of the second blowing hole 123, ensuring that the gas at the second blowing hole 123 can drive the diaphragm to disengage from the second half-coil needle 120.

[0029] For example, the pressure of the gas in the first blowing chamber can be adjusted according to the area of ​​the first blowing hole 113 and the number of the first blowing holes 113, and the pressure of the gas in the second blowing chamber can also be adjusted according to the area of ​​the second blowing hole 123 and the number of the second blowing holes 123.

[0030] Furthermore, continuing to refer to Figure 1, when setting the first air-blowing hole 113 on the first half-coil needle 110, a plurality of first air-blowing holes 113 can be evenly arranged on the first arc surface 112 in the axial direction of the coil needle 100. In this way, when multiple first air-blowing holes 113 blow air simultaneously, they can act on different parts of the diaphragm as much as possible, thereby improving the separation effect between the diaphragm and the first half-coil needle 110.

[0031] In addition, when setting the first air-blowing hole 113 on the first half-coil needle 110, multiple first air-blowing holes 113 can also be provided on the first arc surface 112 in the circumferential direction of the coil needle 100. In this case, the first air-blowing holes 113 on the first half-coil needle 110 can be considered as the first half-coil needle 110 having multiple rows of first air-blowing holes 113, with multiple first air-blowing holes 113 in each row. By providing a larger number of first air-blowing holes 113, not only can the area of ​​gas acting on the diaphragm be increased, but the contact range between the gas and the diaphragm can also be expanded, ensuring that the diaphragm can disengage from the entire first arc surface 112 of the first half-coil needle 110. In this state, when the first half-coil needle 110 is pulled outwards, core pulling can be better prevented.

[0032] Similarly, when setting the second air-blowing hole 123 on the second half-coil needle 120, a plurality of second air-blowing holes 123 can be evenly arranged on the second arc surface 122 in the axial direction of the coil needle 100. In this way, when multiple second air-blowing holes 123 blow air simultaneously, they can act on different parts of the diaphragm as much as possible, thereby improving the separation effect between the diaphragm and the second half-coil needle 120.

[0033] In addition, when setting the second air hole 123 on the second half-coil needle 120, multiple second air holes 123 can also be provided on the second arc surface 122 in the circumferential direction of the coil needle 100. By providing more second air holes 123, not only can the area of ​​gas acting on the diaphragm be increased, but the contact range between the gas and the diaphragm can also be expanded, so as to ensure that the diaphragm can disengage from the entire second arc surface 122 of the second half-coil needle 120. In this state, when the second half-coil needle 120 is pulled outward, core pulling can be better prevented.

[0034] In some embodiments, referring to FIG4, the winding mechanism may further include a first frame 200, a second frame 300, a first drive module 400, and a second drive module 500, wherein the first drive module 400 is disposed on the first frame 200, and the second drive module 500 is disposed on the second frame 300. The first frame 200 and the second frame 300 are disposed on opposite sides of the winding needle 100 along the axial direction of the winding needle 100, the first drive module 400 is connected to the first half-winding needle 110, and the second drive module 500 is connected to the second half-winding needle 120.

[0035] The first drive module 400 can be used to drive the first half-coil needle 110 to move along the axial direction of the coil needle 100, and the second drive module 500 can be used to drive the second half-coil needle 120 to move along the axial direction of the coil needle 100. When it is necessary to pull the first half-coil needle 110 and the second half-coil needle 120 outwards respectively, the first drive module 400 and the second drive module 500 can be activated simultaneously. The first drive module 400 drives the first half-coil needle 110 to move away from the second drive module 500, and the second drive module 500 drives the second half-coil needle 120 to move away from the first drive module 400, so that the first half-coil needle 110 and the second half-coil needle 120 can be pulled out from the center hole of the battery cell synchronously.

[0036] In a specific implementation, the first drive module 400 may include, for example, a first guide rail 410, and the second drive module 500 may include, for example, a second guide rail 510. Both the first guide rail 410 and the second guide rail 510 extend along the axial direction of the winding needle 100. The first half-winding needle 110 is movably mounted on the first guide rail 410 relative to the first guide rail 410, and the second half-winding needle 120 is movably mounted on the second guide rail 510 relative to the second guide rail 510. In addition, the first drive module 400 may also include, for example, a first cylinder 420, and the second drive module 500 may also include, for example, a second cylinder 520, so that the first half-winding needle 110 can be driven to move relative to the first guide rail 410 by the first cylinder 420, and the second half-winding needle 120 can be driven to move relative to the second guide rail 510 by the second cylinder 520, thereby precisely controlling the moving distance of the first half-winding needle 110 and the second half-winding needle 120.

[0037] In some embodiments, continuing to refer to FIG4, the winding mechanism may further include a third drive module 600 disposed on the first frame 200 and a fourth drive module 700 disposed on the second frame 300, wherein the third drive module 600 can be used to drive the first half-winding needle 110 to move radially along the winding needle 100, and the fourth drive module 700 can be used to drive the second half-winding needle 120 to move radially along the winding needle 100.

[0038] Specifically, when the first half-coil needle 110 and the second half-coil needle 120 move radially along the coiling needle 100, the first inclined surface 111 of the first half-coil needle 110 and the second inclined surface 121 of the second half-coil needle 120 can switch from a contact state to a separation state, at which time there is a certain gap between the first inclined surface 111 and the second inclined surface 121. When the diaphragm needs to be wound, the first half-coil needle 110 and the second half-coil needle 120 can be separated radially first, and then one end of the diaphragm can be placed between the first half-coil needle 110 and the second half-coil needle 120. Then, the first half-coil needle 110 and the second half-coil needle 120 can be brought closer to each other radially, so that the first half-coil needle 110 and the second half-coil needle 120 abut against the opposite sides of the diaphragm, thereby fixing the end of the diaphragm and preventing the diaphragm from moving relative to the coiling needle 100 during the winding process and affecting the winding effect.

[0039] Therefore, in this embodiment, before the battery cell is wound, the third drive module 600 and the fourth drive module 700 first drive the first half-winding needle 110 and the second half-winding needle 120 to move away from each other. After the diaphragm is placed on the first half-winding needle 110 and the second half-winding needle 120, the third drive module 600 and the fourth drive module 700 drive the first half-winding needle 110 and the second half-winding needle 120 to move closer to each other to clamp the end of the diaphragm.

[0040] In a specific implementation, as shown in Figure 4, the third drive module 600 may include, for example, a third guide rail 610, and the fourth drive module 700 may include, for example, a fourth guide rail 710. The third guide rail 610 and the fourth guide rail 710 are respectively arranged in a direction perpendicular to the first guide rail 410. The first half-coil needle 110 is movably mounted on the third guide rail 610 relative to it along its extension direction, and the second half-coil needle 120 is movably mounted on the fourth guide rail 710 relative to it along its extension direction. Furthermore, the third drive module 600 may also include, for example, a third cylinder 620, and the fourth drive module 700 may also include, for example, a fourth cylinder 720, so that the first half-coil needle 110 can be moved by the third cylinder 620, and the second half-coil needle 120 can be moved by the fourth cylinder 720, thereby achieving precise control.

[0041] Furthermore, the third guide rail 610 can be slidably connected to the first guide rail 410 via a slider, and the fourth guide rail 710 can be slidably connected to the second guide rail 510 via a slider. In this way, by combining the first drive module 400 with the third drive module 600, and combining the second drive module 500 with the fourth drive module 700, the overall integration of the winding mechanism can be improved.

[0042] Furthermore, the winding mechanism may also include a fifth drive module 800 and a sixth drive module 900, wherein the fifth drive module 800 can be used to drive the first half-winding needle 110 to rotate around the axis of the winding needle 100, and the sixth drive module 900 can be used to drive the second half-winding needle 120 to rotate around the axis of the winding needle 100. When the winding of the diaphragm and electrode sheet begins, the fifth drive module 800 and the sixth drive module 900 work synchronously and drive the first half-winding needle 110 and the second half-winding needle 120 to rotate synchronously around the axis of the winding needle 100 to complete the winding operation.

[0043] For example, the fifth drive module 800 may include a first motor, the output shaft of which is connected to the first half-coil needle 110. Furthermore, the output shaft of the first motor coincides with the axis of the coil needle 100, so that when the output shaft of the first motor rotates, it can drive the first half-coil needle 110 to rotate.

[0044] Similarly, the sixth drive module 900 may also include a second motor, the output shaft of which is connected to the second half-coil needle 120. Furthermore, the output shaft of the second motor coincides with the axis of the coil needle 100, so that when the output shaft of the second motor rotates, it can drive the second half-coil needle 120 to rotate.

[0045] As an optional implementation, the first motor can be connected to the third guide rail 610 via a slider, and the second motor can be connected to the fourth guide rail 710 via a slider. This allows the first and second motors to operate synchronously after the first half-coil needle 110 and the second half-coil needle 120 clamp the ends of the diaphragm, thereby initiating the winding process. Finally, after winding is complete, the first drive module 400 and the second drive module 500 drive the first half-coil needle 110 and the second half-coil needle 120 to be pulled out from the center hole of the battery cell, respectively.

[0046] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this utility model without departing from the spirit and scope of this utility model. Therefore, if these modifications and variations of this utility model fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A winding mechanism, characterized in that, The device includes a coiled needle, comprising a first half-coil and a second half-coil arranged opposite each other. The first and second coiled needles are arranged radially along the coiled needle and are movable relative to each other along the axial direction of the coiled needle, allowing them to move closer or further apart. The first half-coil has a first inclined surface on its side facing the second half-coil, the first inclined surface being inclined to the axial direction of the coiled needle. Along the direction in which the second half-coil moves away from the first half-coil, the cross-sectional area of ​​the first half-coil perpendicular to the coiled needle axis gradually decreases. The second half-coil has a cross-sectional area facing the first half-coil. One side has a second inclined surface, which is inclined to the axial direction of the coil needle. Along the direction in which the second half-coil moves away from the first half-coil, the cross-sectional area of ​​the second half-coil perpendicular to the axis of the coil needle gradually increases. The angle between the extension direction of the first inclined surface and the axial direction of the coil needle is equal to the angle between the extension direction of the second inclined surface and the axial direction of the coil needle. When the first half-coil and the second half-coil move to the point where the two ends of the first half-coil are aligned with the two ends of the second half-coil with the first inclined surface touching the second inclined surface, the diameters of any parts of the coil needle are the same.

2. The winding mechanism according to claim 1, characterized in that, The first half-coil needle has a first arc surface on the side opposite to the second half-coil needle, and the first arc surface is provided with a first air blowing hole; the second half-coil needle has a second arc surface on the side opposite to the first half-coil needle, and the second arc surface is provided with a second air blowing hole.

3. The winding mechanism according to claim 2, characterized in that, Along the axial direction of the coiling needle, a plurality of first air holes are evenly distributed on the first arc surface.

4. The winding mechanism according to claim 2, characterized in that, Along the circumference of the coil needle, a plurality of first air holes are evenly distributed on the first arc surface.

5. The winding mechanism according to claim 2, characterized in that, Along the axial direction of the coiling needle, a plurality of second air holes are evenly distributed on the second arc surface.

6. The winding mechanism according to claim 2, characterized in that, Along the circumference of the coil needle, a plurality of second air holes are evenly distributed on the second arc surface.

7. The winding mechanism according to any one of claims 2 to 6, characterized in that, It also includes an air blowing device; the first half-coil needle has a first air blowing chamber inside, the first air blowing chamber is connected to the air blowing device and the first air blowing hole respectively, and the air blowing device is used to blow air through the first air blowing chamber at the first air blowing hole; the second half-coil needle has a second air blowing chamber inside, the second air blowing chamber is connected to the air blowing device and the second air blowing hole respectively, and the air blowing device is used to blow air through the second air blowing chamber at the second air blowing hole.

8. The winding mechanism according to claim 1, characterized in that, It also includes a first drive module and a second drive module, which are disposed on both sides of the winding needle along the axial direction of the winding needle; the first drive module is used to drive the first half-winding needle to move along the axial direction of the winding needle, and the second drive module is used to drive the second half-winding needle to move along the axial direction of the winding needle.

9. The winding mechanism according to claim 1, characterized in that, It also includes a third drive module and a fourth drive module. The third drive module is used to drive the first half-coil needle to move radially along the coil needle, and the fourth drive module is used to drive the second half-coil needle to move radially along the coil needle, so that the first inclined plane and the inclined plane move closer to each other or further away from each other.

10. The winding mechanism according to claim 1, characterized in that, It also includes a fifth drive module and a sixth drive module. The fifth drive module is used to drive the first half-coil needle to rotate around the axis of the coil needle, and the sixth drive module is used to drive the second half-coil needle to rotate around the axis of the coil needle.

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