Device for inserting and pulling nozzles and insertion and pulling tool

Abstract

Device for inserting and pulling nozzles (100), the device comprising: a transport and positioning mechanism (1) designed to transport a holding tray (A2) provided with a vacuum assembly (A1) to a disassembly station; a disassembly mechanism (2) configured to detach the vacuum assembly (A1) arranged on the disassembly station from the holding tray (A2) so that the vacuum assembly (A1) and the holding tray (A2) are separated from each other, wherein the transport and positioning mechanism (1) is further configured to move one of the vacuum assembly (A1) and the holding tray (A2) away from the other so that the old nozzle (B1) of the vacuum assembly (A1) is no longer pressed against the battery on the holding tray (A2); a nozzle insertion and withdrawal mechanism (3) configured to withdraw the old nozzle (B1) of the vacuum assembly (A1) and to insert a new nozzle (B2) into the vacuum assembly (A1).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of battery processing apparatuses and, more particularly, to a nozzle insertion and pulling apparatus and an insertion and pulling tool. BACKGROUND

[0002] The battery vacuuming process uses a vacuum assembly equipped with a holding tray. Specifically, multiple batteries are arranged on the holding tray. The vacuum assembly includes a mounting bracket and multiple vacuum cups. The mounting bracket is mounted above the holding tray, and the multiple vacuum cups are fixed to the mounting bracket and correspond one-to-one with the multiple batteries. The nozzle on each vacuum cup is pressed against the liquid filling port of the corresponding battery to prepare for the battery formation process.

[0003] During the battery formation process, the tightness of the entire vacuum assembly is crucial. If a leak is detected in the nozzle at the online vacuum workstation, all nozzles must be replaced to ensure the tightness of the entire vacuum assembly. However, replacing the nozzles is a laborious process. First, the holding tray must be transported to a nozzle replacement station. Then, the mounting bracket must be detached from the holding tray. After that, the old nozzle must be removed from the vacuum cup, and finally, a new nozzle must be mounted on the vacuum cup. The entire process is physically demanding, and the efficiency of nozzle replacement is low. DISCLOSURE OF THE INVENTION

[0004] The present application discloses a nozzle insertion and removal device and an insertion and removal tool to reduce the physical burden on personnel and improve the efficiency of nozzle replacement.

[0005] To achieve the above-mentioned object, the present application discloses a nozzle insertion and withdrawal device comprising: a transport and positioning mechanism configured to transport a holding tray provided with a vacuum assembly to a disassembly station; a disassembly mechanism configured to detach the vacuum assembly arranged on the disassembly station from the holding tray so that the vacuum assembly and the holding tray are separated from each other, wherein the transport and positioning mechanism is further configured to move one of the vacuum assembly and the holding tray away from the other so that the old nozzle of the vacuum assembly is no longer pressed against the battery on the holding tray; a nozzle insertion and withdrawal mechanism configured to withdraw the old nozzle of the vacuum assembly and insert a new nozzle into the vacuum assembly.

[0006] Optionally, the disassembly mechanism is further configured to hold the vacuum assembly detached from the holding tray in the disassembly mechanism, and the transport and positioning mechanism is further configured to move the holding tray away from the vacuum assembly.

[0007] Optionally, the transport and positioning mechanism includes the following: a transport assembly configured to transport the holding tray provided with the vacuum assembly to a tray loading station; a lifting and positioning assembly configured to be disposed below the tray loading station, the lifting and positioning assembly configured to lift the holding tray provided with the vacuum assembly from the tray loading station to the disassembly station, and further configured to lower the holding tray to the tray loading station so that the holding tray is moved away from the vacuum assembly.

[0008] Optionally, the lifting and positioning assembly includes the following: a first assembly component; a lifting drive component disposed on the first mounting component; a lifting component configured to be slidably disposed on the first assembly component, wherein a positioning component mating with the holding tray is disposed on the lifting component, and the lifting drive component is configured to lift the lifting component a first distance such that the holding tray provided with the vacuum assembly is lifted from the tray loading station to the disassembly station, and the lifting drive component is further configured to lower the lifting component such that the holding tray is lowered synchronously with the tray loading station.

[0009] Optionally, the nozzle insertion and removal device also includes the following: a buffer assembly docked to the transport assembly, the transport assembly being configured to transport the holding pan lowered to the pan loading station to the buffer assembly such that the holding pan is separated from the lifting component, and the buffer assembly being configured to buffer the holding pan.

[0010] Optionally, the lifting drive component is further configured to lift the lifting component a second distance to a leak testing station so that the old nozzle of the vacuum assembly is pressed against the lifting component, the second distance being different from the first distance.

[0011] Optionally, the nozzle insertion and removal device also includes the following: a switching and limiting mechanism arranged on the transport assembly, wherein the switching and limiting mechanism is configured to limit the lifting component to the first route or the second route so that the lifting component is lifted to the disassembly station or the leakage testing station.

[0012] Optionally, the nozzle insertion and removal device also includes the following: a leak test assembly, wherein the vacuum assembly comprises a plurality of columns of old nozzles, and the leak test assembly is configured to check whether a leak exists in any of the columns of the old nozzles, and the nozzle insertion and withdrawal mechanism is configured to withdraw the column of the old nozzles in which the leak exists.

[0013] Optionally, the leak test assembly includes the following: a first seat; a leakage drive component; a second assembly component; and a plurality of docking assemblies, wherein the plurality of docking assemblies are all arranged on the second mounting component and are in one-to-one correspondence with the plurality of columns of the old nozzles, each of the docking assemblies corresponds to a manifold of each column of the old nozzles, the second mounting component is slidably arranged on the first seat, and the leakage drive component is configured to move the second mounting component to move the plurality of docking assemblies in a direction approaching the vacuum assembly such that the docking assembly is docked to the corresponding manifold to check whether a leak exists in any of the columns of the old nozzles.

[0014] Optionally, both the transport assembly and the buffer assembly are configured as a roller transport structure, a belt transport structure, or a chain transport structure, wherein the input end of the buffer assembly is docked to the output end of the transport assembly, and the buffer assembly and the transport assembly are both configured to transport in the forward and reverse directions.

[0015] Optionally, a holding pan blocking component is arranged on the buffer assembly, which is arranged on the transport path of the holding pan and is configured to prevent the buffer assembly from transporting the holding pan in a direction away from the transport assembly.

[0016] Optionally, the nozzle insertion and withdrawal mechanism includes the following: a three-axis motion module; an insertion and pulling tool disposed on the three-axis motion module, wherein the three-axis motion module is configured to move the insertion and pulling tool to the vacuum assembly, and the insertion and pulling tool is configured to pull out the old nozzle of the vacuum assembly and insert the new nozzle into the vacuum assembly.

[0017] Optionally, the insertion and extraction tool includes the following: a base arranged on the three-axis motion module; a pulling head disposed on the base, wherein the three-axis motion module is configured to move the pulling head toward the vacuum assembly, and the pulling head is configured to pull out the old nozzle of the vacuum assembly so that the vacuum assembly is exposed at an insertion and pulling port; an insertion head disposed on the base, the insertion head configured to place the new nozzle, and the three-axis motion module further configured to move the insertion head toward the vacuum assembly to insert the new nozzle into the insertion and pull port.

[0018] Optionally, the nozzle insertion and removal device also includes the following: a nozzle feed mechanism configured to feed the new nozzle to the nozzle insertion and withdrawal mechanism, wherein the nozzle insertion and withdrawal mechanism is configured to transport the new nozzle to the vacuum assembly.

[0019] Optionally, the nozzle feed mechanism includes the following: a vibrating plate configured to feed the new nozzle to the outlet of the vibrating plate; a nozzle transport assembly; a nozzle blocking component disposed between the outlet of the vibrating plate and the nozzle transport assembly, wherein the nozzle blocking component is configured to block the new nozzle at the outlet of the vibrating plate or to allow the new nozzle to pass through the outlet of the vibrating plate to the nozzle transport assembly, and the nozzle transport assembly is configured to transport the new nozzle to the nozzle insertion and withdrawal mechanism.

[0020] Optionally, the nozzle feed mechanism also includes the following: a scrap return assembly, wherein the nozzle insertion and withdrawal mechanism is further configured to place the old nozzle in the scrap return assembly.

[0021] To achieve the above-mentioned object, the present application further discloses an insertion and pulling tool, the insertion and pulling tool comprising: a base arranged on a movement module; a pulling head disposed on the base, wherein the movement module is configured to move the pulling head toward a vacuum assembly, and the pulling head is configured to pull out an old nozzle of the vacuum assembly so that the vacuum assembly is exposed at an insertion and pulling port; an insertion head disposed on the base, the insertion head configured to place the new nozzle, and the movement module further configured to move the insertion head toward the vacuum assembly to insert the new nozzle into the insertion and pull port.

[0022] Optionally, the vacuum assembly is multiple, the plurality of vacuum assemblies being arranged in an array with spacing along the first direction and the second direction, and the pulling head and the inserting head being arranged with spacing along the first direction; wherein, when the pulling head is moved to any vacuum assembly of the plurality of vacuum assemblies, the inserting head is arranged on one side of any vacuum assembly to avoid the vacuum assembly, and / or wherein, when the inserting head is moved to any vacuum assembly of the plurality of vacuum assemblies, the pulling head is arranged on one side of any vacuum assembly (A1) to avoid the vacuum assembly.

[0023] Optionally, the pulling head and the inserting head (323) are both plural, wherein the plurality of pulling heads and the plurality of inserting heads are all arranged along the first direction, the distance between two adjacent pulling heads is equal to the distance between two adjacent vacuum assemblies arranged along the first direction, and the distance between two adjacent inserting heads is equal to the distance between two adjacent vacuum assemblies arranged along the first direction.

[0024] Optionally, a pulling head group is formed by the plurality of pulling heads, and an inserting head group is formed by the plurality of inserting heads, wherein the pulling head group and the inserting head group are arranged sequentially along the first direction.

[0025] Optionally, the plurality of pulling heads and the plurality of inserting heads are arranged in a staggered arrangement along the first direction such that at least one pulling head of the plurality of pulling heads is arranged between two adjacent inserting heads.

[0026] Optionally, the number of the plurality of pulling heads is equal to the number of vacuum assemblies arranged along the first direction in each column, and / or the number of the plurality of inserting heads is equal to the number of vacuum assemblies arranged along the first direction in each column.

[0027] Optionally, the insertion and pulling tool further comprises an intermediate bearing assembly designed to temporarily store the old nozzle pulled out by the pulling head in the intermediate bearing assembly.

[0028] Optionally, the base is provided with a through-hole penetrating the base, and at least a part of the structure of the intermediate storage assembly is arranged vertically below the through-hole, the through-hole being adapted to allow the old nozzle pulled out by the pulling head (322) to fall through the through-hole into the intermediate storage assembly.

[0029] Optionally, the intermediate storage assembly includes the following: a drive component disposed on the base; a shielding component connected to the driving component, the driving component being configured to move the shielding component to the position vertically below the through-hole or away from this position to open or close the through-hole.

[0030] Optionally, the intermediate storage assembly includes an intermediate storage box arranged vertically below the through hole.

[0031] The pulling head optionally includes the following: a second seat arranged on the base, the second seat being provided with a cavity into which the old nozzle can enter; a backstop component arranged on the second seat, the backstop component being configured to insert the old nozzle into the cavity along the insertion direction and to prevent the old nozzle from leaving the cavity opposite to the insertion direction, so that the old nozzle is removed from the vacuum assembly.

[0032] Optionally, a pulling head positioning section and an inserting head positioning section are arranged on the base, wherein the pulling head is arranged on the pulling head positioning section and the inserting head is arranged on the inserting head positioning section.

[0033] Compared with the prior art, the advantageous effects of the present application are as follows:

[0034] In the present application, when a leak is detected in the old nozzle of the vacuum assembly on the holding tray and the nozzle needs to be replaced, the holding tray equipped with the vacuum assembly is first transported to the disassembly station by the transport and positioning mechanism. After the holding tray with the vacuum assembly arrives at the disassembly station, the vacuum assembly arranged at the disassembly station is detached from the holding tray by the disassembly mechanism, so that the vacuum assembly and the holding tray are separated from each other. Then, one of the vacuum assembly or the holding tray is moved away from the other by the transport and positioning mechanism, so that the old nozzle on the vacuum assembly is no longer pressed against the battery on the holding tray and the old nozzle is protected from interference by the battery.Finally, the old nozzle on the vacuum assembly is pulled out by the nozzle insertion and withdrawal mechanism, and a new nozzle is inserted into the vacuum assembly by the nozzle insertion and withdrawal mechanism. This completes the nozzle replacement process.

[0035] It can be seen that during nozzle replacement, the purpose of nozzle replacement can be achieved automatically through the interaction of the transport and positioning mechanism, the disassembly mechanism, and the nozzle insertion and withdrawal mechanism, without requiring personnel intervention in the entire process. This reduces the physical burden on personnel and improves the efficiency of the replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required in the description of the embodiments will be briefly described. Obviously, the accompanying drawings in the following description are some embodiments of the present application. Those skilled in the art can obtain other accompanying drawings based on these drawings without creative effort. Fig. 1 is a structural schematic diagram of a nozzle insertion and withdrawal apparatus provided by the embodiments of the present application. Fig. 2 is a structural schematic diagram (the lifting component in the lifting and positioning assembly is omitted) of the transport and positioning mechanism, the disassembly mechanism and the switching and limiting mechanism of the nozzle insertion and withdrawal device in Fig. 1. Fig. 3 is a structural schematic diagram when the vacuum assembly is mounted on the support tray provided by the embodiments of the present application. Fig. 4 is a plan view of the lifting and positioning assembly in Fig. 2. Fig. 5 is a structural schematic diagram of the buffer assembly of the nozzle insertion and withdrawal device in Fig. 1. Fig. Figure 6 is a structural schematic diagram of the leakage test assembly of the nozzle insertion and withdrawal device in Fig. 1. Fig. 7 is a structural schematic diagram of the nozzle inserting and pulling mechanism of the nozzle inserting and pulling device in Fig. 1. Fig. 8 is a plan view of the nozzle insertion and withdrawal mechanism in Fig. 7. Fig. 9 is a structural schematic diagram of the insertion and pulling tool in Fig. 8. Fig. 10 is a plan view of the insertion and extraction tool in Fig. 9. Fig. 11 is a left side view of the insertion and extraction tool in Fig. 9. Fig. Figure 12 is a structural schematic diagram of the insertion and pulling tool and the movement module. Fig. 13 is a structural schematic diagram when the insertion and pulling tool removes the old nozzle on the vacuum assembly in Fig. 11 pulls out. Fig. 14 is a structural schematic diagram when the old nozzle on the vacuum assembly is inserted into the Fig. 11 is pulled out. Fig. 15 is a first arrangement of the plurality of pulling heads and the plurality of inserting heads provided by the embodiments of the present application. Fig. 16 is a second arrangement of the plurality of pulling heads and the plurality of inserting heads provided by the embodiments of the present application. Fig. 17 is a structural schematic diagram of the nozzle feeding mechanism in Fig. 1. Explanation of the most important reference symbols:

[0037] 1 - Transport and positioning mechanism; 11 - Transport assembly; 12 - Lifting and positioning assembly; 121 - Lifting drive component; 122 - Lifting component; 1221 - Positioning component; 123 - First assembly component; 2 - disassembly mechanism; 3 - Nozzle insertion and withdrawal mechanism; 31 - Three-axis motion module; 32 - Insertion and withdrawal tool; 321 - Base; 3211 - Through hole; 3212 - Pulling head positioning section; 3213 - Insertion head positioning section; 322 - Pulling head; 3220 - Pulling head group; 3221 - Second seat; 3222 - Anti-return component; 32211 - Cavity; 323 - Insertion head; 3230 - Insertion head group; 324 - Intermediate bearing assembly; 3241 - Drive component; 3242 - Shield component; 300 - Motion module; 4 - Buffer assembly; 41 - Retaining pan blocking component; 42 - Roller; 5 - switching and limiting mechanism; 6 - Leakage test assembly; 61 - First seat; 62 - Leakage drive component; 63 - Second mounting component; 64 - Docking assembly; 7 - Nozzle feeding mechanism; 71 - Vibration plate; 72 - Nozzle transport assembly; 73 - Nozzle blocking component; 74 - Waste material return assembly; 100 - Device for inserting and pulling nozzles; A1 - Vacuum assembly; A11 - Insert and pull connector; A2 - Retaining pan; B1 - old nozzle; B2 - new nozzle; F1 - first direction; F2 - second direction; F3 - insertion direction. EMBODIMENTS OF THE INVENTION

[0038] Below, the technical solutions in the embodiments of the application are described clearly and completely with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of this application.

[0039] In this application, the orientations or relationships indicated by the terms "top," "bottom," "left," "right," "front," "back," "upper," "bottom," "inside," "outside," "center," "vertical," "horizontal," "transverse," and "longitudinal" are based on the orientations or relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments. These terms are not intended to limit the specified devices, components, or parts to any particular orientations, or to design and operate in any particular orientations.

[0040] Furthermore, some of the above terms may be used to indicate meanings other than orientation or positional relationships. For example, the term "top" may also be used in some cases to indicate a specific attachment or connection relationship. Those skilled in the art can understand the specific meanings of these terms in this application according to specific situations.

[0041] Furthermore, the terms "installed," "arranged," "provided," "connected," and "connected" are to be interpreted broadly. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection via an intermediary; and internal connectivity. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

[0042] Furthermore, the terms "first," "second," and so on are primarily used to distinguish various devices, components, or constituents (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and number of the specified devices, components, or constituents. Unless otherwise specified, "multiple" means two or more.

[0043] In the following, a further explanation of the technical solutions of the present application will be given with reference to specific embodiments and accompanying diagrams.

[0044] It will be Fig. 1, Fig. 2 and Fig. 3. The nozzle insertion and extraction device 100 comprises: a transport and positioning mechanism 1, a disassembly mechanism 2, and a nozzle insertion and extraction mechanism 3, wherein the transport and positioning mechanism 1 is configured to transport the holding tray A2 provided with a vacuum assembly A1 to the disassembly station 3, the disassembly mechanism 2 is configured to detach the vacuum assembly A1 arranged at the disassembly station from the holding tray A2 so that the vacuum assembly A1 and the holding tray A2 are separated from each other, the transport and positioning mechanism 1 is further configured to move one of the vacuum assembly A1 and the holding tray A2 away from the other so that the old nozzle B1 of the vacuum assembly A1 is no longer pressed against the battery on the holding tray A2, and the nozzle insertion and extraction mechanism 3 is configured topull out the old nozzle B1 of the vacuum assembly A1 and insert a new nozzle B2 into the vacuum assembly A1.

[0045] In this embodiment, when a leak is detected in the old nozzle B1 of the vacuum assembly A1 on the holding tray A2 and the nozzle needs to be replaced, the holding tray A2 equipped with the vacuum assembly A1 is first transported to the disassembly station by the transport and positioning mechanism 1. After the holding tray A2 with the vacuum assembly A1 arrives at the disassembly station, the vacuum assembly A1 arranged at the disassembly station is detached from the holding tray A2 by the disassembly mechanism 2, so that the vacuum assembly A1 and the holding tray A2 are separated from each other. Then, one of the vacuum assembly A1 or the holding tray A2 is moved away from the other by the transport and positioning mechanism 1, so that the old nozzle B1 on the vacuum assembly A1 is no longer pressed against the battery on the holding tray A2 and the old nozzle B1 is protected from interference by the battery.Finally, the old nozzle B1 on the vacuum assembly A1 is pulled out by the nozzle insertion and pulling mechanism 3, and a new nozzle B2 is inserted into the vacuum assembly A1 by the nozzle insertion and pulling mechanism 3. This achieves the purpose of the nozzle replacement.

[0046] It can be seen that during nozzle replacement, the purpose of nozzle replacement can be achieved automatically through the interaction of the transport and positioning mechanism 1, the disassembly mechanism 2, and the nozzle insertion and withdrawal mechanism 3, without requiring personnel intervention in the entire process. This reduces the physical burden on personnel and improves the efficiency of the replacement process.

[0047] It should be noted that the number of the above-mentioned disassembly mechanisms 2 can be either one or four depending on the specific mounting situation of the vacuum assembly A1 on the holding tray A2. For example, suppose the vacuum assembly A1 is detachably connected to the holding tray A2 by a connecting structure, then the number of disassembly mechanisms 2 is set to one. Suppose the vacuum assembly A1 is detachably connected to the holding tray A2 by four connecting structures, then the number of disassembly mechanisms 2 is set to four, where the four disassembly mechanisms 2 have a one-to-one correspondence with the four connecting structures. In this way, the purpose of separating the vacuum assembly A1 from the holding tray A2 can be achieved.

[0048] The structure of the above-mentioned disassembly mechanism 2 is specifically adapted to the structure of the connecting structure. Assuming the connecting structure is a spring clamp, the disassembly structure may include a disassembly cylinder. By pressing the piston rod of the disassembly cylinder against the gripping end of the spring clamp, the clamping opening of the spring clamp is opened, thereby achieving the purpose of separating the vacuum assembly A1 from the holding tray A2.

[0049] Of course, the disassembly mechanism 2 may also have other possible structures based on different connection structures. The disassembly mechanism 2 is not limited in this embodiment.

[0050] Here, the above-mentioned "moving one of the vacuum assembly A1 and the holding tray A2 away from the other" by the transport and positioning mechanism 1 refers to: In the first case, the holding tray A2 remains stationary, and the transport and positioning mechanism 1 moves the vacuum assembly A1 away from the holding tray A2. In the second case, the vacuum assembly A1 remains stationary, and the transport and positioning mechanism 1 moves the holding tray A2 away from the vacuum assembly A1. Regardless of which of the above cases occurs, as long as the old nozzle B1 on the vacuum assembly A1 is no longer pressed against the battery on the holding tray A2, this is not limited in this embodiment.

[0051] Please note that the above-mentioned new nozzle B2 should be understood broadly. The new nozzle B2 does not specifically refer to a brand-new nozzle. Any nozzle that functions properly after cleaning and reconditioning can be considered a new nozzle B2. The above-mentioned old nozzle B1 refers to the nozzle to be replaced.

[0052] When the vacuum assembly A1 remains stationary and the transport and positioning mechanism 1 moves the holding tray A2 away from the vacuum assembly A1, in some embodiments the disassembly mechanism 2 is still used to hold the vacuum assembly A1 detached from the holding tray A2 in the disassembly mechanism 2. In this way, the disassembly mechanism 2 serves to secure the vacuum assembly A1, preventing the vacuum assembly A1 from falling off the holding tray A2 when the transport and positioning mechanism 1 moves the holding tray A2 away from the vacuum assembly A1.

[0053] It should be noted that the above-mentioned "holding the vacuum assembly A1 detached from the holding tray A2 in the disassembly mechanism 2" means: The disassembly mechanism 2 is designed to hold the vacuum assembly A1 in the disassembly mechanism 2 or to disconnect the vacuum assembly A1 from the disassembly mechanism 2, depending on the actual situation.

[0054] Specifically, the vacuum assembly A1 can be held in the disassembly mechanism 2 after separation from the holding tray A2 to ensure that it remains stationary during the movement of the holding tray A2.

[0055] After the disassembly mechanism 2 has reassembled the vacuum assembly A1 onto the holding tray A2, the connection of the vacuum assembly A1 to the disassembly mechanism 2 can be separated to ensure that the overall structure formed by the vacuum assembly A1 and the holding tray A2 can be moved away from the disassembly mechanism 2.

[0056] Several implementation methods are possible for the transport and positioning mechanism A1. In one possible implementation method, see Fig. 2 and Fig. 4, the transport and positioning mechanism 1 comprises: a transport assembly 11 and a lifting and positioning assembly 12, wherein the transport assembly 11 is designed to transport the holding tray A2 provided with the vacuum assembly A1 to a tray loading station, the lifting and positioning assembly 12 is designed to be arranged below the tray loading station, the lifting and positioning assembly 12 is designed to lift the holding tray A2 provided with the vacuum assembly A1 from the tray loading station to the disassembly station, and the lifting and positioning assembly 12 is further designed to lower the holding tray A2 to the tray loading station so that the holding tray A2 is moved away from the vacuum assembly A1.

[0057] In this embodiment, when the holding tray A2 equipped with the vacuum assembly A1 needs to be transported to the disassembly station, the holding tray A2 equipped with the vacuum assembly A1 is first transported to the tray loading station by the transport assembly 11. After the holding tray A2 equipped with the vacuum assembly A1 arrives at the tray loading station, the lifting and positioning assembly 12 lifts the holding tray A2 from below, so that the holding tray A2 equipped with the vacuum assembly A1 is lifted from the tray loading station to the disassembly station. This achieves the purpose of transporting the holding tray A2 equipped with the vacuum assembly A1 to the disassembly station.

[0058] After the holding tray A2 provided with the vacuum assembly A1 has been transported to the disassembly station and the vacuum assembly A1 arranged at the disassembly station has been detached from the holding tray A2 by the disassembly mechanism 2, the vacuum assembly A1 detached from the holding tray A2 can be held in the disassembly mechanism 2 by the disassembly mechanism 2. Subsequently, the lifting and positioning assembly 12 lowers the holding tray A2 to the tray loading station, thereby achieving the purpose of moving the holding tray A2 away from the vacuum assembly A1.

[0059] It can be seen that the lifting and positioning assembly 12 not only plays a role in lifting the holding tray A2 equipped with the vacuum assembly A1 from the tray loading station to the disassembly station, but can also play a role in lowering the holding tray A2 to achieve the purpose of moving the holding tray A2 away from the vacuum assembly A1. The lifting and positioning assembly 12 is versatile, and gravity is also utilized as the lowering energy for the holding tray A2. On the one hand, the structure of the transport and positioning mechanism 1 can be simplified, and on the other hand, labor costs can be saved.

[0060] The above-mentioned transport assembly 11 may be a roller transport structure, a belt transport structure, or a chain transport structure, as long as the purpose of transporting the holding tray A2 equipped with the vacuum assembly A1 to the tray loading station can be achieved. The transport assembly 11 is not limited in this embodiment.

[0061] The above-mentioned lifting and positioning assembly 12 has several implementation methods. In one possible implementation method, see Fig. 2 and Fig. 4, the lifting and positioning assembly 12 comprises a first mounting component 123, a lifting drive component 121, and a lifting component 122, wherein the lifting drive component 121 is arranged on the first mounting component 123, the lifting component 122 is slidably arranged on the first mounting component 123, and a positioning component 1221, which mates with the holding tray A2, is arranged on the lifting component 122. The lifting drive component 121 is configured to raise the lifting component 122 by a first distance so that the holding tray A2 provided with the vacuum assembly A1 is raised from the tray loading station to the disassembly station. The lifting drive component 121 is further configured to lower the lifting component 122 so that the holding tray A2 is lowered synchronously with the tray loading station.

[0062] Since a positioning component 1221 mating with the holding tray A2 is disposed on the lifting component 122, the position of the holding tray A2 on the lifting component 122 is relatively accurate under the action of the positioning component 1221. As a result, the position of the vacuum assembly A1 at the disassembly station is relatively accurate when the holding tray A2 equipped with the vacuum assembly A1 is lifted a first distance by the lifting component 122 to move from the tray loading station to the disassembly station. This ensures that the disassembly mechanism 2 can detach the vacuum assembly A1 from the holding tray A2 and prevents the occurrence of misalignments between the disassembly mechanism 2 and the vacuum assembly A1, which could result in the vacuum assembly A1 not being able to be detached from the holding tray A2.

[0063] The above-mentioned lifting drive component 121 can be an air cylinder or an electric cylinder. The lifting drive component 121 is not limited in this embodiment. The above-mentioned lifting component 122 can be a plate-shaped structure or any other possible structure. The lifting component 122 is also not limited in this embodiment.

[0064] The above-mentioned positioning component 1221 may be a positioning pin or a positioning block, as long as the positioning component 1221 serves to position the holding tray A2. The positioning component 1221 is not limited in this embodiment.

[0065] There are several ways in which the above-mentioned lifting component 122 can be slidably arranged on the first mounting component 123. For example, the lifting component 122 can be slidably arranged on the first mounting component 123 by means of a guide column. Of course, the lifting component 122 can also be slidably arranged on the first mounting component 123 in other ways, which is not limited in this embodiment.

[0066] Furthermore, both the above-mentioned lifting component 122 and the first mounting component 123 may be a plate-shaped structure or other possible structure, which is not limited in this embodiment.

[0067] In some examples, see Fig. 1 and Fig. 5, the nozzle insertion and removal device 100 further comprises a buffer assembly 4 docked to the transport assembly 11. The transport assembly 11 is configured to transport the holding tray A2 lowered to the tray loading station to the buffer assembly 4, so that the holding tray A2 is separated from the lifting component 122. The buffer assembly 4 is configured to buffer the holding tray A2.

[0068] The holding tray A2 lowered to the tray loading station can be buffered into the buffer assembly 4 in a timely manner by establishing the buffer assembly 4, and the holding tray A2 is separated from the lifting component 122. This arrangement has the advantage that, on the one hand, there is no obstruction of the holding tray A2 between the lifting component 122 and the vacuum assembly A1, which provides space for the lifting component 122 for subsequent actions, and on the other hand, the buffer assembly 4 provides dedicated storage space for the holding tray A2, thus avoiding or reducing the possibility of mutual interference between the holding tray A2 and other structures.

[0069] The above-mentioned buffer assembly 4 can be a roller transport structure, a belt transport structure or a chain transport structure, see Fig. 1. Specifically, when the buffer assembly 4 is the roller transport structure, the buffer assembly 4 includes a plurality of rollers 42 rotatably arranged and arranged in an array. Thus, the rotation of the rollers 42 can achieve the purpose of timely buffering the holding tray A2 into the buffer assembly 4.

[0070] Since the roller transport structure, the belt transport structure or the chain transport structure is mature and works stably, the operation stability of the buffer assembly 4 can be ensured.

[0071] When the buffer assembly 4 is a roller transport structure, a belt transport structure, or a chain transport structure, the input end of the buffer assembly 4 is docked with the output end of the transport assembly 11, and both the buffer assembly 4 and the transport assembly 11 are configured to transport in the forward and reverse directions. In this way, when the holding tray A2 needs to be buffered into the buffer assembly 4 at the tray loading station, the transport assembly 11 first transports the holding tray A2 toward the input end of the buffer assembly 4, so that the holding tray A2 can reach the buffer assembly 4 through the output end of the transport assembly 11 and the input end of the buffer assembly 4 in succession. Then, the buffer assembly 4 continuously transports the holding tray A2 in the direction away from the transport assembly 11, so that the holding tray A2 is completely separated from the transport assembly 11.

[0072] In order to prevent the holding tray A2 from falling off the buffer assembly 4 due to an excessively long transport path while the buffer assembly 4 transports the holding tray A2 in the direction away from the transport assembly 11, in some embodiments, see Fig. 5, a holding pan blocking component 41 is arranged on the buffer assembly 4. The holding pan blocking component 41 is arranged on the transport path of the holding pan A2 and is designed to prevent the buffer assembly 4 from transporting the holding pan A2 in the direction away from the transport assembly 11.

[0073] In this way, the provision of the holding trough blocking component 41 prevents the buffer assembly 4 from falling off due to an excessively long transport path of the buffer assembly 4 during transport in the direction away from the transport assembly 11.

[0074] The above-mentioned retaining pan blocking component 41 may be a stop block or a blocking plate, which is not limited in this embodiment.

[0075] To ensure that the holding tray A2 is transported stably when it is transported from the transport assembly 11 to the buffer assembly 4, the transport speed of the transport assembly 11 and the transport speed of the buffer assembly 4 are the same. In this way, the process of transporting the holding tray A2 from the transport assembly 11 to the buffer assembly 4 is very stable.

[0076] Since both the buffer assembly 4 and the transport assembly 11 are designed to transport in the forward and reverse direction, the holding tray A2 can be transported back to the transport assembly 11, which makes the functionality very versatile.

[0077] After the holding trough A2 has been buffered into the buffer assembly 4, the lifting drive component 121 is further configured to lift the lifting component 122 a second distance to a leak test station, so that the old nozzle B1 of the vacuum assembly A1 is pressed against the lifting component 122. The second distance differs from the first distance.

[0078] When the lift drive component 121 lifts the lift component 122 a second distance to the leak test station, the old nozzle B1 of the vacuum assembly A1 is precisely pressed against the lift component 122. In this way, the lift component 122 serves to seal the opening of the old nozzle B1, which creates the basis for performing the leak test on the old nozzle B1.

[0079] It can be seen that the lifting component 122 not only plays a role in lifting the holding tray A2 equipped with the vacuum assembly A1 from the tray loading station to the disassembly station and lowering the holding tray A2 to move it away from the vacuum assembly A1, but also plays a role in sealing the opening of the old nozzle B1 by lifting the lifting component 122 a second distance until it is pressed against the old nozzle B1. The design of the structure is very ingenious, and multiple functions can be achieved by one lifting component 122. This reduces the cost of the nozzle insertion and extraction device 100 while simplifying the structure of the nozzle insertion and extraction device 100.

[0080] To ensure that when lifting the lifting component 122, the holding tray A2 provided with the vacuum assembly A1 is designed to be lifted precisely from the tray loading station to the dismantling station and lifted a second distance to the leak testing station, the device for inserting and pulling nozzles 100 in some embodiments, see Fig. 2, further comprising: a switching and limiting mechanism 5 configured to limit the lifting component 122 when lifting to the first distance or the second distance, so that the lifting component 122 rises to the disassembly station or the leakage testing station.

[0081] By establishing the switching and limiting mechanism 5, in one possible implementation method, the limiting component can be preset to the height of the disassembly station or the height of the leakage testing station, as needed. Thus, when the lifting component 122 is lifted by the first or second distance, it is connected to the preset limiting component, thereby ensuring the accuracy of the ascent of the lifting component 122 to the disassembly station or the leakage testing station.

[0082] Of course, the switching and limiting mechanism 5 can also limit the lifting component 122 to the first or second distance in another way, which is not further described in this embodiment.

[0083] In some examples, see Fig. 1, the nozzle insertion and extraction device 100 further comprises a leakage check assembly 6. The vacuum assembly B1 includes a plurality of columns of old nozzles B1, and the leakage check assembly 6 is configured to check whether a leak exists in any of the columns of the old nozzles B1. The nozzle insertion and extraction mechanism 3 is configured to extract the column of the old nozzles B1 in which the leak exists.

[0084] Since the leakage detection assembly 6 is designed to identify the column of the old nozzles B1 where the leak exists, the nozzle insertion and extraction mechanism 3 only extracts the column of the old nozzles B1 where the leak exists. The column of the old nozzles B1 where no leak exists does not need to be removed. This means that all of the old nozzles B1 do not need to be extracted, thus saving the cost of the nozzles and avoiding nozzle waste.

[0085] In some examples, see Fig. 6, the leakage check assembly 6 includes a first seat 61, a leakage drive component 62, a second mounting component 63, and a plurality of docking assemblies 64. The plurality of docking assemblies 64 are arranged on the second mounting component 63 and correspond one-to-one to the plurality of columns of the old nozzles B1. Each docking assembly 64 corresponds to a manifold of each column of the old nozzles B1. The second mounting component 63 is slidably arranged on the first seat 61, and the leakage drive component 62 is configured to move the second mounting component 63 to move the plurality of docking assemblies 64 toward the vacuum assembly A1, so that the docking assembly 64 is docked to the corresponding manifold to check whether there is a leak in any of the columns of the old nozzles B1. In this way, the purpose of detecting a leak in a column of the old nozzles B1 can be achieved.

[0086] By arranging all of the plurality of docking assemblies 64 on the second mounting component 63, the plurality of docking assemblies 64 are configured to dock to the corresponding manifold at the same time when the leak detection component 62 drives the second mounting component 63 to slide, which increases the efficiency of docking.

[0087] Of course, the leakage detection assembly 6 may also have other possible structures. To enhance the user experience, the leakage detection assembly 6 is further configured to send the test result to the screen of the nozzle insertion and extraction device 100 or to transmit the result via voice playback, which is not limited in this embodiment.

[0088] The above-mentioned leakage drive component 62 may be an air cylinder or an electric cylinder, which is not limited in this embodiment.

[0089] In some examples, see Fig. 1, Fig. 7 to Fig. 16, the nozzle insertion and pulling mechanism 3 includes a three-axis motion module 31 and an insertion and pulling tool 32, wherein the insertion and pulling tool 32 is arranged on the three-axis motion module 31. The three-axis motion module 31 is configured to move the insertion and pulling tool 32 to the vacuum assembly A1, and the insertion and pulling tool 32 is configured to pull out the old nozzle B1 of the vacuum assembly A1 and insert the new nozzle B2 into the vacuum assembly A1.

[0090] After the new nozzle B2 is inserted into the vacuum assembly A1, the vacuum assembly A1 is remounted onto the holding tray A2 through the interaction of the disassembly mechanism 2 and the transport and positioning mechanism 1. The specific process is the opposite of the process of separating the vacuum assembly A1 from the holding tray A2. For the specific process of separating the vacuum assembly A1 from the holding tray A2, reference is made to the description in the above-mentioned embodiment, which will not be described again in this embodiment.

[0091] Since the three-axis motion module 31 can be adjusted in multiple degrees of freedom, the three-axis motion module 31 is designed to cover the vacuum assembly A1 omnidirectionally and with pinpoint accuracy. Therefore, the three-axis motion module 31 can move the insertion and extraction tool 32 to any position of the vacuum assembly A1, thereby achieving the purpose of inserting and extracting each nozzle.

[0092] Specifically, the above-mentioned three-axis motion module 31 includes the X-axis, Y-axis, and Z-axis, and each axis can be implemented by a screw structure or the like, which is not limited in this embodiment.

[0093] In some examples, see Fig. 8 to Fig. 11 and Fig. 13 to Fig. 16, the insertion and pulling tool 32 includes a base 321, a pulling head 322, and an insertion head 323, wherein the base 321 is disposed on the three-axis motion module 31. The pulling head 322 is disposed on the base 321, and the three-axis motion module 31 is configured to move the pulling head 322 toward the vacuum assembly A1. The pulling head 322 is configured to pull out the old nozzle B1 of the vacuum assembly A1, exposing the vacuum assembly A1 at an insertion and pulling port A11. The insertion head 323 is disposed on the base 321 and configured to place the new nozzle B2. The three-axis motion module 31 is further configured to move the insertion head 323 to the vacuum assembly A1 to insert the new nozzle B2 into the insertion and pull port A11.

[0094] Since both the pulling head 322 and the inserting head 323 are arranged on the base 321, that is, the pulling head 322 and the inserting head 323 are both integrated on the base 321, an inserting and pulling tool 32 is formed, which has both the function of pulling out the old nozzle B1 and the function of inserting the new nozzle B2. Therefore, when replacing the nozzle, the same three-axis moving mechanism 31 can be used to move the same inserting and pulling tool 32. It is not necessary to separately design a special tool for pulling out the old nozzle B1 and a tool for inserting the new nozzle B2, nor is it necessary to set up two different drives to move the two tools separately. This means that two tools can be replaced with one inserting and pulling tool 32.This not only reduces costs, but also avoids the occurrence of mutual interference between the two different drives, and also avoids or reduces the occurrence of mutual interference between the drawing tool, the insertion head, and the old nozzle B1 on the vacuum assembly during the movement process due to the limited movement space.

[0095] In some examples, see Fig. 1 and Fig. 17, the nozzle insertion and withdrawal device 100 further comprises: a nozzle supply mechanism 7 configured to supply the new nozzle B2 to the nozzle insertion and withdrawal mechanism 3. The nozzle insertion and withdrawal mechanism 3 is configured to transport the new nozzle B2 to the vacuum assembly A1.

[0096] By establishing the nozzle feeding mechanism 7, the automatic feeding of the new nozzle B2 can be achieved, thereby increasing the degree of automation of the nozzle inserting and pulling device 100 and further reducing the physical burden on the personnel.

[0097] The implementation method of the above-mentioned nozzle feeding mechanism 7 is diverse. In one possible implementation method, the nozzle feeding mechanism 7 includes a vibrating plate 71, a nozzle transport assembly 72, and a nozzle blocking component 73. The vibrating plate 71 is configured to feed the new nozzle B2 to the outlet of the vibrating plate. The nozzle blocking component 73 is arranged between the outlet of the vibrating plate and the nozzle transport assembly 72 and is configured to block the new nozzle B2 at the outlet of the vibrating plate or to allow the new nozzle B2 to pass through the outlet of the vibrating plate to the nozzle transport assembly 72. The nozzle transport assembly 72 is configured to transport the new nozzle B2 to the nozzle insertion and withdrawal mechanism 3.

[0098] Since the feeding technology of the vibration plate 71 is mature and can feed continuously, the feeding efficiency of the nozzle feeding mechanism 7 is increased.

[0099] By disposing the nozzle blocking component 73 between the outlet of the vibrating plate and the nozzle transport assembly 72, the nozzle blocking component 73 can allow the new nozzle B2 to flow through the outlet of the vibrating plate to the nozzle transport assembly 72 when the nozzle transport assembly 72 needs nozzles, thus facilitating the transport of the new nozzle B2 to the nozzle insertion and withdrawal mechanism 3. When the nozzle transport assembly 72 does not need the new nozzle B2, the nozzle blocking component 73 blocks the new nozzle B2 at the outlet of the vibrating plate to prevent the new nozzle B2 from continuously flowing to the nozzle transport assembly 72, preventing the nozzle transport assembly 72 from transporting the nozzles in a timely manner.

[0100] The above-mentioned nozzle transport assembly 72 may be a transport manipulator or a gripper, which is not limited in this embodiment.

[0101] If the nozzle transport assembly 72 includes a transport manipulator, the nozzle transport assembly 72 may further include a nozzle intermediate storage position. The nozzle blocking component 73 allows the new nozzle B2 to pass through the outlet of the vibrating plate to the nozzle intermediate storage position, and the transport manipulator transports the new nozzle B2 from the nozzle intermediate storage position to the nozzle insertion and withdrawal mechanism 3.

[0102] By establishing the nozzle temporary storage position, which provides a dedicated space for temporarily storing the new nozzle B2, the transfer manipulator can grasp the new nozzle B2 as long as it is moved to the nozzle temporary storage position. This ensures the reliability of the transfer manipulator and increases transport efficiency, while simplifying the operation process of the transfer manipulator and reducing the complexity of the transfer manipulator.

[0103] The above-mentioned nozzle blocking component 73 may be an air cylinder, which is not limited in this embodiment.

[0104] In some examples, see Fig. 16, the nozzle feeding mechanism 7 further comprises: a waste material return assembly 74. The nozzle inserting and pulling mechanism 3 is further configured to place the old nozzle B1 in the waste material return assembly 74.

[0105] The provision of the waste material return assembly 74 facilitates the storage of the old nozzle B1, which the nozzle insertion and withdrawal mechanism 3 places in the waste material return assembly 74.

[0106] The above-mentioned waste material return assembly 74 may be a material return box or a material return bag, which is not limited in this embodiment.

[0107] In some embodiments, the nozzle insertion and extraction device 100 further includes a housing, an electrical control box, etc. The electrical control box and the aforementioned mechanisms are all housed within the housing. This not only makes the entire nozzle insertion and extraction device 100 aesthetically pleasing, but also makes the operating environment of the aforementioned mechanisms safer.

[0108] The vacuum assembly is a piece of equipment used in the formation device to provide negative pressure to the interior of the battery and perform the formation operation on the battery. In order to accelerate formation efficiency, the number of vacuum assemblies is usually set to several, and the multiple vacuum assemblies are arranged in rows and columns on the tray. The multiple vacuum assemblies in rows and columns correspond one-to-one to the batteries arranged in rows and columns. The nozzle of each vacuum assembly is designed to dock with the liquid filling port of the corresponding battery, so that the nozzle is connected to the interior of the corresponding battery through the liquid filling port. In this way, the interior of the corresponding battery is sucked through the nozzle to provide negative pressure to the interior of the corresponding battery.This can achieve the purpose of simultaneous formation operation on multiple batteries, thereby accelerating the efficiency of the formation.

[0109] Since nozzles are consumables, air leakage will inevitably occur after long-term use. When air leakage is found in the multiple nozzles of the vacuum assembly on the tray, it is common practice in related technologies to move the nozzle pulling tool to the vacuum assembly to pull out all the nozzles of the vacuum assembly on the entire tray at once, and then exit the vacuum assembly. Then, the nozzle insertion tool is moved to the vacuum assembly to insert new nozzles for all the vacuum assemblies. However, in the actual operation process, due to limited space, mutual interference will inevitably occur between the nozzle pulling tool and the nozzle insertion tool, or between the nozzle pulling tool, the nozzle insertion tool, and the nozzles.

[0110] The insertion and pulling tool 32 provided by the embodiment of the present application is designed to prevent the occurrence of mutual interference between the nozzle pulling tool and the nozzle inserting tool or between the nozzle pulling tool, the nozzle inserting tool and the nozzles.

[0111] See Fig. 9, Fig. 10 and Fig. 11. The insertion and pulling tool 32 comprises: a base 321, a pulling head 322 and an insertion head 323, wherein, see Fig. 12, Fig. 13 and Fig. 14, the base 321 is configured to be disposed on a movement module 300. The pulling head 322 is disposed on the base 321, and the movement module 300 is configured to move the pulling head 322 toward the vacuum assembly A1. The pulling head 322 is configured to pull out the old nozzle B1 on the vacuum assembly A1, exposing the vacuum assembly A1 at an insertion and pulling port A11. The insertion head 323 is disposed on the base 321 and configured to place a new nozzle B2. The movement module 300 is further configured to move the insertion head 323 toward the vacuum assembly A1 to insert the new nozzle B2 into the insertion and pulling port A11.

[0112] In this embodiment, when the old nozzle B1 on the vacuum assembly A1 needs to be replaced with a new nozzle B2 by the insertion and pulling tool 32, the base 321 is first placed on the three-axis motion module 31. Then, the three-axis motion module 31 moves the base 321 to move the pulling head 322 disposed on the base 321 toward the vacuum assembly A1. After the pulling head 322 reaches the vacuum assembly A1, the pulling head 322 pulls out the old nozzle B1 on the vacuum assembly A1, exposing the vacuum assembly A1 at the insertion and pulling port A11.

[0113] After the insertion and pull-out port A11 on the vacuum assembly A1 is exposed, the movement module 300 further moves the base 321 to move the insertion head 323 disposed on the base 321 toward the vacuum assembly A1. Since the new nozzle B2 is placed on the insertion head 323, after the insertion head 323 is moved toward the vacuum assembly A1, the new nozzle B2 is inserted into the insertion and pull-out port A11. This achieves the purpose of replacing the old nozzle B1 on the vacuum assembly A1 with the new nozzle B2.

[0114] Since both the pulling head 322 and the inserting head 323 are arranged on the base 321, that is, the pulling head 322 and the inserting head 323 are both integrated on the base 321, an inserting and pulling tool 32 is formed that has both the function of pulling out the old nozzle B1 and the function of inserting the new nozzle B2. Therefore, when replacing the nozzle, the same movement module 300 can be used to move the same inserting and pulling tool 32. It is not necessary to separately design a special tool for pulling out the old nozzle B1 and a tool for inserting the new nozzle B2, nor is it necessary to set up two different drives to move the two tools separately. This means that two tools can be replaced with one inserting and pulling tool 32.This reduces costs, prevents interference between the two different drives, and also avoids or reduces interference between the pulling tool, the insertion head, and the old nozzle B1 on the vacuum assembly during the movement process due to the limited movement space. Fourth, it can be understood that after the three-axis movement module 31 moves the pulling head 322 to pull out the old nozzle B1 on the vacuum assembly A1, the three-axis movement module 31 further moves the insertion head 323 a relatively short distance to bring the insertion head 323 to the vacuum assembly A1. This shortens the movement time and increases the efficiency of replacing the old nozzle B1 on the vacuum assembly with the new nozzle B2.

[0115] Based on the above description, when the insertion and pulling tool 32 is applied in the nozzle replacement scenario for the vacuum assembly, the above-mentioned old nozzle B1 is understood as the old nozzle to be replaced on the vacuum assembly, and the above-mentioned new nozzle B2 is understood as the new nozzle. Obviously, when replacing the nozzle for the vacuum assembly with the insertion and pulling tool 32, the same movement module 300 can be used to move the same insertion and pulling tool 32. It is not necessary to separately design a dedicated nozzle pulling tool for pulling out the old nozzle and a nozzle inserting tool for inserting the new nozzle, nor is it necessary to set up two different drives to separately move the nozzle pulling tool and the nozzle inserting tool.This simplifies the structure of the insertion and pulling tool 32 and reduces costs. It also avoids the occurrence of interference between the two different drives. Furthermore, it avoids or reduces the occurrence of interference between the nozzle pulling tool, the nozzle insertion tool, and the old nozzle B1 on the vacuum assembly during the movement process due to the limited movement space. Fourth, it increases the efficiency of replacing the old nozzle on the vacuum assembly with the new nozzle.

[0116] Of course, the scenario in which the above-mentioned insertion and extraction tool 32 is used to replace the nozzle for the vacuum assembly is only one possible scenario of the insertion and extraction tool 32 provided by the embodiment. Certainly, the insertion and extraction tool 32 can also be applied to other possible scenarios. When the insertion and extraction tool 32 is applied to other possible scenarios, the above-mentioned vacuum assembly A1, the old nozzle B1, and the new nozzle B2 can also be understood in other possible ways, which are not limited in this embodiment.

[0117] In addition, the above-mentioned old nozzle and new nozzle can also be understood in a broader sense. Specifically, the nozzle to be replaced can be understood as the old nozzle, and the nozzle used to replace the old nozzle can be understood as the new nozzle.

[0118] It should be noted that there are several methods by which the above-mentioned pulling head 32 can pull the old nozzle B1 out of the vacuum assembly A1. In one possible implementation method, see Fig. 10, the pulling head 322 comprises: a second seat 3221 and a backstop component 3222, wherein the second seat 3221 is arranged on the base 321. The second seat 3222 is provided with a cavity 32211 into which the old nozzle B1 can enter. The backstop component 3222 is arranged on the second seat 3221 and is designed to pull the old nozzle B1 along the insertion direction F3 (the negative direction of the Z-axis in Fig. 10) into the cavity 32211 and to prevent the old nozzle B1 from entering the cavity 32211 opposite to the insertion direction F3 (the positive direction of the Z-axis in Fig. 10) so that the old nozzle B1 is removed from the vacuum assembly A1.

[0119] In this embodiment, when the old nozzle B1 on the vacuum assembly A1 needs to be removed, first the pulling head 322 is moved by the movement module 300 in the direction of the old nozzle B1 against the insertion direction F3 (the positive direction of the Z-axis in Fig. 10) so that the old nozzle B1 is inserted into the cavity 32211 of the second seat 3221 along the insertion direction F3. After the old nozzle B1 is inserted into the cavity 32211 of the second seat 3221 along the insertion direction F3, the movement module 300 moves the pulling head 322 along the insertion direction F3. Since the anti-return component 3222 is configured to prevent the old nozzle B1 from leaving the cavity 32211 opposite to the insertion direction F3, when the movement module 300 drives the pulling head 322 to move along the insertion direction F3, the old nozzle B1 follows the pulling head 322 and moves along the insertion direction F3, thereby achieving the purpose of pulling the old nozzle B1 out of the vacuum assembly A1.

[0120] It can be seen that by implementing the anti-return component 3222, the purpose of pulling out the old nozzle B1 from the vacuum assembly A1 can be achieved. The implementation method is simple and the technology is mature, ensuring the reliability of the pulling head 322 while simplifying the structure of the pulling head 322.

[0121] Specifically, the force with which the anti-return component 3222 prevents the old nozzle from leaving the cavity 32211 opposite to the insertion direction F3 can be provided by a spring or an elastic element, which is not limited in this embodiment.

[0122] In order to ensure the accuracy of the position of the pulling head 322 and the insertion head 323 on the base 321 and to avoid position errors of the pulling head 322 and the insertion head 323 on the base 321, which could lead to blockages when pulling out the old nozzle B1 or inserting the new nozzle B2, in some embodiments, see Fig. 10, a pulling head positioning section and an inserting head positioning section are arranged on the base. The pulling head is arranged on the pulling head positioning section, and the inserting head is arranged on the inserting head positioning section.

[0123] By arranging the pulling head 322 on the pulling head positioning section 3212 and the inserting head 323 on the inserting head positioning section 3213, the accuracy of the position of the pulling head 322 and the inserting head 323 on the base 321 is ensured under the action of the two positioning sections, thereby avoiding blockages of the pulling head 322 and the inserting head 323 when pulling out the old nozzle B1 or inserting the new nozzle B2.

[0124] Here, the above-mentioned pulling head positioning portion 3212 may be a positioning groove that matches the shape of the pulling head 322, with the pulling head 322 being arranged in the positioning groove. Alternatively, the pulling head positioning portion 3212 may also be a pulling head positioning pin, with a pulling head positioning hole that matches the pulling head positioning pin being arranged on the pulling head 322. The pulling head positioning pin is inserted into the pulling head positioning hole. As long as the pulling head 322 can be accurately installed on the base 321, this is not limited in this embodiment.

[0125] The structure of the above-mentioned insertion head positioning section 3213 is the same as or similar to the structure of the pulling head positioning section 3212. For the description of the pulling head positioning section 3212, reference is made to the description in the above-mentioned embodiment. The structure of the insertion head positioning section 3213 will not be described again in this embodiment.

[0126] Moreover, the above-mentioned pulling head positioning portion 3212 and the inserting head positioning portion 3213 can both be manufactured by the mechanical processing method and can also be manufactured by other methods, which is not limited in this embodiment.

[0127] In some examples, see Fig. 13, the number of vacuum assemblies A1 is multiple. The plurality of vacuum assemblies A1 are arranged in an array with intervals along the first direction F1 (the X-axis direction in Fig. 12) and the second direction F2 (the Y-axis direction in Fig. 12). The pulling head 322 and the insertion head 323 are arranged along the first direction F1. When the pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the insertion head 323 is arranged on one side of the any one of the plurality of vacuum assemblies A1, and / or when the insertion head 323 is moved to any one of the plurality of vacuum assemblies A1, the pulling head 322 is arranged on one side of the any one of the plurality of vacuum assemblies A1, the pulling head 322 is arranged on one side of the any one of the plurality of vacuum assemblies A1.

[0128] When the pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the placement of the inserting head 323 on one side of any one of the vacuum assembly A1 prevents the occurrence of interference between the inserting head 323 and the vacuum assembly A1.

[0129] When the pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the arrangement of the pulling head 322 on one side of any one of the vacuum assembly A1 prevents the occurrence of mutual interference between the pulling head 322 and the vacuum assembly A1.

[0130] Furthermore, by arranging the pulling head 322 and the inserting head 323 at intervals along the first direction F1, the purpose of replacing the old nozzle B1 of any one vacuum assembly A1 of the plurality of vacuum assemblies A1 with the new nozzle B2 is achieved, or the purpose of replacing the old nozzles B1 of any one column of the vacuum assemblies A1 arranged along the first direction F1 with the new nozzles B2 is achieved, or the purpose of replacing the old nozzles B1 of any one row of the vacuum assemblies A1 arranged along the second direction F2 with the new nozzles B2 is achieved.Compared with the method in the related technology in which all the old nozzles of the vacuum assemblies on the entire tray can be replaced only at one time, the inserting and pulling tool 32 provided by this embodiment can flexibly select the number of vacuum assemblies that require replacement of the old nozzles, thereby avoiding the waste of consumables caused by replacing the old nozzles with the new nozzles at one time.

[0131] It should be noted that when the above-mentioned pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the inserting head 323 is arranged between two adjacent vacuum assemblies A1, which can be understood in one possible way: When the pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the inserting head 323 is arranged at the mirror plane of the two vacuum assemblies A1.

[0132] Of course, when the pulling head 322 is moved to any one of the plurality of vacuum assemblies A1, the inserting head 323 may not be arranged at the mirror plane of the two vacuum assemblies A1 as long as there is no interference between the inserting head 323 and the vacuum assembly A1, which is not limited in this embodiment.

[0133] Similarly, the above-mentioned “the pulling head 322 is arranged between two adjacent vacuum assemblies A1” and “the inserting head 323 is arranged between two adjacent vacuum assemblies A1” can be understood similarly, which is not limited in this embodiment.

[0134] If the vacuum assembly A1 is present in multiples and the plurality of vacuum assemblies A1 are arranged in an array with spacings along the first direction F1 and the second direction F2, in some embodiments, see Fig. 13 and Fig. 15, the pulling head 322 and the inserting head 323 are both provided in multiples to increase the efficiency of replacing the old nozzles B1 of any column of the vacuum assemblies A1 arranged along the first direction F1 with the new nozzles B2. The plurality of pulling heads 322 and the plurality of inserting heads 323 are all arranged along the first direction F1. The distance between two adjacent pulling heads 322 is equal to the distance between two adjacent vacuum assemblies A1 arranged along the first direction F1, and the distance between two adjacent inserting heads 323 is equal to the distance between two adjacent vacuum assemblies A1 arranged along the first direction F1.

[0135] Since the distance between two adjacent pulling heads 322 is equal to the distance between two adjacent vacuum assemblies A1 arranged along the first direction F1, one pulling head 322 of the two adjacent pulling heads 322 arrives exactly at one vacuum assembly A1 of the two adjacent vacuum assemblies A1, while the other pulling head 322 arrives exactly at the other vacuum assembly A1. Therefore, the plurality of pulling heads 322 can simultaneously pull out the old nozzles B1 on each column of the vacuum assemblies A1 arranged along the first direction F1.

[0136] Similarly, since the distance between two adjacent insertion heads 323 is equal to the distance between two adjacent vacuum assemblies A1 arranged along the first direction F1, the plurality of insertion heads 323 can simultaneously insert the new nozzles B2 into each column of the vacuum assemblies A1 arranged along the first direction F1.

[0137] Since the plurality of pulling heads 322 can simultaneously pull out the old nozzles B1 on each column of the vacuum assemblies A1 arranged along the first direction F1 and the plurality of inserting heads 323 can simultaneously insert the new nozzles B2 into each column of the vacuum assemblies A1 arranged along the first direction F1, the efficiency of replacing the old nozzles B1 on each column of the vacuum assemblies A1 arranged along the first direction F1 with the new nozzles B2 can be accelerated.

[0138] When the pulling head 322 and the inserting head 323 are both plural and the plural pulling heads 322 and the plural inserting heads 323 are all arranged along the first direction F1, see Fig. 16, a pulling head group 3220 is formed by the plurality of pulling heads 322, and an inserting head group 3230 is formed by the plurality of inserting heads 323. The pulling head group 3220 and the inserting head group 3230 are arranged sequentially along the first direction F1, or, see Fig. 15, at least one pulling head 322 of the plurality of pulling heads 322 is arranged between two adjacent insertion heads 323.

[0139] When the pulling head group 3220 and the insertion head group 3230 are sequentially arranged along the first direction F1, the plurality of pulling heads 322 are concentrated and arranged together, and the plurality of insertion heads 323 are also concentrated and arranged together. This arrangement has the advantages of, on the one hand, relatively organizing the layout of the pulling heads 322 and the insertion heads 323, which facilitates the manufacturing process, and, on the other hand, increasing the distance between the pulling heads 322 and the insertion heads 323, thereby avoiding or reducing mutual interference between the old nozzle B1 pulled out by the pulling head 322 and the new nozzle B2 placed on the insertion head 323.

[0140] When at least one pulling head 322 of the plurality of pulling heads 322 is arranged between two adjacent inserting heads 323, on the one hand, the space between two adjacent pulling heads 322 can be fully utilized by the inserting head, thereby making the structure of the entire inserting and pulling tool 32 relatively compact. On the other hand, after the old nozzle B1 on the vacuum assembly A1 is pulled out by the pulling head 322, the inserting head 323 can reach the vacuum assembly A1 once the moving module 300 moves the base 321 by the distance between the adjacent pulling head 322 and the inserting head 323 along the first direction F1. Since the moving distance is relatively short, the efficiency of replacing the old nozzles B1 on the vacuum assembly A1 with the new nozzle B2 can be further accelerated.

[0141] Of course, the plurality of pulling heads 322 and the plurality of insertion heads 323 may also be arranged in other possible ways along the first direction F1. For example, a portion of the pulling heads 322 of the plurality of pulling heads 322 may be arranged along the first direction F1, while the remaining portion of the pulling heads 322 and the plurality of insertion heads 323 are arranged in a staggered arrangement along the first direction F1, which is not limited in this embodiment.

[0142] In some examples, see Fig. 13 and Fig. 15, the number of the plurality of pulling heads 322 is equal to the number of vacuum assemblies A1 arranged along the first direction F1 in each column, and / or the number of the plurality of inserting heads 323 is equal to the number of vacuum assemblies A1 arranged along the first direction F1 in each column.

[0143] By setting the number of the plurality of pulling heads 322 equal to the number of the vacuum assemblies A1 arranged along the first direction F1 in each column, the old nozzles B1 on the vacuum assemblies A1 arranged along the first direction F1 in each column can be removed at once by the plurality of pulling heads 322, thereby accelerating the efficiency of pulling out the old nozzles B1 on the vacuum assembly A1.

[0144] By setting the number of the plurality of insertion heads 323 equal to the number of vacuum assemblies A1 arranged along the first direction F1 in each column, the new nozzles B2 can be inserted into the vacuum assemblies A1 at once by the plurality of pulling heads 322, thereby accelerating the efficiency of inserting the new nozzles B2 into the vacuum assembly A1.

[0145] In order to temporarily store the old nozzle B1 pulled out by the pulling head 322, the insertion and pulling tool 32 comprises in some embodiments, see Fig. 9 and Fig. 11, further comprising an intermediate storage assembly 324. The intermediate storage assembly 324 is designed to temporarily store the old nozzle B1 pulled out by the pulling head 322 in the intermediate storage assembly 324.

[0146] By establishing the intermediate storage assembly 324, the old nozzle B1 pulled out by the pulling head 322 can be temporarily stored in the intermediate storage assembly 324. In this way, on the one hand, the pulling head 322 is released to continue the work of pulling out the old nozzle B1, and on the other hand, the old nozzle B1 is prevented from remaining on the pulling head 322 for a long time, which could result in falling, damaging other components, or damaging the old nozzle B1 itself.

[0147] In some examples, see Fig. 10, the base 321 is provided with a through-hole 3211 penetrating the base 321. At least a portion of the structure of the intermediate storage assembly 324 is arranged vertically below the through-hole 3211. The through-hole 3211 is configured to allow the old nozzle B1 pulled out by the pulling head 322 to fall into the intermediate storage assembly 324 through the through-hole 3211.

[0148] Since at least a part of the structure of the intermediate storage assembly 324 is arranged vertically below the through hole 3211, when the old nozzle B1 is pulled out by the pulling head 322, it automatically falls through the through hole 3211 under the action of gravity and is temporarily stored in the intermediate storage assembly 324. No special structure is required to transport the old nozzle B1 to the intermediate storage assembly 324, thereby simplifying the structure of the insertion and pulling tool 32.

[0149] In addition, the through hole 3211 serves to guide the old nozzle B1 when falling into the intermediate storage assembly 324, thereby preventing or reducing the old nozzle B1 from deviating while falling into the intermediate storage assembly 324 and thereby not falling into the intermediate storage assembly 324.

[0150] The shape of the above-mentioned through hole 3211 may be round or square, which is not limited in this embodiment.

[0151] The implementation method of the above-mentioned intermediate storage assembly 324 is diverse. In one possible implementation method, see Fig.11, the intermediate bearing assembly 324 includes a drive component 3241 and a shield component 3242, wherein the drive component 3241 is disposed on the base 321. The shield component 3242 is connected to the drive component 3241, and the drive component 3241 is configured to move the shield component 3242 to or away from the position vertically below the through-hole 3211 to open or close the through-hole 3211.

[0152] Since the drive component 3241 is arranged on the base 321 and the shield component 3242 is connected to the drive component 3241, when the old nozzle B1 needs to be temporarily stored, the shield component 3242 is moved by the drive component 3241 to the position vertically below the through hole 3211, thereby closing the through hole 3211 by the shield component 3242. In this way, the shield component 3242 prevents the old nozzle B1 from further falling, and the old nozzle B1 remains on the shield component 3242, thereby achieving the purpose of temporarily storing the old nozzle B1.

[0153] When the old nozzle B1 is to continue to fall, the drive component 3241 moves the shield component 3242 until it moves away from the position vertically below the through hole 3211, thereby opening the through hole 3211. In this way, the old nozzle B1 can continue to fall after the through hole 3211 is opened.

[0154] It can be seen that when the temporary storage assembly 324 includes the drive component 3241 and the shield component 3242, the shield component 3242 is driven by the drive component 3241 to move to the position directly below the through-hole 3211 or to move away from the position directly below the through-hole 3211. Thus, free switching between the two modes of temporarily storing the old nozzle B1 or terminating the temporary storage of the old nozzle B1 is possible, which is very flexible.

[0155] The above-mentioned drive component 3241 may be an air cylinder or an electric cylinder, which is not limited in this embodiment. The above-mentioned shielding component 3242 may be a shielding plate or other possible structure, which is not limited in this embodiment.

[0156] Of course, the intermediate storage assembly 324 may also be implemented in other possible ways. For example, in another possible implementation method, the intermediate storage assembly 324 may include an intermediate storage box arranged vertically below the through-hole 3211.

[0157] Since the temporary storage box is arranged vertically below the through hole 3211, the old nozzle B1, which continues to fall through the through hole 3211, can enter the temporary storage box, thereby achieving the purpose of temporarily storing the old nozzle B1 in the temporary storage box.

[0158] Since the structure of the intermediate storage box is simple, the cost of the intermediate storage assembly 324 can be reduced.

[0159] The shape of the intermediate storage box can be cylindrical, cuboid or any other possible shape, which is not limited in this embodiment.

[0160] In this embodiment, the insertion and extraction tool 32 can reduce costs, avoid the occurrence of mutual interference between the two different drives during the movement of the two tools, avoid or reduce the occurrence of mutual interference between the two tools and the old nozzle B1 on the vacuum assembly A1 during the movement, and at the same time increase the efficiency of replacing the old nozzle B1 on the vacuum assembly A1 with the new nozzle B2.

[0161] The above-mentioned motion module 300 may be an XYZ three-axis module or a robot arm, which is not limited in this embodiment.

[0162] Finally, it should be noted that the above-mentioned embodiments serve only to illustrate, but not to limit, the technical solution of the present application. Although the present application has been described in detail with reference to the preceding embodiments, those skilled in the art should understand that the technical solutions described in the preceding embodiments may still be modified, or some or all of the technical features may be substituted with equivalents. These modifications or substitutions do not deviate from the essence of the corresponding technical solutions of the embodiments of the present application.

Claims

[1] Device for inserting and pulling nozzles (100), the device comprising: a transport and positioning mechanism (1) designed to transport a holding tray (A2) provided with a vacuum assembly (A1) to a disassembly station; a disassembly mechanism (2) designed to detach the vacuum assembly (A1) arranged on the disassembly station from the holding tray (A2) so that the vacuum assembly (A1) and the holding tray (A2) are separated from each other, wherein the transport and positioning mechanism (1) is further designed to move one of the vacuum assembly (A1) and the holding tray (A2) away from the other so that the old nozzle (B1) of the vacuum assembly (A1) is no longer pressed against the battery on the holding tray (A2); a nozzle insertion and withdrawal mechanism (3) configured to withdraw the old nozzle (B1) of the vacuum assembly (A1) and to insert a new nozzle (B2) into the vacuum assembly (A1). [2] The nozzle insertion and removal device (100) according to claim 1, wherein the disassembly mechanism (2) is further configured to hold the vacuum assembly (A1) detached from the holding tray (A2) in the disassembly mechanism (2), and wherein the transport and positioning mechanism (1) is further configured to move the holding tray (A2) away from the vacuum assembly (A1). [3] Nozzle insertion and withdrawal device (100) according to claim 2, wherein the transport and positioning mechanism (1) comprises: a transport assembly (11) designed to transport the holding tray (A2) provided with the vacuum assembly (A1) to a tray loading station; a lifting and positioning assembly (12) designed to be arranged below the tray loading station, wherein the lifting and positioning assembly (12) is designed to lift the holding tray (A2) provided with the vacuum assembly (A1) from the tray loading station to the disassembly station, and is further designed to lower the holding tray (A2) to the tray loading station so that the holding tray (A2) is moved away from the vacuum assembly (A1). [4] Nozzle insertion and withdrawal device (100) according to claim 3, wherein the lifting and positioning assembly (12) comprises: a first assembly component (123); a lifting drive component (121) arranged on the first mounting component (123); a lifting component (122) configured to be slidably disposed on the first mounting component (123), wherein a positioning component (1221) mating with the holding tray (A2) is disposed on the lifting component (122), and the lifting drive component (121) is configured to lift the lifting component (122) by a first distance so that the holding tray (A2) provided with the vacuum assembly (A1) is lifted from the tray loading station to the disassembly station, and the lifting drive component (121) is further configured to lower the lifting component (122) so that the holding tray (A2) is lowered synchronously with the tray loading station. [5] The nozzle insertion and withdrawal device (100) according to claim 4, wherein the nozzle insertion and withdrawal device (100) further comprises: a buffer assembly (4) docked to the transport assembly (11), wherein the transport assembly (11) is designed to transport the holding tray (A2) lowered to the tray loading station to the buffer assembly (4) so that the holding tray (A2) is separated from the lifting component (122), and the buffer assembly (4) is designed to buffer the holding tray (A2). [6] The nozzle insertion and withdrawal device (100) of claim 5, wherein the lifting drive component (121) is further configured to lift the lifting component (122) a second distance to a leak testing station such that the old nozzle (B1) of the vacuum assembly (A1) is pressed against the lifting component (122), the second distance being different from the first distance. [7] The nozzle insertion and withdrawal device (100) according to claim 6, wherein the nozzle insertion and withdrawal device further comprises: a switching and limiting mechanism (5) arranged on the transport assembly (11), wherein the switching and limiting mechanism (5) is designed to limit the lifting component (122) to the first route or the second route, so that the lifting component (122) is lifted to the disassembly station or the leakage testing station. [8] The nozzle insertion and withdrawal device (100) according to claim 6, wherein the nozzle insertion and withdrawal device (100) further comprises: a leakage test assembly (6), wherein the vacuum assembly (A1) comprises a plurality of columns of old nozzles (B1), and the leakage test assembly (6) is designed to check whether a leak exists in one of the columns of old nozzles (B1), and the nozzle insertion and withdrawal mechanism (3) is designed to pull out the column of old nozzles (B1) in which the leak exists. [9] Nozzle insertion and withdrawal device (100) according to claim 8, wherein the leakage test assembly (6) comprises: a first seat (61); a leakage drive component (62); a second mounting component (63); and a plurality of docking assemblies (64), wherein the plurality of docking assemblies (64) are all arranged on the second mounting component (63) and are in one-to-one correspondence with the plurality of columns of the old nozzles (B1), each of the docking assemblies (64) corresponds to a manifold of each column of the old nozzles (B1), the second mounting component (63) is slidably arranged on the first seat (61), and the leakage drive component (62) is configured to move the second mounting component (63) to move the plurality of docking assemblies (64) in a direction approaching the vacuum assembly (A1) so that the docking assembly (64) is docked to the corresponding manifold to check whether there is a leak in one of the columns of the old nozzles (B1). [10] The nozzle insertion and withdrawal device (100) according to claim 5, wherein both the transport assembly (11) and the buffer assembly (4) are configured as a roller transport structure, a belt transport structure, or a chain transport structure, wherein the input end of the buffer assembly (4) is docked to the output end of the transport assembly (11), and wherein the buffer assembly (4) and the transport assembly (11) are both configured to transport in the forward and reverse directions. [11] The nozzle insertion and removal device (100) according to claim 10, wherein a holding tray blocking component (41) is arranged on the buffer assembly (4), which is arranged on the transport path of the holding tray (A2) and is designed to prevent the buffer assembly (4) from transporting the holding tray (A2) in the direction away from the transport assembly (11). [12] A nozzle insertion and withdrawal device (100) according to any one of claims 1 to 11, wherein the nozzle insertion and withdrawal mechanism (3) comprises: a three-axis motion module (31); an insertion and pulling tool (32) arranged on the three-axis movement module (31), wherein the three-axis movement module (31) is designed to move the insertion and pulling tool (32) to the vacuum assembly (A1), and the insertion and pulling tool (32) is designed to pull out the old nozzle (B1) of the vacuum assembly (A1) and insert the new nozzle (B2) into the vacuum assembly (A1). [13] Device for inserting and pulling nozzles (100) according to claim 12, wherein the insertion and pulling tool (32) comprises: a base (321) arranged on the three-axis motion module (31); a pulling head (322) arranged on the base (321), wherein the three-axis motion module (31) is configured to move the pulling head (322) to the vacuum assembly (A1), and the pulling head (322) is configured to pull out the old nozzle (B1) of the vacuum assembly (A1) so that the vacuum assembly (A1) is exposed at an insertion and pulling port (A11); an insertion head (323) arranged on the base (321), wherein the insertion head (323) is configured to place the new nozzle (B2), and the three-axis motion module (31) is further configured to move the insertion head (323) toward the vacuum assembly (A1) to insert the new nozzle (B2) into the insertion and pull port (A11). [14] The nozzle insertion and withdrawal device (100) according to any one of claims 1 to 11, wherein the nozzle insertion and withdrawal device (100) further comprises: a nozzle feeding mechanism (7) configured to feed the new nozzle (B2) to the nozzle inserting and pulling mechanism (3), wherein the nozzle inserting and pulling mechanism (3) is configured to transport the new nozzle (B2) to the vacuum assembly (A1). [15] A nozzle insertion and withdrawal device (100) according to claim 14, wherein the nozzle feeding mechanism (7) comprises: a vibrating plate (71) adapted to supply the new nozzle (B2) to the outlet of the vibrating plate; a nozzle transport assembly (72); a nozzle blocking component (73) arranged between the outlet of the vibrating plate and the nozzle transport assembly (72), wherein the nozzle blocking component (73) is designed to block the new nozzle (B2) at the outlet of the vibrating plate or to allow the new nozzle (B2) to pass through the outlet of the vibrating plate to the nozzle transport assembly (72), and the nozzle transport assembly (72) is designed to transport the new nozzle (B2) to the nozzle inserting and pulling mechanism (3). [16] The nozzle insertion and withdrawal device (100) according to claim 14, wherein the nozzle feeding mechanism (7) further comprises: a waste material return assembly (74), wherein the nozzle insertion and withdrawal mechanism (3) is further configured to place the old nozzle (B1) in the waste material return assembly (74). [17] Insertion and extraction tool, the insertion and extraction tool comprising: a base (321) arranged on a movement module (300); a pulling head (322) arranged on the base (321), wherein the movement module (300) is configured to move the pulling head (322) to a vacuum assembly (A1), and the pulling head (322) is configured to pull out an old nozzle (B1) of the vacuum assembly (A1) so that the vacuum assembly (A1) is exposed at an insertion and pulling port (A11); an insertion head (323) arranged on the base (321), wherein the insertion head (323) is configured to place the new nozzle (B2), and the movement module (300) is further configured to move the insertion head (323) towards the vacuum assembly (A1) to insert the new nozzle (B2) into the insertion and pulling port (A11). [18] The insertion and pulling tool according to claim 17, wherein the vacuum assembly (A1) is plural, the plurality of vacuum assemblies (A1) being arranged in an array at intervals along the first direction (F1) and the second direction (F2), and the pulling head (322) and the insertion head (323) being arranged at intervals along the first direction (F1); wherein, when the pulling head (322) is moved to any vacuum assembly (A1) of the plurality of vacuum assemblies (A1), the inserting head (323) is arranged to one side of any vacuum assembly (A1) to avoid the vacuum assembly (A1), and / or wherein, when the inserting head (323) is moved to any vacuum assembly (A1) of the plurality of vacuum assemblies (A1), the pulling head (322) is arranged to one side of any vacuum assembly (A1) to avoid the vacuum assembly (A1). [19] The insertion and pulling tool according to claim 18, wherein the pulling head (322) and the inserting head (323) are both plural, wherein the plurality of pulling heads (322) and the plurality of inserting heads (323) are all arranged along the first direction (F1), the distance between two adjacent pulling heads (322) is equal to the distance between two adjacent vacuum assemblies (A1) arranged along the first direction (F1), and the distance between two adjacent inserting heads (323) is equal to the distance between two adjacent vacuum assemblies (A1) arranged along the first direction (F1). [20] An inserting and pulling tool according to claim 19, wherein a pulling head group (3220) is formed by the plurality of pulling heads (322), an inserting head group (3230) is formed by the plurality of inserting heads (323), and the pulling head group (3220) and the inserting head group (3230) are arranged sequentially along the first direction (F1). [21] Insertion and pulling tool according to claim 19, wherein at least one pulling head (322) of the plurality of pulling heads (322) is arranged between two adjacent insertion heads (323). [22] The insertion and pulling tool according to claim 21, wherein the number of said plurality of pulling heads (322) is equal to the number of vacuum assemblies (A1) arranged along the first direction (F1) in each column, and / or the number of said plurality of insertion heads (323) is equal to the number of vacuum assemblies (A1) arranged along the first direction (F1) in each column. [23] The insertion and pulling tool according to any one of claims 17 to 22, wherein the insertion and pulling tool (32) further comprises an intermediate storage assembly (324) configured to temporarily store the old nozzle (B1) pulled out by the pulling head (322) in the intermediate storage assembly (324). [24] The insertion and pulling tool according to claim 23, wherein the base (321) is provided with a through hole (3211) penetrating the base (321), and at least a part of the structure of the intermediate storage assembly (324) is arranged vertically below the through hole (3211), the through hole (3211) being adapted to allow the old nozzle (B1) pulled out by the pulling head (322) to fall into the intermediate storage assembly (324) through the through hole (3211). [25] An insertion and extraction tool according to claim 24, wherein the intermediate bearing assembly (324) comprises: a drive component (3241) disposed on the base (321); a shielding component (3242) connected to the driving component (3241), the driving component (3241) being configured to move the shielding component (3242) to or away from the position vertically below the through-hole (3211) to open or close the through-hole (3211). [26] The insertion and pulling tool according to claim 24, wherein the intermediate storage assembly (324) comprises an intermediate storage box arranged vertically below the through hole (3211). [27] Insertion and pulling tool according to one of claims 17 to 22, wherein the pulling head (322) comprises: a second seat (3221) arranged on the base (321), the second seat (3221) being provided with a cavity (32211) into which the old nozzle (B1) can enter; a backstop component (3222) arranged on the seat (3221), wherein the backstop component (3222) is designed to insert the old nozzle (B1) into the cavity (32211) along the insertion direction (F3) and to prevent the old nozzle (B1) from leaving the cavity (32211) opposite to the insertion direction (F3), so that the old nozzle (B1) is removed from the vacuum assembly (A1). [28] Inserting and pulling tool according to one of claims 17 to 22, wherein a pulling head positioning section (3212) and an inserting head positioning section (3213) are arranged on the base (321), the pulling head (322) being arranged on the pulling head positioning section (3212) and the inserting head (323) being arranged on the inserting head positioning section (3213).

Images