CN117825403A - High-speed square battery cell appearance detection machine and detection method - Google Patents
High-speed square battery cell appearance detection machine and detection method Download PDFInfo
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- CN117825403A CN117825403A CN202310960666.0A CN202310960666A CN117825403A CN 117825403 A CN117825403 A CN 117825403A CN 202310960666 A CN202310960666 A CN 202310960666A CN 117825403 A CN117825403 A CN 117825403A
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses a high-speed square battery cell appearance detection machine and a detection method.A first stacking assembly on the detection machine stacks battery cells on a battery cell conveying line on a support bottom sliding table side by side; the top surface detection camera is positioned above the displacement paths of the battery cells borne by the bottom supporting sliding table; the grabbing manipulator receives each electric core on the supporting bottom sliding table and ensures that each electric core is arranged side by side left and right; the front-back and bottom surface detection camera group comprises a front detection camera, a rear detection camera and a bottom surface detection camera, which are respectively positioned at the front side, the rear side and the bottom side of the displacement path of each battery cell which is grasped by the grasping manipulator; the second stacking component receives each electric core on the top grabbing mechanical arm and stacks each electric core on the left and right detection carrier in a front-back side-by-side manner; the left and right detection camera sets slide along the arrangement direction of the electric cores on the left and right detection carrier, collect left and right images of each electric core, and realize automatic appearance detection of each surface of the electric core; the detection method realizes automatic distinction between foreign matter defects and bubble defects in the film.
Description
Technical Field
The invention relates to the technical field of battery cell detection, in particular to a high-speed square battery cell appearance detector and a detection method.
Background
After the production of the battery cell is completed, the battery cell is usually required to be subjected to appearance detection, so that defects of an explosion-proof valve, a pole column, a surface blue film and the like of the battery cell are identified.
The current electric core outward appearance detection process too relies on the manual work, and detection efficiency is too low, if can accomplish the outward appearance detection of electric core through an automatic equipment, will effectively promote the detection efficiency of electric core.
The defects of the blue film generally comprise a bubble defect on the surface of the blue film and a foreign matter defect in the film, both defects can lead to the surface bulge of the blue film, and currently, only the surface bulge of the blue film can be generally identified through a camera, and whether the bulge part is the bubble defect on the surface of the blue film or the foreign matter defect in the film cannot be directly and further judged.
Disclosure of Invention
The invention aims to provide a high-speed square battery cell appearance detection machine and a detection method, which can automatically finish appearance detection of a battery cell.
To achieve the above object, the solution of the present invention is: a high-speed square battery cell appearance detector comprises a battery cell conveying line, a first stacking assembly, a bottom supporting sliding table, a top surface detection camera, a top grabbing manipulator, a front-back bottom surface detection camera set, a second stacking assembly, a left side detection carrier, a right side detection carrier and a left side detection camera set;
the battery cell conveying line is used for conveying battery cells;
the first stacking assembly is used for stacking the battery cells on the battery cell conveying line on the bottom supporting sliding table side by side;
a plurality of battery cells which are arranged side by side left and right are supported on the support bottom sliding table to transversely displace;
the top surface detection camera is positioned above the displacement paths of the cells carried by the support sliding table so as to acquire top surface images of the cells on the support sliding table;
the grabbing manipulator is arranged at the tail end of the sliding path of the supporting bottom sliding table and is used for receiving each electric core on the supporting bottom sliding table so as to grab the left and right sides of each electric core downwards to continue to transversely displace and enable the electric cores to be arranged side by side left and right;
the front-back and bottom surface detection camera group comprises a front detection camera, a rear detection camera and a bottom surface detection camera, and the front-back and bottom surface detection cameras are respectively positioned at the front side, the rear side and the bottom side of the displacement path of each electric core which is grasped by the grasping manipulator so as to respectively acquire the front-back and bottom surface images of each electric core;
the second stacking component receives each electric core on the top grabbing mechanical arm and stacks each electric core on the left and right detection carrier in a front-back side-by-side manner;
the left and right detection camera sets slide along the arrangement direction of the electric cores on the left and right detection carrier, and comprise left and right detection cameras which are respectively positioned at the left and right sides of each electric core on the left and right detection carrier so as to respectively acquire left and right images of each electric core.
Further, the first stacking assembly comprises a rotary handle and a temporary storage carrier;
the rotary gripper is arranged between the battery cell conveying line and the temporary storage carrying platform, the rotary gripper comprises a rotary part capable of horizontally rotating, two sides of the rotary part are respectively provided with a rotary part lifting clamping jaw, when the rotary part lifting clamping jaw at one end is positioned right above the battery cell conveying line and is used for grabbing a battery cell on the battery cell conveying line, the rotary part lifting clamping jaw at the other end is positioned right above the temporary storage carrying platform and is used for placing the battery cell on the temporary storage carrying platform, and the rotary part rotates to enable the rotary part lifting clamping jaws at two sides to alternately grab and place the battery cell;
the electric core temporary storage device comprises a temporary storage carrier, a rotary part lifting clamping jaw and a lifting clamping jaw, wherein a plurality of electric core temporary storage positions are arranged on the temporary storage carrier left and right side by side, ejection cylinders are respectively arranged on the front side and the rear side of each electric core temporary storage position and used for ejecting and propping against the front side and the rear side of the electric core respectively, so that the electric core is fixed at the corresponding electric core temporary storage position, the number of the electric core temporary storage positions on the temporary storage carrier is equal to that of the electric cores which can be borne by the bottom sliding table, and the temporary storage carrier slides left and right, so that each electric core temporary storage position on the temporary storage carrier can be positioned under the rotary part lifting clamping jaw in sequence to bear the electric core.
Further, the bottom supporting sliding table can slide below the temporary storage carrier of the first stacking assembly so as to receive each electric core on the temporary storage carrier.
Further, the second stacking assembly comprises a distance changing assembly and a material distributing manipulator;
the distance changing assembly is positioned at the tail end of a moving path of the grabbing top manipulator grabbing each cell and is used for receiving each cell on the grabbing top manipulator, and comprises a plurality of distance changing sliding tables arranged side by side along the left-right direction of the cell on the distance changing assembly, each distance changing sliding table is used for bearing one cell, and each distance changing sliding table can horizontally slide along the front-back direction of the cell on the distance changing sliding table;
and each material distributing manipulator is arranged corresponding to each distance changing sliding table, and each material distributing manipulator is arranged side by side along the front-back direction of the electric core on the distance changing assembly, is respectively used for grabbing the electric core on the distance changing sliding table and respectively slides along the left-right direction of the electric core on the distance changing assembly, and the left-right detection carrier is positioned below each material distributing manipulator and is used for receiving the electric core grabbed by each material distributing manipulator.
Further, a pole detection camera is arranged above the variable-pitch assembly to acquire pole images of the top surfaces of the battery cores on the variable-pitch assembly.
Further, a plurality of discharging conveying lines are arranged below the material distributing mechanical arms, and the discharging conveying lines are arranged side by side along the sliding direction of the material distributing mechanical arms.
Further, the front detection camera and/or the rear detection camera and/or the bottom detection camera and/or the left detection camera and/or the right detection camera respectively comprise a blue film bulge detection camera and a bulge foreign matter detection camera;
the blue film bulge detection camera comprises a blue film bulge detection camera body and a white linear array light source, wherein the blue film bulge detection camera body collects reflected light formed by the irradiation of the white linear array light source on the surface of the battery cell;
the convex foreign matter detection camera comprises a convex foreign matter detection camera body and an infrared array light source, wherein the convex foreign matter detection camera body collects reflected light rays formed by the irradiation of the infrared array light source on the surface of the battery cell.
Further, an anti-interference interval is reserved between the blue film protrusion detection camera and the protrusion foreign matter detection camera.
The high-speed square battery cell appearance detection method is applied to the high-speed square battery cell appearance detection machine and comprises the following steps of: the blue film protrusion detection camera scans the battery cell before the protrusion foreign matter detection camera;
the blue film bulge detection camera images blue film bulges caused by bubbles in a battery cell blue film and foreign matters in the film to obtain a blue film surface bulge defect image, and the bulge foreign matter detection camera detects foreign matters on each blue film bulge to obtain an infrared light image;
determining the central coordinate position and the contour area of each convex defect relative to the surface of the battery cell based on the blue film surface convex defect image;
confirming the infrared light image position of each blue film bulge and the bulge range of each blue film in the infrared light image according to the central coordinate position and the outline area of each bulge defect in the blue film surface bulge defect image;
and (3) taking the protruding range of the blue film as a detection range, detecting whether abnormal spots exist in each range, if so, determining that the abnormal spots exist in the film, otherwise, determining that the abnormal spots exist in the film, and determining that the abnormal spots exist in the film.
After the scheme is adopted, the beneficial effects of the invention are as follows:
(1) The plurality of electric cores are arranged left and right side by side through the first stacking assembly, the plurality of electric cores arranged left and right side by side are supported by the bottom supporting sliding table, the bottom supporting sliding table slides from the lower part of the top surface detection camera, top surface images of the electric cores can be acquired, appearance detection of the top surfaces of the electric cores is realized, the plurality of electric cores arranged left and right side by side on the bottom supporting sliding table are grabbed by the grabbing manipulator, the electric cores pass through the front-back and bottom surface detection camera set, appearance detection of the front-back and bottom surfaces of the electric cores is realized, the electric cores are arranged front-back side by side on the left-right surface detection carrier through the second stacking assembly, then the left-right surface detection camera set slides along the left-right surface detection carrier, appearance detection of the left-right surfaces of the electric cores is realized, appearance detection of all six surfaces of the square electric cores is completed, appearance detection of the electric cores can be completed at one time, and the full-automatic and efficient advantages are realized;
(2) The front detection camera and/or the rear detection camera and/or the bottom detection camera and/or the left detection camera and/or the right detection camera respectively comprise a blue film protrusion detection camera and a protrusion foreign matter detection camera, the blue film protrusion is identified by the line through the blue film protrusion detection camera, and then whether foreign matters exist below the protrusion position of the blue film is detected by utilizing the penetrability of an infrared array light source of the protrusion foreign matter detection phase to the blue film, so that the automatic distinction of the foreign matter defects and bubble defects in the film is realized.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is a schematic perspective view of another aspect of the present invention;
FIG. 4 is a partial enlarged view at B in FIG. 3;
FIG. 5 is a schematic top view of the present invention;
fig. 6 is a schematic diagram of a three-dimensional structure of a battery cell conveying line according to the present invention;
FIG. 7 is a schematic perspective view of a rotary grip according to the present invention;
FIG. 8 is a schematic perspective view of a temporary storage stage according to the present invention;
fig. 9 is a schematic perspective view of a backing slide of the present invention;
FIG. 10 is a schematic perspective view of a top grabbing manipulator according to the present invention;
FIG. 11 is a schematic perspective view of the front-rear and bottom-face detecting camera set of the present invention;
fig. 12 is a schematic perspective view of a variable-pitch sliding table according to the present invention;
FIG. 13 is a schematic diagram of a three-dimensional structure of a pole inspection camera according to the present invention;
FIG. 14 is a schematic perspective view of a dispensing robot according to the present invention;
FIG. 15 is a schematic perspective view of a left and right inspection stage and a left and right inspection camera set according to the present invention;
FIG. 16 is a schematic perspective view of a left and right inspection stage and a left and right inspection camera set according to another embodiment of the present invention;
fig. 17 is a schematic perspective view of the outfeed conveyor line of the present invention.
Description of the reference numerals: 1-battery core conveying line, 2-first stacking component, 3-bottom supporting sliding table, 4-top surface detecting camera, 5-top grabbing mechanical arm, 6-front-back and bottom surface detecting camera set, 7-second stacking component, 8-left-right surface detecting carrier, 9-left-right surface detecting camera set, 10-battery core, 11-front detecting camera, 12-rear detecting camera, 13-bottom surface detecting camera, 14-left surface detecting camera, 15-right surface detecting camera, 16-rotating grab, 17-temporary storage carrier, 18-rotating part, 19-rotating part lifting clamping jaw, 20-battery core temporary storage position, 21-ejecting cylinder, 22-distance changing component, 23-distributing mechanical arm, 24-distance changing sliding table, 25-pole detecting camera, the device comprises a 26-discharging conveying line, a 27-blue film protrusion detection camera, a 28-protrusion foreign matter detection camera, a 29-blue film protrusion detection camera body, a 30-white linear array light source, a 31-protrusion foreign matter detection camera body, a 32-infrared array light source, a 33-electric core conveying belt, a 34-rotating part rotation driving motor, a 35-rotating part clamping jaw lifting motor, a 36-rotating part lifting clamping jaw body, a 37-rack, a 38-temporary storage carrier left-right sliding motor, a 39-support bottom sliding table linear motor, a 40-top clamping jaw, a 41-top clamping jaw transverse moving linear motor, a 42-top clamping jaw lifting linear motor and a 43-left detection camera set linear motor.
Detailed Description
The invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a high-speed square battery cell appearance detector, as shown in fig. 1-17, wherein the high-speed square battery cell appearance detector is mainly combined with fig. 1-5 and comprises a rack 37, and a battery cell conveying line 1, a first stacking component 2, a bottom supporting sliding table 3, a top surface detection camera 4, a top grabbing mechanical arm 5, a front-back and bottom surface detection camera set 6, a second stacking component 7, a left-right surface detection carrier 8 and a left-right surface detection camera set 9 which are arranged on the rack 37;
as shown in fig. 2, fig. 5, and fig. 6, the core conveying line 1 is used for conveying the core 10, where the core conveying line 1 may be any existing conveying belt or conveying roller structure, and in this embodiment, the core conveying line 1 has two core conveying belts 33 arranged side by side, where the two core conveying belts 33 are respectively used for conveying the core 10, so that the two cores 10 are respectively conveyed to the ends of the core conveying line 1 side by side, and one code reader is respectively provided on the two core conveying belts 33, each core 10 is respectively provided with a product code, and the code reader is used for reading the product code on the core 10, so that the product is conveniently traced when the good product and the defective product are determined, and the product code is read by the code reader and is not shown in the drawing;
the first stacking assembly 2 is used for stacking the battery cells 10 on the battery cell conveying line 1 on the bottom supporting sliding table 3 side by side left and right, and the first stacking assembly 2 can be any mechanism such as a manipulator which can be used for grabbing, transferring and placing batteries in the prior art; in order to make the first stacking assembly 2 simple in structure and stable in operation and have higher working efficiency, in this embodiment, as shown in fig. 2, the first stacking assembly 2 includes a rotary handle 16 and a temporary storage carrier 17; as shown in fig. 5, the rotary gripper 16 is arranged between the electric core conveying line 1 and the temporary storage carrying table 17, and as shown in fig. 7, the rotary gripper 16 comprises a rotary part 18, the rotary part 18 is in a horizontally extending beam shape, the rotary part 18 is driven by a rotary part rotary driving motor 34 to horizontally rotate, a rotating shaft of the rotary part 18 is positioned at the center position of the rotary part 18, two side parts of the beam shape of the rotary part 18 are respectively provided with a rotary part lifting clamping jaw 19, the two rotary part lifting clamping jaws 19 respectively comprise a rotary part clamping jaw lifting motor 35 and two rotary part lifting clamping jaw bodies 36 which are spaced left and right, the rotary part clamping jaw lifting motor 35 is connected between the rotary part 18 and the two rotary part lifting clamping jaw bodies 36 and is used for driving the two rotary part lifting clamping jaw bodies 36 to lift, the two rotary part lifting clamping jaw bodies 36 are respectively opened and closed to be used for clamping two electric cores 10 which are left and right side by side, when the rotary part lifting 19 at one end is positioned right above the electric core conveying line 1 and two electric cores 10 which are left and right at the tail end of the electric core conveying line 1 are arranged, the rotary part lifting clamping jaw 19 at the other end is positioned right above the electric core conveying line 1 and the rotary part lifting clamping jaw bodies 17 which are positioned right and the rotary part clamping jaw bodies which are positioned right and the rotary clamping jaw bodies 10 and the two electric core lifting jaw bodies which are arranged right and the rotary part clamping jaw bodies and the rotary clamping jaw bodies 10; as shown in fig. 4 and 8, a plurality of electrical core temporary storage positions 20 are arranged on the temporary storage carrier 17 in parallel left and right, an ejection cylinder 21 is respectively arranged on the front side and the rear side of each electrical core temporary storage position 20 and is respectively used for ejecting and propping against the front side and the rear side of the electrical core 10 so as to fix the electrical core 10 on the corresponding electrical core temporary storage position 20, the number of the electrical core temporary storage positions 20 on the temporary storage carrier 17 is equal to the number of the electrical cores 10 which can be carried by the bottom sliding table 3, the temporary storage carrier 17 is arranged in a sliding manner left and right (driven by a temporary storage carrier left and right sliding motor 38), so that each electrical core temporary storage position 20 on the temporary storage carrier 17 can be sequentially arranged under a rotating part lifting clamping jaw 19 to receive the electrical core 10, and in a more specific embodiment, 4 electrical core temporary storage positions 20 are respectively arranged on the temporary storage carrier 17, and the electrical core positions 20 can be fully arranged on the temporary storage carrier 17 through the rotating part lifting clamping jaw 19 for two times, so that the four electrical cores 10 can be arranged left and right side by side, and right, and appearance detection of the 4 electrical cores 10 can be completed at one time;
as shown in fig. 4 and 9, the plurality of battery cells 10 are transversely displaced left and right in parallel on the support base sliding table 3; in this embodiment, the bottom supporting sliding table 3 is driven by a bottom supporting sliding table linear motor 39 to slide below the temporary storage carrier 17 of the first stacking assembly 2, receive the electric cores 10 on the temporary storage carrier 17, keep the electric cores 10 arranged side by side left and right, and then can bear the electric cores 10 to slide in a direction deviating from the bottom supporting sliding table 3;
the top surface detection camera 4 is located above the displacement path of each cell 10 carried by the bottom support sliding table 3 to collect top surface images of each cell 10 on the bottom support sliding table 3, and in this embodiment, the top surface detection camera 4 is used to collect explosion-proof valve images of the top surface of the cell 10, and perform appearance detection on the explosion-proof valve of the cell 10 (the explosion-proof valve is a conventional arrangement on the cell 10, and is not shown in the drawing);
as shown in fig. 4 and 10, the top grabbing manipulator 5 is at the end of the sliding path of the bottom supporting sliding table 3, and is used for receiving each electric core 10 on the bottom supporting sliding table 3, so as to grab the left and right sides of each electric core 10 downwards, continue to laterally displace, and keep each electric core 10 arranged side by side left and right, and the structure of the top grabbing manipulator 5 is not particularly limited, and any existing industrial manipulator capable of realizing the functions can be used; in order to improve efficiency, the end of the sliding path of the bottom supporting sliding table 3 is further provided with a temporary storage carrying table 17, and the temporary storage carrying table 17 has the same structure as the temporary storage carrying table 17 on the first stacking assembly 2, and is used for supporting each electric core 10 on the bottom supporting sliding table 3 at the end of the bottom supporting sliding table 3, and then the bottom supporting sliding table 3 can return to the lower part of the rotary gripper 16 to continue to support the electric core 10, and meanwhile, the top grabbing mechanical arm 5 is moved to the temporary storage carrying table 17 to grab each electric core 10 on the temporary storage carrying table 17; specifically, the top grabbing mechanical arm 5 includes four top grabbing clamping jaws 40 arranged side by side left and right, each top grabbing clamping jaw 10 moves left and right in an opening and closing manner respectively to clamp one electric core 10 on the temporary storage carrier 17 at the tail end of the bottom supporting sliding table 3 respectively, so that each electric core 10 is arranged side by side left and right, the top grabbing mechanical arm 5 further includes a top grabbing clamping jaw traversing linear motor 41 and a top grabbing clamping jaw lifting linear motor 42, the top grabbing clamping jaw traversing linear motor 41 drives each top grabbing clamping jaw 40 to move left and right, and the top grabbing clamping jaw lifting linear motor 42 drives each top grabbing clamping jaw 40 to lift;
as shown with emphasis on fig. 11, the front-rear and bottom surface detection camera set 6 includes a front detection camera 11, a rear detection camera 12, and a bottom surface detection camera 13, respectively located at the front, rear, and bottom sides of the displacement path where each cell 10 is gripped by the gripping robot 5, to collect front, rear, and bottom surface images of each cell 10, respectively, to perform appearance detection on the front, rear, and bottom surfaces of each cell 10;
the second stacking component 7 receives each electric core on the grabbing and pushing manipulator 5, and stacks each electric core 10 on the left and right detection platforms 8 side by side, and the second stacking component 7 can be any existing mechanism such as an industrial manipulator capable of grabbing, transferring and arranging the electric cores 10; in this embodiment, as shown in fig. 3, the second stacking assembly 7 includes a distance changing assembly 22 and a material distributing manipulator 23; with particular reference to fig. 2, the distance changing assembly 22 is located below the end of the moving path of the grabbing top manipulator 5 grabbing each cell 10, and is used for bearing each cell 10 on the grabbing top manipulator 5, where the distance changing assembly 22 includes a plurality of distance changing sliding tables 24 arranged side by side along the left-right direction of the upper cell 10, and in this embodiment, 4 distance changing sliding tables 24 are provided, each distance changing sliding table 24 is used for bearing one cell 10, and each distance changing sliding table 24 can respectively slide horizontally along the front-back direction of the upper cell 10, so that each cell 10 forms a front-back interval by making each distance changing sliding table 24 slide by different strokes; as shown in fig. 14, a material-distributing manipulator 23 is disposed corresponding to each distance-changing sliding table 24, each material-distributing manipulator 23 is disposed in parallel and spaced along the front-rear direction of the electric core 10 on the distance-changing assembly 22, after each electric core 10 is formed into a front-rear space by each distance-changing sliding table 24, each electric core 10 is located below one material-distributing manipulator 23, each material-distributing manipulator 23 is respectively used for grabbing the electric core 10 on the corresponding distance-changing sliding table 24, and then slides along the left-right direction of the electric core 10 on the distance-changing assembly 22, so that each electric core 10 can be arranged side by side in front-rear direction, and the left-right detection carrier 8 extends below each material-distributing manipulator 23 and is used for simultaneously receiving the electric cores 10 grabbed by each material-distributing manipulator 23, thereby realizing front-rear side stacking of each electric core 10 on the left-right detection carrier 8; with reference to fig. 14, a pole detection camera 25 is disposed above the distance-changing assembly 22 to collect pole images of the top surfaces of the respective electric cores 10 on the distance-changing assembly 22, so as to perform appearance detection on the poles of the respective electric cores 10;
with emphasis on fig. 15, the left and right detection camera set 9 is driven by the left and right detection camera set linear motor 43 to slide along the arrangement direction of the electric cores 10 on the left and right detection carrier 8, and the left and right detection camera set 9 includes left and right detection cameras 14 and 15 respectively positioned on the left and right sides of each electric core 10 on the left and right detection carrier 8, so as to respectively acquire left and right images of each electric core 10;
as shown in fig. 5 and 17, a plurality of discharge conveying lines 26 are disposed below each of the sorting manipulators 23, each of the discharge conveying lines 26 may specifically include a good product discharge conveying line and a plurality of defective product discharge conveying lines classified according to defective varieties (the actual defective variety is set according to the need, and is not specifically limited), each of the discharge conveying lines 26 is disposed side by side along the sliding direction of the sorting manipulator 23, the sorting manipulator 23 places the battery cell 10 on the corresponding discharge conveying line 26 according to the detection result of the battery cell 10 grasped thereon, and the discharge conveying line 26 conveys the battery cell 10 out of the high-speed square battery cell appearance detector.
In another preferred embodiment, the front detection camera 11 and/or the rear detection camera 12 and/or the bottom detection camera 13 and/or the left detection camera 14 and/or the right detection camera 15 respectively include a blue film protrusion detection camera 27 and a protrusion foreign matter detection camera 28, and in this preferred embodiment, as shown with emphasis on fig. 16, the front detection camera 11 and the rear detection camera 12 respectively include a blue film protrusion detection camera 27 and a protrusion foreign matter detection camera 28; an anti-interference interval is reserved between the blue film protrusion detection camera 27 and the protrusion foreign matter detection camera 28; the blue film protrusion detection camera 27 comprises a blue film protrusion detection camera body 29 and a white linear array light source 30, wherein the blue film protrusion detection camera body 29 collects reflected light formed by the white linear array light source 30 irradiating the surface of the battery cell 10; the convex foreign matter detection camera 28 comprises a convex foreign matter detection camera body 31 and an infrared array light source 32, wherein the convex foreign matter detection camera body 31 collects reflected light formed by the infrared array light source 32 irradiating the surface of the battery cell 10.
The high-speed square battery cell appearance detection method is applied to the high-speed square battery cell appearance detection machine and comprises the following steps of: the blue film protrusion detection camera 27 scans the battery cell 10 before the protrusion foreign matter detection camera 28 (in this embodiment, the left and right detection cameras 14 are driven by the left and right detection camera group linear motor 43 to scan from the right to the left in fig. 15 and 16); the blue film bulge detecting camera 27 images blue film bulges caused by bubbles in a blue film of the battery cell 10 and foreign matters in the film to obtain a blue film surface bulge defect image, and the bulge foreign matter detecting camera 28 detects foreign matters on each blue film bulge to obtain an infrared light image; determining the central coordinate position and the contour area of each convex defect relative to the surface of the battery cell based on the blue film surface convex defect image; confirming the infrared light image position of each blue film bulge and the bulge range of each blue film in the infrared light image according to the central coordinate position and the outline area of each bulge defect in the blue film surface bulge defect image; the blue film bulge range is used as a detection range, whether abnormal spots exist in each range is detected, if so, the detection range is determined to be the in-film foreign matter defect, otherwise, the detection range is determined to be the bubble defect, so that the blue film bulge is firstly identified through the blue film bulge detection camera 27, then the penetrability of the blue film by the infrared array light source 32 of the bulge foreign matter detection phase 28 is utilized to detect whether the foreign matter exists below the bulge position of the blue film, and the automatic distinction of the in-film foreign matter defect and the bubble defect is realized.
The front, back, left and right directions in the embodiment are all relative to the battery cell 10, and the top detection camera 4, the front, back, bottom detection camera set 6, and the left and right detection camera sets 9 are all communicatively connected with a processor capable of performing image processing, and similarly, each motor or driving mechanism is also communicatively connected with a corresponding processor or controller, which are all conventional in the art, so that no specific description will be made.
The above embodiments are only preferred embodiments of the present invention, and are not limited to the present invention, and all equivalent changes made according to the design key of the present invention fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a square electric core outward appearance detects machine of high speed which characterized in that: the device comprises a battery cell conveying line (1), a first stacking assembly (2), a bottom supporting sliding table (3), a top surface detection camera (4), a top grabbing manipulator (5), a front-back bottom surface detection camera set (6), a second stacking assembly (7), a left-right surface detection carrier (8) and a left-right surface detection camera set (9);
the battery cell conveying line (1) is used for conveying battery cells (10);
the first stacking assembly (2) is used for stacking the battery cells (10) on the battery cell conveying line (1) on the bottom supporting sliding table (3) side by side;
a plurality of battery cores (10) which are arranged side by side left and right are supported on the support bottom sliding table (3) to move transversely;
the top surface detection camera (4) is positioned above the displacement path of each battery cell (10) borne by the support base sliding table (3) so as to acquire top surface images of each battery cell (10) on the support base sliding table (3);
the grabbing manipulator (5) is arranged at the tail end of the sliding path of the supporting bottom sliding table (3) and is used for receiving each electric core (10) on the supporting bottom sliding table (3) so as to grab the left and right sides of each electric core (10) downwards to continue to transversely displace, and the electric cores (10) are kept to be arranged side by side left and right;
the front-back and bottom surface detection camera set (6) comprises a front detection camera (11), a rear detection camera (12) and a bottom surface detection camera (13), which are respectively positioned at the front, the rear and the bottom sides of the displacement path of each battery cell (10) which is grasped by the grasping manipulator (5) so as to respectively acquire the front, the rear and the bottom surface images of each battery cell (10);
the second stacking assembly (7) receives all the electric cores on the grabbing manipulator (5) and stacks all the electric cores (10) on the left and right detection carriers (8) side by side front and back;
the left and right detection camera set (9) slides along the arrangement direction of the battery cells (10) on the left and right detection carrier (8), and comprises left detection cameras (14) and right detection cameras (15) which are respectively positioned at the left and right sides of each battery cell (10) on the left and right detection carrier (8) so as to respectively acquire left and right images of each battery cell (10).
2. The high-speed square cell appearance detector of claim 1, wherein: the first stacking assembly (2) comprises a rotary handle (16) and a temporary storage carrying platform (17);
the rotary gripper (16) is arranged between the battery cell conveying line (1) and the temporary storage carrying table (17), the rotary gripper (16) comprises a rotary part (18) capable of horizontally rotating, two side parts of the rotary part (18) are respectively provided with a rotary part lifting clamping jaw (19), when the rotary part lifting clamping jaw (19) at one end is positioned right above the battery cell conveying line (1) and used for grabbing the battery cell (10) on the battery cell conveying line (1), the rotary part lifting clamping jaw (19) at the other end is positioned right above the temporary storage carrying table (17) and used for placing the battery cell (10) on the temporary storage carrying table (17), and the rotary part (18) rotates so that the rotary part lifting clamping jaws (19) at two sides alternately grab and place the battery cell (10);
the electric core temporary storage device comprises a temporary storage carrier (17), and is characterized in that a plurality of electric core temporary storage positions (20) are arranged on the temporary storage carrier (17) left and right, ejection cylinders (21) are respectively arranged on the front side and the rear side of each electric core temporary storage position (20), and are respectively used for ejecting and propping against the front side and the rear side of each electric core (10) so as to fix the electric cores (10) at the corresponding electric core temporary storage positions (20), the number of the electric core temporary storage positions (20) on the temporary storage carrier (17) is equal to the number of the electric cores (10) which can be borne by the support base sliding table (3), and the temporary storage carrier (17) slides left and right, so that each electric core temporary storage position (20) on the temporary storage carrier can be positioned under a rotating part lifting clamping jaw (19) in sequence to bear the electric cores (10).
3. The high-speed square cell appearance detector as claimed in claim 2, wherein: the bottom supporting sliding table (3) can slide to the lower part of the temporary storage carrying table (17) of the first stacking assembly (2) so as to receive each battery cell (10) on the temporary storage carrying table (17).
4. The high-speed square cell appearance detector of claim 1, wherein: the second stacking assembly (7) comprises a variable-pitch assembly (22) and a distributing manipulator (23);
the distance changing assembly (22) is positioned at the tail end of a moving path of the grabbing top manipulator (5) grabbing each electric core (10) and is used for bearing each electric core (10) on the grabbing top manipulator (5), the distance changing assembly (22) comprises a plurality of distance changing sliding tables (24) which are arranged side by side along the left-right direction of the upper electric core (10), each distance changing sliding table (24) is used for bearing one electric core (10), and each distance changing sliding table (24) can horizontally slide along the front-back direction of the upper electric core (10);
and a material distributing manipulator (23) is arranged corresponding to each variable-pitch sliding table (24), each material distributing manipulator (23) is arranged side by side along the front-back direction of the electric core (10) on the variable-pitch assembly (22), is respectively used for grabbing the electric core (10) on the variable-pitch sliding table (24) and respectively slides along the left-right direction of the electric core (10) on the variable-pitch assembly (22), and the left-right detection carrier (8) is positioned below each material distributing manipulator (23) and is used for receiving the electric core (10) grabbed by each material distributing manipulator (23).
5. The high-speed square cell appearance detector of claim 4, wherein: a pole detection camera (25) is arranged above the variable-pitch assembly (22) to collect pole images of the top surfaces of the battery cores (10) on the variable-pitch assembly (22).
6. The high-speed square cell appearance detector of claim 4, wherein: a plurality of discharging conveying lines (26) are arranged below the material distributing manipulators (23), and the discharging conveying lines (26) are arranged side by side along the sliding direction of the material distributing manipulators (23).
7. The high-speed square cell appearance detector of claim 1, wherein: the front detection camera (11) and/or the rear detection camera (12) and/or the bottom detection camera (13) and/or the left detection camera (14) and/or the right detection camera (15) respectively comprise a blue film bulge detection camera (27) and a bulge foreign matter detection camera (28);
the blue film bulge detection camera (27) comprises a blue film bulge detection camera body (29) and a white linear array light source (30), wherein the blue film bulge detection camera body (29) collects reflected light formed by the irradiation of the white linear array light source (30) on the surface of the battery cell (10);
the convex foreign matter detection camera (28) comprises a convex foreign matter detection camera body (31) and an infrared array light source (32), wherein the convex foreign matter detection camera body (31) collects reflected light formed by irradiation of the infrared array light source (32) on the surface of the battery cell (10).
8. The high-speed square cell appearance detector of claim 7, wherein: an anti-interference interval is reserved between the blue film protrusion detection camera (27) and the protrusion foreign matter detection camera (28).
9. The method for detecting the appearance of the high-speed square battery cell, which is applied to the high-speed square battery cell appearance detector as claimed in claim 7, is characterized by comprising the following steps: the blue film bulge detection camera (27) is used for acquiring images of the battery cell (10) before the bulge foreign matter detection camera (28);
the blue film bulge detection camera (27) images blue film bulges caused by bubbles in a blue film of the battery cell (10) and foreign matters in the film to obtain a blue film surface bulge defect image, and the bulge foreign matter detection camera (28) detects the foreign matters of each blue film bulge to obtain an infrared light image;
determining the central coordinate position and the contour area of each convex defect relative to the surface of the battery cell based on the blue film surface convex defect image;
confirming the infrared light image position of each blue film bulge and the bulge range of each blue film in the infrared light image according to the central coordinate position and the outline area of each bulge defect in the blue film surface bulge defect image;
and (3) taking the protruding range of the blue film as a detection range, detecting whether abnormal spots exist in each range, if so, determining that the abnormal spots exist in the film, otherwise, determining that the abnormal spots exist in the film, and determining that the abnormal spots exist in the film.
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| CN2023109089221 | 2023-07-24 | ||
| CN202310908922 | 2023-07-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118311043A (en) * | 2024-06-13 | 2024-07-09 | 宁德时代新能源科技股份有限公司 | Battery cell insulating film detection system and method thereof |
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- 2023-08-01 CN CN202310960666.0A patent/CN117825403A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118311043A (en) * | 2024-06-13 | 2024-07-09 | 宁德时代新能源科技股份有限公司 | Battery cell insulating film detection system and method thereof |
| CN118311043B (en) * | 2024-06-13 | 2024-10-18 | 宁德时代新能源科技股份有限公司 | Battery cell insulating film detection system and method thereof |
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