High-speed square cell appearance detection machine and detection method

Abstract

The application discloses a high-speed square electric core appearance detection machine and a detection method. A first stacking assembly on the detection machine stacks the electric cores on the electric core conveying line left and right on a bottom supporting sliding table. A top surface detection camera is above the displacement path of each electric core supported by the bottom supporting sliding table. A top surface grabbing manipulator receives each electric core on the bottom supporting sliding table and keeps each electric core arranged left and right. A front and back and bottom surface detection camera group includes a front surface detection camera, a back surface detection camera and a bottom surface detection camera, which are respectively at the front, back and bottom side of the displacement path of each electric core grabbed by the top surface grabbing manipulator. A second stacking assembly receives each electric core on the top surface grabbing manipulator and stacks each electric core front and back left and right on a left and right surface detection table. A left and right surface detection camera group slides along the arrangement direction of the electric cores on the left and right surface detection table, collects the left and right surface images of each electric core, and realizes automatic completion of appearance detection of each surface of the electric core. The detection method realizes automatic distinguishing of foreign matter defects and bubble defects in the film.

Description

Technical Field

[0001] This invention relates to the field of battery cell testing technology, and in particular to a high-speed square battery cell appearance inspection machine and testing method. Background Technology

[0002] After the battery cells are manufactured, they usually need to undergo visual inspection to identify defects in the explosion-proof valve, terminals, and surface blue film.

[0003] The current process of inspecting the appearance of battery cells relies too heavily on manual labor, resulting in extremely low efficiency. If an automated device could be used to automatically inspect the appearance of battery cells, the efficiency of battery cell inspection could be effectively improved.

[0004] Defects in blue film typically include surface bubble defects and internal foreign matter defects. Both types of defects can cause surface protrusions in the blue film. Currently, cameras can usually only identify surface protrusions in the blue film and cannot directly determine whether the protrusions are surface bubble defects or internal foreign matter defects. Summary of the Invention

[0005] The purpose of this invention is to provide a high-speed square battery cell appearance inspection machine and inspection method, which can automatically complete the appearance inspection of battery cells.

[0006] To achieve the above objectives, the solution of the present invention is: a high-speed square battery cell appearance inspection machine, comprising a battery cell conveying line, a first stacking assembly, a bottom support slide, a top surface inspection camera, a top gripping robot, front and rear and bottom surface inspection camera groups, a second stacking assembly, left and right surface inspection platforms, and left and right surface inspection camera groups;

[0007] Cell conveyor lines are used to transport battery cells;

[0008] The first stacking assembly is used to stack the battery cells from the battery cell conveying line side by side onto the bottom support slide.

[0009] The bottom support slide lifts multiple battery cells arranged side by side, causing them to shift laterally.

[0010] The top surface inspection camera is positioned above the displacement path of each battery cell carried by the bottom support slide to acquire top surface images of each battery cell on the bottom support slide;

[0011] The top-grabbing robot is located at the end of the sliding path of the bottom-supporting slide to receive each battery cell on the bottom-supporting slide, so as to grasp the left and right sides of each battery cell downward and continue to move laterally, and keep each battery cell arranged side by side.

[0012] The front, rear, and bottom inspection camera group includes a front inspection camera, a rear inspection camera, and a bottom inspection camera, which are located at the front, rear, and bottom sides of the displacement path of each battery cell grasped by the top-grabbing robot arm, respectively, to collect front, rear, and bottom images of each battery cell.

[0013] The second stacking component receives each battery cell from the top-grabbing robotic arm and stacks each battery cell side by side on the left and right detection platforms.

[0014] The left and right detection camera group slides along the cell arrangement direction on the left and right detection platforms, including a left detection camera and a right detection camera located on the left and right sides of each cell on the left and right detection platforms, respectively, to acquire left and right images of each cell.

[0015] Furthermore, the first stacking component includes a rotating gripper and a temporary storage platform;

[0016] A rotary gripper is positioned between the battery cell conveying line and the temporary storage platform. The rotary gripper includes a horizontally rotatable rotating part. A rotating part lifting gripper is provided on each side of the rotating part. When the rotating part lifting gripper at one end is positioned directly above the battery cell conveying line to grip the battery cell on the battery cell conveying line, the rotating part lifting gripper at the other end is positioned directly above the temporary storage platform to place the battery cell on the temporary storage platform. The rotating part rotates so that the rotating part lifting grippers on both sides alternately grip and place the battery cell.

[0017] Multiple battery cell storage positions are arranged side by side on the temporary storage platform. Each battery cell storage position has an ejector cylinder on its front and rear sides, which is used to eject the battery cell and hold it in place. The number of battery cell storage positions on the temporary storage platform is equal to the number of battery cells that the bottom support slide can hold. The temporary storage platform is slidably arranged so that each battery cell storage position on it can be positioned directly below the lifting gripper of the rotating part to receive the battery cell.

[0018] Furthermore, the bottom support slide can slide under the temporary storage platform of the first stacking assembly to receive each battery cell on the temporary storage platform.

[0019] Furthermore, the second stacking component includes a pitch-changing component and a material-splitting robot;

[0020] The variable pitch assembly is located at the end of the moving path of the top-grabbing robot to grasp each battery cell, and is used to receive each battery cell on the top-grabbing robot. The variable pitch assembly includes multiple variable pitch slides arranged side by side along the left and right direction of the battery cell on it. Each variable pitch slide is used to carry one battery cell, and each variable pitch slide can slide horizontally along the front and back direction of the battery cell on it.

[0021] A material sorting robot is provided for each variable pitch slide. The material sorting robots are arranged side by side along the front-back direction of the battery cells on the variable pitch assembly. They are used to grab the battery cells on the corresponding variable pitch slide and slide along the left-right direction of the battery cells on the variable pitch assembly. The left and right detection platforms are located below each material sorting robot and are used to receive the battery cells grabbed by each material sorting robot.

[0022] Furthermore, a pole detection camera is installed above the pitch conversion assembly to capture pole images of the top surface of each cell on the pitch conversion assembly.

[0023] Furthermore, each of the material sorting robots is provided with multiple discharge conveyor lines below it, and the discharge conveyor lines are arranged side by side along the sliding direction of the material sorting robot.

[0024] Furthermore, the front detection camera and / or rear detection camera and / or bottom detection camera and / or left detection camera and / or right detection camera respectively include a blue film protrusion detection camera and a protrusion foreign object detection camera;

[0025] The blue film protrusion detection camera includes a blue film protrusion detection camera body and a white linear array light source. The blue film protrusion detection camera body collects the reflected light formed by the white linear array light source illuminating the surface of the battery cell.

[0026] The protruding foreign object detection camera includes a protruding foreign object detection camera body and an infrared array light source. The protruding foreign object detection camera body collects the reflected light formed by the infrared array light source illuminating the surface of the battery cell.

[0027] Furthermore, an anti-interference gap is maintained between the blue film protrusion detection camera and the protrusion foreign object detection camera.

[0028] A high-speed square battery cell appearance inspection method, using a high-speed square battery cell appearance inspection machine, includes the following steps: scanning the battery cell with the blue film protrusion detection camera before the protrusion foreign object detection camera;

[0029] The blue film protrusion detection camera images the blue film protrusions caused by bubbles and foreign objects in the blue film of the battery cell to obtain a protrusion defect image on the surface of the blue film. The protrusion foreign object detection camera detects foreign objects in each blue film protrusion to obtain an infrared light image.

[0030] Based on the image of the protrusion defects on the blue film surface, determine the center coordinate position and contour area of ​​each protrusion defect relative to the cell surface;

[0031] Based on the center coordinates and outline area of ​​each protrusion in the image of the protrusion on the blue film surface, the infrared image position and range of each blue film protrusion are confirmed in the infrared image.

[0032] The area of ​​the blue film protrusion is used as the detection range. Each range is checked for abnormal spots. If any are found, the defect is identified as a foreign object inside the film; otherwise, it is identified as a bubble defect.

[0033] After adopting the above solution, the beneficial effects of the present invention are as follows:

[0034] (1) Multiple battery cells are arranged side by side by the first stacking component. The multiple battery cells arranged side by side are supported by the bottom slide. The bottom slide slides under the top detection camera to collect the top image of the battery cell and realize the appearance inspection of the top surface of the battery cell. The top gripping robot grabs the multiple battery cells arranged side by side on the bottom slide and makes each battery cell pass through the front, back and bottom detection camera group to realize the appearance inspection of the front, back and bottom surfaces of each battery cell. The second stacking component arranges the battery cells side by side on the left and right detection platforms. Then the left and right detection camera group slides along the left and right detection platforms to realize the appearance inspection of the left and right sides of each battery cell. Thus, the appearance inspection of all six sides of the square battery cell is completed. It can complete the appearance inspection of multiple battery cells at one time, which has the advantages of full automation and high efficiency.

[0035] (2) The front detection camera and / or rear detection camera and / or bottom detection camera and / or left detection camera and / or right detection camera respectively include a blue film protrusion detection camera and a protrusion foreign object detection camera. The blue film protrusion detection camera identifies the blue film protrusion, and then the infrared array light source of the protrusion foreign object detection camera is used to penetrate the blue film to detect whether there is a foreign object below the protrusion position of the blue film, thus realizing the automatic differentiation between foreign object defects and bubble defects in the film. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0037] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0038] Figure 3 This is a three-dimensional structural diagram of the present invention from another direction;

[0039] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0040] Figure 5 This is a top view of the structure of the present invention;

[0041] Figure 6 This is a three-dimensional structural diagram of the battery cell delivery line of the present invention;

[0042] Figure 7 This is a three-dimensional structural diagram of the rotating gripper of the present invention;

[0043] Figure 8 This is a three-dimensional structural diagram of the temporary storage platform of the present invention;

[0044] Figure 9 This is a three-dimensional structural diagram of the bottom support slide of the present invention;

[0045] Figure 10 This is a three-dimensional structural diagram of the top-grabbing manipulator of the present invention;

[0046] Figure 11 This is a three-dimensional structural diagram of the front, rear, and bottom surface detection camera group of the present invention;

[0047] Figure 12 This is a three-dimensional structural diagram of the variable pitch slide table of the present invention;

[0048] Figure 13 This is a three-dimensional structural schematic diagram of the polarimeter detection camera of the present invention;

[0049] Figure 14 This is a three-dimensional structural diagram of the material dispensing robot of the present invention;

[0050] Figure 15 This is a three-dimensional structural diagram of the left and right side detection stage and the left and right side detection camera group of the present invention.

[0051] Figure 16 This is a three-dimensional structural diagram of the left and right side detection stage of the present invention and the left and right side detection camera group of another embodiment;

[0052] Figure 17 This is a three-dimensional structural diagram of the discharge conveyor line of the present invention.

[0053] Labeling Explanation: 1-Cell Conveyor Line, 2-First Stacking Assembly, 3-Bottom Support Slide, 4-Top Surface Inspection Camera, 5-Top Grabbing Robot, 6-Front, Rear, and Bottom Surface Inspection Camera Group, 7-Second Stacking Assembly, 8-Left and Right Surface Inspection Platforms, 9-Left and Right Surface Inspection Camera Groups, 10-Cell, 11-Front Surface Inspection Camera, 12-Rear Surface Inspection Camera, 13-Bottom Surface Inspection Camera, 14-Left Surface Inspection Camera, 15-Right Surface Inspection Camera, 16-Rotating Gripper, 17-Temporary Storage Platform, 18-Rotating Part, 19-Rotating Part Lifting Gripper, 20-Cell Temporary Storage Position, 21-Ejection Cylinder, 22-Variable Pitch Assembly, 23-Distribution Robot, 24-Variable Pitch Slide. 25-Pole-mounted detection camera; 26-Discharge conveyor line; 27-Blue film protrusion detection camera; 28-Protrusion foreign object detection camera; 29-Blue film protrusion detection camera body; 30-White linear array light source; 31-Protrusion foreign object detection camera body; 32-Infrared linear array light source; 33-Battery cell conveyor belt; 34-Rotating drive motor for rotating part; 35-Rotating gripper lifting motor for rotating part; 36-Rotating gripper lifting body for rotating part; 37-Frame; 38-Left and right sliding motor for temporary storage platform; 39-Linear motor for bottom support slide; 40-Top gripper; 41-Horizontal linear motor for top gripper; 42-Lifting linear motor for top gripper; 43-Linear motor for left and right side detection camera group. Detailed Implementation

[0054] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] This invention provides a high-speed square battery cell appearance inspection machine, such as... Figure 1-17 As shown, the focus here is on combining... Figure 1-5 As shown, it includes a frame 37, and a battery cell conveying line 1, a first stacking assembly 2, a bottom support slide 3, a top surface inspection camera 4, a top gripping robot 5, a front and rear and bottom surface inspection camera group 6, a second stacking assembly 7, a left and right surface inspection platform 8 and a left and right surface inspection camera group 9, all mounted on the frame 37.

[0056] Key points combined Figure 2 , Figure 5 , Figure 6 As shown, the battery cell conveyor line 1 is used to transport the battery cell 10. The battery cell conveyor line 1 can be any existing conveyor belt or conveyor roller structure. Specifically, in this embodiment, the battery cell conveyor line 1 has two battery cell conveyor belts 33 arranged side by side. The two battery cell conveyor belts 33 are used to transport the battery cell 10, so that the two battery cells 10 are transported side by side to the end of the battery cell conveyor line 1. Correspondingly, a barcode reader is set at each of the two battery cell conveyor belts 33. Each battery cell 10 is set with a product code. The barcode reader is used to read the product code on the battery cell 10 so as to facilitate product traceability when determining good and bad products. Reading the product code by barcode reader is a conventional setting, which is not shown in the figure.

[0057] The first stacking assembly 2 is used to stack approximately 10 battery cells 10 from the battery cell conveying line 1 side-by-side onto the bottom slide table 3. The first stacking assembly 2 can be any existing robotic arm or other mechanism capable of gripping, transferring, and placing batteries. To ensure the first stacking assembly 2 has a simple structure, stable operation, and higher work efficiency, this embodiment focuses on combining... Figure 2 As shown, the first stacking assembly 2 includes a rotating gripper 16 and a temporary storage platform 17; (Focusing on...) Figure 5 As shown, the rotary gripper 16 is positioned between the cell conveying line 1 and the temporary storage platform 17, focusing on... Figure 7As shown, the rotary gripper 16 includes a rotating part 18, which is a horizontally extending beam. The rotating part 18 is driven to rotate horizontally by a rotary drive motor 34. The rotation axis of the rotating part 18 is located at the center of the rotating part 18. A rotary lifting gripper 19 is respectively provided on both sides of the beam-shaped rotating part 18. The two rotary lifting grippers 19 each include a rotary gripper lifting motor 35 and two rotary lifting gripper bodies 36 spaced apart from each other. The rotary gripper lifting motor 35 is connected between the rotating part 18 and the two rotary lifting gripper bodies 36. The rotating part 18 is used to drive the lifting jaws 36 of the two rotating parts to lift and lower. The two rotating jaws 36 open and close to grip and place two battery cells 10 side by side. When one end of the rotating jaw 19 is directly above the battery cell conveying line 1 to grip the two battery cells 10 side by side at the end of the battery cell conveying line 1, the other end of the rotating jaw 19 is directly above the temporary storage platform 17 to place the two battery cells 10 it gripped side by side onto the temporary storage platform 17. The rotating part 18 rotates so that the two rotating jaws 19 on both sides alternately grip and place the battery cells 10. Figure 4 , Figure 8 As shown, multiple battery cell storage positions 20 are arranged side-by-side on the temporary storage platform 17. Each battery cell storage position 20 has an ejection cylinder 21 on its front and rear sides, respectively, used to eject and press against the front and rear sides of the battery cell 10 to fix the battery cell 10 in the corresponding battery cell storage position 20. The number of battery cell storage positions 20 on the temporary storage platform 17 is equal to the number of battery cells 10 that the bottom support slide 3 can support. The temporary storage platform 17 is slidably arranged left and right (by sliding the temporary storage platform left and right...). Driven by motor 38, each of the cell storage positions 20 on the motor can be positioned directly below the rotating part lifting gripper 19 to receive the cell 10. In a more specific embodiment, the temporary storage platform 17 is provided with a total of 4 cell storage positions 20. By placing the cell 10 twice on the temporary storage platform 17 through the rotating part lifting gripper 19, the cell storage positions 20 can be filled, so that the four cells 10 are arranged side by side, and the appearance inspection of the four cells 10 can be completed at one time.

[0058] Key points combined Figure 4 , Figure 9 As shown, the bottom support slide 3 supports multiple battery cells 10 arranged side by side and moves laterally. Specifically, in this embodiment, the bottom support slide 3 is driven by a bottom support slide linear motor 39 to slide laterally so that it can slide under the temporary storage platform 17 of the first stacking assembly 2, receive each battery cell 10 on the temporary storage platform 17, and maintain the side-by-side arrangement of each battery cell 10. Then, it can support each battery cell 10 to slide in a direction away from the bottom support slide 3.

[0059] The top surface inspection camera 4 is positioned above the displacement path of each battery cell 10 carried by the bottom support slide 3, in order to collect the top surface image of each battery cell 10 on the bottom support slide 3. Specifically, in this embodiment, the top surface inspection camera 4 is used to collect the explosion-proof valve image on the top surface of the battery cell 10 and to perform visual inspection on the explosion-proof valve of the battery cell 10 (the explosion-proof valve is a conventional setting on the battery cell 10 and is not shown in the attached figure).

[0060] Key points combined Figure 4 , Figure 10 As shown, the top-grabbing robot 5 is located at the end of the sliding path of the bottom-supporting slide 3, and is used to receive each battery cell 10 on the bottom-supporting slide 3 to grip the left and right sides of each battery cell 10 and continue to move laterally, keeping the battery cells 10 arranged side by side. The structure of the top-grabbing robot 5 is not specifically limited, and can be any existing industrial robot capable of achieving the above functions. To improve efficiency, a temporary storage platform 17 is also provided at the end of the sliding path of the bottom-supporting slide 3. This temporary storage platform 17 has the same structure as the temporary storage platform 17 on the first stacking assembly 2, and is used to receive each battery cell 10 on the bottom-supporting slide 3 at the end of the bottom-supporting slide 3. Then the bottom-supporting slide 3 can return to below the rotating gripper 16 to continue. Continuing to receive the battery cell 10, the top-grabbing robot 5 moves to the temporary storage platform 17 and grabs each battery cell 10 on the temporary storage platform 17. Specifically, the top-grabbing robot 5 includes four top-grabbing claws 40 arranged side by side. Each top-grabbing claw 10 opens and closes to grab one battery cell 10 on the temporary storage platform 17 at the end of the bottom slide 3, so that each battery cell 10 is kept arranged side by side. The top-grabbing robot 5 also includes a top-grabbing claw horizontal linear motor 41 and a top-grabbing claw lifting linear motor 42. The top-grabbing claw horizontal linear motor 41 drives each top-grabbing claw 40 to move left and right, and the top-grabbing claw lifting linear motor 42 drives each top-grabbing claw 40 to move up and down.

[0061] Key points combined Figure 11 As shown, the front, rear and bottom detection camera group 6 includes a front detection camera 11, a rear detection camera 12 and a bottom detection camera 13, which are located at the front, rear and bottom sides of the displacement path of each battery cell 10 grasped by the top-grabbing robot 5, respectively, so as to collect front, rear and bottom images of each battery cell 10, and to perform appearance inspection on the front, rear and bottom surfaces of each battery cell 10.

[0062] The second stacking component 7 receives each battery cell 10 from the gripping robot 5 and stacks each battery cell 10 side-by-side on the left and right detection platforms 8. The second stacking component 7 can be any existing industrial robot or similar mechanism capable of gripping, transporting, and arranging the battery cells 10; specifically, in this embodiment, the focus is on combining... Figure 3 As shown, the second stacking assembly 7 includes a variable pitch assembly 22 and a material sorting robot 23; the key combination is... Figure 2As shown, the variable pitch assembly 22 is located below the end of the moving path of the gripping robot 5 as it grasps each battery cell 10. It is used to support each battery cell 10 on the gripping robot 5. The variable pitch assembly 22 includes multiple variable pitch slides 24 arranged side-by-side along the left-right direction of the battery cells 10. Specifically, in this embodiment, four slides are provided. Each slide 24 carries one battery cell 10. Each slide 24 can slide horizontally along the front-back direction of the battery cell 10 on it. By sliding each slide 24 with different strokes, the battery cells 10 are spaced back-to-back. (Focus on...) Figure 14 As shown, a material sorting robot 23 is provided for each pitch slide 24. The material sorting robots 23 are arranged in a parallel array along the front-to-back direction of the battery cells 10 on the pitch assembly 22. After the battery cells 10 are spaced apart by the pitch slides 24, each battery cell 10 is positioned below a material sorting robot 23. Each material sorting robot 23 is used to grasp the battery cells 10 corresponding to the pitch slide 24, and then slides along the left-to-right direction of the battery cells 10 on the pitch assembly 22, thus arranging the battery cells 10 in a front-to-back parallel configuration. (Focus on...) Figure 15 As shown, the left and right detection platforms 8 extend below each of the sorting robots 23, and are used to simultaneously receive the battery cells 10 grasped by each sorting robot 23, thereby realizing the arrangement of each battery cell 10 side by side on the left and right detection platforms 8; (Focusing on...) Figure 14 As shown, a pole detection camera 25 is provided above the pitch assembly 22 to collect pole images of the top surface of each cell 10 on the pitch assembly 22 and to perform appearance inspection on the poles of each cell 10.

[0063] Key points combined Figure 15 As shown, the left and right detection camera group 9 is driven by the left and right detection camera group linear motor 43 to slide along the arrangement direction of the battery cells 10 on the left and right detection platform 8. The left and right detection camera group 9 includes a left detection camera 14 and a right detection camera 15 located on the left and right sides of each battery cell 10 on the left and right detection platform 8, respectively, so as to realize the acquisition of left and right images of each battery cell 10.

[0064] Key points combined Figure 5 and Figure 17 As shown, each of the sorting robots 23 is provided with multiple discharge conveyor lines 26 below it. Each discharge conveyor line 26 may specifically include a good product discharge conveyor line and multiple defective product discharge conveyor lines classified according to defect type (the actual defective product types are set as needed and are not specifically limited). Each discharge conveyor line 26 is arranged side by side along the sliding direction of the sorting robot 23. According to the detection result of the battery cell 10 it grabs, the sorting robot 23 places the battery cell 10 on the corresponding discharge conveyor line 26, and the discharge conveyor line 26 transmits it out of the high-speed square battery cell appearance inspection machine.

[0065] 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 protruding foreign object detection camera 28. Specifically, in this preferred embodiment, the focus is on combining... Figure 16 As shown, the front detection camera 11 and the rear detection camera 12 respectively include a blue film protrusion detection camera 27 and a protrusion foreign object detection camera 28; an anti-interference gap is left between the blue film protrusion detection camera 27 and the protrusion foreign object detection camera 28; the blue film protrusion detection camera 27 includes a blue film protrusion detection camera body 29 and a white linear array light source 30, and the blue film protrusion detection camera body 29 collects the reflected light formed by the white linear array light source 30 illuminating the surface of the battery cell 10; the protrusion foreign object detection camera 28 includes a protrusion foreign object detection camera body 31 and an infrared linear array light source 32, and the protrusion foreign object detection camera body 31 collects the reflected light formed by the infrared linear array light source 32 illuminating the surface of the battery cell 10.

[0066] A high-speed square battery cell appearance inspection method, using a high-speed square battery cell appearance inspection machine, includes the following steps: The blue film protrusion detection camera 27 scans the battery cell 10 before the protrusion foreign object detection camera 28 (in this embodiment, the left and right detection cameras 14 are driven by the linear motor 43 of the left and right detection camera group). Figure 15 and Figure 16 (The scanning is performed from right to left in the image). The blue film protrusion detection camera 27 images the blue film protrusions caused by bubbles and foreign objects in the blue film of the battery cell 10 to obtain a blue film surface protrusion defect image. The protrusion foreign object detection camera 28 detects foreign objects in each blue film protrusion to obtain an infrared light image. Based on the blue film surface protrusion defect image, the center coordinate position and contour area of ​​each protrusion defect relative to the surface of the battery cell are determined. According to the center coordinate position and contour area of ​​each protrusion defect in the blue film surface protrusion defect image, the infrared light image position and range of each blue film protrusion are confirmed in the infrared light image. The range of the blue film protrusion is used as the detection range to detect whether there are abnormal spots in each range. If they exist, they are determined to be foreign objects in the film; otherwise, they are determined to be bubble defects. Thus, the blue film protrusions are first identified by the blue film protrusion detection camera 27, and then the infrared array light source 32 of the protrusion foreign object detection phase 28 is used to detect whether there are foreign objects below the position of the blue film protrusion, thereby realizing the automatic differentiation between foreign object defects and bubble defects.

[0067] In this embodiment, the front, back, left, and right directions are all relative to the battery cell 10. The top detection camera 4, the front, back, and bottom detection camera groups 6, and the left and right detection camera groups 9 are all communicatively connected to a processor capable of image processing. Similarly, each motor or drive mechanism is also communicatively connected to a corresponding processor or controller. These are all conventional settings in the field, so they will not be elaborated further.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the design of this case. All equivalent changes made based on the key design features of this case shall fall within the protection scope of this case.

Claims

1. A high-speed square battery cell appearance inspection machine, characterized in that: It includes a cell conveying line (1), a first stacking assembly (2), a bottom support slide (3), a top surface inspection camera (4), a top gripping robot (5), a front and rear and bottom surface inspection camera group (6), a second stacking assembly (7), a left and right surface inspection platform (8), and a left and right surface inspection camera group (9). The cell conveying line (1) is used to convey the cells (10); The first stacking assembly (2) is used to stack the battery cells (10) on the battery cell conveying line (1) side by side onto the bottom slide (3); The bottom slide (3) supports multiple battery cells (10) arranged side by side on the left and right sides, and moves them laterally. The top surface detection camera (4) is positioned above the displacement path of each cell (10) carried by the bottom support slide (3) to collect top surface images of each cell (10) on the bottom support slide (3); The top-grabbing robot (5) is located at the end of the sliding path of the bottom-supporting slide (3) to receive each battery cell (10) on the bottom-supporting slide (3), so as to grab the left and right sides of each battery cell (10) and continue to move laterally, and keep each battery cell (10) arranged side by side. The front, rear and bottom detection camera group (6) includes a front detection camera (11), a rear detection camera (12) and a bottom detection camera (13), which are located at the front, rear and bottom sides of the displacement path of the top-grabbing robot (5) grabbing each cell (10) to collect front, rear and bottom images of each cell (10) respectively. The second stacking component (7) receives each battery cell from the top-grabbing robot (5) and stacks each battery cell (10) side by side on the left and right detection platforms (8); The left and right detection camera group (9) slides along the arrangement direction of the cells (10) on the left and right detection stage (8), including the left detection camera (14) and the right detection camera (15) located on the left and right sides of each cell (10) on the left and right detection stage (8) respectively, so as to collect the left and right images of each cell (10) respectively. The second stacking component (7) includes a pitch-changing component (22) and a material sorting robot (23); The variable pitch assembly (22) is located at the end of the moving path of the top gripping robot (5) to grip each battery cell (10), and is used to receive each battery cell (10) on the top gripping robot (5). The variable pitch assembly (22) includes multiple variable pitch slides (24) arranged side by side along the left and right directions of the battery cell (10) on it. Each variable pitch slide (24) is used to carry one battery cell (10), and each variable pitch slide (24) can slide horizontally along the front and back directions of the battery cell (10) on it. A material sorting robot (23) is provided for each pitch slide (24). Each material sorting robot (23) is arranged side by side along the front-back direction of the battery cell (10) on the pitch assembly (22). They are used to grab the battery cell (10) on the pitch slide (24) and slide along the left-right direction of the battery cell (10) on the pitch assembly (22). The left and right detection platforms (8) are located below each material sorting robot (23) and are used to receive the battery cell (10) grabbed by each material sorting robot (23).

2. The high-speed square battery cell appearance inspection machine as described in claim 1, characterized in that: The first stacking assembly (2) includes a rotating gripper (16) and a temporary storage platform (17). A rotary gripper (16) is set between the cell conveying line (1) and the temporary storage platform (17). The rotary gripper (16) includes a rotating part (18) that can rotate horizontally. A rotating part lifting gripper (19) is provided on each side of the rotating part (18). When the rotating part lifting gripper (19) at one end is directly above the cell conveying line (1) to grip the cell (10) on the cell conveying line (1), the rotating part lifting gripper (19) at the other end is directly above the temporary storage platform (17) to place the cell (10) onto the temporary storage platform (17). The rotating part (18) rotates so that the rotating part lifting grippers (19) on both sides alternately grip and place the cell (10). Multiple battery cell storage positions (20) are arranged side by side on the temporary storage platform (17). Each battery cell storage position (20) is equipped with a push-out cylinder (21) on its front and rear sides, respectively, to push out the battery cell (10) against the front and rear sides, so as to fix the battery cell (10) in the corresponding battery cell storage position (20). The number of battery cell storage positions (20) on the temporary storage platform (17) is equal to the number of battery cells (10) that the bottom slide (3) can carry. The temporary storage platform (17) is slidably arranged on the left and right so that each battery cell storage position (20) on it can be positioned directly below the rotating part lifting gripper (19) to receive the battery cell (10).

3. The high-speed square battery cell appearance inspection machine as described in claim 2, characterized in that: The bottom support slide (3) can slide under the temporary storage platform (17) of the first stacking assembly (2) to receive each cell (10) on the temporary storage platform (17).

4. The high-speed square battery cell appearance inspection machine as described in claim 1, characterized in that: A pole detection camera (25) is provided above the pitch assembly (22) to collect pole images of the top surface of each cell (10) on the pitch assembly (22).

5. The high-speed square battery cell appearance inspection machine as described in claim 1, characterized in that: Multiple discharge conveyor lines (26) are provided below each of the material sorting robots (23), and each of the discharge conveyor lines (26) is arranged side by side along the sliding direction of the material sorting robot (23).

6. The high-speed square battery cell appearance inspection machine as described in claim 1, characterized in that: The front detection camera (11) and / or rear detection camera (12) and / or bottom detection camera (13) and / or left detection camera (14) and / or right detection camera (15) respectively include a blue film protrusion detection camera (27) and a protrusion foreign object detection camera (28). The blue film protrusion detection camera (27) includes a blue film protrusion detection camera body (29) and a white linear array light source (30). The blue film protrusion detection camera body (29) collects the reflected light formed by the white linear array light source (30) illuminating the surface of the battery cell (10). The protruding foreign object detection camera (28) includes a protruding foreign object detection camera body (31) and an infrared array light source (32). The protruding foreign object detection camera body (31) collects the reflected light formed by the infrared array light source (32) illuminating the surface of the battery cell (10).

7. The high-speed square battery cell appearance inspection machine as described in claim 6, characterized in that: An anti-interference gap is maintained between the blue film protrusion detection camera (27) and the protrusion foreign object detection camera (28).

8. A high-speed square battery cell appearance inspection method, using the high-speed square battery cell appearance inspection machine as described in claim 6, characterized in that, Includes the following steps: The blue film protrusion detection camera (27) acquires images of the battery cell (10) before the protrusion foreign object detection camera (28); The blue film protrusion detection camera (27) images the blue film protrusions caused by bubbles and foreign objects in the blue film of the cell (10) to obtain a blue film surface protrusion defect image, and the protrusion foreign object detection camera (28) detects foreign objects for each blue film protrusion to obtain an infrared light image. Based on the image of the protrusion defects on the blue film surface, determine the center coordinate position and contour area of ​​each protrusion defect relative to the cell surface; Based on the center coordinates and outline area of ​​each protrusion in the image of the protrusion on the blue film surface, the infrared image position and range of each blue film protrusion are confirmed in the infrared image. The area of ​​the blue film protrusion is used as the detection range. Each range is checked for abnormal spots. If any are found, the defect is identified as a foreign object inside the film; otherwise, it is identified as a bubble defect.

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