Apparatus and method for detecting defects on the bottom surface of bare cells and for gripping them

Abstract

The present disclosure relates to an apparatus and method for detecting and clamping a bottom surface defect of a bare battery cell. The apparatus comprises a detection device and a clamping device. The detection device is configured to detect the bottom surface defect of the bare battery cell in a bottom surface upward state at a material taking point. The clamping device is used to clamp the bare battery cell. The detection device and the clamping device are mounted on the same mounting member of the apparatus, so that the detection device and the clamping device can move together in horizontal and vertical directions, and the clamping device clamps and removes the bare battery cell after the detection device detects the bottom surface defect of the bare battery cell. The apparatus and method according to the present disclosure can achieve the detection of the bottom surface defect of the bare battery cell by the detection device for subsequent processes without interrupting the material taking and placing operation of the clamping device, without consuming additional detection time.

Description

[0001] This divisional application is based on the patent application for Chinese invention patent application No. 202311479371.8, entitled "Clamping device, equipment and method for bottom surface defect detection and clamping of bare battery cell", and filed on November 8, 2023. TECHNICAL FIELD

[0002] The present disclosure relates to the field of batteries, and more particularly to a clamping device, equipment and method for bottom surface defect detection and clamping of bare battery cell. BACKGROUND

[0003] A bare battery cell is the power storage part in a rechargeable battery, and its quality directly determines the quality of the rechargeable battery. Therefore, it is necessary to detect the bare battery cell. The prior art has provided a detection machine for defect detection of the two large faces and four small faces of the bare battery cell. When using the detection machine for defect detection, the bare battery cell is conveyed to the detection station using a conveyor belt; the bare battery cell is detected in a flat lying state; and then the bare battery cell is flipped over using a flipping device before being detected again. Since the bare battery cell needs to be repeatedly conveyed and flipped, the probability of damage to the bare battery cell during operation is increased. For bare battery cells that require upright assembly, this detection machine cannot be compatible with defect detection of such bare battery cells. In particular, it is impossible to detect defects in the bottom surface of the bare battery cell during the operation of clamping the upright bare battery cell. The prior art also does not provide a clamping device for clamping the upright bare battery cell. SUMMARY

[0004] One of the purposes of the embodiments of the present disclosure is to provide a clamping device for clamping a bare battery cell in a bottom surface upward state, and to provide an equipment and method for bottom surface defect detection and clamping of such bare battery cell. In this way, the bottom surface defect detection and firm clamping of the bare battery cell are completed without interrupting the feeding and discharging operation of the clamping device.

[0005] To solve the above technical problems, the technical solution adopted by the embodiments of the present disclosure is as follows: in a first aspect of the present disclosure, a clamping device is provided, which is used for clamping a bare battery cell in a bottom surface upward state. The clamping device comprises a pair of clamping jaws arranged oppositely. The pair of clamping jaws is configured to move towards each other under the driving of a driving member to be in a clamping position for clamping the bare battery cell, and to move away from each other to be in a releasing position for releasing the bare battery cell. Each of the clamping jaws comprises a body, a holding portion provided on the inner side of the lower end of the body for holding the top surface of the bare battery cell from below, and a clamping block provided on the inner side of the body for clamping the large side surface of the bare battery cell.

[0006] In this way, for the larger size of the bare battery cell in the height direction, the clamping device according to one or more embodiments of the present disclosure can at least achieve firm holding of the bare battery cell from the top surface and two large side surfaces of the bare battery cell.

[0007] In one or more embodiments of the present disclosure, the clamping device further comprises a limiting component for abutting against the bottom surface of the bare battery cell from above when the clamping device clamps the bare battery cell, so as to prevent the bare battery cell from tilting over.

[0008] Thus, the provision of the limiting component is conducive to preventing the bare battery cell from tilting over.

[0009] In one or more embodiments of the present disclosure, the body has vertically arranged mounting holes, and the clamping blocks are selectively mounted in the corresponding mounting holes.

[0010] Thus, the mounting positions of the clamping blocks are adjustable to adapt to clamping at the desired positions for bare battery cells of different heights.

[0011] In one or more embodiments of the present disclosure, the clamping device further comprises an elastic member arranged between the clamping blocks and the body.

[0012] Thus, the elastic member can enable the clamping blocks to provide a moderate clamping force for firmly holding the bare battery cell.

[0013] In one or more embodiments of the present disclosure, the clamping device further comprises an anti-collision alarm device for providing a response to the collision or impact between the pair of clamping jaws and other objects.

[0014] Thus, the anti-collision alarm device can provide a corresponding response to the collision or impact between the clamping jaws and other objects.

[0015] In one or more embodiments of the present disclosure, the anti-collision alarm device comprises a light sensing device, a second anti-collision component, and a first anti-collision component fixed relative to the pair of clamping jaws, the first anti-collision component being movable relative to the second anti-collision component, and the light sensing device issuing an alarm in response to the relative displacement between the first anti-collision component and the second anti-collision component exceeding a predetermined value.

[0016] Thus, the anti-collision alarm device can provide a pre-warning to prevent more serious collisions.

[0017] In one or more embodiments of the present disclosure, the pair of clamping jaws and the first anti-collision component are fixed to a connecting plate, and the second anti-collision component is fixed to an upper plate that is flexibly connected to the connecting plate by a linear bearing.

[0018] Thus, the anti-collision alarm device is also conducive to buffering the collision or impact between the clamping jaws and other objects.

[0019] In one or more embodiments of the present disclosure, the first anti-collision component is in a U-shaped structure including a first arm portion and a second arm portion, the first arm portion and the second arm portion are capable of abutting to the joint portion protruding from the second anti-collision component, and a distance between the first arm portion and the second arm portion defines a limit moving range of the first anti-collision component.

[0020] Thus, the first anti-collision component provides the limit moving range of the first anti-collision component of the anti-collision alarm device in a simple structure.

[0021] In a second aspect of the present disclosure, there is provided an apparatus for detecting and clamping a bottom surface defect of a bare cell, the apparatus comprising: a detection device configured to detect a bottom surface defect of a bare cell in a bottom surface upward state at a taking point; and a clamping device for clamping the bare cell. The detection device and the clamping device are mounted on the same mounting member of the apparatus, so that the detection device and the clamping device can move together in a horizontal direction and a vertical direction, and the clamping device clamps and removes the bare cell after the detection device detects the bottom surface defect of the bare cell.

[0022] Thus, the apparatus completes the detection operation of the bottom surface defect of the bare cell in the taking and placing process of the clamping device, without consuming additional detection time.

[0023] In one or more embodiments of the present disclosure, the detection device and the clamping device are capable of reciprocating in the horizontal direction between a placing point and a movement turning point by means of a horizontal driving device. The clamping device releases the clamped bare cell at the placing point for subsequent processes. The movement turning point is a position where the clamping device changes the direction of movement and is aligned with the center of the bottom surface of the bare cell in the taking point, and the clamping device is located directly above the center of the bottom surface of the bare cell at the movement turning point. The detection device and the clamping device are capable of reciprocating in the vertical direction between the movement turning point and a clamping position by means of a vertical driving device. The clamping device clamps the bare cell in the taking point at the clamping position.

[0024] Thus, the apparatus according to the present disclosure can complete the detection of the bottom surface defect of the bare cell without interrupting the taking and placing operation of the clamping device, without consuming additional detection time.

[0025] In one or more embodiments of the present disclosure, the detection device is arranged in front of the clamping device in a direction from the placing point towards the movement turning point.

[0026] Thus, the apparatus according to the present disclosure can complete the detection of the bottom surface defect of the bare cell during the horizontal movement of the clamping device.

[0027] In one or more embodiments of the present disclosure, the device further comprises a detection starting point aligned with the first end of the bottom surface of the bare cell in the taking point. The detection starts when the center of the detection device reaches the detection starting point during the movement of the detection device from the taking point to the movement turning point.

[0028] Thus, the device according to the present disclosure can achieve starting the detection of the bottom surface defect of the bare cell when the detection device reaches the detection starting point.

[0029] In one or more embodiments of the present disclosure, the detection ends when the clamping device reaches the movement turning point, and the detected information is sent to the processor for processing.

[0030] Thus, the detection device completes the detection of the bottom surface of the bare cell before the taking operation without interrupting the taking and placing process of the clamping device, without consuming additional detection time.

[0031] In one or more embodiments of the present disclosure, the detection device comprises a downward-facing imaging element at the center of the bottom plate of the detection device and a light source arranged near the imaging element.

[0032] Thus, the detection device provides high-quality detection of the bottom surface of the bare cell in a simple and compact structure.

[0033] In one or more embodiments of the present disclosure, the light source is a pair of strip-shaped light sources arranged on both sides of the imaging element. Each strip-shaped light source is rotatably mounted on the detection device.

[0034] Thus, the strip-shaped light source with a wider light range and adjustable light intensity allows taking a complete and high-quality image of the bottom surface of the bare cell.

[0035] In one or more embodiments of the present disclosure, the detection device comprises an adjustable mounting portion. The adjustable mounting portion has vertically arranged apertures, so that the detection device is adjustably mounted on the mounting member in height.

[0036] Thus, the adjustable mounting portion facilitates adjusting the mounting height of the detection device to adapt to the height of the bare cell.

[0037] In one or more embodiments of the present disclosure, the clamping device is the clamping device according to the present disclosure.

[0038] Thus, the clamping device can firmly hold the bare cell during the movement of the device in the horizontal and vertical directions.

[0039] In one or more embodiments of the present disclosure, the detection device comprises a cover for encapsulation from above and / or a reinforcing rib for enhancing the connection stability of the detection device.

[0040] Thus, the detection device has a safe and stable structure.

[0041] In one or more embodiments of the present disclosure, the device further comprises a rack to support at least one set of the device operating in parallel.

[0042] Thus, the arrangement of at least one set of the device facilitates the improvement of production capacity.

[0043] In a second aspect of the present disclosure, a method for bottom surface defect detection and clamping of a bare cell is provided. The method comprises: transporting a bare cell to a picking point so that it is in a bottom surface upward state; moving a clamping device and a detection device together in a horizontal direction from the picking point to a movement turning point; after the clamping device reaches the movement turning point, moving the clamping device and the detection device together in a vertical direction from the movement turning point to the picking point; after the clamping device reaches a clamping position near the picking point, clamping the bare cell by the clamping device; moving the clamping device and the detection device together in a vertical direction from the clamping position to the movement turning point; after the clamping device reaches the movement turning point, moving the clamping device and the detection device together in a horizontal direction from the movement turning point to the picking point; after the clamping device reaches the picking point, releasing the bare cell by the clamping device for subsequent processes. During the movement of the clamping device from the picking point to the movement turning point, the detection device detects the bottom surface defect of the bare cell.

[0044] Thus, by using the method of the present disclosure, the detection of the bottom surface of the bare cell can be completed by the detection device before the picking operation of the clamping device without interrupting the picking and placing process of the clamping device, without consuming additional detection time.

[0045] In one or more embodiments of the present disclosure, the detection step of the detection device comprises: starting detection when the center of the detection device reaches a detection starting point, which is aligned with the first end of the bottom surface of the bare cell in the picking point.

[0046] Thus, the device according to the present disclosure can achieve the start of the bottom surface defect detection of the bare cell when the detection device reaches the detection starting point.

[0047] In one or more embodiments of the present disclosure, the detection step of the detection device further comprises: ending detection and sending the detected information to a processor for processing when the clamping device reaches the movement turning point.

[0048] Thus, the method according to the present disclosure completes the bottom surface defect detection of the bare cell before the picking operation without interrupting the picking and placing process of the clamping device, without consuming additional detection time.

[0049] In one or more embodiments of the present disclosure, the method is performed by the apparatus described in the present disclosure.

[0050] Thus, performing the method described in the present disclosure by the apparatus described in the present disclosure can perform the bare cell bottom surface defect detection before the bare cell picking operation without interrupting the operation process, and does not consume additional detection time.

[0051] In one or more embodiments of the present disclosure, the method includes, in a subsequent process, performing a desired operation on the bare cell by using the processing result obtained from the processor.

[0052] Thus, the method according to the present disclosure obtains the quality information of the bottom surface of the bare cell required in the subsequent process without affecting the picking and placing process of the picking device. BRIEF DESCRIPTION OF DRAWINGS

[0053] These and various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments with reference to the drawings. The drawings are for purposes of illustration only and are not intended to be limiting in accordance with the present disclosure. Like reference numerals designate corresponding parts throughout the several views of the drawings and are intended to represent like or identical elements throughout the several views of the drawings.

[0054] FIG. 1A and FIG. 1B schematically illustrates a perspective view and a side view of a picking device according to one or more embodiments, respectively.

[0055] FIGS. 2A-2C schematically illustrates a perspective view, a front view, and a side view of an apparatus for bottom surface defect detection and picking of a bare cell according to one or more embodiments, respectively.

[0056] FIG. 3A and FIG. 3B schematically illustrates an enlarged perspective view and a front view of a portion of an apparatus for bottom surface defect detection and picking of a bare cell according to one or more embodiments, respectively, to better show a detection device and a picking device.

[0057] FIGS. 4A-4D schematically illustrates a perspective view, a front view, a side view, and another perspective view of a detection device of an apparatus for bottom surface defect detection and picking of a bare cell according to one or more embodiments, respectively, in which a cover is removed to show the internal structure.

[0058] FIG. 5 schematically illustrates a perspective view of a detection device of an apparatus for bottom surface defect detection and picking of a bare cell according to one or more embodiments.

[0059] FIG. 6A flowchart of a method of bottom side defect detection and pinching of a bare cell is shown in accordance with one or more embodiments.

[0060] Legend: Pinching device 100, clamping jaw 110, body 112, holding portion 114, clamping block 116, mounting hole 118, driving component 120, limiting component 130, anti-collision alarm device 140, first anti-collision component 144, first arm portion 1441, second arm portion 1442, second anti-collision component 142, engaging portion 1421, upper plate 150, connecting plate 160, linear bearing 170, advancing direction H1, retreating direction H2, descending direction V1, ascending direction V2, detection device 200, imaging unit 210, light source 220, mounting portion 230, aperture 232, housing 240, reinforcing rib 250, equipment 1000, horizontal driving device 300, vertical driving device 400, mounting 500, rack 800. DETAILED DESCRIPTION

[0061] The embodiments of the technical solutions of the present disclosure will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present disclosure, and therefore only serve as examples, and cannot limit the protection scope of the present disclosure.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the description and the claims of this disclosure and the above description of drawings, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion.

[0063] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0064] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0065] In the description of the embodiments of the present disclosure, the term "and / or" is merely an association relationship of the associated objects, and indicates that there can be three relationships, for example, A and / or B, which can represent the three cases of A existing alone, A and B existing simultaneously, and B existing alone.

[0066] In the description of the embodiments of the present disclosure, the technical terms based on the orientation or positional relationship indicated by the figures are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present disclosure.

[0067] In the description of the embodiments of the present disclosure, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integrated; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0068] The bare cell described herein refers to a single electrochemical cell that has been provided with a positive electrode and a negative electrode on the top surface. The bare cell has not yet included a protection circuit board and a shell, and cannot be used directly. The surface opposite to the top surface of the bare cell is referred to as the bottom surface, and the pair of sides with larger cross sections are referred to as large sides, while the pair of sides with smaller cross sections are referred to as small sides.

[0069] The prior art bare cell detection machine needs a turnover device to turn over the bare cell for detection, and thus repeated conveying and turning over of the bare cell will increase the probability of damage to the bare cell. Moreover, such detection machine cannot be compatible with clamping and bottom surface defect detection of upright bare cells which require upright assembly. The prior art also does not disclose a clamping device that can be used to clamp the bare cell in a bottom surface upward state.

[0070] In order to solve the above problems, for the bare cell in a bottom surface upward state, the present disclosure provides a clamping device for clamping such bare cell, and provides a device and a method for bottom surface defect detection and clamping of the bare cell, so as to complete the detection operation of the bottom surface defect of the bare cell without interrupting the feeding and discharging process of the clamping device, without consuming additional detection time.

[0071] FIG. 1A and FIG. 1B respectively schematically show a perspective view and a side view of the clamping device according to one or more embodiments.

[0072] According to one or more embodiments, with reference to FIG. 1A and FIG. 1B, a gripping device 100 for gripping a bare cell in a bottom surface upward state is provided. The gripping device 100 includes a pair of gripping jaws 110 arranged opposite to each other. The pair of gripping jaws is configured to move toward each other under the drive of a drive member 120 to a clamping position to clamp the bare cell and to move away from each other to a releasing position to release the bare cell. Each of the gripping jaws 110 includes a body 112, a holding portion 114 provided inside a lower end portion of the body for holding a top surface of the bare cell from below, and a clamping block 116 provided inside the body for clamping a large side surface of the bare cell.

[0073] Referring to FIG. 1A and FIG. 1B , herein, the term "bare cell in a bottom surface upward state" refers to a bare cell 10 standing in the holding device 20 with the top surface provided with positive and negative electrodes facing downward and the opposite bottom surface facing upward. As shown in FIG. 1B , the pair of gripping jaws 110 can be downwardly overhung from the connecting plate 160 and arranged opposite to each other. As shown in FIG. 1A , the drive member 120 is connected to the side wall of the gripping jaws. The drive member 120 is a pneumatic drive member. Alternatively, the drive member 120 can also be a hydraulic drive member, a mechanical drive member, etc. In operation, the pair of gripping jaws 110 can be moved toward each other under the drive of the drive member 120 to the clamping position to clamp the bare cell and can be moved away from each other to the releasing position to release the bare cell. Each of the gripping jaws 110 can include a planar body 112, a holding portion 114 and a clamping block 116. The holding portion 114 can have a holding surface for holding the top surface of the bare cell from below. The holding surface can be a horizontal plane. The holding surface can also be tapered toward the free end of the holding portion 114. FIG. 1B It is also shown that the holding portion 114 has a mounting surface extending vertically upward with respect to the holding surface, which is detachably mounted inside the lower end portion of the body by a screw. The shown clamping block 116 can be a block in the form of a cuboid, which can also have other desired shapes. The clamping block 116 can be detachably mounted inside the body by screwing a screw from the outside of the gripping jaw 110. The clamping block 116 is at least partially made of a flexible material, such as rubber, etc. For example, at least the abutting surface of the clamping block 116 for abutting the bare cell is made of a flexible material, so as to firmly clamp the large side surface of the bare cell without causing damage.

[0074] For the large size of the bare cell in the height direction, the gripping device according to one or more embodiments of the present disclosure can at least achieve firm holding of the bare cell from the top surface and the two large side surfaces of the bare cell.

[0075] According to one or more embodiments, referring to FIG. 1A andFIG. 1B The clamping device further comprises a limiting component 130 for abutting against the bottom surface of the bare battery cell from above when the clamping device 100 clamps the bare battery cell, so as to prevent the bare battery cell from tilting over.

[0076] With reference to FIG. 1A and FIG. 1B The limiting component 130 is arranged on both sides of the pair of clamping jaws 110, so as to be capable of abutting against the bottom surface of the bare battery cell from above after the clamping jaws 100 have clamped the bare battery cell from the top surface and the two large side surfaces. In this way, the bare battery cell is clamped from both the bottom surface and the top surface, effectively preventing the bare battery cell from tilting over. In particular, in the case where the clamped bare battery cell moves horizontally or vertically at a high speed, the limiting component 130 can provide good clamping. In addition, the height of the limiting component 130 can be configured to be adjustable so as to adapt to bare battery cells of different heights.

[0077] Thus, the arrangement of the limiting component is advantageous for preventing the bare battery cell from tilting over.

[0078] According to one or more embodiments, with reference to FIG. 1A The body 112 has vertically arranged mounting holes 118, and the clamping blocks 116 are selectively mounted in the corresponding mounting holes.

[0079] With reference to FIG. 1A The plurality of mounting holes 118 are arranged in a vertical arrangement on the body 112, so as to provide adjustable mounting positions of the clamping blocks 116 in the height direction. FIG. 1A Two rows of mounting holes 118 are shown in the figure. Alternatively, the mounting holes 118 can be more than two rows, so as to also adjust the lateral position of the clamping blocks 116 relative to the body 112. According to the height of the bare battery cell, the clamping blocks 116 are selectively mounted in two mounting holes at the same height, so as to firmly clamp the bare battery cell from the two large side surfaces at the appropriate position.

[0080] Thus, the mounting positions of the clamping blocks are adjustable so as to adapt to clamping at the desired position for bare battery cells of different heights.

[0081] According to one or more embodiments, with reference to FIG. 1B The clamping device 100 further comprises a resilient member arranged between the clamping blocks 116 and the body 112.

[0082] With reference to FIG. 1B A resilient member (not shown in the figure) can be arranged between the clamping blocks 116 and the body 112, so as to provide adjustable pressing force to the clamping blocks 116 without excessively pressing the bare battery cell.

[0083] Thus, the resilient member can enable the clamping blocks to provide appropriate clamping force for firmly clamping the bare battery cell.

[0084] According to one or more embodiments, referring to FIG. 1A and FIG. 1B , the gripping device further comprises an anti-collision alarm device 140 for providing a response to a contact between the pair of jaws 110 and another object.

[0085] In operation, the jaws 110 of the gripping device 100 can contact or collide with another object at the lower portion, and the resulting reaction force causes the jaws 110 to move upward. In this context, the other object can be the holding device 20 for holding the bare cell or a component near the bare cell that can collide with the jaws. The gripping device 100 of the present disclosure is provided with the anti-collision alarm device 140 to provide a response to the contact or collision. For example, the contact or collision between the jaws and the other object can be cushioned, and / or a warning can be provided to prevent more severe collisions.

[0086] Thus, the anti-collision alarm device can provide a response to the contact or collision between the jaws and the other object.

[0087] According to one or more embodiments, referring to FIG. 1A and FIG. 1B , the anti-collision alarm device 140 comprises a light sensing device, a second anti-collision component 142, and a first anti-collision component 144 fixed relative to the pair of jaws 110. The first anti-collision component 144 is movable relative to the second anti-collision component 142. The light sensing device emits an alarm in response to an amount of relative displacement between the first anti-collision component 144 and the second anti-collision component 142 exceeding a predetermined value.

[0088] Referring to FIG. 1B , the anti-collision alarm device 140 comprises a first anti-collision component 144 and a second anti-collision component 142. The pair of jaws 110 and the first anti-collision component 144 are both fixed to the connecting plate 160, and thus are fixed relative to each other. The first anti-collision component 144 and the second anti-collision component 142 are movable relative to each other by a limited amount. The anti-collision alarm device further comprises a light sensing device (not shown) for sensing an amount of relative displacement between the first anti-collision component 144 and the second anti-collision component 142. The light sensing device comprises a patch and a light sensing element. The patch can be provided on one of the first anti-collision component 144 and the second anti-collision component 142, and the light sensing element can be provided on the other of the first anti-collision component 144 and the second anti-collision component 142. When the light sensing device senses that the amount of relative displacement between the first anti-collision component 144 and the second anti-collision component 142 exceeds a predetermined value, a light sensing signal generated by the light sensing element changes from True to False, and the anti-collision alarm device 140 emits an alarm after receiving the False light sensing signal to prevent more severe collisions.

[0089] Thus, the anti-collision alarm device can provide a warning to prevent more severe collisions.

[0090] According to one or more embodiments, with reference to FIG. 1A the pair of clamping jaws 110 and the first anti-collision component 144 are fixed to the connecting plate 160, and the second anti-collision component 142 is fixed to the upper plate 150 which is flexibly connected with the connecting plate 160 by the linear bearing 170.

[0091] According to one or more embodiments, with reference to FIG. 1A the pair of clamping jaws 110 and the first anti-collision component 144 are fixed to the connecting plate 160, and the second anti-collision component 142 is fixed to the connecting plate 160. The upper plate 150 and the connecting plate 160 are flexibly connected together by the linear bearing 170, so that the anti-collision alarm device can buffer the contact or impact of the clamping jaws and other objects by means of the flexible connection. In addition, alternatively, the patch can be provided on one of the upper plate 150 and the connecting plate 160, and the light sensing element can be provided on the other one of the upper plate 150 and the connecting plate 160.

[0092] Thus, the anti-collision alarm device is also conducive to buffering the contact or impact of the clamping jaws and other objects.

[0093] According to one or more embodiments, with reference to FIGS. 2A-2C the first anti-collision component 144 is in a U-shaped structure including a first arm portion 1441 and a second arm portion 1442, the first arm portion and the second arm portion are capable of abutting to the joint portion 1421 extending from the second anti-collision component 142, and the distance between the first arm portion and the second arm portion defines the limit movement range of the first anti-collision component 144.

[0094] According to one or more embodiments, with reference to FIG. 3AThe first anti-collision member 144 has a U-shaped structure including a first arm portion 1441 and a second arm portion 1442. Both the first arm portion 1441 and the second arm portion 1442 extend from the side toward the joint portion 1421 protruding from the second anti-collision member 142 so as to selectively abut on the joint portion 1421. Specifically, in the normal state, the first arm portion 1441 abuts on the joint portion 1421 from above. After the jaw 110 collides, the jaw 110 moves upward under the reaction force generated, and the first anti-collision member 144 fixedly connected with respect to the jaw 110 also shifts upward. At this time, the linear bearing 170 provided with a flexible connection provides a cushioning effect against the impact force. The anti-collision warning device 140 issues a warning once the amount of relative displacement between the first anti-collision member 144 and the second anti-collision member 142 exceeds a predetermined value before the second arm portion 1442 contacts the joint portion 1421. When the second arm portion 1442 abuts on the joint portion 1421 from below, the first anti-collision member 144 reaches the limit of the movement position and stops shifting upward. In other words, the joint portion 1421 blocks further movement of the first anti-collision member 144, thereby preventing more severe collision. Thus, the distance between the first arm portion 1441 and the second arm portion 1442 defines the limit range of the upward and downward movement of the first anti-collision member 144.

[0095] Thus, the first anti-collision member provides the limit movement range of the first anti-collision member of the anti-collision warning device with a simple structure.

[0096] FIG. 3B A perspective view, an elevation view, and a side view of an apparatus for bottom surface defect detection and gripping of bare cells according to one or more embodiments are schematically illustrated, respectively. FIGS. 4A-4D and FIG. 5 An enlarged perspective view and an elevation view of a portion of an apparatus for bottom surface defect detection and gripping of bare cells according to one or more embodiments are schematically illustrated, respectively, to better show the detection device and the gripping device. FIGS. 2A-2C A perspective view, an elevation view, a side view, and another perspective view of a detection device of an apparatus for bottom surface defect detection and gripping of bare cells according to one or more embodiments are schematically illustrated, respectively, with a cover removed to show the internal structure. FIGS. 2A-2C A perspective view of a detection device of an apparatus for bottom surface defect detection and gripping of bare cells according to one or more embodiments is schematically illustrated.

[0097] According to one or more embodiments, reference is made to FIG. 2AThe device 1000 comprises a detection device 200 configured to detect the bottom surface defect of the bare cell 10 in the bottom surface upward state at the taking point, and a clamping device 100 for clamping the bare cell 10. The detection device 200 and the clamping device 100 are installed on the same mounting member 500 of the device, so that the detection device 200 and the clamping device 100 can move together in the horizontal direction and the vertical direction, and the clamping device 100 clamps and removes the bare cell 10 after the detection device 200 detects the bottom surface defect of the bare cell.

[0098] Referring to FIG. 2A , the bare cell 10 is in the bottom surface upward upright state in the holding device 20. The device 1000 comprises the detection device 200 and the clamping device 100 installed on the same mounting member 500. The detection device 200 is configured to detect the bottom surface defect of the bare cell 10. The clamping device 100 is configured to clamp the bare cell 10. In operation, the detection device 200 and the clamping device 100 of the device 1000 can drive the driving device of the mounting member 500 to move together in the horizontal direction and the vertical direction. Moreover, during the movement, the detection device 200 first detects the bottom surface defect of the bare cell, and then the clamping device 100 clamps and removes the bare cell 10. In other words, the device 1000 is configured to complete the detection operation of the bottom surface defect of the bare cell by the detection device 200 before the clamping and removal operation of the bare cell by the clamping device 100.

[0099] Therefore, the device completes the detection operation of the bottom surface defect of the bare cell during the clamping and taking process of the clamping device, without consuming additional detection time.

[0100] According to one or more embodiments, referring to FIG. 2A and 2B , the detection device 200 and the clamping device 100 can reciprocate in the horizontal direction between the taking point, at which the clamping device 100 releases the clamped bare cell for subsequent processes, and the movement turning point, which is the position where the clamping device 100 changes the movement direction and is aligned with the center of the bottom surface of the bare cell in the taking point, by means of the horizontal driving device 300, and the clamping device 100 is located directly above the center of the bottom surface of the bare cell at the movement turning point. The detection device 200 and the clamping device 100 can reciprocate in the vertical direction between the movement turning point and the clamping position, at which the clamping device 100 clamps the bare cell 10 in the taking point, by means of the vertical driving device 400.

[0101] Referring to FIG. 2A and2B The dotted line A indicates the position of the dispensing point in the horizontal direction. The dotted line B indicates the position of the detection start point in the horizontal direction. The dotted line C indicates the position of the motion turning point in the horizontal direction, and the dotted line D indicates the position of the motion turning point in the vertical direction. The dotted line E indicates the position of the gripping position in the vertical direction. The positions of the dispensing point, the detection start point and the motion turning point in the horizontal direction are determined or controlled by the horizontal drive device 300, and the positions of the motion turning point and the gripping position in the vertical direction are determined or controlled by the vertical drive device 400. H1 indicates the advancing direction H1 of the detection device 200 and the gripping device 100 of the apparatus 1000 in the horizontal direction from the dispensing point to the motion turning point, H2 indicates the retreating direction H2 of the detection device 200 and the gripping device 100 of the apparatus 1000 in the horizontal direction from the motion turning point to the dispensing point, the retreating direction being opposite to the advancing direction. V1 indicates the descending direction V1 of the detection device 200 and the gripping device 100 of the apparatus 1000 in the vertical direction from the motion turning point to the gripping position, and V2 indicates the ascending direction V2 of the detection device 200 and the gripping device 100 of the apparatus 1000 in the vertical direction from the gripping position to the motion turning point, the ascending direction being opposite to the descending direction. The horizontal drive device 300 is mounted on the frame 800 of the apparatus 1000 to drive the detection device 200 and the gripping device 100 to reciprocate together in the horizontal direction between the dispensing point and the motion turning point. The vertical drive device 400 is mounted on the top of the mounting member 500 to drive the detection device 200 and the gripping device 100 to reciprocate together in the vertical direction between the motion turning point and the gripping position.

[0102] In the dispensing and taking process of the gripping device 100, the gripping device 100 first moves from the dispensing point identified by the dotted line A to the motion turning point identified by the dotted line C and the dotted line D in the advancing direction H1. Then, the gripping device 100 moves from the motion turning point to the gripping position identified by the dotted line E in the descending direction V1. The gripping device 100 grips the bare cell 10 at the gripping position. Then, the gripping device 100 moves from the gripping position to the motion turning point in the ascending direction V2. After that, the gripping device 100 moves from the motion turning point to the dispensing point in the retreating direction H2. At the dispensing point, the gripping device 100 releases the bare cell it grips for subsequent processes. In other words, the detection device 200 and the gripping device 100 can reciprocate together in the horizontal direction between the dispensing point and the motion turning point by means of the horizontal drive device 300. The detection device 200 and the gripping device 100 can reciprocate together in the vertical direction between the motion turning point and the gripping position by means of the vertical drive device 400. The apparatus can complete the detection operation of the bottom surface of the bare cell by the detection device 200 in the dispensing and taking process of the gripping device 100 for one or more subsequent processes.

[0103] Thus, the device according to the present disclosure can achieve the detection of the bottom surface defects of the bare battery cell without interrupting the pick-and-place operation of the gripping device and without consuming extra detection time.

[0104] According to one or more embodiments, referring to FIG. 2B and 2B , the detection device 200 is arranged in front of the gripping device 100 in the direction from the pick-up point towards the motion turning point.

[0105] Referring to FIG. 2A and 2B , the detection device 200 is arranged in front of the gripping device 100 in the advancing direction H1 from the pick-up point towards the motion turning point (see FIG. 2A and 3B ). In this way, the detection device 200 can complete the detection operation in the continuous motion of the gripping device 100 in the horizontal direction from the pick-up point to the motion turning point.

[0106] Thus, the device according to the present disclosure can achieve the detection of the bottom surface defects of the bare battery cell during the horizontal motion of the gripping device.

[0107] According to one or more embodiments, referring to FIG. 2A and 2B , the device 1000 further comprises a detection starting point aligned with the first end of the bottom surface of the bare battery cell 10 in the pick-up point, and the detection device 200 starts detection when the center of the detection device 200 reaches the detection starting point during the motion of the detection device 200 from the pick-up point towards the motion turning point.

[0108] Referring to FIG. 2A and 2B , the detection starting point is arranged directly above the first end of the bottom surface of the bare battery cell 10 in the pick-up point. The position of the detection starting point in the horizontal direction is identified by the dash-dot line B. During the motion of the detection device 200 and the gripping device 100 from the pick-up point towards the motion turning point, when the center of the detection device 200 reaches the detection starting point, a trigger signal is sent, and the detection device 200 turns on the light source and starts detection. For example, the detection device 200 starts to take images of the bottom surface of the bare battery cell.

[0109] Thus, the device according to the present disclosure can achieve the detection of the bottom surface defects of the bare battery cell when the detection device reaches the detection starting point.

[0110] According to one or more embodiments, referring to FIG. 4D and 2B , when the gripping device 100 reaches the motion turning point, the detection device 200 ends detection and sends the detected information to the processor for processing.

[0111] Referring to FIG. 5 and 2B , the detection device 200 starts detection when the detection device 200 reaches the detection starting point, and ends detection when the clamping device 100 reaches the motion turning point. During the detection of the detection device 200, the detection device 200 and the clamping device 100 continue to move towards the motion turning point. During the detection, the detection device 200 detects the bottom surface of the bare battery cell at least once, and sends the detected information to the processor for processing for subsequent processes. When the clamping device 100 reaches the motion turning point, the detection device 200 and the clamping device 100 start the motion in the vertical direction.

[0112] Thus, the detection device 200 completes the detection of the bottom surface of the bare battery cell before the picking operation without interrupting the picking and placing process of the clamping device 100, without consuming additional detection time.

[0113] According to one or more embodiments, referring to FIG. 4D and FIG. 5 , the detection device 200 includes a downward-facing imaging element 210 located at the center of the bottom plate of the detection device and a light source 220 arranged near the imaging element.

[0114] Referring to FIG. 4D and FIG. 5 , the detection device 200 is integrated into a whole module with a size of 137*100*133mm, including the imaging element 210 and the light source 220. For example, the imaging element 210 can be a CCD camera. The imaging element 210, such as a CCD camera, is installed at the center of the bottom plate, and after installation, its shooting lens faces downward to shoot the image of the bottom surface of the bare battery cell in the bottom-up state, to detect whether the bottom surface of the bare battery cell has defects. The light source 220 is arranged near the imaging element 210 to provide sufficient light compensation, thereby improving the image shooting quality. The imaging range of the detection device 200 is schematically represented by the four pyramids shown.

[0115] Thus, the detection device 200 provides high-quality detection of the bottom surface of the bare battery cell with a simple and compact structure.

[0116] According to one or more embodiments, referring to FIG. 4D and FIG. 5 , the light source is a pair of strip-shaped light sources arranged on both sides of the imaging element 210. Each strip-shaped light source is rotatably mounted on the detection device 200.

[0117] Referring to FIG. 4C and FIG. 5The light source 220 is a pair of strip-shaped light sources symmetrically arranged on both sides of the imaging element 210 (e.g., a CCD camera). Each strip-shaped light source is rotatably mounted on the detection device to provide sufficient supplementary light to improve the image shooting quality. The strip-shaped light source can provide a wider light range. According to actual needs, the strip-shaped light source can be rotated so that its light beam is adjusted to converge toward the shooting field of view of the imaging element 210 to provide more fully convergent supplementary light.

[0118] Thus, the strip-shaped light source with a wider light range and adjustable light convergence degree makes it possible to shoot a complete and high-quality image of the bottom surface of the bare battery cell.

[0119] According to one or more embodiments, with reference to FIG. 4C and FIG. 5 , the detection device 200 comprises an adjustable mounting portion 230 having vertically arranged apertures 232 so that the detection device 200 is adjustably mounted to the mounting member 500 in height.

[0120] FIG. 3A and FIG. 3B It is shown that the adjustable mounting portion 230 comprises two rows of vertically arranged apertures 232. The detection device 200 can be mounted to the mounting member of the device 1000 by screwing through a pair of apertures of a selected height. More rows of apertures 232 are also possible to provide selectable or more stable mounting.

[0121] Thus, the adjustable mounting portion 230 facilitates adjusting the mounting height of the detection device 200 to adapt to the height of the bare battery cell.

[0122] According to one or more embodiments, with reference to FIG. 1A and FIG. 1B , the clamping device is the clamping device 100 according to the present disclosure.

[0123] With reference to FIG. 3A , FIG. 3B , FIG. 4A , FIG. 4B , the clamping device 100 comprises a structure adapted to clamp the bare battery cell with the top surface upward to firmly hold the bare battery cell during the movement of the device in the horizontal and vertical directions.

[0124] Thus, the clamping device can firmly hold the bare battery cell during the movement of the device in the horizontal and vertical directions.

[0125] According to one or more embodiments, with reference to FIG. 4D , FIG. 5 , FIG. 5 and FIGS. 2A-2CThe detection device 200 includes a cover 240 for encapsulating from above and / or a reinforcing rib 250 for enhancing the connection stability of the detection device 200.

[0126] Referring to FIGS. 2A-2C The cover 240 encapsulates the internal components of the detection device 200 from above to protect the internal components from damage. Since the detection device 200 is cantileveredly mounted to the mount 500 of the apparatus 1000. To enhance the connection stability of the detection device 200, the reinforcing rib 250 is provided between the bottom plate and the vertical connecting plate attached to the adjustable mounting portion 230.

[0127] Thus, the detection device 200 has a safe and stable structure.

[0128] According to one or more embodiments, referring to FIG. 6 The apparatus further includes a rack 800 to support at least one set of the apparatus to operate in parallel.

[0129] FIG. 2B It is shown that the apparatus includes the rack 800 which supports two sets of the apparatus to operate in parallel, thereby improving the productivity. Alternatively, more sets of the apparatus can be provided to operate in parallel.

[0130] Thus, the provision of at least one set of the apparatus facilitates the improvement of the productivity.

[0131] According to one or more embodiments, referring to FIG. 2B A method for detecting a bottom surface defect of a bare cell 10 and clamping the bare cell 10 is provided. The method includes the steps of: transporting the bare cell to a take-out point in a bottom surface-up state; moving a clamping device and a detection device together in a horizontal direction from the take-out point to a movement turning point; moving the clamping device and the detection device together in a vertical direction from the movement turning point to the take-out point after the clamping device reaches the movement turning point; clamping the bare cell by the clamping device after the clamping device reaches a clamping position near the take-out point; moving the clamping device and the detection device together in a vertical direction from the clamping position to the movement turning point; moving the clamping device and the detection device together in a horizontal direction from the movement turning point to the take-out point after the clamping device reaches the movement turning point; releasing the bare cell by the clamping device for a subsequent process after the clamping device reaches the take-out point; and detecting a bottom surface defect of the bare cell by the detection device during movement of the clamping device from the take-out point to the movement turning point.

[0132] As previously described, referring to FIG. 6The dot-dashed line A indicates the position of the unloading point in the horizontal direction. The dot-dashed line B indicates the position of the detection starting point in the horizontal direction. The dot-dashed line C indicates the position of the motion turning point in the horizontal direction, and the dot-dashed line D indicates the position of the motion turning point in the vertical direction. The dot-dashed line E indicates the position of the clamping position in the vertical direction. FIG. 2B It is shown that the detection device and the clamping device can reciprocate together in the horizontal direction and the vertical direction. The advancing direction H1, the retreating direction H2, the descending direction V1 and the ascending direction V2 as previously described exemplarily indicate the direction of the reciprocation of the detection device and the clamping device. The setting of the direction can be changed according to the actual station position.

[0133] FIG. 6 A flow chart of the method according to the present disclosure is shown, which comprises a plurality of steps. Step S1: a bare cell is transported to the unloading point, with the bottom surface facing upwards. Step S2: the clamping device and the detection device are moved together in the horizontal direction from the unloading point towards the motion turning point. The horizontal movement in the advancing direction H1 is uninterrupted continuous movement. Step S3: during the movement of the clamping device from the unloading point towards the motion turning point, the detection device detects the bottom surface defects of the bare cell. That is, the detection operation is completed during the movement in the advancing direction H1. Step S4: after the clamping device reaches the motion turning point, the clamping device and the detection device are moved together in the vertical direction from the motion turning point towards the unloading point. The motion turning point is the switching point of the horizontal movement and the vertical movement. The vertical movement in the descending direction V1 is uninterrupted continuous movement. Step S5: after the clamping device reaches the clamping position near the unloading point, the clamping device clamps the bare cell. Step S6: the clamping device and the detection device are moved together in the vertical direction from the clamping position towards the motion turning point. The vertical movement in the ascending direction V2 is uninterrupted continuous movement. Step S7: after the clamping device reaches the motion turning point, the clamping device and the detection device are moved together in the horizontal direction from the motion turning point towards the unloading point. The horizontal movement in the retreating direction H2 is uninterrupted continuous movement. Step S8: after the clamping device reaches the unloading point, the clamping device releases the bare cell for subsequent processes.

[0134] Thus, by using the method of the present disclosure, the detection of the bottom surface of the bare cell by the detection device can be completed before the clamping device performs the unloading operation without interrupting the unloading and loading process of the clamping device, without consuming additional detection time.

[0135] According to one or more embodiments, the detection step S3 of the detection device comprises a step S31: the detection starts when the center of the detection device 200 reaches the detection starting point, which is aligned with the first end of the bottom surface of the bare cell 10 in the unloading point.

[0136] The first end of the bottom surface of the bare cell 10 in the taking point refers to the end of the bottom surface of the bare cell 10 closer to the putting point. The position of the detection start point corresponds to the first end. The position of the detection start point in the horizontal direction is marked by the dash-dot line B. During the movement of the detection device 200 and the clamping device 100 from the putting point to the movement turning point, when the center of the detection device 200 reaches the detection start point, a trigger signal is sent, the detection device 200 turns on the light source and starts detection, which refers to that the imaging unit 210 of the detection device 200 takes an image of the bottom surface of the bare cell.

[0137] Therefore, according to the method of the present disclosure, the detection of defects on the bottom surface of the bare cell can be started when the detection device reaches the detection start point before the taking operation.

[0138] According to one or more embodiments, the detection step S3 of the detection device includes a step S32: when the clamping device 100 reaches the movement turning point, the detection device 200 ends the detection and sends the detected information to the processor for processing.

[0139] During the detection of the detection device 200, the detection device 200 and the clamping device 100 continue to move towards the movement turning point. The detection device 200 detects the bottom surface of the bare cell at least once (i.e., takes at least one image) during the detection, and sends the detected information to the processor for processing for subsequent processes.

[0140] Therefore, according to the method of the present disclosure, the detection of the bottom surface of the bare cell by the detection device is completed before the taking operation without interrupting the taking and putting process of the clamping device, and no additional detection time is consumed.

[0141] According to one or more embodiments, the method is operated by the device according to the present disclosure.

[0142] Reference FIG. 6 and ​ The device according to the present disclosure is suitable for performing the method according to the present disclosure correspondingly. For example, the detection device 200 and the clamping device 100 are installed on the same mounting member 500. The movement of the detection device 200 and the clamping device 100 in the horizontal direction is implemented by the horizontal driving device 300 driving the mounting member 500. The movement of the detection device 200 and the clamping device 100 in the vertical direction is implemented by the vertical driving device 300 driving the mounting member 500.

[0143] Therefore, by using the device according to the present disclosure to perform the method according to the present disclosure, the detection of defects on the bottom surface of the bare cell can be performed before the clamping operation of the bare cell without interrupting the operation process, and no additional detection time is consumed.

[0144] According to one or more embodiments, referring to ​ the method comprises a step S9 of performing a desired operation on the bare cell using the image processing result obtained from the image processor in a subsequent process.

[0145] The image processing result obtained from the image processor can be used in one or more subsequent operation processes.

[0146] Thus, the method of the present disclosure obtains the quality information of the bottom surface of the bare cell required in the subsequent process without affecting the picking and placing process of the clamping device.

[0147] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure, and they should be covered in the scope of the claims and the specification of the present disclosure. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An apparatus for detecting and picking a bare cell bottom surface defect, the apparatus comprising: a detection device configured to detect a bottom surface defect of a bare cell in a bottom surface up state at a pick point; and a picking device for picking the bare cell; characterized in that the detection device and the picking device are mounted on the same mounting member of the apparatus, such that the detection device and the picking device can move together in a horizontal direction and a vertical direction, and the picking device picks and removes the bare cell after the detection device detects the bottom surface defect of the bare cell; wherein the detection device is arranged in front of the picking device in a direction from the pick point towards a movement turning point; wherein the apparatus further comprises a detection start point aligned with a first end of the bottom surface of the bare cell in the pick point, the detection device starts detecting when the center of the detection device reaches the detection start point during movement of the detection device from the pick point towards the movement turning point. The detection device and the picking device can reciprocate in the horizontal direction between a pick point, where the picking device releases the picked bare cell for subsequent processes, and a movement turning point, which is a position where the picking device changes the direction of movement and is aligned with the center of the bottom surface of the bare cell in the pick point, by means of a horizontal drive device, the picking device is located directly above the center of the bottom surface of the bare cell at the movement turning point, the detection device and the picking device can reciprocate in the vertical direction between the movement turning point and a picking position, where the picking device picks the bare cell in the pick point, by means of a vertical drive device.

2. The apparatus of claim 1, wherein, When the picking device reaches the movement turning point, the detection device ends detection and sends the detected information to a processor for processing.

3. The apparatus of claim 1, wherein, The detection device comprises a downward-facing imaging element at the center of the bottom plate of the detection device and a light source arranged near the imaging element.

4. The apparatus according to any one of claims 1-3, characterized in that, The light source is a pair of strip-shaped light sources arranged on both sides of the imaging element, each of which is rotatably mounted on the detection device.

5. The apparatus of claim 4, wherein, The detection device comprises an adjustable mounting portion having vertically arranged apertures, such that the detection device is adjustably mounted to the mounting member in height.

6. The apparatus of any one of claims 1-3, wherein, The detection device comprises a cover for encapsulation from above and / or a reinforcing rib for enhancing the connection stability of the detection device.

7. The apparatus of any one of claims 1-3, wherein, The apparatus further comprises a rack to support at least one set of the apparatus operating in parallel.

8. The apparatus of any one of claims 1-3, wherein, The method comprises:

9. A method for detecting and handling bottom surface defects of a bare battery cell, characterized in that, transporting a bare cell to a pick point, such that it is in a bottom surface up state; moving the picking device and the detection device together in a horizontal direction from the pick point towards a movement turning point; after the picking device reaches the movement turning point, moving the picking device and the detection device together in a vertical direction from the movement turning point towards the pick point; after the picking device reaches a picking position located near the pick point, the picking device picks the bare cell; moving the picking device and the detection device together in a vertical direction from the picking position towards the movement turning point; ​ After the gripping device reaches the motion turning point, the gripping device and the detection device move together in the horizontal direction from the motion turning point towards the discharging point; After the gripping device reaches the discharging point, the gripping device releases the bare battery cell for subsequent processes; characterized in that, during the movement of the gripping device from the discharging point towards the motion turning point, the detection device detects the bottom surface defects of the bare battery cell.

10. The method of claim 9, wherein, The detection step of the detection device includes starting detection when the center of the detection device reaches the detection starting point, which is aligned with the first end of the bottom surface of the bare battery cell in the discharging point.

11. The method of claim 10, wherein, The detection step of the detection device also includes ending detection and sending the detected information to the processor for processing when the gripping device reaches the motion turning point.

12. The method according to any one of claims 9-11, characterized in that, The method includes using the processing results obtained from the processor to perform the desired operation on the bare battery cell in the subsequent processes.

13. The method according to any one of claims 9-11, characterized in that, The method is performed by the device according to any one of claims 1-8.

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