Welding detection system and welding detection method

Abstract

The present application discloses a welding detection system and a welding detection method. The welding detection system includes at least one detection mechanism, and the detection mechanism includes: a first motion mechanism, a second motion mechanism and a third motion mechanism. The first motion mechanism includes a first motion frame that can move along a first direction, the second motion mechanism includes a second motion frame that is arranged on the first motion frame and can move along a second direction, and the third motion mechanism includes a third motion frame that is arranged on the second motion frame and can be lifted and lowered along a third direction. The first direction, the second direction and the third direction are perpendicular to each other; a visual mechanism includes a first visual module and a second visual module that are arranged on the third motion frame, the second visual module can rotate around a rotation axis in the third direction, thereby changing the shooting angle of the second visual module, and the first visual module and the second visual module can follow the second motion frame to switch positions between a first image acquisition point and a second image acquisition point along the second direction.

Description

Technical Field

[0001] The present disclosure relates to, but is not limited to, the field of battery technology, and in particular to a welding seam detection system and a welding detection method. Background Art

[0002] New energy batteries are being used more and more widely in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are also being increasingly used in areas such as energy storage.

[0003] During the battery manufacturing process, multiple parts of the battery need to be welded. Welding quality inspection is a key link to ensure the stable connection of various components and guarantee battery performance and safety. Therefore, higher requirements are placed on the accuracy and efficiency of welding quality inspection. Summary of the invention

[0004] The embodiments of the present disclosure provide a welding detection system and a welding detection method that can efficiently and accurately detect welding seams.

[0005] The technical solution of the embodiment of the present disclosure is implemented as follows:

[0006] The embodiment of the present application provides a welding detection system, including at least one detection mechanism, wherein the detection mechanism includes: a first motion mechanism, a second motion mechanism and a third motion mechanism, wherein the first motion mechanism includes a first motion frame capable of moving in a first direction, the second motion mechanism includes a second motion frame arranged on the first motion frame and capable of moving in a second direction, and the third motion mechanism includes a third motion frame arranged on the second motion frame and capable of lifting and lowering along a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other; a visual mechanism includes a first visual module and a second visual module arranged on the third motion frame, wherein the second visual module can rotate around a rotation axis in the third direction, thereby changing a shooting angle of the second visual module. degrees; wherein, the first vision module and the second vision module can follow the second moving frame to switch positions along the second direction between a first image acquisition point corresponding to the first welding seam position and a second image acquisition point corresponding to the second welding seam position, and the first vision module and the second vision module can follow the third moving frame to rise and fall along the third direction, so as to respectively shoot the first welding seam and the second welding seam; when the vision mechanism is in a shooting state, the shooting angle of the first vision module located at the first image acquisition point is different from the shooting angle of the second vision module, and the shooting angle of the first vision module located at the second image acquisition point is different from the shooting angle of the second vision module.

[0007] The first moving frame moves along the first direction, the second moving frame moves along the second direction, and the third moving frame rises and falls along the third direction, so that the first vision module and the second vision module are driven to quickly reach the image acquisition position corresponding to the welding seam, and the second vision module rotates around the rotation axis of the third direction, so that the second vision module and the first vision module obtain images of the same welding seam at different shooting angles, thereby improving the detection accuracy, and achieving a better shooting angle for welding seams in different orientations, without waiting for the time required to disassemble the vision module to adjust the shooting angle, thereby improving the detection efficiency.

[0008] In some embodiments, when the visual mechanism is in a shooting state, the lens of the first visual module faces the first direction, and the lens of the second visual module faces a direction intersecting the first direction.

[0009] The second visual module has a different shooting angle from the first visual module, so that images of the welding seam at different shooting angles can be obtained, thereby improving the detection accuracy.

[0010] In some embodiments, the welding detection system further includes: a rotating mechanism, wherein the rotating mechanism includes a rotating driving member disposed on the third motion frame, and the rotating driving member is connected to the second visual module via the rotating shaft.

[0011] Automatically driving the second vision module to rotate by rotating the driving member helps to achieve the best shooting effect and also improves efficiency.

[0012] In some embodiments, the rotating mechanism further includes a rotating frame, the rotating frame includes a swing arm and a mounting plate mounted on the swing arm, the swing arm is connected to the rotating shaft, and the second visual module is mounted on the mounting plate.

[0013] The second vision module is connected to the rotating shaft via a mounting plate, a swing arm, and so on, so that the second vision module can be arranged more flexibly and a larger shooting angle can be obtained with a smaller driving angle.

[0014] In some embodiments, the swing arm is provided with a limit rod, and the limit rod can swing along with the swing arm; the third motion frame is provided with a position sensor, and the position sensor is located on the swing path of the limit rod, and is used to cooperate with the limit rod to determine the position of the second visual module.

[0015] By using the position sensor to determine whether the second vision module is in the desired position, abnormalities can be discovered in time, reducing the detection error caused by the deviation of the captured image caused by the deviation of the shooting angle of the second vision module.

[0016] In some embodiments, the visual mechanism further includes a fixed plate disposed on the third motion frame and a light source disposed on the fixed plate, and the first visual module is disposed on the fixed plate.

[0017] The light source can enhance the shooting effect of the first vision module, thereby obtaining a clearer image.

[0018] In some embodiments, the fixing plate is provided with a through hole, the first visual module is provided on one side of the fixing plate along the first direction and the lens of the first visual module is located in the through hole, and the light source is provided on the other side of the fixing plate along the first direction.

[0019] The light source and the first visual module are respectively located on both sides of the fixed plate along the first direction, which reduces the risk of the light source being blocked, thereby helping to increase the light-emitting area and further improve the shooting effect.

[0020] In some embodiments, the light source includes two bar-shaped light sources, the two bar-shaped light sources are arranged at an interval, and the through hole and the lens of the first visual module are both located between the two bar-shaped light sources.

[0021] The light emitted by the strip light source is linear and has the characteristics of high illumination and strong directivity. It can clearly illuminate the target area, so that the first vision module can obtain a clearer image. In addition, the strip light source can be arranged more flexibly, so that the illumination angle can be adjusted according to the detection requirements.

[0022] In some embodiments, the light source comprises a surface light source, the surface light source is provided with a light-transmitting portion, and the light-transmitting portion corresponds to the through hole.

[0023] The light emitted by the surface light source can cover a larger area and irradiate more evenly, which helps to improve detection accuracy.

[0024] In some embodiments, the first motion mechanism also includes two first guide rails and a first motion driving member, the two first guide rails are arranged at intervals along the second direction, and each first guide rail extends along the first direction, the two ends of the first motion frame are respectively slidably set on the two first guide rails, and the first motion driving member is connected to the first motion frame.

[0025] The sliding connection between the first moving frame and the first guide rail can improve the stability of the visual mechanism when moving along the first direction, which helps to make the first visual module and the second visual module accurately reach the optimal shooting distance.

[0026] In some embodiments, the second motion mechanism includes a second guide rail and a second motion driving member, the second guide rail is disposed on the first motion frame and extends along the second direction, the second motion frame is slidably disposed on the second guide rail, and the second motion driving member is connected to the second motion frame.

[0027] The sliding connection between the second moving frame and the second guide rail can improve the stability of the visual mechanism when moving along the second direction, which helps to make the first visual module and the second visual module accurately reach the optimal shooting distance.

[0028] In some embodiments, the third motion mechanism includes a third guide rail and a third motion driving member, the third guide rail is arranged on the second motion frame and extends along the third direction, the third motion frame is slidably arranged on the third guide rail, and the third motion driving member is connected to the third motion frame.

[0029] The sliding connection between the third motion frame and the third guide rail can improve the stability of the visual mechanism when it moves along the third direction, which helps to make the first visual module and the second visual module accurately reach the optimal shooting distance.

[0030] In some embodiments, the welding detection system includes two detection mechanisms, and the two detection mechanisms are spaced apart along the first direction.

[0031] The two detection mechanisms can respectively detect the diagonal positions of the battery at the same time, which can improve efficiency and also reduce or avoid the phenomenon of poor image quality caused by the opposite light sources during the image acquisition process of the visual modules of the two detection mechanisms.

[0032] In some embodiments, the welding detection system also includes: a lifting mechanism, located below the detection mechanism along the third direction, used to support the battery and lift it up and down along the third direction, the lifting mechanism includes: a base plate, provided with a guide shaft extending along the third direction; a positioning plate, slidably connected to the guide shaft.

[0033] The positioning plate is driven to slide in the third direction along the guide shaft by the lifting driving member, so that the battery can be lifted to the detection position for different types of batteries, thereby improving compatibility.

[0034] The embodiment of the present application also provides a welding detection method, which is applied to a welding detection system, wherein the welding detection system includes an image processing device and a detection mechanism, wherein the detection mechanism includes a first motion mechanism, a second motion mechanism, a third motion mechanism, an image processing device and a visual mechanism, wherein the visual mechanism includes a first visual module and a second visual module, and the welding detection method includes:

[0035] The first moving frame in the first moving mechanism moves along the first direction, and the second moving frame in the second moving mechanism moves along the second direction, and the first visual module and the second visual module follow the first moving frame and the second moving frame to reach a first image acquisition point, wherein the first image acquisition point corresponds to the position of the first welding seam of the battery, the first welding seam extends along the third direction, and the first direction, the second direction and the third direction are perpendicular to each other;

[0036] The third moving frame is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively capture images of the first welding seam at different shooting angles to obtain a first image and a second image corresponding to the first welding seam;

[0037] The image processing device analyzes and processes the first image and the second image to determine a detection result of the first welding seam;

[0038] The second moving frame moves along the second direction, the second visual module rotates around a rotation axis extending along the third direction, the first visual module and the second visual module follow the second moving frame to reach a second image acquisition point, the second image acquisition point corresponds to the position of the second welding seam of the battery, and the second welding seam is located on one side of the first welding seam along the second direction;

[0039] The third moving frame is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively capture images of the second welding seam at different shooting angles to obtain a third image and a fourth image corresponding to the second welding seam;

[0040] The image processing device analyzes and processes the third image and the fourth image to determine a detection result of the second welding seam.

[0041] The first moving frame moves along the first direction, the second moving frame moves along the second direction, and the third moving frame rises and falls along the third direction, so that the first vision module and the second vision module are driven to quickly reach the image acquisition position corresponding to the welding seam, and the second vision module rotates around the rotation axis of the third direction, so that the second vision module and the first vision module obtain images of the same welding seam at different shooting angles, thereby improving the detection accuracy, and achieving a better shooting angle for welding seams in different orientations, without waiting for the time required to disassemble the vision module to adjust the shooting angle, thereby improving the detection efficiency.

[0042] In some embodiments, the first motion frame in the first motion mechanism moves along a first direction, the second motion frame in the second motion mechanism moves along a second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to arrive at a first image acquisition point, including:

[0043] The first moving frame moves along a first direction, the second moving frame moves along a second direction, and the first visual module follows the first moving frame and the second moving frame to reach the first image acquisition point;

[0044] The third moving frame is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively collect images of the first welding seam, and the first image and the second image corresponding to the first welding seam are obtained, including:

[0045] The third moving frame is lifted and lowered along a third direction, and the first visual module collects an image of the first welding seam to obtain the first image;

[0046] The first motion frame in the first motion mechanism moves along a first direction, the second motion frame in the second motion mechanism moves along a second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to arrive at a first image acquisition point, further comprising:

[0047] The second motion frame moves along a second direction, and the second visual module follows the second motion frame to reach the first image acquisition point;

[0048] The third moving frame is lifted and lowered along the third direction, the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively collect images of the first welding seam, and the first image and the second image corresponding to the first welding seam are obtained, and the following further includes:

[0049] The third moving frame is lifted and lowered along the third direction, and the second visual module collects an image of the second welding seam to obtain the second image.

[0050] By successively inspecting the welding seam through the first vision module and the second vision module, it is convenient to adjust each vision module to achieve the best shooting distance and / or angle, thereby improving the detection accuracy.

[0051] In some embodiments, the welding detection system includes two detection mechanisms, which are respectively located on both sides of the battery along the first direction.

[0052] When one of the detection mechanisms performs a step in which the first motion frame in the first motion mechanism moves along a first direction, the second motion frame in the second motion mechanism moves along a second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to reach a first image acquisition point, the welding detection method further includes:

[0053] The first visual module and the second visual module in another detection mechanism arrive at a third image acquisition point, and the third image acquisition point corresponds to the position of the third welding seam of the battery, and the third welding seam is located on the opposite side of the second welding seam along the first direction;

[0054] When the detection mechanism performs the step in which the second motion frame moves along the second direction, the second visual module rotates around the rotation axis extending along the third direction, and the first visual module and the second visual module follow the second motion frame to reach the second image acquisition point, the welding detection method further includes:

[0055] The first vision module and the second vision module in another detection mechanism arrive at a fourth image acquisition point, wherein the fourth image acquisition point corresponds to the position of the fourth welding seam of the battery, and the fourth welding seam is located on the opposite side of the first welding seam along the first direction.

[0056] The two detection mechanisms stagger the detection of two opposite welding seams on the same side and detect the diagonal positions of the battery respectively, which can reduce or avoid the phenomenon of poor image quality caused by the opposite light source during the image acquisition process of the visual modules of the two detection mechanisms.

[0057] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0059] Figure 1 A schematic diagram of a welding detection system provided in an embodiment of the present disclosure;

[0060] Figure 2 A schematic diagram of the internal three-dimensional structure of a welding detection system provided in an embodiment of the present disclosure;

[0061] Figure 3 A schematic diagram of the three-dimensional structure of a detection mechanism provided in an embodiment of the present disclosure;

[0062] Figure 4A three-dimensional schematic diagram of a partial structure of a welding detection system provided in an embodiment of the present disclosure;

[0063] Figure 5 A partial structural plan view of a welding detection system provided in an embodiment of the present disclosure;

[0064] Figure 6 A schematic diagram of shooting angles of the first visual module in a shooting state provided by an embodiment of the present disclosure;

[0065] Figure 7 A schematic diagram of shooting angles of the second visual module in a shooting state provided by an embodiment of the present disclosure;

[0066] Figure 8 It is a schematic diagram of the welding connection between the side plate and the end plate of the battery;

[0067] Fig. 9 A schematic diagram of the structure of a lifting mechanism provided in an embodiment of the present disclosure;

[0068] Fig.10 A welding detection method process is disclosed Figure 1 ;

[0069] Fig.11 A welding detection method process is disclosed Figure 2 .

[0070] Description of Reference Numerals

[0071] 1-detection mechanism; 10-first motion mechanism; 11-first motion frame; 12-first guide rail; 20-second motion mechanism; 21-second motion frame; 22-second guide rail; 30-third motion mechanism; 31-third motion frame; 32-third guide rail; 33-third motion drive member; 40-visual mechanism; 41-first visual module; 42-second visual module; 43-fixed plate; 44-light source; 441-light-transmitting part; 50-rotation mechanism; 51-rotation drive member; 52-rotation frame; 521-swing arm; 522-mounting plate ;523-limit rod;60-lifting mechanism;61-base plate;62-guide shaft;63-lifting drive;64-positioning plate;201-side plate;202-end plate;01-first welding seam;02-second welding seam;03-third welding seam;04-fourth welding seam;101-upper outer frame;102-protective cover;103-emergency stop button;104-lower outer frame;105-buzzer;106-mouse key;107-display;108-touch screen;109-observation window;1010-card reader;1000-rack. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present disclosure. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0073] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0074] The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first / second / third" can be interchanged with a specific order or sequence where permitted so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0075] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the present disclosure and are not intended to limit the present disclosure.

[0076] New energy batteries are increasingly used in life and industry. For example, new energy vehicles equipped with batteries have been widely used. In addition, batteries are increasingly used in energy storage and other fields. In the battery manufacturing process, multiple parts of the battery need to be welded. Welding quality inspection is a key link to ensure the stable connection of various components and guarantee battery performance and safety. Therefore, higher requirements are placed on the accuracy and efficiency of welding quality inspection.

[0077] For example, the welding of the end plate and the side plate of the battery is a key step to ensure the battery module molding, so the quality inspection of the welding seam between the end plate and the side plate is particularly important. Figure 8 The battery comprises two opposite side plates 201 and two opposite end plates 202, and the adjacent end plates 202 and side plates 201 are welded by filler wire welding to form a weld seam, such as Figure 8As shown in the figure, the first weld seam 01, the second weld seam 02, the third weld seam 03 and the fourth weld seam 04, since the weld seams formed by the filler wire welding are located at the corner formed between the outer surface of the end plate 202 and the end surface of the side plate 201, the traditional detection equipment cannot obtain the real image of the weld seam at the corner, resulting in poor detection accuracy; in addition, there are weld seams located at four corners between the two end plates 202 and the two side plates 201 (the first weld seam 01, the second weld seam 02, the third weld seam 03 and the fourth weld seam 04), and the orientations of the weld seams are inconsistent. When switching from one weld seam detection position to another weld seam detection position, it is necessary to disassemble the visual module and readjust the shooting angle of the visual module, resulting in low detection efficiency.

[0078] In view of the existence of the above-mentioned problems, the present application provides a welding detection system, comprising at least one detection mechanism, the detection mechanism comprising: a first motion mechanism, a second motion mechanism and a third motion mechanism, the first motion mechanism comprising a first motion frame capable of moving in a first direction, the second motion mechanism comprising a second motion frame arranged on the first motion frame and capable of moving in a second direction, the third motion mechanism comprising a third motion frame arranged on the second motion frame and capable of lifting and lowering along a third direction, the first direction, the second direction and the third direction are perpendicular to each other; a visual mechanism comprising a first visual module and a second visual module arranged on the third motion frame, the second visual module being capable of rotating around a rotation axis in the third direction, thereby changing the shooting angle of the second visual module.

[0079] By moving the first moving frame along the first direction, the second moving frame along the second direction, and the third moving frame rising and falling along the third direction, the first vision module and the second vision module are driven to quickly reach the image acquisition position corresponding to the welding seam, and by rotating the second vision module around the rotation axis in the third direction, the second vision module and the first vision module can obtain images of the same welding seam at different shooting angles, thereby improving the detection accuracy, and achieving a better shooting angle for welding seams with different orientations, without having to wait for the time required to disassemble the vision module to adjust the shooting angle, thereby improving the detection efficiency.

[0080] Refer to the following Figures 1 to 9 The welding detection system of the embodiment of the present application is described in detail.

[0081] The embodiment of the present application provides a welding detection system, including at least one detection mechanism 1, the detection mechanism 1 includes: a first motion mechanism 10, a second motion mechanism 20 and a third motion mechanism 30, the first motion mechanism 10 includes a first motion frame 11 that can move along a first direction X, the second motion mechanism 20 includes a second motion frame 21 that is arranged on the first motion frame 11 and can move along a second direction Y, the third motion mechanism 30 includes a third motion frame 31 that is arranged on the second motion frame 21 and can be lifted and lowered along a third direction Z, the first direction, the second direction and the third direction are perpendicular to each other; a visual mechanism 40, including a first visual module 41 and a second visual module 42 that are arranged on the third motion frame 31, the second visual module 42 can rotate around the rotation axis of the third direction Z, thereby changing the second visual module 41. The first visual module 41 and the second visual module 42 can follow the second moving frame 21 to switch positions along the second direction Y between the first image acquisition point corresponding to the position of the first welding seam 01 and the second image acquisition point corresponding to the position of the second welding seam 02, and the first visual module 41 and the second visual module 42 can follow the third moving frame 31 to rise and fall along the third direction, so as to respectively shoot the first welding seam 01 and the second welding seam 02; when the visual mechanism 40 is in the shooting state, the shooting angle of the first visual module 41 located at the first image acquisition point is different from the shooting angle of the second visual module 42, and the shooting angle of the first visual module 41 located at the second image acquisition point is different from the shooting angle of the second visual module 42.

[0082] During the movement of the first motion frame 11 along the first direction X, the second motion frame 21, the third motion frame 31, the first vision module 41 and the second vision module 42 can follow the first motion frame 11 to move along the first direction X; during the movement of the second motion frame 21 along the second direction Y, the third motion frame 31 and the first vision module 41 and the second vision module 42 can follow the second motion frame 21 to move along the second direction Y; during the lifting and lowering of the third motion frame 31 along the third direction Z, the first vision module 41 and the second vision module 42 can follow the third motion frame 31 to lift and lower along the third direction Z.

[0083] As an example, see Figures 2 to 4 When the battery reaches the detection position, the first moving frame 11 moves along the first direction X and the second moving frame 21 moves along the second direction Y, bringing the first visual module 41 to the first image acquisition position corresponding to the position of the first welding seam 01, so that the first visual module 41 reaches the best shooting distance. At this time, the lens of the first visual module 41 can face the first welding seam 01 in a direction perpendicular to the side plate 201 (refer to Figure 6); the third moving frame 31 is lifted and lowered along the third direction Z, carrying the first visual module 41 to collect images along the extension direction (third direction Z) of the first welding seam 01, and obtaining a first image; the first moving frame 11 moves along the first direction X, the second moving frame 21 moves along the second direction Y, and the second visual module 42 rotates around the rotation axis of the third direction Z, carrying the second visual module 42 to the first image collection position corresponding to the position of the first welding seam 01, so that the second visual module 42 reaches the best shooting distance, thereby realizing the position switching of the second visual module 42 and the first visual module 41, so that the lens of the second visual module 42 faces the direction of the side plate 201 and the end plate 202 at a 45° angle, so as to face the first welding seam 01 (refer to Figure 7 ), wherein the movement path from the first vision module 41 to the second vision module 42 can be a short distance, that is, a micro-adjustment; the third motion frame 31 is lifted and lowered along the third direction Z with the second vision module 42 to collect images along the extension direction of the first welding seam 01 (third direction Z) to obtain a second image; the image processing equipment analyzes and processes the first image and the second image to determine the detection result, thereby completing the quality detection of the first welding seam 01.

[0084] The second welding seam 02 can continue to be inspected for quality. The second moving frame 21 moves along the second direction Y, carrying the first visual module 41 and the second visual module 42 to the second image acquisition position corresponding to the second welding seam 02. At this time, the lens of the first visual module 41 can face the second welding seam 02 in a direction perpendicular to the side plate 201 (similar to Figure 6 ), so that the first vision module 41 reaches the best shooting distance; the third motion frame 31 is lifted and lowered along the third direction Z, carrying the first vision module 41 to collect images along the extension direction of the second welding seam 02 (third direction Z), and obtaining a third image; the first motion frame 11 moves along the first direction X, the second motion frame 21 moves along the second direction Y, and the second vision module 42 rotates around the rotation axis of the third direction Z, carrying the second vision module 42 to the second image collection position corresponding to the position of the second welding seam 02, so that the second vision module 42 reaches the best shooting distance, thereby realizing the position switching of the second vision module 42 and the first vision module 41, so that the lens of the second vision module 42 faces the direction at a 45° angle to the side plate 201 and the end plate 202, so as to face the first welding seam 01 (similar to Figure 7 ), wherein the movement path from the first vision module 41 to the second vision module 42 can be a short distance, that is, a micro-adjustment; the third motion frame 31 is lifted and lowered along the third direction Z with the second vision module 42 to collect images along the extension direction (third direction Z) of the second welding seam 02 to obtain a fourth image; the image processing equipment analyzes and processes the third image and the fourth image to determine the detection result, thereby completing the quality detection of the second welding seam 02.

[0085] In the above embodiment, during the detection of the same welding seam (for example, the first welding seam 01 or the second welding seam 02), in order to better obtain the welding seam image, the first vision module 41 and the second vision module 42 alternately capture images of the first welding seam 01. It can be understood that the first vision module 41 and the second vision module 42 can also capture images of the same welding seam at the same time.

[0086] By moving the first moving frame 11 along the first direction X, the second moving frame 21 along the second direction Y, and the third moving frame 31 rising and falling along the third direction Z, the first vision module 41 and the second vision module 42 are driven to quickly reach the image acquisition position corresponding to the welding seam, and the second vision module 42 rotates around the rotation axis of the third direction Z, so that the second vision module 42 and the first vision module 41 obtain images of the same welding seam at different shooting angles, thereby improving the detection accuracy, and achieving a better shooting angle for welding seams in different orientations, without waiting for the time required to disassemble the vision module to adjust the shooting angle, thereby improving the detection efficiency.

[0087] In some embodiments, the welding detection system includes two detection mechanisms 1 , and the two detection mechanisms 1 are arranged along the first direction X at intervals.

[0088] The two detection mechanisms 1 can simultaneously detect the welding seams of the battery on both sides along the first direction X, thereby improving the detection efficiency.

[0089] Specifically, in a testing institution 1 (e.g. Figure 2 The first visual module 41 and the second visual module 42 in the detection mechanism on the left side of the battery are used to detect the first welding seam 01 ( Figure 8 While another detection mechanism 1 (eg Figure 2 The detection mechanism on the right side of the middle) is connected to the third welding seam of the battery 03 ( Figure 8 The dotted box is located at the location) for detection; in a detection mechanism 1 (for example Figure 2 The first visual module 41 and the second visual module 42 in the detection mechanism on the left side of the battery are detected by the second welding seam 02 ( Figure 8 While another detection mechanism 1 (eg Figure 2 The fourth welding seam 04 of the battery (the detection mechanism on the right side) Figure 8 The two detection mechanisms 1 detect the welding seams (the first welding seam 01 and the third welding seam 03, the second welding seam 02 and the fourth welding seam 04) at the diagonal positions of the battery respectively.

[0090] The two detection mechanisms 1 detect the diagonal positions of the battery at the same time, which can improve efficiency and reduce or avoid the adverse effects on image quality caused by mutual interference between the visual modules of the two detection mechanisms 1 during image acquisition.

[0091] As an example, the first vision module 41 may be a 2D camera, and the second vision module 42 may be a 3D camera.

[0092] In some embodiments, when the visual mechanism 40 is in a shooting state, the lens of the first visual module 41 faces the first direction X, and the lens of the second visual module 42 faces the direction intersecting the first direction X.

[0093] The lens of the first visual module 41 faces the first direction X, which may be the direction in which the optical axis of the first visual module 41 is perpendicular to the side plate 201. The direction in which the second visual module 42 intersects the first direction X may be the direction in which the optical axis of the second visual module 42 and the optical axis of the first visual module 41 form an angle of 45°, so that the second visual module 42 faces the welding seam. Of course, when the visual mechanism 40 is in the shooting state, the optical axis of the first visual module 41 and the optical axis of the second visual module 42 may also form other angles, such as an acute angle.

[0094] The second vision module 42 and the first vision module 41 have different shooting angles, so as to obtain images of the welding seam at different shooting angles, thereby improving the detection accuracy.

[0095] In some embodiments, the welding detection system further includes: a rotating mechanism 50 , the rotating mechanism 50 includes a rotating driving member 51 disposed on the third motion frame 31 , and the rotating driving member 51 is connected to the second visual module 42 via the above-mentioned rotating shaft.

[0096] For example, the rotating mechanism 50 may be a servo motor, and the rotation of the servo motor can drive the second visual module 42 to rotate by a preset angle, so that the best shooting effect can be achieved for welding seams in different directions.

[0097] Automatically driving the second visual module 42 to rotate by rotating the driving member 51 helps to achieve the best shooting effect and also improves efficiency.

[0098] In some embodiments, the rotating mechanism 50 further includes a rotating frame 52 , the rotating frame 52 includes a swing arm 521 and a mounting plate 522 mounted on the swing arm 521 , the swing arm 521 is connected to the rotating shaft, and the second visual module 42 is mounted on the mounting plate 522 .

[0099] For example, the mounting plate 522 may be a vertical plate extending along a third direction Z, the swing arm 521 may be a flat plate extending in a horizontal direction perpendicular to the third direction Z, and the mounting plate 522 is connected to one side of the rotation center of the swing arm 521 and is set off the center.

[0100] The second vision module 42 is connected to the rotating shaft through the mounting plate 522 and the swing arm 521 , so that the second vision module 42 can be arranged more flexibly and a larger shooting angle can be obtained with a smaller driving angle.

[0101] In some embodiments, the swing arm 521 is provided with a limit rod 523, and the limit rod 523 can swing along with the swing arm 521; the third motion frame 31 is provided with a position sensor (not shown in the figure), and the position sensor is located on the swing path of the limit rod 523, and is used to cooperate with the limit rod 523 to determine the position of the second visual module 42.

[0102] For example, when the rotating driving member 51 drives the second visual module 42 to rotate by a preset angle through the swing arm 521, the limit rod 523 can contact or approach the position sensor, so that the position sensor determines whether the second visual module 42 is in a desired position. The position sensor can be a contact sensor or a proximity sensor.

[0103] By using the position sensor to determine whether the second vision module 42 is in the desired position, abnormalities can be discovered in time, thereby reducing the detection error caused by the deviation of the captured image caused by the deviation of the shooting angle of the second vision module 42.

[0104] In some embodiments, the visual mechanism further includes a fixing plate 43 disposed on the third motion frame 31 and a light source 44 disposed on the fixing plate 43 , and the first visual module 41 is disposed on the fixing plate 43 .

[0105] The light source 44 can enhance the shooting effect of the first vision module 41 , thereby obtaining a clearer image.

[0106] In some embodiments, the fixing plate 43 is provided with a through hole, the first visual module 41 is provided on one side of the fixing plate 43 along the first direction X and the lens of the first visual module 41 is located at the through hole, and the light source 44 is provided on the other side of the fixing plate 43 along the first direction X.

[0107] The light source 44 and the first visual module 41 are respectively located on both sides of the fixing plate 43 along the first direction X, which reduces the risk of the light source 44 being blocked, thereby helping to increase the light emitting area and further improve the shooting effect.

[0108] For example, the light source 44 may include two bar light sources, the two bar light sources are arranged at intervals, and the through hole on the fixing plate 43 and the lens of the first visual module 41 are both located between the two bar light sources. The two bar light sources may be arranged at intervals along the first direction X. The two bar light sources may also be arranged at intervals along the third direction Z.

[0109] For example, refer to Figure 4 and Figure 5 The light source 44 may include a surface light source, and the surface light source is provided with a light-transmitting portion 441, and the light-transmitting portion 441 corresponds to the through hole on the fixing plate 43. The light-transmitting portion 441 may be a hole provided in the surface light source. The light-transmitting portion 441 may also be a transparent structure provided in the surface light source, such as transparent glass, transparent film, transparent plastic plate, etc.

[0110] In some embodiments, the first visual module 41 and the light source 44 may also be located on the same side of the fixing plate 43 along the first direction X.

[0111] The first visual module 41 and the light source 44 on the same side are easy to install.

[0112] In some embodiments, the first motion mechanism 10 also includes two first guide rails 12 and a first motion driving member. The two first guide rails 12 are arranged at intervals along the second direction Y, and each first guide rail 12 extends along the first direction X. The two ends of the first motion frame 11 are respectively slidably arranged on the two first guide rails 12, and the first motion driving member is connected to the first motion frame 11.

[0113] For example, the first guide rail 12 can be set on the frame 1000, the first motion frame 11 can be slidably connected to the first guide rail 12 through a slider, and the first motion driver can be located on one side of the two first guide rails 12. The first motion driver can include a motor and a lead screw, and the lead screw is slidably connected to the slider. Of course, the first motion driver can be respectively set on the sides of the two first guide rails 12, and the first motion driver can also be a component such as a cylinder or a hydraulic cylinder that can drive the first motion frame 11 to move.

[0114] The first moving frame 11 is slidably connected to the first guide rail 12 , so that the stability of the visual mechanism 40 when moving along the first direction X can be improved, which helps the first visual module 41 and the second visual module 42 to accurately reach the optimal shooting distance.

[0115] In some embodiments, the second motion mechanism 20 includes a second guide rail 22 and a second motion driver. The second guide rail 22 is disposed on the first motion frame 11 and extends along the second direction Y. The second motion frame 21 is slidably disposed on the second guide rail 22. The second motion driver is connected to the second motion frame.

[0116] For example, the second motion frame 21 can be slidably connected to the second guide rail 22 via a slider, and the second motion driver can be arranged on the first motion frame 11. The second motion driver can include a motor and a lead screw, and the lead screw is slidably connected to the slider. Of course, the second motion driver can also be a cylinder, a hydraulic cylinder, or other component capable of driving the second motion frame 21 to move.

[0117] The second moving frame 21 is slidably connected to the second guide rail 22 , so that the stability of the visual mechanism 40 when moving along the second direction Y can be improved, which helps the first visual module 41 and the second visual module 42 to accurately reach the optimal shooting distance.

[0118] In some embodiments, the third motion mechanism 30 includes a third guide rail 32 and a third motion driving member 33. The third guide rail 32 is set on the second motion frame 21 and extends along the third direction Z. The third motion frame 31 is slidably set on the third guide rail 32. The third motion driving member 33 is connected to the third motion frame 31.

[0119] For example, the third motion frame 31 can be slidably connected to the third guide rail 32 via a slider, and the third motion driver can be arranged on the second motion frame 21. The third motion driver can include a motor and a lead screw, and the lead screw is slidably connected to the slider. Of course, the third motion driver can also be a cylinder, a hydraulic cylinder, or other component capable of driving the third motion frame 31 to move.

[0120] The sliding connection between the third moving frame 31 and the third guide rail 32 can improve the stability of the visual mechanism 40 when moving along the third direction Z, which helps to make the first visual module 41 and the second visual module 42 accurately reach the optimal shooting distance.

[0121] In some embodiments, the welding detection system further includes: a lifting mechanism 60, which is located below the detection mechanism 1 along the third direction Z and is used to support the battery to rise and fall along the third direction Z.

[0122] For example, the lifting mechanism 60 includes: a base plate 61 provided with a guide shaft 62 extending along the third direction Z; a positioning plate 64 slidably connected to the guide shaft 62 ; and a lifting driving member 63 provided on the base plate 61 and connected to the positioning plate 64 .

[0123] The lifting drive 63 drives the positioning plate 64 to slide along the guide shaft 62 in the third direction Z, so that the battery reaches the detection position. The lifting drive 63 can be a cylinder, a hydraulic cylinder, a motor (such as a servo motor) and a screw nut assembly that can drive the positioning plate 64 to slide and rise and fall along the third direction.

[0124] By driving the positioning plate 64 to slide along the guide shaft 62 in the third direction Z through the lifting driving member 63 , different types of batteries can be made to reach the detection position, thereby improving compatibility.

[0125] The positioning jacking mechanism 60 may also be a scissor-type jacking mechanism or a connecting rod jacking mechanism or other types of jacking mechanisms.

[0126] Below, refer to Figures 1 to 9 , a specific example of the present application is described.

[0127] The present application also provides a welding detection system, comprising: Figure 1 The upper outer frame 101, grating and protective cover 102, emergency stop button 103, lower outer frame 104, buzzer 105, mouse key 106, display 107, touch screen 108, observation window 109, card reader 1010, etc. shown in FIG. Figures 2 to 9 The welding detection system also includes two detection mechanisms 1, each detection mechanism 1 includes: a first motion mechanism 10, a second motion mechanism 20 and a third motion mechanism 30, the first motion mechanism 10 includes a first motion frame 11 that can move along a first direction X, the second motion mechanism 20 includes a second motion frame 21 that is arranged on the first motion frame 11 and can move along a second direction Y, and the third motion mechanism 30 includes a third motion frame 31 that is arranged on the second motion frame 21 and can be lifted and lowered along a third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other; a visual mechanism 40 includes a first visual module 41 and a second visual module 42 that are arranged on the third motion frame 31, and the second visual module 42 can rotate around the rotation axis of the third direction Z, thereby changing the shooting angle of the second visual module 42. The first visual module 41 is a 2D camera, and the second visual module 42 is a 3D camera.

[0128] As an example, when the battery reaches the detection position, the first moving frame 11 of each of the two detection mechanisms 1 moves along the first direction X, and the second moving frame 21 moves along the second direction Y, bringing the first visual module 41 to the first image acquisition position corresponding to the position of the first welding seam 01 and the third image acquisition position corresponding to the position of the third welding seam 03. At this time, the lens of the first visual module 41 of each of the two detection mechanisms 1 can face the first welding seam 01 and the third welding seam 03 in a direction perpendicular to the side plate 201 ( Figure 6As shown); the third moving frames 31 of the two detection mechanisms 1 are lifted and lowered along the third direction Z, and the first visual modules 41 are respectively carried along the extension direction (third direction Z) of the first welding seam 01 and the third welding seam 03 to collect images, and obtain the first image and the fifth image respectively; the first moving frames 11 of the two detection mechanisms 1 are respectively moved along the first direction X, the second moving frames 21 are moved along the second direction Y, and the second visual modules 42 are rotated around the rotation axis of the third direction Z, and the second visual modules 42 are respectively carried to the first image collection position and the third image collection position, and the lenses of the second visual modules 42 are respectively oriented in the direction of 45° with the side plate 201 and the end plate 202, so as to face the first welding seam 01 and the third welding seam 03 respectively ( Figure 7 As shown); the third moving frames 31 in the two detection mechanisms 1 are lifted and lowered along the third direction Z with their second visual modules 42 to collect images along the extension direction (third direction Z) of the first welding seam 01 and the third welding seam 03, respectively, to obtain the second image and the sixth image, respectively; the image processing device analyzes and processes the first image and the second image to determine the detection result, thereby completing the quality detection of the first welding seam 01, and the image processing device analyzes and processes the fifth image and the sixth image to determine the detection result, thereby completing the quality detection of the third welding seam 03.

[0129] The second moving frame 21 in each of the two detection mechanisms 1 moves along the second direction Y, and respectively brings the respective first visual module 41 and the second visual module 42 to the second image acquisition position corresponding to the second welding seam 02 and the fourth image acquisition position corresponding to the fourth welding seam 04. At this time, the lens of the respective first visual module 41 in the two detection mechanisms 1 can be oriented in a direction perpendicular to the side plate 201 to face the second welding seam 02 and the fourth welding seam 04 respectively; the respective third moving frame 31 in the two detection mechanisms 1 is lifted and lowered along the third direction Z with the first visual module 41 along the second welding seam 02 and the fourth welding seam 04 respectively. The image is collected in the extension direction (third direction Z) of the joint 04 to obtain the third image and the seventh image respectively; the first moving frame 11 of each of the two detection mechanisms 1 moves along the first direction X, the second moving frame 21 moves along the second direction Y, and the second visual module 42 rotates around the rotation axis of the third direction Z, and the respective second visual modules 42 are brought to the second image collection position corresponding to the position of the second welding seam 02 and the fourth image collection position corresponding to the position of the fourth welding seam 04, and the lenses of the respective second visual modules 42 of the two detection mechanisms 1 are facing the second welding seam 02 and the fourth welding seam 04 respectively (similar to Figure 7); the third moving frames 31 in the two detection mechanisms 1 are lifted and lowered along the third direction Z with their second visual modules 42 to collect images along the extension direction (third direction Z) of the second welding seam 02 and the fourth welding seam 04, respectively, to obtain the fourth image and the eighth image; the image processing device analyzes and processes the third image and the fourth image to determine the detection result, thereby completing the quality detection of the second welding seam 02; and the image processing device analyzes and processes the seventh image and the eighth image to determine the detection result, thereby completing the quality detection of the fourth welding seam 04.

[0130] The two detection mechanisms 1 detect the diagonal positions of the battery at the same time, which can improve efficiency and reduce or avoid the phenomenon of poor image quality caused by the opposite light sources during the image acquisition process of the visual modules of the two detection mechanisms 1.

[0131] The embodiment of the present application also provides a welding detection method, which is applied to a welding detection system. The welding detection system includes an image processing device and a detection mechanism 1. The detection mechanism 1 includes a first motion mechanism 10, a second motion mechanism 20, a third motion mechanism 30 and a visual mechanism 40. The visual mechanism 40 includes a first visual module 41 and a second visual module 42. Fig.10 and Fig.11 , welding detection methods include:

[0132] Step S11, the first motion frame 11 in the first motion mechanism 10 moves along the first direction X, the second motion frame 21 in the second motion mechanism 20 moves along the second direction Y, the first visual module 41 and the second visual module 42 follow the first motion frame 11 and the second motion frame 21 to reach the first image acquisition point, wherein the first image acquisition point corresponds to the position of the first welding seam 01 of the battery, the first welding seam 01 extends along the third direction Z, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other;

[0133] In step S12, the third moving frame 31 is lifted and lowered along the third direction Z, and the first vision module 41 and the second vision module 42 follow the lifting and lowering of the third moving frame 31 and respectively capture images of the first welding seam 01 at different shooting angles to obtain the first image and the second image corresponding to the first welding seam 01.

[0134] In some embodiments, the first moving frame 11 moves along the first direction X, the second moving frame 21 moves along the second direction Y, the first vision module 41 reaches the first image acquisition point, the third moving frame 31 rises and falls along the third direction Z, the first vision module 41 follows the third moving frame 31 to rise and fall and performs image acquisition on the first welding seam 01 to obtain a first image corresponding to the first welding seam 01, during this process, the second vision module 42 can be in a closed state, that is, no image is acquired; then, the first moving frame 11 moves along the first direction X, the second moving frame 21 moves along the second direction Y, the second vision module 42 reaches the first image acquisition point, the third moving frame 31 rises and falls along the third direction Z, the second vision module 42 follows the third moving frame 31 to rise and fall and respectively performs image acquisition on the first welding seam 01 to obtain a second image corresponding to the first welding seam 01, during this process, the first vision module 41 can be in a closed state, that is, no image is acquired.

[0135] In some embodiments, the first vision module 41 and the second vision module 42 can arrive at the first image acquisition point at the same time, and follow the third motion frame 31 to rise and fall along the third direction Z, so as to simultaneously capture images of the first welding seam 01 and obtain the first image and the second image respectively.

[0136] Step S13, the image processing device analyzes and processes the first image and the second image to determine the detection result of the first welding seam;

[0137] In some embodiments, the image processing device receives the first image and the second image, and processes the first image and the second image to determine the detection result of the first welding seam.

[0138] In some embodiments, the image processing device outputs the detection result of the first welding seam to a display.

[0139] Step S14, the second moving frame 21 moves along the second direction Y, the second visual module 42 rotates around the rotation axis extending along the third direction Z, and the first visual module 41 and the second visual module 42 follow the second moving frame 21 to reach the second image acquisition point, wherein the second image acquisition point corresponds to the position of the second welding seam 02 of the battery, and the second welding seam 02 is located on one side of the first welding seam 01 along the second direction Y;

[0140] In step S15, the third moving frame 31 is lifted and lowered along the third direction Z, and the first vision module 41 and the second vision module 42 follow the lifting and lowering of the third moving frame 31 and respectively capture images of the second welding seam 02 at different shooting angles to obtain a third image and a fourth image corresponding to the second welding seam 02.

[0141] In some embodiments, the second moving frame 21 moves along the second direction Y, the first vision module 41 first reaches the second image acquisition point, the third moving frame 31 rises and falls along the third direction Z, the first vision module 41 follows the third moving frame 31 to rise and fall and captures the image of the second welding seam 02 to obtain a third image corresponding to the second welding seam 02, during this process, the second vision module 42 can be in a closed state, that is, no image is captured; then, the second moving frame 21 moves along the second direction Y, the second vision module 42 reaches the second image acquisition point, the third moving frame 31 rises and falls along the third direction Z, the second vision module 42 follows the third moving frame 31 to rise and fall and respectively captures the image of the second welding seam 02 to obtain a fourth image corresponding to the second welding seam 02, during this process, the first vision module 41 can be in a closed state, that is, no image is captured.

[0142] In some embodiments, the second moving frame 21 moves along the second direction Y, the first vision module 41 and the second vision module 42 can reach the second image acquisition point at the same time, the third moving frame 31 rises and falls along the third direction Z, and the first vision module 41 and the second vision module 42 simultaneously capture images of the second welding seam 02 to obtain a third image and a fourth image, respectively.

[0143] Step S16 : the image processing device analyzes and processes the third image and the fourth image to determine the detection result of the second welding seam 02 .

[0144] In some implementations, the image processing device receives the third image and the fourth image, and processes the third image and the fourth image to determine the detection result of the second welding seam 02 .

[0145] In some embodiments, the image processing device outputs the detection result of the second welding seam 02 to a display.

[0146] By moving the first moving frame 11 along the first direction X, the second moving frame 21 along the second direction Y, and the third moving frame 31 rising and falling along the third direction Z, the first vision module 41 and the second vision module 42 are driven to quickly reach the image acquisition position corresponding to the welding seam, and the second vision module 42 rotates around the rotation axis of the third direction Z, so that the second vision module 42 and the first vision module 41 obtain images of the same welding seam at different shooting angles, thereby improving the detection accuracy, and achieving a better shooting angle for welding seams in different orientations, without waiting for the time required to disassemble the vision module to adjust the shooting angle, thereby improving the detection efficiency.

[0147] In some embodiments, the welding detection system is provided with two detection mechanisms 1, and the two detection mechanisms 1 are located on both sides of the battery along the first direction X. When one detection mechanism 1 performs step S11, the welding detection method further includes:

[0148] Step S17, the first visual module 41 and the second visual module 42 in another detection mechanism 1 arrive at a third image acquisition point, wherein the third image acquisition point corresponds to the position of the third welding seam 03 of the battery, and the third welding seam 03 is located on the opposite side of the second welding seam 02 along the first direction X;

[0149] When a detection mechanism 1 performs step S14, the welding detection method further includes:

[0150] In step S18, the first visual module 41 and the second visual module 42 in another detection mechanism 1 arrive at a fourth image acquisition point, wherein the fourth image acquisition point corresponds to the position of the fourth welding seam 04 of the battery, and the fourth welding seam 04 is located on the opposite side of the first welding seam 01 along the first direction X.

[0151] The two detection mechanisms 1 stagger the detection of two opposite welding seams on the same side and detect the diagonal positions of the battery respectively, which can reduce or avoid the adverse effects on image quality caused by mutual interference between the visual mechanisms of the two detection mechanisms 1 during image acquisition.

[0152] It should be noted that in the embodiments of the present disclosure, the image processing device can be implemented in the form of software + hardware, for example, it can be a processor + memory, and the memory stores software, etc. If the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a controller to execute all or part of the methods described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiments of the present disclosure are not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0153] It should be pointed out here that the above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other.

[0154] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present disclosure, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution. The execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial numbers of the embodiments of the present disclosure are for description only and do not represent the advantages and disadvantages of the embodiments.

[0155] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0156] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the controller or unit can be electrical, mechanical or other forms.

[0157] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present disclosure may all be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0158] A person skilled in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, read-only memories (ROM), magnetic disks or optical disks.

[0159] The above description is only an implementation mode of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A welding detection system, characterized in that: At least one detection mechanism is included, and the detection mechanism includes: a first motion mechanism, a second motion mechanism and a third motion mechanism, wherein the first motion mechanism comprises a first motion frame capable of moving in a first direction, the second motion mechanism comprises a second motion frame disposed on the first motion frame and capable of moving in a second direction, and the third motion mechanism comprises a third motion frame disposed on the second motion frame and capable of lifting and lowering in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other; A visual mechanism, comprising a first visual module and a second visual module arranged on the third motion frame, wherein the second visual module can rotate around a rotation axis in the third direction, thereby changing a shooting angle of the second visual module; The first visual module and the second visual module can follow the second moving frame to switch positions between a first image acquisition point corresponding to the first welding seam position and a second image acquisition point corresponding to the second welding seam position along the second direction, and the first visual module and the second visual module can follow the third moving frame to rise and fall along the third direction, so as to respectively photograph the first welding seam and the second welding seam; When the visual mechanism is in a shooting state, a shooting angle of the first visual module located at the first image acquisition point is different from a shooting angle of the second visual module, and a shooting angle of the first visual module located at the second image acquisition point is different from a shooting angle of the second visual module; The welding detection system comprises two detection mechanisms, and the two detection mechanisms are arranged at intervals along the first direction; The visual mechanism also includes a fixing plate arranged on the third motion frame, and the first visual module is arranged on the fixing plate.

2. The welding detection system according to claim 1, characterized in that: When the visual mechanism is in a shooting state, the lens of the first visual module faces the first direction, and the lens of the second visual module faces a direction intersecting the first direction.

3. The welding detection system according to claim 1, characterized in that: The welding detection system also includes: The rotating mechanism includes a rotating driving member arranged on the third motion frame, and the rotating driving member is connected to the second visual module through the rotating shaft.

4. The welding detection system according to claim 3, characterized in that: The rotating mechanism also includes a rotating frame, which includes a swing arm and a mounting plate installed on the swing arm. The swing arm is connected to the rotating shaft, and the second visual module is installed on the mounting plate.

5. The welding detection system according to claim 4, characterized in that: The swing arm is provided with a limit rod, and the limit rod can swing along with the swing arm; The third motion frame is provided with a position sensor, and the position sensor is located on the swing path of the limit rod, and is used to cooperate with the limit rod to determine the position of the second visual module.

6. The welding detection system according to claim 1 or 2, characterized in that: The visual mechanism further comprises a light source arranged on the fixing plate.

7. The welding detection system according to claim 6, characterized in that: The fixing plate is provided with a through hole, the first visual module is arranged on one side of the fixing plate along the first direction and the lens of the first visual module is located at the through hole, and the light source is arranged on the other side of the fixing plate along the first direction.

8. The welding detection system according to claim 7, characterized in that: The light source includes two bar-shaped light sources, the two bar-shaped light sources are arranged at an interval, and the through hole and the lens of the first visual module are both located between the two bar-shaped light sources.

9. The welding detection system according to claim 7, characterized in that: The light source comprises a surface light source, the surface light source is provided with a light-transmitting portion, and the light-transmitting portion corresponds to the through hole.

10. The welding detection system according to claim 6, characterized in that: The first visual module and the light source are located on the same side of the fixing plate along the first direction.

11. The welding detection system according to claim 1, characterized in that: The first motion mechanism also includes two first guide rails and a first motion driving member. The two first guide rails are arranged at intervals along the second direction, and each first guide rail extends along the first direction. The two ends of the first motion frame are respectively slidably set on the two first guide rails, and the first motion driving member is connected to the first motion frame.

12. The welding detection system according to claim 11, characterized in that: The second motion mechanism includes a second guide rail and a second motion driving member, the second guide rail is arranged on the first motion frame and extends along the second direction, the second motion frame is slidably arranged on the second guide rail, and the second motion driving member is connected to the second motion frame.

13. The welding detection system according to claim 12, characterized in that: The third motion mechanism includes a third guide rail and a third motion driving member. The third guide rail is arranged on the second motion frame and extends along the third direction. The third motion frame is slidably arranged on the third guide rail. The third motion driving member is connected to the third motion frame.

14. The welding detection system according to claim 1 or 2, characterized in that: The welding detection system also includes: The lifting mechanism is located below the detection mechanism along the third direction and is used to support the battery and lift it up and down along the third direction.

15. The welding detection system according to claim 14, characterized in that: The lifting mechanism comprises: A base plate is provided with a guide shaft extending along the third direction; A positioning plate, slidably connected to the guide shaft; A lifting drive component is arranged on the base plate and connected to the positioning plate, and is used for driving the positioning plate to rise and fall along the third direction.

16. A welding detection method, applied to a welding detection system, the welding detection system comprising an image processing device and a detection mechanism, the detection mechanism comprising a first motion mechanism, a second motion mechanism, a third motion mechanism and a visual mechanism, the visual mechanism comprising a first visual module and a second visual module, characterized in that: The welding detection method comprises: The first moving frame in the first moving mechanism moves along a first direction, and the second moving frame in the second moving mechanism moves along a second direction, and the first visual module and the second visual module follow the first moving frame and the second moving frame to arrive at a first image acquisition point, wherein the first image acquisition point corresponds to the position of the first welding seam of the battery, the first welding seam extends along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; The third motion frame in the third motion mechanism is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third motion frame and respectively capture images of the first welding seam at different shooting angles to obtain a first image and a second image corresponding to the first welding seam; The image processing device analyzes and processes the first image and the second image to determine a detection result of the first welding seam; The second moving frame moves along the second direction, the second visual module rotates around a rotation axis extending along the third direction, the first visual module and the second visual module follow the second moving frame to reach a second image acquisition point, the second image acquisition point corresponds to the position of the second welding seam of the battery, and the second welding seam is located on one side of the first welding seam along the second direction; The third moving frame is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively capture images of the second welding seam at different shooting angles to obtain a third image and a fourth image corresponding to the second welding seam; The image processing device analyzes and processes the third image and the fourth image to determine a detection result of the second welding seam; Wherein, the welding detection system includes two detection mechanisms, and the two detection mechanisms are arranged at intervals along the first direction; the visual mechanism also includes a fixed plate arranged on the third moving frame, and the first visual module is arranged on the fixed plate.

17. The welding detection method according to claim 16, characterized in that: The first motion frame in the first motion mechanism moves along a first direction, the second motion frame in the second motion mechanism moves along a second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to arrive at a first image acquisition point, including: The first visual module follows the first motion frame and the second motion frame to arrive at the first image acquisition point; The third moving frame is lifted and lowered along the third direction, and the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively collect images of the first welding seam, and the first image and the second image corresponding to the first welding seam are obtained, including: The third moving frame is lifted and lowered along a third direction, and the first visual module collects an image of the first welding seam to obtain the first image; The first motion frame in the first motion mechanism moves along a first direction, the second motion frame in the second motion mechanism moves along a second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to arrive at a first image acquisition point, further comprising: The second motion frame moves along a second direction, and the second visual module follows the second motion frame to reach the first image acquisition point; The third moving frame is lifted and lowered along the third direction, the first visual module and the second visual module follow the lifting and lowering of the third moving frame and respectively collect images of the first welding seam, and the first image and the second image corresponding to the first welding seam are obtained, and the following further includes: The third moving frame is lifted and lowered along the third direction, and the second visual module collects an image of the second welding seam to obtain the second image.

18. The welding detection method according to claim 16 or 17, characterized in that: The welding detection system comprises two detection mechanisms, which are respectively located on two sides of the battery along the first direction. When one of the detection mechanisms executes the steps that the first motion frame in the first motion mechanism moves along the first direction, the second motion frame in the second motion mechanism moves along the second direction, and the first visual module and the second visual module follow the first motion frame and the second motion frame to reach the first image acquisition point, the welding detection method further includes: The first visual module and the second visual module in another detection mechanism arrive at a third image acquisition point, and the third image acquisition point corresponds to the position of the third welding seam of the battery, and the third welding seam is located on the opposite side of the second welding seam along the first direction; When one of the detection mechanisms executes the steps of the second motion frame moving along the second direction, the second visual module rotating around the rotation axis extending along the third direction, and the first visual module and the second visual module following the second motion frame to reach the second image acquisition point, the welding detection method further includes: The first vision module and the second vision module in another detection mechanism arrive at a fourth image acquisition point, wherein the fourth image acquisition point corresponds to the position of the fourth welding seam of the battery, and the fourth welding seam is located on the opposite side of the first welding seam along the first direction.

Images