Burr detection equipment and burr detection method

Abstract

The invention discloses burr detection equipment and a burr detection method, and relates to the technical field of battery manufacturing. The burr detection equipment comprises an equipment support, a first visual detection module and a second visual detection module, the equipment support is sequentially provided with a supporting module, a first guide rail structure and a second guide rail structure, and the extending directions of the first guide rail structure and the second guide rail structure intersect with the arrangement direction of the first guide rail structure, the supporting module and the second guide rail structure; the first visual detection module and the second visual detection module are respectively used for moving along the extension directions of the first guide rail structure and the second guide rail structure, the first visual detection module and the second visual detection module are respectively used for detecting burrs on two first sides of a pole piece, and the first reflecting prism is used for reflecting light from the side edge of a pole lug to a first end face camera of the first visual detection module; therefore, burr detection can be carried out on the two first edges at the same time under the condition that the pole piece is static, the burr detection rhythm is improved, jitter of the pole piece is reduced, the detection precision is improved, and layout limitation can be reduced through the first reflecting prism.

Description

Technical Field

[0001] The present application relates to the field of battery manufacturing technology, and in particular to a burr detection device and a burr detection method. Background Art

[0002] In the processing of lithium-ion batteries, sodium-ion batteries and other batteries, die-cutting, slitting, winding or lamination processes are essential in battery production. Die-cutting requires cutting the foil area of ​​the pole piece to cut out the pole ear; slitting requires dividing the pole piece into strips, and winding or lamination requires cutting the pole piece into segments.

[0003] For these cutting processes, due to material defects, blade wear and other reasons, the electrode may have excessive burrs after cutting. Summary of the invention

[0004] The main purpose of this application is to propose a burr detection device and a burr detection method, which are intended to detect burrs that may exist after pole piece cutting.

[0005] To achieve the above-mentioned purpose, the burr detection device proposed in the present application is used to detect burrs on a pole piece, wherein the pole piece includes two first sides arranged oppositely and two second sides arranged oppositely, the length of the first side is greater than the length of the second side, and the burr detection device includes a device bracket, a first visual detection module and a second visual detection module, and the device bracket is provided with a first guide rail structure, a support module and a second guide rail structure in sequence, and the extension direction of the first guide rail structure and the extension direction of the second guide rail structure respectively intersect with the arrangement direction of the first guide rail structure, the support module and the second guide rail structure; the support module is used to support the pole piece, and the first side is used to be parallel to the extension direction of the first guide rail structure; the first visual detection module is connected to the first guide rail structure, and the first visual detection module is used to move along the extension direction of the first guide rail structure, and the first visual detection module is used to detect burrs on the first side ... A visual inspection module includes a first end face camera and a first end face light source, the optical axis of the light incident end of the first end face camera is parallel to the supporting surface of the supporting module, and the first end face camera is used to capture the image of the end face of the pole piece on the first side; the first end face light source is arranged corresponding to the first end face camera, and the first end face light source is used to illuminate the end face of the pole piece on the first side; the pole piece is provided with a pole ear on the first side, and the surface plane of the pole ear is parallel to the surface plane of the body of the pole piece; the first visual inspection module includes a first reflecting prism, the first reflecting prism is used to be arranged between the first end face camera and the side of the pole ear, and the first reflecting prism is used to reflect the light from the side of the pole ear to the first end face camera; the second visual inspection module is connected to the second guide rail structure, the second visual inspection module is used to move along the extension direction of the second guide rail structure, and the second visual inspection module is used to detect burrs on the other first side.

[0006] When the burr detection device proposed in the present application is in use, the first visual detection module and the second visual detection module can move along the extension directions of the first guide rail structure and the second guide rail structure respectively, so that burr detection can be performed on the two first sides of the pole piece at the same time when the pole piece is placed statically on the supporting module, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece, which is beneficial to improving the detection accuracy; in addition, for the first guide rail structure, the supporting module and the second guide rail structure arranged in sequence, the extension direction of the first guide rail structure and the extension direction of the second guide rail structure respectively intersect with the arrangement direction of the first guide rail structure, the supporting module and the second guide rail structure, and the first edge of the pole piece is used to be parallel to the extension direction of the first guide rail structure, which is beneficial to improve the compactness of the burr detection device and reduce the space occupied by the burr detection device.

[0007] In addition, the first reflecting prism can reflect light from the side of the pole ear to the first end surface camera, so that the arrangement position of the first end surface camera is more flexible, reducing the layout restrictions of the first visual inspection module.

[0008] Optionally, the burr detection device includes a first position sensor and a first lateral moving module, the first position sensor is used to detect the position of the first edge, the first position sensor is electrically connected to the first lateral moving module; the first lateral moving module is movably connected to the first guide rail structure, the first lateral moving module is used to move along the extension direction of the first guide rail structure; the first lateral moving module is also connected to the first end surface camera, the first lateral moving module is used to move the first end surface camera along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the first end surface camera moves transversely to the length direction of the first edge.

[0009] At this time, by enabling the first position sensor to detect the position of the first edge, the first position sensor is electrically connected to the first lateral moving module, and the first lateral moving module enables the first end face camera to move transversely to the length direction of the first edge. When the accuracy of the pole piece clamping position is low, the burr detection equipment can adjust the distance from the first end face camera to the first edge according to the first position sensor, thereby realizing dynamic focusing of the first end face camera, which is beneficial to improving imaging accuracy and detection accuracy through the first end face camera.

[0010] Optionally, the first visual inspection module also includes a longitudinal moving module, which is connected to the first transverse moving module; one of the longitudinal moving module and the first transverse moving module is movably connected to the first guide rail structure and is used to move along the extension direction of the first guide rail structure, and the other of the longitudinal moving module and the first transverse moving module is connected to the first end face camera and moves the first end face camera perpendicular to the extension direction of the first guide rail structure, so that the first end face camera moves perpendicular to the length direction of the first side; and / or, the first visual inspection module includes two oppositely arranged first reflection prisms, the two first reflection prisms are respectively arranged on both sides of the same pole ear, and the optical axis of the light incident end of the first end face camera is arranged between the two first reflection prisms.

[0011] At this time, the first end face camera can complete burr detection on the side of the pole ear through the longitudinal moving module and the first transverse moving module, thereby improving the detection efficiency; the first visual inspection module includes two relatively arranged first reflecting prisms, so that the same first end face camera can image the two sides of the pole ear to complete burr detection, thereby reducing the number requirement of the first end face cameras and reducing the equipment cost of the burr detection equipment.

[0012] Optionally, the first visual inspection module includes a second end face camera and a second end face light source, the optical axis of the light incident end of the second end face camera is parallel to the supporting surface of the supporting module, and the second end face camera is used to capture the image of the end face of the pole piece on the first side; the second end face light source is arranged corresponding to the second end face camera, and the second end face light source is used to illuminate the end face of the pole piece on the first side; the second end face camera and the first end face camera are arranged along the extension direction of the first guide rail structure, and in the direction parallel to the supporting surface of the supporting module, the distance from the second end face camera to the supporting module is smaller than the distance from the first end face camera to the supporting module; the burr detection equipment includes a second lateral moving module, the first position sensor is electrically connected to the second lateral moving module; the second lateral moving module is connected to the second end face camera, and the second lateral moving module is used to move the second end face camera along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the second end face camera moves transversely to the length direction of the first side.

[0013] At this time, in the direction parallel to the support surface of the support module, the distance from the second end face camera to the support module is smaller than the distance from the first end face camera to the support module, and the first side of the pole piece outside the pole ear is usually relatively straight, and the burr detection device can use the second end face camera with a shorter distance and a smaller focal length to improve the imaging quality, which is conducive to improving the detection quality; the distances from each point on the side of the pole ear to the first side are different, and the burr detection device can use the first end face camera with a longer distance and a larger focal length to improve the depth of field range, so as to facilitate covering each position on the side of the pole ear, reduce the movement requirements of the first end face camera, and simplify the control of the first end face camera. In addition, by making the first position sensor detect the position of the first side, the first position sensor is electrically connected to the second lateral movement module, and the second lateral movement module moves the second end face camera transversely to the length direction of the first side, the burr detection device can adjust the distance from the second end face camera to the first side according to the first position sensor when the accuracy of the pole piece clamping position is low, so as to realize the dynamic focusing of the second end face camera, which is conducive to improving the imaging accuracy and detection accuracy through the second end face camera.

[0014] Optionally, the first visual detection module includes a first plane camera and a first plane light source, the optical axis of the light incident end of the first plane camera is perpendicular to the supporting surface of the supporting module, the first plane camera is arranged opposite to the first edge, and the first plane camera is used to capture the image of the surface of the pole piece parallel to the supporting surface; the first plane light source is arranged opposite to the first edge, and the first plane light source is used to illuminate the surface of the pole piece parallel to the supporting surface; the first plane camera is movably connected to the first guide rail structure, and the first plane camera is used to move along the extension direction of the first guide rail structure.

[0015] At this time, the first plane camera can move along the extension direction of the first guide rail structure, so that it can perform burr detection on the surface of the first edge of the pole piece parallel to the supporting surface when the pole piece is statically placed on the supporting module, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece, which is beneficial to improving imaging accuracy and detection accuracy.

[0016] Optionally, the first visual inspection module includes a mounting plate, which is movably mounted on the first guide rail structure, and the mounting plate is used to move along the extension direction of the first guide rail structure; the longitudinal moving module is mounted on the mounting plate, and the first reflecting prism is mounted on the mounting plate; the first transverse moving module is mounted on the longitudinal moving module, and the first end face camera is mounted on the first transverse moving module; the first end face light source is relatively fixed to the first end face camera, and the first end face light source is mounted on the first transverse moving module; the second transverse moving module is mounted on the mounting plate, the second end face camera is relatively fixed to the second end face light source, and the second end face camera and the second end face light source are respectively mounted on the second transverse moving module; the burr detection equipment also includes a first lifting module, and the first lifting module is mounted on the mounting plate; the first The plane camera is connected to the first lifting module, and the first lifting module is used to lift the first plane camera; the first plane light source is connected to the supporting module, the light output end of the first plane light source is facing the first plane camera, and the light output end of the first plane light source is lower than the supporting surface of the supporting module in the direction of gravity, and the first plane light source is used to be arranged on the side of the supporting surface of the supporting module that is away from the first plane camera; and / or, the pole ear is provided with a reinforcing rib, and the reinforcing rib is raised or recessed in a direction perpendicular to the supporting surface of the supporting module; the first visual detection module also includes a depth detection camera, the optical axis of the light input end of the depth detection camera is perpendicular to the supporting surface of the supporting module, the depth detection camera is used to be arranged opposite to the pole ear, and the depth detection camera is used to detect the protruding height or recessed depth of the reinforcing rib.

[0017] At this time, the mounting plates included in the first visual inspection module are respectively conducive to improving the installation convenience of the longitudinal moving module, the second transverse moving module, and the first lifting module; in addition, the first end face camera and the first end face light source can move relative to the mounting plate, and the first reflecting prism can be fixed relative to the mounting plate. When the burrs on the side of the pole ear are detected by the first end face camera, it is conducive to reducing the risk of the first reflecting prism hitting the pole ear, while reducing the need to move the first reflecting prism, and improving the overall convenience of movement. On the other hand, the first lifting module is conducive to improving the convenience of adjusting the focal length of the first plane camera by lifting the first plane camera.

[0018] Optionally, the second visual inspection module includes a third end face camera and a third end face light source, the optical axis of the light incident end of the third end face camera is parallel to the supporting surface of the supporting module, and the third end face camera is used to capture the image of the end face of the pole piece on the other first side; the third end face light source is arranged corresponding to the third end face camera, and the third end face light source is used to illuminate the end face of the pole piece on the other first side; the burr detection equipment includes a second position sensor and a third lateral movement module, the second position sensor is used to detect the position of the other first side, and the second position sensor is electrically connected to the third lateral movement module; the third lateral movement module is movably connected to the second guide rail structure, and the third lateral movement module is used to move along the extension direction of the second guide rail structure; the third lateral movement module is also connected to the third end face camera, and the third lateral movement module is used to move the third end face camera along the arrangement direction of the first guide rail structure, the supporting module and the second guide rail structure, so that the third end face camera moves transversely to the length direction of the other first side.

[0019] At this time, by enabling the second position sensor to detect the position of the other first side, the second position sensor is electrically connected to the third lateral moving module, and the third lateral moving module enables the third end face camera to move transversely to the length direction of the other first side. When the accuracy of the pole piece clamping position is low, the burr detection equipment can adjust the distance from the third end face camera to the other first side according to the second position sensor, thereby realizing dynamic focusing of the third end face camera, which is beneficial to improving imaging accuracy and detection accuracy through the third end face camera.

[0020] Optionally, the second visual detection module includes a second plane camera and a second plane light source, the optical axis of the light incident end of the second plane camera is perpendicular to the support surface of the support module, the second plane camera is arranged opposite to the other first side, and the second plane camera is used to capture the image of the surface of the pole piece parallel to the support surface; the second plane light source is arranged opposite to the other first side, and the second plane light source is used to illuminate the surface of the pole piece parallel to the support surface; the second plane camera is movably connected to the second guide rail structure, and the second plane camera is used to move along the extension direction of the second guide rail structure.

[0021] At this time, the second plane camera can move along the extension direction of the second guide rail structure, so that burr detection can be performed on the surface of the other first side of the pole piece parallel to the supporting surface when the pole piece is statically placed on the supporting module, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece, which is beneficial to improving imaging accuracy and detection accuracy.

[0022] Optionally, the second visual detection module also includes a second reflecting prism, which is arranged opposite to the second plane camera; the second reflecting prism is lower than the supporting surface of the supporting module in the direction of gravity, and the second reflecting prism is used to reflect the light on the surface of the pole piece facing away from the second plane light source to the second plane camera.

[0023] At this time, relative to the first side with the pole ear, the other first side is usually formed by a slitting process and may cause leakage of aluminum or other materials; the second reflecting prism can reflect the light on the surface of the pole piece facing away from the second plane light source to the second plane camera, which is conducive to imaging the surface of the pole piece facing away from the second plane light source and completing leakage detection.

[0024] Optionally, the burr detection device includes a fourth lateral moving module, which is movably connected to the second guide rail structure, and is used to move along the extension direction of the second guide rail structure; the fourth lateral moving module is also connected to the second reflective prism, and is used to move the second reflective prism along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the second reflective prism moves transversely to the length direction of the first edge until it is covered by the pole piece; the support module is provided with an avoidance space, and the avoidance space is arranged opposite to the second reflective prism, and the second reflective prism is used to move transversely to the length direction of the first edge into the avoidance space.

[0025] At this time, the burr detection equipment can use the fourth lateral moving module to move the second reflecting prism transversely to the length direction of the first edge until it is covered by the pole piece, thereby reducing the interference of the reflected light of the second reflecting prism when leak detection is performed on the surface of the pole piece facing the second planar light source, thereby improving the imaging precision and detection accuracy.

[0026] Optionally, the second visual inspection module includes a connecting frame, which is movably mounted on the second guide rail structure, and the connecting frame is used to move along the extension direction of the second guide rail structure; the third transverse moving module is mounted on the connecting frame, and the third end face camera is mounted on the third transverse moving module; the third end face light source is relatively fixed to the third end face camera, and the third end face light source is mounted on the third transverse moving module; the burr detection equipment also includes a second lifting module, which is mounted on the connecting frame; the second plane camera is connected to the second lifting module, and the second lifting module is used to lift the second plane camera; the second plane light source is connected to the connecting frame, and the light emitting direction of the second plane light source is back to the second plane camera; the second plane light source is used to be arranged opposite to the other first side, and the second plane light source is used to illuminate the plane of the pole piece parallel to the support surface of the support module; the fourth transverse moving module is mounted on the connecting frame, and the second reflecting prism is mounted on the fourth transverse moving module.

[0027] At this time, the connecting frame included in the second visual inspection module is conducive to improving the installation convenience of the third lateral moving module, the second lifting module, the second plane light source and the fourth lateral moving module; in addition, the second lifting module is used to lift the second plane camera, which is conducive to improving the convenience of adjusting the focal length of the second plane camera.

[0028] Optionally, the support module includes two first support plates and at least one second support plate that are spaced apart from each other, and the second support plate is arranged in the interval between two adjacent first support plates; the extension direction of the first support plate and the extension direction of the second support plate respectively intersect with the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, the plate surface of the first support plate and the plate surface of the second support plate are used to form the support surface of the support module, and the first support plate and the second support plate are respectively used to support the pole piece.

[0029] At this time, the extension direction of the first support plate and the extension direction of the second support plate intersect with the arrangement directions of the first guide rail structure, the support module and the second guide rail structure respectively, and the burr detection equipment can support the two first edges of the pole piece respectively through the first support plate and the second support plate; in addition, the second support plate is arranged in the interval between two adjacent first support plates, and can support the internal area of ​​the pole piece, which is beneficial to improving the overall flatness of the pole piece and ensuring that the first edge and the second edge are within the visual detection range, and reduces the risk of accidental movement of the pole piece during movement.

[0030] Optionally, the support module further comprises a distance adjusting device, a power output end of the distance adjusting device is connected to the first support plate, and the distance adjusting device is used to increase or decrease the spacing distance between the two first support plates.

[0031] At this time, the distance adjusting device can be compatible with pole pieces of different widths by increasing or decreasing the spacing distance between the two first support plates.

[0032] Optionally, the support module further includes a lifting device, a power output end of the lifting device is connected to the second support plate, and the lifting device is used to lift the second support plate relative to the first support plate.

[0033] At this time, when the distance adjusting device increases the spacing between the two first support plates to accommodate a wider pole piece, the lifting device can raise the second support plate to support the middle area of ​​the pole piece, which is beneficial to improving the flatness of the pole piece.

[0034] Optionally, the support module includes at least two second support plates and at least two lifting devices, and the second support plates and the lifting devices are connected in a one-to-one correspondence.

[0035] At this time, the support module includes at least two second support plates and at least two lifting devices, which is beneficial to further improve the flatness of the pole piece by increasing the support points.

[0036] Optionally, the second guide rail structure is higher than the support surface of the support module in the direction of gravity, and the distance adjustment device is connected to the first support plate facing the second visual inspection module so that the first support plate facing the second visual inspection module moves along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure.

[0037] At this time, the second guide rail structure is higher than the support surface of the support module in the gravity direction, so that the first support plate connected to the distance adjustment device can be avoided, reducing the risk of collision.

[0038] Optionally, the equipment bracket also includes a fifth lateral moving module, which is connected to the support module, and the fifth lateral moving module is used to move the support module along the arrangement direction of the first guide rail structure and the second guide rail structure, and the support module is used to move under the second guide rail structure; and / or, the burr detection device also includes an abutment rod and a sixth lateral moving module, and the abutment rod is arranged on the side facing the second visual inspection module; the sixth lateral moving module is connected to the abutment rod, and the sixth lateral moving module is used to move the abutment rod along the arrangement direction of the first guide rail structure and the second guide rail structure; the length direction of the abutment rod is parallel to the extension direction of the second guide rail structure, the pole piece is used to extend out of the support surface of the support module in the direction away from the first visual inspection module, and the abutment rod is used to abut the edge of the pole piece; and / or, the first support plate away from the second visual inspection module is provided with a support protrusion, the support protrusion is arranged on the side of the first support plate away from the second visual inspection module, the support protrusion is used to support the pole ear of the pole piece, and the support protrusion is movably connected to the first support plate along the extension direction of the first support plate.

[0039] At this time, the fifth lateral moving module can move the support module to pass under the second guide rail structure, thereby realizing the feeding action of the pole piece and reducing the risk of collision. The length direction of the abutment rod is parallel to the extension direction of the second guide rail structure, so that the pole piece extending out of the support surface of the support module can be positioned, and the positioning efficiency of the pole piece is improved during the placement of the pole piece. In addition, the support protrusion can further improve the overall flatness of the pole piece by supporting the pole piece; the support protrusion is movably connected to the first support plate along the extension direction of the first support plate, so that the support protrusion can be suitable for pole pieces with different pole ear positions.

[0040] Optionally, an adsorption through hole is provided on the support plate surface of at least one of the first support plate, the second support plate and the support protrusion, and the adsorption through hole is used to connect the negative pressure device to adsorb the pole piece.

[0041] At this time, at least one of the first support plate, the second support plate and the support protrusion is provided with an adsorption through hole on the support plate surface, which is beneficial to improve the fit between the pole piece and the first support plate, the second support plate or the support protrusion, and is beneficial to improve the overall flatness of the pole piece and ensure that the first edge and the second edge are within the visual detection range, and reduce the risk of accidental movement of the pole piece during movement.

[0042] Optionally, the burr detection device also includes a size detection module, a first visual detection module, a size detection module and a second visual detection module are arranged in sequence; the size detection module is connected to the equipment bracket, the size detection module is arranged above the support module, and the size detection module is used to detect the size of the pole piece.

[0043] At this time, the burr detection device can realize the size detection of the pole piece through the size detection module. The first visual detection module, the size detection module and the second visual detection module are arranged in sequence, which is conducive to further improving the compactness of the burr detection device.

[0044] The present application also provides a burr detection method, which is used to detect burrs of a pole piece, wherein the pole piece includes two first sides arranged oppositely and two second sides arranged oppositely, and the length of the first side is greater than the length of the second side. The burr detection method includes the following steps: Place the pole piece onto the support module; Move the first visual inspection module parallel to the length direction of one of the first edges and inspect the burrs on the first edge; The second visual inspection module moves parallel to the length direction of another first side and detects burrs on the first side; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and inspecting the burrs of the first edge comprises: The light from the side of the tab is reflected to the first end face camera of the first visual inspection module through the first reflecting prism to detect the burrs on the side of the tab.

[0045] When the burr detection method proposed in the present application is in use, the first visual detection module and the second visual detection module can be moved along the length direction of the two first sides respectively, so that the burr detection can be performed on the two first sides of the pole piece at the same time when the pole piece is placed statically on the supporting module, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece, which is beneficial to improving the detection accuracy.

[0046] In addition, by reflecting the light from the side of the pole ear to the first end face camera of the first visual inspection module through the first reflecting prism to detect the burrs on the side of the pole ear, the arrangement position of the first end face camera can be more flexible, which is conducive to reducing the layout restrictions of the first visual inspection module.

[0047] Optionally, the burr detection method further includes the following steps: For the pole piece placed on the supporting module, the first position information of the pole piece is detected by the size detection module; According to the first position information, the first visual inspection module moves to a first preset position; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and inspecting the burrs of the first edge comprises: During the movement of the first visual inspection module, second position information of the first side is acquired by the first position sensor; According to the second position information, the position of the first visual inspection module is adjusted during the movement of the first visual inspection module.

[0048] At this time, through the first position information and the corresponding movement of the pole piece, the first visual detection module can complete the rough positioning relative to the pole piece; through the second position information and the corresponding movement, the first visual detection module can complete the fine positioning relative to the pole piece, which is conducive to making the first edge accurately located within the detection range of the first visual detection module, which is conducive to improving the detection accuracy.

[0049] Optionally, the pole piece is provided with a pole ear on the first side, and the surface plane of the pole ear is parallel to the surface plane of the body of the pole piece; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and inspecting the burrs of the first edge comprises: The first visual inspection module detects the burrs of the portion of the first side outside the tab, and obtains third position information of the portion of the first side outside the tab through the first position sensor; According to the third position information, the depth of field range of the camera corresponding to the first visual inspection module covers various positions on the side of the tab, and correspondingly detects the end face burrs on the side of the tab.

[0050] At this time, the burr detection method can determine the degree of deflection of the pole piece through the third position information, thereby ensuring that the depth of field range of the camera corresponding to the first visual inspection module covers all positions on the side of the pole ear according to the third position information, which is beneficial to improving imaging accuracy and detection accuracy.

[0051] Optionally, the burr detection method further includes the following steps: For the pole piece placed on the supporting module, the first position information of the pole piece is detected by the size detection module; According to the first position information, the second visual inspection module moves to a second preset position; The step of moving the second visual inspection module parallel to the length direction of another first side and inspecting the burrs of the first side comprises: During the movement of the second visual inspection module, fourth position information of another first side is acquired by the second position sensor; According to the fourth position information, the position of the second visual inspection module is adjusted during the movement of the second visual inspection module.

[0052] At this time, through the first position information and the corresponding movement of the pole piece, the second visual detection module can complete the rough positioning relative to the pole piece; through the fourth position information and the corresponding movement, the second visual detection module can complete the fine positioning relative to the pole piece, which is conducive to making the other first edge accurately located within the detection range of the second visual detection module, which is conducive to improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0054] Figure 1 A three-dimensional diagram of an embodiment of a burr detection device provided by the present application; Figure 2 A front view of an embodiment of a burr detection device provided by the present application; Figure 3 This is a schematic diagram of the use of a local structure of an embodiment of the present application from a left-view direction; Figure 4 A three-dimensional schematic diagram of a partial structure of an embodiment of the present application; Figure 5 This is a schematic diagram of a partial structure of an embodiment of the present application from a top view; Figure 6 This is a three-dimensional schematic diagram of the use of the first visual detection module in one embodiment of the present application; Figure 7 This is a schematic diagram of the use of the first visual detection module in a top-down direction in one embodiment of the present application; Figure 8 This is a schematic diagram of the use of the first visual detection module in one embodiment of the present application; Fig. 9 This is another schematic diagram of the use of the first visual inspection module in one embodiment of the present application; Fig.10 for Figure 3 A partial enlarged view of the middle A; Fig.11 This is a three-dimensional schematic diagram of the use of a support module in one embodiment of the present application; Fig.12 for Fig.11 A partial enlarged view of point B in the middle; Fig.13 This is a schematic diagram of the use of the support module in the right direction in one embodiment of the present application; Fig.14This is a schematic diagram of the use of a support module in a top view in one embodiment of the present application; Fig.15 This is a three-dimensional schematic diagram of the use of the second visual detection module in one embodiment of the present application; Fig.16 This is a schematic diagram of the use of the second visual detection module in one embodiment of the present application; Fig.17 This is a schematic diagram of the use of the second visual detection module in a top-down direction in one embodiment of the present application; Fig.18 Schematic diagram of the use of the rearward viewing direction of the second visual detection module in one embodiment of the present application.

[0055] Description of Figure Numbers: 100, burr detection equipment; 101, outer shell; 102, first operating device; 103, second operating device; 104, electric cabinet; 105, door body; 106, warning light; 107, feed inlet; 108, grating assembly; 109, equipment base; 110, first visual inspection module; 111, first end face camera; 112, first end face light source; 113, first reflecting prism; 1131, first light-transmitting surface; 1132, first reflecting surface; 114, second end face camera; 115, second end face light source; 116, first plane camera; 117, first plane light source; 120, second visual inspection module; 121, third end face camera; 122, third end face light source; 123, second plane camera; 124, second plane light source; 125, second reflecting prism; 1251, second light-transmitting surface; 1252, second reflecting surface; 1253, third reflecting surface; 130, equipment bracket; 131, first guide rail structure; 132, second guide rail structure; 133, support module; 134, first support plate; 135, second support plate; 136, lifting device; 137, support convex block; 138, support bottom plate; 139, support top plate; 141. a first position sensor; 142. a second position sensor; 151, first transverse moving module; 152, second transverse moving module; 153, third transverse moving module; 154, fourth transverse moving module; 155, fifth transverse moving module; 156, sixth transverse moving module; 161, longitudinal moving module; 171, mounting plate; 172, connecting frame; 181, first lifting module; 182, second lifting module; 191. Distance adjustment device; 192. Abutment rod; 193. Size detection module; 194. Dust removal module; 195. Cutting platform; 200, pole piece; 210, first side; 211, pole ear; 220, second side.

[0056] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0058] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0059] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0060] In the processing of lithium-ion batteries, sodium-ion batteries and other batteries, die-cutting, slitting, winding or lamination processes are essential in battery production. Die-cutting requires cutting the foil area of ​​the pole piece to cut out the pole ear; slitting requires dividing the pole piece into strips, and winding or lamination requires cutting the pole piece into segments.

[0061] For these cutting processes, due to material defects, blade wear and other reasons, the electrode may have excessive burrs after cutting.

[0062] Therefore, based on the above considerations, in order to detect burrs that may exist after the pole piece is cut, the present application proposes a burr detection device. When in use, the burr detection device can simultaneously perform burr detection on the two first sides of the pole piece when the pole piece is statically placed on the support module.

[0063] Next, the structure of the burr detection device proposed in this application is explained with a specific implementation method.

[0064] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 In one embodiment of the present application, the burr detection device 100 is used to detect burrs of a pole piece 200, the pole piece 200 includes two first sides 210 and two second sides 220, the length of the first side 210 is greater than the length of the second side 220, the burr detection device 100 includes a device bracket 130, a first visual inspection module 110 and a second visual inspection module 120, the device bracket 130 is sequentially provided with a first guide rail structure 131, a support module 133 and a second guide rail structure 132, the extension direction of the first guide rail structure 131 and the extension direction of the second guide rail structure 132 intersect the first guide rail structure 131 and the support module 110, respectively. 33 and the arrangement direction of the second guide rail structure 132; the supporting module 133 is used to support the pole piece 200, and the first edge 210 is used to be parallel to the extension direction of the first guide rail structure 131; the first visual inspection module 110 is connected to the first guide rail structure 131, and the first visual inspection module 110 is used to move along the extension direction of the first guide rail structure 131, and the first visual inspection module 110 is used to detect burrs on the first edge 210; the second visual inspection module 120 is connected to the second guide rail structure 132, and the second visual inspection module 120 is used to move along the extension direction of the second guide rail structure 132, and the second visual inspection module 120 is used to detect burrs on the other first edge 210.

[0065] Reference Figure 5In some embodiments, the pole piece 200 may be provided with a pole ear 211 on the first side 210, and the surface plane of the pole ear 211 is parallel to the surface plane of the body of the pole piece 200. It is understood that one of the first sides 210 provided with the pole ear 211 can be set to face the first visual inspection module 110, and the first side 210 and the pole ear 211 can be formed by a die-cutting process; the other first side 210 can be set to face the second visual inspection module 120, and the first side 210 can be formed by a slitting process. In addition, the two oppositely arranged second sides 220 of the pole piece 200 can be formed by a cutting process. In some embodiments, for the length of the first side 210 being greater than the length of the second side 220, the ratio of the length of the first side 210 to the length of the second side can be set to be greater than or equal to 1.8, for example, set to be greater than or equal to 2. It is understood that the body portion of the pole piece 200 with the pole ear 211 can be set to be rectangular, the first side 210 corresponds to the long side of the rectangle, and the second side 220 corresponds to the short side of the rectangle.

[0066] The first visual inspection module 110 and the second visual inspection module 120 can be respectively understood as modules for performing burr detection through machine vision. Specifically, the burrs in the photos can be identified by taking photos with a camera and then using existing image recognition methods.

[0067] Reference Figure 5 , the arrangement direction of the first rail structure 131, the support module 133 and the second rail structure 132 can be along the Y-axis direction in the figure, and the extension direction of the first rail structure 131 and the extension direction of the second rail structure 132 can be along the X-axis direction in the figure, that is, the extension direction of the first rail structure 131 and the extension direction of the second rail structure 132 can be respectively perpendicular to the arrangement direction of the first rail structure 131, the support module 133 and the second rail structure 132. In addition, the first edge 210 is arranged along the X-axis direction in the figure, so as to be parallel to the extension direction of the first rail structure 131.

[0068] Of course, the extension direction of the first guide rail structure 131 and the extension direction of the second guide rail structure 132 can be inclined to the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132 respectively, and this embodiment does not limit this.

[0069] The connection between the first visual inspection module 110 and the first guide rail structure 131 includes a direct connection and an indirect connection. The indirect connection can be understood as a connection through other components. The movement of the first visual inspection module 110 along the extension direction of the first guide rail structure 131 can be manually controlled by an operator; of course, it can also be machine-controlled by devices such as a drive motor; for example, the equipment bracket 130 can also be provided with a first drive device, which can be set as a drive motor, a drive cylinder, etc.; the first drive device is transmission-connected to the first visual inspection module 110, for example, through the above-mentioned first guide rail structure 131 and transmission structures such as a ball screw, a screw nut, etc., so that the first drive device can be used to move the first visual inspection module 110 along the extension direction of the first guide rail structure 131, for example along Figure 5 Move along the X-axis.

[0070] The connection between the second visual inspection module 120 and the second guide rail structure 132 includes direct connection and indirect connection. The indirect connection can be understood as a connection through other components. The movement of the second visual inspection module 120 along the extension direction of the second guide rail structure 132 can be manually controlled by an operator; of course, it can also be machine-controlled by devices such as a drive motor; for example, the equipment bracket 130 can also be provided with a second drive device, which can be configured as a drive motor, a drive cylinder, etc.; the second drive device is transmission-connected to the second visual inspection module 120, for example, through the above-mentioned second guide rail structure 132 and transmission structures such as a ball screw, a screw nut, etc., so that the second drive device can be used to move the second visual inspection module 120 along the extension direction of the second guide rail structure 132, for example along Figure 5 Move along the X-axis.

[0071] Of course, in some embodiments, reference Figure 1 and Figure 2 The burr detection device 100 may further include an outer shell 101, which may be configured as a rectangular shell. The above-mentioned device bracket 130, the first visual inspection module 110, and the second visual inspection module 120 are respectively arranged in the outer shell 101. In addition, the outer shell 101 may be provided with a first operating device 102, which is electrically connected to the above-mentioned first driving device and the second driving device, respectively, so as to control the movement parameters of the first visual inspection module 110 and the second visual inspection module 120, etc. The first operating device 102 may be configured as a touch screen, and of course the first operating device 102 may also be configured as a keyboard, etc.

[0072] In addition, the outer shell 101 may be provided with a second operating device 103, which is electrically connected to the first visual detection module 110 and the second visual detection module 120, respectively, so as to control the visual detection parameters of the first visual detection module 110 and the second visual detection module 120, for example, to control the focal length and aperture size of the camera of the first visual detection module 110 and the second visual detection module 120. The second operating device 103 may be set as a touch screen, and of course, the second operating device 103 may also be set as a keyboard, etc.

[0073] In some embodiments, reference Figure 1 and Figure 2 The outer shell 101 may also be provided with an electric cabinet 104 and an openable and closable door 105, wherein the electric cabinet 104 contains electric components, such as a power converter, a cooling fan, etc. The door 105 can be opened and closed, so that the internal equipment bracket 130, the first visual inspection module 110, the second visual inspection module 120, etc. can be inspected when opened.

[0074] The outer shell 101 may also be provided with a warning light 106, which may be a three-color light or other light body. The burr detection device 100 further includes a processor, which may be electrically connected to the first visual detection module 110, the second visual detection module 120, and the warning light 106, respectively, so that when the first visual detection module 110, the second visual detection module 120, and other components are abnormal, the warning light 106 may be used to provide a warning, for example, by flashing the warning light 106.

[0075] Of course, the burr detection device 100 may not be provided with the above-mentioned outer shell 101, the first operating device 102, the second operating device 103, the electric cabinet 104, the door 105 or the warning light 106, and this embodiment does not limit this.

[0076] In the above embodiment, when the burr detection device 100 is in use, the first visual detection module 110 and the second visual detection module 120 can move along the extension direction of the first guide rail structure 131 and the second guide rail structure 132, respectively, for example, along Figure 5 The first guide rail structure 131, the support module 133 and the second guide rail structure 132 are arranged in sequence, and the extension direction of the first guide rail structure 131 and the extension direction of the second guide rail structure 132 (for example, along the direction of the first guide rail structure 131 and the direction of the second guide rail structure 132) are arranged in sequence. Figure 5The X-axis direction in the figure) intersects the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132 (for example, along the Figure 5 The first edge 210 of the pole piece 200 is used to be parallel to the extension direction of the first guide rail structure 131 (for example, along the X-axis direction in the figure), which is beneficial to improve the compactness of the burr detection device 100, for example Figure 5 The burr detection device 100 is relatively compact in the Y-axis direction, thereby reducing the space occupied by the burr detection device 100 .

[0077] In some embodiments, reference Figure 6 and Figure 7 The first visual inspection module 110 includes a first end face camera 111 and a first end face light source 112. The optical axis of the light incident end of the first end face camera 111 is parallel to the support surface of the support module 133. The first end face camera 111 is used to capture the image of the end face of the pole piece 200 at the first side 210; for example Figure 5 In the figure, the support surface of the support module 133 is parallel to the XY plane, and the optical axis of the light incident end of the first end surface camera 111 is along the Y axis direction in the figure.

[0078] The first end surface light source 112 can be set as a ring light source. The first end surface light source 112 is set corresponding to the first end surface camera 111. The first end surface light source 112 is used to illuminate the end surface of the pole piece 200 on the first side 210; it can be understood that the light source of the first end surface light source 112 illuminates the area photographed by the first end surface camera 111.

[0079] The burr detection device 100 includes a first position sensor 141 and a first lateral movement module 151. The first position sensor 141 is used to detect the position of the first side 210, and the first position sensor 141 is electrically connected to the first lateral movement module 151. For example, the first position sensor 141 can be electrically connected to the driving device corresponding to the first lateral movement module 151 through the above-mentioned processor, so that according to the preset corresponding relationship between the position of the first side 210 and the first end face camera 111, the position that the first end face camera 111 needs to reach can be determined and driven and controlled by the driving device corresponding to the first lateral movement module 151.

[0080] In some embodiments, the first position sensor 141 can be configured as a photoelectric sensor of a forward-beaming type; of course, the first position sensor 141 can also be configured as an infrared sensor, etc. The first lateral moving module 151 is movably connected to the first rail structure 131, and the first lateral moving module 151 is used to move along the extension direction of the first rail structure 131, for example, along the X-axis direction in the figure. The first lateral moving module 151 is also connected to the first end face camera 111, and the first lateral moving module 151 is used to move the first end face camera 111 along the arrangement direction of the first rail structure 131, the support module 133, and the second rail structure 132, so that the first end face camera 111 moves transversely to the length direction of the first edge 210, for example, the first end face camera 111 moves along the Y-axis direction in the figure. In some embodiments, the first lateral moving module 151 can be configured as a linear slide, wherein the linear slide can include a slide rail and a slide seat, the slide seat is slidably connected to the slide rail, and the slide seat and the slide rail can be driven by a driving device such as a driving motor and a structure such as a screw nut; wherein the slide rail can be slidably connected to the above-mentioned first guide rail structure 131, and the slide seat can be fixedly connected to the above-mentioned first end face camera 111.

[0081] In this embodiment, the first position sensor 141 detects the position of the first edge 210, and the first position sensor 141 is electrically connected to the first lateral movement module 151, and the first lateral movement module 151 moves the first end face camera 111 transversely to the length direction of the first edge 210, for example, along Figure 6 , Figure 7 The burr detection device 100 moves in the Y-axis direction. When the clamping position accuracy of the pole piece 200 is low, the distance from the first end surface camera 111 to the first side 210 can be adjusted according to the first position sensor 141, for example, the distance in the Y-axis direction in the figure is adjusted, thereby realizing dynamic focusing of the first end surface camera 111, which is beneficial to improving the imaging accuracy and detection accuracy through the first end surface camera 111.

[0082] In some embodiments, reference Figure 6 , Figure 7 and Figure 8 The first visual inspection module 110 includes a first reflection prism 113, which is used to be arranged between the first end face camera 111 and the side of the pole ear 211; it can be understood that the pole ear 211, the first reflection prism 113 and the first end face camera 111 are arranged in sequence on the corresponding optical path. The first reflection prism 113 is used to reflect the light from the side of the pole ear 211 to the first end face camera 111, so as to realize imaging of the side of the pole ear 211.

[0083] In some embodiments, the first reflecting prism 113 may be made of a light-transmitting material, such as glass; Figure 8 The first reflecting prism 113 may include a first light-transmitting surface 1131 and a first reflecting surface 1132. The first light-transmitting surface 1131 is used to be arranged opposite to the side of the pole ear 211, which can be understood as the light from the side piece of the pole ear 211 can be transmitted to the first light-transmitting surface 1131; the first reflecting surface 1132 is arranged on the side of the first light-transmitting surface 1131 away from the pole ear 211, which can be understood as the light from the side piece of the pole ear 211 first passes through the first light-transmitting surface 1131 and then reaches the first reflecting surface 1132. The first reflecting surface 1132 is arranged opposite to the first end face camera 111, so as to reflect the light from the side piece of the pole ear 211 to the first end face camera 111 to realize imaging. The first reflecting prism 113 includes the first light-transmitting surface 1131 and the first reflecting surface 1132, which is conducive to simplifying the transmission path of the light from the side piece of the pole ear 211, thereby facilitating improving the overall compactness of the burr detection device 100.

[0084] In addition, in some embodiments, reference Figure 8 , the angle M formed between the first light-transmitting surface 1131 and the first reflective surface 1132 can be set to be greater than or equal to 20 degrees and less than or equal to 70 degrees, and the first light-transmitting surface 1131 is perpendicular to the extension direction of the first guide rail structure 131, for example, the first light-transmitting surface 1131 is perpendicular to the X-axis direction in the figure. Among them, the angle M formed between the first light-transmitting surface 1131 and the first reflective surface 1132 is set to be greater than or equal to 20 degrees and less than or equal to 70 degrees, which is conducive to further simplifying the transmission path of the light from the side piece of the tab 211, thereby further improving the overall compactness of the burr detection device 100.

[0085] In the above embodiment, the first reflecting prism 113 can reflect the light from the side of the pole ear 211 to the first end surface camera 111, so that the arrangement position of the first end surface camera 111 is more flexible. It can be understood that the first end surface camera 111 does not have to be limited to the side facing the pole ear 211, thereby reducing the layout restrictions of the first end surface camera 111.

[0086] In some embodiments, reference Figure 6 and Figure 7The first visual inspection module 110 includes two first reflection prisms 113 arranged opposite to each other. The two first reflection prisms 113 are arranged on both sides of the same pole ear 211, for example, they are arranged on the left and right sides of the pole ear 211 in the figure; in addition, the optical axis of the light incident end of the first end face camera 111 is arranged between the two first reflection prisms 113, which can be understood as the light from the first reflection prisms 113 can enter the first end face camera 111 respectively. It can be understood that the two sides of the pole ear 211 can be illuminated at different times to avoid unnecessary light interference.

[0087] In this embodiment, the first visual inspection module 110 includes two oppositely arranged first reflective prisms 113, so that the same first end face camera 111 can image the two sides of the pole ear 211 to complete burr detection, thereby reducing the required number of first end face cameras 111 and reducing the equipment cost of the burr detection device 100.

[0088] In some implementations, reference Figure 6 and Figure 7 In some embodiments, the burr detection device 100 may further include a dust removal module 194, which is disposed corresponding to the first reflecting prism 113. The dust removal module 194 is used to remove dust from the surface of the first reflecting prism 113, thereby reducing the interference of dust on imaging and improving imaging quality and detection accuracy.

[0089] The dust removal module 194 may include an air outlet device, for example, the air outlet device may be configured as an air knife; the air outlet of the air outlet device is arranged opposite to the surface of the first reflective prism 113, and the air outlet device is used to blow the airflow to the surface of the first reflective prism 113, so as to avoid scratching the first reflective prism 113 while removing dust. The burr detection device 100 may include two dust removal modules 194, and the dust removal modules 194 are arranged one by one with the first reflective prism 113.

[0090] In some embodiments, reference Figure 6 and Figure 7The first visual inspection module 110 also includes a longitudinal moving module 161, which can be set as a structure such as a linear slide; the longitudinal moving module 161 is connected to the first lateral moving module 151; one of the longitudinal moving module 161 and the first lateral moving module 151 is movably connected to the first guide rail structure 131 and is used to move along the extension direction of the first guide rail structure 131, for example, along the X-axis direction in the figure; the other of the longitudinal moving module 161 and the first lateral moving module 151 is connected to the first end surface camera 111 and moves the first end surface camera 111 perpendicular to the extension direction of the first guide rail structure 131, so that the first end surface camera 111 moves perpendicular to the length direction of the first edge 210, for example, along the Y-axis direction in the figure; it can be understood that the longitudinal moving module 161 and the first lateral moving module 151 as a whole can move the first end surface camera 111 along the extension direction of the first guide rail structure 131, and can move perpendicular to the extension direction of the first guide rail structure 131.

[0091] For example, in some embodiments, reference Figure 6 and Figure 7 The first visual inspection module 110 may include a mounting plate 171, which is movably mounted on the first guide rail structure 131, and the mounting plate 171 is used to move along the extension direction of the first guide rail structure 131; for example, the mounting plate 171 is slidably connected to the first guide rail structure 131, so that the mounting plate 171 can move along the extension direction of the first guide rail structure 131, for example, along the X-axis direction in the figure. In addition, the first reflection prism 113 can be mounted on the mounting plate 171, for example, the first reflection prism 113 is fixed on the mounting plate 171 through a support arm, so that the first reflection prism 113 and the first end face camera 111 are at the same height.

[0092] The longitudinal moving module 161 can be installed on the mounting plate 171, the first transverse moving module 151 is installed on the longitudinal moving module 161, and the first end face camera 111 is installed on the first transverse moving module 151. For example, the longitudinal moving module 161 can be set as a linear slide, wherein the linear slide can include a slide rail and a slide seat, the slide seat is slidably connected with the slide rail, and the slide seat and the slide rail can be driven by a driving device such as a driving motor and a structure such as a screw nut; in addition, the slide rail of the longitudinal moving module 161 is fixedly connected to the mounting plate 171, the slide seat of the longitudinal moving module 161 is fixedly connected to the slide rail of the first transverse moving module 151, and the slide seat of the first transverse moving module 151 is fixedly connected to the first end face camera 111. On the other hand, the first end surface light source 112 is relatively fixed to the first end surface camera 111 , and the first end surface light source 112 is installed on the first transverse moving module 151 , for example, the first end surface light source 112 is fixed on the sliding platform of the first transverse moving module 151 .

[0093] In this embodiment, the mounting plate 171 included in the first visual inspection module 110 is respectively conducive to improving the installation convenience of the longitudinal moving module 161 and the second transverse moving module 152. In addition, the first end face camera 111 and the first end face light source 112 can be moved relative to the mounting plate 171, and the first reflecting prism 113 can be fixed relative to the mounting plate 171; it can be understood that when detecting the end face burrs of the pole ear 211, the first end face camera 111 and the first end face light source 112 are moved, and the first reflecting prism 113 is fixed; thus, when the burrs on the side of the pole ear 211 are detected by the first end face camera 111, it is conducive to reducing the risk of the first reflecting prism 113 hitting the pole ear 211, while reducing the movement requirements of the first reflecting prism 113, and improving the overall convenience of movement.

[0094] In the above embodiment, the first end face camera 111 can complete the burr detection on the side of the tab 211 through the longitudinal moving module 161 and the first transverse moving module 151, thereby improving the detection efficiency.

[0095] In some embodiments, reference Figure 6 and Figure 7 The first visual inspection module 110 includes a second end face camera 114 and a second end face light source 115. The optical axis of the light incident end of the second end face camera 114 is parallel to the support surface of the support module 133. The second end face camera 114 is used to capture the image of the end face of the pole piece 200 at the first side 210; for example Figure 7 In the figure, the support surface of the support module 133 is parallel to the XY plane, and the optical axis of the light incident end of the second end surface camera 114 is along the Y axis direction in the figure.

[0096] The second end surface light source 115 can be set as a ring light source. The second end surface light source 115 is set corresponding to the second end surface camera 114. The second end surface light source 115 is used to illuminate the end surface of the pole piece 200 on the first side 210; it can be understood that the light source of the second end surface light source 115 illuminates the area photographed by the second end surface camera 114.

[0097] Reference Figure 4 and Figure 7 , the second end face camera 114 and the first end face camera 111 are arranged along the extension direction of the first guide rail structure 131, for example, along the X-axis direction in the figure. In addition, in the direction parallel to the support surface of the support module 133, the distance from the second end face camera 114 to the support module 133 (for example, the Y-direction distance in the figure) is smaller than the distance from the first end face camera 111 to the support module 133 (for example, the Y-direction distance in the figure); it can be understood that in the Y-axis direction in the figure, relative to the first end face camera 111, the second end face camera 114 is closer to the support module 133.

[0098] Reference Figure 6 and Figure 7 , the burr detection device 100 includes a second lateral moving module 152; referring to Fig. 9 , the first position sensor 141 is electrically connected to the second lateral moving module 152; for example, the first position sensor 141 can be electrically connected to the motor and other driving devices of the second lateral moving module 152 through the above-mentioned processor, so that according to the position of the first edge 210 and the preset correspondence between the second end surface camera 114, the position that the second end surface camera 114 needs to reach can be determined and driven and controlled by the motor and other driving devices of the second lateral moving module 152.

[0099] The second transverse moving module 152 is connected to the second end face camera 114, and the second transverse moving module 152 is used to move the second end face camera 114 along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, so that the second end face camera 114 moves transversely to the length direction of the first side 210, for example, along the Y axis direction in the figure. In some embodiments, the second transverse moving module 152 can be set as a linear slide similar to the first transverse moving module 151, so that the slidable slide seat of the second transverse moving module 152 can be fixedly connected with the second end face camera 114. In addition, the slide rail of the second transverse moving module 152 can be installed on the above-mentioned mounting plate 171, the second end face camera 114 and the second end face light source 115 are relatively fixed, and the second end face camera 114 and the second end face light source 115 are respectively installed on the second transverse moving module 152, for example, respectively installed on the slidable slide seat of the second transverse moving module 152. The mounting plate 171 included in the first visual inspection module 110 is helpful to improve the installation convenience of the second lateral moving module 152 .

[0100] In this embodiment, the first side 210 of the pole piece 200 outside the pole ear 211 is usually relatively straight, and the burr detection device 100 can use a second end face camera 114 with a shorter distance and a smaller focal length to improve the imaging quality, which is beneficial to improving the detection quality; the distances from each point on the side of the pole ear 211 to the first side 210 are different, and the burr detection device 100 can use a first end face camera 111 with a longer distance and a larger focal length to increase the depth of field, thereby facilitating the coverage of various positions on the side of the pole ear 211, reducing the movement requirements of the first end face camera 111, and simplifying the control of the first end face camera 111. In addition, by enabling the first position sensor 141 to detect the position of the first edge 210, the first position sensor 141 is electrically connected to the second lateral moving module 152, and the second lateral moving module 152 enables the second end face camera 114 to move transversely to the length direction of the first edge 210. The burr detection device 100 can adjust the distance from the second end face camera 114 to the first edge 210 according to the first position sensor 141 when the clamping position accuracy of the pole piece 200 is low, thereby realizing dynamic focusing of the second end face camera 114, which is beneficial to improving the imaging accuracy and detection accuracy through the second end face camera 114.

[0101] When the burr detection is performed on the portion of the first edge 210 of the pole piece 200 outside the pole ear 211, the second end face camera 114 can move along the extension direction of the first guide rail structure 131 to perform scanning, for example, along Figure 7 In some embodiments, the first end face camera 111 may use a camera with a larger depth of field to cover the height of the pole lug 211; in this case, the first end face camera 111 may be moved only along the X-axis direction in the figure by the longitudinal moving module 161. It is understandable that in this embodiment, the first transverse moving module 151 may stop driving after the first end face camera 111 moves closer to the pole piece 200 in the Y-axis direction.

[0102] Of course, the first end face camera 111 may also use a camera with a smaller depth of field; according to the position of the first edge 210 detected by the above-mentioned first position sensor 141, when the depth of field of the first end face camera 111 fails to cover the height of the pole ear 211, the first end face camera 111 can be moved in the Y-axis direction through the first lateral moving module 151.

[0103] In some embodiments, reference Figure 5 and Figure 6The first visual inspection module 110 includes a first plane camera 116 and a first plane light source 117. The optical axis of the light-entering end of the first plane camera 116 is perpendicular to the support surface of the support module 133; for example, the support surface of the support module 133 is parallel to the XY plane in the figure, and the optical axis of the light-entering end of the first plane camera 116 is arranged along the Z axis direction in the figure. The first plane light source 117 can be arranged as a strip light source, and the length direction of the strip light source is parallel to the extension direction of the first guide rail structure 131, for example, along the length direction of the strip light source Figure 5 The X-axis direction setting in .

[0104] The first plane camera 116 is disposed opposite to the first edge 210 and is used to capture an image of the surface of the pole piece 200 parallel to the support surface. It can be understood that the first plane camera 116 is used to detect the plane burrs of the first edge 210 .

[0105] The first plane light source 117 is arranged opposite to the first edge 210. The first plane light source 117 is used to illuminate the surface of the pole piece 200 parallel to the support surface. For example, the first plane light source 117, the first edge 210, and the first plane camera 116 can be arranged in sequence along the Z-axis direction in the figure. The first plane camera 116 is movably connected to the first guide rail structure 131, for example, through the above-mentioned mounting plate 171. The first plane camera 116 is used to move along the extension direction of the first guide rail structure 131, for example, along Figure 7 Move in the X-axis direction.

[0106] In this embodiment, the first plane camera 116 can move along the extension direction of the first guide rail structure 131, so that burr detection can be performed on the surface of the first edge 210 of the pole piece 200 parallel to the supporting surface when the pole piece 200 is statically placed on the supporting module 133. For example, scanning detection of plane burrs can be performed by moving along the X-axis direction in the figure, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece 200, which is beneficial to improving imaging accuracy and detection accuracy.

[0107] In some embodiments, the burr detection device 100 further includes a first lifting module 181, which is mounted on the mounting plate 171; the first plane camera 116 is connected to the first lifting module 181, and the first lifting module 181 is used to lift the first plane camera 116. In some embodiments, the first lifting module 181 can be set as a linear slide, wherein the linear slide can include a slide rail and a slide seat, the slide seat is slidably connected to the slide rail, and the slide seat and the slide rail can be driven by a drive device such as a drive motor and a structure such as a screw nut; wherein the slide rail of the first lifting module 181 can be extended along the gravity direction, for example, along the Z-axis direction in the figure, and the slide rail of the first lifting module 181 can be slidably connected to the first guide rail structure 131, for example, through the mounting plate 171 and slidably connected to the first guide rail structure 131; the slide seat of the first lifting module 181 can be fixedly connected to the first plane camera 116, thereby realizing the lifting of the first plane camera 116.

[0108] In addition, refer to Figure 5 The first plane light source 117 is connected to the supporting module 133, the light emitting end of the first plane light source 117 is toward the first plane camera 116, the light emitting end of the first plane light source 117 is lower than the supporting surface of the supporting module 133 in the direction of gravity, and the first plane light source 117 is used to be arranged on the side of the supporting surface of the supporting module 133 that is away from the first plane camera 116. It can be understood that the first plane light source 117 emits light from the side of the pole piece 200 that is away from the first plane camera 116, that is, the first plane light source 117 can be set as a backlight source.

[0109] In this embodiment, the mounting plate 171 included in the first visual inspection module 110 is conducive to improving the installation convenience of the first lifting module 181; in addition, the first lifting module 181 is conducive to improving the convenience of adjusting the focal length of the first plane camera 116 by lifting the first plane camera 116.

[0110] In some embodiments, the height position of the first plane camera 116 can be adjusted by an operator, for example, by the above-mentioned first operating device 102; it is understandable that the first operating device 102 can be correspondingly configured to be electrically connected to a driving device such as a motor of the first lifting module 181.

[0111] In some embodiments, the tab 211 may be provided with a reinforcing rib, which is raised or recessed in a direction perpendicular to the support surface of the support module 133; wherein the reinforcing rib may be formed by a stamping process or the like. The first visual inspection module 110 may also include a depth detection camera, the optical axis of the light-incoming end of the depth detection camera being perpendicular to the support surface of the support module 133, and thus perpendicular to the surface of the tab 211; the depth detection camera is used to be arranged opposite to the tab 211, and the depth detection camera is used to detect the raised height or recessed depth of the reinforcing rib, thereby realizing the size detection of the reinforcing rib.

[0112] In some embodiments, reference Fig.10 and Fig.11 The support module 133 includes two first support plates 134 and at least one second support plate 135, and the second support plate 135 is arranged in the interval between two adjacent first support plates 134; the extension direction of the first support plate 134 and the extension direction of the second support plate 135 intersect with the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, respectively. For example, the extension direction of the first support plate 134 and the extension direction of the second support plate 135 are respectively along Fig.11 The first guide rail structure 131, the support module 133 and the second guide rail structure 132 are arranged in the direction of the Y axis in the figure; wherein the two first support plates 134 can be arranged in the direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, for example, the two first support plates 134 can be arranged in the direction of the Y axis in the figure. Fig.11 The Y-axis spacing setting.

[0113] In addition, the plate surface of the first support plate 134 and the plate surface of the second support plate 135 are used to form the support surface of the support module 133, and the first support plate 134 and the second support plate 135 are respectively used to support the pole piece 200. For example, the support surface of the support module 133 can be formed by the top plate surface of the first support plate 134 and the top plate surface of the second support plate 135, that is, the support surface of the support module 133 can be located at the top of the support module 133.

[0114] In this embodiment, the extension direction of the first support plate 134 and the extension direction of the second support plate 135 intersect with the arrangement direction of the first rail structure 131, the support module 133 and the second rail structure 132 respectively, and the burr detection device 100 can support the two first edges 210 of the pole piece 200 respectively through the first support plate 134 and the second support plate 135. In addition, the second support plate 135 is arranged in the interval between two adjacent first support plates 134, and can support the internal area of ​​the pole piece 200, which is conducive to improving the overall flatness of the pole piece 200 and ensuring that the first edge 210 and the second edge 220 are within the visual detection range, for example, within the depth of field of the corresponding camera; in addition, the two first edges 210 of the pole piece 200 are supported respectively by the first support plate 134 and the second support plate 135, which is conducive to reducing the risk of accidental movement of the pole piece 200 during movement, which can be understood as the pole piece 200 being supported more stably.

[0115] In some embodiments, reference Fig.11 , Fig.12 , Fig.13 and Fig.14 The support module 133 further includes a distance adjusting device 191, the power output end of the distance adjusting device 191 is connected to the first support plate 134, and the distance adjusting device 191 is used to increase or decrease the spacing distance between the two first support plates 134. Fig.11 The support module 133 also includes a support bottom plate 138 and a support top plate 139, and the support top plate 139 is fixedly connected to the support bottom plate 138, for example, by a pillar. In addition, the distance adjustment device 191 can be set as a linear slide, wherein the linear slide can include a slide rail and a slide seat, the slide seat is slidably connected to the slide rail, and the slide seat and the slide rail can be driven by a drive device such as a drive motor and a structure such as a screw nut; wherein the slide rail of the distance adjustment device 191 can be fixedly connected to the above-mentioned support top plate 139, and the slide seat of the distance adjustment device 191 as a power output end can be fixedly connected to one of the first support plates 134, so as to increase or decrease the spacing distance between the two first support plates 134. It can be understood that one of the first support plates 134 is installed on the above-mentioned support top plate 139, and the distance adjusting device 191 is installed on the support top plate 139. The distance adjusting device 191 is used to move the other first support plate 134, so as to increase or decrease the spacing distance between the two first support plates 134.

[0116] In this embodiment, the distance adjusting device 191 can be compatible with pole pieces 200 of different widths by increasing or decreasing the spacing distance between the two first support plates 134 .

[0117] In some embodiments, reference Fig.11 and Fig.13 The support module 133 further includes a lifting device 136, the power output end of the lifting device 136 is connected to the second support plate 135, and the lifting device 136 is used to lift the second support plate 135 relative to the first support plate 134. The lifting device 136 can be configured as a lifting cylinder, etc., wherein the cylinder rod of the lifting cylinder can be connected to the second support plate 135, so as to realize the lifting of the second support plate 135.

[0118] In this embodiment, when the distance adjusting device 191 increases the spacing between the two first support plates 134 to accommodate a wider pole piece 200, the lifting device 136 can lift the second support plate 135 to support the middle area of ​​the pole piece 200, which is beneficial to improve the flatness of the pole piece 200. It can be understood that when the distance adjusting device 191 reduces the spacing between the two first support plates 134 to accommodate a narrower pole piece 200, the lifting device 136 can lower part of the second support plates 135, thereby reducing the number of second support plates 135 supporting the middle area of ​​the pole piece 200.

[0119] In some embodiments, reference Fig.11 , Fig.12 and Fig.13 The support module 133 includes at least two second support plates 135 and at least two lifting devices 136. The second support plates 135 and the lifting devices 136 are connected one by one. For example, the number of the second support plates 135 and the number of the lifting devices 136 can be set to be greater than or equal to 3 and less than or equal to 10, respectively.

[0120] In this embodiment, the support module 133 includes at least two second support plates 135 and at least two lifting devices 136, which is beneficial to further improve the flatness of the pole piece 200 by increasing the support position.

[0121] In some embodiments, reference Figure 4 and Fig.11 , the first support plate 134 away from the second visual inspection module 120 is provided with a support protrusion 137, for example Fig.11 The first support plate 134 on the middle right side is provided with a support protrusion 137; the support protrusion 137 is arranged on a side of the first support plate 134 away from the second visual inspection module 120, for example Fig.11 The support protrusion 137 is arranged on the right side of the first support plate 134. The support protrusion 137 is used to support the pole ear 211 of the pole piece 200; in some embodiments, the support protrusion 137 is movably connected to the first support plate 134 along the extension direction of the first support plate 134, for example, the support protrusion 137 can be moved along Fig.11wherein, the support protrusion 137 and the first support plate 134 may be slidably connected via a slide groove structure, etc., thereby realizing a movable connection between the support protrusion 137 and the first support plate 134.

[0122] In this embodiment, the support protrusion 137 can further improve the overall flatness of the pole piece 200 by supporting the pole piece 200; in addition, the support protrusion 137 is movably connected to the first support plate 134 along the extension direction of the first support plate 134, so that the support protrusion 137 can be suitable for pole pieces 200 with different pole ears 211 positions.

[0123] In some embodiments, an adsorption through hole is provided on the support plate surface of at least one of the first support plate 134, the second support plate 135 and the support protrusion 137. For example, the first support plate 134, the second support plate 135 and the support protrusion 137 are respectively provided with adsorption through holes; the adsorption through holes are used to connect a negative pressure device to adsorb the pole piece 200, and the negative pressure device can be set to a negative pressure source such as a negative pressure pump.

[0124] In this embodiment, at least one of the first support plate 134, the second support plate 135 and the support protrusion 137 is provided with an adsorption through hole on the support plate surface, which is conducive to improving the degree of fit between the pole piece 200 and the first support plate 134, the second support plate 135 or the support protrusion 137, and is conducive to improving the overall flatness of the pole piece 200 and ensuring that the first edge 210 and the second edge 220 are within the visual detection range, and reducing the risk of accidental movement of the pole piece 200 during movement. For example, the above-mentioned support module 133 can be set to be movable to realize the feeding of the pole piece 200. During the process of feeding, moving to the detection station of the first end face camera 111, etc., the pole piece 200 can be adsorbed by the negative pressure of the adsorption through hole to reduce the risk of accidental movement.

[0125] In some embodiments, reference Figure 4 and Fig.10 , the second guide rail structure 132 is higher than the support surface of the support module 133 in the direction of gravity, for example, higher than the top plate surface of the first support plate 134; the distance adjustment device 191 is connected to the first support plate 134 facing the second visual inspection module 120, so that the first support plate 134 facing the second visual inspection module 120 moves along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, for example, along Fig.10 It can be understood that the first support plate 134 can be avoided by the space under the second guide rail structure 132 when moving. It can be understood that, referring to Figure 2 , columns can be set at both ends of the second guide rail structure 132, so that a space for avoiding the first support plate 134 is surrounded by the columns and the second guide rail structure 132.

[0126] In this embodiment, the second guide rail structure 132 is higher than the support surface of the support module 133 in the direction of gravity, so that the first support plate 134 connected to the distance adjustment device 191 can be avoided, reducing the risk of collision.

[0127] Among them, refer to Fig.11 , the second support plate 135 can be arranged on the side of the support top plate 139 facing away from the support bottom plate 138; for example, Fig.11 The second support plate 135 is arranged on the upper side of the support top plate 139. In addition, the support top plate 139 can be provided with a through structure, which can be provided as a through hole, a notch, etc.; the lifting device 136 is installed on the support bottom plate 138, and the lifting device 136 passes through the through structure and is connected to the second support plate 135, thereby improving the compactness of the support module 133 and the burr detection device 100.

[0128] In some embodiments, reference Figure 2 and Fig.10 The equipment support 130 further includes a fifth lateral moving module 155, which is connected to the support module 133. The fifth lateral moving module 155 is used to move the support module 133 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, for example, along the Y direction in the figure, and the support module 133 is used to move under the second guide rail structure 132. The fifth lateral moving module 155 can be a linear slide similar to the first lateral moving module 151, and can be connected to the support module 133 through a slidable slide seat of the fifth lateral moving module 155, for example, fixedly connected to the support bottom plate 138 of the support module 133.

[0129] In this embodiment, the fifth lateral moving module 155 can enable the supporting module 133 to move under the second guide rail structure 132, thereby achieving the feeding action of the pole piece 200 and reducing the risk of collision.

[0130] Correspondingly, refer to Figure 1 and Figure 2 The outer shell cover 101 is also provided with a feed port 107, and the feed port 107 is arranged opposite to the support module 133; for example, the fifth lateral movable module 155 is used to move the support module 133 from the feed port 107 to extend or retract; it can be understood that the support module 133 is arranged to be movable, and the support module 133 is used to extend or retract from the feed port 107, so that the pole piece 200 can be loaded and unloaded at the feed port 107.

[0131] Among them, the fifth lateral moving module 155 can be connected to the above-mentioned supporting base plate 138 of the supporting module 133, and the fifth lateral moving module 155 is used to move the supporting base plate 138 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, thereby realizing the movement of the supporting module 133 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132.

[0132] In some embodiments, the burr detection device 100 also includes a grating component 108, which is disposed at the feed port 107, so that external objects such as human hands and robotic arms can be detected through the grating component 108, thereby reducing the risk of accidental entry of external objects and accidental collisions, which is beneficial to ensuring the safety of the operator and the burr detection device 100 respectively.

[0133] In some embodiments, reference Figure 4 The burr detection device 100 further includes an abutment rod 192 and a sixth lateral movement module 156. The abutment rod 192 is disposed on a side facing the second visual inspection module 120, for example, Figure 4 The sixth lateral moving module 156 is connected to the abutment rod 192, and the sixth lateral moving module 156 is used to move the abutment rod 192 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, for example, along Figure 4 The sixth lateral moving module 156 can be configured as a linear slide similar to the first lateral moving module 151 , so that the abutment rod 192 can be connected via a slidable slide seat of the sixth lateral moving module 156 .

[0134] The length direction of the abutting rod 192 is parallel to the extending direction of the second guide rail structure 132. For example, the length direction of the abutting rod 192 is along Figure 4 The pole piece 200 is used to extend out of the support surface of the support module 133 in a direction away from the first visual inspection module 110, for example, extending out of the first support plate 134 at the outermost side; in addition, the abutment rod 192 is used to abut the edge of the pole piece 200. For example, the right edge of the pole piece 200 extends out of the right support surface of the support module 133, so as to facilitate burr detection; correspondingly, the abutment rod 192 is used to abut the right edge of the pole piece 200, so as to facilitate the rapid determination of the placement position of the pole piece 200 when the pole piece 200 is loaded.

[0135] In this embodiment, the length direction of the abutment rod 192 is parallel to the extension direction of the second guide rail structure 132, so that the pole piece 200 extending out of the support surface of the support module 133 can be positioned, thereby improving the positioning efficiency of the pole piece 200 during the placement process of the pole piece 200.

[0136] In some embodiments, reference Figure 3and Figure 4 The burr detection device 100 also includes a size detection module 193. The first visual detection module 110, the size detection module 193 and the second visual detection module 120 are arranged in sequence, for example, arranged in sequence along the Y direction in the figure; the size detection module 193 is connected to the device bracket 130, for example, connected to the device bracket 130 through a vertical pole. In addition, the size detection module 193 is arranged above the support module 133, thereby further improving the space utilization. The size detection module 193 is used to detect the size of the pole piece 200. The size detection module 193 may include a visual camera, etc., so as to detect the size of the pole piece 200 through existing image recognition and other methods. Among them, the size detection module 193 can detect the position of the pole piece 200 relative to each point of the entire burr detection device 100, thereby realizing the size detection and position detection of the pole piece 200.

[0137] In this embodiment, the burr detection device 100 can detect the size of the pole piece 200 through the size detection module 193. The first visual detection module 110, the size detection module 193 and the second visual detection module 120 are arranged in sequence, which is conducive to further improving the compactness of the burr detection device 100.

[0138] In some embodiments, reference Figure 3 and Figure 4 The burr detection device 100 may further include a cutting platform 195, which is used to form a pole piece 200 by cutting. It is understandable that the pole piece raw material before cutting may have material defects, so the cutting platform 195 in this embodiment can cut the pole piece raw material into a sample-shaped pole piece 200, so that the burr detection device 100 can conveniently connect the cutting process and the detection process, thereby improving the convenience of use.

[0139] In some embodiments, reference Figure 3 and Figure 4 The burr detection device 100 further includes a device base 109, the first guide rail structure 131, the second guide rail structure 132, the fifth lateral moving module 155, and the sixth lateral moving module 156 can be respectively installed on the device base 109, and the size detection module 193 included in the burr detection device 100 can also be installed on the device base 109. Among them, the top layer of the device base 109 can be made of marble or other stone materials, so that the device base 109 can be used to improve the anti-vibration performance.

[0140] In some embodiments, reference Figure 4 and Fig.15The second visual inspection module 120 includes a third end face camera 121 and a third end face light source 122. The optical axis of the light incident end of the third end face camera 121 is parallel to the support surface of the support module 133. The third end face camera 121 is used to capture the image of the end face of the pole piece 200 at the other first side 210; for example Fig.15 In the figure, the support surface of the support module 133 is parallel to the XY plane, and the optical axis of the light incident end of the third end surface camera 121 is along the Y axis direction in the figure.

[0141] The third end surface light source 122 can be set as a ring light source. The third end surface light source 122 is set corresponding to the third end surface camera 121. The third end surface light source 122 is used to illuminate the end surface of the pole piece 200 on the other first side 210; it can be understood that the light source of the third end surface light source 122 illuminates the area photographed by the third end surface camera 121.

[0142] The burr detection device 100 includes a second position sensor 142 and a third lateral movement module 153. The second position sensor 142 is used to detect the position of the other first side 210, and the second position sensor 142 is electrically connected to the third lateral movement module 153. For example, the second position sensor 142 can be electrically connected to a driving device such as a motor of the third lateral movement module 153 through the above-mentioned processor, so that according to the preset corresponding relationship between the position of the other first side 210 and the third end face camera 121, the position that the third end face camera 121 needs to reach can be determined and driven and controlled through the above-mentioned driving device.

[0143] The third transverse moving module 153 is movably connected to the second rail structure 132, and is used to move along the extension direction of the second rail structure 132, for example, along the X-axis direction in the figure. The third transverse moving module 153 is also connected to the third end face camera 121, and is used to move the third end face camera 121 along the arrangement direction of the first rail structure 131, the support module 133 and the second rail structure 132, so that the third end face camera 121 moves transversely to the length direction of the other first side 210, for example, the third end face camera 121 moves along the Y-axis direction in the figure.

[0144] In some embodiments, the second position sensor 142 can be configured as a photoelectric sensor of a beam type; of course, the second position sensor 142 can also be configured as an infrared sensor, etc. In some embodiments, the third lateral moving module 153 can be configured as a linear slide similar to the first lateral moving module 151, wherein the slide rail of the third lateral moving module 153 can be slidably connected to the second guide rail structure 132, and the slide seat of the third lateral moving module 153 can be fixedly connected to the third end face camera 121.

[0145] In this embodiment, the second position sensor 142 detects the position of the other first side 210, and the second position sensor 142 is electrically connected to the third lateral movement module 153, and the third lateral movement module 153 moves the third end face camera 121 transversely to the length direction of the other first side 210, for example, along Fig.15 The burr detection device 100 moves in the Y-axis direction. When the clamping position accuracy of the pole piece 200 is low, the distance from the third end surface camera 121 to the other first side 210 can be adjusted according to the second position sensor 142. For example, the distance in the Y-axis direction in the figure is adjusted, thereby realizing dynamic focusing of the third end surface camera 121, which is beneficial to improving the imaging accuracy and detection accuracy through the third end surface camera 121.

[0146] In some embodiments, reference Fig.15 , the second visual inspection module 120 includes a second plane camera 123 and a second plane light source 124. The optical axis of the light incident end of the second plane camera 123 is perpendicular to the support surface of the support module 133. For example, the support surface of the support module 133 is parallel to the XY plane in the figure, and the optical axis of the light incident end of the second plane camera 123 is arranged along the Z axis direction in the figure. The second plane camera 123 is arranged opposite to the other first edge 210. The second plane camera 123 is used to capture the image of the surface of the pole piece 200 parallel to the support surface. It can be understood that the second plane camera 123 is used to detect the plane burrs of the other first edge 210. Among them, the second plane light source 124 can be set as a ring light source. The second plane light source 124 is arranged opposite to the other first edge 210. The second plane light source 124 is used to illuminate the surface of the pole piece 200 parallel to the support surface; for example, the other first edge 210, the second plane light source 124, and the second plane camera 123 can be arranged in sequence along the Z axis direction in the figure.

[0147] The second plane camera 123 is movably connected to the second guide rail structure 132, and the movably connected connection includes a direct connection and an indirect connection; the second plane camera 123 is used to move along the extension direction of the second guide rail structure 132, for example, along Fig.15 The machine moves in the X-axis direction to achieve scanning detection of burrs.

[0148] In this embodiment, the second plane camera 123 can move along the extension direction of the second guide rail structure, so that burr detection can be performed on the surface of the other first side 210 of the pole piece 200 parallel to the supporting surface when the pole piece 200 is statically placed on the supporting module 133. For example, scanning detection of plane burrs can be performed by moving along the X-axis direction in the figure, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece 200, which is beneficial to improving imaging accuracy and detection accuracy.

[0149] In some embodiments, reference Fig.15 and Fig.16 The second visual inspection module 120 further includes a second reflecting prism 125, which is arranged opposite to the second plane camera 123. It can be understood that the light from the second reflecting prism 125 can be reflected to the second plane camera 123. The second reflecting prism 125 is lower than the support surface of the supporting module 133 in the direction of gravity, and the second reflecting prism 125 is used to reflect the light on the surface of the pole piece 200 facing away from the second plane light source 124 to the second plane camera 123; for example, refer to Fig.16 The second reflecting prism 125, the pole piece 200, and the second plane camera 123 are arranged in sequence along the Z-axis direction.

[0150] In some embodiments, reference Fig.16 , the second reflecting prism 125 can be made of a light-transmitting material, such as glass. The second reflecting prism 125 may include a second light-transmitting surface 1251, a second reflecting surface 1252 and a third reflecting surface 1253. The second light-transmitting surface 1251 faces the supporting surface of the supporting module 133 and faces the pole piece 200. It can be understood that the light of the pole piece 200 can be transmitted to the second light-transmitting surface 1251; the second reflecting surface 1252 and the third reflecting surface 1253 are respectively arranged on the side of the second light-transmitting surface 1251 away from the supporting surface of the supporting module 133; the light from the pole piece 200 is used to pass through the second light-transmitting surface 1251, the second reflecting surface 1252, the third reflecting surface 1253, the second light-transmitting surface 1251 and the second plane camera 123 in sequence. The second reflecting surface 1252 and the third reflecting surface 1253 are symmetrically arranged about the direction of gravity. It can be understood that the second reflecting surface 1252 and the third reflecting surface 1253 are respectively the two waists of an isosceles triangle.

[0151] In this embodiment, relative to the first side 210 with the pole ear 211, the other first side 210 is usually formed by a slitting process, so that leakage of aluminum and other materials may occur; the second reflecting prism 125 can reflect the light on the surface of the pole piece 200 facing away from the second planar light source 124 to the second planar camera 123, for example Fig.16 The light from the bottom surface of the middle pole piece 200 is reflected to the second planar camera 123, which is conducive to imaging the surface of the pole piece 200 facing away from the second planar light source 124 to complete the leakage detection.

[0152] In some embodiments, reference Fig.15 The burr detection device 100 includes a fourth lateral moving module 154, which is movably connected to the second guide rail structure 132. The movably connected module 154 includes a direct connection and an indirect connection. The fourth lateral moving module 154 is used to move along the extension direction of the second guide rail structure 132, for example, along Fig.15The fourth lateral movement module 154 is also connected to the second reflective prism 125, and the fourth lateral movement module 154 is used to move the second reflective prism 125 along the first guide rail structure 131, the support module 133 and the second guide rail structure 132 in the arrangement direction, for example, along Fig.15 The second reflecting prism 125 moves in the Y-axis direction in the first side 210 so that the second reflecting prism 125 moves transversely to the length direction of the first side 210 until it is covered by the pole piece 200. The moving direction to be covered by the pole piece 200 can refer to Fig.16 The solid arrow in .

[0153] The fourth transverse moving module 154 can be configured as a linear slide similar to the first transverse moving module 151 , and the slidable slide seat of the fourth transverse moving module 154 can be fixedly connected to the second reflective prism 125 .

[0154] It is understandable that the support module 133 may be provided with an escape space; for example, the first support plate 134 facing the second visual inspection module 120 may be spaced apart from the support top plate 139 to form the escape space. In addition, the escape space is arranged opposite to the second reflective prism 125, and the second reflective prism 125 is used to move transversely to the length direction of the first side 210 into the escape space, for example Fig.15 The second reflecting prism 125 can be moved into the avoidance space along the Y-axis direction and covered by the pole piece 200 .

[0155] In this embodiment, the burr detection device 100 can move the second reflective prism 125 transversely to the length direction of the first edge 210 through the fourth transverse moving module 154 until it is covered by the pole piece 200, thereby Fig.16 When leak detection is performed on the top surface of the second reflecting prism 125, the interference of the reflected light of the second reflecting prism 125 is reduced, and the imaging precision and detection accuracy are improved.

[0156] In some embodiments, reference Fig.15 The second visual inspection module 120 includes a connecting frame 172, which may include a horizontal plate and a vertical plate connected to each other. The connecting frame 172 is movably mounted on the second guide rail structure 132, for example, by a sliding connection; the connecting frame 172 is used to move along the extension direction of the second guide rail structure 132, for example, along Fig.15 Move in the X-axis direction.

[0157] In some embodiments, reference Fig.15 , Fig.17 and Fig.18The burr detection device 100 may further include a second lifting module 182, which is mounted on the connecting frame 172; the second plane camera 123 is connected to the second lifting module 182, and the second lifting module 182 is used to lift the second plane camera 123. In some embodiments, the second lifting module 182 may be configured as a linear slide, wherein the linear slide may include a slide rail and a slide seat, the slide seat is slidably connected to the slide rail, and the slide seat and the slide rail may be driven by a drive device such as a drive motor and a structure such as a screw nut; wherein the slide rail of the second lifting module 182 may be extended along the direction of gravity, and the slide rail of the second lifting module 182 may be slidably connected to the second guide rail structure 132, for example, slidably connected to the second guide rail structure 132 through the connecting frame 172; the slide seat of the second lifting module 182 may be fixedly connected to the second plane camera 123, thereby realizing the lifting of the second plane camera 123.

[0158] In addition, the second planar light source 124 can be connected to the connecting frame 172, and the light emitting direction of the second planar light source 124 is facing away from the second planar camera 123, for example Fig.15 The light emitting direction of the second plane light source 124 is in the downward direction; the second plane light source 124 is used to be arranged opposite to the other first side 210, and the second plane light source 124 is used to illuminate the plane of the pole piece 200 parallel to the support surface of the support module 133, for example, Fig.15 The top surface of the middle electrode piece 200.

[0159] In addition, the third transverse moving module 153 is mounted on the connecting frame 172, and the third end face camera 121 is mounted on the third transverse moving module 153; for example, the sliding rail of the third transverse moving module 153 is mounted on the connecting frame 172, and the slidable slide seat of the third transverse moving module 153 is fixedly connected to the third end face camera 121. The third end face light source 122 is relatively fixed to the third end face camera 121, and the third end face light source 122 is mounted on the third transverse moving module 153, for example, the third end face light source 122 can also be mounted on the slidable slide seat of the third transverse moving module 153.

[0160] On the other hand, the fourth lateral moving module 154 can also be installed on the connecting frame 172, and the second reflecting prism 125 is installed on the fourth lateral moving module 154. For example, the slide rail of the fourth lateral moving module 154 is fixedly connected to the connecting frame 172, and the slidable slide seat of the fourth lateral moving module 154 is fixedly connected to the second reflecting prism 125.

[0161] In this embodiment, the connecting frame 172 included in the second visual inspection module 120 is helpful to improve the installation convenience of the third lateral moving module 153, the second lifting module 182, the second plane light source 124 and the fourth lateral moving module 154; in addition, the second lifting module 182 is used to lift the second plane camera 123, which is helpful to improve the convenience of adjusting the focal length of the second plane camera 123.

[0162] When the burr detection device 100 of the above embodiment is in use, the above-mentioned cutting platform 195 can be used to first cut out the electrode piece 200 in the form of a sample; then the support module 133 is moved to extend out of the feed port 107, and then the electrode piece 200 is placed on the support module 133; in the process of placing the electrode piece 200 on the support module 133, the abutment rod 192 can be used to abut the edge of the electrode piece 200 to achieve positioning, which can be understood as facilitating the determination of the extension amount of the electrode piece 200 extending out of the support surface of the support module 133.

[0163] After that, the support module 133 moves and retracts to the inside of the burr detection device 100, and the first end face camera 111, the second end face camera 114, and the first plane camera 116 included in the first visual inspection module 110 respectively detect the end face burrs of the pole ear 211, the end face burrs of the first first edge 210, and the plane burrs of the first first edge 210; if the first visual inspection module 110 is also provided with the above-mentioned depth detection camera, the depth detection camera can also detect the protrusion height or depression depth of the reinforcing rib on the pole ear 211. On the other hand, the third end face camera 121 and the second plane camera 123 included in the second visual inspection module 120 can respectively detect the end face burrs, plane burrs, aluminum leakage and other material leakage conditions of the second first edge 210.

[0164] When it is necessary to inspect the second side 220, the support module 133 can be moved out of the feed port 107, and then the pole piece 200 can be rotated 90 degrees, so that the two second sides 220 correspond to the first visual inspection module 110 and the second visual inspection module 120 respectively. It can be understood that since the first side 210 is relatively long, the distance between the two first support plates 134 can be increased by the distance adjustment device 191, and the number of the second support plates 135 supporting the pole piece 200 can be increased by the lifting device 136, so as to ensure the overall flatness of the pole piece 200.

[0165] After the detection is completed, the support module 133 is moved out of the feed port 107 to realize the unloading of the electrode piece 200 .

[0166] Correspondingly, the present application also provides a burr detection method, which is used to detect burrs on the pole piece 200, and the burr method can be applied to the above-mentioned embodiment of the burr detection device 100 proposed in the present application. The burr detection method includes the following steps: Step 1: placing the pole piece 200 on the supporting module 133, which can be done by an operator or a robot arm or other device; Step 2: Move the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and detect the burrs of the first edge 210. For example, move the first visual inspection module 110 along the X-axis direction in the figure and perform the detection. It can be understood that the first visual inspection module 110 performs scanning detection along the X-axis direction. Step 3, the second visual inspection module 120 is moved parallel to the length direction of the other first edge 210 and the burrs of the first edge 210 are detected. For example, the second visual inspection module 120 is moved along the X-axis direction in the figure and the detection is performed, which can be understood as the second visual inspection module 120 performing scanning detection along the X-axis direction. The above steps 2 and 3 can be performed in parallel to improve the overall detection efficiency.

[0167] When the burr detection method proposed in the present application is in use, the first visual inspection module 110 and the second visual inspection module 120 can be moved along the length direction of the two first sides 210 respectively, so that the two first sides 210 of the pole piece 200 can be simultaneously detected for burrs when the pole piece 200 is placed statically on the support module 133, which not only improves the burr detection rhythm, but also reduces the jitter of the pole piece 200, which is beneficial to improving the detection accuracy.

[0168] In some embodiments, the step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 (the above-mentioned step 2) includes: The light from the side of the tab 211 is reflected to the first end face camera 111 of the first visual inspection module 110 by the first reflection prism 113 to detect the burrs on the side of the tab 211 .

[0169] It can be understood that, for the first side 210 of the pole piece 200, the first side 210 includes the pole ear 211 and the portion outside the pole ear 211. Therefore, when the first side 210 is subjected to burr detection, for example, when the first side 210 is subjected to end face burr detection, the second end face camera 114 can be moved along the length direction of the first side 210 (for example, along the Figure 6The first end face camera 114 detects the portion of the first edge 210 outside the pole lug 211 (the second end face camera 114 does not detect the end face burrs of the pole lug 211), and then detects the burrs on the side of the pole lug 211 through the first end face camera 111 (the side of the pole lug 211 may include all sides of the pole lug 211 parallel to the surface plane of the body of the pole piece 200), thereby reducing the need for switching cameras and improving the overall detection efficiency. Of course, the second end face camera 114 and the first end face camera 111 may also be used to sequentially detect the various segments of the first edge 210 outside the pole lug 211 and the burrs on the side of the pole lug 211 along the length direction of the first edge 210, thereby reducing the total length of the overall displacement path of the second end face camera 114 and the first end face camera 111, and reducing the risk of collision during the displacement process.

[0170] In this embodiment, the first reflecting prism 113 can reflect light from the side of the pole ear 211 to the first end surface camera 111 , so that the arrangement position of the first end surface camera 111 is more flexible, and the layout restrictions of the first visual inspection module 110 are reduced.

[0171] In some implementations, the burr detection method further includes the following steps: For the pole piece 200 placed on the supporting module 133, the first position information of the pole piece 200 is detected by the size detecting module 193, so as to facilitate the determination of the orientation of the pole piece 200, and thus facilitate the determination of the degree of skewness of the pole piece 200; According to the first position information, the first visual inspection module 110 is moved to the first preset position, which can be understood as enabling the first visual inspection module 110 to achieve rough positioning relative to the pole piece 200; wherein, this step can specifically include: respectively moving the first end face camera 111, the second end face camera 114 and the first plane camera 116 included in the first visual inspection module 110 to the corresponding preset positions.

[0172] The step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 (the above-mentioned step 2) includes: During the movement of the first visual detection module 110 , the second position information of the first side 210 is acquired through the first position sensor 141 ; wherein the position detection accuracy of the first position sensor 141 can be made higher than that of the size detection module 193 .

[0173] According to the second position information, the position of the first visual inspection module 110 is adjusted during its movement. This can be understood as realizing dynamic deviation correction of the first visual inspection module 110 according to the first position sensor 141, which can be understood as enabling the first visual inspection module 110 to achieve precise positioning relative to the pole piece 200.

[0174] In this embodiment, through the first position information and the corresponding movement of the pole piece 200, the first visual detection module 110 can complete the coarse positioning relative to the pole piece 200; through the second position information and the corresponding movement, the first visual detection module 110 can complete the fine positioning relative to the pole piece 200, which is beneficial for making the first edge 210 accurately located within the detection range of the first visual detection module 110, which is beneficial for improving the detection accuracy.

[0175] In some embodiments, the step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 (the above-mentioned step 2) includes: The first visual inspection module 110 detects the burrs of the portion of the first edge 210 outside the pole ear 211, and obtains the third position information of the portion of the first edge 210 outside the pole ear 211 through the first position sensor 141, which can be understood as completing the burr detection and position acquisition of the straight edge portion of the first edge 210; According to the third position information, the depth of field range of the camera corresponding to the first visual inspection module 110 covers each position of the side of the pole lug 211, and correspondingly detects the end surface burrs of the side of the pole lug 211. For example, for the above-mentioned first end surface camera 111, according to the third position information and the preset height information of the pole lug 211, if the position of the side of the pole lug 211 exceeds the depth of field range of the camera corresponding to the first visual inspection module 110, the first end surface camera 111 is moved.

[0176] In this embodiment, the burr detection method can determine the degree of deflection of the pole piece 200 through the third position information, thereby ensuring that the depth of field range of the camera corresponding to the first visual inspection module 110 covers all positions on the side of the pole ear 211 according to the third position information, which is beneficial to improving imaging accuracy and detection accuracy.

[0177] In some implementations, the burr detection method further includes the following steps: According to the above-mentioned first position information, the second visual inspection module 120 is moved to the second preset position, which can be understood as enabling the second visual inspection module 120 to achieve rough positioning relative to the pole piece 200; wherein, this step can specifically include: respectively moving the third end face camera 121 and the second plane camera 123 included in the second visual inspection module 120 to the corresponding preset positions.

[0178] The step of moving the second visual inspection module 120 parallel to the length direction of another first edge 210 and inspecting the burrs of the first edge 210 (the above step three) includes: During the movement of the second visual detection module 120 , the fourth position information of the other first side 210 is acquired through the second position sensor 142 ; wherein the position detection accuracy of the second position sensor 142 can be made higher than that of the size detection module 193 .

[0179] According to the fourth position information, the position of the second visual detection module 120 is adjusted during the movement of the second visual detection module 120, which can be understood as realizing dynamic correction of the second visual detection module 120 according to the second position sensor 142, which can be understood as enabling the second visual detection module 120 to achieve precise positioning relative to the pole piece 200.

[0180] In this embodiment, through the first position information and the corresponding movement of the pole piece 200, the second visual detection module 120 can complete the coarse positioning relative to the pole piece 200; through the fourth position information and the corresponding movement, the second visual detection module 120 can complete the fine positioning relative to the pole piece 200, which is beneficial for making the other first edge 210 accurately located within the detection range of the second visual detection module 120, which is beneficial for improving the detection accuracy.

[0181] Reference Figures 1 to 18In one embodiment, the burr detection device 100 is used to detect burrs of a pole piece 200, the pole piece 200 includes two oppositely disposed first sides 210 and two oppositely disposed second sides 220, the length of the first side 210 is greater than the length of the second side 220, the burr detection device 100 includes a device bracket 130, a first visual inspection module 110 and a second visual inspection module 120, the device bracket 130 is sequentially provided with a first guide rail structure 131, a support module 133 and a second guide rail structure 132, the extension direction of the first guide rail structure 131 and the extension direction of the second guide rail structure 132 intersect the first guide rail structure 131 and the support module 133 respectively. and the arrangement direction of the second guide rail structure 132; the supporting module 133 is used to support the pole piece 200, and the first edge 210 is used to be parallel to the extension direction of the first guide rail structure 131; the first visual inspection module 110 is connected to the first guide rail structure 131, and the first visual inspection module 110 is used to move along the extension direction of the first guide rail structure 131, and the first visual inspection module 110 is used to detect burrs on the first edge 210; the second visual inspection module 120 is connected to the second guide rail structure 132, and the second visual inspection module 120 is used to move along the extension direction of the second guide rail structure 132, and the second visual inspection module 120 is used to detect burrs on the other first edge 210. The first visual inspection module 110 includes a first end face camera 111 and a first end face light source 112. The optical axis of the light incident end of the first end face camera 111 is parallel to the support surface of the support module 133. The first end face camera 111 is used to capture the image of the end face of the pole piece 200 at the first side 210. The first end face light source 112 is arranged corresponding to the first end face camera 111. The first end face light source 112 is used to illuminate the end face of the pole piece 200 at the first side 210. The burr detection device 100 includes a first position sensor 141 and a first lateral movement module 151. The first position sensor 141 is used to detect the end face of the first side 210. 0, the first position sensor 141 is electrically connected to the first lateral moving module 151; the first lateral moving module 151 is movably connected to the first guide rail structure 131, and the first lateral moving module 151 is used to move along the extension direction of the first guide rail structure 131; the first lateral moving module 151 is also connected to the first end surface camera 111, and the first lateral moving module 151 is used to move the first end surface camera 111 along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, so as to move the first end surface camera 111 transversely to the length direction of the first edge 210. The pole piece 200 is provided with a pole ear 211 on the first edge 210, and the surface plane of the pole ear 211 is parallel to the surface plane of the main body of the pole piece 200; the first visual inspection module 110 includes a first reflection prism 113, and the first reflection prism 113 is used to be arranged between the first end surface camera 111 and the side of the pole ear 211, and the first reflection prism 113 is used to reflect the light from the side of the pole ear 211 to the first end surface camera 111.The first visual inspection module 110 also includes a longitudinal moving module 161, which is connected to the first lateral moving module 151; one of the longitudinal moving module 161 and the first lateral moving module 151 is movably connected to the first guide rail structure 131 and is used to move along the extension direction of the first guide rail structure 131, and the other of the longitudinal moving module 161 and the first lateral moving module 151 is connected to the first end surface camera 111 and moves the first end surface camera 111 perpendicular to the extension direction of the first guide rail structure 131, so that the first end surface camera 111 moves perpendicular to the length direction of the first edge 210; the first visual inspection module 110 includes two oppositely arranged first reflection prisms 113, the two first reflection prisms 113 are respectively arranged on both sides of the same pole ear 211, and the optical axis of the light incident end of the first end surface camera 111 is arranged between the two first reflection prisms 113. The first visual inspection module 110 includes a second end surface camera 114 and a second end surface light source 115. The optical axis of the light incident end of the second end surface camera 114 is parallel to the support surface of the support module 133. The second end surface camera 114 is used to capture the image of the end surface of the pole piece 200 at the first side 210; the second end surface light source 115 is arranged corresponding to the second end surface camera 114, and the second end surface light source 115 is used to illuminate the end surface of the pole piece 200 at the first side 210; the second end surface camera 114 and the first end surface camera 111 are arranged along the extension direction of the first guide rail structure 131, in a direction parallel to the support surface of the support module 133. The distance from the second end face camera 114 to the support module 133 is smaller than the distance from the first end face camera 111 to the support module 133; the burr detection device 100 includes a second lateral moving module 152, and the first position sensor 141 is electrically connected to the second lateral moving module 152; the second lateral moving module 152 is connected to the second end face camera 114, and the second lateral moving module 152 is used to move the second end face camera 114 along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, so that the second end face camera 114 moves transversely to the length direction of the first edge 210. The first visual inspection module 110 includes a first plane camera 116 and a first plane light source 117. The optical axis of the light incident end of the first plane camera 116 is perpendicular to the support surface of the support module 133. The first plane camera 116 is arranged opposite to the first edge 210, and the first plane camera 116 is used to capture the image of the surface of the pole piece 200 parallel to the support surface; the first plane light source 117 is arranged opposite to the first edge 210, and the first plane light source 117 is used to illuminate the surface of the pole piece 200 parallel to the support surface; the first plane camera 116 is movably connected to the first guide rail structure 131, and the first plane camera 116 is used to move along the extension direction of the first guide rail structure 131.The first visual inspection module 110 includes a mounting plate 171, which is movably mounted on the first guide rail structure 131, and the mounting plate 171 is used to move along the extension direction of the first guide rail structure 131; the longitudinal moving module 161 is mounted on the mounting plate 171, and the first reflecting prism 113 is mounted on the mounting plate 171; the first transverse moving module 151 is mounted on the longitudinal moving module 161, and the first end face camera 111 is mounted on the first transverse moving module 151; the first end face light source 112 is relatively fixed to the first end face camera 111, and the first end face light source 112 is mounted on the first transverse moving module 151; the second transverse moving module 152 is mounted on the mounting plate 171, and the second end face camera 114 is relatively fixed to the second end face light source 115, and the second end face camera 114 and the second end face light source 115 are respectively mounted on the second transverse moving module 152; the burr detection device 100 also includes a first lifting module 181, and the first lifting module 181 is relatively fixed to the first end face camera 111, and the first end face light source 112 is mounted on the first transverse moving module 151; Module 181 is installed on the mounting plate 171; the first plane camera 116 is connected to the first lifting module 181, and the first lifting module 181 is used to lift the first plane camera 116; the first plane light source 117 is connected to the support module 133, the light output end of the first plane light source 117 is facing the first plane camera 116, and the light output end of the first plane light source 117 is lower than the support surface of the support module 133 in the direction of gravity, and the first plane light source 117 is used to be arranged on the side of the support surface of the support module 133 that is away from the first plane camera 116; the pole ear 211 is provided with a reinforcing rib, and the reinforcing rib is convex or concave in a direction perpendicular to the support surface of the support module 133; the first visual detection module 110 also includes a depth detection camera, the optical axis of the light input end of the depth detection camera is perpendicular to the support surface of the support module 133, the depth detection camera is used to be arranged opposite to the pole ear 211, and the depth detection camera is used to detect the protruding height or concave depth of the reinforcing rib.The second visual inspection module 120 includes a third end face camera 121 and a third end face light source 122. The optical axis of the light incident end of the third end face camera 121 is parallel to the support surface of the support module 133. The third end face camera 121 is used to capture the image of the end face of the pole piece 200 at the other first side 210. The third end face light source 122 is arranged corresponding to the third end face camera 121. The third end face light source 122 is used to illuminate the end face of the pole piece 200 at the other first side 210. The burr detection device 100 includes a second position sensor 142 and a third lateral movement module 153. The second position sensor 142 is used to detect the end face of the other first side. 210, the second position sensor 142 is electrically connected to the third lateral moving module 153; the third lateral moving module 153 is movably connected to the second guide rail structure 132, and the third lateral moving module 153 is used to move along the extension direction of the second guide rail structure 132; the third lateral moving module 153 is also connected to the third end surface camera 121, and the third lateral moving module 153 is used to move the third end surface camera 121 along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, so as to move the third end surface camera 121 transversely to the length direction of the other first side 210. The second visual inspection module 120 includes a second plane camera 123 and a second plane light source 124. The optical axis of the light-incoming end of the second plane camera 123 is perpendicular to the support surface of the support module 133. The second plane camera 123 is arranged opposite to the other first side 210. The second plane camera 123 is used to capture the image of the surface of the pole piece 200 parallel to the support surface. The second plane light source 124 is arranged opposite to the other first side 210. The second plane light source 124 is used to illuminate the surface of the pole piece 200 parallel to the support surface. The second plane camera 123 is movably connected to the second guide rail structure 132. The second plane camera 123 is used to move along the extension direction of the second guide rail structure 132. The second visual inspection module 120 also includes a second reflection prism 125. The second reflection prism 125 is arranged opposite to the second plane camera 123. The second reflection prism 125 is lower than the support surface of the support module 133 in the direction of gravity. The second reflection prism 125 is used to reflect the light on the surface of the pole piece 200 facing away from the second plane light source 124 to the second plane camera 123.The burr detection device 100 includes a fourth lateral moving module 154, which is movably connected to the second guide rail structure 132, and is used to move along the extension direction of the second guide rail structure 132; the fourth lateral moving module 154 is also connected to the second reflecting prism 125, and is used to move the second reflecting prism 125 along the arrangement direction of the first guide rail structure 131, the supporting module 133 and the second guide rail structure 132, so that the second reflecting prism 125 moves transversely to the length direction of the first edge 210 until it is covered by the pole piece 200; the supporting module 133 is provided with an avoidance space, and the avoidance space is arranged opposite to the second reflecting prism 125, and the second reflecting prism 125 is used to move transversely to the length direction of the first edge 210 into the avoidance space. The second visual inspection module 120 includes a connecting frame 172, which is movably mounted on the second guide rail structure 132, and the connecting frame 172 is used to move along the extension direction of the second guide rail structure 132; the third lateral moving module 153 is mounted on the connecting frame 172, and the third end face camera 121 is mounted on the third lateral moving module 153; the third end face light source 122 is relatively fixed to the third end face camera 121, and the third end face light source 122 is mounted on the third lateral moving module 153; the burr detection device 100 also includes a second lifting module 182, and the second lifting module 182 is mounted on the connecting frame 17 2; the second plane camera 123 is connected to the second lifting module 182, and the second lifting module 182 is used to lift the second plane camera 123; the second plane light source 124 is connected to the connecting frame 172, and the light emitting direction of the second plane light source 124 is away from the second plane camera 123; the second plane light source 124 is used to be arranged opposite to the other first edge 210, and the second plane light source 124 is used to illuminate the plane of the pole piece 200 parallel to the supporting surface of the supporting module 133; the fourth horizontal moving module 154 is installed on the connecting frame 172, and the second reflecting prism 125 is installed on the fourth horizontal moving module 154. The support module 133 includes two first support plates 134 and at least one second support plate 135 arranged at intervals, wherein the second support plate 135 is arranged in the interval between two adjacent first support plates 134; the extension direction of the first support plate 134 and the extension direction of the second support plate 135 intersect with the arrangement direction of the first rail structure 131, the support module 133 and the second rail structure 132 respectively, the plate surface of the first support plate 134 and the plate surface of the second support plate 135 are used to form the support surface of the support module 133, and the first support plate 134 and the second support plate 135 are respectively used to support the pole piece 200. The support module 133 also includes a distance adjusting device 191, the power output end of the distance adjusting device 191 is connected to the first support plate 134, and the distance adjusting device 191 is used to increase or decrease the interval distance between the two first support plates 134.The support module 133 also includes a lifting device 136, the power output end of the lifting device 136 is connected to the second support plate 135, and the lifting device 136 is used to lift the second support plate 135 relative to the first support plate 134. The support module 133 includes at least two second support plates 135 and at least two lifting devices 136, and the second support plates 135 and the lifting devices 136 are connected one by one. The second guide rail structure 132 is higher than the support surface of the support module 133 in the direction of gravity, and the distance adjustment device 191 is connected to the first support plate 134 facing the second visual detection module 120, so that the first support plate 134 facing the second visual detection module 120 moves along the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132. The equipment bracket 130 also includes a fifth lateral moving module 155, which is connected to the support module 133. The fifth lateral moving module 155 is used to move the support module 133 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, and the support module 133 is used to move under the second guide rail structure 132; the burr detection device 100 also includes an abutment rod 192 and a sixth lateral moving module 156, the abutment rod 192 is arranged on the side facing the second visual inspection module 120; the sixth lateral moving module 156 is connected to the abutment rod 192, and the sixth lateral moving module 156 is used to move the abutment rod 192 along the first guide rail structure 131 and The second guide rail structure 132 is moved in the arrangement direction; the length direction of the abutment rod 192 is parallel to the extension direction of the second guide rail structure 132, the pole piece 200 is used to extend out of the support surface of the support module 133 in the direction away from the first visual detection module 110, and the abutment rod 192 is used to abut the edge of the pole piece 200; the first support plate 134 away from the second visual detection module 120 is provided with a support protrusion 137, the support protrusion 137 is arranged on the side of the first support plate 134 away from the second visual detection module 120, the support protrusion 137 is used to support the pole ear 211 of the pole piece 200, and the support protrusion 137 is movably connected with the first support plate 134 along the extension direction of the first support plate 134. At least one of the first support plate 134, the second support plate 135 and the support protrusion 137 is provided with an adsorption through hole on the support plate surface, and the adsorption through hole is used to connect the negative pressure device to adsorb the pole piece 200. The burr detection device 100 also includes a size detection module 193. The first visual detection module 110, the size detection module 193 and the second visual detection module 120 are arranged in sequence; the size detection module 193 is connected to the equipment bracket 130, and the size detection module 193 is arranged above the support module 133. The size detection module 193 is used to detect the size of the pole piece 200.

[0182] In one embodiment, the burr detection method is used to detect burrs of a pole piece 200, the pole piece 200 includes two oppositely disposed first edges 210 and two oppositely disposed second edges 220, the length of the first edge 210 is greater than the length of the second edge 220, and the burr detection method includes the following steps: Placing the pole piece 200 on the supporting module 133; The first visual inspection module 110 moves parallel to the length direction of one of the first edges 210 and inspects the burrs of the first edge 210 ; The second visual inspection module 120 moves parallel to the length direction of another first edge 210 and inspects the burrs of the first edge 210; The step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 includes: The light from the side of the tab 211 is reflected to the first end face camera 111 of the first visual inspection module 110 by the first reflection prism 113 to detect the burrs on the side of the tab 211 .

[0183] The burr detection method further includes the following steps: For the pole piece 200 placed on the supporting module 133, the first position information of the pole piece 200 is detected by the size detecting module 193; According to the first position information, the first visual inspection module 110 moves to a first preset position; The step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 includes: During the movement of the first visual inspection module 110, the second position information of the first side 210 is obtained through the first position sensor 141; According to the second position information, the position of the first visual inspection module 110 is adjusted during the movement of the first visual inspection module 110 .

[0184] The pole piece 200 is provided with a pole ear 211 on the first side 210 , and the surface plane of the pole ear 211 is parallel to the surface plane of the body of the pole piece 200 ; The step of moving the first visual inspection module 110 parallel to the length direction of one of the first edges 210 and inspecting the burrs of the first edge 210 includes: The first visual inspection module 110 detects the burrs of the portion of the first edge 210 outside the tab 211, and obtains the third position information of the portion of the first edge 210 outside the tab 211 through the first position sensor 141; According to the third position information, the depth of field of the camera corresponding to the first visual inspection module 110 covers various positions of the side of the tab 211 , and detects the end surface burrs of the side of the tab 211 accordingly.

[0185] The burr detection method further includes the following steps: According to the first position information, the second visual inspection module 120 moves to a second preset position; The step of moving the second visual inspection module 120 parallel to the length direction of another first edge 210 and inspecting the burrs of the first edge 210 includes: During the movement of the second visual inspection module 120, fourth position information of another first side 210 is obtained through the second position sensor 142; According to the fourth position information, the position of the second visual inspection module 120 is adjusted during the movement of the second visual inspection module 120 .

[0186] It can be understood that the burr detection method can adopt all the technical solutions of all the above embodiments of the burr detection device, and therefore at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0187] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the technical concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A burr detection device, characterized in that: The burr detection device is used to detect burrs of a pole piece, the pole piece includes two first sides arranged oppositely and two second sides arranged oppositely, the length of the first sides is greater than the length of the second sides, and the burr detection device includes: An equipment bracket, wherein the equipment bracket is provided with a first guide rail structure, a support module, and a second guide rail structure in sequence, wherein the extension direction of the first guide rail structure and the extension direction of the second guide rail structure intersect with the arrangement direction of the first guide rail structure, the support module, and the second guide rail structure respectively; the support module is used to support the pole piece, and the first side is used to be parallel to the extension direction of the first guide rail structure; a first visual inspection module, wherein the first visual inspection module is connected to the first guide rail structure, the first visual inspection module is used to move along the extension direction of the first guide rail structure, and the first visual inspection module is used to detect burrs on the first edge; the first visual inspection module includes a first end face camera and a first end face light source, the optical axis of the light incident end of the first end face camera is parallel to the support surface of the support module, and the first end face camera is used to capture the image of the end face of the pole piece at the first edge; the first end face light source is arranged corresponding to the first end face camera, and the first end face light source is used to illuminate the end face of the pole piece at the first edge; the pole piece is provided with a pole ear on the first edge, and the surface plane of the pole ear is parallel to the surface plane of the body of the pole piece; the first visual inspection module includes a first reflection prism, the first reflection prism is used to be arranged between the first end face camera and the side of the pole ear, and the first reflection prism is used to reflect light from the side of the pole ear to the first end face camera; A second visual inspection module, wherein the second visual inspection module is connected to the second guide rail structure, and the second visual inspection module is used to move along an extension direction of the second guide rail structure, and the second visual inspection module is used to detect burrs on the other first edge.

2. The burr detection device according to claim 1, characterized in that: The burr detection device comprises a first position sensor and a first lateral movement module, the first position sensor is used to detect the position of the first edge, and the first position sensor is electrically connected to the first lateral movement module; The first transverse moving module is movably connected to the first guide rail structure, and is used to move along the extension direction of the first guide rail structure; the first transverse moving module is also connected to the first end face camera, and is used to move the first end face camera along the arrangement direction of the first guide rail structure, the supporting module and the second guide rail structure, so that the first end face camera moves transversely to the length direction of the first side.

3. The burr detection device according to claim 2, characterized in that: The first visual inspection module further includes a longitudinal moving module, which is connected to the first transverse moving module; one of the longitudinal moving module and the first transverse moving module is movably connected to the first guide rail structure and is used to move along the extension direction of the first guide rail structure, and the other of the longitudinal moving module and the first transverse moving module is connected to the first end face camera and enables the first end face camera to move perpendicularly to the extension direction of the first guide rail structure, so that the first end face camera moves perpendicularly to the length direction of the first side; and / or, The first visual inspection module includes two first reflecting prisms arranged opposite to each other, the two first reflecting prisms are respectively arranged on both sides of the same pole ear, and the optical axis of the light incident end of the first end face camera is arranged between the two first reflecting prisms.

4. The burr detection device according to claim 3, characterized in that: The first visual inspection module includes a second end surface camera and a second end surface light source, the optical axis of the light incident end of the second end surface camera is parallel to the support surface of the support module, and the second end surface camera is used to capture the image of the end surface of the pole piece at the first side; the second end surface light source is arranged corresponding to the second end surface camera, and the second end surface light source is used to illuminate the end surface of the pole piece at the first side; The second end surface camera and the first end surface camera are arranged along the extension direction of the first guide rail structure, and in the direction parallel to the support surface of the support module, the distance from the second end surface camera to the support module is smaller than the distance from the first end surface camera to the support module; The burr detection device includes a second lateral moving module, the first position sensor is electrically connected to the second lateral moving module; the second lateral moving module is connected to the second end surface camera, and the second lateral moving module is used to move the second end surface camera along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the second end surface camera moves transversely to the length direction of the first side.

5. The burr detection device according to claim 4, characterized in that: The first visual inspection module includes a first plane camera and a first plane light source, the optical axis of the light incident end of the first plane camera is perpendicular to the support surface of the support module, the first plane camera is arranged opposite to the first edge, and the first plane camera is used to capture an image of the surface of the pole piece parallel to the support surface; The first plane light source is arranged opposite to the first side, and the first plane light source is used to illuminate the surface of the pole piece parallel to the supporting surface; The first plane camera is movably connected to the first guide rail structure, and the first plane camera is used to move along an extension direction of the first guide rail structure.

6. The burr detection device according to claim 5, characterized in that: The first visual inspection module includes a mounting plate, the mounting plate is movably mounted on the first guide rail structure, and the mounting plate is used to move along the extension direction of the first guide rail structure; The longitudinal moving module is mounted on the mounting plate, and the first reflecting prism is mounted on the mounting plate; the first transverse moving module is mounted on the longitudinal moving module, and the first end face camera is mounted on the first transverse moving module; the first end face light source is relatively fixed to the first end face camera, and the first end face light source is mounted on the first transverse moving module; The second transverse moving module is installed on the mounting plate, the second end surface camera and the second end surface light source are relatively fixed, and the second end surface camera and the second end surface light source are respectively installed on the second transverse moving module; The burr detection device also includes a first lifting module, which is installed on the mounting plate; the first plane camera is connected to the first lifting module, and the first lifting module is used to lift the first plane camera; the first plane light source is connected to the support module, the light output end of the first plane light source is toward the first plane camera, the light output end of the first plane light source is lower than the support surface of the support module in the direction of gravity, and the first plane light source is used to be arranged on the side of the support surface of the support module facing away from the first plane camera; and / or, The pole ear is provided with a reinforcing rib, and the reinforcing rib is raised or recessed in a direction perpendicular to the supporting surface of the supporting module; the first visual detection module also includes a depth detection camera, the optical axis of the light incident end of the depth detection camera is perpendicular to the supporting surface of the supporting module, and the depth detection camera is used to be arranged opposite to the pole ear, and the depth detection camera is used to detect the protruding height or recessed depth of the reinforcing rib.

7. The burr detection device according to any one of claims 1 to 6, characterized in that: The second visual inspection module includes a third end face camera and a third end face light source, the optical axis of the light incident end of the third end face camera is parallel to the support surface of the support module, and the third end face camera is used to capture the image of the end face of the pole piece at the other first side; the third end face light source is arranged corresponding to the third end face camera, and the third end face light source is used to illuminate the end face of the pole piece at the other first side; The burr detection device comprises a second position sensor and a third lateral movement module, wherein the second position sensor is used to detect the position of the other first side, and the second position sensor is electrically connected to the third lateral movement module; The third lateral moving module is movably connected to the second guide rail structure, and is used to move along the extension direction of the second guide rail structure; the third lateral moving module is also connected to the third end face camera, and is used to move the third end face camera along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the third end face camera moves transversely to the length direction of the other first side.

8. The burr detection device according to claim 7, characterized in that: The second visual inspection module includes a second plane camera and a second plane light source, the optical axis of the light incident end of the second plane camera is perpendicular to the support surface of the support module, the second plane camera is arranged opposite to the other first side, and the second plane camera is used to capture the image of the surface of the pole piece parallel to the support surface; The second plane light source is arranged opposite to the other first side, and the second plane light source is used to illuminate the surface of the pole piece parallel to the supporting surface; The second plane camera is movably connected to the second guide rail structure, and the second plane camera is used to move along an extension direction of the second guide rail structure.

9. The burr detection device according to claim 8, characterized in that: The second visual detection module also includes a second reflecting prism, which is arranged opposite to the second plane camera; the second reflecting prism is lower than the supporting surface of the supporting module in the direction of gravity, and the second reflecting prism is used to reflect the light on the surface of the pole piece facing away from the second plane light source to the second plane camera.

10. The burr detection device according to claim 9, characterized in that: The burr detection device includes a fourth lateral moving module, which is movably connected to the second guide rail structure and is used to move along the extension direction of the second guide rail structure; the fourth lateral moving module is also connected to the second reflective prism, and is used to move the second reflective prism along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, so that the second reflective prism moves transversely to the length direction of the first side until it is covered by the pole piece; The support module is provided with an avoidance space, the avoidance space is arranged opposite to the second reflective prism, and the second reflective prism is used to move into the avoidance space transversely to the length direction of the first side.

11. The burr detection device according to claim 10, characterized in that: The second visual inspection module includes a connecting frame, the connecting frame is movably mounted on the second guide rail structure, and the connecting frame is used to move along the extension direction of the second guide rail structure; The third transverse moving module is installed on the connecting frame, and the third end face camera is installed on the third transverse moving module; the third end face light source is relatively fixed to the third end face camera, and the third end face light source is installed on the third transverse moving module; The burr detection device also includes a second lifting module, which is installed on the connecting frame; the second plane camera is connected to the second lifting module, and the second lifting module is used to lift the second plane camera; the second plane light source is connected to the connecting frame, and the light emitting direction of the second plane light source is away from the second plane camera; the second plane light source is used to be arranged opposite to the other first side, and the second plane light source is used to illuminate the plane of the pole piece parallel to the supporting surface of the supporting module; The fourth transverse moving module is installed on the connecting frame, and the second reflecting prism is installed on the fourth transverse moving module.

12. The burr detection device according to any one of claims 1 to 6, characterized in that: The support module includes two first support plates and at least one second support plate arranged at intervals, and the second support plate is arranged in the interval between two adjacent first support plates; the extension direction of the first support plate and the extension direction of the second support plate respectively intersect with the arrangement direction of the first guide rail structure, the support module and the second guide rail structure, the plate surface of the first support plate and the plate surface of the second support plate are used to form the support surface of the support module, and the first support plate and the second support plate are respectively used to support the pole piece.

13. The burr detection device according to claim 12, characterized in that: The support module further comprises a distance adjusting device, a power output end of the distance adjusting device is connected to the first support plate, and the distance adjusting device is used to increase or decrease the spacing distance between the two first support plates.

14. The burr detection device according to claim 13, characterized in that: The support module further includes a lifting device, a power output end of the lifting device is connected to the second support plate, and the lifting device is used to lift the second support plate relative to the first support plate.

15. The burr detection device according to claim 14, characterized in that: The support module includes at least two second support plates and at least two lifting devices, and the second support plates and the lifting devices are connected in a one-to-one correspondence.

16. The burr detection device according to claim 15, characterized in that: The second guide rail structure is higher than the support surface of the support module in the direction of gravity, and the distance adjustment device is connected to the first support plate facing the second visual inspection module so that the first support plate facing the second visual inspection module moves along the arrangement direction of the first guide rail structure, the support module and the second guide rail structure.

17. The burr detection device according to claim 16, characterized in that: The equipment support further comprises a fifth lateral movement module, the fifth lateral movement module is connected to the support module, the fifth lateral movement module is used to move the support module along the arrangement direction of the first guide rail structure and the second guide rail structure, and the support module is used to move under the second guide rail structure; and / or, The burr detection device further includes an abutment rod and a sixth lateral movement module, wherein the abutment rod is arranged on a side facing the second visual inspection module; the sixth lateral movement module is connected to the abutment rod, and the sixth lateral movement module is used to move the abutment rod along the arrangement direction of the first guide rail structure and the second guide rail structure; the length direction of the abutment rod is parallel to the extension direction of the second guide rail structure, the pole piece is used to extend out of the support surface of the support module in a direction away from the first visual inspection module, and the abutment rod is used to abut the edge of the pole piece; and / or, The first support plate away from the second visual detection module is provided with a support protrusion, and the support protrusion is arranged on the side of the first support plate away from the second visual detection module. The support protrusion is used to support the pole ear of the pole piece, and the support protrusion is movably connected to the first support plate along the extension direction of the first support plate.

18. The burr detection device according to claim 17, characterized in that: An adsorption through hole is provided on the support plate surface of at least one of the first support plate, the second support plate and the support protrusion, and the adsorption through hole is used to connect a negative pressure device to adsorb the pole piece.

19. The burr detection device according to any one of claims 1 to 6, characterized in that: The burr detection device also includes a size detection module, the first visual detection module, the size detection module and the second visual detection module are arranged in sequence; the size detection module is connected to the equipment bracket, the size detection module is arranged above the support module, and the size detection module is used to detect the size of the pole piece.

20. A burr detection method, characterized in that: The burr detection method is used to detect burrs of a pole piece, wherein the pole piece comprises two first sides arranged oppositely and two second sides arranged oppositely, the length of the first side is greater than the length of the second side, and the pole piece is provided with a pole ear on the first side, and the surface plane of the pole ear is parallel to the surface plane of the body of the pole piece; the burr detection method comprises the following steps: placing the pole piece on a supporting module; Move the first visual inspection module parallel to the length direction of one of the first edges and inspect the burrs of the first edge; Move the second visual inspection module parallel to the length direction of another one of the first edges and inspect the burrs of the first edge; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and detecting the burrs of the first edge comprises: The light from the side of the tab is reflected to the first end face camera of the first visual inspection module through the first reflecting prism to detect the burrs on the side of the tab.

21. The burr detection method according to claim 20, characterized in that: The burr detection method further comprises the following steps: For the pole piece placed on the supporting module, detecting first position information of the pole piece by a size detecting module; According to the first position information, the first visual inspection module moves to a first preset position; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and detecting the burrs of the first edge comprises: During the movement of the first visual inspection module, obtaining second position information of the first side through a first position sensor; According to the second position information, the position of the first visual inspection module is adjusted during the movement of the first visual inspection module.

22. The burr detection method according to claim 21, characterized in that: The pole piece is provided with a pole ear on the first side, and the surface plane of the pole ear is parallel to the surface plane of the body of the pole piece; The step of moving the first visual inspection module parallel to the length direction of one of the first edges and detecting the burrs of the first edge comprises: The first visual inspection module detects burrs on the portion of the first side outside the tab, and obtains third position information of the portion of the first side outside the tab through the first position sensor; According to the third position information, the depth of field of the camera corresponding to the first visual inspection module covers various positions of the side of the tab, and correspondingly detects the end surface burrs of the side of the tab.

23. The burr detection method according to any one of claims 20 to 22, characterized in that: The burr detection method further comprises the following steps: For the pole piece placed on the supporting module, detecting first position information of the pole piece by a size detecting module; According to the first position information, the second visual inspection module moves to a second preset position; The step of moving the second visual inspection module parallel to the length direction of another one of the first edges and detecting the burrs of the first edge comprises: During the movement of the second visual detection module, acquiring fourth position information of another first side through a second position sensor; According to the fourth position information, the position of the second visual inspection module is adjusted during the movement of the second visual inspection module.

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