Burr Detection Device and Burr Detection Method

Abstract

The present application discloses a burr detection device and a burr detection method, which relate to the technical field of battery manufacturing. The burr detection device includes a device support, a first and a second vision detection module. The device support is sequentially provided with a support module, a first and a second guide rail structure. The extending directions of the first and second guide rail structures respectively intersect the arrangement directions of the first guide rail structure, the support module and the second guide rail structure. The first and second vision detection modules are respectively used to move along the extending directions of the first and second guide rail structures. The first and second vision detection modules are respectively used to detect the burrs on two first sides of the pole piece. The first reflecting prism is used to reflect the light from the side of the tab to the first end face camera of the first vision detection module, so that the burrs on the two first sides can be detected simultaneously when the pole piece is stationary, which not only improves the burr detection beat, but also reduces the jitter of the pole piece and improves the detection accuracy, and can reduce the layout limitation through the first reflecting prism.

Description

Technical Field

[0001] This application relates to the technical field of battery manufacturing, and particularly to a burr detection device and a burr detection method. Background Art

[0002] In the processing of batteries such as lithium-ion batteries and sodium-ion batteries, processes such as die-cutting, slitting, winding, or laminating are essential in battery production. Die-cutting requires cutting the foil area of the electrode sheet to cut out the tab; slitting requires splitting the electrode sheet into strips, and winding or laminating requires cutting the electrode sheet into segments.

[0003] For these cutting processes, due to reasons such as material defects and wear of the cutting edge of the cutting tool during the cutting process, the electrode sheet may have a problem of 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, aiming to detect possible burrs after the electrode sheet is cut.

[0005] To achieve the above object, the burr detection device proposed in this application is used to detect the burrs of the electrode sheet. The electrode sheet includes two relatively arranged first sides and two relatively arranged second sides, and the length of the first side is greater than the length of the second side. The burr detection device includes a device bracket, a first vision detection module, and a second vision detection module. The device bracket is sequentially provided with a first guide rail structure, a support module, and a second guide rail structure. The extension directions of the first guide rail structure and the second guide rail structure respectively intersect 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 electrode sheet, and the first side is used to be parallel to the extension direction of the first guide rail structure; the first vision detection module is connected to the first guide rail structure, and the first vision detection module is used to move along the extension direction of the first guide rail structure. The first vision detection module is used to detect the burrs on the first side; the first vision detection 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. The first end face camera is used to capture an image of the end face of the electrode sheet on the first side; the first end face light source is correspondingly arranged with the first end face camera, and the first end face light source is used to irradiate the end face of the electrode sheet on the first side; the electrode sheet is provided with a tab on the first side, and the surface plane of the tab is parallel to the surface plane of the main body of the electrode sheet; the first vision detection module includes a first reflection prism, and the first reflection prism is used to be arranged between the first end face camera and the side of the tab. The first reflection prism is used to reflect the light from the side of the tab to the first end face camera; the second vision detection module is connected to the second guide rail structure, and the second vision detection module is used to move along the extension direction of the second guide rail structure. The second vision detection module is used to detect the burrs on the other first side.

[0006] When the burr detection device proposed in this application is in use, the first vision detection module and the second vision detection module can move along the extension directions of the first guide rail structure and the second guide rail structure respectively, so that when the pole piece is statically placed on the support module, the burrs on two first sides of the pole piece can be detected simultaneously, which not only improves the burr detection cycle time but also reduces the jitter of the pole piece, thus being beneficial to improving the detection accuracy. In addition, for the sequentially arranged first guide rail structure, support module and second guide rail structure, the extension directions of the first guide rail structure and the second guide rail structure respectively intersect the arrangement direction of the first guide rail structure, support module and second guide rail structure, and the first side of the pole piece is used to be parallel to the extension direction of the first guide rail structure, which is beneficial to improving the compactness of the burr detection device and reducing the floor space occupied by the burr detection device.

[0007] In addition, the first reflection prism can reflect the light from the side of the tab to the first end face camera, making the arrangement position of the first end face camera more flexible and reducing the layout limitation of the first vision detection module.

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

[0009] At this time, by enabling the first position sensor to detect the position of the first side, the first position sensor is electrically connected to the first lateral movement module, and the first lateral movement module moves the first end face camera transversely to the length direction of the first side, the burr detection device can adjust the distance between the first end face camera and the first side according to the first position sensor when the clamping position accuracy of the pole piece is relatively low, realizing the dynamic focusing of the first end face camera, which is beneficial to improving the imaging accuracy and detection accuracy through the first end face camera.

[0010] Optionally, the first vision detection module further includes a longitudinal movement module, which is connected to the first lateral movement module; one of the longitudinal movement module and the first lateral movement 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 movement module and the first lateral movement module is connected to the first end face camera and makes the first end face camera move 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 vision detection module includes two relatively arranged first reflecting prisms, and the two first reflecting prisms are respectively arranged on both sides of the same tab, and the optical axis of the light incident end of the first end face camera is arranged between the two first reflecting prisms.

[0011] At this time, the first end face camera can complete burr detection on the side of the tab through the longitudinal movement module and the first lateral movement module, improving the detection efficiency; the first vision detection module includes two relatively arranged first reflecting prisms, enabling the same first end face camera to image the two sides of the tab to complete burr detection, reducing the requirement for the number of first end face cameras and the equipment cost of the burr detection device.

[0012] Optionally, the first vision detection 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 support surface of the support module. The second end face camera is used to capture an image of the end face of the electrode sheet 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 irradiate the end face of the electrode sheet on the first side; the second end face camera and the first end face camera are arranged in a row along the extension direction of the first guide rail structure. 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 less than the distance from the first end face camera to the support module; the burr detection device includes a second lateral movement module, and the first position sensor is electrically connected to the second lateral movement module; the second lateral movement module is connected to the second end face camera, and the second lateral movement 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 supporting surface of the supporting module, the distance from the second end face camera to the supporting module is less than the distance from the first end face camera to the supporting module. The part of the first side of the pole piece outside the tab is usually relatively straight. 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 beneficial to improving the detection quality. The distances from the points on the side of the tab to the first side are different. The burr detection device can use the first end face camera with a longer distance and a larger focal length to increase the depth of field range, so as to facilitate covering all positions on the side of the tab, reducing the movement requirement of the first end face camera and simplifying the control of the first end face camera. In addition, by enabling the first position sensor to 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 in the case of low clamping position accuracy of the pole piece, realizing dynamic focusing of the second end face camera, which is beneficial to improving the imaging accuracy and detection accuracy through the second end face camera.

[0014] Optionally, the first vision detection module includes a first planar camera and a first planar light source. The optical axis of the light incident end of the first planar camera is perpendicular to the supporting surface of the supporting module. The first planar camera is disposed opposite to the first side, and the first planar camera is used to capture an image of the surface of the pole piece parallel to the supporting surface. The first planar light source is disposed opposite to the first side, and the first planar light source is used to irradiate the surface of the pole piece parallel to the supporting surface. The first planar camera is movably connected to the first rail structure, and the first planar camera is used to move along the extending direction of the first rail structure.

[0015] At this time, the first planar camera can move along the extending direction of the first rail structure, so that the burr detection of the surface of the first side of the pole piece parallel to the supporting surface can be performed when the pole piece is stationary on the supporting module, which not only improves the burr detection beat, but also reduces the jitter of the pole piece, which is beneficial to improving the imaging accuracy and detection accuracy.

[0016] Optionally, the first vision detection module includes a mounting plate movably mounted on the first guide rail structure for moving along the extension direction of the first guide rail structure; a longitudinal movement module is mounted on the mounting plate, and a first reflecting prism is mounted on the mounting plate; a first transverse movement module is mounted on the longitudinal movement module, and a first end face camera is mounted on the first transverse movement module; a first end face light source is relatively fixed to the first end face camera and is mounted on the first transverse movement module; a second transverse movement module is mounted on the mounting plate, and a second end face camera and a second end face light source are relatively fixed, and the second end face camera and the second end face light source are respectively mounted on the second transverse movement module; the burr detection device further includes a first lifting module mounted on the mounting plate; a first planar camera is connected to the first lifting module, and the first lifting module is used to lift the first planar camera; a first planar light source is connected to the support module, the light emitting end of the first planar light source faces the first planar camera, and the light emitting end of the first planar light source is lower than the support surface of the support module in the gravity direction, and the first planar light source is used to be arranged on the side of the support surface of the support module facing away from the first planar camera; and / or, the tab is provided with a reinforcing rib that protrudes or recesses in a direction perpendicular to the support surface of the support module; the first vision detection module further includes a depth detection camera, the optical axis of the light incident end of the depth detection camera is perpendicular to the support surface of the support module, and the depth detection camera is used to be arranged opposite to the tab and is used to detect the protruding height or recessed depth of the reinforcing rib.

[0017] At this time, the mounting plate included in the first vision detection module is respectively beneficial to improving the installation convenience of the longitudinal movement module, the second transverse movement 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 detecting the burrs on the side of the tab through the first end face camera, it is beneficial to reduce the risk of the first reflecting prism hitting the tab, and at the same time reduce the movement requirement of the first reflecting prism, improving the overall movement convenience. On the other hand, the first lifting module is beneficial to improving the convenience of the first planar camera to adjust the focal length by lifting the first planar camera.

[0018] Optionally, the second vision detection 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. The third end face camera is used to capture an 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. The third end face light source is used to irradiate the end face of the pole piece on the other first side. The burr detection device 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. 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. 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. 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 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.

[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 movement module, and the third lateral movement module moves the third end face camera transversely to the length direction of the other first side. The burr detection device can adjust the distance between the third end face camera and the other first side according to the second position sensor when the clamping position accuracy of the pole piece is relatively low, achieving dynamic focusing of the third end face camera, which is beneficial to improving the imaging accuracy and detection accuracy through the third end face camera.

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

[0021] At this time, the second planar 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 support surface when the pole piece is stationary on the support module, which not only improves the burr detection cycle time but also reduces the jitter of the pole piece, thus being beneficial to improving the imaging accuracy and detection accuracy.

[0022] Optionally, the second vision detection module further includes a second reflecting prism. The second reflecting prism is arranged opposite to the second planar camera. The second reflecting prism is lower than the support surface of the support module in the gravity direction. The second reflecting prism is used to reflect the light of the surface of the pole piece facing away from the second planar light source to the second planar camera.

[0023] At this time, relative to the first side provided with the tab, the other first side is usually formed by a slitting process and there may be leakage of materials such as aluminum leakage; the second reflecting prism can reflect the light on the surface of the pole piece facing away from the second planar light source to the second planar camera, which is beneficial to realizing the imaging of the surface of the pole piece facing away from the second planar light source and completing the leakage detection.

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

[0025] At this time, the burr detection device can move the second reflecting prism transversely to the length direction of the first side and be covered by the pole piece through the fourth lateral movement module. Thus, when detecting the leakage of the surface of the pole piece facing the second planar light source, the interference of the reflected light of the second reflecting prism is reduced, and the imaging accuracy and detection accuracy are improved.

[0026] Optionally, the second vision detection module includes a connecting frame, which is movably installed on the second rail structure. The connecting frame is used to move along the extension direction of the second rail structure; a third lateral movement module is installed on the connecting frame, and a third end face camera is installed on the third lateral movement 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 lateral movement module; the burr detection device further includes a second lifting module, which is installed on the connecting frame; the second planar camera is connected to the second lifting module, and the second lifting module is used to lift the second planar camera; the second planar light source is connected to the connecting frame, and the light emitting direction of the second planar light source faces away from the second planar camera; the second planar light source is used to be arranged opposite to the other first side, and the second planar light source is used to irradiate the plane of the pole piece parallel to the support surface of the support module; the fourth lateral movement module is installed on the connecting frame, and the second reflecting prism is installed on the fourth lateral movement module.

[0027] At this time, the connecting frame included in the second vision detection module is respectively beneficial to improving the installation convenience of the third lateral movement module, the second lifting module, the second planar light source and the fourth lateral movement module; in addition, the second lifting module is used to lift the second planar camera, which is beneficial to improving the convenience of adjusting the focal length of the second planar camera.

[0028] Optionally, the support module includes two first support plates arranged at intervals and at least one second support plate, and the second support plate is arranged within the interval between two adjacent first support plates; the extending directions of the first support plates and the extending direction of the second support plate respectively intersect the arrangement direction of the first guide rail structure, the support module, and the second guide rail structure. The plate surfaces of the first support plates and the plate surface of the second support plate are used to form the support surface of the support module, and the first support plates and the second support plate are respectively used to support the pole pieces.

[0029] At this time, the extending directions of the first support plates and the extending direction of the second support plate respectively intersect the arrangement direction of the first guide rail structure, the support module, and the second guide rail structure. The burr detection device can support the two first edges of the pole piece through the first support plates and the second support plate respectively; in addition, the second support plate is arranged within the interval between two adjacent first support plates, which can support the inner area of the pole piece, is beneficial to improving the overall flatness of the pole piece, is beneficial to 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 includes a distance adjustment device, and the power output end of the distance adjustment device is connected to the first support plate. The distance adjustment device is used to increase or decrease the interval distance between the two first support plates.

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

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

[0033] At this time, in the case where the distance adjustment device increases the interval distance between the two first support plates to be compatible with wider pole pieces, the lifting device can lift 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 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 improving 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 gravity direction, and the distance adjustment device is connected to the first support plate facing the second vision detection module, so that the first support plate facing the second vision detection 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 it can avoid the first support plate connected to the distance adjustment device, reducing the risk of collision.

[0038] Optionally, the equipment support further includes a fifth lateral movement module 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 abutting rod and a sixth lateral movement module. The abutting rod is arranged on the side facing the second vision detection module; the sixth lateral movement module is connected to the abutting rod, and the sixth lateral movement module is used to move the abutting rod along the arrangement direction of the first guide rail structure and the second guide rail structure; the length direction of the abutting rod is parallel to the extension direction of the second guide rail structure, and the pole piece is used to extend out of the support surface of the support module in the direction away from the first vision detection module, and the abutting rod is used to abut against the edge of the pole piece; and / or, the first support plate away from the second vision detection module is provided with a support bump, and the support bump is arranged on the side of the first support plate away from the second vision detection module. The support bump is used to support the tab of the pole piece, and the support bump is movably connected to the first support plate along the extension direction of the first support plate.

[0039] At this time, the fifth lateral movement module can move the support module under the second guide rail structure, thereby realizing the feeding action of the pole piece and reducing the collision risk. The length direction of the abutting 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, improving the positioning efficiency of the pole piece during the placement process of the pole piece. In addition, the support bump can further improve the overall flatness of the pole piece by supporting the pole piece; the support bump is movably connected to the first support plate along the extension direction of the first support plate, so that the support bump can be applicable to pole pieces with different tab positions.

[0040] Optionally, adsorption through holes are provided on the support plate surfaces of at least one of the first support plate, the second support plate, and the support bump, and the adsorption through holes are used to connect a negative pressure device to adsorb the pole piece.

[0041] At this time, adsorption through holes are provided on the support plate surfaces of at least one of the first support plate, the second support plate, and the support bump, which is beneficial to improving the adhesion degree between the pole piece and the first support plate, the second support plate, or the support bump, beneficial to improving the overall flatness of the pole piece and beneficial to ensuring that the first side and the second side are within the visual detection range, and reducing the risk of accidental movement of the pole piece during movement.

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

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

[0044] This application also provides a burr detection method, which is used to detect the burrs of the pole piece. The pole piece includes two relatively arranged first sides and two relatively arranged second sides. The length of the first side is greater than the length of the second side. The burr detection method includes the following steps:

[0045] Place the pole piece on the support module;

[0046] Move the first vision detection module parallel to the length direction of one of the first sides and detect the burrs on the first side;

[0047] Move the second vision detection module parallel to the length direction of the other first side and detect the burrs on the first side;

[0048] The step of moving the first vision detection module parallel to the length direction of one of the first sides and detecting the burrs on the first side includes:

[0049] Reflect the light from the side of the tab through the first reflecting prism to the first end face camera of the first vision detection module to detect the burrs on the side of the tab.

[0050] When the burr detection method proposed in this application is used, the first vision detection module and the second vision detection module can move respectively along the length directions of the two first sides, so that the burrs on the two first sides of the pole piece can be detected simultaneously while the pole piece is statically placed on the support module, which not only improves the burr detection beat but also reduces the jitter of the pole piece, which is beneficial to improving the detection accuracy.

[0051] In addition, reflecting the light from the side of the tab through the first reflecting prism to the first end face camera of the first vision detection module to detect the burrs on the side of the tab can make the arrangement position of the first end face camera more flexible, which is beneficial to reducing the layout limitation of the first vision detection module.

[0052] Optionally, the burr detection method further includes the following steps:

[0053] For the pole piece placed on the support module, detect the first position information of the pole piece through the size detection module;

[0054] Move the first vision detection module to the first preset position according to the first position information;

[0055] The steps of moving the first vision detection module parallel to the length direction of one of the first sides and detecting the burrs on the first side include:

[0056] During the movement of the first vision detection module, obtain the second position information of the first side through the first position sensor;

[0057] According to the second position information, adjust the position of the first vision detection module during the movement of the first vision detection module.

[0058] At this time, through the first position information and the corresponding movement of the pole piece, the first vision detection module can complete the rough positioning relative to the pole piece; through the second position information and the corresponding movement, the first vision detection module can complete the fine positioning relative to the pole piece, which is beneficial to accurately locate the first side within the detection range of the first vision detection module and improve the detection accuracy.

[0059] Optionally, the pole piece is provided with a tab on the first side, and the surface plane of the tab is parallel to the surface plane of the body of the pole piece;

[0060] The steps of moving the first vision detection module parallel to the length direction of one of the first sides and detecting the burrs on the first side include:

[0061] Make the first vision detection module detect the burrs on the part of the first side outside the tab, and obtain the third position information of the part of the first side outside the tab through the first position sensor;

[0062] According to the third position information, make the depth of field range of the camera corresponding to the first vision detection module cover each position on the side of the tab, and detect the end face burrs on the side of the tab correspondingly.

[0063] At this time, the burr detection method can determine the degree of deflection of the pole piece through the third position information, so as to facilitate ensuring that the depth of field range of the camera corresponding to the first vision detection module covers each position on the side of the tab according to the third position information, which is beneficial to improving the imaging accuracy and detection accuracy.

[0064] Optionally, the burr detection method further includes the following steps:

[0065] For the pole piece placed on the support module, detect the first position information of the pole piece through the size detection module;

[0066] According to the first position information, move the second vision detection module to the second preset position;

[0067] The steps of moving the second vision detection module parallel to the length direction of the other first side and detecting the burrs on the first side include:

[0068] During the movement of the second vision detection module, obtain the fourth position information of the other first side through the second position sensor;

[0069] According to the fourth position information, adjust the position of the second vision detection module during the movement of the second vision detection module.

[0070] At this time, through the first position information and the corresponding movement of the pole piece, the second vision detection module can complete the rough positioning relative to the pole piece; through the fourth position information and the corresponding movement, the second vision detection module can complete the fine positioning relative to the pole piece, which is beneficial to accurately locate the other first side within the detection range of the second vision detection module and is beneficial to improving the detection accuracy. Description of the Drawings

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0072] Figure 1 Isometric view of an embodiment of the burr detection device provided by the present application;

[0073] Figure 2 Front view of an embodiment of the burr detection device provided by the present application;

[0074] Figure 3 Schematic diagram of the use of the partial structure of an embodiment of the present application in the left view direction;

[0075] Figure 4 Schematic diagram of the three-dimensional use of the partial structure of an embodiment of the present application;

[0076] Figure 5 Schematic diagram of the use of the partial structure of an embodiment of the present application in the top view direction;

[0077] Figure 6 Schematic diagram of the three-dimensional use of the first vision detection module in an embodiment of the present application;

[0078] Figure 7 Schematic diagram of the use of the first vision detection module in the top view direction in an embodiment of the present application;

[0079] Figure 8 Schematic diagram of the use of the first vision detection module in an embodiment of the present application;

[0080] Figure 9 Another usage schematic diagram of the first vision detection module in an embodiment of the present application;

[0081] Figure 10 is Figure 3 The partial enlarged view of the position A in

[0082] Figure 11 The three-dimensional usage schematic diagram of the support module in an embodiment of the present application;

[0083] Figure 12 is Figure 11 The partial enlarged view of the position B in

[0084] Figure 13 The usage schematic diagram of the support module in the right view direction in an embodiment of the present application;

[0085] Figure 14 The usage schematic diagram of the support module in the top view direction in an embodiment of the present application;

[0086] Figure 15 The three-dimensional usage schematic diagram of the second vision detection module in an embodiment of the present application;

[0087] Figure 16 The usage schematic diagram of the second vision detection module in an embodiment of the present application;

[0088] Figure 17 The usage schematic diagram of the second vision detection module in the top view direction in an embodiment of the present application;

[0089] Figure 18 The usage schematic diagram of the second vision detection module in the rear view direction in an embodiment of the present application.

[0090] Explanation of the reference numerals in the drawings:

[0091] 100, Burr detection device; 101, Outer shell cover; 102, First operating device; 103, Second operating device; 104, Electrical cabinet; 105, Door body; 106, Warning lamp; 107, Feeding port; 108, Grating assembly; 109, Equipment base;

[0092] 110, First vision detection module; 111, First end face camera; 112, First end face light source; 113, First reflection prism; 1131, First light transmission surface; 1132, First reflection surface; 114, Second end face camera; 115, Second end face light source; 116, First planar camera; 117, First planar light source;

[0093] 120. Second vision detection module; 121. Third end face camera; 122. Third end face light source; 123. Second plane camera; 124. Second plane light source; 125. Second reflection prism; 1251. Second light transmissive surface; 1252. Second reflection surface; 1253. Third reflection surface;

[0094] 130. Equipment support; 131. First guide rail structure; 132. Second guide rail structure; 133. Support module; 134. First support plate; 135. Second support plate; 136. Jacking device; 137. Support bump; 138. Support bottom plate; 139. Support top plate;

[0095] 141. First position sensor; 142. Second position sensor;

[0096] 151. First lateral movement module; 152. Second lateral movement module; 153. Third lateral movement module; 154. Fourth lateral movement module; 155. Fifth lateral movement module; 156. Sixth lateral movement module;

[0097] 161. Longitudinal movement module; 171. Mounting plate; 172. Connecting frame;

[0098] 181. First lifting module; 182. Second lifting module;

[0099] 191. Spacing adjustment device; 192. Abutting rod; 193. Dimension detection module; 194. Dust removal module; 195. Cutting platform;

[0100] 200. Electrode tab; 210. First side; 211. Tab; 220. Second side.

[0101] The realization, functional features and advantages of the objectives of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0102] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without making creative efforts shall fall within the scope of protection of this application.

[0103] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of this application, the directional indications are only used to explain the relative position relationship and movement conditions among the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0104] In addition, if descriptions such as "first" and "second" are involved in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions 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.

[0105] In the processing of batteries such as lithium-ion batteries and sodium-ion batteries, processes such as die-cutting, slitting, winding, or laminating are essential in battery production. Die-cutting requires cutting the foil area of the electrode sheet to cut out the tabs; slitting requires dividing the electrode sheet into strips, and winding or laminating requires cutting the electrode sheet into segments.

[0106] For these cutting processes, due to reasons such as material defects and wear of the cutting edge of the cutting tool during the cutting process, there may be a problem of excessive burrs on the electrode sheet after cutting.

[0107] Therefore, based on the above considerations, in order to detect the possible burrs on the electrode sheet after cutting, this application proposes a burr detection device. Among them, when the burr detection device is in use, it can detect the burrs on two first edges of the electrode sheet simultaneously when the electrode sheet is statically placed on the support module.

[0108] Next, the structure of the burr detection device proposed in this application will be explained in detail with specific embodiments.

[0109] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5, in an embodiment of the present application, the burr detection device 100 is used to detect burrs on the electrode tab 200. The electrode tab 200 includes two oppositely arranged first sides 210 and two oppositely arranged 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 vision detection module 110, and a second vision detection module 120. The device bracket 130 is sequentially provided with a first rail structure 131, a support module 133, and a second rail structure 132. The extending directions of the first rail structure 131 and the second rail structure 132 respectively intersect the arrangement direction of the first rail structure 131, the support module 133, and the second rail structure 132; the support module 133 is used to support the electrode tab 200, and the first side 210 is used to be parallel to the extending direction of the first rail structure 131; the first vision detection module 110 is connected to the first rail structure 131, the first vision detection module 110 is used to move along the extending direction of the first rail structure 131, and the first vision detection module 110 is used to detect burrs on the first side 210; the second vision detection module 120 is connected to the second rail structure 132, the second vision detection module 120 is used to move along the extending direction of the second rail structure 132, and the second vision detection module 120 is used to detect burrs on the other first side 210.

[0110] Referring to Figure 5 , in some embodiments, the electrode tab 200 may be provided with a tab 211 on the first side 210. The surface plane of the tab 211 is parallel to the surface plane of the body of the electrode tab 200. It can be understood that one of the first sides 210 provided with the tab 211 may be set to face the first vision detection module 110, and the first side 210 and the tab 211 may be formed by a die-cutting process; the other first side 210 may be set to face the second vision detection module 120, and the first side 210 may be formed by a slitting process. In addition, the two oppositely arranged second sides 220 of the electrode tab 200 may 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 may be set to be greater than or equal to 1.8, for example, set to be greater than or equal to 2. It can be understood that the body part of the electrode tab 200 having the tab 211 may 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.

[0111] The first vision detection module 110 and the second vision detection module 120 can be respectively understood as modules for burr detection through machine vision. Specifically, first, a camera takes a picture, and then existing image recognition and other methods are used to identify burrs in the picture obtained by taking the picture.

[0112] Referring to Figure 5, the arrangement direction of the first guide rail structure 131, the support module 133, and the second guide rail structure 132 can be along the Y-axis direction in the figure. The extension directions of the first guide rail structure 131 and the second guide rail structure 132 can be along the X-axis direction in the figure respectively, that is, the extension directions of the first guide rail structure 131 and the second guide rail structure 132 can be perpendicular to the arrangement direction of the first guide rail structure 131, the support module 133, and the second guide rail structure 132 respectively. In addition, the first side 210 is arranged along the X-axis direction in the figure, so as to be parallel to the extension direction of the first guide rail structure 131.

[0113] Of course, the extension directions of the first guide rail structure 131 and 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.

[0114] The connection between the first vision detection module 110 and the first guide rail structure 131 includes direct connection and indirect connection. The indirect connection can be understood as being connected through other components. The movement of the first vision detection 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 driving motor; for example, the equipment support 130 can also be provided with a first driving device, and the first driving device can be set as a driving motor, a driving cylinder, etc.; the first driving device is in transmission connection with the first vision detection module 110, for example, through the above-mentioned first guide rail structure 131 and transmission structures such as ball screws and screw nuts to achieve transmission connection, so that the first driving device can be used to move the first vision detection module 110 along the extension direction of the first guide rail structure 131, for example, along Figure 5 the X-axis direction in the figure.

[0115] The connection between the second vision detection module 120 and the second guide rail structure 132 includes direct connection and indirect connection. The indirect connection can be understood as being connected through other components. The movement of the second vision detection 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 driving motor; for example, the equipment support 130 can also be provided with a second driving device, and the second driving device can be set as a driving motor, a driving cylinder, etc.; the second driving device is in transmission connection with the second vision detection module 120, for example, through the above-mentioned second guide rail structure 132 and transmission structures such as ball screws and screw nuts to achieve transmission connection, so that the second driving device can be used to move the second vision detection module 120 along the extension direction of the second guide rail structure 132, for example, along Figure 5 the X-axis direction in the figure.

[0116] Of course, in some embodiments, with reference to Figure 1 and Figure 2 , the burr detection device 100 may further include a housing cover 101, which may be set as a rectangular housing. Among them, the above-mentioned device bracket 130, the first vision detection module 110, and the second vision detection module 120 are respectively arranged inside the housing cover 101. In addition, the housing cover 101 may be provided with a first operating device 102, and the first operating device 102 is electrically connected to the above-mentioned first driving device and second driving device respectively, so as to control the movement parameters, etc. of the first vision detection module 110 and the second vision detection module 120 respectively. Among them, the first operating device 102 may be set as a touch screen. Of course, the first operating device 102 may also be set as a keyboard, etc.

[0117] In addition, the housing cover 101 may also be provided with a second operating device 103, and the second operating device 103 is electrically connected to the first vision detection module 110 and the second vision detection module 120 respectively, so as to control the vision detection parameters of the first vision detection module 110 and the second vision detection module 120 respectively. For example, the focal length, aperture size, etc. of the cameras of the first vision detection module 110 and the second vision detection module 120 are controlled. Among them, the second operating device 103 may be set as a touch screen. Of course, the second operating device 103 may also be set as a keyboard, etc.

[0118] In some embodiments, with reference to Figure 1 and Figure 2 , the housing cover 101 may also be provided with an electrical cabinet 104 and an openable and closable door body 105. The electrical cabinet 104 houses electrical components, such as a power converter, a cooling fan, etc. Among them, the door body 105 can be opened and closed, so that the internal device bracket 130, the first vision detection module 110, the second vision detection module 120, etc. can be repaired when it is opened.

[0119] The housing cover 101 may also be provided with a warning light 106, and the warning light 106 may be set as a lamp body such as a three-color lamp. The burr detection device 100 further includes a processor, and the processor can be electrically connected to the first vision detection module 110, the second vision detection module 120, and the warning light 106 respectively, so that when components such as the first vision detection module 110 and the second vision detection module 120 are abnormal, a warning is given through the warning light 106, for example, a warning is given through the flashing of the warning light 106.

[0120] Of course, the burr detection device 100 may also not be provided with the above-mentioned housing cover 101, first operating device 102, second operating device 103, electrical cabinet 104, door body 105 or warning light 106, and this embodiment does not limit this.

[0121] In the above-described embodiment, when the burr detection device 100 is in use, the first vision detection module 110 and the second vision detection module 120 can move along the extending directions of the first guide rail structure 131 and the second guide rail structure 132 respectively, for example, move along the Figure 5 X-axis direction in Figure 5 . Thus, when the pole piece 200 is statically placed on the support module 133, the burrs on the two first sides 210 of the pole piece 200 can be detected simultaneously, which not only improves the burr detection rhythm but also reduces the jitter of the pole piece 200, thus being beneficial to improving the detection accuracy. In addition, for the first guide rail structure 131, the support module 133, and the second guide rail structure 132 arranged in sequence, the extending directions of the first guide rail structure 131 and the second guide rail structure 132 (for example, the Figure 5 X-axis direction in Figure 5 ) intersect the arrangement direction of the first guide rail structure 131, the support module 133, and the second guide rail structure 132 (for example, the

[0122] Y-axis direction in Figure 6 and Figure 7 ), and the first side 210 of the pole piece 200 is used to be parallel to the extending direction of the first guide rail structure 131 (for example, all along the X-axis direction in the figure), which is beneficial to improving 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 in

[0123] , thus reducing the floor space occupied by the burr detection device 100.

[0124] 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 edge 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 corresponding driving device of the first lateral movement module 151 through the above-mentioned processor, so as to be able to determine the position that the first end face camera 111 needs to reach according to the preset corresponding relationship between the position of the first edge 210 and the first end face camera 111, and perform drive control through the corresponding driving device of the first lateral movement module 151.

[0125] In some embodiments, the first position sensor 141 can be set as an opposed photoelectric sensor; of course, the first position sensor 141 can also be set as an infrared sensor, etc. The first lateral movement module 151 is movably connected to the first guide rail structure 131. The first lateral movement module 151 is used to move along the extension direction of the first guide rail structure 131, for example, move along the X-axis direction in the figure. The first lateral movement module 151 is also connected to the first end face camera 111. The first lateral movement module 151 is used to move the first end face 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 that the first end face camera 111 moves transversely to the length direction of the first edge 210, for example, move the first end face camera 111 along the Y-axis direction in the figure. In some embodiments, the first lateral movement module 151 can be set as a linear slide table, where the linear slide table 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 through a driving device such as a driving motor and a structure such as a screw nut; among them, 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.

[0126] In this embodiment, by making the first position sensor 141 detect the position of the first edge 210, 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 Y-axis direction in the figure, the burr detection device 100 can adjust the distance between the first end face camera 111 and the first edge 210 according to the first position sensor 141 when the clamping position accuracy of the pole piece 200 is relatively low, for example, adjust the distance in the Y-axis direction in the figure, thereby realizing the dynamic focusing of the first end face camera 111, which is beneficial to improving the imaging accuracy and detection accuracy through the first end face camera 111.

[0127] In some embodiments, referring to Figure 6 、Figure 7 and Figure 8 The first visual detection module 110 includes a first reflecting prism 113, and the first reflecting prism 113 is used to be disposed between the first end face camera 111 and the side of the tab 211. It can be understood that on the corresponding optical path, the tab 211, the first reflecting prism 113, and the first end face camera 111 are arranged in sequence. The first reflecting prism 113 is used to reflect the light from the side of the tab 211 to the first end face camera 111, so as to image the side of the tab 211.

[0128] In some embodiments, the first reflecting prism 113 may be made of a light-transmitting material, such as made of materials like glass, etc.; referring to 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 disposed opposite to the side of the tab 211. It can be understood that the light from the side piece of the tab 211 can be transmitted to the first light-transmitting surface 1131. The first reflecting surface 1132 is disposed on the side of the first light-transmitting surface 1131 away from the tab 211. It can be understood that the light from the side piece of the tab 211 first passes through the first light-transmitting surface 1131 and then reaches the first reflecting surface 1132. Among them, the first reflecting surface 1132 is disposed opposite to the first end face camera 111, so as to reflect the light from the side piece of the tab 211 to the first end face camera 111 to achieve imaging. Among them, the first reflecting prism 113 includes the first light-transmitting surface 1131 and the first reflecting surface 1132, which is beneficial to simplifying the transmission path of the light from the side piece of the tab 211, and thus is beneficial to improving the overall compactness of the burr detection device 100.

[0129] In addition, in some embodiments, referring to Figure 8 the angle M formed between the first light-transmitting surface 1131 and the first reflecting surface 1132 may be set to be greater than or equal to 20 degrees and less than or equal to 70 degrees. The first light-transmitting surface 1131 is perpendicular to the extending 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, setting the angle M formed between the first light-transmitting surface 1131 and the first reflecting surface 1132 to be greater than or equal to 20 degrees and less than or equal to 70 degrees is beneficial to further simplifying the transmission path of the light from the side piece of the tab 211, and thus is beneficial to further improving the overall compactness of the burr detection device 100.

[0130] In the above embodiments, the first reflecting prism 113 can reflect the light from the side of the tab 211 to the first end face camera 111, making the arrangement position of the first end face camera 111 more flexible. It can be understood that the first end face camera 111 does not have to be limited to facing the side of the tab 211 directly, thus reducing the layout limitation of the first end face camera 111.

[0131] In some embodiments, referring to Figure 6 and Figure 7 , the first vision detection module 110 includes two relatively arranged first reflecting prisms 113, and the two first reflecting prisms 113 are respectively arranged on both sides of the same tab 211, for example, on the left and right sides of the tab 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 reflecting prisms 113, which can be understood as the light from the first reflecting prisms 113 can respectively enter the first end face camera 111. It can be understood that the two side edges of the tab 211 can be illuminated at different times to avoid unnecessary light interference.

[0132] In this embodiment, the first vision detection module 110 includes two relatively arranged first reflecting prisms 113, so that the same first end face camera 111 can image the two side edges of the tab 211 to complete burr detection, reducing the number requirement of the first end face camera 111 and the equipment cost of the burr detection device 100.

[0133] In some implementation manners, referring to Figure 6 and Figure 7 , in some embodiments, the burr detection device 100 may further include a dust removal module 194. The dust removal module 194 is correspondingly arranged with the first reflecting prism 113, and the dust removal module 194 is used to remove the dust on the surface of the first reflecting prism 113, thereby reducing the interference of dust on imaging and improving the imaging quality and detection accuracy.

[0134] Among them, the dust removal module 194 may include an air outlet device. For example, the air outlet device may be set as an air knife; the air outlet of the air outlet device is arranged opposite to the surface of the first reflecting prism 113, and the air outlet device is used to blow the air flow to the surface of the first reflecting prism 113, so as to be able to remove dust while avoiding scratching the first reflecting prism 113. Among them, the burr detection device 100 may include two dust removal modules 194, and the dust removal modules 194 are arranged in one-to-one correspondence with the first reflecting prisms 113.

[0135] In some embodiments, referring to Figure 6 and Figure 7, the first vision detection module 110 further includes a longitudinal movement module 161, and the longitudinal movement module 161 can be configured as a linear slide or the like; the longitudinal movement module 161 is connected to the first lateral movement module 151; one of the longitudinal movement module 161 and the first lateral movement 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, move along the X-axis direction in the figure; the other of the longitudinal movement module 161 and the first lateral movement module 151 is connected to the first end face camera 111 and makes the first end face camera 111 move perpendicular to the extension direction of the first guide rail structure 131, so that the first end face camera 111 moves perpendicular to the length direction of the first side 210, for example, move along the Y-axis direction in the figure; it can be understood that the whole of the longitudinal movement module 161 and the first lateral movement module 151 can make the first end face camera 111 move 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.

[0136] For example, in some embodiments, referring to Figure 6 and Figure 7 , the first vision detection module 110 may include a mounting plate 171, and the mounting plate 171 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, move along the X-axis direction in the figure. In addition, the first reflecting prism 113 may be mounted on the mounting plate 171, for example, the first reflecting prism 113 is fixed on the mounting plate 171 through a support arm, so as to facilitate the first reflecting prism 113 and the first end face camera 111 to be at the same height.

[0137] The longitudinal movement module 161 may be mounted on the mounting plate 171, the first lateral movement module 151 is mounted on the longitudinal movement module 161, and the first end face camera 111 is mounted on the first lateral movement module 151. For example, the longitudinal movement module 161 may be configured as a linear slide, and the linear slide may include a slide guide rail and a slide base, the slide base is slidably connected to the slide guide rail, and the slide base and the slide guide rail may be driven by a driving device such as a driving motor and a screw nut and other structures; in addition, the slide guide rail of the longitudinal movement module 161 is fixedly connected to the mounting plate 171, the slide base of the longitudinal movement module 161 is fixedly connected to the slide guide rail of the first lateral movement module 151, and the slide base of the first lateral movement module 151 is fixedly connected to the first end face camera 111. On the other hand, 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 lateral movement module 151, for example, the first end face light source 112 is fixed to the slide base of the first lateral movement module 151.

[0138] In this embodiment, the mounting plates 171 included in the first vision detection module 110 respectively facilitate the installation of the longitudinal movement module 161 and the second lateral movement module 152. In addition, the first end face camera 111 and the first end face light source 112 can move relative to the mounting plate 171, and the first reflection prism 113 can be fixed relative to the mounting plate 171; it can be understood that the first end face camera 111 and the first end face light source 112 move when detecting the end face burrs of the tab 211, and the first reflection prism 113 is fixed; thus, when detecting the burrs on the side of the tab 211 through the first end face camera 111, it is beneficial to reduce the risk of the first reflection prism 113 hitting the tab 211, and at the same time reduce the movement requirement of the first reflection prism 113, improving the overall movement convenience.

[0139] 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 movement module 161 and the first lateral movement module 151, improving the detection efficiency.

[0140] In some embodiments, referring to Figure 6 and Figure 7 , the first vision detection 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 an image of the end face of the electrode sheet 200 on the first side 210; for example Figure 7 in, 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 face camera 114 is along the Y-axis direction in the figure.

[0141] The second end face light source 115 can be set as an annular light source. The second end face light source 115 is correspondingly arranged with the second end face camera 114. The second end face light source 115 is used to irradiate the end face of the electrode sheet 200 on the first side 210; it can be understood that the light source of the second end face light source 115 irradiates the area captured by the second end face camera 114.

[0142] Referring to Figure 4 and Figure 7 , the second end face camera 114 and the first end face camera 111 are arranged side by side along the extension direction of the first guide rail structure 131, for example, arranged side by side 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 less 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, the second end face camera 114 is closer to the support module 133 than the first end face camera 111.

[0143] Referring toFigure 6 and Figure 7 , the burr detection device 100 includes a second lateral movement module 152; referring to Figure 9 , the first position sensor 141 is electrically connected to the second lateral movement module 152; for example, the first position sensor 141 can be electrically connected to a driving device such as a motor of the second lateral movement module 152 through the above-mentioned processor, so as to be able to determine the position that the second end face camera 114 needs to reach according to the preset correspondence between the position of the first side 210 and the second end face camera 114, and perform driving control through a driving device such as a motor of the second lateral movement module 152.

[0144] The second lateral movement module 152 is connected to the second end face camera 114. The second lateral movement 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, moves along the Y-axis direction in the figure. In some embodiments, the second lateral movement module 152 can be set as a linear slide similar to the first lateral movement module 151, so that the slidable slide base of the second lateral movement module 152 can be fixedly connected to the second end face camera 114. In addition, the slide rail of the second lateral movement 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. The second end face camera 114 and the second end face light source 115 are respectively installed on the second lateral movement module 152, for example, respectively installed on the slidable slide base of the second lateral movement module 152. Among them, the mounting plate 171 included in the first vision detection module 110 is beneficial to improving the installation convenience of the second lateral movement module 152.

[0145] In this embodiment, the portion of the first side 210 of the electrode tab 200 outside the tab 211 is generally straight. The burr detection device 100 can use the second end face camera 114 with a relatively short distance and a relatively small focal length to improve the imaging quality, which is beneficial to improving the detection quality. The distances from the points on the side of the tab 211 to the first side 210 are different. The burr detection device 100 can use the first end face camera 111 with a relatively long distance and a relatively large focal length to increase the depth of field range, so as to facilitate covering all positions on the side of the tab 211, reduce the movement requirement of the first end face camera 111, and simplify the control of the first end face camera 111. In addition, by making the first position sensor 141 detect the position of the first side 210, the first position sensor 141 is electrically connected to the second lateral movement module 152, and the second lateral movement module 152 moves the second end face camera 114 transversely to the length direction of the first side 210. The burr detection device 100 can adjust the distance between the second end face camera 114 and the first side 210 according to the first position sensor 141 when the clamping position accuracy of the electrode tab 200 is relatively low, 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.

[0146] Among them, when detecting burrs on the portion of the first side 210 of the electrode tab 200 outside the tab 211, the second end face camera 114 can move along the extension direction of the first guide rail structure 131 for scanning, for example, move along Figure 7 the X-axis direction in for scanning detection. In some embodiments, the first end face camera 111 can use a camera with a relatively large depth of field range to cover the height of the tab 211. At this time, the first end face camera 111 can only move along the X-axis direction in the figure through the above longitudinal movement module 161. It can be understood that in this embodiment, the first lateral movement module 151 can move the first end face camera 111 in the Y-axis direction to a position relatively close to the electrode tab 200 and then stop driving.

[0147] Of course, the first end face camera 111 can also use a camera with a relatively small depth of field range. According to the position of the first side 210 detected by the above first position sensor 141, when the depth of field range of the first end face camera 111 fails to cover the height of the tab 211, the first lateral movement module 151 can move the first end face camera 111 in the Y-axis direction.

[0148] In some embodiments, referring to Figure 5 and Figure 6, the first visual detection module 110 includes a first planar camera 116 and a first planar light source 117. The optical axis of the light incident end of the first planar 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 incident end of the first planar camera 116 is arranged along the Z-axis direction in the figure. Among them, the first planar light source 117 can be set 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, it is arranged along the X-axis direction in the figure Figure 5 in the length direction of the strip light source.

[0149] Among them, the first planar camera 116 is arranged opposite to the first side 210. The first planar camera 116 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 planar camera 116 is used to detect the planar burrs on the first side 210.

[0150] The first planar light source 117 is arranged opposite to the first side 210. The first planar light source 117 is used to irradiate the surface of the pole piece 200 parallel to the support surface. For example, the first planar light source 117, the first side 210, and the first planar camera 116 can be arranged in sequence along the Z-axis direction in the figure. The first planar camera 116 is movably connected to the first guide rail structure 131. For example, it is movably connected to the first guide rail structure 131 through the above-mentioned mounting plate 171. The first planar camera 116 is used to move along the extension direction of the first guide rail structure 131. For example, along Figure 7 the X-axis direction in the figure.

[0151] In this embodiment, the first planar camera 116 can move along the extension direction of the first guide rail structure 131, so that it can detect the burrs on the surface of the first side 210 of the pole piece 200 parallel to the support surface when the pole piece 200 is statically placed on the support module 133. For example, it moves along the X-axis direction in the figure to perform scanning detection of planar burrs, which not only improves the burr detection beat but also reduces the jitter of the pole piece 200, which is beneficial to improving the imaging accuracy and detection accuracy.

[0152] In some embodiments, the burr detection device 100 further includes a first lifting module 181, and the first lifting module 181 is installed on the mounting plate 171; the first planar camera 116 is connected to the first lifting module 181, and the first lifting module 181 is used to lift the first planar camera 116. In some embodiments, the first lifting module 181 can be set as a linear slide, and the linear slide can include a slide guide rail and a slide base. The slide base is slidably connected to the slide guide rail, and the slide base and the slide guide rail can be driven by a driving device such as a driving motor and a screw nut structure; wherein, the slide guide rail of the first lifting module 181 can be arranged to extend along the gravity direction, for example, arranged along the Z-axis direction in the figure. The slide guide rail of the first lifting module 181 can be slidably connected to the above-mentioned first guide rail structure 131, for example, slidably connected to the first guide rail structure 131 through the above-mentioned mounting plate 171; the slide base of the first lifting module 181 can be fixedly connected to the first planar camera 116, so as to realize the lifting of the first planar camera 116.

[0153] In addition, referring to Figure 5 , the first planar light source 117 is connected to the support module 133. The light-emitting end of the first planar light source 117 faces the first planar camera 116, and the light-emitting end of the first planar light source 117 is lower than the support surface of the support module 133 in the gravity direction. The first planar light source 117 is used to be arranged on the side of the support surface of the support module 133 facing away from the first planar camera 116. It can be understood that the first planar light source 117 emits light from the side of the pole piece 200 facing away from the first planar camera 116, that is, the first planar light source 117 can be set as a backlight source.

[0154] In this embodiment, the mounting plate 171 included in the first vision detection module 110 is beneficial to improving the installation convenience of the first lifting module 181; in addition, the first lifting module 181 is beneficial to improving the convenience of adjusting the focal length of the first planar camera 116 by lifting the first planar camera 116.

[0155] In some embodiments, the height position of the first planar camera 116 can be adjusted by an operator, for example, adjusted by the above-mentioned first operating device 102; it can be understood that the first operating device 102 can be correspondingly set to be electrically connected to a driving device such as a motor of the first lifting module 181.

[0156] In some embodiments, the tab 211 may be provided with a reinforcing rib, and the reinforcing rib protrudes or recesses in a direction perpendicular to the supporting surface of the supporting module 133; wherein, the reinforcing rib may be formed by stamping process or the like. The first vision inspection module 110 may further include a depth inspection camera, and the optical axis of the light incident end of the depth inspection camera is perpendicular to the supporting surface of the supporting module 133, and thus perpendicular to the surface of the tab 211; the depth inspection camera is used to be disposed opposite to the tab 211, and the depth inspection camera is used to detect the protruding height or the recessed depth of the reinforcing rib, thereby realizing the dimension inspection of the reinforcing rib.

[0157] In some embodiments, referring to Figure 10 and Figure 11 , the supporting module 133 includes two first supporting plates 134 arranged at intervals and at least one second supporting plate 135, and the second supporting plate 135 is disposed within the interval between two adjacent first supporting plates 134; the extending directions of the first supporting plates 134 and the extending direction of the second supporting plate 135 respectively intersect the arranging directions of the first guide rail structure 131, the supporting module 133 and the second guide rail structure 132. For example, the extending directions of the first supporting plates 134 and the extending direction of the second supporting plate 135 respectively extend along Figure 11 the X-axis direction in the figure, and the arranging directions of the first guide rail structure 131, the supporting module 133 and the second guide rail structure 132 are along the Y-axis direction in the figure; wherein, the two first supporting plates 134 may be arranged at intervals along the arranging direction of the first guide rail structure 131, the supporting module 133 and the second guide rail structure 132. For example, the two first supporting plates 134 may be arranged at intervals along Figure 11 the Y-axis direction in the figure.

[0158] In addition, the plate surfaces of the first supporting plates 134 and the plate surfaces of the second supporting plates 135 are used to form the supporting surface of the supporting module 133, and the first supporting plates 134 and the second supporting plates 135 are respectively used to support the electrode tab 200. For example, the supporting surface of the supporting module 133 may be formed by the top plate surfaces of the first supporting plates 134 and the top plate surfaces of the second supporting plates 135, that is, the supporting surface of the supporting module 133 may be located at the top of the supporting module 133.

[0159] In this embodiment, the extending directions of the first support plate 134 and the second support plate 135 respectively intersect the arrangement direction of the first guide rail structure 131, the support module 133, and the second guide rail structure 132. The burr detection device 100 can support the two first sides 210 of the pole piece 200 through the first support plate 134 and the second support plate 135 respectively. In addition, the second support plate 135 is arranged within the interval between two adjacent first support plates 134 and can support the inner area of the pole piece 200, which is beneficial to improving the overall flatness of the pole piece 200 and ensuring that the first side 210 and the second side 220 are within the visual detection range, for example, within the depth of field of the corresponding camera. In addition, by supporting the two first sides 210 of the pole piece 200 through the first support plate 134 and the second support plate 135 respectively, it is beneficial to reduce the risk of accidental movement of the pole piece 200 during movement, which can be understood as the pole piece 200 being supported relatively stably.

[0160] In some embodiments, referring to Figure 11 、 Figure 12 、 Figure 13 and Figure 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 interval distance between the two first support plates 134. In some embodiments, referring to Figure 11 , the support module 133 further includes a support bottom plate 138 and a support top plate 139. The support top plate 139 is fixedly connected to the support bottom plate 138, for example, fixedly connected through columns. In addition, the distance adjusting device 191 can be set as a linear slide table, where the linear slide table 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 through a driving device such as a driving motor and a screw nut structure. Among them, the slide rail of the distance adjusting device 191 can be fixedly connected to the above-mentioned support top plate 139, and the slide seat as the power output end of the distance adjusting device 191 can be fixedly connected to one of the first support plates 134, so as to increase or decrease the interval 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, the distance adjusting device 191 is installed on the support top plate 139, and the distance adjusting device 191 is used to move the other first support plate 134, so as to increase or decrease the interval distance between the two first support plates 134.

[0161] In this embodiment, the distance adjusting device 191 can be compatible with pole pieces 200 of different widths by increasing or decreasing the interval distance between the two first support plates 134.

[0162] In some embodiments, referring to Figure 11 andFigure 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. The lifting device 136 is configured to lift the second support plate 135 relative to the first support plate 134. Among them, the lifting device 136 can be set as a lifting cylinder or the like. The cylinder rod of the lifting cylinder can be connected to the second support plate 135 described above, so as to realize the lifting of the second support plate 135.

[0163] In this embodiment, when the distance adjusting device 191 increases the distance 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 improving the flatness of the pole piece 200. It can be understood that when the distance adjusting device 191 reduces the distance 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 plate 135, thereby reducing the number of the second support plates 135 that support the middle area of the pole piece 200.

[0164] In some embodiments, referring to Figure 11 、 Figure 12 and Figure 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 in one-to-one correspondence. For example, the number of the second support plates 135 and the number of the lifting devices 136 can be respectively set to be greater than or equal to 3 and less than or equal to 10.

[0165] 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 positions.

[0166] In some embodiments, referring to Figure 4 and Figure 11 The first support plate 134 away from the second vision detection module 120 is provided with a support bump 137. For example, Figure 11 the first support plate 134 on the right side in Figure 11 is provided with a support bump 137; the support bump 137 is arranged on the side of the first support plate 134 away from the second vision detection module 120. For example, Figure 11The X direction in it moves relative to the first support plate 134; wherein, the support bump 137 and the first support plate 134 can be slidably connected through a chute structure or the like, so as to realize the movable connection between the support bump 137 and the first support plate 134.

[0167] In this embodiment, the support bump 137 can further improve the overall flatness of the pole piece 200 through the support pole piece 200; in addition, the support bump 137 is movably connected to the first support plate 134 along the extension direction of the first support plate 134, so that the support bump 137 can be applied to the pole piece 200 with different positions of the pole ear 211.

[0168] In some embodiments, adsorption through holes are provided on the support plate surfaces of at least one of the first support plate 134, the second support plate 135, and the support bump 137. For example, adsorption through holes are respectively provided on the first support plate 134, the second support plate 135, and the support bump 137; 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 as a negative pressure source such as a negative pressure pump.

[0169] In this embodiment, adsorption through holes are provided on the support plate surfaces of at least one of the first support plate 134, the second support plate 135, and the support bump 137, which is beneficial to improving the fitting degree between the pole piece 200 and the first support plate 134, the second support plate 135, or the support bump 137, beneficial to improving the overall flatness of the pole piece 200 and beneficial to ensuring that the first side 210 and the second side 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, and the pole piece 200 can reduce the risk of accidental movement through the negative pressure adsorption of the adsorption through holes during processes such as feeding and moving to the detection station of the first end face camera 111.

[0170] In some embodiments, referring to Figure 4 and Figure 10 , the second guide rail structure 132 is higher than the support surface of the support module 133 in the gravity direction, for example, higher than the top plate surface of the above-mentioned first support plate 134; the distance adjustment device 191 is connected to the first support plate 134 facing the second vision detection module 120, so that the first support plate 134 facing the second vision 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, for example, moves along the Figure 10 Y-axis direction; it can be understood that the first support plate 134 can be avoided through the space below the second guide rail structure 132 when moving. It can be understood that, referring to Figure 2 , columns can be provided at both ends of the second guide rail structure 132, so as to enclose a space for avoiding the first support plate 134 through the columns and the second guide rail structure 132.

[0171] 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 as to be able to avoid the first support plate 134 connected to the distance adjustment device 191, reducing the risk of collision.

[0172] Among them, with reference to Figure 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, Figure 11 in, 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, and the through structure can be set 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.

[0173] In some embodiments, with reference to Figure 2 and Figure 10 , the equipment support 130 further includes a fifth lateral movement module 155. The fifth lateral movement module 155 is connected to the support module 133. The fifth lateral movement 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, move along the Y direction in the figure. The support module 133 is used to move under the second guide rail structure 132. Among them, the fifth lateral movement module 155 can adopt a linear slide similar to the above-mentioned first lateral movement module 151. At this time, the slidable slide base of the fifth lateral movement module 155 can be connected to the support module 133, for example, fixedly connected to the support bottom plate 138 of the support module 133.

[0174] In this embodiment, the fifth lateral movement module 155 can move the support module 133 under the second guide rail structure 132, thereby realizing the feeding action of the pole piece 200 and reducing the collision risk.

[0175] Correspondingly, with reference to Figure 1 and Figure 2 , the outer shell 101 is further provided with a feeding port 107. The feeding port 107 is arranged opposite to the support module 133; for example, the fifth lateral movement module 155 is used to move the support module 133 to extend or retract from the feeding port 107; it can be understood that the support module 133 is set to be movable, and the support module 133 is used to extend or retract from the feeding port 107, so as to be able to load and unload the pole piece 200 at the feeding port 107.

[0176] Among them, the fifth lateral movement module 155 can be connected to the above-mentioned support base plate 138 of the support module 133. The fifth lateral movement module 155 is used to move the support base plate 138 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, so as to realize the movement of the support module 133 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132.

[0177] In some embodiments, the burr detection device 100 further includes a grating assembly 108. The grating assembly 108 is arranged at the feeding port 107, so that external objects such as human hands and robotic arms can be detected through the grating assembly 108, reducing the risk of accidental entry and accidental collision of external objects, which is beneficial to ensuring the safety of the operator and the burr detection device 100 respectively.

[0178] In some embodiments, referring to Figure 4 , the burr detection device 100 further includes an abutting rod 192 and a sixth lateral movement module 156. The abutting rod 192 is arranged on the side facing the second vision detection module 120, for example, arranged on the Figure 4 right side in Figure 4 . The sixth lateral movement module 156 is connected to the abutting rod 192. The sixth lateral movement module 156 is used to move the abutting rod 192 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132, for example, move along the

[0179] Y-axis direction in Figure 4 . Among them, the sixth lateral movement module 156 can be set as a linear slide similar to the first lateral movement module 151, so that the abutting rod 192 can be connected through the slidable slide base of the sixth lateral movement module 156.

[0180] Among them, the length direction of the abutting rod 192 is parallel to the extension direction of the second guide rail structure 132. For example, the length direction of the abutting rod 192 is along the

[0181] X-axis direction in Figure 3and Figure 4 Moreover, the burr detection device 100 further includes a dimension detection module 193. The first vision detection module 110, the dimension detection module 193, and the second vision detection module 120 are arranged in sequence, for example, arranged in sequence along the Y direction in the figure. The dimension detection module 193 is connected to the device support 130, for example, connected to the device support 130 through a vertical rod. In addition, the dimension detection module 193 is arranged above the support module 133, thereby further improving the space utilization rate. The dimension detection module 193 is used to detect the dimensions of the pole piece 200. The dimension detection module 193 may include a vision camera, etc., so as to detect the dimensions of the pole piece 200 through existing image recognition and other methods. Among them, the dimension detection module 193 can detect the positions of each point of the pole piece 200 relative to the entire burr detection device 100, so as to realize the dimension detection and position detection of the pole piece 200.

[0182] In this embodiment, the burr detection device 100 can realize the dimension detection of the pole piece 200 through the dimension detection module 193. The sequential arrangement of the first vision detection module 110, the dimension detection module 193, and the second vision detection module 120 is conducive to further improving the compactness of the burr detection device 100.

[0183] In some embodiments, referring to Figure 3 and Figure 4 the burr detection device 100 may further include a cutting platform 195, and the cutting platform 195 is used to form the pole piece 200 through cutting. It can be understood that there may be material defects in the pole piece raw material before cutting. Therefore, the cutting platform 195 in this embodiment can cut the pole piece raw material into a sample-form pole piece 200, so that the burr detection device 100 can conveniently connect the cutting process and the detection process, improving the use convenience.

[0184] In some embodiments, referring to 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 movement module 155, and the sixth lateral movement module 156 can be respectively installed on the device base 109, and the dimension detection module 193 included in the burr detection device 100 can also be installed on the device base 109. Among them, the top layer part of the device base 109 can be made of stone such as marble, so as to facilitate improving the anti-vibration performance through the device base 109.

[0185] In some embodiments, referring to Figure 4 and Figure 15, the second vision detection 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 an image of the end face of the electrode tab 200 on the other first side 210; for example Figure 15 in, 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 face camera 121 is along the Y-axis direction in the figure.

[0186] The third end face light source 122 can be set as an annular light source. The third end face light source 122 is correspondingly arranged with the third end face camera 121. The third end face light source 122 is used to irradiate the end face of the electrode tab 200 on the other first side 210; it can be understood that the light source of the third end face light source 122 irradiates the area captured by the third end face camera 121.

[0187] 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. 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 as to be able to determine the position that the third end face camera 121 needs to reach according to the preset correspondence between the position of the other first side 210 and the third end face camera 121 and perform driving control through the above-mentioned driving device.

[0188] The third lateral movement module 153 is movably connected to the second guide rail structure 132. The third lateral movement module 153 is used to move along the extension direction of the second guide rail structure 132, for example, move along the X-axis direction in the figure. The third lateral movement module 153 is also connected to the third end face camera 121. The third lateral movement module 153 is used to move the third end face 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 that the third end face camera 121 moves transversely to the length direction of the other first side 210, for example, move the third end face camera 121 along the Y-axis direction in the figure.

[0189] In some embodiments, the second position sensor 142 can be set as a transmissive photoelectric sensor; of course, the second position sensor 142 can also be set as an infrared sensor, etc. In some embodiments, the third lateral movement module 153 can be set as a linear slide similar to the first lateral movement module 151, wherein the slide rail of the third lateral movement module 153 can be slidably connected to the above-mentioned second guide rail structure 132, and the slide seat of the third lateral movement module 153 can be fixedly connected to the above-mentioned third end face camera 121.

[0190] In this embodiment, by enabling the second position sensor 142 to detect the position of the other first side 210, 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 Figure 15 the Y-axis direction in

[0191] In some embodiments, referring to Figure 15 , the second vision detection module 120 includes a second planar camera 123 and a second planar light source 124. The optical axis of the light incident end of the second planar 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 planar camera 123 is arranged along the Z-axis direction in the figure. The second planar camera 123 is disposed opposite to the other first side 210, and the second planar camera 123 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 second planar camera 123 is used to detect the planar burrs on the other first side 210. Among them, the second planar light source 124 can be set as an annular light source, and the second planar light source 124 is disposed opposite to the other first side 210. The second planar light source 124 is used to irradiate the surface of the pole piece 200 parallel to the support surface; for example, the other first side 210, the second planar light source 124, and the second planar camera 123 can be arranged in sequence along the Z-axis direction in the figure.

[0192] The second planar camera 123 is movably connected to the second guide rail structure 132, and this movable connection includes direct connection and indirect connection; the second planar camera 123 is used to move along the extension direction of the second guide rail structure 132, for example, along Figure 15 the X-axis direction in

[0193] In this embodiment, the second planar camera 123 can move along the extension direction of the second guide rail structure, so that it can detect the burrs on the surface of the other first side 210 of the pole piece 200 parallel to the support surface when the pole piece 200 is stationary on the support module 133. For example, it moves along the X-axis direction in the figure to perform scanning detection of planar burrs, which not only improves the burr detection beat but also reduces the jitter of the pole piece 200, thus facilitating the improvement of imaging accuracy and detection accuracy.

[0194] In some embodiments, referring to Figure 15 andFigure 16 In addition, the second vision detection module 120 further includes a second reflecting prism 125, which is disposed opposite to the second planar camera 123. It can be understood that the light from the second reflecting prism 125 can be reflected to the second planar camera 123. The second reflecting prism 125 is lower than the supporting surface of the supporting module 133 in the gravity direction. The second reflecting prism 125 is configured to 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, referring to Figure 16 the second reflecting prism 125, the pole piece 200, and the second planar camera 123 are arranged in sequence along the Z-axis direction.

[0195] In some embodiments, referring to Figure 16 the second reflecting prism 125 can be made of a light-transmitting material, such as glass or the like. 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 to face 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 disposed on one 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 configured 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 planar camera 123 in sequence. The second reflecting surface 1252 and the third reflecting surface 1253 are symmetrically arranged with respect to the gravity direction. It can be understood that the second reflecting surface 1252 and the third reflecting surface 1253 are respectively two waists of an isosceles triangle.

[0196] In this embodiment, relative to the first side 210 provided with the tab 211, the other first side 210 is usually formed by a slitting process, so there may be situations such as aluminum leakage or other material leakage. 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, reflecting the light on the bottom surface of the pole piece 200 in Figure 16 to the second planar camera 123 is beneficial to realizing imaging of the surface of the pole piece 200 facing away from the second planar light source 124 to complete leakage detection.

[0197] In some embodiments, referring to Figure 15 the burr detection device 100 includes a fourth lateral movement module 154, which is movably connected to the second rail structure 132. This movable connection includes direct connection and indirect connection. The fourth lateral movement module 154 is configured to move along the extension direction of the second rail structure 132. For example, along Figure 15movement in the X-axis direction; the fourth lateral movement module 154 is also connected to the second reflecting prism 125, and the fourth lateral movement module 154 is configured to move the second reflecting prism 125 along the arrangement direction of the first guide structure 131, the support module 133, and the second guide structure 132, for example, along Figure 15 the Y-axis direction in Figure 15 to move the second reflecting prism 125 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 be referred to Figure 16 the solid arrow in Figure 16 .

[0198] Among them, the fourth lateral movement module 154 can be set as a linear slide similar to the first lateral movement module 151, and the slidable slide base of the fourth lateral movement module 154 can be fixedly connected to the second reflecting prism 125.

[0199] It can be understood that the support module 133 can be provided with an avoidance space; for example, the first support plate 134 facing the second vision detection module 120 can be spaced apart from the support top plate 139 to form this avoidance space. In addition, this avoidance space is disposed opposite to the second reflecting prism 125, and the second reflecting prism 125 is configured to move transversely to the length direction of the first side 210 into the avoidance space, for example Figure 15 in Figure 15 , the second reflecting prism 125 can move along the Y-axis direction into this avoidance space and be covered by the pole piece 200.

[0200] In this embodiment, the burr detection device 100 can move the second reflecting prism 125 transversely to the length direction of the first side 210 until it is covered by the pole piece 200 through the fourth lateral movement module 154, so that when detecting the surface of the pole piece 200 facing the second planar light source 124 (for example Figure 16 the top surface in Figure 16 ) for material leakage detection, the interference of the reflected light of the second reflecting prism 125 is reduced, and the imaging accuracy and detection accuracy are improved.

[0201] In some embodiments, referring to Figure 15 , the second vision detection module 120 includes a connecting frame 172, and the connecting frame 172 can include a connected horizontal plate and vertical plate. The connecting frame 172 is movably installed on the second guide structure 132, for example, in a sliding connection manner; the connecting frame 172 is configured to move along the extending direction of the second guide structure 132, for example, along Figure 15 the X-axis direction in Figure 15 .

[0202] In some embodiments, referring to Figure 15 , Figure 17 and Figure 18, the burr detection device 100 may further include a second lifting module 182, and the second lifting module 182 is installed on the connecting frame 172; the second planar camera 123 is connected to the second lifting module 182, and the second lifting module 182 is used to lift the second planar camera 123. In some embodiments, the second lifting module 182 may be set as a linear slide, and the linear slide may include a slide guide rail and a slide base, the slide base is slidably connected to the slide guide rail, and the slide base and the slide guide rail may be driven by a driving device such as a driving motor and structures such as a screw nut; wherein, the slide guide rail of the second lifting module 182 may extend along the gravity direction, and the slide guide rail of the second lifting module 182 may be slidably connected to the above-mentioned second guide rail structure 132, for example, slidably connected to the second guide rail structure 132 through the above-mentioned connecting frame 172; the slide base of the second lifting module 182 may be fixedly connected to the second planar camera 123, so as to realize the lifting of the second planar camera 123.

[0203] In addition, the second planar light source 124 may be connected to the connecting frame 172, and the light emitting direction of the second planar light source 124 is opposite to that of the second planar camera 123, for example Figure 15 in which the light emitting direction of the second planar light source 124 is in the downward direction; the second planar light source 124 is used to be disposed opposite to another first side 210, and the second planar light source 124 is used to irradiate the plane of the pole piece 200 parallel to the supporting surface of the supporting module 133, for example, irradiate Figure 15 the top surface of the pole piece 200 in.

[0204] In addition, the above-mentioned third transverse movement module 153 is installed on the connecting frame 172, and the third end face camera 121 is installed on the third transverse movement module 153; for example, the sliding guide rail of the third transverse movement module 153 is installed on the connecting frame 172, and the slidable slide base of the third transverse movement module 153 is fixedly connected to the third end face camera 121. The third end face light source 122 is fixedly opposed to the third end face camera 121, and the third end face light source 122 is installed on the third transverse movement module 153, for example, the third end face light source 122 may also be installed on the slidable slide base of the third transverse movement module 153.

[0205] On the other hand, the above-mentioned fourth transverse movement module 154 may also be installed on the connecting frame 172, and the second reflecting prism 125 is installed on the fourth transverse movement module 154. For example, the slide guide rail of the fourth transverse movement module 154 is fixedly connected to the connecting frame 172, and the slidable slide base of the fourth transverse movement module 154 is fixedly connected to the second reflecting prism 125.

[0206] In this embodiment, the connecting brackets 172 included in the second vision detection module 120 respectively facilitate the installation of the third lateral movement module 153, the second lifting module 182, the second planar light source 124, and the fourth lateral movement module 154. In addition, the second lifting module 182 is used to lift the second planar camera 123, which facilitates the adjustment of the focal length of the second planar camera 123.

[0207] When the burr detection device 100 of the above embodiment is in use, the cutting platform 195 can first cut out the pole piece 200 in the form of a sample; then move the support module 133 to extend out of the feed inlet 107, and place the pole piece 200 on the support module 133. During the process of placing the pole piece 200 on the support module 133, the edge of the pole piece 200 can be abutted by the abutting rod 192 to achieve positioning, which can be understood as facilitating the determination of the extension amount of the pole piece 200 extending out of the support surface of the support module 133.

[0208] After that, the support module 133 moves back into the interior of the burr detection device 100. The first end face camera 111, the second end face camera 114, and the first planar camera 116 included in the first vision detection module 110 respectively detect the end face burrs of the pole ear 211, the end face burrs of the first first side 210, and the planar burrs of the first first side 210. If the depth detection camera is also provided in the first vision detection module 110, 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 planar camera 123 included in the second vision detection module 120 can respectively detect the end face burrs, planar burrs, and material leakage such as aluminum leakage of the second first side 210.

[0209] When it is necessary to detect the second side 220, the support module 133 can be moved to extend out of the feed inlet 107, and the pole piece 200 is rotated 90 degrees, so that the two second sides 220 respectively correspond to the first vision detection module 110 and the second vision detection module 120. It can be understood that since the first side 210 is relatively long, at this time, the distance between the two first support plates 134 can be increased by the distance adjusting device 191, and the number of the second support plates 135 for 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.

[0210] After the detection is completed, the support module 133 is moved to extend out of the feed inlet 107 to realize the discharging of the pole piece 200.

[0211] Correspondingly, the present application also provides a burr detection method for detecting burrs on the electrode tab 200, and this burr detection method can be applied to the above-described embodiments of the burr detection device 100 proposed in the present application. Among them, the burr detection method includes the following steps:

[0212] Step 1: Place the electrode tab 200 on the support module 133, which can be specifically placed by an operator or a device such as a robotic arm.

[0213] Step 2: Move the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detect the burrs on the first side 210. For example, move the first vision detection module 110 along the X-axis direction in the figure for detection. It can be understood that the first vision detection module 110 performs scanning detection along the X-axis direction.

[0214] Step 3: Move the second vision detection module 120 parallel to the length direction of the other first side 210 and detect the burrs on the first side 210. For example, move the second vision detection module 120 along the X-axis direction in the figure for detection. It can be understood that the second vision detection module 120 performs scanning detection along the X-axis direction. Among them, the above Step 2 and Step 3 can be executed in parallel to improve the overall detection efficiency.

[0215] When the burr detection method proposed in the present application is in use, the first vision detection module 110 and the second vision detection module 120 can respectively move along the length directions of the two first sides 210, so that the burrs on the two first sides 210 of the electrode tab 200 can be detected simultaneously while the electrode tab 200 is stationary on the support module 133, which not only improves the burr detection rhythm but also reduces the jitter of the electrode tab 200, which is beneficial to improving the detection accuracy.

[0216] In some embodiments, the step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 (the above Step 2) includes:

[0217] Reflect the light from the side of the tab 211 to the first end face camera 111 of the first vision detection module 110 through the first reflection prism 113 to detect the burrs on the side of the tab 211.

[0218] It can be understood that for the first side 210 of the electrode tab 200, the first side 210 includes the tab 211 and the part outside the tab 211. Therefore, when detecting the burrs on the first side 210, for example, when detecting the end face burrs on the first side 210, the above second end face camera 114 can move along the length direction of the first side 210 (for example, along Figure 6while moving in the X-axis direction) to first detect the part of the first side 210 outside the tab 211 (the second end face camera 114 does not detect the burrs on the end face of the tab 211), and then detect the burrs on the side of the tab 211 through the first end face camera 111 above (the side of the tab 211 can include all the sides of the tab 211 parallel to the surface plane of the main body of the tab 200), so as to reduce the need for switching the use of cameras and improve the overall detection efficiency. Of course, it is also possible to detect each segment of the first side 210 outside the tab 211 and the burrs on the side of the tab 211 in sequence along the length direction of the first side 210 through the second end face camera 114 and the first end face camera 111, so as to reduce the total length of the overall displacement path of the second end face camera 114 and the first end face camera 111 and reduce the risk of collision during the displacement process.

[0219] In this embodiment, the first reflecting prism 113 can reflect the light from the side of the tab 211 to the first end face camera 111, making the arrangement position of the first end face camera 111 more flexible and reducing the layout limitation of the first vision detection module 110.

[0220] In some embodiments, the burr detection method further includes the following steps:

[0221] For the tab 200 placed on the support module 133, the first position information of the tab 200 is detected by the dimension detection module 193, so as to facilitate determining the orientation of the tab 200 and thus facilitate determining the degree of skew of the tab 200;

[0222] According to the first position information, the first vision detection module 110 is moved to the first preset position, which can be understood as achieving rough positioning of the first vision detection module 110 relative to the tab 200; wherein, this step can specifically include: moving the first end face camera 111, the second end face camera 114, and the first plane camera 116 included in the first vision detection module 110 to the corresponding preset positions respectively.

[0223] The step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 (step two above) includes:

[0224] During the movement of the first vision detection module 110, the second position information of the first side 210 is obtained 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 dimension detection module 193.

[0225] During the movement of the first vision detection module 110, adjusting the position of the first vision detection module 110 according to the second position information can be understood as realizing dynamic deviation correction of the first vision detection module 110 according to the first position sensor 141, and can be understood as enabling the first vision detection module 110 to achieve precise positioning relative to the pole piece 200.

[0226] In this embodiment, through the first position information and the corresponding movement of the pole piece 200, the first vision detection module 110 can complete rough positioning relative to the pole piece 200; through the second position information and the corresponding movement, the first vision detection module 110 can complete precise positioning relative to the pole piece 200, which is beneficial to accurately positioning the first side 210 within the detection range of the first vision detection module 110 and improving the detection accuracy.

[0227] In some embodiments, the step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 (step two above) includes:

[0228] The first vision detection module 110 detects the burrs on the part of the first side 210 outside the tab 211, and obtains the third position information of the part of the first side 210 outside the tab 211 through the first position sensor 141, which can be understood as completing the burr detection and position acquisition of the straight edge part of the first side 210;

[0229] According to the third position information, the depth of field range of the camera corresponding to the first vision detection module 110 covers each position on the side of the tab 211, and the end face burrs on the side of the tab 211 are detected correspondingly. For example, for the above first end face camera 111, according to the third position information and the preset height information of the tab 211, if the position on the side of the tab 211 exceeds the depth of field range of the camera corresponding to the first vision detection module 110, then move the first end face camera 111.

[0230] In this embodiment, the burr detection method can determine the degree of deviation of the pole piece 200 through the third position information, so as to facilitate ensuring that the depth of field range of the camera corresponding to the first vision detection module 110 covers each position on the side of the tab 211 according to the third position information, which is beneficial to improving the imaging accuracy and detection accuracy.

[0231] In some embodiments, the burr detection method further includes the following steps:

[0232] According to the above first position information, moving the second vision detection module 120 to the second preset position can be understood as achieving rough positioning of the second vision detection module 120 relative to the pole piece 200. Specifically, this step may include: respectively moving the third end face camera 121 and the second plane camera 123 included in the second vision detection module 120 to the corresponding preset positions.

[0233] The step of moving the second vision detection module 120 in the length direction parallel to the other first side 210 and detecting the burrs on the first side 210 (step three above) includes:

[0234] During the movement of the second vision detection module 120, obtaining the fourth position information of the other first side 210 through the second position sensor 142. Among them, the position detection accuracy of the second position sensor 142 can be made higher than that of the dimension detection module 193.

[0235] According to the fourth position information, adjusting the position of the second vision detection module 120 during the movement of the second vision detection module 120 can be understood as realizing dynamic correction of the second vision detection module 120 according to the second position sensor 142, and can be understood as achieving fine positioning of the second vision detection module 120 relative to the pole piece 200.

[0236] In this embodiment, through the first position information and the corresponding movement of the pole piece 200, the second vision detection module 120 can complete rough positioning relative to the pole piece 200; through the fourth position information and the corresponding movement, the second vision detection module 120 can complete fine positioning relative to the pole piece 200, which is beneficial to accurately positioning the other first side 210 within the detection range of the second vision detection module 120 and is beneficial to improving the detection accuracy.

[0237] Refer to Figures 1 to 18, in an embodiment, a burr detection device 100 is used to detect burrs on a pole piece 200. The pole piece 200 includes two oppositely arranged first sides 210 and two oppositely arranged second sides 220. The length of the first side 210 is greater than that of the second side 220. The burr detection device 100 includes a device bracket 130, a first vision detection module 110, and a second vision detection 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 extending directions of the first guide rail structure 131 and the second guide rail structure 132 respectively intersect the arrangement direction of the first guide rail structure 131, the support module 133, and the second guide rail structure 132; the support module 133 is used to support the pole piece 200, and the first side 210 is used to be parallel to the extending direction of the first guide rail structure 131; the first vision detection module 110 is connected to the first guide rail structure 131, the first vision detection module 110 is used to move along the extending direction of the first guide rail structure 131, and the first vision detection module 110 is used to detect burrs on the first side 210; the second vision detection module 120 is connected to the second guide rail structure 132, the second vision detection module 120 is used to move along the extending direction of the second guide rail structure 132, and the second vision detection module 120 is used to detect burrs on the other first side 210. The first vision detection 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 an image of the end face of the pole piece 200 on the first side 210; the first end face light source 112 is correspondingly arranged with the first end face camera 111, and the first end face light source 112 is used to irradiate the end face of the pole piece 200 on 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 position of the first side 210, and the first position sensor 141 is electrically connected to the first lateral movement module 151; the first lateral movement module 151 is movably connected to the first guide rail structure 131, and the first lateral movement module 151 is used to move along the extending direction of the first guide rail structure 131; the first lateral movement module 151 is further connected to the first end face camera 111, and the first lateral movement module 151 is used to move the first end face 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 that the first end face camera 111 moves transversely to the length direction of the first side 210. The pole piece 200 is provided with a tab 211 on the first side 210, and the surface plane of the tab 211 is parallel to the surface plane of the body of the pole piece 200; the first vision detection module 110 includes a first reflecting prism 113, and the first reflecting prism 113 is used to be arranged between the first end face camera 111 and the side of the tab 211, and the first reflecting prism 113 is used to reflect the light from the side of the tab 211 to the first end face camera 111.The first vision detection module 110 further includes a longitudinal movement module 161, and the longitudinal movement module 161 is connected to the first lateral movement module 151; one of the longitudinal movement module 161 and the first lateral movement 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 movement module 161 and the first lateral movement module 151 is connected to the first end face camera 111 and moves the first end face camera 111 perpendicular to the extension direction of the first guide rail structure 131, so that the first end face camera 111 moves perpendicular to the length direction of the first side 210; the first vision detection module 110 includes two relatively arranged first reflecting prisms 113, and the two first reflecting prisms 113 are respectively arranged on both sides of the same tab 211, and the optical axis of the light incident end of the first end face camera 111 is arranged between the two first reflecting prisms 113. The first vision detection 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, and the second end face camera 114 is used to capture an image of the end face of the electrode sheet 200 on the first side 210; the second end face light source 115 is correspondingly arranged with the second end face camera 114, and the second end face light source 115 is used to irradiate the end face of the electrode sheet 200 on the first side 210; the second end face camera 114 and the first end face camera 111 are arranged in a row along the extension direction of the first guide rail structure 131, and 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 is less than the distance from the first end face camera 111 to the support module 133; the burr detection device 100 includes a second lateral movement module 152, and the first position sensor 141 is electrically connected to the second lateral movement module 152; the second lateral movement module 152 is connected to the second end face camera 114, and the second lateral movement 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. The first vision detection module 110 includes a first planar camera 116 and a first planar light source 117, the optical axis of the light incident end of the first planar camera 116 is perpendicular to the support surface of the support module 133, the first planar camera 116 is arranged opposite to the first side 210, and the first planar camera 116 is used to capture an image of the surface of the electrode sheet 200 parallel to the support surface; the first planar light source 117 is arranged opposite to the first side 210, and the first planar light source 117 is used to irradiate the surface of the electrode sheet 200 parallel to the support surface; the first planar camera 116 is movably connected to the first guide rail structure 131, and the first planar camera 116 is used to move along the extension direction of the first guide rail structure 131.The first vision detection module 110 includes a mounting plate 171, which is movably mounted on the first rail structure 131 and is used to move along the extending direction of the first rail structure 131; a longitudinal movement module 161 is mounted on the mounting plate 171, and a first reflection prism 113 is mounted on the mounting plate 171; a first lateral movement module 151 is mounted on the longitudinal movement module 161, and a first end face camera 111 is mounted on the first lateral movement module 151; a first end face light source 112 is relatively fixed to the first end face camera 111 and is mounted on the first lateral movement module 151; a second lateral movement module 152 is mounted on the mounting plate 171, a second end face camera 114 is relatively fixed to a 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 lateral movement module 152; the burr detection device 100 further includes a first lifting module 181, which is mounted on the mounting plate 171; a first planar camera 116 is connected to the first lifting module 181, and the first lifting module 181 is used to lift the first planar camera 116; a first planar light source 117 is connected to the support module 133, the light-emitting end of the first planar light source 117 faces the first planar camera 116, and the light-emitting end of the first planar light source 117 is lower than the support surface of the support module 133 in the gravity direction, and the first planar light source 117 is used to be arranged on the side of the support surface of the support module 133 facing away from the first planar camera 116; the tab 211 is provided with a reinforcing rib, and the reinforcing rib protrudes or depresses in a direction perpendicular to the support surface of the support module 133; the first vision detection module 110 further includes a depth detection camera, the optical axis of the light-incident 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 tab 211, and the depth detection camera is used to detect the protrusion height or depression depth of the reinforcing rib.The second vision detection 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 an image of the end face of the electrode tab 200 on the other first side 210. The third end face light source 122 is correspondingly arranged with the third end face camera 121. The third end face light source 122 is used to irradiate the end face of the electrode tab 200 on 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 position of the other first side 210. The second position sensor 142 is electrically connected to the third lateral movement module 153. The third lateral movement module 153 is movably connected to the second guide rail structure 132. The third lateral movement module 153 is used to move along the extension direction of the second guide rail structure 132. The third lateral movement module 153 is also connected to the third end face camera 121. The third lateral movement module 153 is used to move the third end face 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 that the third end face camera 121 moves transversely to the length direction of the other first side 210. The second vision detection module 120 includes a second planar camera 123 and a second planar light source 124. The optical axis of the light incident end of the second planar camera 123 is perpendicular to the support surface of the support module 133. The second planar camera 123 is arranged opposite to the other first side 210. The second planar camera 123 is used to capture an image of the surface of the electrode tab 200 parallel to the support surface. The second planar light source 124 is arranged opposite to the other first side 210. The second planar light source 124 is used to irradiate the surface of the electrode tab 200 parallel to the support surface. The second planar camera 123 is movably connected to the second guide rail structure 132. The second planar camera 123 is used to move along the extension direction of the second guide rail structure 132. The second vision detection module 120 further includes a second reflecting prism 125. The second reflecting prism 125 is arranged opposite to the second planar camera 123. The second reflecting prism 125 is lower than the support surface of the support module 133 in the direction of gravity. The second reflecting prism 125 is used to reflect the light on the surface of the electrode tab 200 facing away from the second planar light source 124 to the second planar camera 123.The burr detection device 100 includes a fourth lateral movement module 154, which is movably connected to the second guide rail structure 132, and the fourth lateral movement module 154 is used to move along the extension direction of the second guide rail structure 132; the fourth lateral movement module 154 is also connected to the second reflecting prism 125, and the fourth lateral movement module 154 is used to move the second reflecting prism 125 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 reflecting prism 125 moves transversely to the length direction of the first side 210 until it is covered by the pole piece 200; the support module 133 is provided with an avoidance space, which 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 side 210 into the avoidance space. The second vision detection module 120 includes a connecting frame 172, which is movably installed 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 movement module 153 is installed on the connecting frame 172, and the third end face camera 121 is installed on the third lateral movement module 153; the third end face light source 122 is fixedly opposed to the third end face camera 121, and the third end face light source 122 is installed on the third lateral movement module 153; the burr detection device 100 further includes a second lifting module 182, which is installed on the connecting frame 172; the second planar camera 123 is connected to the second lifting module 182, and the second lifting module 182 is used to lift the second planar camera 123; the second planar light source 124 is connected to the connecting frame 172, and the light emitting direction of the second planar light source 124 faces away from the second planar camera 123; the second planar light source 124 is used to be arranged opposite to another first side 210, and the second planar light source 124 is used to irradiate the plane of the pole piece 200 parallel to the support surface of the support module 133; the fourth lateral movement module 154 is installed on the connecting frame 172, and the second reflecting prism 125 is installed on the fourth lateral movement module 154. The support module 133 includes two first support plates 134 arranged at intervals and at least one second support plate 135, and the second support plate 135 is arranged within the interval between two adjacent first support plates 134; the extension directions of the first support plates 134 and the extension direction of the second support plate 135 respectively intersect the arrangement direction of the first guide rail structure 131, the support module 133 and the second guide rail structure 132, and the plate surfaces of the first support plates 134 and the plate surfaces of the second support plates 135 are used to form the support surface of the support module 133, and the first support plates 134 and the second support plates 135 are respectively used to support the pole piece 200. The support module 133 further includes a distance adjusting device 191, and 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 further includes a jacking device 136. The power output end of the jacking device 136 is connected to the second support plate 135. The jacking device 136 is configured 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 jacking devices 136, and the second support plates 135 and the jacking devices 136 are connected in a one-to-one correspondence. The second guide rail structure 132 is higher than the support surface of the support module 133 in the direction of gravity. The distance adjustment device 191 is connected to the first support plate 134 facing the second vision detection module 120, so that the first support plate 134 facing the second vision 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 support 130 further includes a fifth lateral movement module 155. The fifth lateral movement module 155 is connected to the support module 133. The fifth lateral movement module 155 is configured 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 configured to move below the second guide rail structure 132; the burr detection device 100 further includes an abutting rod 192 and a sixth lateral movement module 156. The abutting rod 192 is arranged on the side facing the second vision detection module 120; the sixth lateral movement module 156 is connected to the abutting rod 192. The sixth lateral movement module 156 is configured to move the abutting rod 192 along the arrangement direction of the first guide rail structure 131 and the second guide rail structure 132; the length direction of the abutting rod 192 is parallel to the extension direction of the second guide rail structure 132. The pole piece 200 is configured to extend out of the support surface of the support module 133 in a direction away from the first vision detection module 110. The abutting rod 192 is configured to abut against the edge of the pole piece 200; a support bump 137 is provided on the first support plate 134 away from the second vision detection module 120. The support bump 137 is arranged on the side of the first support plate 134 away from the second vision detection module 120. The support bump 137 is configured to support the tab 211 of the pole piece 200. The support bump 137 is movably connected to the first support plate 134 along the extension direction of the first support plate 134. At least one of the support plate surfaces of the first support plate 134, the second support plate 135, and the support bump 137 is provided with adsorption through holes for connecting a negative pressure device to adsorb the pole piece 200. The burr detection device 100 further includes a dimension detection module 193. The first vision detection module 110, the dimension detection module 193, and the second vision detection module 120 are arranged in sequence; the dimension detection module 193 is connected to the equipment support 130. The dimension detection module 193 is arranged above the support module 133. The dimension detection module 193 is configured to detect the dimensions of the pole piece 200.

[0238] In one embodiment, a burr detection method is used to detect burrs on the electrode tab 200. The electrode tab 200 includes two oppositely arranged first sides 210 and two oppositely arranged second sides 220. The length of the first side 210 is greater than the length of the second side 220. The burr detection method includes the following steps:

[0239] Place the electrode tab 200 on the support module 133;

[0240] Move the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detect the burrs on the first side 210;

[0241] Move the second vision detection module 120 parallel to the length direction of the other first side 210 and detect the burrs on the first side 210;

[0242] The step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 includes:

[0243] Reflect the light from the side of the tab 211 to the first end face camera 111 of the first vision detection module 110 through the first reflection prism 113 to detect the burrs on the side of the tab 211.

[0244] The burr detection method further includes the following steps:

[0245] For the electrode tab 200 placed on the support module 133, detect the first position information of the electrode tab 200 through the dimension detection module 193;

[0246] According to the first position information, move the first vision detection module 110 to the first preset position;

[0247] The step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 includes:

[0248] During the movement of the first vision detection module 110, obtain the second position information of the first side 210 through the first position sensor 141;

[0249] According to the second position information, adjust the position of the first vision detection module 110 during the movement of the first vision detection module 110.

[0250] The electrode tab 200 is provided with a tab 211 on the first side 210, and the surface plane of the tab 211 is parallel to the surface plane of the body of the electrode tab 200;

[0251] The step of moving the first vision detection module 110 parallel to the length direction of one of the first sides 210 and detecting the burrs on the first side 210 includes:

[0252] Cause the first vision detection module 110 to detect the burrs on the part of the first side 210 outside the tab 211, and obtain the third position information of the part of the first side 210 outside the tab 211 through the first position sensor 141;

[0253] According to the third position information, cause the depth of field range of the camera corresponding to the first vision detection module 110 to cover each position on the side of the tab 211, and correspondingly detect the end face burrs on the side of the tab 211.

[0254] The burr detection method further includes the following steps:

[0255] According to the first position information, cause the second vision detection module 120 to move to the second preset position;

[0256] The steps of causing the second vision detection module 120 to move parallel to the length direction of the other first side 210 and detect the burrs on the first side 210 include:

[0257] During the movement of the second vision detection module 120, obtain the fourth position information of the other first side 210 through the second position sensor 142;

[0258] According to the fourth position information, adjust the position of the second vision detection module 120 during the movement of the second vision detection module 120.

[0259] 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 thus at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0260] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or directly / indirectly applied in other related technical fields, is 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, the second visual inspection module being connected to the second guide rail structure, the second visual inspection module being used to move along an extension direction of the second guide rail structure, and the second visual inspection module being used to detect burrs on the other first edge; 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 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; The second visual detection module further 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; 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.

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 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.

9. The burr detection device according to claim 8, 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.

10. 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.

11. The burr detection device according to claim 10, 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.

12. The burr detection device according to claim 11, 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.

13. The burr detection device according to claim 12, 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.

14. The burr detection device according to claim 13, 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.

15. The burr detection device according to claim 14, 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.

16. The burr detection device according to claim 15, 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.

17. 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.

18. 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: Reflecting the light from the side of the tab to the first end face camera of the first visual inspection module through a first reflecting prism to detect burrs on the side of the tab; 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.

19. The burr detection method according to claim 18, 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 inspecting 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.

20. The burr detection method according to any one of claims 18 to 19, 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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