Visual appearance detection equipment for power battery pin cover plate

Abstract

The invention discloses appearance visual detection equipment for a power battery pin cover plate. The appearance visual detection equipment comprises a conveying detection line and a mechanical arm detection line, the conveying detection line comprises an automatic conveying line, and a code scanning mechanism, a first detection device, a second detection device and a third detection device which are sequentially arranged in the running direction of the automatic conveying line; the mechanical arm detection line comprises a detection turnover mechanical arm, a fourth detection device and a classified discharging device. The detection turnover mechanical arm has turnover displacement and relative detection displacement. According to the invention, comprehensive detection of the power battery pin cover plate can be realized, and detection item comprehensiveness and detection accuracy are ensured. Through cooperation of inner side comprehensive detection of three detection positions of the conveying line and outer side comprehensive detection of mechanical arm relative to machine position adjustment, the efficient online detection requirement is met, and operation is efficient, smooth and stable. The image acquisition partition and the relative detection position design are adopted, so that a relatively abundant detection visual angle set is provided, and the comprehensive detection and evaluation requirements of the power battery pin cover plate are met.

Description

Technical Field

[0001] The present invention relates to appearance visual inspection equipment for a power battery pin cover, belonging to the technical field of automated inspection equipment. Background Art

[0002] The power battery system (power battery pack) is the core energy source that provides driving power for new energy vehicles and is one of their most critical components. It primarily consists of battery modules, an electrical system, a thermal management system, a housing, and a battery management system (BMS). The housing encapsulates these components, forming the core of the power battery system.

[0003] As the carrier of the battery module, the power battery system housing (battery case) plays a key role in the stable operation and safety protection of the battery module. In addition to ensuring strength, rigidity, and crash safety requirements, it must also meet the IP67 protection level design requirements for electrical equipment enclosures. Many OEMs have developed specialized electric vehicle platforms that utilize a floor-based platform battery system layout, even integrating the battery case with the vehicle floor. This changes the traditional body shape, making the battery case an integral part of the vehicle, significantly impacting the strength, rigidity, and crash safety of the entire vehicle. Therefore, while the battery case is often considered a component of the battery pack in new energy vehicles, it involves the vehicle body system and electrical safety, making it a critical component of new energy vehicles.

[0004] The battery cover is a core component of the battery shell and is crucial to the safety of the battery pack. Therefore, the quality control requirements for the battery cover are very strict.

[0005] Various tests will be implanted in the battery cover during the production and processing process. Helium testing will be carried out after the explosion-proof valve is assembled, and electrical testing will be carried out after the electrode column is welded. When its production is completed, the explosion-proof performance and electrical connection stability of the battery cover are guaranteed. After the overall production is completed, the basic performance of the battery cover can be guaranteed to be stable. However, during the production process of the battery cover, there are inevitably some defects on its surface, such as lack of glue or overflow of glue, deviation of the position of the explosion-proof valve, damage to the substrate, etc. Although such defects will not directly cause failures after application, they may affect the effective service life and leave safety hazards.

[0006] After the battery cover is processed and produced, it must undergo multi-faceted inspection by testing equipment. The battery cover includes a plate-like structural body, on which explosion-proof valves, poles and other structures are installed. Therefore, its top surface, bottom surface, two side surfaces and two end surfaces need to be fully inspected, that is, six-sided inspection.

[0007] General inspection items include at least: obvious scratches, bumps, glue overflow, glue deficiency, dirt, indentation, aluminum wire, oxidation, blackening, whitening, explosion-proof valve position, pole position, filling hole, sealing ring, protective film position, etc. There are many inspection items, and the requirements for the inspection light source and shooting are also very high.

[0008] The applicant previously filed a Chinese invention patent with authorization publication number CN115639211B, which discloses automated high-speed battery cover inspection equipment. This equipment uses an automated battery cover conveyor line to transport battery covers, and then passes through several automated inspection mechanisms along the way to achieve multi-station image acquisition and inspection. However, with the structural adjustments and increased inspection items for battery pin covers, this system is no longer suitable for current battery pin cover inspection. The single-sided inspection method limits its comprehensiveness and also makes it difficult to expand and adjust the number of online inspection items.

[0009] Currently, battery pin covers consist of a top cover and back plate, each integrated together. The top cover has a through-hole component that penetrates both plates. This through-hole component includes a terminal post and a pin with a curved edge. This through-hole component makes double-sided inspection difficult, and the demand for comprehensive inspection of through-hole components is increasing. Existing testing equipment is unable to fully inspect and evaluate battery pin covers. Summary of the Invention

[0010] The purpose of the present invention is to solve the above-mentioned deficiencies in the prior art. In view of the problem that the existing inspection equipment cannot meet the comprehensive inspection requirements of the battery pin cover, a visual inspection device for the appearance of the power battery pin cover is proposed.

[0011] In order to achieve the above object, the technical solution adopted by the present invention is: Appearance visual inspection equipment for power battery pin cover plates, the power battery pin cover plates comprising an integral top cover plate and a back plate, the top cover plate being provided with two sets of spaced-apart penetration components, the penetration components comprising a pole located on one side of the top cover plate and an extension pin located on one side of the back plate and conductively connected to the pole, the extension pin comprising a pin extension wall and two bent wings provided on the pin extension wall, the plane of the bent wings being perpendicular to the plane of the pin extension wall and the plane of the top cover plate respectively; The appearance visual inspection equipment includes a conveyor inspection line and a robotic arm inspection line; The conveying inspection line includes an automated conveying line, a code scanning mechanism, a first inspection device, a second inspection device, and a third inspection device arranged in sequence along the running direction of the automated conveying line. The first inspection device includes a first inspection mechanism arranged at the top of the automated conveying line, the machine position facing the back plate and the extended pins. The second inspection device includes two second inspection mechanisms that are relatively staggered. The machine position of the second inspection mechanism is horizontally facing the side wall of the power battery pin cover, and the machine position direction of the second inspection mechanism is perpendicular to the plane where the bent wing is located. The third inspection device includes a third inspection mechanism located on one side of the automated conveying line and corresponding to the opposite inner walls of the two pin extension walls. The angle between the machine position direction of the third inspection mechanism and the plane where the inner wall of the pin extension wall is located is 15°~45°; The robotic arm detection line includes a detection turnover robotic arm, a fourth detection device, and a classification and unloading device. The fourth detection device includes a fourth detection mechanism with a machine position vertically facing the top. The detection turnover robotic arm has a relative detection displacement for turnover displacement between the automated conveying line and the classification and unloading device, and for adjusting the relative position with the fourth detection mechanism to perform relative detection displacement on the top cover plate and the extended pin.

[0012] Preferably, the inspection turnover robot arm has a picking end for picking up the back plate; In the relative detection displacement state of the detection turnover robot arm, there are several relative detection positions between the power battery pin cover and the machine position of the fourth detection mechanism; The relative detection positions and the position orientation of the fourth detection mechanism form a coplanar detection surface, which is parallel to the plane where the pin extension wall is located and passes through the center line of the top cover plate and the center line of the pin extension wall.

[0013] Preferably, the relative detection displacement state of the detection turnover robot arm includes at least one center relative detection position, two symmetrical pin relative detection positions, and two symmetrical pole relative detection positions; The position direction of the fourth detection mechanism at the center relative detection position is perpendicular to the center point of the top cover plate; The position direction of the fourth detection mechanism of the pin relative detection position is perpendicular to the center point of the pin extension wall; The position direction of the fourth detection mechanism of the pole relative to the detection position is perpendicular to the center point of the pole.

[0014] Preferably, in the relative detection displacement state of the detection turnover robot arm, the detection turnover robot arm further includes two symmetrical top cover plate tilted relative detection positions, two symmetrical pin tilted relative detection positions, and two symmetrical pole tilted relative detection positions; The position direction of the fourth detection mechanism of the inclined relative detection position of the top cover plate is opposite to the center point of the top cover plate, and the angle between the position direction of the fourth detection mechanism and the plane where the top cover plate is located is 30°~60°; The position direction of the fourth detection mechanism of the pin tilt relative detection position is opposite to the center point of the pin extension wall, and the angle between the position direction of the fourth detection mechanism and the plane where the pin extension wall is located is 30° to 60°; The position direction of the fourth detection mechanism of the pole tilt relative detection position is relative to the center point of the pole, and the angle between the position direction of the fourth detection mechanism and the plane where the pole is located is 30°~60°.

[0015] Preferably, the picking end comprises two positioning gripping parts arranged at intervals, and the positioning gripping parts comprise clamping claws and floating positioning parts.

[0016] Preferably, the first detection mechanism includes a first carrier with lifting and lowering adjustable displacement, a first supplementary light source provided on the first carrier, and a first detection camera located on top of the first supplementary light source; During the conveying operation of the automated conveyor line, the first detection camera has at least five consecutive first image acquisition areas relative to the power battery pin cover.

[0017] Preferably, the second detection mechanism includes a second carrier with lifting displacement and horizontal linear displacement, a second supplementary light source provided on the second carrier, and a second detection camera located on a side of the second supplementary light source away from the conveying detection line; During the conveying operation of the automated conveyor line, the second detection camera has at least five consecutive second image acquisition areas relative to the power battery pin cover.

[0018] Preferably, the third detection device includes a common supplementary light source arranged opposite to the third detection mechanism; The third detection mechanism includes a third carrier with lifting displacement and horizontal linear displacement, and a third detection camera is provided on the third carrier; The third carriers of the two third detection mechanisms are fixed in contact with each other.

[0019] Preferably, the robotic arm detection line includes a secondary positioning platform, and the detection turnover robotic arm has a turnover switching displacement between the automated conveying line and the secondary positioning platform.

[0020] Preferably, the classification unloading device includes a qualified conveyor line, a suspicious product conveyor line, at least one NG conveyor line, and a classification turnover mechanism, wherein the qualified conveyor line has an extension section located within the turnover displacement range of the detection turnover robot arm; The classification turnover mechanism includes a turnover picking end for performing material turnover among the qualified product conveying line, the suspicious product conveying line, and the NG product conveying line.

[0021] The beneficial effects of the present invention are mainly reflected in: 1. It can realize comprehensive inspection of power battery pin cover to ensure comprehensive inspection items and inspection accuracy.

[0022] 2. Through the comprehensive inner detection of the three detection positions of the conveyor line and the comprehensive outer detection of the robot arm relative to the machine position adjustment, the demand for efficient online detection is met, and the operation is efficient, smooth and stable.

[0023] 3. The detection positions are cleverly coordinated and compactly arranged, making it easy to construct the equipment and reducing the space occupied by the equipment.

[0024] 4. The image acquisition partitioning and relative detection position design provide a relatively rich set of detection angles to meet the comprehensive detection and evaluation needs of power battery pin covers. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a structural schematic diagram of the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0026] Figure 2 It is a structural schematic diagram of the code scanning mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0027] Figure 3 It is a structural schematic diagram of the first detection mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0028] Figure 4 It is a schematic diagram of the first image acquisition area of the first detection mechanism in the present invention.

[0029] Figure 5 It is a structural schematic diagram of the second detection mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0030] Figure 6 It is a schematic diagram of the second image acquisition area of the second detection mechanism in the present invention.

[0031] Figure 7 It is a structural schematic diagram of the third detection mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0032] Figure 8 It is a schematic diagram of the image acquisition area of the third detection mechanism in the present invention.

[0033] Figure 9 It is a structural schematic diagram of the inspection turnover robot arm in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0034] Figure 10 It is a structural schematic diagram of the fourth detection mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention.

[0035] Figure 11 It is a schematic diagram of the relative detection position of the fourth detection mechanism and the power battery pin cover in the present invention.

[0036] Figure 12 It is a structural schematic diagram of the classification turnover mechanism in the appearance visual inspection equipment of the power battery pin cover of the present invention. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0038] The present application will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to explain the relevant inventions and are not intended to limit the inventions. It should also be noted that, for ease of description, only portions relevant to the relevant inventions are shown in the accompanying drawings. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of this application may be combined with each other.

[0039] The present invention provides a visual inspection device for the appearance of a power battery pin cover, such as Figure 4 、 Figure 6 、 Figure 8 、 Figure 11 As shown, the power battery pin cover 1000 includes a top cover 1100 and a back plate 1200 that are composited into one body. The top cover is provided with two sets of through-components 1300 spaced apart from each other. The through-components 1300 include a pole 1310 located on one side of the top cover and an extended pin 1320 located on one side of the back plate and conductively connected to the pole. The extended pin 1320 includes a pin extension wall 1321 and two bent wings 1322 provided on the pin extension wall. The plane where the bent wings 1322 are located is perpendicular to the plane where the pin extension wall is located and the plane where the top cover is located.

[0040] like Figures 1 to 12As shown, the appearance visual inspection equipment includes a conveying inspection line 100 and a robotic arm inspection line 200 .

[0041] The conveying inspection line 100 includes an automated conveyor line 101, a code scanning mechanism 102 arranged in sequence along the running direction of the automated conveyor line, a first inspection device 1, a second inspection device 2, and a third inspection device 3. The first inspection device 1 includes a first inspection mechanism 10 arranged at the top of the automated conveyor line, with the machine position facing the backplane and the extended pins. The second inspection device 2 includes two second inspection mechanisms 20 that are relatively staggered. The machine position of the second inspection mechanism is horizontally facing the side wall of the power battery pin cover, and the machine position direction of the second inspection mechanism is perpendicular to the plane where the bent wing is located. The third inspection device 3 includes a third inspection mechanism 30 located on one side of the automated conveyor line and corresponding to the relative inner walls of the two pin extension walls. The angle between the machine position direction of the third inspection mechanism and the plane where the inner wall of the pin extension wall is located is 15°~45°.

[0042] The robotic arm detection line 200 includes a fourth detection device 4, a detection turnover robotic arm 5, and a sorting and unloading device 6. The fourth detection device 4 includes a fourth detection mechanism 40 with the machine position vertically facing the top. The detection turnover robotic arm 5 has a relative detection displacement for turnover displacement between the automated conveying line and the sorting and unloading device, and for adjusting the relative position with the fourth detection mechanism to perform top cover plate and extended pin detection.

[0043] Specific implementation process and principle description: like Figure 1 As shown, the power battery pin cover passes through the conveying and testing line 100 to undergo testing of the surface where the back plate 1200 is located, the two side surfaces, and the inner walls of the two pin extension walls 1321 .

[0044] After the inspection is completed, the robot arm inspection line 200 is used to inspect the surface of the top cover plate 1100 and the outer walls of the two pin extension walls 1321, thereby meeting the comprehensive inspection requirements.

[0045] During the conveying and testing process of the conveying and testing line 100, as shown in FIG. Figure 1 As shown, the top cover plate 1100 is supported on the automated conveyor line 101 and the plane where the pin extension wall 1321 is located is perpendicular to the conveying direction of the automated conveyor line 101, and passes through the code scanning mechanism 102, the first detection device 1, the second detection device 2, and the third detection device 3 in sequence.

[0046] The identification code scanning and recognition record of the current power battery pin cover is realized at the scanning mechanism 102, and the detection result is subsequently recorded in the workpiece information corresponding to the identification code. The first detection mechanism 10 of the first detection device 1 performs detection of the detection items of its machine position orientation, generally including detection of the side of the back plate away from the top cover plate, detection of the free end face of the pin extension wall, and outer contour detection. Comprehensive detection that satisfies the ability of the detection machine to collect image information is within the protection scope of this case. The second detection mechanism 20 of the second detection device 2 performs side wall detection. The detection items generally include top cover plate side wall detection, back plate side wall detection, extended pin side wall detection, and pole side wall detection. Comprehensive detection that satisfies the ability of the detection machine to collect image information is within the protection scope of this case. The third detection device 3 is as follows Figure 7 and Figure 8 As shown, it detects the inner walls of the two pin extension walls 1321 by adjusting the angle, thus meeting its detection requirements.

[0047] It should be noted that if Figure 1 As shown, the first detection device 1, the second detection device 2, and the third detection device 3 are arranged in sequence along the way to meet the requirements of compact distribution and sequential weighting. The backplane is located inside the battery pack, and its defect weight is relatively large. When a backplane defect and / or a pin extension wall defect occurs, it is judged to be NG, and the back end does not need to be re-inspected. The second detection device and the third detection device are designed in the same way, which can improve the detection efficiency.

[0048] If the product is NG in the conveying inspection line 100, it will be directly discharged by the inspection turnover robot 5 to the classification unloading device 6 for unloading. Only when it is qualified will it be inspected by the robot arm inspection line 200.

[0049] When the robot inspection line 200 is performing inspection, the inspection turnover robot 5 picks up one side of the back plate so that one side of the top cover plate faces the fourth inspection mechanism 40. By swinging and adjusting the angle of the inspection turnover robot 5, relative inspection displacement is achieved to meet the comprehensive inspection requirements of the surface where the top cover plate 1100 is located and the outer walls of the two pin extension walls 1321.

[0050] In a specific embodiment, the inspection turnover robot arm has a picking end 50 for picking up the back plate; the picking end 50 generally includes a negative pressure picking end and a clamping picking end, and only needs to meet the requirements that the mechanism for picking up the power battery pin cover is within the protection scope of this case and the stability during the picking process is met.

[0051] In the relative detection displacement state of the detection turnover robot arm, there are several relative detection positions 7 between the power battery pin cover and the machine position of the fourth detection mechanism.

[0052] The plurality of relative detection positions and the machine position of the fourth detection mechanism form a coplanar detection surface, which is parallel to the plane where the pin extension wall is located and passes through the center line of the top cover plate and the center line of the pin extension wall.

[0053] That is Figures 9 to 11 As shown, the fourth detection mechanism is fixed in direction, and the detection turnover robot arm 5 picks up the power battery pin cover and moves it within a fixed plane relative to the fourth detection mechanism. In this way, the relative yaw displacement adjustment can be achieved while meeting the requirements of detection comprehensiveness and image acquisition centering stability, and the detection results are more reliable.

[0054] In a specific embodiment, Figure 11 As shown, in the relative detection displacement state of the detection turnover robot arm, at least one center relative detection position 71, two symmetrical pin relative detection positions 72, and two symmetrical pole relative detection positions 73 are included; the machine position direction of the fourth detection mechanism of the center relative detection position is perpendicular to the center point of the top cover plate; the machine position direction of the fourth detection mechanism of the pin relative detection position is perpendicular to the center point of the pin extension wall; the machine position direction of the fourth detection mechanism of the pole relative detection position is perpendicular to the center point of the pole.

[0055] In this way, the reliability requirements of comprehensive detection of the top cover plate, pin extension wall and pole are achieved.

[0056] In a specific embodiment, Figure 12 As shown, in the relative detection displacement state of the detection turnover robot arm, it also includes two symmetrical top cover plate tilted relative detection positions 74, two symmetrical pin tilted relative detection positions 75, and two symmetrical pole tilted relative detection positions 76; the machine position direction of the fourth detection mechanism of the top cover plate tilted relative detection position is relative to the center point of the top cover plate, and the angle between the machine position direction of the fourth detection mechanism and the plane where the top cover plate is located is 30°~60°; the machine position direction of the fourth detection mechanism of the pin tilted relative detection position is relative to the center point of the pin extension wall, and the angle between the machine position direction of the fourth detection mechanism and the plane where the pin extension wall is located is 30°~60°; the machine position direction of the fourth detection mechanism of the pole tilted relative detection position is relative to the center point of the pole, and the angle between the machine position direction of the fourth detection mechanism and the plane where the pole is located is 30°~60°.

[0057] Specifically, the center relative detection position 71, the pin relative detection position 72, and the pole relative detection position 73 are used to detect surface defects of the relative wall and the relative position detection and size detection of the upper liquid injection hole 1400, the pole, and the explosion-proof valve, while the top cover plate tilt relative detection position 74, the pin tilt relative detection position 75, and the pole tilt relative detection position 76 are mainly used for size and deformation detection of the relative outer contour, outer contour wall, and turning part.

[0058] This camera position design makes the detection more comprehensive, the detection items are richer and more comprehensive, and the detection results are more accurate.

[0059] In a specific embodiment, Figure 9 As shown, the picking end 50 includes two positioning gripping parts that are spaced apart from each other, and the positioning gripping parts include a clamping claw 51 and a floating positioning part 52.

[0060] The floating positioning part 52 can realize the relative position determination of picking, and the clamping claw 51 satisfies the clamping stability of the side of the back plate. There are a large number of grooves on the back plate, which provide insufficient flat surface. When the flat surface area is sufficient, the negative pressure picking end can also meet the picking requirements.

[0061] In a specific embodiment, Figure 3 and Figure 4 As shown, the first detection mechanism 10 includes a first carrier 11 with lifting and lowering adjustable displacement, a first supplementary light source 12 provided on the first carrier, and a first detection camera 13 located on the top of the first supplementary light source.

[0062] like Figure 4 As shown, during the conveying operation of the automated conveyor line, the first detection camera has at least five continuous first image acquisition areas relative to the power battery pin cover.

[0063] Specifically, the two first image acquisition areas on the side mainly realize the relative position of the extended pin 1320, the top contour line of the extended pin 1320, the position and contour line of the pole substrate, and the surface defect detection in the area.

[0064] The three first image acquisition areas in the middle are mainly used for structural and surface inspection within the current area, including defects such as injection hole positions, joints, hollow grooves, and buckle grooves.

[0065] In a specific embodiment, Figure 5 and Figure 6 As shown, the second detection mechanism 20 includes a second carrier 21 with lifting displacement and horizontal linear displacement, a second supplementary light source 22 arranged on the second carrier, and a second detection camera 23 located on the side of the second supplementary light source away from the conveying detection line.

[0066] like Figure 6 As shown, during the conveying operation of the automated conveyor line, the second detection camera has at least five consecutive second image acquisition areas relative to the power battery pin cover.

[0067] Specifically, each second image acquisition zone inspects the sides of the back panel and top cover within the current area. Each second image acquisition zone also performs differentiated inspections. The two side second image acquisition zones inspect the position of extension pins, the position of terminals, the sidewalls of terminals, and edge defects of bent wings 1322. The center second image acquisition zone inspects the position of the explosion-proof valve, and the second image acquisition zone between the center and the side also inspects seams and back panel gaps.

[0068] In a specific embodiment, Figure 7 and Figure 8 As shown, the third detection device includes a common supplementary light source 31 arranged opposite to the third detection mechanism; the third detection mechanism 30 includes a third carrier 32 with lifting displacement and horizontal linear displacement, and a third detection camera 33 is provided on the third carrier; the third carriers of the two third detection mechanisms are fixed in abutment with each other.

[0069] like Figure 8 As shown, the third inspection camera 33 captures a panoramic image of the inner wall of the pin extension wall 1321 and performs contour and surface defect inspection on it.

[0070] In a specific embodiment, Figure 1 The robot arm detection line shown includes a secondary positioning platform 8, and the detection turnover robot arm has a turnover switching displacement between the automated conveying line and the secondary positioning platform.

[0071] Specifically, in order to detect the relative position accuracy of the rotary robot arm picking up the power battery pin cover and ensure the switching position orientation accuracy of the rear end, a secondary positioning platform 8 is adopted to meet the requirements of secondary picking and adjusting position accuracy after changing hands. The secondary positioning platform 8 is generally implemented by an intermediate support platform and peripheral push positioning. Only the mechanism that needs to meet the secondary positioning adjustment of the top cover plate side of the power battery pin cover is within the protection scope of this case.

[0072] In a specific embodiment, Figure 1 and Figure 12 As shown, the classification and unloading device 6 includes a qualified conveyor line 61, a suspicious product conveyor line 62, at least one NG conveyor line 63, and a classification turnover mechanism 64. The qualified conveyor line has an extension section 610 located within the turnover displacement range of the detection turnover robot arm.

[0073] The classification turnover mechanism 64 includes a turnover picking end 640 for material turnover between the qualified conveying line, the doubtful conveying line, and the NG conveying line.

[0074] Specifically, the qualified rate of general covers is more than 60%, so the extension section 610 is designed to meet the needs of smooth transportation of a large number of qualified products, and the classification turnover mechanism 64 is designed to meet the needs of classification turnover according to the inspection results. Its turnover picking end 640 can pick up suspicious products or NG products on the qualified conveyor line for turnover unloading.

[0075] It should be noted that the discharge end of the suspicious product conveyor line extends to the feed end side of the automated conveyor line 101, and secondary loading inspection can be performed through automated turnover or manual turnover.

[0076] The above description demonstrates the ability to comprehensively inspect power battery pin covers, ensuring comprehensive inspection and accuracy. By combining comprehensive inboard inspection at the conveyor line's three inspection positions with comprehensive outboard inspection during relative arm position adjustment, the system meets the requirements for efficient online testing, ensuring smooth, stable operation. The clever coordination and compact layout of the inspection positions facilitate equipment construction and reduce equipment footprint. The use of image acquisition partitioning and relative inspection position design provides a richer set of inspection perspectives, meeting the comprehensive inspection and evaluation requirements for power battery pin covers.

[0077] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0078] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. Appearance visual inspection equipment for power battery pin covers, the power battery pin covers comprising an integral top cover and back plate, the top cover having two sets of spaced-apart penetration components, the penetration components comprising a terminal post located on one side of the top cover and an extension pin conductively connected to the terminal post located on one side of the back plate, the extension pin comprising a terminal extension wall and two bent wings provided on the terminal extension wall, the plane of the bent wings being perpendicular to the plane of the terminal extension wall and the plane of the top cover, respectively. Characteristic: The appearance visual inspection equipment includes a conveyor inspection line and a robotic arm inspection line; The conveying inspection line includes an automated conveying line, a code scanning mechanism, a first inspection device, a second inspection device, and a third inspection device arranged in sequence along the running direction of the automated conveying line. The first inspection device includes a first inspection mechanism arranged at the top of the automated conveying line, the machine position facing the back plate and the extended pins. The second inspection device includes two second inspection mechanisms that are relatively staggered. The machine position of the second inspection mechanism is horizontally facing the side wall of the power battery pin cover, and the machine position direction of the second inspection mechanism is perpendicular to the plane where the bent wing is located. The third inspection device includes a third inspection mechanism located on one side of the automated conveying line and corresponding to the opposite inner walls of the two pin extension walls. The angle between the machine position direction of the third inspection mechanism and the plane where the inner wall of the pin extension wall is located is 15°~45°; The robotic arm detection line includes a detection turnover robotic arm, a fourth detection device, and a classification and unloading device. The fourth detection device includes a fourth detection mechanism with a machine position vertically facing the top. The detection turnover robotic arm has a relative detection displacement for turnover displacement between the automated conveying line and the classification and unloading device, and for adjusting the relative position with the fourth detection mechanism to perform relative detection displacement on the top cover plate and the extended pin.

2. The appearance visual inspection equipment for power battery pin cover according to claim 1, characterized in that: The detection turnover robot arm has a picking end for picking up the back plate; In the relative detection displacement state of the detection turnover robot arm, there are several relative detection positions between the power battery pin cover and the machine position of the fourth detection mechanism; The relative detection positions and the position orientation of the fourth detection mechanism form a coplanar detection surface, which is parallel to the plane where the pin extension wall is located and passes through the center line of the top cover plate and the center line of the pin extension wall.

3. The appearance visual inspection equipment for power battery pin cover according to claim 2, characterized in that: The relative detection displacement state of the detection turnover robot arm includes at least one center relative detection position, two symmetrical pin relative detection positions, and two symmetrical pole relative detection positions; The position direction of the fourth detection mechanism at the center relative detection position is perpendicular to the center point of the top cover plate; The position direction of the fourth detection mechanism of the pin relative detection position is perpendicular to the center point of the pin extension wall; The position direction of the fourth detection mechanism of the pole relative to the detection position is perpendicular to the center point of the pole.

4. The appearance visual inspection equipment for power battery pin cover according to claim 3, characterized in that: In the relative detection displacement state of the detection turnover robot arm, it also includes two symmetrical top cover plate tilted relative detection positions, two symmetrical pin tilted relative detection positions, and two symmetrical pole tilted relative detection positions; The position direction of the fourth detection mechanism of the inclined relative detection position of the top cover plate is opposite to the center point of the top cover plate, and the angle between the position direction of the fourth detection mechanism and the plane where the top cover plate is located is 30°~60°; The position direction of the fourth detection mechanism of the pin tilt relative detection position is opposite to the center point of the pin extension wall, and the angle between the position direction of the fourth detection mechanism and the plane where the pin extension wall is located is 30° to 60°; The position direction of the fourth detection mechanism of the pole tilt relative detection position is relative to the center point of the pole, and the angle between the position direction of the fourth detection mechanism and the plane where the pole is located is 30°~60°.

5. The appearance visual inspection equipment for power battery pin cover according to claim 2, characterized in that: The picking end comprises two positioning gripping parts which are spaced apart from each other, and the positioning gripping parts comprise clamping claws and a floating positioning part.

6. The appearance visual inspection equipment for power battery pin cover according to claim 1, characterized in that: The first detection mechanism includes a first carrier with lifting and lowering adjustment displacement, a first supplementary light source arranged on the first carrier, and a first detection camera located on top of the first supplementary light source; During the conveying operation of the automated conveyor line, the first detection camera has at least five consecutive first image acquisition areas relative to the power battery pin cover.

7. The appearance visual inspection equipment for power battery pin cover according to claim 1, characterized in that: The second detection mechanism includes a second carrier with lifting displacement and horizontal linear displacement, a second supplementary light source arranged on the second carrier, and a second detection camera located on a side of the second supplementary light source away from the conveying and detection line; During the conveying operation of the automated conveyor line, the second detection camera has at least five consecutive second image acquisition areas relative to the power battery pin cover.

8. The appearance visual inspection equipment for power battery pin cover according to claim 1, characterized in that: The third detection device includes a common supplementary light source arranged opposite to the third detection mechanism; The third detection mechanism includes a third carrier with lifting displacement and horizontal linear displacement, and a third detection camera is provided on the third carrier; The third carriers of the two third detection mechanisms are fixed in contact with each other.

9. The appearance visual inspection device for power battery pin covers according to any one of claims 1 to 7, characterized in that: The robotic arm detection line includes a secondary positioning platform, and the detection turnover robotic arm has a turnover switching displacement between the automated conveying line and the secondary positioning platform.

10. The appearance visual inspection device for power battery pin covers according to any one of claims 1 to 7, characterized in that: The classification unloading device includes a qualified conveyor line, a suspicious product conveyor line, at least one NG conveyor line, and a classification turnover mechanism. The qualified conveyor line has an extension section located within the turnover displacement range of the detection turnover robot arm; The classification turnover mechanism includes a turnover picking end for performing material turnover among the qualified product conveying line, the suspicious product conveying line, and the NG product conveying line.

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