Ultrasonic scanning detection device and method for battery fusion depth

Abstract

The invention belongs to the technical field of ultrasonic scanning detection, and particularly relates to an ultrasonic scanning detection device and method for battery fusion depth, the device comprises a workbench, a three-axis mechanism, a water tank, a tool clamp, a camera calibration module, an ultrasonic probe and a displacement sensor, the three-axis mechanism is installed on the workbench, the water tank is arranged on the workbench, and the tool clamp is installed on the workbench; the three-axis mechanism is connected with an ultrasonic probe and a displacement sensor, the tool clamp and the camera calibration module are arranged in the water tank, and the tool clamp is used for installing a battery shell; the relative positions of the ultrasonic probe and the displacement sensor are calibrated through the camera calibration module, the three-axis mechanism is linked with the ultrasonic probe and the displacement sensor to move, so that the ultrasonic probe directly faces the weld joint of the battery shell to scan, and the displacement sensor directly faces the weld joint penetration depth to detect; according to the invention, scanning detection is carried out on the welding seam through ultrasonic scanning, nondestructive detection of the welding seam and the penetration depth in the workpiece can be carried out under the condition that the workpiece is not damaged, and the detection precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ultrasonic scanning detection, and in particular relates to an ultrasonic scanning detection device and method for battery penetration. Background Art

[0002] With the rapid development of the electric vehicle industry, demand for power batteries has skyrocketed. Lithium-ion batteries have become the most commonly used power battery due to their compact size, high energy density, superior safety, and long lifespan. A crucial step in lithium-ion battery production is welding the battery top cover. Laser welding technology is an efficient and controllable welding method that uses a high-energy-density laser beam to heat and melt the base metal. It features low heat input and excellent flexibility, facilitating connections with minimal deformation and large aspect ratios, providing an effective technical solution for power battery welding.

[0003] In the actual production of power batteries, strict requirements are placed on weld quality and the highest possible welding speed to improve production efficiency. However, as welding speeds increase and other factors influence laser welding, defects such as cracks, pores, and cold welds are more likely to occur, affecting the quality and life of battery products. Therefore, defect detection of battery top cover welds can screen out qualified battery products, ensure product quality, and improve battery safety.

[0004] Currently, battery welds commonly used in industry are mainly inspected through manual visual inspection, metallographic inspection, and machine vision inspection. Manual inspection may lead to detection errors due to factors such as human fatigue. Metallographic inspection involves cutting the battery product along the areas prone to welding defects for metallographic analysis, which is costly and time-consuming. Machine vision inspection can only detect the weld surface and cannot observe the inside of the weld. In addition, these inspection methods are only suitable for random inspections, which may lead to probabilistic risks.

[0005] Ultrasonic testing utilizes ultrasonic technology to observe the surface and internal quality of components being tested, enabling non-destructive testing without damaging the workpiece or raw materials. Using ultrasonic testing to inspect the penetration depth of lithium-ion battery welds improves inspection quality and speed, enabling the individual weld inspection of battery packs, saving labor and reducing production costs.

[0006] Based on this, it is necessary to improve the defects of the existing technology to overcome the shortcomings in practical applications. Summary of the Invention

[0007] Based on the above-mentioned shortcomings and deficiencies in the prior art, one of the objects of the present invention is to at least solve one or more of the above-mentioned problems in the prior art. In other words, one of the objects of the present invention is to provide an ultrasonic scanning detection device and method for battery melting depth that meets one or more of the above-mentioned needs.

[0008] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0009] The present invention provides an ultrasonic scanning detection device for battery penetration depth, comprising a workbench, a three-axis mechanism, a water tank, a fixture, a camera calibration module, an ultrasonic probe and a displacement sensor. The three-axis mechanism is installed on the workbench, a water tank is configured on the workbench, the ultrasonic probe and the displacement sensor are connected to the three-axis mechanism, the fixture and the camera calibration module are arranged in the water tank, and the fixture is used to install a battery shell; the relative positions of the ultrasonic probe and the displacement sensor are calibrated by the camera calibration module, and the three-axis mechanism links the ultrasonic probe and the displacement sensor to move so that the ultrasonic probe is scanning the weld of the battery shell and the displacement sensor is detecting the weld penetration depth.

[0010] As a preferred solution, the three-axis mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism. The Y-axis motion mechanism is respectively provided on the left and right sides of the workbench. The two ends of the X-axis motion mechanism are respectively connected to the two Y-axis motion mechanisms, and the X-axis motion mechanism is connected to the Z-axis motion mechanism.

[0011] As a preferred solution, each of the Y-axis motion mechanisms includes a base, a first drive module, a first guide rail and a first slider. A base is provided on the left and right sides of the workbench. A first drive module and a first guide rail arranged along the Y direction are installed on each base, and the first slider is slidably connected to the first guide rail.

[0012] As a preferred solution, both ends of the X-direction motion mechanism are respectively connected to the first driving module, and the first driving module drives the X-direction motion mechanism to move along the Y direction, thereby linking the first slider to move along the first guide rail.

[0013] As a preferred solution, the X-direction motion mechanism includes a crossbeam, a second driving module, a second guide rail and a second slider. The crossbeam arranges the second driving module, the second guide rail and the second slider along the X direction. The second slider is slidably connected to the second guide rail.

[0014] As a preferred solution, the second driving module is connected to the movable plate, the movable plate is connected to the second slider and the Z-direction motion mechanism, and the second driving module drives the movable plate to move, so as to link the second slider to move along the second guide rail, so that the Z-direction motion mechanism moves along the X direction.

[0015] As a preferred solution, the Z-axis motion mechanism includes a fixed plate, a third drive module, a clamp, a third guide rail and a third slider. The third drive module is arranged on the fixed plate, the fixed plate is provided with a third guide rail, the third slider is slidably connected to the third guide rail, the third slider is connected to the clamp, and the clamp is connected to the ultrasonic probe and the displacement sensor.

[0016] As a preferred solution, the tooling fixture includes a base plate, an adjustment plate, a limiting assembly and a pressing assembly. An adjustment plate is provided on the base plate, and the battery shell is placed on the adjustment plate. The limiting assembly is used to limit the battery shell, and the pressing assembly is provided on the adjustment plate and is used to press and fix the battery shell.

[0017] As a preferred solution, the water tank is used to contain liquid, and the battery shell is placed in the liquid so that the battery shell can be scanned and detected by an ultrasonic probe.

[0018] The present invention also provides an ultrasonic scanning detection method for battery penetration, which uses the device described in any of the above solutions and includes the following steps:

[0019] S1. Calibrate the ultrasonic probe and displacement sensor using a camera calibration module to determine the relative position relationship between the scanning position of the ultrasonic probe and the detection position of the displacement sensor;

[0020] S2. Remove the camera calibration module from the water tank, clamp the battery case with a fixture and place it in the water tank, and level the battery case at the same time;

[0021] S3. Fill the water tank with liquid so that the liquid submerges the battery shell and the ultrasonic probe, scan the battery shell weld with the ultrasonic probe, and detect the weld penetration with the displacement sensor.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention provides an ultrasonic scanning detection device for battery penetration. Compared with the traditional metallographic observation of the weld quality of the workpiece, the ultrasonic scanning is used to scan and detect the battery weld, which is simple to operate and improves the efficiency of battery welding detection. The weld and penetration of the internal quality of the workpiece can be non-destructively tested without damaging the workpiece, thereby reducing the detection cost, avoiding detection errors caused by welding, and improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, without paying any creative work, they can also obtain drawings of other embodiments based on these drawings.

[0025] Figure 1 1 is a schematic diagram of the overall structure of an ultrasonic scanning detection device according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of an ultrasonic scanning detection device according to an embodiment of the present invention from another perspective;

[0027] Figure 3 1 is a schematic structural diagram of a fixture according to an embodiment of the present invention;

[0028] Figure 4 Schematic diagram of the coordination between the fixture and the battery case according to an embodiment of the present invention;

[0029] Figure 5 is a structural diagram of a camera calibration module according to an embodiment of the present invention;

[0030] Figure 6 1 is a schematic structural diagram of a battery case according to an embodiment of the present invention;

[0031] In the figure: 1- workbench, 11- water tank, 2- X-direction motion mechanism, 21- crossbeam, 22- second drive module, 23- second guide rail, 24- second slider, 25- moving plate, 3- Y-direction motion mechanism, 31- base, 32- first drive module, 33- first guide rail, 34- first slider, 4- Z-direction motion mechanism, 41- fixed plate, 42- third drive module, 43- third guide rail, 44- third slider, 45- first clamp, 46- second clamp, 5- fixture, 51- bottom plate, 52- Support block, 521-adjustment screw, 53-adjustment plate, 541-first limit block, 542-second limit block, 543-reference plate, 551-pressure plate, 552-guide shaft, 553-linear bearing, 554-handle, 56-top plate, 57-optical axis, 6-camera calibration module, 61-camera, 62-light source, 63-camera base plate, 64-camera fixing seat, 65-camera fixing plate, 66-camera fixing block, 67-light source fixing plate, 7-ultrasonic probe, 8-displacement sensor, 9-battery shell. DETAILED DESCRIPTION

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0034] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0036] Laser welding of battery cases is prone to defects such as cracks, pores, and cold welds, which can affect the quality and lifespan of battery products. Therefore, defect detection of the weld seams on the battery case top cover is necessary to screen out substandard battery products, ensure product quality, and improve battery safety. Existing technologies typically require destructive testing of battery cases, but this only inspects the weld surface, preventing internal observation of the welds. Furthermore, this method is only suitable for spot checks, resulting in low accuracy and a high risk of missed detections.

[0037] In order to solve the above technical problems, according to some embodiments of the present application, please refer to Figures 1 to 6 As shown, an ultrasonic scanning detection device for battery penetration is provided, including a workbench 1, a three-axis mechanism, a water tank 11, a fixture 5, a camera calibration module 6, an ultrasonic probe 7 and a displacement sensor 8. The three-axis mechanism is installed on the workbench 1, and the water tank 11 is configured on the workbench 1. The ultrasonic probe 7 and the displacement sensor 8 are connected to the three-axis mechanism, the fixture 5 and the camera calibration module 6 are arranged in the water tank 11, and the fixture 5 is used to install the battery shell 9; the relative positions of the ultrasonic probe 7 and the displacement sensor 8 are calibrated by the camera calibration module 6, and the three-axis mechanism links the ultrasonic probe 7 and the displacement sensor 8 to move, so that the ultrasonic probe 7 is scanning the weld β of the battery shell 9, and the displacement sensor 8 is detecting the weld penetration α.

[0038] In some embodiments of the present application, the three-axis mechanism includes an X-axis motion mechanism 2, a Y-axis motion mechanism 3, and a Z-axis motion mechanism 4. The Y-axis motion mechanism 3 is provided on the left and right sides of the workbench 1. The two ends of the X-axis motion mechanism 2 are respectively connected to the two Y-axis motion mechanisms 3. The X-axis motion mechanism 2 is connected to the Z-axis motion mechanism 4. The Z-axis motion mechanism 4 is provided with an ultrasonic probe and a displacement sensor. The movement of the ultrasonic probe and displacement sensor is achieved through the coordination between the X-axis motion mechanism 2, the Y-axis motion mechanism 3, and the Z-axis motion mechanism 4 to cover the scanning area of ​​the battery shell weld.

[0039] In some embodiments of the present application, each Y-axis motion mechanism 3 includes a base 31, a first drive module 32, a first guide rail 33 and a first slider 34. A base 31 is provided on the left and right sides of the workbench 1. A first drive module 32 and a first guide rail 33 arranged along the Y direction are respectively installed on each base 31, and the first slider 34 is slidably connected to the first guide rail 33.

[0040] Specifically, both ends of the X-direction motion mechanism 2 are respectively connected to the first drive module 32. The first drive module 32 drives the X-direction motion mechanism 2 to move along the Y direction, thereby linking the first slider 34 to move along the first guide rail 33, thereby driving the ultrasonic probe and displacement sensor to move in the Y direction.

[0041] Furthermore, the first driving module 32 is configured as a linear motor, the mover of the linear motor is connected to the X-axis motion mechanism 2, and the mover of the linear motor moves linearly along the stator, thereby driving the X-axis motion mechanism 2 to link the first slider 34 to move along the first guide rail 33.

[0042] In some embodiments of the present application, the X-axis motion mechanism 2 includes a crossbeam 21, a second drive module 22, a second guide rail 23 and a second slider 24. The crossbeam 21 arranges the second drive module 22, the second guide rail 23 and the second slider 24 along the X direction, and the second slider 24 is slidably connected to the second guide rail 23.

[0043] Specifically, a second drive module 22 is mounted on the crossbeam 21. The second drive module 22 is configured as a linear motor. The linear motor's mover is connected to the fixed plate 41 of the Z-axis motion mechanism 4. The linear motor's mover moves linearly along the stator, driving the Z-axis motion mechanism, which in turn drives the second slider 24 along the second guide rail 23, thereby moving the ultrasonic probe in the X-direction. It should be noted that the first drive module 32 and the second drive module 22 have the same structure, both configured as linear motors.

[0044] In some embodiments of the present application, the second drive module 22 is connected to the movable plate 25, the movable plate 25 is connected to the second slider 24 and the Z-direction motion mechanism 4, and the second drive module 22 drives the movable plate 25 to move, so as to link the second slider 24 to move along the second guide rail 23, so that the Z-direction motion mechanism 4 moves along the X direction.

[0045] In some embodiments of the present application, the Z-axis motion mechanism 4 includes a fixed plate 41, a third drive module 42, a third guide rail 43, a third slider 44 and a clamp, the third drive module 42 is arranged on the fixed plate 41, the fixed plate 41 is provided with a third guide rail 43, the third slider 44 is slidingly connected to the third guide rail 43, the third drive module 42 is transmission-connected to the clamp, and the clamp is provided with an ultrasonic probe 7 and a displacement sensor 8.

[0046] Furthermore, the clamp includes a first clamp 45 and a second clamp 46. The first clamp 45 is used to clamp the ultrasonic probe 7 so that the ultrasonic probe 7 is arranged in the up and down direction. The second clamp 46 is used to clamp the displacement sensor 8 so that the displacement sensor 8 is arranged in the horizontal front and back direction. The scanning direction of the ultrasonic probe 7 and the collection direction of the displacement sensor are perpendicular to each other. The position of the displacement sensor and the position of the ultrasonic probe are calibrated by the camera calibration module so that the two remain relatively fixed.

[0047] In some embodiments of the present application, the camera calibration module 6 includes a camera 61, a light source 62, a camera base 63, a camera mount 64, a camera fixing plate 65, a camera fixing block 66, and a light source fixing plate 67. The camera base 63 is placed in a water tank within a workbench, the camera mount 64 is mounted on the camera base 63, the camera 41 is horizontally mounted on the camera mount 64 via the camera fixing plate 65 and the camera fixing block 66, and the light source 62 is mounted above the lens of the camera 51 via the light source fixing plate 67 in front of the camera 61. Once the relative position calibration of the displacement sensor and the ultrasonic probe is completed, the camera calibration module can be removed from the water tank.

[0048] In some embodiments of the present application, the tooling fixture includes a base plate 51, an adjustment plate 53, a limiting assembly and a clamping assembly. An adjustment plate 53 is provided on the base plate 51, and the battery shell 9 is placed on the adjustment plate 53. The limiting assembly is used to limit the battery shell 9. The clamping assembly is provided on the adjustment plate 53 and is used to press and fix the battery shell 9.

[0049] Specifically, the fixture 5 is detachably connected to the water tank 11 by screws, support blocks 52 are respectively installed on the left and right sides of the base plate 51, and the adjustment plate 53 is fixed to the support block 52 by adjusting bolts 521. The leveling plate 53 can be adjusted to a level by rotating the adjusting bolts 521; the reference plate 543 and the first limit block 541 are assembled together by bolts and are arranged at the rear end of the base plate 51 to constrain the movement of the battery shell in the Y direction.

[0050] Furthermore, two optical axes 57 are arranged between the bottom plate 51 and the top plate 56, and the two guide shafts 552 are respectively arranged in the middle of the top plate 56 through the center of the linear bearing 553, the handle 554 is fixed at the upper end of the two guide shafts 552, and the pressure plate 551 is arranged at the lower end of the two guide shafts 552. Through the movement of the linear bearing 553 and the guide shaft 552, the handle 554 is pulled to realize the movement of the pressure plate 51 along the Z direction, thereby constraining the Z direction of the battery shell 9; the second limit block 542 is fixed on the left side of the adjustment plate 53, which can constrain the movement of the battery shell 9 in the X direction.

[0051] In some embodiments of the present application, the water tank 11 is used to contain liquid, and the battery shell is placed in the liquid so that the battery shell can be scanned and detected by an ultrasonic probe.

[0052] According to an ultrasonic scanning detection device for battery penetration provided by the present application, compared with the traditional metallographic observation of the weld quality of the workpiece, the battery weld is scanned and detected by ultrasonic scanning, which is simple to operate and improves the efficiency of battery welding detection. The weld and penetration of the internal quality of the workpiece can be non-destructively tested without damaging the workpiece, reducing the detection cost, avoiding detection errors caused by welding, and improving the detection accuracy.

[0053] According to some embodiments of the present application, there is also provided an ultrasonic scanning detection method for battery penetration, which uses the above-described device and includes the following steps:

[0054] S1. Calibrate the ultrasonic probe and displacement sensor through the camera calibration module to determine the relative position relationship between the scanning position of the ultrasonic probe and the detection position of the displacement sensor.

[0055] Specifically, the camera calibration module is set in the water tank, the three-axis mechanism is moved and the lower end of the ultrasonic probe is adjusted to move to the focal length range of the camera, and the ultrasonic probe is aligned with the camera. The coordinates of the center of the ultrasonic probe at this time are calculated, and the three-axis mechanism is moved again to adjust the front end of the displacement sensor to the central area of ​​the camera's imaging. The coordinates of the front end of the displacement sensor at this time are calculated. The relative position relationship between the displacement sensor and the ultrasonic probe can be calculated through the two coordinates.

[0056] S2. Remove the camera calibration module from the water tank, clamp the battery case with a fixture and place it in the water tank, and level the battery case at the same time.

[0057] Specifically, the calibrated camera calibration module is removed from the water tank, and the fixture is set in the water tank, the leveling plate is adjusted to the level, and the height of the leveling plate is set according to the battery shell. The handle is pulled to move the pressure plate to the highest point, and the battery shell is set above the reference plate, with the left side of the battery shell close to the second limit block and the bottom of the battery close to the first limit block. The handle is pulled again to set the pressure plate above the battery shell, thereby fixing the battery shell.

[0058] S3. Fill the water tank with liquid so that the liquid submerges the battery shell and the ultrasonic probe, scan the battery shell weld with the ultrasonic probe, and detect the weld penetration with the displacement sensor.

[0059] Specifically, after the battery shell is fixed, medium water is poured into the water tank so that the medium water submerges the battery shell and the ultrasonic probe. The lower surface of the ultrasonic probe is about 10 mm away from the surface of the battery shell. The ultrasonic probe is used to scan the battery shell weld, and then the displacement sensor is used to detect the weld penetration.

[0060] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0061] The above description is only a detailed description of the preferred embodiments and principles of the present application. For ordinary technicians in this field, there may be changes in the specific implementation methods based on the ideas provided by the present invention, and these changes should also be regarded as the scope of protection of this application.

Claims

1. An ultrasonic scanning detection device for battery penetration, characterized in that: The battery case comprises a workbench, a three-axis mechanism, a water tank, a fixture, a camera calibration module, an ultrasonic probe and a displacement sensor. The three-axis mechanism is installed on the workbench, a water tank is configured on the workbench, the ultrasonic probe and the displacement sensor are connected to the three-axis mechanism, the fixture and the camera calibration module are arranged in the water tank, and the fixture is used to install the battery case; the relative positions of the ultrasonic probe and the displacement sensor are calibrated by the camera calibration module, and the three-axis mechanism links the ultrasonic probe and the displacement sensor to move so that the ultrasonic probe is scanning the weld of the battery case and the displacement sensor is detecting the weld penetration.

2. The ultrasonic scanning detection device for battery penetration according to claim 1, characterized in that: The three-axis mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism. The Y-axis motion mechanism is respectively provided on the left and right sides of the workbench. The two ends of the X-axis motion mechanism are respectively connected to the two Y-axis motion mechanisms, and the X-axis motion mechanism is connected to the Z-axis motion mechanism.

3. The ultrasonic scanning detection device for battery penetration according to claim 2, characterized in that: Each of the Y-axis motion mechanisms includes a base, a first drive module, a first guide rail and a first slider. A base is provided on the left and right sides of the workbench. A first drive module and a first guide rail arranged along the Y direction are installed on each of the bases. The first slider is slidably connected to the first guide rail.

4. The ultrasonic scanning detection device for battery penetration according to claim 3, characterized in that: Both ends of the X-direction motion mechanism are respectively connected to the first driving module. The first driving module drives the X-direction motion mechanism to move along the Y direction, so as to link the first sliding block to move along the first guide rail.

5. The ultrasonic scanning detection device for battery penetration according to claim 2, characterized in that: The X-direction motion mechanism includes a crossbeam, a second driving module, a second guide rail and a second slider. The crossbeam is provided with the second driving module, the second guide rail and the second slider along the X direction. The second slider is slidably connected to the second guide rail.

6. The ultrasonic scanning detection device for battery penetration according to claim 5, characterized in that: The second driving module is connected to the movable plate, and the movable plate is connected to the second slider and the Z-direction motion mechanism. The second driving module drives the movable plate to move, thereby linking the second slider to move along the second guide rail, so that the Z-direction motion mechanism moves along the X direction.

7. The ultrasonic scanning detection device for battery penetration according to claim 1, characterized in that: The Z-direction motion mechanism includes a fixed plate, a third drive module, a clamp, a third guide rail and a third slider. The third drive module is arranged on the fixed plate. The fixed plate is provided with a third guide rail. The third slider is slidably connected to the third guide rail. The third slider is connected to the clamp, and the clamp is connected to the ultrasonic probe and the displacement sensor.

8. The ultrasonic scanning detection device for battery penetration according to claim 1, characterized in that: The fixture includes a base plate, an adjustment plate, a limiting assembly and a pressing assembly. The base plate is provided with an adjustment plate, the battery shell is placed on the adjustment plate, the limiting assembly is used to limit the battery shell, and the pressing assembly is provided on the adjustment plate and is used to press and fix the battery shell.

9. The ultrasonic scanning detection device for battery penetration according to claim 1, characterized in that: The water tank is used to contain liquid, and the battery shell is placed in the liquid so that the battery shell can be scanned and detected by an ultrasonic probe.

10. An ultrasonic scanning detection method for battery penetration, characterized in that: The application of the device according to any one of claims 1 to 9 comprises the following steps: S1. Calibrate the ultrasonic probe and displacement sensor using a camera calibration module to determine the relative position relationship between the scanning position of the ultrasonic probe and the detection position of the displacement sensor; S2. Remove the camera calibration module from the water tank, clamp the battery case with a fixture and place it in the water tank, and level the battery case at the same time; S3. Fill the water tank with liquid so that the liquid submerges the battery shell and the ultrasonic probe, scan the battery shell weld with the ultrasonic probe, and detect the weld penetration with the displacement sensor.

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