Appearance defect detection equipment and detection method for new energy battery pack

Abstract

The invention relates to the technical field of battery pack appearance defect detection, and particularly discloses a new energy battery pack appearance defect detection device and method.The new energy battery pack appearance defect detection device comprises two sets of six-axis robots and two sets of sliding rails, the six-axis robots and the sliding rails are symmetrically arranged, and the two sets of six-axis robots are slidably arranged at the upper ends of the two sets of sliding rails correspondingly; wherein a detection table is arranged on one side of one group of sliding rails, a collection table is arranged on one side of the other group of sliding rails, a size detection mechanism is arranged on the collection table, a detection frame is arranged between the collection table and the detection table, and a defect detection mechanism is arranged on the detection frame; the six-axis robot is matched with the sliding rail to move the upper shell and the lower shell to the detection table, the size detection mechanism can conduct full-size detection on the upper shell and the lower shell, and then the upper shell and the lower shell are moved to the detection frame; the defect detection mechanism is used for carrying out defect detection and marking on the insulating coatings of the upper shell and the lower shell of the battery pack, and the upper shell and the lower shell after detection are moved to the collecting table.

Description

Technical Field

[0001] This application relates to the field of battery pack appearance defect detection technology, and in particular to a device and method for detecting appearance defects in new energy battery packs. Background Technology

[0002] New energy battery packs are the core energy storage units of electric vehicles and energy storage systems. They are mainly composed of battery modules, thermal management systems, electrical connection components, and external structural components. Among them, the upper and lower shells are key structural components of the battery pack and are usually made of materials such as aluminum alloys. They are coated with an insulating coating to ensure electrical safety and environmental resistance. After the coating process is completed and before the upper and lower shells are assembled, they must be subjected to strict full-dimensional measurement and appearance defect inspection to ensure that the coating is uniform and undamaged, thereby avoiding sealing failure, reduced insulation performance, or potential short circuit risks caused by appearance defects.

[0003] In existing technologies, the inspection of appearance defects in the upper and lower casings of battery packs typically employs automated inspection devices based on machine vision. These devices mainly consist of a conveying unit, an image acquisition unit, an illumination unit, and a control and processing unit. The conveying unit often uses roller conveyors or belt conveyors to carry and transport the casings to be inspected. The image acquisition unit consists of several high-resolution industrial cameras fixed on a mechanical support, each aimed at the casing surface from different angles. The illumination unit is arranged in conjunction with the cameras, often using ring light sources or strip light sources to highlight surface texture features. Each unit is connected to a central controller via cables, and the control software synchronously triggers the cameras to capture images and transmits the image data to a processing server for defect analysis.

[0004] Regarding the aforementioned technologies, relying solely on industrial cameras for two-dimensional image acquisition makes it difficult to identify microscopic defects on the coating surface and defects in the shadowed corner areas caused by light shading, resulting in a high rate of missed detections. Furthermore, industrial cameras can only provide two-dimensional pixel coordinates, making it difficult to accurately map the actual location of defects on the three-dimensional shell. Subsequent repairs or re-inspections still require manual verification based on experience and data, which greatly reduces detection efficiency and reliability. Therefore, improvements are needed. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a device and method for detecting appearance defects in new energy battery packs.

[0006] The technical solution provided in this application for a new energy battery pack appearance defect detection device and detection method is as follows: A new energy battery pack appearance defect inspection device includes a mobile vehicle, a six-axis robot, and slide rails. Two sets of the mobile vehicle, the six-axis robot, and the slide rails are symmetrically arranged. Two sets of slide rails are positioned between two sets of mobile vehicles. Two sets of six-axis robots are slidably mounted on the upper ends of the two sets of slide rails. Vacuum suction cups for adsorbing and fixing the upper and lower shells of the battery pack are provided at the ends of both sets of six-axis robots. An inspection platform is provided between one set of mobile vehicles and the slide rails, and a collection platform is provided between the other set of mobile vehicles and the slide rails. A dimensional inspection mechanism for performing full-size inspection of the upper and lower shells of the battery pack is provided on the collection platform. An inspection frame is provided between the collection platform and the inspection platform, and a defect detection mechanism for detecting and marking defects in the insulating coating of the upper and lower shells of the battery pack is provided on the inspection frame.

[0007] By adopting the above technical solution, the mobile vehicle moves the upper and lower shells of the battery pack to be inspected to the inspection table. The six-axis robot, slide rail, and vacuum suction cup, together with the dimensional inspection mechanism, perform full-size inspection of the upper and lower shells, thereby achieving efficient and high-precision non-contact measurement of the full dimensions of the upper and lower shells of the battery pack, improving inspection efficiency and consistency. Subsequently, the six-axis robot, slide rail, and vacuum suction cup move the upper and lower shells to the inspection frame, where the defect inspection mechanism described in this application performs defect inspection on the insulating coating of the upper and lower shells of the battery pack and marks it. This achieves comprehensive automated inspection and precise defect location of the insulating coating surface and hidden areas, and can mark the defect range on-site, improving inspection coverage and subsequent processing efficiency. After inspection, the upper and lower shells are moved to the collection table by the six-axis robot, slide rail, and vacuum suction cup.

[0008] Optionally, the size detection mechanism includes a mounting frame, a 3D scanner, distance sensors, and a clamping and moving assembly. The mounting frame is disposed on the side of the detection platform near the mobile vehicle. Two sets of 3D scanners are symmetrically arranged, one set being disposed at the end of the mounting frame and the other set being disposed at the upper end of the detection platform. Two sets of distance sensors are symmetrically arranged, one set being disposed at the end of the mounting frame and the other set being disposed at the upper end of the detection platform, with both sets of distance sensors being disposed at the same height as the two sets of 3D scanners. The clamping and moving assembly is disposed on the detection platform and is used to clamp and move the upper and lower housings of the battery pack.

[0009] By adopting the above technical solution, a six-axis robot, vacuum suction cup, and slide rail work together to adsorb and move the upper or lower housing, allowing it to precisely switch between translation and rotation between two sets of fixed-position 3D scanners. This efficiently and accurately collects 3D data from all sides of the workpiece, performs all-round inspection of the appearance dimensions of the upper and lower housings, and detects the position and size of key holes in the upper and lower housings. Two sets of distance sensors monitor the distance between the workpiece surface and the corresponding scanner in real time, ensuring that the distance between the upper or lower housing and the two sets of 3D scanners remains constant. This effectively eliminates measurement errors caused by workpiece pose offset or distance fluctuations, ensuring the stitching accuracy of multi-view 3D data and the consistency and reliability of full-size measurement results.

[0010] Optionally, the clamping and moving assembly includes a first lead screw motor, a sliding frame, a lifting frame, a first cylinder, and a second cylinder. The first lead screw motor is disposed on the side wall of the testing table. The sliding frame is slidably disposed on the upper end of the testing table and threadedly connected to the output end of the first lead screw motor. Four sets of the first cylinder are symmetrically arranged, and all four sets of the first cylinder are vertically disposed on the inner top wall of the sliding frame, with their telescopic ends penetrating through the sliding frame. The lifting frame is lifted and lowered above the sliding frame, and its four corners are fixedly connected to the telescopic ends of the four sets of the first cylinder. Four sets of the second cylinder are symmetrically arranged, and all four sets of the second cylinder are horizontally disposed on the upper end of the lifting frame.

[0011] By adopting the above technical solution, when full-dimensional inspection of the interior and lower surface of the upper or lower shell is required, a six-axis robot, vacuum suction cup, and slide rail work together to place the upper or lower shell on the inspection stage. Then, four sets of second cylinders are activated to stably clamp the upper or lower shell, preventing displacement or vibration during inspection and ensuring the accuracy and consistency of the scanned data. After clamping, two sets of distance sensors determine the distance between the upper or lower shell and the two sets of 3D scanners. If the distances are different, the four sets of first cylinders are activated simultaneously. The extension and retraction ends of the four sets of first cylinders move, driving the lifting frame to rise and fall. The rising and falling of the lifting frame drives the upper... The upper or lower housing is raised or lowered to align with the two sets of 3D scanners. Then, the first lead screw motor is activated, and its output rotates to drive the sliding frame to slide horizontally on the inspection table. The sliding frame, in turn, drives the raising or lowering frame, which in turn drives the upper or lower housing. This allows the upper or lower housing to smoothly and uniformly pass through the scanning areas of the two sets of 3D scanners, ensuring comprehensive and seamless 3D data acquisition of the bottom surface and all surfaces of the housing's interior. This enables fully automated, full-size inspection, improving the completeness, accuracy, and efficiency of the inspection, while also enhancing the equipment's adaptability to housings of different specifications.

[0012] Optionally, the defect detection mechanism includes a placement platform, a second lead screw motor, a sliding frame, a slider, a first drive motor, a first gear, a gear rail, a robotic arm, a detection piece, a corner detection component, a marking piece, and a clamping piece. The placement platform is disposed on the detection frame, the second lead screw motor is horizontally disposed at the upper end of the detection frame, the sliding frame is slidably disposed at the upper end of the detection frame and threadedly connected to the output end of the second lead screw motor, the slider is slidably disposed on the sliding frame, and the first drive motor is disposed at the upper end of the slider. The first gear is disposed on the output end of the first drive motor, the gear rail is disposed on the upper end of the sliding frame and meshes with the first gear, the robotic arm is rotatably disposed on the lower end of the slider, and the detection element is disposed on the end of the robotic arm away from the slider. The detection element includes a first electric telescopic rod, a mounting plate, a lifting rod, a spring, a mounting block, a rotating roller and a first indicator light. The first electric telescopic rod is disposed on the end of the robotic arm away from the slider, the mounting plate is disposed on the telescopic end of the first electric telescopic rod, and two sets of lifting rods are symmetrically arranged. Both sets of lifting rods are raised and lowered on the upper end of the mounting plate and penetrate through the mounting plate. The mounting block is disposed at the ends of the two sets of lifting rods away from the first electric telescopic rod. Two sets of springs are symmetrically arranged, and the two sets of springs are respectively sleeved on the outer peripheral walls of the two sets of lifting rods. One end of the springs is fixedly connected to the inner top wall of the mounting plate, and the other end is fixedly connected to the upper end of the mounting block. The rotating roller is horizontally rotatably disposed at the lower end of the mounting block. The first indicator light is disposed at the upper end of the mounting block and is electrically connected to the rotating roller. The internal corner detection component is disposed on the detection frame and is used to detect defects in the insulating coating at the internal corners of the upper and lower shells of the battery pack. The marking component is disposed on the mounting plate and is used to mark the defects in the insulating coating of the upper and lower shells of the battery pack. The clamping component is disposed on the placement platform and is used to stably clamp the upper and lower shells of the battery pack.

[0013] By adopting the above technical solution, when it is necessary to inspect the insulating coating of the inner bottom wall of the upper or lower shell, the upper or lower shell is placed on the placement platform, the first electric telescopic rod is started, the telescopic end of the first electric telescopic rod moves and drives the mounting plate to move, the mounting plate moves and drives the mounting block and rotating roller to move, when the rotating roller abuts against the inner bottom wall of the upper or lower shell, the first drive motor is started, the output end of the first drive motor rotates and drives the first gear to rotate, the first gear meshes with the gear rail, so the rotation of the first gear drives the slider to slide on the sliding frame, the slider slides and drives the robotic arm to move, the robotic arm moves and drives the first electric telescopic rod to move, the first electric telescopic rod moves and drives the mounting plate to move, the mounting plate moves and drives the lifting rod, mounting block and first indicator light to move, the mounting block moves and drives the rotating roller to rotate on the inner bottom wall of the upper or lower shell and perform inspection along the length direction of the upper or lower shell; When it is necessary to switch positions along the width direction of the upper or lower housing, the second lead screw motor is activated. The output end of the second lead screw motor rotates, driving the sliding frame to move horizontally on the inspection frame. The movement of the sliding frame drives the slider, the first electric telescopic rod, the mounting plate, and the rotating roller to move. When it is necessary to inspect the side wall of the upper or lower housing, the posture of the inspection piece is adjusted by the robotic arm, and the rotating roller performs a comprehensive inspection of the side wall through the cooperation of the sliding frame and the slider. When the rotating roller detects a leakage defect, the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller form a circuit, and the first indicator light is lit. This realizes automated and comprehensive inspection of the insulation coating defects of the upper and lower housings, accurately reaching and covering the bottom and side inspection areas of the housing, improving inspection efficiency and automation level. The buffer of the lifting rod and spring ensures constant and gentle contact pressure, reducing the possibility of scratching the coating and missing detection due to insufficient contact pressure.

[0014] Optionally, the internal corner detection component includes a limiting frame, a limiting block, a moving plate, a second drive motor, a second gear, a rectangular toothed frame, a second electric telescopic rod, a flexible conductive block, and a second indicator light. Two sets of limiting frames are symmetrically arranged, and both sets of limiting frames are located on the outer side wall of the detection frame and at both ends below the sliding frame. Two sets of limiting blocks are symmetrically arranged, and the two sets of limiting blocks are slidably arranged within the two sets of limiting frames. The movable plate is slidably disposed within the two sets of limiting blocks, and the two sets of limiting blocks are perpendicular to the moving direction of the movable plate. The second drive motor is vertically disposed on the movable plate, and its output end passes through the movable plate. The second gear is disposed on the output end of the second drive motor. The rectangular gear frame is horizontally disposed on the inner side wall of the detection frame and meshes with the second gear. The second electric telescopic rod is vertically disposed on the movable plate, and its telescopic end passes through the movable plate. The flexible conductive block and the second indicator light are both disposed on the telescopic end of the second electric telescopic rod, and the flexible conductive block is electrically connected to the second indicator light.

[0015] By adopting the above technical solution, when corner detection is required, the second electric telescopic rod is first activated. After the flexible conductive block fully contacts the corner of the inner bottom wall of the upper or lower housing, the second drive motor is activated. The rotation of the second drive motor drives the second gear to rotate, which in turn drives the moving plate to move along the trajectory of the rectangular toothed frame. The moving plate slides within two sets of limiting blocks, which in turn slide within two sets of limiting frames. The movement of the moving plate also drives the second electric telescopic rod to move, which in turn drives the flexible conductive block to move. When a leakage defect is detected at the corner of the upper or lower housing by the flexible conductive block... The negative electrode connected to the upper or lower housing forms a circuit with the positive electrode connected to the flexible conductive block, illuminating the second indicator light. When it is necessary to inspect the vertical inner corners at the four corners, the flexible conductive block is first moved to the four corners by the second drive motor and the moving plate, and fully contacts the vertical inner corners. Then, the second electric telescopic rod is activated. The telescopic end of the second electric telescopic rod rises and falls, driving the flexible conductive block to rise and fall. The rise and fall of the flexible conductive block can complete the comprehensive inspection of the vertical inner corners, thereby realizing the defect detection of the insulating coating at the inner corners of the upper and lower housings, improving the comprehensiveness of the inspection and ensuring no blind spots in the inspection.

[0016] Optionally, the marking element includes a marking pen, and two sets of marking pens are symmetrically arranged. Both sets of marking pens are vertically arranged at one end of the mounting plate near the mounting block and on both sides of the mounting block.

[0017] By adopting the above technical solution, when the rotating roller detects leakage, a circuit is formed between the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller. Subsequently, the telescopic end of the first electric telescopic rod descends, driving the mounting plate and marking pen downwards. The lifting rod and spring act as a buffer, causing the marking pen to contact the insulating coating surface and make a mark. Then, as the rotating roller and mounting plate continue to move and scan, the marking pen draws lines on the coating surface. When there is no leakage at the detection point, the first electric telescopic rod retracts, and the marking pen lifts off the surface to stop drawing lines. At this point, the robotic arm drives the entire detection component to rotate 90°, and the above detection process is repeated, thereby automating the detection of coating damage defects. Graphical on-site marking uses four lines to outline the approximate range and shape of the defect, visually marking the defect area on the workpiece. This facilitates subsequent positioning, re-inspection, or repair, improving process efficiency. When the damaged area is large or extremely irregular in shape and cannot be completely covered in a single scan path, the rotating roller only marks the currently covered leakage part in the first scan, forming the first rectangular area. Subsequently, in the subsequent line-by-line scan, whenever a new leakage area is entered, i.e., an area not previously marked, the first electric telescopic rod will press down again, driving the marking pen to continue drawing lines. Finally, the entire defect range is marked in segments by multiple sequentially formed rectangular frames until all leakage areas are covered.

[0018] Optionally, the clamping component includes a third cylinder, and four sets of the third cylinder are symmetrically arranged, with all four sets of the third cylinder horizontally positioned at the upper end of the placement platform.

[0019] By adopting the above technical solution, the upper or lower housing is placed on the placement platform, and then four sets of third cylinders are simultaneously activated to stably clamp the side walls of the upper or lower housing, thereby preventing the upper or lower housing from moving or vibrating during the inspection process, providing a stable benchmark and necessary conditions for high-precision defect detection.

[0020] Optionally, a position sensor is provided on the telescopic end of the second electric telescopic rod and is electrically connected to the flexible conductive block.

[0021] By adopting the above technical solution, when the flexible conductive block comes into contact with the leakage defect of the insulating coating during detection, the position sensor is energized and records its precise three-dimensional coordinates in real time. After the flexible conductive block moves out of the defect area, the position sensor is de-energized, thereby accurately recording the start and end points of the defect. This transforms the defect at the corner into quantifiable position information, improving the accuracy and traceability of defect location and providing a reliable data foundation for subsequent precise repair or process adjustment.

[0022] Optionally, two sets of laser rangefinders are arranged perpendicularly to each other at the upper end of the placement platform to determine the detection position of the upper and lower housings of the battery pack.

[0023] By adopting the above technical solution, the two sets of laser rangefinders can measure the distance to the two sides of the upper and lower housings of the battery pack. If there is a deviation between the placement position of the upper or lower housing and the set position, the upper or lower housing is moved by a six-axis robot, vacuum suction cup and slide rail. When the set position is reached, it is then stably clamped by four sets of third cylinders, thereby ensuring the consistency of workpiece positioning during each inspection, preventing problems such as incorrect inspection path, omission or inaccurate positioning caused by placement position deviation, and thus improving the automation accuracy and reliability of defect detection.

[0024] This application also includes a method for detecting appearance defects in new energy battery packs, comprising the following steps: S1: The upper or lower housing is moved to the inspection station by a mobile vehicle. A six-axis robot, vacuum suction cup and slide rail work together to adsorb and move the housing, allowing it to switch between translation and rotation between two sets of fixed-position 3D scanners to complete a full-size scan of the four sides of the housing. S2: Simultaneously start four sets of second cylinders to horizontally clamp the housing, then simultaneously start four sets of first cylinders to drive the lifting frame to vertically lift and lower, and adjust the height according to the feedback from the distance sensor. Start the first lead screw motor, and the output end of the first lead screw motor rotates to drive the sliding frame to slide horizontally on the inspection table. Then, it smoothly and uniformly passes through the scanning area of ​​two sets of three-dimensional scanners to complete the full-size automated inspection of the inside and bottom surface of the housing. S3: Simultaneously start the four sets of third cylinders and stably clamp the housing. Then, start the first electric telescopic rod to make the rotating roller abut against the housing surface. Drive the sliding frame through the second lead screw motor and the first drive motor through the gear rail to drive the slider, which drives the rotating roller to perform rolling scanning on the housing surface. When a leakage defect is detected, the first indicator light is lit and the first electric telescopic rod is lowered so that the marking pens on both sides of the mounting plate contact the surface. Then, during the continued moving and scanning process, the defect is marked with lines. The detection part is driven to rotate 90° by the robotic arm and the above process is repeated. Finally, the defect range is outlined with four marking lines. S4: The second electric telescopic rod is activated to drive the flexible conductive block to abut against the inside corner surface. The second drive motor meshes with the rectangular toothed frame through the second gear, driving the moving plate to move along the limit frame and limit block to guide the movement, so that the flexible conductive block can detect all horizontal inside corners. For vertical inside corners, the flexible conductive block is raised and lowered by the second electric telescopic rod for detection. When the flexible conductive block detects leakage, the second indicator light is lit, and the position sensor records the defect coordinates. Finally, the shell that has been inspected is transferred to the collection table by a six-axis robot and a vacuum suction cup with a slide rail.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. The defect detection mechanism in this application can detect and mark defects in the insulating coating of the upper and lower housings of the battery pack. When it is necessary to detect the insulating coating of the inner bottom wall of the upper or lower housing, the upper or lower housing is placed on the placement platform, the first electric telescopic rod is activated, the telescopic end of the first electric telescopic rod moves and drives the mounting plate to move, the mounting plate moves and drives the mounting block and rotating roller to move, when the rotating roller abuts against the inner bottom wall of the upper or lower housing, the first drive motor is activated, the output end of the first drive motor rotates and drives the first gear to rotate, the first gear meshes with the gear rail, so the rotation of the first gear drives the slider to slide on the sliding frame, the slider slides and drives the robotic arm to move, the robotic arm moves and drives the first electric telescopic rod to move, the first electric telescopic rod moves and drives the mounting plate to move, the mounting plate moves and drives the lifting rod, mounting block and first indicator light to move, the mounting block moves and drives the rotating roller to rotate on the inner bottom wall of the upper or lower housing and to detect along the length of the upper or lower housing; When it is necessary to switch positions along the width direction of the upper or lower housing, the second lead screw motor is started. The output end of the second lead screw motor rotates, driving the sliding frame to move horizontally on the detection frame. The movement of the sliding frame drives the slider, the first electric telescopic rod, the mounting plate, and the rotating roller to move. When it is necessary to inspect the side wall of the upper or lower housing, the posture of the inspection piece is adjusted by the robotic arm, and the rotating roller performs a comprehensive inspection of the side wall through the cooperation of the sliding frame and the slider. When the rotating roller detects a leakage defect, the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller form a circuit, and the first indicator light is lit. This realizes the automated and all-round inspection of the insulation coating defects of the upper and lower housings, and accurately reaches and covers the bottom and side inspection areas of the housing, improving the inspection efficiency and automation level. The buffer of the lifting rod and the spring ensures that the contact pressure is constant and gentle, reducing the possibility of scratching the coating and missing detection due to insufficient contact pressure. 2. The internal corner detection component in this application can detect defects in the insulating coating at internal corners. When internal corner detection is required, the second electric telescopic rod is first activated. After the flexible conductive block fully contacts the internal corner of the inner bottom wall of the upper or lower housing, the second drive motor is activated. The rotation of the second drive motor drives the second gear to rotate, which in turn drives the moving plate to move along the trajectory of the rectangular toothed frame. The moving plate slides within two sets of limiting blocks, which in turn slide within two sets of limiting frames. The movement of the moving plate also drives the second electric telescopic rod to move, which in turn drives the flexible conductive block to move. When the flexible conductive block is at the internal corner of the upper or lower housing... When a leakage defect is detected, the negative terminal connected to the upper or lower housing forms a circuit with the positive terminal connected to the flexible conductive block, and the second indicator light is lit. When it is necessary to detect the vertical inside corners at the four corners, the flexible conductive block is first moved to the four corners by the second drive motor and the moving plate, and fully abuts against the vertical inside corners at the four corners. Then, the second electric telescopic rod is activated. The telescopic end of the second electric telescopic rod rises and falls, driving the flexible conductive block to rise and fall. The rise and fall of the flexible conductive block can complete the comprehensive detection of the vertical inside corners, thereby realizing the detection of defects in the insulating coating at the inside corners of the upper and lower housings, improving the comprehensiveness of the detection and ensuring no blind spots in the detection. 3. The detection pen in this application can mark the area of ​​the defect. When the rotating roller detects leakage, the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller form a circuit. Subsequently, the telescopic end of the first electric telescopic rod descends, driving the mounting plate and the marking pen to descend as well. The lifting rod and spring act as a buffer, allowing the marking pen to come into contact with the surface of the insulating coating and make a mark. Then, as the rotating roller and mounting plate continue to move and scan, the marking pen draws lines on the coating surface. When there is no leakage at the detection point, the first electric telescopic rod retracts, and the marking pen lifts off the surface to stop drawing lines. At this time, the entire detection part is rotated 90° by the robotic arm, and the above detection process is repeated, thereby realizing the detection of coating damage defects. The automated and graphical on-site marking of defects uses four lines to outline the approximate range and shape of the defect, visually marking the defect area on the workpiece. This facilitates subsequent positioning, re-inspection, or repair, improving process efficiency. When the damaged area is large or extremely irregular in shape and cannot be completely covered in a single scan path, the rotating roller only marks the currently covered leakage part in the first scan, forming the first rectangular area. Subsequently, in the subsequent line-by-line scan, whenever a new leakage area is entered, i.e., an area not previously marked and covered, the first electric telescopic rod will press down again, driving the marking pen to continue drawing lines. Finally, the entire defect range is marked in segments by multiple sequentially formed rectangular frames until all leakage areas are covered. 4. The position sensor in this application can record the position information of the internal corner defect. When the flexible conductive block comes into contact with the leakage defect of the insulating coating during detection, the position sensor is energized and records its precise three-dimensional coordinates in real time. After the flexible conductive block moves out of the defect area, the position sensor is de-energized, thereby accurately recording the start and end points of the defect. This transforms the defect at the internal corner into quantifiable position information, improving the accuracy and traceability of defect location and providing a reliable data basis for subsequent precise repair or process adjustment. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 yes Figure 1 Partial structural diagram; Figure 3 This is a schematic diagram of the size inspection mechanism; Figure 4 This is a structural diagram of a defect detection organization; Figure 5 yes Figure 4 An enlarged schematic diagram of part A in the middle.

[0028] Reference numerals: 1. Mobile vehicle; 11. Six-axis robot; 12. Slide rail; 13. Vacuum suction cup; 14. Inspection table; 15. Collection table; 16. Inspection frame; 2. Dimension inspection mechanism; 21. Mounting frame; 22. 3D scanner; 23. Distance sensor; 3. Clamping and moving assembly; 31. First lead screw motor; 32. Sliding frame; 33. Lifting frame; 34. First cylinder; 35. Second cylinder; 4. Defect inspection mechanism; 41. Placement table; 42. Second lead screw motor; 43. Sliding frame; 44. Slider; 45. First drive motor; 46. First gear; 47. Gear rail; 48. Robotic arm; 49. Detection component; 491. First electric telescopic rod; 492. Mounting plate; 493. Lifting rod; 494. Spring; 495. Mounting block; 496. Rotating roller; 497. First indicator light; 5. Corner detection assembly; 51. Limit frame; 52. Limit block; 53. Moving plate; 54. Second drive motor; 55. Second gear; 56. Rectangular gear frame; 57. Second electric telescopic rod; 58. Flexible conductive block; 59. Second indicator light; 6. Marking pen; 7. Third cylinder; 8. Position sensor; 9. Laser rangefinder. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0030] This application discloses a device for detecting appearance defects in new energy battery packs, referring to... Figure 1 , Figure 2 and Figure 4 A new energy battery pack appearance defect detection device includes a mobile vehicle 1, a six-axis robot 11, and a slide rail 12. Two sets of the mobile vehicle 1, the six-axis robot 11, and the slide rail 12 are symmetrically installed. The two sets of slide rails 12 are fixedly installed between the two sets of mobile vehicles 1. The two sets of six-axis robots 11 are slidably installed on the upper ends of the two sets of slide rails 12. Vacuum suction cups 13 are fixed to the ends of the two sets of six-axis robots 11. A detection platform 14 is fixedly installed between one set of mobile vehicles 1 and the slide rail 12, and a collection platform 15 is fixedly installed between the other set of mobile vehicles 1 and the slide rail 12. A size detection mechanism 2 is installed on the collection platform 15. A detection frame 16 is fixedly installed between the collection platform 15 and the detection platform 14. A defect detection mechanism 4 is installed on the detection frame 16.

[0031] The mobile vehicle 1 moves the upper and lower housings of the battery pack to be inspected to the inspection table 14. The six-axis robot 11, slide rail 12, and vacuum suction cup 13, together with the dimensional inspection mechanism 2, perform full-size inspection of the upper and lower housings, thereby achieving efficient and high-precision non-contact measurement of the full dimensions of the upper and lower housings of the battery pack, improving inspection efficiency and consistency. Then, the six-axis robot 11, slide rail 12, and vacuum suction cup 13 move the upper and lower housings to the inspection frame 16. The defect inspection mechanism 4 in this embodiment then performs defect inspection on the insulating coating of the upper and lower housings of the battery pack and marks it, thereby achieving comprehensive automated inspection and precise defect location of the insulating coating surface and hidden areas, and marking the defect range on-site, improving inspection coverage and subsequent processing efficiency. After inspection, the upper and lower housings are moved to the collection table 15 by the six-axis robot 11, slide rail 12, and vacuum suction cup 13.

[0032] Reference Figure 2 and Figure 3In order to perform full-size inspection of all sides of the upper and lower shells, the size inspection mechanism 2 in this embodiment includes a mounting frame 21, a 3D scanner 22, a distance sensor 23, and a clamping and moving assembly 3. The mounting frame 21 is fixedly installed on the side of the inspection table 14 near the mobile vehicle 1. Two sets of 3D scanners 22 are symmetrically arranged. One set of 3D scanners 22 is fixedly installed at the end of the mounting frame 21, and the other set of 3D scanners 22 is fixedly installed at the upper end of the inspection table 14. Two sets of distance sensors 23 are symmetrically arranged. One set of distance sensors 23 is fixed at the end of the mounting frame 21, and the other set of distance sensors 23 is fixedly installed at the upper end of the inspection table 14. The two sets of distance sensors 23 are respectively set at the same height as the two sets of 3D scanners 22. The clamping and moving assembly 3 is installed on the inspection table 14.

[0033] First, the six-axis robot 11, vacuum suction cup 13, and slide rail 12 work together to adsorb and move the upper or lower housing, allowing it to precisely switch between translation and rotation between two sets of fixed-position 3D scanners 22. This efficiently and accurately collects 3D data from all sides of the workpiece, performs all-round inspection of the appearance dimensions of the upper and lower housings, and detects the position and size of key holes in the upper and lower housings. Two sets of distance sensors 23 monitor the distance between the workpiece surface and the corresponding scanner in real time, ensuring that the distance between the upper or lower housing and the two sets of 3D scanners 22 remains constant. This effectively eliminates measurement errors caused by workpiece pose offset or distance fluctuations, ensuring the stitching accuracy of multi-view 3D data and the consistency and reliability of full-size measurement results.

[0034] Reference Figure 3 The interior and exterior of the upper and lower housings also need to be fully inspected. Therefore, the clamping and moving assembly 3 in this embodiment includes a first lead screw motor 31, a sliding frame 32, a lifting frame 33, a first cylinder 34, and a second cylinder 35. The first lead screw motor 31 is bolted to the side wall of the inspection table 14. The sliding frame 32 is slidably installed on the upper end of the inspection table 14 and threadedly connected to the output end of the first lead screw motor 31. Four sets of first cylinders 34 are symmetrically arranged. All four sets of first cylinders 34 are vertically bolted to the inner top wall of the sliding frame 32, and the telescopic end is set through the sliding frame 32. The lifting frame 33 is lifted and installed above the sliding frame 32, and the four corners are fixedly connected to the telescopic ends of the four sets of first cylinders 34. Four sets of second cylinders 35 are symmetrically arranged. All four sets of second cylinders 35 are horizontally bolted to the upper end of the lifting frame 33.

[0035] When full-dimensional inspection of the interior and lower surface of the upper or lower housing is required, the six-axis robot 11, vacuum suction cup 13, and slide rail 12 work together to place the upper or lower housing on the inspection table 14. Then, four sets of second cylinders 35 are activated to stably clamp the upper or lower housing, preventing the housing from shifting or vibrating during the inspection process, and ensuring the accuracy and consistency of the scanning data. After clamping, two sets of distance sensors 23 determine the distance between the upper or lower housing and the two sets of 3D scanners 22. If the distance is different, four sets of first cylinders 34 are activated simultaneously. The extension and retraction ends of the four sets of first cylinders 34 move to drive the lifting frame 33 to rise and fall. The rise and fall of the lifting frame 33 drives the upper or lower housing to rise and fall, so that the distance between the upper or lower housing and the two sets of 3D scanners 22 is the same. Then, the first lead screw motor 31 is activated. The output end of the first lead screw motor 31 rotates to drive the sliding frame 32 to slide horizontally on the inspection table 14. The sliding frame 32 slides, causing the lifting frame 33 to slide. The lifting frame 33 slides, causing the upper or lower housing to slide, so that the upper or lower housing smoothly and uniformly passes through the scanning areas of the two sets of 3D scanners 22 in sequence. This ensures that the bottom surface and all surfaces of the housing are fully covered with 3D data without blind spots, realizing full-size automated inspection and improving the integrity, accuracy and efficiency of the inspection. At the same time, it enhances the adaptability of the equipment to housings of different specifications. In this embodiment, clamping pads are fixedly installed on the telescopic ends of the four sets of second cylinders 35. The clamping pads can not only avoid direct contact between the telescopic ends and scratch the surface of the battery housing, but also ensure a more stable and reliable clamping process by increasing the friction and adaptability of the contact surface.

[0036] Reference Figure 4 and Figure 5 In order to perform all-round detection of defects in the insulation coating inside the upper and lower shells, the defect detection mechanism 4 in this embodiment includes a placement platform 41, a second lead screw motor 42, a sliding frame 43, a slider 44, a first drive motor 45, a first gear 46, a gear rail 47, a robotic arm 48, a detection component 49, a corner detection component 5, a marker, and a clamping component. The placement platform 41 is welded to the detection frame 16. The second lead screw motor 42 is horizontally bolted to the upper end of the detection frame 16. The sliding frame 43 is slidably mounted on the upper end of the detection frame 16 and threadedly connected to the output end of the second lead screw motor 42. The slider 44 is slidably mounted on the sliding frame 43. The first drive motor 45 is bolted to the upper end of the slider 44. The first gear 46 is fixedly installed on the output end of the first drive motor 45. The gear rail 47 is fixedly installed on the upper end of the sliding frame 43 and meshes with the first gear 46. The robotic arm 48 is rotatably installed on the lower end of the slider 44. The detection element 49 is installed on the end of the robotic arm 48 away from the slider 44. The detection element 49 includes a first electric telescopic rod 491, a mounting plate 492, a lifting rod 493, a spring 494, a mounting block 495, a rotating roller 496, and a first indicator light 497. The first electric telescopic rod 491 is bolted to the end of the robotic arm 48 away from the slider 44. The mounting plate 492 is fixedly installed on the telescopic end of the first electric telescopic rod 491. Two sets of lifting rods 493 are symmetrically arranged. Both sets of lifting rods 493 are raised and lowered on the upper end of the mounting plate 492 and are both installed through the mounting plate 492. Mounting block 495 is fixedly installed at the ends of the two sets of lifting rods 493 away from the first electric telescopic rod 491. Two sets of springs 494 are symmetrically arranged. The two sets of springs 494 are respectively sleeved on the outer peripheral wall of the two sets of lifting rods 493, and one end is fixedly connected to the inner top wall of mounting plate 492, and the other end is fixedly connected to the upper end of mounting block 495. Rotating roller 496 is horizontally rotatably installed at the lower end of mounting block 495. First indicator light 497 is fixedly installed at the upper end of mounting block 495, and the first indicator light 497 is electrically connected to rotating roller 496. Internal corner detection component 5 is installed on detection frame 16. Marker is installed on mounting plate 492. Clamping component is installed on placement platform 41.

[0037] When it is necessary to inspect the insulating coating on the inner bottom wall of the upper or lower housing, the upper or lower housing is placed on the placement platform 41, and the first electric telescopic rod 491 is activated. The telescopic end of the first electric telescopic rod 491 moves, causing the mounting plate 492 to move. The movement of the mounting plate 492 causes the mounting block 495 and the rotating roller 496 to move. When the rotating roller 496 abuts against the inner bottom wall of the upper or lower housing, the first drive motor 45 is activated. The output end of the first drive motor 45 rotates, causing the first gear 46 to rotate. The first gear 46 and the gear rail 496 rotate together. 7 mesh with each other, so the first gear 46 rotates and drives the slider 44 to slide on the sliding frame 43. The slider 44 slides and drives the mechanical arm 48 to move. The mechanical arm 48 moves and drives the first electric telescopic rod 491 to move. The first electric telescopic rod 491 moves and drives the mounting plate 492 to move. The mounting plate 492 moves and drives the lifting rod 493, the mounting block 495 and the first indicator light 497 to move. The mounting block 495 moves and drives the rotating roller 496 to rotate on the inner bottom wall of the upper or lower shell and to perform detection along the length of the upper or lower shell. When it is necessary to switch positions along the width direction of the upper or lower housing, the second lead screw motor 42 is activated. The output end of the second lead screw motor 42 rotates, causing the sliding frame 43 to move horizontally on the detection frame 16. The movement of the sliding frame 43 causes the slider 44, the first electric telescopic rod 491, the mounting plate 492, and the rotating roller 496 to move. When it is necessary to inspect the side wall of the upper or lower housing, the posture of the inspection piece 49 is adjusted by the robotic arm 48, and the rotating roller 496 performs a comprehensive inspection of the side wall through the cooperation of the sliding frame 43 and the slider 44. When the rotating roller 496 detects a leakage defect, the negative terminal connected to the upper or lower housing forms a circuit with the positive terminal connected to the rotating roller 496, and the first indicator light 497 is lit, thereby realizing automated and all-round detection of insulation coating defects of the upper and lower housings. It can accurately reach and cover the bottom and side of the housing to be inspected, improving detection efficiency and automation level. The buffer of the lifting rod 493 and the spring 494 ensures constant and gentle contact pressure, reducing the possibility of scratching the coating and missing detection due to insufficient contact pressure. In this embodiment, the slider 44, the first drive motor 45, the first gear 46, the gear rail 47, the robotic arm 48, and the detection component 49 are symmetrically arranged in two sets. The two sets can simultaneously perform parallel detection on different areas of the housing, thereby nearly doubling the detection efficiency. By using dual-path collaboration to cover more complex curved surfaces, the blind spots or shadows that may exist in single-path detection are reduced. While improving the overall utilization rate and productivity of the equipment, the redundancy and reliability of the detection system are also enhanced. In this embodiment, the mounting block 495 is provided with an electric slip ring that supplies power to the rotating roller 496. In this embodiment, the outer peripheral wall of the rotating roller 496 is coated with a conductive coupling agent. The conductive coupling agent can fill the microscopic gap between the rotating roller 496 and the surface of the insulating coating, establish a stable electrical connection path, and at the same time form a lubricating film to convert sliding friction into shear friction of the lubricating medium, thereby reducing the risk of scratching the insulating coating by hard contact.

[0038] Reference Figure 4 and Figure 5 Since it may be difficult to accurately detect the insulating coating at the inside corners of the upper and lower shells, the inside corner detection component 5 in this embodiment includes a limiting frame 51, a limiting block 52, a moving plate 53, a second drive motor 54, a second gear 55, a rectangular toothed frame 56, a second electric telescopic rod 57, a flexible conductive block 58, and a second indicator light 59. Two sets of limiting frames 51 are symmetrically arranged, and both sets of limiting frames 51 are fixedly installed on the outer side wall of the detection frame 16 and located at both ends below the sliding frame 43. Two sets of limiting blocks 52 are symmetrically arranged, and the two sets of limiting blocks 52 are slidably installed in the two sets of limiting frames 51 respectively. The movable plate 53 is slidably installed within two sets of limiting blocks 52, and the two sets of limiting blocks 52 are perpendicular to the moving direction of the movable plate 53. The second drive motor 54 is vertically bolted onto the movable plate 53, and its output end passes through the movable plate 53. The second gear 55 is fixedly installed onto the output end of the second drive motor 54. The rectangular gear frame 56 is horizontally fixedly installed on the inner side wall of the detection frame 16 and meshes with the second gear 55. The second electric telescopic rod 57 is vertically bolted onto the movable plate 53, and its telescopic end passes through the movable plate 53. The flexible conductive block 58 and the second indicator light 59 are both fixedly installed on the telescopic end of the second electric telescopic rod 57, and the flexible conductive block 58 is electrically connected to the second indicator light 59.

[0039] When a corner detection is required, the second electric telescopic rod 57 is activated first. After the flexible conductive block 58 is fully in contact with the corner of the inner bottom wall of the upper or lower housing, the second drive motor 54 is activated. The rotation of the second drive motor 54 drives the second gear 55 to rotate. The rotation of the second gear 55 drives the moving plate 53 to move along the trajectory of the rectangular toothed frame 56, and makes the moving plate 53 slide within the two sets of limit blocks 52, so that the two sets of limit blocks 52 slide within the two sets of limit frames 51 respectively. The movement of the moving plate 53 can also drive the second electric telescopic rod 57 to move. The movement of the second electric telescopic rod 57 drives the flexible conductive block 58 to move. When the flexible conductive block 58 detects a leakage defect at the corner of the upper or lower housing, the negative terminal connected to the upper or lower housing and the positive terminal connected to the flexible conductive block 58 form a circuit, and the second indicator light 59 is lit. When it is necessary to inspect the vertical inner corners at the four corners, the flexible conductive block 58 is first moved to the four corners by the second drive motor 54 and the moving plate 53, and fully contacts the vertical inner corners. Then, the second electric telescopic rod 57 is activated. The telescopic end of the second electric telescopic rod 57 moves up and down, driving the flexible conductive block 58 to move up and down. The movement of the flexible conductive block 58 can complete the comprehensive inspection of the vertical inner corners, thereby realizing the defect detection of the insulating coating at the inner corners of the upper and lower shells, improving the comprehensiveness of the inspection, and ensuring no blind spots. In this embodiment, the second electric telescopic rod 57, the flexible conductive block 58, and the second indicator light 59 are arranged in four sets, spaced apart along the length of the moving plate 53. The four sets can simultaneously inspect the battery casing. Parallel and efficient scanning detection is performed over a long distance in the corner area, increasing detection efficiency several times. Multiple flexible conductive blocks 58 cover the area, eliminating gaps that might occur if a single flexible conductive block 58 moves, thus ensuring comprehensive and rapid detection of the corner insulation coating. In this embodiment, the outer peripheral wall of the flexible conductive block 58 is coated with a conductive coupling agent. This agent fills the microscopic gaps between the flexible conductive block 58 and the surface of the insulation coating, establishing a stable electrical connection path. Simultaneously, it forms a lubricating film, converting sliding friction into shear friction of the lubricating medium, thereby reducing the risk of scratching the insulation coating. In this embodiment, the flexible conductive block 58 is made of conductive silicone, which is a preferred material; conductive rubber or other materials can also be used.

[0040] Reference Figure 5 In order to mark the defective areas of the insulating coating, the marking device in this embodiment includes a marking pen 6. Two sets of marking pens 6 are symmetrically arranged. Both sets of marking pens 6 are vertically fixed on one end of the mounting plate 492 near the mounting block 495 and are located on both sides of the mounting block 495.

[0041] When the rotating roller 496 detects leakage, a circuit is formed between the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller 496. The telescopic end of the first electric telescopic rod 491 then descends, causing the mounting plate 492 and the marking pen 6 to descend as well. The lifting rod 493 and spring 494 act as a buffer, allowing the marking pen 6 to contact and mark the surface of the insulating coating. As the rotating roller 496 and mounting plate 492 continue to move and scan, the marking pen 6 draws lines on the coating surface. When there is no leakage at the detection point, the first electric telescopic rod 491 retracts, and the marking pen 6 lifts off the surface to stop drawing lines. At this point, the robotic arm 48 drives the entire detection component 49 to rotate 90°, and the above detection process is repeated, thereby achieving the detection of the coating. The automated and graphical on-site marking of defects uses four lines to outline the approximate range and shape of the defect, visually marking the defect area on the workpiece. This facilitates subsequent positioning, re-inspection, or repair, improving process efficiency. When the damaged area is large or extremely irregular in shape and cannot be completely covered in a single scan path, the rotating roller 496 only marks the currently covered leakage part in the first scan, forming the first rectangular area. Subsequently, in the subsequent line-by-line scan, whenever a new leakage area is entered, i.e., an area not previously marked, the first electric telescopic rod 491 will press down again, driving the marking pen 6 to continue drawing lines. Finally, the entire defect range is marked in segments by multiple sequentially formed rectangular frames until all leakage areas are covered.

[0042] In this embodiment, the inner top wall of the mounting plate 492 is provided with a current detection module for real-time monitoring of the circuit continuity between the rotating roller 496 and the housing. The side wall of the detection frame 16 is provided with a central controller. The output end of the current detection module and the control end of the first electric telescopic rod 491 are both electrically connected to the central controller. When the current detection module detects leakage, the central controller controls the first electric telescopic rod 491 to perform a pressing action according to the conduction signal sent by the current detection module, thereby driving the marking pen 6 to mark the defect location. When the signal from the current detection module disappears, the central controller controls the first electric telescopic rod 491 to retract.

[0043] Reference Figure 4In this embodiment, the clamping component includes a third cylinder 7, with four sets of third cylinders 7 symmetrically arranged. All four sets of third cylinders 7 are horizontally bolted to the upper end of the placement platform 41. The upper or lower housing is placed on the placement platform 41, and then the four sets of third cylinders 7 are simultaneously activated to stably clamp the side walls of the upper or lower housing, thereby preventing the upper or lower housing from moving or vibrating during the inspection process. This provides a stable benchmark and necessary conditions for high-precision defect detection. In this embodiment, clamping pads are fixedly installed on the telescopic ends of the four sets of third cylinders 7. The clamping pads can not only avoid direct contact between the telescopic ends and scratch the surface of the battery housing, but also ensure a more stable and reliable clamping process by increasing the friction and adaptability of the contact surface.

[0044] Reference Figure 5 In order to locate defects in the insulating coating at the inside corner, a position sensor 8 is fixedly installed on the telescopic end of the second electric telescopic rod 57 in this embodiment of the application, and is electrically connected to the flexible conductive block 58. When the flexible conductive block 58 comes into contact with the leakage defect of the insulating coating during detection, the position sensor 8 is energized and records its own precise three-dimensional coordinates in real time. After the flexible conductive block 58 moves out of the defect area, the position sensor 8 is de-energized, thereby accurately recording the start point and end point of the defect, and thus converting the defect at the inside corner into quantifiable position information, improving the accuracy and traceability of defect location, and providing a reliable data basis for subsequent precise repair or process adjustment.

[0045] Reference Figure 4 In this embodiment, two sets of laser rangefinders 9 are fixedly mounted perpendicularly to each other on the upper end of the placement platform 41. The two sets of laser rangefinders 9 can measure the distance from them to the two sides of the upper and lower housings of the battery pack. If there is a deviation between the placement position of the upper or lower housing and the set position, the upper or lower housing is moved by the six-axis robot 11, the vacuum suction cup 13 and the slide rail 12. When the set position is reached, it is then stably clamped by four sets of third cylinders 7, thereby ensuring the consistency of workpiece positioning during each inspection, preventing problems such as incorrect inspection path, omission or inaccurate positioning caused by placement position deviation, and thus improving the automation accuracy and reliability of defect detection.

[0046] This application also discloses a method for detecting appearance defects in new energy battery packs, including the following steps: S1: The upper or lower housing is moved to the inspection table 14 by the mobile vehicle 1. The six-axis robot 11, vacuum suction cup 13 and slide rail 12 work together to adsorb and move the housing, so that it can be translated and rotated between two sets of fixed-position three-dimensional scanners 22 to complete the full-size scan of the four sides of the housing. S2: Simultaneously start four sets of second cylinders 35 to horizontally clamp the housing, then simultaneously start four sets of first cylinders 34 to drive the lifting frame 33 to vertically lift and lower, and adjust the height according to the feedback of the distance sensor 23. Start the first lead screw motor 31, and the output end of the first lead screw motor 31 rotates to drive the sliding frame 32 to slide horizontally on the detection table 14. Then, it smoothly and uniformly passes through the scanning area of ​​the two sets of three-dimensional scanners 22 to complete the full-size automated detection of the inside of the housing and the bottom surface. S3: Simultaneously start the four sets of third cylinders 7 and stably clamp the housing. Then start the first electric telescopic rod 491 to make the rotating roller 496 abut against the surface of the housing. Drive the sliding frame 43 through the second lead screw motor 42 and the first drive motor 45 through the gear rail 47 to drive the slider 44, which drives the rotating roller 496 to perform rolling scanning on the surface of the housing. When a leakage defect is detected, the first indicator light 497 lights up and the first electric telescopic rod 491 descends, so that the marking pens 6 on both sides of the mounting plate 492 contact the surface. Then, during the continued moving and scanning process, the defect is marked with lines. Drive the detection piece 49 to rotate 90° through the robotic arm 48 and repeat the above process. Finally, the defect range is outlined with four marking lines. S4: The second electric telescopic rod 57 is activated to drive the flexible conductive block 58 to abut against the inside corner surface. The second drive motor 54 meshes with the rectangular toothed frame 56 through the second gear 55, driving the moving plate 53 to move along the limit frame 51 and the limit block 52, so that the flexible conductive block 58 can detect all horizontal inside corners. For vertical inside corners, the flexible conductive block 58 is raised and lowered by the second electric telescopic rod 57 for detection. When the flexible conductive block 58 detects leakage, the second indicator light 59 is lit. At the same time, the position sensor 8 records the defect coordinates. Finally, the shell that has been inspected is transferred to the collection platform 15 by the six-axis robot 11 and the vacuum suction cup 13 in conjunction with the slide rail 12.

[0047] The implementation principle of the appearance defect detection equipment and method for new energy battery packs in this application embodiment is as follows: Place the upper or lower housing on the placement platform 41, start the first electric telescopic rod 491, the telescopic end of the first electric telescopic rod 491 moves and drives the mounting plate 492 and the rotating roller 496 to move. When the rotating roller 496 abuts against the inner bottom wall of the upper or lower housing, start the first drive motor 45. The output end of the first drive motor 45 rotates and drives the first gear 46 to rotate. The rotation of the first gear 46 drives the slider 44 to slide on the sliding frame 43. The sliding of the slider 44 drives the robotic arm 48, the first electric telescopic rod 491, the mounting plate 492, the lifting rod 493, the mounting block 495 and the first indicator light 497 to move. The movement of the mounting block 495 drives the rotating roller 496 to rotate on the inner bottom wall of the upper or lower housing and to perform detection along the length direction of the upper or lower housing. The second lead screw motor 42 is started. The output end of the second lead screw motor 42 rotates, driving the sliding frame 43 to move horizontally on the detection frame 16. The movement of the sliding frame 43 drives the slider 44, the first electric telescopic rod 491 and the rotating roller 496 to move. The posture of the detection piece 49 is adjusted by the robotic arm 48, and the rotating roller 496 performs a comprehensive inspection of the side wall through the cooperation of the sliding frame 43 and the slider 44. When the rotating roller 496 detects a leakage defect, the negative terminal connected to the upper or lower housing and the positive terminal connected to the rotating roller 496 form a circuit, and the first indicator light 497 is lit, thereby realizing the automated and all-round inspection of the insulation coating defects of the upper and lower housings. The second electric telescopic rod 57 is activated. Once the flexible conductive block 58 is fully abutted against the inner corner of the bottom wall of the upper or lower housing, the second drive motor 54 is activated. The rotation of the second drive motor 54 drives the second gear 55 to rotate. The rotation of the second gear 55 drives the moving plate 53 to move along the trajectory of the rectangular toothed frame 56, and causes the moving plate 53 to slide within the two sets of limiting blocks 52. The two sets of limiting blocks 52 slide within the two sets of limiting frames 51 respectively. The movement of the moving plate 53 also drives the second electric telescopic rod 57 and the flexible conductive block 58 to move. When the flexible conductive block 58 detects contact with the inner corner of the upper or lower housing... When a leakage defect is detected, the negative terminal connected to the upper or lower housing forms a circuit with the positive terminal connected to the flexible conductive block 58, and the second indicator light 59 is lit. The flexible conductive block 58 is moved to the four corners by the second drive motor 54 and the moving plate 53, and is fully abutted against the vertical inside corners at the four corners. Then the second electric telescopic rod 57 is activated. The telescopic end of the second electric telescopic rod 57 moves up and down, driving the flexible conductive block 58 up and down. The movement of the flexible conductive block 58 can complete the comprehensive detection of the inside corners in the vertical direction, thereby realizing the defect detection of the insulating coating at the inside corners of the upper and lower housings.

[0048] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0049] The above are all optional embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A device for detecting appearance defects in new energy battery packs, comprising a mobile vehicle, a six-axis robot, and a slide rail, characterized in that: Two sets of mobile carts, six-axis robots, and slide rails are symmetrically arranged. The two sets of slide rails are positioned between the two sets of mobile carts. The two sets of six-axis robots are slidably mounted on the upper ends of the two sets of slide rails. The ends of the two sets of six-axis robots are equipped with vacuum suction cups for adsorbing and fixing the upper and lower shells of the battery pack. A testing platform is set between one set of mobile carts and slide rails, and a collection platform is set between the other set of mobile carts and slide rails. The collection platform is equipped with a dimensional inspection mechanism for performing full-size inspection of the upper and lower shells of the battery pack. A testing frame is set between the collection platform and the testing platform. The testing frame is equipped with a defect inspection mechanism for detecting and marking defects in the insulating coating of the upper and lower shells of the battery pack.

2. The new energy battery pack appearance defect detection equipment according to claim 1, characterized in that: The dimensional inspection mechanism includes a mounting frame, a 3D scanner, distance sensors, and a clamping and moving assembly. The mounting frame is located on the side of the inspection platform near the mobile vehicle. Two sets of 3D scanners are symmetrically arranged, one set at the end of the mounting frame and the other set at the top of the inspection platform. Two sets of distance sensors are symmetrically arranged, one set at the end of the mounting frame and the other set at the top of the inspection platform, with both sets of distance sensors at the same height as the two sets of 3D scanners. The clamping and moving assembly is located on the inspection platform and is used to clamp and move the upper and lower housings of the battery pack.

3. The new energy battery pack appearance defect detection equipment according to claim 2, characterized in that: The clamping and moving assembly includes a first lead screw motor, a sliding frame, a lifting frame, a first cylinder, and a second cylinder. The first lead screw motor is mounted on the side wall of the testing table. The sliding frame is slidably mounted on the upper end of the testing table and is threadedly connected to the output end of the first lead screw motor. Four sets of first cylinders are symmetrically arranged, and all four sets of first cylinders are vertically mounted on the inner top wall of the sliding frame, with their telescopic ends penetrating through the sliding frame. The lifting frame is mounted on top of the sliding frame and is fixedly connected to the telescopic ends of the four sets of first cylinders at its four corners. Four sets of second cylinders are symmetrically arranged, and all four sets of second cylinders are horizontally mounted on the upper end of the lifting frame.

4. The new energy battery pack appearance defect detection equipment according to claim 1, characterized in that: The defect detection mechanism includes a placement platform, a second lead screw motor, a sliding frame, a slider, a first drive motor, a first gear, a gear rail, a robotic arm, a detection group, an internal corner detection component, a marking component, and a clamping component. The placement platform is set on the detection frame, the second lead screw motor is horizontally set at the upper end of the detection frame, the sliding frame is slidably set at the upper end of the detection frame and threadedly connected to the output end of the second lead screw motor, the slider is slidably set on the sliding frame, and the first drive motor is set at the upper end of the slider. The first gear is located on the output end of the first drive motor, the gear rail is located on the upper end of the sliding frame and meshes with the first gear, the robotic arm is rotatably located on the lower end of the slider, and the detection group is located on the end of the robotic arm away from the slider. The detection group includes a first electric telescopic rod, a mounting plate, a lifting rod, a spring, a mounting block, a rotating roller and a first indicator light. The first electric telescopic rod is located on the end of the robotic arm away from the slider, the mounting plate is located on the telescopic end of the first electric telescopic rod, and two sets of lifting rods are symmetrically arranged. Both sets of lifting rods are raised and lowered on the upper end of the mounting plate and are both installed through the mounting plate. The mounting block is located at the ends of the two sets of lifting rods away from the first electric telescopic rod. Two sets of springs are symmetrically arranged, each set of springs being sleeved on the outer peripheral wall of the two sets of lifting rods. One end of each spring is fixedly connected to the inner top wall of the mounting plate, and the other end is fixedly connected to the upper end of the mounting block. The rotating roller is horizontally rotatably located at the lower end of the mounting block. The first indicator light is located at the upper end of the mounting block and is electrically connected to the rotating roller. The internal corner detection component is located on the detection frame and is used to detect defects in the insulating coating at the internal corners of the upper and lower shells of the battery pack. The marking component is located on the mounting plate and is used to mark the defects in the insulating coating of the upper and lower shells of the battery pack. The clamping component is located on the placement platform and is used to stably clamp the upper and lower shells of the battery pack.

5. The new energy battery pack appearance defect detection equipment according to claim 4, characterized in that: The internal corner detection component includes a limiting frame, a limiting block, a moving plate, a second drive motor, a second gear, a rectangular toothed frame, a second electric telescopic rod, a flexible conductive block, and a second indicator light. Two sets of limiting frames are symmetrically arranged, and both sets of limiting frames are set on the outer wall of the detection frame and located at both ends below the sliding frame. Two sets of limiting blocks are symmetrically arranged, and the two sets of limiting blocks are slidably set in the two sets of limiting frames respectively. The movable plate is slidably disposed within two sets of limiting blocks, and the two sets of limiting blocks are perpendicular to the moving direction of the movable plate. The second drive motor is vertically disposed on the movable plate, and its output end passes through the movable plate. The second gear is disposed on the output end of the second drive motor. The rectangular gear frame is horizontally disposed on the inner side wall of the detection frame and meshes with the second gear. The second electric telescopic rod is vertically disposed on the movable plate, and its telescopic end passes through the movable plate. The flexible conductive block and the second indicator light are both disposed on the telescopic end of the second electric telescopic rod, and the flexible conductive block is electrically connected to the second indicator light.

6. The new energy battery pack appearance defect detection equipment according to claim 4, characterized in that: The marking component includes marking pens, with two sets of marking pens symmetrically arranged. Both sets of marking pens are vertically positioned at one end of the mounting plate near the mounting block and on both sides of the mounting block.

7. The new energy battery pack appearance defect detection equipment according to claim 4, characterized in that: The clamping component includes a third cylinder, and four sets of third cylinders are symmetrically arranged. All four sets of third cylinders are horizontally arranged at the upper end of the placement platform.

8. The new energy battery pack appearance defect detection equipment according to claim 5, characterized in that: The second electric telescopic pole is equipped with a position sensor on its telescopic end, and is electrically connected to the flexible conductive block.

9. The new energy battery pack appearance defect detection equipment according to claim 4, characterized in that: Two sets of laser rangefinders are installed perpendicularly to each other at the top of the placement platform to determine the detection position of the upper and lower casings of the battery pack.

10. A method for detecting appearance defects in a new energy battery pack, comprising a new energy battery pack appearance defect detection device according to any one of claims 1-9, characterized in that: Includes the following steps: S1: The upper or lower housing is moved to the inspection station by a mobile vehicle. A six-axis robot, vacuum suction cup and slide rail work together to adsorb and move the housing, allowing it to switch between translation and rotation between two sets of fixed-position 3D scanners to complete a full-size scan of the four sides of the housing. S2: Simultaneously start four sets of second cylinders to horizontally clamp the housing, then simultaneously start four sets of first cylinders to drive the lifting frame to vertically lift and lower, and adjust the height according to the feedback from the distance sensor. Start the first lead screw motor, and the output end of the first lead screw motor rotates to drive the sliding frame to slide horizontally on the inspection table. Then, it smoothly and uniformly passes through the scanning area of ​​two sets of three-dimensional scanners to complete the full-size automated inspection of the inside and bottom surface of the housing. S3: Simultaneously start the four sets of third cylinders and stably clamp the housing. Then, start the first electric telescopic rod to make the rotating roller abut against the housing surface. Drive the sliding frame through the second lead screw motor and the first drive motor through the gear rail to drive the slider, which drives the rotating roller to perform rolling scanning on the housing surface. When a leakage defect is detected, the first indicator light is lit and the first electric telescopic rod is lowered so that the marking pens on both sides of the mounting plate contact the surface. Then, during the continued moving and scanning process, the defect is marked with lines. The detection group is driven by the robotic arm to rotate ° and repeat the above process. Finally, the defect range is outlined with four marking lines. S4: The second electric telescopic rod is activated to drive the flexible conductive block to abut against the inside corner surface. The second drive motor meshes with the rectangular toothed frame through the second gear, driving the moving plate to move along the limit frame and limit block to guide the movement, so that the flexible conductive block can detect all horizontal inside corners. For vertical inside corners, the flexible conductive block is raised and lowered by the second electric telescopic rod for detection. When the flexible conductive block detects leakage, the second indicator light is lit, and the position sensor records the defect coordinates. Finally, the shell that has been inspected is transferred to the collection table by a six-axis robot and a vacuum suction cup with a slide rail.

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