A new energy battery ray detection device

Abstract

This invention discloses a radiographic testing device for new energy batteries, comprising: a battery conveying mechanism; a radiation emitter mounted on a first position adjustment structure for emitting radiation; and an imaging receiver mounted on a second position adjustment structure for receiving the radiation emitted by the radiation emitter and forming an image. The first position adjustment structure is located above the testing station for adjusting the position of the radiation emitter; the second position adjustment structure is located below the testing station for adjusting the position of the imaging receiver; the radiation emitter and the imaging receiver are arranged opposite each other on both sides of the testing station. This invention provides a battery testing device capable of multi-angle testing, improving the efficiency and imaging quality of non-destructive testing of new energy batteries, and also providing a good equipment foundation for subsequent image processing and judgment.

Description

Technical Field

[0001] This invention relates to the field of new energy battery testing technology, specifically to a new energy battery X-ray testing device. Background Technology

[0002] During battery manufacturing, after prolonged use, or after external damage, non-destructive testing of the battery's internal structure is necessary to determine its quality, damage level, and usability. X-ray inspection is a crucial step, typically employing a direct testing method. This involves placing the battery under test in front of an X-ray emission source, allowing X-rays to irradiate the battery before reaching the X-ray detector. Because the positive and negative electrode materials differ in thickness and overlap, their absorption of X-rays varies, resulting in different intensities of the X-rays passing through the battery. Based on these differences in X-ray intensity, the X-ray detector can map the internal morphology of the battery and subsequently measure the alignment of the positive and negative electrodes.

[0003] Currently, new energy battery testing mainly relies on manual or semi-automatic methods. This approach suffers from low efficiency, low positioning accuracy, and high labor intensity, and the generated data is not conducive to subsequent image data processing, stitching, and judgment. Therefore, there is a need for a low-cost, reliable, and highly automated CNC device. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a new energy battery X-ray detection device to at least partially solve some of the problems.

[0005] The present invention provides a new energy battery X-ray detection device, characterized in that it comprises: A battery conveying mechanism is used to transport batteries to the testing station; A ray emitter, mounted on the first position adjustment structure, is used to emit rays; An imaging receiver, mounted on a second position adjustment structure, is used to receive the rays emitted by the ray emitter and form an image; The first position adjustment structure is located above the detection station and is suitable for adjusting the position of the radiation emitter. The second position adjustment structure is located below the detection station and is suitable for adjusting the position of the imaging receiver; The X-ray emitter and the imaging receiver are arranged opposite each other on both sides of the detection station.

[0006] According to claim 1, the new energy battery X-ray inspection device is characterized in that the first position adjustment structure includes two parallel X-axis supports, a Y-axis support and a Z-axis support, the Y-axis support is mounted on the two X-axis supports and is movable on the two X-axis supports, the Y-axis support and the Z-axis support are connected by a Y-axis slide, the Y-axis slide is movable on the Y-axis support and the Z-axis support, a transition plate is provided at the bottom of the Z-axis support, and the X-ray emitter is mounted on the first position adjustment structure through the transition plate.

[0007] In some embodiments, the first position adjustment structure is further provided with a ray emitter attitude adjustment mechanism for adjusting the ray emission angle of the ray emitter. The ray emitter attitude adjustment mechanism is mounted on the first position adjustment structure via an adapter plate, and the ray emitter and the ray emitter attitude adjustment mechanism are detachable.

[0008] In some embodiments, the ray emitter attitude adjustment mechanism includes a first rotation adjustment component and a second rotation adjustment component, the second rotation component being mounted on the movable end of the first rotation component, and the second rotation component being used to mount the ray emitter; The first rotating component is configured to rotate about the Z-axis of the coordinate system, and the second rotating component is configured to rotate about the X-axis of the coordinate system, so that the second rotating component can control the oscillation of the ray emitter 5.

[0009] In some embodiments, the first rotation adjustment component includes: Motor 1 is used to output power, and its output shaft is equipped with a first gear; Slewing supports include: An internal gear ring meshes with the first gear; A limiting ring is sleeved outside the internal toothed ring, the internal toothed ring is configured to rotate on the limiting ring, and the limiting ring is mounted on the adapter plate; The bracket is in the shape of an inverted U, and its top is connected to the inner toothed ring, so that it rotates with the inner toothed ring.

[0010] In some embodiments, the second rotation adjustment component includes: At least one set of guide components is disposed on the inner side of the bracket; At least one arc-shaped guide rail is fitted onto the guide assembly, and an arc-shaped clip is installed on the arc-shaped guide rail. The arc-shaped clip and the arc-shaped guide rail form a complete ring for mounting the radiation emitter. A drive component for driving the at least one arc-shaped guide rail to move along the guide component.

[0011] In some embodiments, the guide assembly includes pulleys mounted on the inner side of the bracket, the pulleys being in two sets, respectively disposed on the inner and outer sides of the arc-shaped guide rail, to provide support for the arc-shaped guide rail, thereby allowing the arc-shaped guide rail to move along its arc extension direction.

[0012] In some embodiments, the outer arc surface of the arc-shaped guide rail is provided with an annular groove, and the pulley is at least partially installed in the annular groove.

[0013] In some implementations, the driving component includes: Motor 2 is located on the inner side of the bracket; The drive wheel meshes with the arc-shaped guide rail, driving the arc-shaped guide rail to rotate; The arc-shaped guide rail has two sections, each fitted with a guide component. The arc-shaped guide rails are connected by connectors to form a column shape.

[0014] In some embodiments, the battery transport structure includes two parallel transport tracks extending to the testing station, on which a transport vehicle frame is mounted; The conveyor frame includes two first beams that are movably disposed on the conveyor track along the extension direction of the conveyor track and a second beam that is erected between the two first beams. At least two third beams are also erected between the second beams, and the third beams are movably mounted on the second beams. The second and third beams together form the placement area for the battery; In some embodiments, the second position adjustment structure includes two parallel X-axis motion tracks and a Y-axis motion track perpendicular to the X-axis motion tracks. The Y-axis motion track is configured to move along the X-axis motion tracks. A slider is provided on the Y-axis motion track and is configured to move along the Y-axis motion track. A lifting module for adjusting the distance between the slider and the imaging receiver is provided on the slider. The imaging receiver is mounted on the lifting module.

[0015] The first position adjustment structure, the battery delivery structure, and the second position adjustment structure in this invention can control the angle and position of battery detection, thereby improving the detection quality of the battery.

[0016] This invention can meet the conventional vertical X-ray imaging testing requirements, and can also meet the unconventional needs of multi-angle imaging of local features of the battery, thereby improving the imaging quality and providing a good equipment foundation for subsequent image processing and judgment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is the left view of the present invention; Figure 4 This is a top view of the present invention; Figure 5 This is an isometric view of the first position adjustment structure; Figure 6 Cross-sectional view of the attitude adjustment structure for the ray emitter; Figure 7 Axonometric view of the attitude adjustment structure for the ray emitter; Figure 8 This is a schematic diagram of the structure of the second rotation adjustment component; Figure 9 This is a schematic diagram of the battery delivery structure; Figure 10 Axonometric view of the second position adjustment structure; Figure 11 This is the main view of the second position adjustment structure. Detailed Implementation

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1 to 11 This application provides a new energy battery X-ray inspection device, including a battery conveying mechanism 3, an X-ray emitter 5, an imaging receiver 44, a first position adjustment structure 1, and a second position adjustment structure 4. The battery conveying mechanism 3 is used to convey the battery to the inspection station; the X-ray emitter 5 is mounted on the first position adjustment structure 1 and is used to emit X-rays; the first position adjustment structure 1 is a three-coordinate adjustable mechanism; the imaging receiver 44 is mounted on the second position adjustment structure 4 and is used to receive the X-rays emitted by the X-ray emitter and form an image; the first position adjustment structure 1 is located above the inspection station and is suitable for adjusting the position of the X-ray emitter 5; the second position adjustment structure 4 is located below the inspection station and is suitable for adjusting the position of the imaging receiver 44; the X-ray emitter 5 and the imaging receiver 44 are arranged opposite each other on both sides of the inspection station, and the X-ray emitter 5 can fully cover the battery inspection station.

[0020] It is understandable that by installing the X-ray emitter 5 on the first position adjustment structure 1 above the inspection station and the imaging receiver 44 on the second position adjustment structure 4 below the inspection station, independent three-dimensional position adjustment of the X-ray source and the imager is achieved. When new energy batteries of different lengths, widths, and thicknesses are delivered to the inspection station via the battery conveying mechanism 3, the X-ray emitter 5 and the imaging receiver 44 can be quickly and accurately adjusted to the optimal inspection position according to the actual size of the battery and the requirements of the inspection area, and the entire area of ​​the battery can be covered. No manual replacement of fixtures or modification of equipment is required, significantly improving the compatibility and flexible production capacity of the inspection device for different models and batches of batteries. The X-ray emitter 5 is typically an X-ray emitter.

[0021] like Figure 5 The first position adjustment structure 1 is shown. The first position adjustment structure includes two parallel X-axis supports 11, Y-axis supports 12 and Z-axis supports 14. The Y-axis supports 12 are mounted on the two X-axis supports 11. The Y-axis supports 12 and Z-axis supports 14 are perpendicular to each other.

[0022] The top of the X-axis bracket 11 is equipped with a guide rail. The Y-axis bracket is movable and installed via a slider on the guide rail of the X-axis bracket 11. The position of the Y-axis bracket on the X-axis bracket 11 can be adjusted by rack, pinion and motor drive to achieve position adjustment in the X-axis direction.

[0023] A guide rail is provided on the side of the Y-axis bracket 12, and the Y-axis slide 13 is slidably mounted on the guide rail of the Y-axis bracket 12, so that the Y-axis slide 13 can move along the Y direction on the Y-axis bracket 12.

[0024] The Y-axis slide 13 is a hollow structure, and the Z-axis support 14 is installed through it. Multiple Z-direction guide rails are provided on the Z-axis support 14, distributed on at least two opposing surfaces. Matching slide bars are provided on the inner wall of the Y-axis slide 13, enabling the Z-axis support 14 to move on the Y-axis slide 13. Furthermore, the Z-axis support 14 is equipped with a rack arranged along the Z-direction, and the Y-axis slide 13 is equipped with a drive motor. The gear at the output end of the drive motor meshes with the rack, causing the drive motor to drive the Z-axis support 14 to move up and down (in the Z-direction).

[0025] In other embodiments, guide rails may be provided on one or both sides of the Z-axis bracket 14.

[0026] like Figure 8 The battery transport structure 3 includes two parallel transport tracks 31 that extend to the testing station. A transport frame 32 is mounted on the transport tracks 31. The transport frame 32 can be driven by an electric drive mechanism to move back and forth on the transport tracks 31 to transport batteries.

[0027] The transport frame 32 includes two first beams 321 that extend along the transport track 31 and are movably mounted on the transport track 31, and a second beam 322 that is laid between the two first beams 321. At least two third beams 323 are also laid between the second beams 322. The second beams 322 are provided with slide rails, and the third beams 323 are movably mounted on the second beams 322 via the slide rails. The second beams 322 and the third beams 323 form a placement position for placing batteries.

[0028] Therefore, the battery transport structure 3 can efficiently transport the battery to the testing station.

[0029] like Figures 9-10 As shown, the second position adjustment structure 4 includes two parallel X-axis motion tracks 41 and a Y-axis motion track 42 perpendicular to the X-axis motion tracks 41. The Y-axis motion track 42 is configured to move on the X-axis motion tracks 41. The X-axis motion track 41 may be provided with a rack arranged along the X direction. The Y-axis motion track 42 is provided with a drive motor, and the gear at the output end of the drive motor meshes with the rack so that the drive motor drives the Y-axis motion track 42 to move along the X direction.

[0030] The Y-axis motion track 42 can be an electric cylinder (an electric cylinder is a high-precision transmission device that converts electrical energy into linear motion). The movable end of the electric cylinder is equipped with a lifting module 43 for adjusting the distance between itself and the imaging receiver 44. The imaging receiver 44 is mounted on the lifting module 43. Alternatively, a slider may be provided on the Y-axis motion track 42, and the slider is configured to move on the Y-axis motion track. A lifting module 43 for adjusting the distance between the slider and the imaging receiver 44 is provided on the lifting module 43. The distance between the imaging receiver 44 and the X-ray emitter 5 can be adjusted via the lifting module 43 to accommodate different batteries and improve image quality.

[0031] Testing procedure: The battery is placed on the conveyor frame 32 of the battery conveying structure 3, and the movable support beam 33 is adjusted according to the size of the battery to make the battery stable and not shake. The battery is then conveyed to the testing station from the upstream production line or other conveying end. According to the battery size and the desired imaging effect, the positions of the XYZ axes of the ray emitter 5 and the imaging receiver 44 on the first position adjustment structure 1 and the second position adjustment structure 4 are adjusted respectively. When the imaging receiver 44 corresponds to the emitting end of the X-ray emitter 5, the X-ray emitter 5 emits X-rays. After the X-rays irradiate the battery, they form an image on the imaging receiver 44. Then, the X-ray emitter 5 performs conventional X-ray imaging inspection on the battery according to the pre-set nine-grid imaging path.

[0032] In this embodiment, a portion of the battery conveying mechanism 3 extends into the detection position of the first position adjustment structure 1. In other words, the battery conveying mechanism 3 is at least partially located within the range of motion of the imaging receiver and the X-ray emitter. A portion of the battery conveying mechanism 3 extends out of the first position adjustment structure for docking with an external production line. New energy batteries from the upstream production line are directly conveyed through the conveying track 31 for X-ray inspection. In other embodiments, the other end of the conveying track 31 may also extend out of the first position adjustment structure 1 for packaging and other tasks.

[0033] The first position adjustment structure 1, the battery conveying structure 3, and the second position adjustment structure 4 are all equipped with drive motors, gear racks, and guide rails, and control is achieved through the motors.

[0034] Based on the aforementioned embodiment, a ray emitter attitude adjustment mechanism 2 for adjusting the ray emission angle of the ray emitter 5 is further provided on the first position adjustment structure 1. The ray emitter attitude adjustment mechanism 2 is mounted on the first position adjustment structure 1 via an adapter plate 15, and the ray emitter 5 and the ray emitter attitude adjustment mechanism 2 are detachably mounted.

[0035] It is understandable that the X-ray emitter attitude adjustment mechanism 2, in conjunction with the first position adjustment structure 1, enables dual adjustment of the X-ray emitter 5 in both spatial position and emission angle. In industrial inspection scenarios, traditional fixed-angle X-ray inspection often has blind spots and cannot accurately capture internal defects of batteries (battery packs) due to their complex internal structures. However, through the attitude adjustment mechanism, operators can flexibly adjust the X-ray emission angle according to the three-dimensional structure of the battery, emitting X-rays from multiple dimensions such as oblique and lateral angles, achieving comprehensive coverage inspection of the internal structure of the battery.

[0036] The accuracy of X-ray inspection is closely related to the incident angle of the X-ray. An improper incident angle may lead to problems such as blurred defect imaging and large dimensional measurement errors. The attitude adjustment mechanism 2 can finely adjust the emission angle of the X-ray emitter 5 so that the X-ray enters the battery under test at the optimal angle.

[0037] like Figure 7 As shown, the ray emitter attitude adjustment mechanism 2 includes a first rotation adjustment component and a second rotation adjustment component. The second rotation component is installed on the movable end of the first rotation component and is used to install the ray emitter 5. The first rotating component is configured to rotate about the Z-axis of the coordinate system, and the second rotating component is configured to rotate about the X-axis of the coordinate system. It should be noted that configuring the first rotating component to rotate about the Z-axis should be understood as rotating about the Z-axis or in a direction parallel to the Z-axis, and configuring the second rotating component to rotate about the X-axis or in a direction parallel to the X-axis, so that the second rotating component can control the oscillation of the ray emitter 5.

[0038] like Figure 6 As shown, the first rotation adjustment assembly includes components such as a motor 21, a rotary support 23, and a bracket 24. The motor 21 is used to output power, and its output shaft is equipped with a first gear 211. The rotary support 23 includes: an internal gear ring 231, which meshes with the first gear 211; and a limiting ring 232, which is sleeved on the internal gear ring 231. The internal gear ring 231 is configured to rotate on the limiting ring 232, and the limiting ring 232 is mounted on the adapter plate 15. The bracket 24 is in the shape of an inverted U, and its top is connected to the internal gear ring 231, so that it rotates with the internal gear ring 231.

[0039] The second rotation adjustment assembly includes at least one guide assembly 26, at least one arc-shaped guide rail 25, and a drive assembly. At least one set of guide assemblies 26 is disposed inside the bracket 24; at least one arc-shaped guide rail 25 is fitted onto the guide assembly 26, and an arc-shaped clip 27 is mounted on the arc-shaped guide rail 25. The arc-shaped clip 27 and the arc-shaped guide rail 25 form a complete ring for mounting the ray emitter 5; the drive assembly is used to drive the at least one arc-shaped guide rail 25 to move along the guide assembly 26.

[0040] Typically, there are two sets of guide components 26, which are respectively located inside the bracket 24 and are arranged opposite to each other. There are two arc-shaped guide rails 25, which are respectively installed on the guide components 26. The arc-shaped guide rails 25 can move back and forth in their extension direction on the guide components 26.

[0041] like Figure 8 As shown, the guide assembly 26 includes pulleys 261 installed on the inner side of the bracket 24. There are two sets of pulleys 261, which are respectively arranged on the inner and outer sides of the arc-shaped guide rail 25 to provide support for the arc-shaped guide rail 25, so that the arc-shaped guide rail can move along its arc extension direction.

[0042] The outer arc surface of the arc-shaped guide rail 25 is provided with an annular groove 251, and the pulley 261 is at least partially installed in the annular groove 251. The annular groove 251 and the pulley 261 limit the movement of the arc-shaped guide rail.

[0043] The drive assembly includes a second motor 22 and a transmission structure, which transmits power from the second motor 22 to the arc-shaped guide rail 25.

[0044] Specifically, motor 22 is located inside the bracket 24 to reduce space requirements. At the output end of motor 22, a transmission shaft 223 mounted on the frame is driven by a belt 210. A drive wheel 212 is mounted on the transmission shaft 223. The drive wheel 212 has a gear structure. The outer circumference of the arc-shaped guide rail 25 is toothed. The drive wheel 212 meshes with the arc-shaped guide rail 25, driving the arc-shaped guide rail 25 to rotate. A gear that meshes with the drive wheel 212 is provided in the annular groove 251 of the arc-shaped guide rail 25, enabling the arc-shaped guide rail 25 to rotate around the X-axis. The arc-shaped guide rail 25 has two sections, each fitted with a set of guide components 26. The arc-shaped guide rails are connected by connectors 28 to form a column shape.

[0045] Inspection Operation: When it is necessary to take multi-angle images of local features of the battery, according to the characteristics of the actual workpiece, start motor 1 21. Motor 1 21 drives the bracket 24 and the X-ray emitter 5 to rotate along the Z-axis through the rotary support 23; start motor 22. Motor 22 drives the transmission shaft 223 and the drive wheel 221 to rotate through the synchronous belt 210, which further drives the arc guide rail 25 and the X-ray emitter 5 to rotate along the axis of the X-ray emitter 5, thereby adjusting the position and orientation of the X-ray emitter 5 irradiating the battery. At the same time, the imaging receiver 44 corresponds to the X-ray path of the X-ray emitter 5.

[0046] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A new energy battery X-ray detection device, characterized in that, include: Battery conveying mechanism (3) is used to convey batteries to the testing station; A ray emitter (5) is mounted on the first position adjustment structure (1) and is used to emit rays; An imaging receiver (44) is mounted on a second position adjustment structure (4) for receiving rays emitted by the ray emitter (5) and forming an image; The first position adjustment structure (1) is located above the detection station and is suitable for adjusting the position of the X-ray emitter (5); The second position adjustment structure (4) is located below the detection station and is suitable for adjusting the position of the imaging receiver (44); The X-ray emitter (5) and the imaging receiver (44) are arranged opposite each other on both sides of the detection station.

2. The new energy battery X-ray inspection device according to claim 1, characterized in that, The first position adjustment structure (1) includes two parallel X-axis supports (11), Y-axis supports (12) and Z-axis supports (14). The Y-axis supports (12) are mounted on the two X-axis supports (11) and are configured to move on the two X-axis supports (11). The Y-axis supports (12) and Z-axis supports (14) are connected by a Y-axis slide (13). The Y-axis slide (13) is configured to move on the Y-axis supports (12) and Z-axis supports (14). A transition plate (15) is provided at the bottom of the Z-axis supports (14). The ray emitter (5) is mounted on the first position adjustment structure (1) through the transition plate (15).

3. The new energy battery X-ray inspection device according to claim 2, characterized in that, The first position adjustment structure (1) is also provided with a ray emitter attitude adjustment mechanism (2) for adjusting the ray emission angle of the ray emitter (5). The ray emitter attitude adjustment mechanism (2) is installed on the first position adjustment structure (1) through a adapter plate (15). The ray emitter (5) and the ray emitter attitude adjustment mechanism (2) are detachable.

4. The new energy battery X-ray inspection equipment according to claim 3, characterized in that, The ray emitter attitude adjustment mechanism (2) includes a first rotation adjustment component and a second rotation adjustment component. The second rotation component is installed on the movable end of the first rotation component and is used to install the ray emitter (5). The first rotating component is configured to rotate about the Z-axis of the coordinate system, and the second rotating component is configured to rotate about the X-axis of the coordinate system, so that the second rotating component can control the oscillation of the ray emitter 5.

5. The new energy battery X-ray inspection device according to claim 4, characterized in that, The first rotation adjustment component includes: Motor 1 (21) is used to output power, and its output shaft is equipped with a first gear (211). Slewing bearing (23) includes: The internal gear ring (231) meshes with the first gear (211); A limiting ring (232) is sleeved outside the internal toothed ring (231), the internal toothed ring (231) is configured to rotate on the limiting ring (232), and the limiting ring (232) is mounted on the adapter plate (15); The bracket (24) is inverted U-shaped, and its top is connected to the internal gear ring (231), so that it rotates with the internal gear ring (231).

6. The new energy battery X-ray inspection device according to claim 5, characterized in that, The second rotation adjustment component includes: At least one set of guide components (26) is disposed on the inner side of the bracket (24); At least one arc-shaped guide rail (25) is fitted onto the guide assembly (26), and an arc-shaped clip (27) is installed on the arc-shaped guide rail (25). The arc-shaped clip (27) and the arc-shaped guide rail (25) form a complete ring for mounting the ray emitter (5). A drive assembly for driving the at least one arcuate guide rail (25) to move along the guide assembly (26).

7. The new energy battery X-ray inspection device according to claim 6, characterized in that, The guide assembly (26) includes pulleys (261) installed on the inner side of the bracket (24). The pulleys (261) have two sets, which are respectively arranged on the inner and outer sides of the arc-shaped guide rail (25) to provide support for the arc-shaped guide rail (25) so that the arc-shaped guide rail can move along its arc extension direction.

8. The new energy battery X-ray inspection device according to claim 7, characterized in that, The outer arc surface of the arc-shaped guide rail (25) is provided with an annular groove (251), and the pulley (261) is at least partially installed in the annular groove (251).

9. The new energy battery X-ray inspection device according to claim 6, characterized in that, The driver components include: Motor 2 (22) is located inside the bracket (24); The drive wheel (212) meshes with the arc-shaped guide rail (25) and drives the arc-shaped guide rail (25) to rotate; There are two arc-shaped guide rails (25), each equipped with a guide component (26). The arc-shaped guide rails are connected by a connector (28) to form a column.

10. The new energy battery X-ray inspection device according to claim 1, characterized in that, The battery transport structure (3) includes two parallel transport tracks (31) that extend to the testing station, and a transport frame (32) is installed on the transport tracks (31). The conveyor frame (32) includes two first beams (321) that are movably disposed on the conveyor track (31) along the extension direction of the conveyor track and a second beam (322) that is erected between the two first beams (321). At least two third beams (323) are also erected between the second beams (322), and the third beams (323) are movably mounted on the second beams (322). The second beam (322) and the third beam (323) together form the placement position for the battery; And / or, the second position adjustment structure (4) includes two parallel X-axis motion tracks (41) and a Y-axis motion track (42) perpendicular to the X-axis motion tracks (41) is provided on the two X-axis motion tracks (41). The Y-axis motion track (42) is configured to move on the X-axis motion track (41). A slider is provided on the Y-axis motion track (42). The slider is configured to move on the Y-axis motion track. A lifting module (43) for adjusting the distance between the slider and the imaging receiver (44) is provided on the slider. The imaging receiver (44) is mounted on the lifting module (43).

Images