Weld detection apparatus and weld detection method

Abstract

This application discloses a weld inspection device and a weld inspection method, relating to the field of battery manufacturing technology. The first vision module of the weld inspection device includes a first planar imaging camera and a first stereo imaging camera. The first vision module is used to move along a preset busbar inspection trajectory to take pictures of the busbar of the battery located on the top surface of the battery within the inspection station. The second vision module of the weld inspection device includes a second planar imaging camera and a second stereo imaging camera. The second vision module is located at the entrance or exit of the inspection station and is used to take pictures of the equipotential bonding pads on the side of the battery within the inspection station. The first vision module can take pictures of the busbar and form a more continuous image of the top surface of the battery, while the second vision module can take pictures of the equipotential bonding pads on the side of the battery, enabling the weld inspection device to inspect the busbar welds and equipotential bonding pad welds on different surfaces of the battery in parallel.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and in particular to a weld inspection device and a weld inspection method. Background Technology

[0002] With the rise of electric vehicles and other new energy vehicles, the lithium battery industry and sodium battery industry have developed rapidly, and the application of battery devices, including lithium batteries and sodium batteries, has become more widespread.

[0003] In the assembly and manufacturing process of battery devices, welding processes are required at multiple locations within the battery device, such as busbar welding and battery casing welding. Busbar welding connects the cell terminals and the busbar (metal plate) together, thereby connecting the individual battery cells in the battery device in series or parallel.

[0004] For welding at multiple locations in the battery assembly, while ensuring the quality of weld inspection, the efficiency of weld inspection needs to be improved. Summary of the Invention

[0005] The main purpose of this application is to propose a weld inspection device aimed at improving weld inspection efficiency.

[0006] To achieve the above objectives, the weld inspection equipment proposed in this application includes a support, a first vision module, and a second vision module. The support is configured as an inspection station for battery inspection, and has an inlet and an outlet opposite to each other for the battery to enter and exit. The first vision module is coupled to the support and includes a first planar imaging camera and a first stereo imaging camera. The first vision module is used to move along a preset busbar inspection trajectory to take pictures of the busbar of the battery from the top surface of the battery located in the inspection station. The second vision module is coupled to the support and includes a second planar imaging camera and a second stereo imaging camera. The second vision module is located at the inlet or the outlet and is used to take pictures of the equipotential bonding pad on the side of the battery located in the inspection station.

[0007] In the technical solution of this application, the weld inspection equipment allows batteries to enter and exit the inspection station through the inlet and outlet respectively. The first vision module can move along the preset busbar inspection trajectory to take pictures of the busbar and form a more continuous image of the top surface of the battery. At the same time, the second vision module can take pictures of the equipotential bonding sheet on the side of the battery, so that the weld inspection equipment can inspect the busbar weld and equipotential bonding sheet weld on different surfaces of the battery in parallel. In addition, the first vision module can reduce mutual interference with the second vision module at least during the stage when it moves away from the second vision module along the preset busbar inspection trajectory.

[0008] Optionally, the bracket is provided with a first guide rail structure, which extends along the direction from the entrance to the exit; the entrance and the exit are arranged at intervals in the horizontal direction, and the entrance and the exit are respectively connected to the detection station; the first vision module includes a first mounting base, and the first planar imaging camera and the first stereo imaging camera are respectively mounted on the first mounting base; the first mounting base is connected to the first guide rail structure, and the first mounting base can move along the extension direction of the first guide rail structure.

[0009] At this time, the first vision module can form a preset busbar detection trajectory along the direction from the entrance to the exit through the first guide rail structure. The first vision module can also move away from the second vision module through the first guide rail structure to reduce mutual interference with the second vision module.

[0010] Optionally, the bracket is provided with a second guide rail structure, the extension direction of the second guide rail structure intersects the direction from the entrance to the exit, and the extension direction of the second guide rail structure has an angle with the vertical direction; the second guide rail structure is slidably connected to the first guide rail structure, the first mounting base is engaged with the second guide rail structure, and the first mounting base can move along the extension direction of the second guide rail structure.

[0011] At this time, for at least two rows of busbars on the top surface of the battery, the first vision module can take a picture of one row of busbars through the first guide rail structure, then switch to the next row of busbars through the second guide rail structure, and take a picture by moving in the opposite direction along the first guide rail structure.

[0012] Optionally, the bracket is provided with a third guide rail structure, the extension direction of the third guide rail structure intersecting the extension direction of the first guide rail structure and the extension direction of the second guide rail structure respectively; the third guide rail structure is slidably connected to the second guide rail structure, and the first mounting base is slidably connected to the third guide rail structure.

[0013] At this point, the first vision module can adjust its distance to the top surface of the battery via the third guide rail structure, thereby adjusting to a suitable shooting distance.

[0014] Optionally, the first guide rail structure is provided at both ends of the extension direction of the second guide rail structure, and the two first guide rail structures are arranged at intervals along the extension direction of the second guide rail structure. The two spaced-out first guide rail structures and the second guide rail structure enclose the detection station.

[0015] At this time, for the busbar on the top surface of the battery, the first vision module can take pictures of the busbar twice through the first guide rail structure at both ends of the extension direction of the second guide rail structure, and can return to the origin in the direction from the entrance to the exit to take pictures of the busbar of the next battery.

[0016] Optionally, the bracket is provided with a fourth guide rail structure, which is disposed opposite to the entrance or the exit; the extension direction of the fourth guide rail structure intersects the direction from the entrance to the exit, and the extension direction of the fourth guide rail structure forms an angle with the vertical direction; the second vision module includes a second mounting base, and the second planar imaging camera and the second stereo imaging camera are respectively mounted on the second mounting base; the second mounting base is connected to the fourth guide rail structure, and the second mounting base can move along the extension direction of the fourth guide rail structure.

[0017] At this time, the second vision module can move to the position of taking pictures of the equipotential sheet through the fourth guide rail structure, and can avoid the first vision module through the fourth guide rail structure, thereby reducing mutual interference with the first vision module.

[0018] Optionally, the bracket is provided with a fifth guide rail structure, the extension direction of the fifth guide rail structure intersecting the extension direction of the fourth guide rail structure and the direction from the entrance to the exit; the fifth guide rail structure is slidably connected to the fourth guide rail structure, and the second mounting base is slidably connected to the fifth guide rail structure.

[0019] At this point, the second vision module can adjust its distance to the side of the battery via the fifth guide rail structure, thereby adjusting to a suitable shooting distance.

[0020] Optionally, the weld inspection equipment includes a lifting drive mechanism, which is disposed opposite to the inspection station and is configured to drive the battery located within the inspection station to lift.

[0021] At this time, the weld inspection equipment can lift the battery through the lifting drive mechanism, thereby enabling the first vision module to take pictures of the busbar on the top surface of the battery and the second vision module to take pictures of the equipotential plate on the side of the battery.

[0022] This application also provides a weld inspection method, which includes the following steps: The battery is positioned at the testing station, with the battery's busbar on the top surface and the battery's equipotential bonding pad on the side, opposite to the entrance or exit of the testing station. Take pictures of the battery's busbar along the preset busbar detection trajectory and along the top surface of the battery located in the detection station; Take a picture of the equipotential bonding pad on the side of the battery located in the testing station.

[0023] In the weld inspection method of this application, the battery can enter and exit the inspection station through the inlet and outlet respectively. The weld inspection method can form a more continuous image of the top surface of the battery by moving along the preset busbar inspection trajectory to take pictures of the busbar. At the same time, by taking pictures of the equipotential bonding sheet on the side of the battery, the weld inspection method can inspect the busbar weld and the equipotential bonding sheet weld on different surfaces of the battery in parallel. In addition, the weld inspection method can reduce the mutual interference between the busbar imaging device and the equipotential bonding sheet imaging device by moving along the preset busbar inspection trajectory to take pictures.

[0024] Optionally, the weld inspection method further includes the following steps: At least two photographs obtained by taking pictures of the bus are stitched together to obtain a surface image of at least a portion of the top surface of the battery.

[0025] At this point, the weld inspection method can create a more continuous image of the top surface of the battery by stitching together at least two photos obtained from taking pictures of the busbar.

[0026] Optionally, the weld inspection method further includes the following steps: Based on the photographs obtained by taking pictures of the bus, the weld of the bus is divided into a first preset number of weld segments; Obtain the width of each weld segment; The weld segments are sorted according to their widths; Determine the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold.

[0027] At this time, the weld inspection method can determine the qualified status of the busbar weld by acquiring the width of each weld segment, sorting them, and judging the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold.

[0028] Optionally, the step of taking a photograph of the equipotential bonding pad on the side of the battery located within the testing station includes: In response to taking pictures of a portion of the busbars along a preset busbar detection trajectory and along the top surface of the battery, the device for taking pictures of the equipotential sheet moves in a direction intersecting the entrance to the exit. In response to moving the device for photographing the equipotential bonding sheet along a direction intersecting the entrance to the exit, an image is taken of the equipotential bonding sheet on the side of the battery located within the testing station.

[0029] At this time, the weld inspection method can reduce the mutual interference between the busbar imaging device and the equipotential bonding sheet imaging device by taking pictures of a portion of the busbars along the preset busbar inspection trajectory and along the top surface of the battery, moving the device for taking pictures of the equipotential bonding sheet along the direction intersecting the entrance to the exit, and taking pictures of the equipotential bonding sheet on the side of the battery located in the inspection station in the order of response.

[0030] Optionally, the weld inspection method further includes the following steps: Based on the photograph obtained by taking pictures of the equipotential sheet, a preset reference surface of the equipotential sheet is obtained; The weld seam in the photograph obtained by dividing the equipotential sheet by the preset reference plane is obtained to obtain at least one first part that is lower than the preset reference plane; Obtain the first height of the first portion relative to the preset reference plane; Sort the first parts according to their respective heights; Determine the relationship between the first height of the first part located at the second preset sorting position and the second preset threshold.

[0031] At this time, the weld inspection method can determine the qualified status of the equipotential bonding sheet weld by obtaining the first height of each first part, sorting them, and judging the relationship between the first height of the first part at the second preset sorting position and the second preset threshold.

[0032] Optionally, the weld seam in the photograph obtained by taking pictures of the equipotential bonding sheet is divided by the preset reference plane to obtain at least one second portion higher than the preset reference plane, and the weld seam detection method further includes the following steps: Obtain the second height of the second part relative to the preset reference plane; Sort the second parts according to their respective heights; Determine the relationship between the second height of the second part located at the third preset sorting position and the third preset threshold.

[0033] At this point, the weld inspection method can determine the qualified status of the equipotential bonding sheet weld by acquiring the second height of each second part, sorting them, and judging the relationship between the second height of the second part at the third preset sorting position and the third preset threshold. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 A schematic diagram of a battery corresponding to an embodiment of the weld inspection equipment provided in this application; Figure 2 A partial structural schematic diagram of an embodiment of the weld inspection equipment provided in this application; Figure 3 A schematic diagram illustrating the use of an embodiment of the weld inspection equipment provided in this application; Figure 4 This is a side view of an embodiment of the weld inspection equipment provided in this application; Figure 5 Another schematic diagram of an embodiment of the weld inspection equipment provided in this application; Figure 6 A side view of the load-bearing mechanism in one embodiment of the weld inspection equipment provided in this application; Figure 7 A schematic diagram of another side view of the load-bearing mechanism in one embodiment of the weld inspection equipment provided in this application; Figure 8 Another partial structural schematic diagram of an embodiment of the weld inspection equipment provided in this application; Figure 9 for Figure 8 A magnified view of a portion of point A in the middle; Figure 10 A schematic diagram of the hardware connection corresponding to an embodiment of the weld inspection equipment provided in this application; Figure 11 This is a schematic diagram illustrating the steps of an embodiment of the weld inspection method provided in this application.

[0036] Explanation of icon numbers: 100. Battery; 101. Busbar weld; 102. Equipotential bonding sheet weld; 110. Battery module; 111. Busbar; 120. Cooling device; 121. Equipotential bonding sheet; 200. Weld inspection equipment; 201. Inspection station; 202. Entrance; 203. Exit; 210. Bearing mechanism; 211. Carrier plate; 212. Lifting drive mechanism; 213. Bearing sensor; 214. Bearing body; 215. Positioning pin; 220. Bracket; 221. First guide rail structure; 222. Second guide rail structure; 223. Third guide rail structure; 224. Fourth guide rail structure; 225. Fifth guide rail structure; 230. First vision module; 2311. First planar imaging camera; 2312. First stereo imaging camera; 232. First light source; 240. Second vision module; 2411. Second planar imaging camera; 2412. Second stereo imaging camera; 242. Second light source; 250. Height detection device; 260. Enclosure; 270. Grating assembly; 280. Blocking assembly.

[0037] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0041] With the rise of electric vehicles and other new energy vehicles, the lithium battery industry and sodium battery industry have developed rapidly, and the application of batteries including lithium batteries and sodium batteries has become more widespread.

[0042] In the battery assembly and manufacturing process, multiple locations on the battery require welding processes, such as busbar welding and battery casing welding. Busbar welding connects the cell terminals and the busbar (metal plate) together, thereby connecting the individual battery cells in series or parallel.

[0043] For example, refer to Figure 1 The battery 100 in the related technology includes a battery assembly 110, a cooling device 120, and an equipotential bonding plate 121. The battery assembly 110 can be configured to include individual battery cells and a busbar 111. This can be understood as the battery 100 including the individual battery cells and the busbar 111. The busbar 111 can also be called a busbar. The individual battery cells can be prismatic, cylindrical, blade-shaped, etc. The terminals of the individual battery cells are welded to the busbar 111 to form a busbar weld 101. This busbar weld 101 is generally annular and is located on the top surface of the battery 100. The battery assembly 110 can include at least one row of individual battery cells, thereby forming at least one row of busbar welds 101; for example, see reference... Figure 1 The battery assembly 110 includes two rows of battery cells, thereby forming two rows of busbar welds 101, with each busbar weld 101 in each row along... Figure 1 The X-direction arrangement settings.

[0044] In the aforementioned battery 100, the cooling device 120 can be configured as a water-cooled device, an air-cooled device, a phase-change heat exchanger, etc. The outer casing of the battery assembly 110 and the outer casing of the cooling device 120 are both made of metal materials, such as aluminum or titanium. One end of the equipotential bonding plate 121 is connected to the cooling device 120, including by integral molding, welding, riveting, etc. The other end of the equipotential bonding plate 121 is welded and fixed to the outer casing of the battery assembly 110 to form an equipotential bonding plate weld 102. The end of the equipotential bonding plate 121 away from the cooling device 120 may include a flat section, allowing it to smoothly abut against the surface of the outer casing of the battery assembly 110, and then the equipotential bonding plate weld 102 is formed by welding on this flat section. The equipotential bonding plate weld 102 can be configured to be a straight line and is located on the side of the battery 100.

[0045] Based on the above analysis, it can be seen that for the welding corresponding to the busbar weld 101 on the top surface of the battery 100 and the welding corresponding to the equipotential sheet weld 102 on the side surface of the battery 100, the welding inspection efficiency needs to be improved while ensuring the quality of weld inspection.

[0046] Therefore, based on the above considerations, in order to improve weld inspection efficiency, this application proposes a weld inspection device and a weld inspection method. In use, this weld inspection device and method can inspect welds in parallel on different surfaces of the battery 100, thereby improving weld inspection efficiency.

[0047] The following will explain the weld inspection equipment 200 and weld inspection method provided in this application based on the busbar weld 101 between the battery cell and the busbar 111 on the top surface of the battery 100, and the equipotential bonding sheet weld 102 between the equipotential bonding sheet 121 and the battery assembly 110 on the side surface of the battery 100.

[0048] In one embodiment of this application, reference is made to Figure 2 and Figure 3 ,in Figure 2 A partial structural schematic diagram of one embodiment of the weld inspection equipment 200 provided in this application is shown. Figure 3 This illustration shows a schematic diagram of one embodiment of the weld inspection equipment 200 provided in this application. The weld inspection equipment 200 includes a support 220, a first vision module 230, and a second vision module 240. The support 220 is configured as an inspection station 201 for inspecting the battery 100. The support 220 has an inlet 202 and an outlet 203 oppositely arranged for the battery 100 to enter and exit. The first vision module 230 is coupled to the support 220 and includes a first planar imaging camera 2311 and a first stereo imaging camera 2312. The first vision module 230 is used to move along the preset busbar 111 detection trajectory to take pictures of the busbar 111 of the battery 100 located on top of the battery 100 in the detection station 201; the second vision module 240 is coupled to the bracket 220, and the second vision module 240 includes a second planar imaging camera 2411 and a second stereo imaging camera 2412; the second vision module 240 is located at the entrance 202 or the exit 203, and the second vision module 240 is used to take pictures of the equipotential bonding pad 121 on the side of the battery 100 located in the detection station 201.

[0049] Reference Figure 2 The bracket 220 can be understood as the overall skeleton structure of the weld inspection equipment 200, thereby providing installation positions for the corresponding mechanical and electrical components, and installing the weld inspection equipment 200 on the ground of the inspection site.

[0050] The support 220 is configured as a testing station 201 for testing the battery 100. It can be understood that at least a portion of the boundary of the testing station 201 is formed by the support 220, and the testing station 201 can be understood as a space capable of accommodating the battery 100. The support 220 has an inlet 202 and an outlet 203 oppositely arranged for the battery 100 to enter and exit. It can be understood that the battery 100 can enter the testing station 201 through the inlet 202 and exit through the outlet 203. The inlet 202 and outlet 203 can be arranged horizontally at intervals, and both inlet 202 and outlet 203 are connected to the testing station 201. It can be understood that the inlet 202 and outlet 203 can be located beside the testing station 201, and the battery 100 can enter or leave the testing station 201 via a conveyor belt, roller conveyor, or other transport line; this embodiment does not impose any limitations on this. In addition, entrance 202 and exit 203 can be covered by other openable and closable components, allowing entrance 202 and exit 203 to switch between open and closed states. Of course, entrance 202 and exit 203 may also be left uncovered.

[0051] Furthermore, the weld inspection equipment 200 may include a support mechanism 210, which may include a carrier plate 211. The support mechanism 210 may be coupled to a support 220, and the carrier plate 211 and the support 220 are arranged to form an inspection station 201 with an inlet 202 and an outlet 203. The support mechanism 210 can be understood as a mechanism that supports the battery 100 that needs to be inspected for welds; specifically, it can support the battery 100 on the carrier plate 211. When the battery 100 is supported on the carrier plate 211, the busbar weld 101 can be positioned on the side of the battery 100 facing away from the carrier plate 211, for example, referring to... Figure 1 and Figure 3 Positioning the busbar weld 101 on the upper side in the Z direction can be understood as placing the busbar weld 101 on the top surface of the battery 100 located within the inspection station 201; and positioning the equipotential bonding sheet weld 102 on the side of the carrier plate 211 in the thickness direction, for example, referring to... Figure 1 and Figure 3The equipotential bonding weld 102 is positioned on one side of the battery 100 in the X direction. For example, the equipotential bonding weld 102 on the side of the battery 100 located in the testing station 201 can be positioned opposite the inlet 202 or outlet 203. The carrier plate 211 can be understood as having a plate-like structure. Through-holes or notches can be provided on the carrier plate 211 to avoid obstructing the equipotential bonding sheet 121 and other structures, and to reduce the overall weight of the carrier plate 211. The bearing mechanism 210 is coupled to the bracket 220. This can be understood as the bearing mechanism 210 being directly connected to the bracket 220 or indirectly connected to the bracket 220 through other structures; this embodiment does not impose any limitations on this.

[0052] Of course, the weld inspection equipment may not include the supporting mechanism 210, and the battery 100 may be supported on other structures such as the workstation floor. This embodiment does not limit this.

[0053] The carrier plate 211 and the bracket 220 can be arranged to form the inspection station 201 with the entrance 202 and the exit 203. It can be understood that part of the boundary of the inspection station 201 is formed by the carrier plate 211. The battery 100 can enter the inspection station 201 through the entrance 202 and be carried on the carrier plate 211 to facilitate the subsequent weld inspection process.

[0054] The first vision module 230 and the second vision module 240 can be understood as modules that acquire image information of the battery 100 and its weld seams, respectively. The images acquired by the first vision module 230 and the second vision module 240 may include two-dimensional images, three-dimensional images, videos formed by consecutive multiple frames of images, etc.

[0055] Reference Figure 3The first vision module 230 includes a first planar imaging camera 2311 and a first stereo imaging camera 2312. The first planar imaging camera can be configured as a 2D line scan camera, which facilitates continuous imaging of the side surface of the battery 100 facing away from the carrier plate 211, i.e., continuous imaging of the top surface of the battery 100, and obtains the position of the busbar 111. The first stereo imaging camera 2312 can be configured as a 3D line scan camera, which facilitates obtaining the height information of the busbar weld 101. In some embodiments, the first vision module 230 may also include a first light source 232. The first light source 232 can be understood as a device that provides the required light during the process of the first vision module 230 acquiring images of the battery 100 in the inspection station 201. The first light source 232 can be configured as a coaxial light source, a bar light source, etc. It is understood that the first vision module 230 (which may specifically include the first planar imaging camera 2311 and the first stereo imaging camera 2312) and the first light source 232 may be respectively configured to face the detection station 201 for accommodating the battery 100, thereby facilitating imaging of the battery 100.

[0056] In some implementations, refer to Figure 3 The first light source 232 and the first planar imaging camera 2311 are arranged sequentially along the vertical direction, for example, along the thickness direction of the carrier plate 211. Figure 3 The first stereo imaging camera 2312 is arranged sequentially along the Z-direction. Correspondingly, the first stereo imaging camera 2312 is located beside the first planar imaging camera 2311, which can be understood as the first stereo imaging camera 2312 being located beside the arrangement direction of the first light source 232 and the first planar imaging camera 2311. Furthermore, the first planar imaging camera 2311 can be located on the side of the first light source 232 away from the carrier plate 211. The first light source 232 has a first through-hole structure, which can be a through hole, a notch, or other structure; for example, the first light source 232 can be an open-face light source or an open-face light source. The first planar imaging camera 2311 is arranged opposite to the first through-hole structure, thereby allowing the first planar imaging camera 2311 to be arranged opposite to the detection station 201, enabling the first planar imaging camera 2311 to acquire an image of the battery 100. Of course, the first stereo imaging camera 2312, the first planar imaging camera 2311, and the first light source 232 can also be arranged in a straight line, a broken line, or a ring, etc., and this embodiment does not limit this arrangement. In addition, the first light source 232 can also be configured as a light source that outputs coaxial light, thereby improving the boundary clarity of the busbar weld 101 in the image obtained by taking the picture.

[0057] In some implementations, refer to Figure 3The second vision module 240 includes a second planar imaging camera 2411 and a second stereo imaging camera 2412. The second planar imaging camera 2411 can be configured as a 2D area array camera to improve overall imaging efficiency for a small number of equipotential bonding welds 102, for example, by imaging all equipotential bonding welds 102 at once. The second stereo imaging camera 2412 can be configured as a 3D line scan camera to facilitate the detection of height information of various parts of the equipotential bonding welds 102. In some embodiments, the second vision module 240 may also include a second light source 242. The second light source 242 can be understood as a device that provides the necessary light during the process of the second vision module 240 acquiring images of the battery 100 within the detection station 201. The second light source 242 can be configured as a coaxial light source, a bar light source, etc. It is understood that the second vision module 240 (specifically including the second planar imaging camera 2411 and the second stereo imaging camera 2412) and the second light source 242 can be respectively configured to face the detection station 201 for accommodating the battery 100, thereby facilitating imaging of the battery 100.

[0058] In some implementations, refer to Figure 3 The second light source 242 and the second planar imaging camera 2411 are arranged sequentially in the horizontal direction, for example, in a direction parallel to the carrier plate 211, for example, along... Figure 3 The X-direction is arranged sequentially. Correspondingly, the second stereo imaging camera 2412 is arranged beside the second planar imaging camera 2411, which can be understood as the second stereo imaging camera 2412 being arranged beside the second planar imaging camera 2411 and the second stereo imaging camera 2412 in the same direction. In addition, the second planar imaging camera 2411 is arranged on the side of the second light source 242 away from the carrier plate 211. The second light source 242 has a second through structure, which can be configured as a through hole, notch, or other structure; for example, the second light source 242 can be configured as an open-face light source or other open-face light source. The second planar imaging camera 2411 is arranged opposite to the second through structure, so that the second planar imaging camera 2411 is arranged opposite to the detection station 201, thereby enabling the second planar imaging camera 2411 to acquire an image of the battery 100. Of course, the second stereo imaging camera 2412, the second planar imaging camera 2411, and the second light source 242 can also be arranged in a straight line, a broken line, a ring, or other manner, and this embodiment does not limit this arrangement.

[0059] Reference Figure 1 , Figure 2 and Figure 3In the vertical direction, for example, in the thickness direction of the carrier plate 211, the first vision camera 231 is configured to be positioned opposite the inspection station 201, thereby enabling it to acquire images on the side of the battery 100 facing away from the carrier plate 211, which can be understood as acquiring images on the top surface of the battery 100, such as acquiring images of the busbar weld 101 mentioned above. The first vision camera 231 is coupled to the bracket 220, including coupling achieved through direct connection, indirect connection, etc. The first vision module 230 is used to move along a preset busbar 111 inspection trajectory, for example, the first vision module 230 moves around a central axis in the vertical direction, for example, the first vision camera 231 is configured to move around the thickness direction of the carrier plate 211, for example, along... Figure 1 , Figure 2 The movement along the direction of the thick dashed line can be achieved by connecting a robotic arm, linkage mechanism, slide structure, guide rail structure, etc., so as to take pictures of the busbar 111 of the battery 100 along the top surface of the battery 100 located in the inspection station 201, thereby obtaining images of multiple busbar welds 101.

[0060] Reference Figure 1 , Figure 2 and Figure 3 The second vision camera 241 is coupled to the bracket 220, including coupling through direct connection, indirect connection, or other means. The second vision module 240 can be configured such that, in the horizontal direction, for example, in a direction parallel to the carrier plate 211, the second vision camera 241 is positioned opposite the inspection station 201, thereby enabling it to acquire images from the side of the carrier plate 211 in the thickness direction, such as images of the equipotential bonding weld 102 on the equipotential bonding sheet 121. The second vision module 240 can be located at the inlet 202 or outlet 203, and is used to photograph the equipotential bonding sheet 121 on the side of the battery 100 located within the inspection station 201.

[0061] In this embodiment, the battery 100 can enter and exit the inspection station 201 through the entrance 202 and the exit 203 respectively; the first vision module 230 can move along the preset busbar 111 detection trajectory to take pictures of the busbar 111 and can form a more continuous image of the top surface of the battery 100, for example along... Figure 1 , Figure 2 The image of at least one busbar weld 101 is acquired by moving along the direction of the thick dashed line; simultaneously, the second vision module 240 can take pictures of the equipotential bonding pad 121 on the side of the battery 100, for example... Figure 1 , Figure 3The image of the equipotential bonding sheet weld 102 is acquired in the X direction, enabling the weld inspection device 200 to inspect the busbar weld 101 and the equipotential bonding sheet weld 102 on different surfaces of the battery 100 in parallel. In addition, the first vision module 230 can reduce interference with the second vision module 240 at least during the stage when it moves away from the second vision module 240 along the preset busbar 111 detection trajectory. For example, the first vision module 230 reduces interference with the second vision module 240 at least during the stage when it moves away from the second vision module 240 in the X direction.

[0062] In addition, the first vision module 230 moves along the preset busbar 111 detection trajectory, for example along... Figure 1 , Figure 2 Moving the thick dashed line in the direction of the movement facilitates obtaining a surface image of at least a portion of the surface of the side of the battery 100 facing away from the carrier plate 211, for example, obtaining... Figure 1 The image of the top surface of the middle battery 100, including the busbar weld 101 itself and the spacing between the busbar welds 101, is beneficial to increase the relative position information of the welds through a more complete surface image, and improves the convenience of subsequent traceability of weld inspection.

[0063] In some implementations, refer to Figure 4 and Figure 5 The weld inspection equipment 200 also includes a surrounding plate 260, which surrounds the support mechanism 210, thereby enclosing the support mechanism 210 and other components, improving the operational safety and independence of weld inspection and other processes. The surrounding plate 260 can be configured as a shell-like structure forming the upper outer frame of the weld inspection equipment 200; in this case, the surrounding plate 260 can cover the lower outer frame of the weld inspection equipment 200, which can house the aforementioned support 220, support mechanism 210, and other structures. In some embodiments, the upper outer frame including the surrounding plate 260 can also be equipped with an observation window or similar structure to facilitate observation of the weld inspection process within the surrounding plate 260.

[0064] The entrance 202 and exit 203 of the aforementioned inspection station 201 are set on the enclosure 260. In addition, the weld inspection equipment 200 also includes grating components 270 respectively set at the entrance 202 and exit 203, so that the grating components 270 can detect if the operator's hands or other parts accidentally enter the inspection station 201, thereby facilitating the output of corresponding prompt signals and helping to reduce the risk of accidents.

[0065] In some embodiments, the weld inspection equipment 200 may include a lifting drive mechanism 212, which is disposed opposite to the inspection station 201. The lifting drive mechanism 212 is configured to drive the battery 100 located within the inspection station 201 to move up and down. Specifically, refer to... Figure 6 and Figure 7 The supporting mechanism 210 may include the lifting drive mechanism 212, which is connected to the carrier plate 211. The lifting drive mechanism 212 is configured to drive the carrier plate 211 to move along the thickness direction of the carrier plate 211, for example, along the Z direction shown in the figure. The lifting drive mechanism 212 may include a drive cylinder, a drive motor, etc., and the lifting drive mechanism 212 can achieve a transmission connection with the carrier plate 211 through a slider structure, a linkage mechanism, or other transmission mechanism.

[0066] In this embodiment, the weld inspection equipment 200 can lift the carrier plate 211 (if any) and the battery 100 on the carrier plate 211 via the lifting drive mechanism 212, thereby enabling the first vision module 230 to take pictures of the busbar 111 on the top surface of the battery 100 and the second vision module 240 to take pictures of the equipotential bonding plate 121 on the side of the battery 100, for example along... Figure 6 The Z-axis rise in the middle helps to reduce the interference of the components around the battery 100 on the weld inspection, and also helps to reduce the distance between the battery 100 and the first vision module 230, thereby improving the weld inspection quality.

[0067] In some implementations, refer to Figure 2 The weld inspection equipment 200 also includes a height detection device 250, which is configured to detect the height information of the carrier plate 211 and is electrically connected to the lifting drive mechanism 212.

[0068] The height detection device 250 can be configured as a contact switch that abuts against the carrier plate 211 or the battery 100 on the carrier plate 211 along the thickness direction of the carrier plate 211. The height detection device 250 can also be configured as a laser sensor, infrared sensor, etc., thereby enabling the acquisition of the height information of the carrier plate 211 directly or indirectly through the carrier plate 211 or the battery 100 on the carrier plate 211. The height detection device 250 is electrically connected to the lifting drive mechanism 212, thereby transmitting the height information of the carrier plate 211 to the lifting drive mechanism 212, facilitating the stopping of the lifting drive mechanism 212 from outputting lifting drive force after the carrier plate 211 and the battery 100 on the carrier plate 211 reach a set height.

[0069] In this embodiment, the height detection device 250 can detect the height information of the carrier plate 211, thereby providing a feedback signal for the battery 100 to rise or fall to a set height. This helps to improve the success rate of the battery 100 reaching the set height and improves the accuracy and efficiency of weld detection of the battery 100.

[0070] In some implementations, refer to Figure 6 and Figure 7 The load-bearing mechanism 210 includes a load-bearing sensor 213, which is configured to detect the load information of the carrier plate 211. The load-bearing sensor 213 is electrically connected to the lifting drive mechanism 212.

[0071] The load information of the carrier plate 211 may include whether the carrier plate 211 carries the battery 100. The load sensor 213 is electrically connected to the lifting drive mechanism 212, so that the load information of the carrier plate 211 can be transmitted to the lifting drive mechanism 212, thereby facilitating the lifting drive mechanism 212 to start outputting lifting drive force after the carrier plate 211 carries the battery 100.

[0072] In this embodiment, the load sensor 213 can sense the load of the carrier plate 211 on the battery 100, which is conducive to faster connection of the lifting drive mechanism 212 to the lifting action of the battery 100, and to improving the overall detection efficiency.

[0073] In some implementations, refer to Figure 6 and Figure 7 The supporting mechanism 210 includes a supporting body 214, which may include connected support plates and support columns, etc. The supporting sensor 213 includes a gravity sensor, which is electrically connected to the lifting drive mechanism 212, thereby transmitting the gravity bearing information of the carrier plate 211 to the lifting drive mechanism 212; one end of the gravity sensor is connected to the carrier plate 211, and the other end of the gravity sensor is connected to the supporting body 214, thereby realizing the detection of the battery 100.

[0074] In this embodiment, since the battery 100 is usually heavy, the weight of the carrier plate 211 changes significantly after carrying the battery 100. One end of the gravity sensor is connected to the carrier plate 211, and the other end of the gravity sensor is connected to the carrier body 214. This not only allows for more accurate detection of the carrier plate 211 carrying the battery 100 through the large weight change, but also improves the space utilization of the gravity sensor, which is beneficial to the miniaturization of the weld inspection equipment 200.

[0075] In some implementations, refer to Figure 6 and Figure 7The carrier plate 211 has at least three positioning pins 215 on the side facing the inspection station 201. The at least three positioning pins 215 are arranged around the thickness direction of the carrier plate 211, thereby forming a space for accommodating the battery 100. The positioning pins 215 can limit the battery 100 by means of the side wall of the battery 100 located in the space. For example, in some embodiments, four positioning pins 215 can be provided at the four corners of the generally rectangular carrier plate 211.

[0076] It is understood that the positioning pins 215 can be configured to be raised and lowered relative to the carrier plate 211, or the positioning pins 215 can be configured to be fixedly connected to the carrier plate 211. Correspondingly, the battery 100 can move along a direction parallel to the carrier plate 211 into the space enclosed by the three positioning pins 215, wherein the battery 100 can cross the corresponding positioning pins 215 before being supported on the carrier plate 211. Of course, the battery 100 can also move along the thickness direction of the carrier plate 211 into the space enclosed by the three positioning pins 215, and this embodiment does not limit this.

[0077] In this embodiment, at least three positioning pins 215 are arranged around the thickness direction of the carrier plate 211, thereby limiting the battery 100 around its perimeter, improving the positional accuracy of the battery 100 and the positional stability of the battery 100 during movement, which is beneficial to improving the weld inspection quality and weld inspection success rate of the battery 100.

[0078] In some implementations, refer to Figure 7 The weld inspection equipment 200 also includes a blocking assembly 280, which is disposed on the side of the carrier plate 211 away from the inlet 202. The blocking assembly 280 includes a movable blocking body configured to extend into the inspection station 201 along the thickness direction of the carrier plate 211. In some embodiments, the blocking assembly 280 may include a cylinder assembly, and the blocking body may include the cylinder rod of the cylinder assembly; of course, the blocking assembly 280 may also include a motor assembly in the form of a linear motor and a corresponding transmission structure.

[0079] In this embodiment, the blocking component 280 can reduce the risk of the battery 100 accidentally coming out by the movable blocking body, thereby improving the safety of the weld inspection equipment 200.

[0080] In some embodiments, the bracket 220 is provided with a first guide rail structure 221, which extends along the direction from the entrance 202 to the exit 203. For example, the first guide rail structure 221 may extend along a first direction X parallel to the carrier plate 211. The first vision module 230 includes a first mounting base, and a first planar imaging camera 2311 and a first stereo imaging camera 2312 are respectively mounted on the first mounting base. The first mounting base is connected to the first guide rail structure 221, which can be understood as the first vision module 230 being coupled to the first guide rail structure 221, including coupling through direct or indirect connection, so that the first mounting base can move along the extension direction of the first guide rail structure 221.

[0081] In this embodiment, the first vision module 230 can form a preset busbar 111 detection trajectory along the direction from the entrance 202 to the exit 203 via the first guide rail structure 221. The first vision module 230 can also move away from the second vision module 240 via the first guide rail structure 221, thereby reducing interference with the second vision module 240. For example, the first guide rail structure 221 allows the first vision module 230 to move a certain distance around the thickness direction of the carrier plate 211, such as along the X direction in the figure, which facilitates continuous detection and improves weld inspection efficiency.

[0082] In some implementations, refer to Figure 8 and Figure 9 The bracket 220 is equipped with a second guide rail structure 222. The extension direction of the second guide rail structure 222 intersects the direction from the entrance 202 to the exit 203, and the extension direction of the second guide rail structure 222 forms an angle with the vertical direction. The second guide rail structure 222 is slidably connected to the first guide rail structure 221, and a first mounting base is fitted and connected to the second guide rail structure 222. The first mounting base can move along the extension direction of the second guide rail structure 222. For example, the second guide rail structure 222 can be configured to extend along a second direction parallel to the carrier plate 211, and the second direction intersects the first direction X. For example, the second direction can be set as the Y direction in the figure, so that the second direction Y is perpendicular to the first direction X. The second guide rail structure 222 can be slidably connected to the first guide rail structure 221 through a slide structure, so that the second guide rail structure 222 can move relative to the first guide rail structure 221 along the extension direction X of the first guide rail structure 221. The corresponding slide structure can be driven by belt drive, ball screw drive, or other means.

[0083] In this embodiment, for at least two rows of busbars 111 on the top surface of the battery 100, the first vision module 230 can take a picture of one row of busbars 111 via the first guide rail structure 221, and then switch to the next row of busbars 111 via the second guide rail structure 222, taking a picture by moving in the opposite direction along the first guide rail structure 221. Furthermore, the second guide rail structure 222 allows the first vision module 230 to move another distance around the central axis in the vertical direction, for example, around the thickness direction of the carrier plate 211, for example, along... Figure 8 Moving another distance in the Y direction facilitates continuous inspection and improves the inspection efficiency of the weld inspection equipment for multiple rows of welds on the side of the battery 100 facing away from the carrier plate 211.

[0084] In some embodiments, the bracket 220 is provided with a third guide rail structure 223, the extension direction of which intersects the extension direction of the first guide rail structure 221 and the extension direction of the second guide rail structure 222 respectively; the third guide rail structure 223 is slidably connected to the second guide rail structure 222, and the first mounting base is slidably connected to the third guide rail structure 223. For example, the third guide rail structure 223 extends in the vertical direction, or it extends in a direction perpendicular to the carrier plate 211, or it can extend along... Figure 8 The third guide rail structure 223 is slidably connected to the second guide rail structure 222 via a slide table structure, allowing the third guide rail structure to move relative to the second guide rail structure 222 along its extension direction Y. The corresponding slide table structure can be driven by belt drive, ball screw drive, or other methods. Furthermore, the movement of the first vision module 230 relative to the third guide rail structure 223 can be driven by a ball screw mechanism, thereby improving positional accuracy.

[0085] In this embodiment, the first vision module 230 can be adjusted to a suitable shooting distance by means of the third guide rail structure 223 to be close to or away from the battery 100 on the carrier plate 211. For example, the first vision camera 231 can be moved along the thickness direction of the carrier plate 211 to get closer to or away from the battery 100 on the carrier plate 211 by means of the third guide rail structure 223, which is beneficial to keep the battery 100 within the focal length range of the first vision module 230 and to improve the imaging accuracy of the first vision module 230.

[0086] In some implementations, refer to Figure 8 The second guide rail structure 222 has a first guide rail structure 221 at each end of its extension direction, for example... Figure 8 The second guide rail structure 222 has a first guide rail structure 221 at each end in the Y direction; the two first guide rail structures 221 are arranged at intervals along the extension direction of the second guide rail structure 222, for example along... Figure 8The first guide rail structure 221 and the second guide rail structure 222 arranged at intervals in the Y direction are set up to form the detection station 201.

[0087] In this embodiment, refer to Figure 1 and Figure 8 For the busbar 111 on the top surface of the battery 100, the first vision module 230 can take pictures of the busbar 111 in two steps through the first guide rail structure 221 at both ends of the extension direction of the second guide rail structure 222, and can return to the origin in the direction from the entrance 202 to the exit 203 to take pictures of the busbar 111 of the next battery 100.

[0088] In some implementations, refer to Figure 8 and Figure 9 The bracket 220 is provided with a fourth guide rail structure 224, which is opposite to the entrance 202 or the exit 203. The extension direction of the fourth guide rail structure 224 intersects the direction from the entrance 202 to the exit 203, and the extension direction of the fourth guide rail structure 224 has an angle with the vertical direction. The second vision module 240 includes a second mounting base, and a second planar imaging camera 2411 and a second stereo imaging camera 2412 are respectively mounted on the second mounting base. The second mounting base is connected to the fourth guide rail structure 224, which can be understood as the second vision module 240 being coupled to the fourth guide rail structure 224, including coupling through direct connection or indirect connection, so that the second mounting base can move along the extension direction of the fourth guide rail structure 224, which can be understood as the second vision module 240 moving along the second direction Y.

[0089] In this embodiment, the second vision module 240 can be moved to the position for taking pictures of the equipotential sheet 121 via the fourth guide rail structure 224, and can avoid the first vision module 230 by the fourth guide rail structure 224, thereby reducing mutual interference with the first vision module 230. For example, the fourth guide rail structure 224 allows the second vision module 240 to move a distance around the central axis in the vertical direction, for example, around the thickness direction of the carrier plate 211, for example, along the Y direction in the figure. This facilitates continuous detection and avoidance of the battery 100 entering the detection station 201, thereby improving the weld detection efficiency and increasing the success rate of the second vision module 240 avoiding the battery 100.

[0090] In some embodiments, the bracket 220 is provided with a fifth guide rail structure 225, the extension direction of which intersects the extension direction of the fourth guide rail structure 224 and the direction from the entrance 202 to the exit 203. The fifth guide rail structure 225 is slidably connected to the fourth guide rail structure 224, and the second mounting base is slidably connected to the fifth guide rail structure 225. For example, the fifth guide rail structure 225 extends along a first direction X parallel to the carrier plate 211, and the first direction X intersects perpendicularly with the second direction Y. The fifth guide rail structure 225 can be slidably connected to the fourth guide rail structure 224 via a slide structure, so that the fifth guide rail structure 225 can move relative to the fourth guide rail structure 224 along the extension direction Y of the fourth guide rail structure 224. The corresponding slide structure can be driven by belt drive, ball screw drive, or other means. In addition, the movement of the second vision module 240 relative to the fifth guide rail structure can be driven by a ball screw mechanism, thereby improving the positional accuracy.

[0091] In this embodiment, the second vision module 240 can be adjusted to a suitable shooting distance by means of the fifth guide rail structure 225 to be positioned close to or away from the battery 100 on the side of the battery 100. For example, the second vision camera 241 can be moved to the side of the carrier plate 211 in the thickness direction via the fifth guide rail structure 225, which helps to keep the battery 100 within the focal length range of the second vision module 240 and improves the imaging accuracy of the second vision module 240.

[0092] Among them, at least one of the first guide rail structure 221, the second guide rail structure 222, the third guide rail structure 223, the fourth guide rail structure 224, and the fifth guide rail structure 225 can be configured to set an origin sensor at the start of the stroke, a limit block and a limit sensor at the end of the stroke, which is beneficial to obtaining the position information of the start of the stroke and the end of the stroke, and to limit the speed of the corresponding sliding structure at the end position by the limit block.

[0093] In some implementations, refer to Figure 10 The weld inspection device 200 may further include a processor, which is electrically connected to the first vision module 230 and the second vision module 240, respectively. The processor then uses existing image recognition algorithms to identify whether the corresponding weld meets the requirements based on the images acquired by the first vision module 230 and the second vision module 240. Alternatively, the weld inspection device 200 may not include the processor, allowing experienced operators to identify the weld's compliance based on the images acquired by the first vision module 230 and the second vision module 240.

[0094] The processor can be configured as a host computer and a slave device. The host computer can be understood as a computer system with strong computing and data processing capabilities. It can be configured to handle complex algorithms, perform long-term data storage, and provide a graphical user interface. Host computers include, but are not limited to, personal computers, industrial computers, or servers. The slave device is typically a device or controller directly connected to sensors, actuators, and other hardware in the control system. Slave device hardware typically includes microcontrollers, PLCs (Programmable Logic Controllers), embedded control boards, etc. The processor can use existing image recognition algorithms to identify whether the corresponding weld seam meets the requirements. Specifically, this identification can be performed by the host computer. Alternatively, the processor (which can be the host computer) can be trained to create a recognition model for identifying whether the corresponding weld seam meets the requirements.

[0095] In some implementations, refer to Figure 10 The aforementioned load sensor 213, height detection device 250, and lifting drive mechanism 212 can also be connected through the aforementioned processor, thereby facilitating the modification of the correspondence between the sensing signals of the load sensor 213, the sensing signals of the height detection device 250, and the drive signals of the lifting drive mechanism 212 via the processor.

[0096] In some implementations, refer to Figure 10 The aforementioned grating assembly 270 and blocking assembly 280 can be electrically connected to the processor. The processor can be configured to drive or stop the first vision module 230, the second vision module 240, and their corresponding drive mechanisms of the weld inspection device 200 based on the input signal from the grating assembly 270. The processor can also be configured to cause the blocking assembly 280 to block the battery 100 based on a preset correspondence such as a preset rhythm, the sensing signal from the carrying sensor 213, or the completion signal of the previous weld inspection.

[0097] In some implementations, refer to Figure 10The weld inspection equipment 200 may also include command input devices such as an emergency stop button, a mouse, a touch screen, and a card reader, as well as signal output devices such as a display and a buzzer. The processor can be configured to stop the first vision module 230, the second vision module 240, and their corresponding drive mechanisms based on the input signal from the emergency stop button. The processor can also be configured to acquire corresponding preset control commands, preset correspondences, and product information of the corresponding battery 100 based on input information from the mouse, touch screen, or card reader. The processor can also be configured to display the weld inspection results on the display and output abnormal signals via the buzzer.

[0098] In some embodiments, the processor is configured to receive a request signal from the upstream station requesting the battery 100 to enter the inspection station 201, and according to the request signal, to shield the grating assembly 270 at the entrance 202 (which can be understood as not receiving the detection signal of the grating assembly 270, or not responding to the detection signal of the grating assembly 270), and the battery 100 enters the inspection station 201 through the entrance 202; wherein, the battery 100 can enter the inspection station 201 through a tray.

[0099] The processor can also be configured to block the blocking component 280 according to the above request signal or according to the previous weld inspection completion signal. Specifically, the blocking component 280 can be blocked by extending the blocking body into the inspection station 201 along the thickness direction of the carrier plate 211 to block the battery 100, thereby restricting the battery 100 from continuing to be transported downstream.

[0100] The processor can also be configured to confirm that the battery 100 has moved to a set position on the carrier plate 211 based on the sensing signal of at least one of the load sensor 213 and the height detection device 250, and to cancel the shielding of the grating assembly 270 at the entrance 202 and drive the lifting drive mechanism 212 to raise the battery 100; the processor can also be configured to confirm that the battery 100 has risen to a set height based on the sensing signal of the height detection device 250.

[0101] The processor can also be configured to drive at least one of the drive mechanisms corresponding to the first guide rail structure 221 and the second guide rail structure 222 when the battery 100 rises to a set height, thereby causing the first vision camera 231 to move along a preset busbar detection trajectory, such as moving around the thickness direction of the carrier plate 211; the processor can also be configured to drive the drive mechanism corresponding to the third guide rail structure 223 when the battery 100 rises to a set height and a preset timing sequence, thereby reaching a suitable imaging position for easy imaging.

[0102] The weld inspection equipment 200 may also include a code reader; the processor may also be configured to drive the code reader to obtain the identification code (such as a module code in the form of a QR code) on the battery 100 or the corresponding tray of the battery 100 when the battery 100 rises to a set height, thereby obtaining the product information of the battery 100 based on the identification code. Specifically, the information may be obtained by interacting with the server through the communication module included in the weld inspection equipment 200, or by obtaining the product information pre-stored in the weld inspection equipment 200.

[0103] The processor can also be configured to drive the drive mechanism corresponding to the fourth guide rail structure 224 according to the battery 100 rising to a set height, so that the second vision module 240 can acquire the image of the corresponding weld; the processor can also be configured to drive the drive mechanism corresponding to the fifth guide rail structure 225 according to the battery 100 rising to a set height and a preset timing sequence, so as to reach a suitable imaging position for easy imaging.

[0104] The processor can also be configured to confirm that the first vision module 230 and the second vision module 240 have completed image acquisition based on a preset timing sequence or stroke sensors such as encoders; the processor can also be configured to identify whether the corresponding weld meets the requirements based on the completion signal of the above image acquisition, and output the identification completion signal.

[0105] The processor is also configured to, based on the aforementioned identification completion signal and the downstream station's allow-to-discharge signal, shield the grating assembly 270 at the outlet 203 and remove the blocking assembly 280, thereby allowing the battery 100 to be conveyed to the downstream station. The processing device can also be configured to, based on sensing signals from at least one of the load sensor 213, the height detection device 250, and the grating assembly 270 at the outlet 203, remove the shielding of the grating assembly 270 at the outlet 203 and remove the blocking assembly 280 to facilitate the next round of weld inspection.

[0106] Reference Figure 11 This application also proposes a weld inspection method, which includes the following steps: In step S100, the battery 100 is positioned at the testing station 201, with the busbar 111 of the battery 100 on the top surface and the equipotential bonding plate 121 of the battery 100 on the side surface, opposite to the inlet 202 or outlet 203 of the testing station 201. For example, the battery 100 can be supported on the carrier plate 211, for example, by a conveyor line, robotic arm, or other mechanism. Referring to the above paragraph, the side of the battery 100 facing away from the carrier plate 211, which can be understood as the top surface of the battery 100, has at least one busbar weld 101. The busbar welds 101 are arranged around the thickness direction of the carrier plate 211, which can be understood as arranged around the vertical direction. In addition, the battery 100 can have at least one equipotential bonding plate weld 102 on the side of the carrier plate 211 in the thickness direction. In step S200, take a picture of the busbar 111 of the battery 100 along the preset busbar 111 detection trajectory and along the top surface of the battery 100 located in the detection station 201; for example, at least one busbar weld 101 image can be obtained along the direction of the surrounding up and down direction, such as along the direction of the thickness of the surrounding carrier plate 211, for example, it can be obtained by the first vision module 230 mentioned above. Step S300: Take a picture of the equipotential bonding sheet 121 on the side of the battery 100 located in the inspection station 201. This can be understood as obtaining an image of the equipotential bonding sheet weld 102, for example, by using the second vision module 240 mentioned above.

[0107] It is understood that the above steps S200 and S300 can be set to run in parallel to improve efficiency. The above step S300 can also be executed after a certain time from the start of step S200 when the first image is acquired, according to a preset timing relationship or other correspondence. This embodiment does not limit this.

[0108] In this embodiment, the battery 100 can enter and exit the inspection station 201 through the entrance 202 and the exit 203 respectively; the weld inspection method can form a more continuous image of the top surface of the battery 100 by moving along the preset busbar 111 inspection trajectory and taking pictures of the busbar 111, and at the same time, by taking pictures of the equipotential bonding plate 121 on the side of the battery 100, the weld inspection method can inspect the busbar weld 101 and the equipotential bonding plate weld 102 on different surfaces of the battery 100 in parallel; in addition, the weld inspection method can reduce the mutual interference between the imaging device of the busbar 111 and the imaging device of the equipotential bonding plate 121 by moving along the preset busbar 111 inspection trajectory and taking pictures.

[0109] In some implementations, the weld inspection method further includes the following steps: At least two photos obtained by taking pictures of the busbar 111 are stitched together to obtain a surface image of at least a portion of the top surface of the battery 100; wherein, at least two photos obtained by taking pictures of the busbar 111 can be stitched together using an existing image stitching algorithm.

[0110] In this embodiment, the weld inspection method can form a more continuous image of the top surface of the battery 100 by stitching together at least two photos obtained by taking pictures of the busbar 111. This is beneficial to improving efficiency when obtaining a more complete surface image of the battery 100 and increasing the relative position information of the weld.

[0111] In some implementations, the weld inspection method further includes the following steps: Based on the photographs obtained by taking pictures of the busbar 111, the weld of the busbar 111 is divided into a first preset number of weld segments; for example, the busbar weld 101 in the weld image of the busbar 111 is divided according to a preset length value. Obtain the width of each weld segment, for example, by using existing image recognition algorithms; Sort the weld segments according to their width, for example, sorting them from largest to smallest or smallest to largest width. Determine the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold. It can be understood that the first preset sorting position can be understood as the N1th weld segment out of a total of M1 weld segments, where M1 and N1 are positive integers and 1≤N1≤M1. For example, if M1 is 100 and N1 is 10 (or 5, 11, 12, 15, 20, etc.), then N1 can be expressed as M1×10% (or 5%, 11%, 12%, 15%, 20%, etc.).

[0112] At this time, the weld inspection method can determine the qualified status of the busbar weld 101 by acquiring the width of each weld segment, sorting them, and judging the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold, which is conducive to further improving the efficiency of weld inspection.

[0113] In some embodiments, this weld inspection method can be applied to the weld inspection equipment 200 described above. The step of acquiring a second image of the equipotential bonding weld 102 includes: In response to taking pictures of a portion of the busbars 111 along a preset busbar detection trajectory and along the top surface of the battery 100, the device for taking pictures of the equipotential plate 121 moves in a direction intersecting the entrance 202 to the exit 203; for example, in response to the first vision module 230 moving in a first direction X parallel to the carrier plate 211, the second vision module 240 moves in a second direction Y parallel to the carrier plate 211, the second direction Y intersecting the first direction X; it can be understood that after the first vision module 230 moves in the first direction X parallel to the carrier plate 211, the second vision module 240 begins to move in the second direction Y parallel to the carrier plate 211; In response to the device for photographing the equipotential bonding sheet 121 moving along a direction intersecting the entrance 202 to the exit 203, the device photographs the equipotential bonding sheet 121 located on the side of the battery 100 within the inspection station 201; for example, in response to the second vision module 240 moving along the second direction Y, a second image of the equipotential bonding sheet weld 102 is acquired; it can be understood that the second image of the equipotential bonding sheet weld 102 is acquired only after the second vision module 240 moves along the second direction Y, for example, the second vision module 240 moves along the second direction Y to a position corresponding to the aforementioned equipotential bonding sheet weld 102 before acquiring the second image of the equipotential bonding sheet weld 102.

[0114] In this embodiment, the weld inspection method can improve the overall inspection quality by taking pictures of a portion of the busbars 111 along the preset busbar inspection trajectory and along the top surface of the battery 100, moving the device for taking pictures of the equipotential bonding sheet 121 in a direction intersecting the entrance 202 to the exit 203, and taking pictures of the equipotential bonding sheet 121 on the side of the battery 100 located in the inspection station 201 in a sequential response order. This reduces the mutual interference between the imaging devices of the busbars 111 and the imaging devices of the equipotential bonding sheet 121.

[0115] In some implementations, the weld inspection method further includes the following steps: Based on the photograph obtained by taking a picture of the equipotential bonding sheet 121, a preset reference surface of the equipotential bonding sheet 121 is obtained. For example, the preset reference surface is set to be tangent to the surface of the equipotential bonding sheet 121 where the equipotential bonding sheet weld 102 is located. The weld seam in the photograph obtained by taking pictures of the equipotential plate 121 through the segmentation of the preset reference plane is obtained so as to obtain at least one first part below the preset reference plane. It can be understood that each first part below the preset reference plane can be set at intervals. The first height of the first part relative to the preset reference plane can be obtained, specifically through existing image recognition algorithms; Sort the first parts according to their height, for example, sorting them from largest to smallest or smallest to largest according to their height. Determine the relationship between the first height of the first part at the second preset sorting position and the second preset threshold. It can be understood that the second preset sorting position can be understood as the N2th of a total of M2 first parts, where M2 and N2 are positive integers and 1≤N2≤M2. For example, if M2 is 100 and N2 is 10 (or 5, 11, 12, 15, 20, etc.), then N2 can be expressed as M2×10% (or 5%, 11%, 12%, 15%, 20%, etc.).

[0116] In this embodiment, the weld inspection method can determine the qualified status of the equipotential bonding weld 102 by acquiring the first height of each first part, sorting them, and judging the relationship between the first height of the first part at the second preset sorting position and the second preset threshold, which is beneficial to further improve the efficiency of weld inspection.

[0117] In some embodiments, a preset reference plane is used to divide the weld in the photograph obtained by taking pictures of the equipotential bonding plate 121 to obtain at least one second portion higher than the preset reference plane. It can be understood that the second portions higher than the preset reference plane can be set at intervals. The weld detection method further includes the following steps: The second height of the second part relative to the preset reference plane can be obtained, specifically through existing image recognition algorithms; Sort the second parts according to their height, for example, sort them from largest to smallest or smallest to largest according to their height. Determine the relationship between the second height of the second part at the third preset sorting position and the third preset threshold. It can be understood that the third preset sorting position can be understood as the N3rd of a total of M3 second parts, where M3 and N3 are positive integers and 1≤N3≤M3. For example, if M3 is 100 and N3 is 10 (or 5, 11, 12, 15, 20, etc.), then N3 can be expressed as M3×10% (or 5%, 11%, 12%, 15%, 20%, etc.).

[0118] In this embodiment, the weld inspection method can determine the qualified status of the equipotential bonding weld 102 by acquiring the second height of each second part, sorting them, and judging the relationship between the second height of the second part at the third preset sorting position and the third preset threshold, which is beneficial to further improve the efficiency of weld inspection.

[0119] Reference Figures 2 to 10In one embodiment of this application, the weld inspection equipment 200 includes a support 220, a first vision module 230, and a second vision module 240. The support 220 is configured as an inspection station 201 for inspecting the battery 100, and has an inlet 202 and an outlet 203 oppositely arranged for the battery 100 to enter and exit. The first vision module 230 is coupled to the support 220 and includes a first planar imaging camera 2311 and a first stereo imaging camera 2312. The first vision module 230 is used for... The device moves along the preset busbar 111 detection trajectory to take pictures of the busbar 111 of the battery 100 located on top of the battery 100 in the detection station 201; the second vision module 240 is coupled to the bracket 220, and the second vision module 240 includes a second planar imaging camera 2411 and a second stereo imaging camera 2412; the second vision module 240 is located at the entrance 202 or the exit 203, and the second vision module 240 is used to take pictures of the equipotential bonding pad 121 on the side of the battery 100 located in the detection station 201. The bracket 220 is provided with a first guide rail structure 221, which extends along the direction from the entrance 202 to the exit 203. The entrance 202 and the exit 203 are arranged at intervals in the horizontal direction and are respectively connected to the detection station 201. The first vision module 230 includes a first mounting base, and a first planar imaging camera 2311 and a first stereo imaging camera 2312 are respectively mounted on the first mounting base. The first mounting base is connected to the first guide rail structure 221 and can move along the extension direction of the first guide rail structure 221. The bracket 220 is provided with a second guide rail structure 222, the extension direction of which intersects the direction from the entrance 202 to the exit 203, and the extension direction of the second guide rail structure 222 forms an angle with the vertical direction; the second guide rail structure 222 is slidably connected to the first guide rail structure 221, and the first mounting seat is fitted and connected to the second guide rail structure 222, and the first mounting seat can move along the extension direction of the second guide rail structure 222. The bracket 220 is provided with a third guide rail structure 223, the extension direction of which intersects the extension directions of the first guide rail structure 221 and the second guide rail structure 222 respectively; the third guide rail structure 223 is slidably connected to the second guide rail structure 222, and the first mounting seat is slidably connected to the third guide rail structure 223. The two ends of the extension direction of the second guide rail structure 222 are respectively provided with a first guide rail structure 221. The two first guide rail structures 221 are arranged at intervals along the extension direction of the second guide rail structure 222. The two spaced first guide rail structures 221 and the second guide rail structure 222 surround the detection station 201.The bracket 220 is provided with a fourth guide rail structure 224, which is positioned opposite to either the entrance 202 or the exit 203. The extension direction of the fourth guide rail structure 224 intersects the direction from the entrance 202 to the exit 203, and the extension direction of the fourth guide rail structure 224 forms an angle with the vertical direction. The second vision module 240 includes a second mounting base, on which a second planar imaging camera 2411 and a second stereo imaging camera 2412 are respectively mounted. The second mounting base is connected to the fourth guide rail structure 224 and can move along the extension direction of the fourth guide rail structure 224. The bracket 220 is provided with a fifth guide rail structure 225, whose extension direction intersects the extension direction of the fourth guide rail structure 224 and the direction from the entrance 202 to the exit 203. The fifth guide rail structure 225 is slidably connected to the fourth guide rail structure 224, and the second mounting base is slidably connected to the fifth guide rail structure 225. The weld inspection equipment 200 includes a lifting drive mechanism 212, which is disposed opposite to the inspection station 201. The lifting drive mechanism 212 is configured to drive the battery 100 located in the inspection station 201 to lift.

[0120] In one embodiment of this application, the weld inspection method includes the following steps: The battery 100 is positioned at the testing station 201, with the busbar 111 of the battery 100 located on the top surface and the equipotential bonding plate 121 of the battery 100 located on the side and positioned opposite to the entrance 202 or exit 203 of the testing station 201. Take a picture of the battery 100's busbar 111 along the preset busbar 111 detection trajectory and along the top of the battery 100 located in the detection station 201. Take a picture of the equipotential bonding plate 121 on the side of the battery 100 located in the testing station 201.

[0121] The weld inspection method also includes the following steps: At least two photographs obtained by taking pictures of bus 111 are stitched together to obtain a surface image of at least a portion of the top surface of battery 100.

[0122] The weld inspection method also includes the following steps: Based on the photographs obtained by taking pictures of bus 111, the weld of bus 111 is divided into a first preset number of weld segments. Obtain the width of each weld segment; The weld segments are sorted according to their width. Determine the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold.

[0123] The steps of taking a photograph of the equipotential bonding plate 121 on the side of the battery 100 located in the testing station 201 include: In response to taking pictures of a number of busbars 111 along a preset busbar detection trajectory and along the top surface of the battery 100, the device for taking pictures of the equipotential plate 121 moves in a direction intersecting the entrance 202 to the exit 203. In response to the device for taking pictures of the equipotential bonding plate 121 moving along the direction intersecting the entrance 202 to the exit 203, the device takes pictures of the equipotential bonding plate 121 on the side of the battery 100 located in the testing station 201.

[0124] The weld inspection method also includes the following steps: Based on the photograph obtained by taking a picture of the equipotential bonding sheet 121, a preset reference surface of the equipotential bonding sheet 121 is obtained; The weld seam in the photograph obtained by dividing the equipotential plate 121 by a preset reference plane is obtained so as to obtain at least one first part that is lower than the preset reference plane. Obtain the first height of the first part relative to the preset reference plane; Sort the first parts according to their height; Determine the relationship between the first height of the first part located at the second preset sorting position and the second preset threshold.

[0125] The weld inspection method further includes the following steps: The weld seam in the photograph obtained by dividing the equipotential bonding plate 121 by a preset reference plane is obtained by taking pictures of the photograph. Obtain the second height of the second part relative to the preset reference plane; Sort the second parts according to their height; Determine the relationship between the second height of the second part located at the third preset sorting position and the third preset threshold.

[0126] It is understood that the above-mentioned weld inspection method can be applied to the above-mentioned weld inspection equipment 200. The specific structure of the weld inspection equipment 200 is as described in the above-mentioned embodiments. Since this weld inspection method adopts all the technical solutions of all embodiments of the above-mentioned weld inspection equipment 200, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be elaborated here.

[0127] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A weld inspection device, characterized in that, include: A support frame is configured as a testing station for battery testing, and the support frame has an inlet and an outlet oppositely arranged for the battery to enter and exit. A first vision module is coupled to the bracket. The first vision module includes a first planar imaging camera and a first stereo imaging camera. The first vision module is used to move along a preset busbar detection trajectory to take pictures of the busbar of the battery along the top surface of the battery located in the detection station. A second vision module is coupled to the bracket. The second vision module includes a second planar imaging camera and a second stereo imaging camera. The second vision module is located at the entrance or the exit. The second vision module is used to take pictures of the equipotential bonding sheet on the side of the battery located in the inspection station.

2. The weld inspection equipment as described in claim 1, characterized in that, The bracket is provided with a first guide rail structure, which extends along the direction from the entrance to the exit; the entrance and the exit are arranged at intervals in the horizontal direction, and the entrance and the exit are respectively connected to the testing station; The first vision module includes a first mounting base, on which the first planar imaging camera and the first stereo imaging camera are respectively mounted; the first mounting base is connected to the first guide rail structure, and the first mounting base can move along the extension direction of the first guide rail structure.

3. The weld inspection equipment as described in claim 2, characterized in that, The bracket is provided with a second guide rail structure, the extension direction of the second guide rail structure intersects the direction from the entrance to the exit, and the extension direction of the second guide rail structure has an angle with the vertical direction; The second guide rail structure is slidably connected to the first guide rail structure, and the first mounting base is engaged with the second guide rail structure. The first mounting base can move along the extension direction of the second guide rail structure.

4. The weld inspection equipment as described in claim 3, characterized in that, The bracket is provided with a third guide rail structure, the extension direction of which intersects the extension direction of the first guide rail structure and the extension direction of the second guide rail structure respectively. The third guide rail structure is slidably connected to the second guide rail structure, and the first mounting base is slidably connected to the third guide rail structure.

5. The weld inspection equipment as described in claim 4, characterized in that, The first guide structure is provided at both ends of the extension direction of the second guide structure. The two first guide structures are arranged at intervals along the extension direction of the second guide structure. The two spaced-out first guide structures and the second guide structure enclose the detection station.

6. The weld inspection equipment as described in claim 1, characterized in that, The support frame is provided with a fourth guide rail structure, which is arranged opposite to the entrance or the exit; the extension direction of the fourth guide rail structure intersects the direction from the entrance to the exit, and the extension direction of the fourth guide rail structure has an angle with the vertical direction; The second vision module includes a second mounting base, on which the second planar imaging camera and the second stereo imaging camera are respectively mounted; the second mounting base is connected to the fourth guide rail structure, and the second mounting base can move along the extension direction of the fourth guide rail structure.

7. The weld inspection equipment as described in claim 6, characterized in that, The support frame is provided with a fifth guide rail structure, the extension direction of which intersects the extension direction of the fourth guide rail structure and the direction from the entrance to the exit. The fifth guide rail structure is slidably connected to the fourth guide rail structure, and the second mounting base is slidably connected to the fifth guide rail structure.

8. The weld inspection equipment as described in any one of claims 1 to 7, characterized in that, The weld inspection equipment includes a lifting drive mechanism, which is disposed opposite to the inspection station and is configured to drive the battery located within the inspection station to lift.

9. A method for inspecting welds, characterized in that, The weld inspection method includes the following steps: The battery is positioned at the testing station, with the battery's busbar on the top surface and the battery's equipotential bonding pad on the side, opposite to the entrance or exit of the testing station. Take pictures of the battery's busbar along the preset busbar detection trajectory and along the top surface of the battery located in the detection station; Take a picture of the equipotential bonding pad on the side of the battery located in the testing station.

10. The weld inspection method as described in claim 9, characterized in that, The weld inspection method further includes the following steps: At least two photographs obtained by taking pictures of the bus are stitched together to obtain a surface image of at least a portion of the top surface of the battery.

11. The weld inspection method as described in claim 9 or 10, characterized in that, The weld inspection method further includes the following steps: Based on the photographs obtained by taking pictures of the bus, the weld of the bus is divided into a first preset number of weld segments; Obtain the width of each weld segment; The weld segments are sorted according to their widths; Determine the relationship between the width of the weld segment at the first preset sorting position and the first preset threshold.

12. The weld inspection method as described in claim 9 or 10, characterized in that, The step of taking a photograph of the equipotential bonding pad on the side of the battery located within the testing station includes: In response to taking pictures of a portion of the busbars along a preset busbar detection trajectory and along the top surface of the battery, the device for taking pictures of the equipotential sheet moves in a direction intersecting the entrance to the exit. In response to moving the device for photographing the equipotential bonding sheet along a direction intersecting the entrance to the exit, an image is taken of the equipotential bonding sheet on the side of the battery located within the testing station.

13. The weld inspection method as described in claim 9 or 10, characterized in that, The weld inspection method further includes the following steps: Based on the photograph obtained by taking pictures of the equipotential sheet, a preset reference surface of the equipotential sheet is obtained; The weld seam in the photograph obtained by dividing the equipotential sheet by the preset reference plane is obtained to obtain at least one first part that is lower than the preset reference plane; Obtain the first height of the first portion relative to the preset reference plane; Sort the first parts according to their respective heights; Determine the relationship between the first height of the first part located at the second preset sorting position and the second preset threshold.

14. The weld inspection method as described in claim 13, characterized in that, The weld seam in the photograph obtained by taking pictures of the equipotential bonding sheet is divided by a preset reference plane to obtain at least one second part higher than the preset reference plane. The weld seam detection method further includes the following steps: Obtain the second height of the second part relative to the preset reference plane; Sort the second parts according to their respective heights; Determine the relationship between the second height of the second part located at the third preset sorting position and the third preset threshold.

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