Battery cell liquid injection equipment and battery cell liquid injection method

Abstract

The application discloses an electric core liquid injection equipment and method, and relates to the technical field of battery manufacturing. The first camera of the liquid injection needle detection device of the electric core liquid injection equipment is used for taking a picture of the liquid injection needle perpendicular to the axial direction of the liquid injection needle, and a first light path is formed between the first camera and the liquid injection needle; the second camera is used for taking a picture of the liquid injection needle perpendicular to the axial direction of the liquid injection needle, a second light path is formed between the second camera and the liquid injection needle, and an included angle is formed between the ends of the first light path and the second light path close to the liquid injection needle, thereby facilitating the detection of the inclination of the liquid injection needle from different directions; the reflector is located on the second light path, and the reflector is used for reflecting the light from the liquid injection needle to the second camera, so that the end of the second light path away from the liquid injection needle is close to the first light path, and the layout of the first camera and the second camera is more compact.

Description

Technical Field

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

[0002] Power battery systems typically include cells in the form of cylindrical cells, prismatic cells, and pouch cells. After the cell completes its first electrolyte injection and bonding process, it needs to undergo formation processes, followed by a second electrolyte injection.

[0003] In the secondary electrolyte injection process, electrolyte needs to be added to the battery cell by passing an injection needle through a sealing nail. Due to prolonged use, the injection needle may fail; for example, the needle tube or tip may tilt.

[0004] Therefore, before the second injection, in order to avoid the battery cell being damaged and scrapped due to the failure of the injection needle, and to ensure that the second injection needle can successfully penetrate the rubber nail to complete the injection action, the injection needle needs to be tested. Summary of the Invention

[0005] The main purpose of this application is to provide a battery cell liquid injection device and a battery cell liquid injection method, which aims to facilitate the timely detection of liquid injection needle failure.

[0006] To achieve the above objectives, the battery cell liquid injection equipment proposed in this application includes a rotating device, which has at least two sets of liquid injection devices in the rotation direction. Each liquid injection device includes a supporting structure and a set of injection needles spaced apart from the supporting structure. The rotating device is used to rotate the liquid injection devices to at least a first circumferential position and a second circumferential position. The supporting structure is used to load and / or unload the target battery cell at the first circumferential position, and the injection needles are used to move toward the supporting structure at the second circumferential position to inject liquid into the target battery cell. Each set of injection needles includes at least two rows of injection needles, each row arranged along a first direction perpendicular to the rotation axis of the rotating device. Each row of injection needles includes at least two injection needles arranged along a second direction perpendicular to the rotation axis of the rotating device and intersecting the first direction. The battery cell liquid injection equipment also... The device includes an injection needle detection unit, comprising a support structure, a first camera, a second camera, and a reflector. The first camera, second camera, and reflector are respectively mounted on the support structure. For an injection needle in a first circumferential position, the first camera and second camera are used to take pictures in a direction perpendicular to the axial direction of the injection needle. The first camera and second camera can change position along the first direction to take pictures of injection needles in each row. The first camera and second camera can also change position along a second direction to take pictures of each injection needle in each row. A first optical path is formed between the first camera and the injection needle, and a second optical path is formed between the second camera and the injection needle. The reflector is located on the second optical path and is used to reflect the light from the injection needle to the second camera. An angle is formed between the end of the second optical path near the injection needle and the end of the first optical path near the injection needle.

[0007] The battery cell injection device provided in this application can uniformly load and / or unload target battery cells at the first circumferential position during use, thereby reducing the number of external battery cell delivery lines required. Furthermore, while loading and / or unloading target battery cells at the first circumferential position, the injection needle is idle. The first camera and the second camera respectively photograph the injection needle at the first circumferential position, enabling parallel photographing of the target battery cell and loading and / or unloading at the first position. Additionally, since the end of the second optical path near the injection needle forms an angle with the end of the first optical path near the injection needle, the first and second cameras can photograph the injection needle from different directions, facilitating the detection of the injection needle's tilt from different directions. This allows for the detection of the injection needle's tilt even when the tilt direction is consistent with the shooting direction of one of the cameras. Furthermore, the reflector, by reflecting light from the injection needle to the second camera, allows the end of the second optical path away from the injection needle to move closer to the first optical path, shortening the distance between the first and second cameras and enabling a more compact arrangement of the two cameras. In addition, the first camera and the second camera change positions along the first direction to photograph the injection needles in each row, and the photographing actions of the injection needles in each row are connected more quickly; the first camera and the second camera change positions along the second direction, and the photographing actions of each injection needle in each row are connected more quickly, thereby improving the overall detection efficiency.

[0008] Optionally, the injection needle detection device further includes a first light source, which is mounted on a support structure; the first light source is located on one side of the injection needle, and the first camera and the second camera are located on the side of the injection needle facing away from the first light source.

[0009] At this time, the first camera and the second camera are located on the side of the injection needle that is away from the first light source, so that the first light source becomes the backlight of the injection needle, which makes the imaging boundary of the injection needle clearer and is conducive to more accurate detection of the tilt of the injection needle by taking pictures.

[0010] Optionally, the first light source includes a body segment and a first bent segment. The plane containing the length direction of the body segment and the length direction of the first bent segment is perpendicular to the axial direction of the injection needle. The first bent segment is bent toward the injection needle.

[0011] At this time, the first bending section is bent towards the injection needle, and the first light source can increase the emission direction of the light through the body section and the first bending section, ensuring the amount of light reaching the first camera or the second camera, which is beneficial to make the imaging boundary of the injection needle clearer.

[0012] Optionally, the first light source further includes a second bent section, with the first and second bent sections respectively disposed at both ends of the body section; the plane containing the length direction of the body section and the length direction of the second bent section is perpendicular to the axial direction of the injection needle, and the second bent section is bent toward the injection needle.

[0013] At this time, the second bending section is bent towards the injection needle. The first light source can increase the emission direction of the light through the body section and the second bending section, ensuring the amount of light reaching the first or second camera, which is beneficial to make the imaging boundary of the injection needle clearer.

[0014] Optionally, the support structure includes a support body, a longitudinal moving module, and a mounting plate. The longitudinal moving module is mounted on the support body and connected to the mounting plate. The longitudinal moving module is used to move the mounting plate along a first direction. The first camera and the second camera are respectively mounted on the mounting plate.

[0015] At this time, the mounting plate is moved along the first direction by the longitudinal moving module, and the first camera and the second camera can change their positions along the first direction to take pictures of the injection needles in each row. The shooting action of the injection needles in each row is faster, thereby improving the overall detection efficiency.

[0016] Optionally, the support structure further includes a lateral movement module, one of the longitudinal movement module and the lateral movement module is installed on the support body, and the other of the longitudinal movement module and the lateral movement module is connected to the mounting plate. The lateral movement module is used to move the mounting plate along the second direction.

[0017] At this time, the lateral movement module enables the first camera and the second camera to change positions along the second direction, and the shooting actions of each injection needle in each row are connected more quickly, thereby improving the overall detection efficiency.

[0018] Optionally, the support body includes a support base, a propulsion module, and a support plate. The longitudinal movement module is mounted on the support plate. The propulsion module is mounted on the support base and connected to the support plate. The propulsion module is used to extend the support plate outward relative to the support base to propel the first camera and the second camera in a direction close to the injection needle.

[0019] At this time, the propulsion module extends the support plate outward relative to the bracket base, thereby enabling the longitudinal movement module, mounting plate, first camera and second camera to move to the inspection station more quickly.

[0020] Optionally, the support structure further includes a first mounting base, which is movably connected to the mounting plate, and the first camera is mounted on the first mounting base; relative to the mounting plate, the first mounting base can be moved in at least one of a first direction, a second direction, or rotated about a third direction, wherein the third direction is parallel to the axial direction of the injection needle.

[0021] At this time, the first mounting base can move in at least one of the following: along the first direction, along the second direction, or rotate about the third direction, so as to facilitate the adjustment of the position or orientation of the first camera, and the first camera can be quickly aligned with the injection needle through the first optical path.

[0022] Optionally, the support structure further includes a second mounting base, which is movably connected to the mounting plate, and the second camera is mounted on the second mounting base; relative to the mounting plate, the second mounting base can be moved in at least one of a first direction, moved in a second direction, or rotated about a third direction, wherein the third direction is parallel to the axial direction of the injection needle.

[0023] At this time, the second mounting base can move in at least one of the following: along the first direction, along the second direction, or rotate about a third direction, thereby facilitating the adjustment of the position or orientation of the first camera, and the second camera can be quickly aligned with the injection needle through the second optical path.

[0024] Optionally, the injection needle detection device is used to detect at least one row of injection needles, each row of injection needles including at least two injection needles arranged along a second direction, the second direction being perpendicular to the axial direction of the injection needles; the injection needle detection device includes at least two camera groups, each camera group including a first camera and a second camera, each camera group being arranged along the second direction, and each camera group being used to take pictures of different injection needles in the same row.

[0025] At this time, the camera groups are arranged along the second direction, so that the injection needle detection device can take pictures of the injection needle in parallel through at least two camera groups, which helps to improve the overall detection efficiency.

[0026] Optionally, a protective sleeve is provided on the outer side of the injection needle; the protective sleeve can move parallel to the axial direction of the injection needle relative to the injection needle; the injection needle detection device also includes a lifting mechanism, which is used to move the protective sleeve along the axial direction of the injection needle so that the injection needle extends out relative to the protective sleeve.

[0027] At this time, the lifting mechanism can extend the injection needle relative to the protective sleeve through the lifting action, so that the first camera and the second camera can take pictures. In addition, the lifting mechanism can lift the protective sleeve at a relatively consistent height, which can ensure that the part of the injection needle to be photographed is extended, avoiding the problem of missing image information of the injection needle.

[0028] Optionally, the lifting mechanism includes a lifting module and a lifting plate. The lifting module is connected to the lifting plate in a driving manner. The lifting module is used to move the lifting plate along the axial direction of the injection needle. The lifting plate is provided with a first through structure. The solid part of the lifting plate is used to abut against the protective sleeve. The first through structure is used to allow the injection needle to extend into it.

[0029] At this time, the lifting module can lift each protective sleeve in batches through the lifting plate, and the overall lifting speed is relatively fast; in addition, the first through structure can be inserted through the injection needle, thereby avoiding damage to the injection needle by impact from the lifting plate.

[0030] Optionally, the injection needle detection device also includes a second light source, which is mounted on the support structure and located on the side of the injection needle facing the first camera and the second camera.

[0031] At this time, the second light source is located on the side of the injection needle facing the first and second cameras, making the second light source the front light source of the injection needle. Thus, the second light source can provide enough light for the side of the injection needle facing the first and second cameras to take pictures.

[0032] This application also proposes a cell liquid injection method, which is used in a cell liquid injection device. The cell liquid injection device includes a rotating device, and the rotating device has at least two sets of liquid injection devices in the rotation direction. Each liquid injection device includes a supporting structure and a set of liquid injection needles disposed above the supporting structure. Each set of liquid injection needles includes at least two rows of liquid injection needles, and each row of liquid injection needles is arranged along a first direction, which is perpendicular to the rotation axis of the rotating device. Each row of liquid injection needles includes at least two liquid injection needles arranged along a second direction, which is perpendicular to the rotation axis of the rotating device and intersects with the first direction. The cell liquid injection method includes:

[0033] Rotate the injection device to the first circumferential position or the second circumferential position;

[0034] The target battery cell is loaded and / or unloaded at the first circumferential position by a supporting structure.

[0035] The target cell is injected with electrolyte through the injection needle at the second circumferential position;

[0036] In the first circumferential position, the first camera takes a picture of the injection needle in a direction perpendicular to the axial direction of the injection needle, and a first optical path is formed between the first camera and the injection needle;

[0037] At the first circumferential position, the light from the injection needle is reflected to the second camera;

[0038] In the first circumferential position, the second camera takes a picture of the injection needle in a direction perpendicular to the axial direction of the injection needle. A second optical path is formed between the second camera and the injection needle. An angle is formed between the end of the second optical path near the injection needle and the end of the first optical path near the injection needle.

[0039] The first and second cameras are respectively moved along the first direction to photograph the injection needles in each row;

[0040] The first and second cameras are moved to different positions along the second direction to photograph each injection needle in each row.

[0041] The battery cell injection method provided in this application allows for unified loading and / or unloading of target batteries at the first circumferential position, thereby reducing the number of external battery cell delivery lines required. Furthermore, while loading and / or unloading the target batteries at the first circumferential position, the injection needle is idle. The first and second cameras respectively photograph the injection needle at the first circumferential position, enabling parallel photographing of the target batteries and loading / / or unloading at the first position. Additionally, since the end of the second optical path near the injection needle forms an angle with the end of the first optical path near the injection needle, the first and second cameras can photograph the injection needle from different directions, facilitating detection from different angles. The system can detect the tilt of the injection needle even when its tilt direction aligns with the shooting direction of one of the cameras. Furthermore, reflecting light from the injection needle to the second camera allows the end of the second optical path furthest from the injection needle to move closer to the first optical path, thus shortening the distance between the first and second cameras and allowing for a more compact camera arrangement. Additionally, the first and second cameras can change positions along a first direction to capture images of the injection needles in each row, resulting in faster image capture sequences for each row. Furthermore, the first and second cameras can change positions along a second direction, further accelerating the image capture sequences for each injection needle in each row, thereby improving overall detection efficiency.

[0042] Optionally, the axial direction of the injection needle is parallel to the rotation center line of the rotating device, the first direction is parallel to the rotation radius of the rotating device, and the second direction is parallel to the tangent direction of the rotation direction of the rotating device.

[0043] The steps of changing the position of the first camera and the second camera along the second direction to photograph each injection needle in each row include:

[0044] The first camera and the second camera are respectively moved along the second direction to take pictures of each injection needle in each row in sequence;

[0045] The steps of changing the position of the first camera and the second camera along the first direction to photograph the injection needles in each row include:

[0046] After changing the positions of the first camera and the second camera along the second direction to take pictures of each injection needle in each row, the first camera and the second camera are changed along the first direction to take pictures of the injection needles in the next row.

[0047] At this point, after changing the position of the first camera and the second camera along the second direction to take pictures of each injection needle in each row, changing the position of the first camera and the second camera along the first direction to take pictures of the injection needles in the next row can reduce the number of times the first camera and the second camera change position along the first direction; since the first direction is parallel to the rotation radius of the rotating device, this step helps to avoid collisions between the first camera, the second camera and the rotating device.

[0048] Optionally, after the steps of changing the positions of the first camera and the second camera along the second direction to sequentially photograph each injection needle in each row, the steps of changing the positions of the first camera and the second camera along the first direction to photograph the injection needles in the next row include:

[0049] For two adjacent rows of injection needles, the first camera is moved in the forward direction to photograph each injection needle in the first row, and the first camera is moved in the reverse direction to photograph each injection needle in the second row.

[0050] For two adjacent rows of injection needles, the second camera is moved in the forward direction to photograph each injection needle in the first row, and then moved in the reverse direction to photograph each injection needle in the second row.

[0051] At this point, moving the first camera in the opposite direction to photograph each injection needle in the second row, and moving the second camera in the opposite direction to photograph each injection needle in the second row, can reduce the total distance traveled by the first camera and the second camera, thereby improving the shooting efficiency.

[0052] Optionally, the injection needles in the same row include injection needles in at least two subgroups arranged sequentially along the second direction, and the cell injection method includes:

[0053] At least two camera groups are used to photograph the injection needles of each subgroup. Each camera group includes a first camera and a second camera. The camera groups are arranged along the second direction, and the number of camera groups is the same as the number of subgroups of injection needles in the same row.

[0054] At this point, the cell injection method can take pictures of the injection needles of each subgroup in the same row in parallel using at least two sets of cameras, which helps to improve the overall detection efficiency.

[0055] Optionally, the cell electrolyte filling method also includes:

[0056] The injection device is rotated to at least one of the third, fourth, and fifth circumferential positions, with the first, third, second, fourth, and fifth circumferential positions set sequentially along the rotation direction of the rotating device.

[0057] Clean the injection needle at the location during the third week;

[0058] Replenish the injection device with liquid at the fourth lateral position;

[0059] The target cell is injected with electrolyte at the fifth circumferential position using an injection needle.

[0060] At this point, the injection needle is exposed for a relatively long time in the first circumferential position, allowing the cell injection method to clean it promptly in the third circumferential position, which helps prevent contamination of the target cell. Furthermore, the cell injection method can replenish the liquid in the fourth circumferential position, thus providing a larger total injection volume. In addition, the cell injection method can perform at least one of the following actions at the first, third, second, fourth, and fifth circumferential positions: injection needle photography, injection needle cleaning, target cell injection, liquid replenishment of the injection device, and target cell injection, thereby improving the overall efficiency of the cell injection method.

[0061] Optionally, before the steps of changing the position of the first camera and the second camera along the first direction to photograph the injection needles in each row, and changing the position of the first camera and the second camera along the second direction to photograph each injection needle in each row, the cell injection method further includes:

[0062] The first camera and the second camera are moved to preset shooting positions that are opposite to the first circumferential position, respectively.

[0063] Illuminate the injection needle with a light source; and / or,

[0064] After the steps of changing the positions of the first camera and the second camera along a first direction to photograph the injection needles in each row, and changing the positions of the first camera and the second camera along a second direction to photograph each injection needle in each row, the cell injection method further includes:

[0065] The morphological features of the injection needle are obtained based on the images captured by the first camera and the second camera, respectively.

[0066] The test results are output based on the morphological characteristics of the injection needle and preset judgment conditions.

[0067] At this point, before the first and second cameras take pictures, they are moved to preset shooting positions relative to the first circumferential position. This helps avoid collisions between the first and second cameras and the rotating device when no pictures are needed. Based on the images captured by the first and second cameras, the morphological characteristics of the injection needle are obtained, and the detection results are output according to the morphological characteristics of the injection needle and preset judgment conditions, which helps to detect injection needle failures. Attached Figure Description

[0068] 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.

[0069] Figure 1 A top view schematic diagram of an embodiment of the battery cell liquid injection device provided in this application;

[0070] Figure 2 This is a three-dimensional schematic diagram of the injection needle detection device in one embodiment of this application;

[0071] Figure 3 This is a schematic diagram of the injection needle detection device in one embodiment of this application from a top view.

[0072] Figure 4 for Figure 2 A magnified view of a section at point A in the middle;

[0073] Figure 5 for Figure 4 A magnified view of a section at point M;

[0074] Figure 6 for Figure 2 A magnified view of a section at point B in the middle.

[0075] Explanation of icon numbers:

[0076] 100. Injection needle detection device;

[0077] 110. Support structure; 111. Support body; 1111. Support base; 1112. Propulsion module; 1113. Support plate; 1114. Reinforcing rib; 1115. Second through structure; 1116. Propulsion slide rail; 1117. Propulsion power source; 1118. Lead screw; 1119. Nut; 1101. First clearance notch;

[0078] 112. Longitudinal movement module; 1121. Longitudinal guide rail; 1122. Longitudinal power source;

[0079] 113. Mounting plate; 1131. Connecting seat; 1132. Second clearance notch; 1133. Outward protrusion section;

[0080] 114. Lateral movement module; 1141. Lateral guide rail; 1142. Lateral power source;

[0081] 115. First mounting base; 116. Second mounting base; 117. Mirror mount;

[0082] 120. Camera group; 121. First camera; 122. Second camera;

[0083] 130. Reflector;

[0084] 140. First light source; 141. First bending section; 142. Second bending section; 143. Main body section;

[0085] 150. Lifting mechanism; 151. Lifting module; 152. Lifting plate; 1521. First through-hole structure;

[0086] 200. Battery cell electrolyte injection equipment;

[0087] 210. Injection needle; 211. First optical path; 212. Second optical path;

[0088] 220. Protective sleeve; 230. Rotating device.

[0089] 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

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Power battery systems typically include cells in the form of cylindrical cells, prismatic cells, and pouch cells. After the cell completes its first electrolyte injection and bonding process, it needs to undergo formation processes, followed by a second electrolyte injection.

[0094] In the secondary electrolyte injection process, electrolyte needs to be added to the battery cell by penetrating the sealing nail with an injection needle. Due to prolonged use, the injection needle may fail, for example, the needle tube or tip may tilt.

[0095] Therefore, before the second injection, in order to avoid the battery cell being damaged and scrapped due to the failure of the injection needle, and to ensure that the second injection needle can successfully penetrate the rubber nail to complete the injection action, the injection needle needs to be tested.

[0096] Therefore, based on the above considerations, and in order to facilitate timely detection of injection needle failure, this application proposes a battery cell injection device and a battery cell injection method. Specifically, this battery cell injection device and method can detect the tilt of the injection needle from different directions during use.

[0097] The following will explain the battery cell liquid injection equipment and battery cell liquid injection method proposed in this application through specific implementation methods.

[0098] Reference Figure 1 and Figure 2 In one embodiment of this application, the battery cell liquid injection device 200 includes a rotating device 230. The rotating device 230 is provided with at least two sets of liquid injection devices in the rotation direction. Each liquid injection device includes a supporting structure and a set of liquid injection needles 210 spaced apart from the supporting structure. The rotating device 230 is used to rotate the liquid injection device to a first circumferential position and a second circumferential position. The supporting structure is used to feed and / or unload the target battery cell at the first circumferential position. The liquid injection needles 210 are used to move toward the supporting structure at the second circumferential position to inject liquid into the target battery cell.

[0099] In some alternative implementations, refer to Figure 1 The battery cell injection device 200 can be a turret structure, and the rotating device 230 can be the rotating part of the turret. The rotation axis of the rotating device 230 can be aligned with the direction of gravity, and the rotation direction of the rotating device 230 can be parallel to the horizontal plane. The rotation direction of the rotating device 230 can be referenced... Figure 1 The arrows in the figure indicate the direction of rotation. Correspondingly, the supporting structure and a set of corresponding injection needles 210 can be spaced apart along the direction of gravity. This set of injection needles 210 can move along the direction of gravity to inject liquid into the target battery cell below. The supporting structure and the injection needles 210 can be connected to the rotating device 230, so that they can rotate with the rotating device 230. It can be understood that the supporting structure and a set of corresponding injection needles 210 spaced apart from the supporting structure move simultaneously, thereby rotating the injection device to the first circumferential position, the second circumferential position, etc., thereby switching to different work stations. In addition, the rotating device 230 can also rotate the injection device to the third circumferential position, etc. For example, the rotating device 230 can rotate along the direction of the arrows in the figure to switch to the injection needle detection work station, the injection needle cleaning work station, and the liquid replenishment work station, etc. Since cleaning and replenishing the injection needles require a certain amount of time, the injection needle detection station corresponding to the rotating device 230 can be connected to the feeding device for material transfer. For example, the injection needle detection station can be connected to the conveyor line, robotic arm, etc., to carry out the feeding or unloading of the target battery cells.

[0100] Each set of injection needles 210 includes at least two rows of injection needles 210, with each row arranged along a first direction perpendicular to the rotation axis of the rotating device 230; each row of injection needles 210 includes at least two injection needles 210 arranged along a second direction perpendicular to the rotation axis of the rotating device 230 and intersecting the first direction. For example, the axial direction of the injection needles 210 can be set to be parallel to the rotation center line of the rotating device 230, for example, the axial direction of the injection needles 210 and the rotation center line of the rotating device 230 are respectively parallel to the direction of gravity, for example, along... Figure 2 The Z-axis direction is set in the following way: the first direction is parallel to the rotation radius of the rotating device 230, and the second direction is parallel to the tangent direction of the rotation direction of the rotating device 230. This can be understood as the first and second directions being perpendicular. For example, in... Figure 3 In the middle, the cell liquid injection device 200 includes two rows of injection needles 210, each row of injection needles 210 including eight injection needles. Figure 3 Each of the injection needles 210 in one row was labeled.

[0101] The supporting structure is used to support the target battery cell. The target battery cell may include cylindrical cells, prismatic cells, and pouch cells, etc., and the supporting structure may include a tray, bracket, etc. The battery cell liquid injection device 200 can be a device for secondary liquid injection into the target battery cell. The liquid injection needle 210 included in the battery cell liquid injection device 200 is used to move downward above the supporting structure, thereby passing through the sealing nail of the target battery cell to replenish the liquid in the target battery cell.

[0102] Reference Figure 2 and Figure 3 The injection needle detection device 100 includes a support structure 110, a first camera 121, a second camera 122, and a reflector 130. The first camera 121 is mounted on the support structure 110 and is used to take pictures of the injection needle 210 in a direction perpendicular to the axial direction of the injection needle 210. A first optical path 211 is formed between the first camera 121 and the injection needle 210. The second camera 122 is mounted on the support structure 110 and is used to take pictures of the injection needle 210 in a direction perpendicular to the axial direction of the injection needle 210. The second camera 122 and the injection needle 210 are photographed along the axial direction of the injection needle 210. A second optical path 212 is formed between the second camera 122 and the injection needle 210. The end of the second optical path 212 near the injection needle 210 forms an angle with the end of the first optical path 211 near the injection needle 210. A reflector 130 is mounted on the support structure 110 and is located on the second optical path 212. The reflector 130 is used to reflect the light from the injection needle 210 to the second camera 122. In addition, the first camera 121 and the second camera 122 can change their positions along the first direction to photograph the injection needles 210 in each row. The first camera 121 and the second camera 122 can also change their positions along the second direction to photograph each injection needle 210 in each row.

[0103] The support structure 110 can be understood as the mounting base for structures such as the first camera 121, the second camera 122, and the reflector 130. The support structure 110 can be configured as a hollow frame structure or a box structure assembled from plates. The support structure 110 can be equipped with motion mechanisms such as linear slides or multi-degree-of-freedom robotic arms to change the positions of the first camera 121 and the second camera 122 in the first and second directions, respectively. Alternatively, the positions of the first camera 121 and the second camera 122 on the support structure 110 can also be manually changed to achieve the same positional changes in the first and second directions. This embodiment does not impose any limitations on this.

[0104] The first camera 121 and the second camera 122 can each be configured as area scan cameras. The area scan camera's sensor arranges pixels in a matrix, and its sensor directly outputs a frame image after row exposure or frame exposure, thereby reducing the movement requirements of the first camera 121 and the second camera 122 and improving imaging stability. Alternatively, the first camera 121 and the second camera 122 can each be configured as line scan cameras. The line scan camera's sensor typically has only one row (or two to three rows) of pixels. The line scan camera operates similarly to a scanner and performs cyclic exposure on the row pixels. When the first camera 121 and the second camera 122 are configured as line scan cameras, the injection needle detection device 100 can be equipped with a motion mechanism to move the first camera 121 and the second camera 122, thereby facilitating complete imaging of the injection needle 210 by the first camera 121 and the second camera 122.

[0105] On the other hand, in terms of image sensors, the first camera 121 and the second camera 122 can be respectively configured as a CCD camera (CCD, Charge Coupled Device) or a CMOS camera (CMOS, Complementary Metal Oxide Semiconductor).

[0106] Furthermore, the first camera 121 and the second camera 122 can take pictures of the injection needle 210 in different horizontal directions, for example, respectively in... Figure 2 , Figure 3 The injection needle 210 is photographed from different directions in the XY plane, so that the end of the second optical path 212 near the injection needle 210 forms an angle with the end of the first optical path 211 near the injection needle 210, for example... Figure 3 The upper end of the second optical path 212 forms an angle Q with the upper end of the first optical path 211. Wherein, Figure 2 and Figure 3 Only the position of the injection needle 210 is marked to facilitate the demonstration of the first optical path 211 and the second optical path 212.

[0107] In some optional embodiments, the angle Q formed between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210 can be set to greater than or equal to 25 degrees and less than or equal to 155 degrees. This allows the first camera 121 and the second camera 122 to capture images of the injection needle 210 at greater distances, making it easier to detect different positions of the injection needle 210. Furthermore, the angle Q formed between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210 can be set to greater than or equal to 70 degrees and less than or equal to 110 degrees. This further increases the distance between the first camera 121 and the second camera 122 capturing images of the injection needle 210, making it easier to detect different positions of the injection needle 210.

[0108] The first camera 121 and the second camera 122 are mounted on the bracket structure 110, and can be mounted directly or indirectly through other components. The first optical path 211 formed between the first camera 121 and the injection needle 210 can be referenced... Figure 3 The dotted line with a hollow arrowhead in the middle, the second optical path 212 formed between the second camera 122 and the injection needle 210 can be referenced. Figure 3 A dashed line with two hollow arrowheads in the middle.

[0109] Furthermore, the reflector 130 can be a plane mirror or the like. The reflector 130 is mounted on the support structure 110, either directly or indirectly via other components. The reflective surface of the reflector 130 can be parallel to the axial direction of the injection needle 210; for example, the reflective surface of the reflector 130 is parallel to... Figure 2 The reflector 130 is positioned along the Z-axis direction to facilitate the reflection of light from the injection needle 210 to the second camera 122. In some embodiments, the reflector 130 may be fixed relative to the second camera 122, for example, by moving the reflector 130 synchronously with the second camera 122, thereby stabilizing the optical path between the injection needle 210, the reflector 130, and the second camera 122.

[0110] According to the above description, the battery cell injection device in this embodiment can uniformly load and / or unload target batteries at the first circumferential position during use, thereby reducing the number of external battery cell conveying lines required. Furthermore, when loading and / or unloading target batteries at the first circumferential position, the injection needle 210 is idle. The first camera 121 and the second camera 122 respectively photograph the injection needle 210 at the first circumferential position, enabling parallel photographing of the target battery cell and loading and / or unloading at the first position. Moreover, since an angle Q is formed between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210, the first camera 121 and the second camera 122 can photograph the injection needle 210 from different directions, for example... Figure 3 The first camera 121 and the second camera 122 take pictures of the lower left and lower right sides of the injection needle 210, respectively, which facilitates the detection of the tilt of the injection needle 210 from different directions. This allows for the detection of the tilt of the injection needle 210 even when its tilt direction coincides with the shooting direction of one of the cameras. Furthermore, the reflector 130 reflects light from the injection needle 210 to the second camera 122, causing the end of the second optical path 212 away from the injection needle 210 to move closer to the first optical path 211. For example... Figure 3 The lower portion of the second optical path 212 is relatively close to the first optical path 211, which helps to shorten the distance between the first camera 121 and the second camera 122, for example. Figure 3 The close proximity of the first camera 121 and the second camera 122 along the X-axis facilitates a more compact layout. Furthermore, the first camera 121 and the second camera 122 change position along the first direction to capture images of the injection needles 210 in each row, resulting in faster image capture sequences for each row. The first camera 121 and the second camera 122 change position along the second direction, further accelerating the image capture sequences for each injection needle 210 in each row, thereby improving overall detection efficiency.

[0111] Correspondingly, this application also proposes a cell liquid injection method, which can be applied to the cell liquid injection equipment in the embodiments of this application. The cell liquid injection method includes the following steps:

[0112] Step 1: Rotate the injection device to the first circumferential position or the second circumferential position;

[0113] Step 2: The target battery cell is loaded and / or unloaded at the first circumferential position using the supporting structure;

[0114] Step 3: Inject electrolyte into the target cell at the second circumferential position using the injection needle 210;

[0115] Step four, at the first circumferential position, the first camera 121 is positioned perpendicular to the axial direction of the injection needle 210 to take a picture of the injection needle 210. A first optical path 211 is formed between the first camera 121 and the injection needle 210. For example, the first camera 121 is positioned in... Figure 2 , Figure 3 Take photos of the XY plane;

[0116] Step 5: At the first circumferential position, the light from the injection needle 210 is reflected to the second camera 122, for example, by reflection through the aforementioned reflector 130.

[0117] Step six: At the first circumferential position, the second camera 122 is positioned perpendicular to the axial direction of the injection needle 210 to take a picture of the injection needle 210. A second optical path 212 is formed between the second camera 122 and the injection needle 210. For example, the second camera 122 is positioned perpendicular to the axial direction of the injection needle 210. Figure 2 , Figure 3 The XY plane is used to take pictures; in addition, the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210 form the aforementioned included angle Q.

[0118] Step 7: Change the position of the first camera 121 and the second camera 122 along the first direction to take pictures of the injection needles 210 in each row;

[0119] Step 8: Change the position of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row.

[0120] In some embodiments, the step of changing the position of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row (step eight above) includes:

[0121] Sub-step one: The first camera 121 and the second camera 122 are respectively moved along the second direction to take pictures of each injection needle 210 in each row in sequence;

[0122] The steps (step seven above) of changing the position of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in each row include:

[0123] Sub-step two: After changing the position of the first camera 121 and the second camera 122 along the second direction to take pictures of each injection needle 210 in each row (sub-step one above), the first camera 121 and the second camera 122 are changed along the first direction to take pictures of the injection needles 210 in the next row; this can be understood as taking pictures of one row of injection needles 210 first, and then taking pictures of the next row of injection needles 210.

[0124] At this point, after the steps of changing the positions of the first camera 121 and the second camera 122 along the second direction to sequentially photograph each injection needle 210 in each row, changing the positions of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in the next row reduces the number of times the first camera 121 and the second camera 122 change positions along the first direction. Since the first direction is parallel to the rotation radius of the rotating device 230, this step helps to avoid collisions between the first camera 121, the second camera 122, and the rotating device 230. For the above-described cell injection device, in some embodiments, refer to... Figure 2 and Figure 3 The injection needle detection device 100 may further include a first light source 140, which may be a planar light source or the like. The first light source 140 is mounted on the support structure 110, either directly or indirectly via other components. The first light source 140 is located on one side of the injection needle 210, for example, the first light source 140 is located on... Figure 3 The upper side of the injection needle 210; the first camera 121 and the second camera 122 are respectively located on the side of the injection needle 210 away from the first light source 140, for example Figure 3 The first camera 121 and the second camera 122 are located on the lower side of the injection needle 210.

[0125] In this embodiment, the first camera 121 and the second camera 122 are respectively located on the side of the injection needle 210 that is away from the first light source 140, thus making the first light source 140 a backlight for the injection needle 210. This can be understood as the first light source 140 emitting light on the side of the injection needle 210 away from the first camera 121 and the second camera 122, thereby making the imaging boundary of the injection needle 210 clearer and facilitating more accurate detection of the tilt of the injection needle 210 through photography. For example, after taking a picture using the first light source 140, the injection needle 210 appears black in the image, thus facilitating the formation of a clear imaging boundary for the injection needle 210.

[0126] In some implementations, refer to Figure 3 The first light source 140 includes a body segment 143 and a first bent segment 141. The plane containing the length direction of the body segment 143 and the length direction of the first bent segment 141 is perpendicular to the axial direction of the injection needle 210. For example... Figure 3 The length directions of the main body segment 143 and the first bent segment 141 are located in the XY plane, respectively. Furthermore, the first bent segment 141 is bent towards the injection needle 210, which can be understood as the first bent segment 141 and the main body segment 143 jointly surrounding the injection needle 210, for example... Figure 3 The first bending section 141 and the main body section 143 form a semi-enclosed structure for the injection needle 210.

[0127] In this embodiment, the first bent section 141 is bent toward the injection needle 210, and the first light source 140 can increase the emission direction of light through the body section 143 and the first bent section 141, for example... Figure 3 The light rays from the middle body section 143 are emitted downwards, and the light rays from the first bending section 141 are emitted downwards to the right, ensuring that the amount of light reaching the first camera 121 or the second camera 122 is sufficient, which helps to make the imaging boundary of the injection needle 210 clearer.

[0128] In some implementations, refer to Figure 2 and Figure 3 The first light source 140 also includes a second bent section 142. The first bent section 141 and the second bent section 142 are respectively disposed at both ends of the body section 143, for example, the first bent section 141 and the second bent section 142 are respectively disposed at the left and right ends of the body section 143. The plane containing the length direction of the body section 143 and the length direction of the second bent section 142 is perpendicular to the axial direction of the injection needle 210, for example... Figure 3 The length directions of the main body segment 143 and the second bending segment 142 are located in the XY plane, respectively. Furthermore, the second bending segment 142 is bent towards the injection needle 210, which can be understood as the second bending segment 142 and the main body segment 143 jointly surrounding the injection needle 210, for example... Figure 3 The second bending section 142 and the main body section 143 form a semi-enclosed structure for the injection needle 210.

[0129] In this embodiment, the second bent section 142 is bent toward the injection needle 210, and the first light source 140 can increase the emission direction of light through the body section 143 and the second bent section 142, for example... Figure 3 The light rays from the middle body section 143 are emitted downwards, and the light rays from the second bending section 142 are emitted to the lower left, ensuring that the amount of light reaching the first camera 121 or the second camera 122 is sufficient, which helps to make the imaging boundary of the injection needle 210 clearer.

[0130] In some embodiments, referring to the above description, the injection needle detection device 100 is used to detect two rows of injection needles 210, each row of injection needles 210 including at least one injection needle 210, and each row of injection needles 210 is arranged along a first direction, which is perpendicular to the axial direction of the injection needles 210; wherein, the first direction can be referred to as Figure 3 The Y-axis direction in this context can be understood as the arrangement of each injection needle 210 along the Y-axis. (Refer to...) Figure 2The support structure 110 may include a support body 111, a longitudinal movement module 112, and a mounting plate 113. The longitudinal movement module 112 is mounted on the support body 111, specifically by direct mounting or indirect mounting via other components. The longitudinal movement module 112 is connected to the mounting plate 113, including direct and indirect connections. The longitudinal movement module 112 is used to move the mounting plate 113 along a first direction Y. A first camera 121 and a second camera 122 are respectively mounted on the mounting plate 113, including direct and indirect connections. Thus, by mounting the first camera 121 and the second camera 122 on the mounting plate 113, the first camera 121 and the second camera 122 can be used to change their positions along the first direction Y to photograph the injection needles 210 in each row. This can be understood as the first camera 121 and the second camera 122 being able to move along the first direction Y with the mounting plate 113, thereby changing the shooting position.

[0131] In some embodiments, the longitudinal movement module 112 may include a longitudinal guide rail 1121 and a longitudinal power source 1122, which may be a cylinder or a motor. The longitudinal guide rail 1121 extends along a first direction Y and is fixedly connected to the side of the bracket body 111 facing the mounting plate 113, for example, the longitudinal guide rail 1121 is connected to the top side of the bracket body 111; the side of the mounting plate 113 facing the bracket body 111 is slidably connected to the longitudinal guide rail 1121, for example, the bottom side of the mounting plate 113 is slidably connected to the longitudinal guide rail 1121. The longitudinal power source 1122 is installed on the bracket body 111 and is connected to the mounting plate 113. It can be understood that the longitudinal power source 1122 can transmit power to the mounting plate 113. For example, the longitudinal power source 1122 in the form of a cylinder can fix the cylinder shaft to the mounting plate 113. Of course, the longitudinal power source 1122 can also be connected to the mounting plate 113 through a linkage mechanism, etc., so that the longitudinal power source 1122 can make the mounting plate 113 move along the first direction Y.

[0132] In some embodiments, the support body 111 may include a support base 1111, a propulsion module 1112, and a support plate 1113. The longitudinal movement module 112 is mounted on the support plate 1113. The propulsion module 1112 is mounted on the support base 1111 and connected to the support plate 1113. The propulsion module 1112 is used to extend the support plate 1113 outward relative to the support base 1111 to propel the first camera 121 and the second camera 122 in a direction close to the injection needle 210, thereby enabling the longitudinal movement module 112, the mounting plate 113, the first camera 121, and the second camera 122 to move to the shooting position more quickly.

[0133] Among them, reference Figure 2 , Figure 3 and Figure 6 The propulsion module 1112 may include a propulsion slide rail 1116, a propulsion power source 1117, a lead screw 1118, and a nut 1119, wherein the propulsion power source 1117 may be a rotary motor. The propulsion slide rail 1116 extends along the extension direction of the support plate 1113, for example, along the Y-axis direction in the figure. The propulsion slide rail 1116 is fixedly connected to the bracket base 1111, and the side of the support plate 1113 facing the bracket base 1111 is slidably connected to the propulsion slide rail 1116. The propulsion power source 1117 is mounted on the bracket base 1111 and is drive-connected to the lead screw 1118. The lead screw 1118 extends along the extension direction of the support plate 1113, for example, along the Y-axis direction in the figure. The nut 1119 is drive-connected to the lead screw 1118 and fixedly connected to the support plate 1113.

[0134] Correspondingly, the longitudinal guide rail 1121 can be fixedly connected to the side of the support plate 1113 facing the mounting plate 113, and the side of the mounting plate 113 facing the support plate 1113 can be slidably connected to the longitudinal guide rail 1121. The longitudinal power source 1122 is installed on the support plate 1113.

[0135] In the above embodiment, the mounting plate 113 is moved along the first direction by the longitudinal moving module 112, and the first camera 121 and the second camera 122 can change their positions along the first direction Y to capture images of the injection needles 210 in each row. The capturing actions of the injection needles 210 in each row are connected more quickly, thereby improving the overall detection efficiency.

[0136] In this configuration, with the propulsion power source 1117 being a rotary motor and the longitudinal power source 1122 being a cylinder, the support plate 1113, which bears a larger load, moves via the lead screw 1118 and nut 1119, making the overall movement of the support plate 1113 smoother. The mounting plate 113, which bears a smaller load, moves via the longitudinal power source 1122 in the form of a cylinder, thereby facilitating the rapid switching of the shooting positions of the first camera 121 and the second camera 122.

[0137] In some embodiments, the support structure 110 further includes a lateral movement module 114. One of the longitudinal movement module 112 and the lateral movement module 114 is mounted on the support body 111, and the other of the longitudinal movement module 112 and the lateral movement module 114 is connected to the mounting plate 113. The lateral movement module 114 is used to move the mounting plate 113 along a second direction, so that the first camera 121 and the second camera 122 mounted on the mounting plate 113 can be used to change their positions along the second direction X to capture images of each row of injection needles 210.

[0138] In some implementations, refer to Figure 2 and Figure 3 The lateral movement module 114 includes a lateral guide rail 1141 and a lateral power source 1142. The lateral guide rail 1141 extends along the second direction X. The lateral guide rail 1141 is slidably connected to the longitudinal guide rail 1121 and to the mounting plate 113.

[0139] In this configuration, the housing portion of the lateral power source 1142 is slidably connected to the longitudinal guide rail 1121, and the housing portion of the lateral power source 1142 is drive-connected to the power output end of the longitudinal power source 1122. The power output end of the lateral power source 1142 is drive-connected to the mounting plate 113. The lateral power source 1142 is used to move the mounting plate 113 along the second direction X. For example, the lateral power source 1142 can be configured as a linear slide; wherein, the linear slide can include a slide guide rail and a slide base, the slide base and the slide guide rail are slidably connected, and the slide base and the slide guide rail can be driven by a drive device such as a drive motor and a structure such as a lead screw and nut; the slide guide rail can be slidably connected to the aforementioned longitudinal guide rail 1121, and the slide guide rail can be driven by the power output end of the longitudinal power source 1122; in addition, the slide base can be fixedly connected to the aforementioned mounting plate 113.

[0140] In the above embodiment, the lateral movement module 114 enables the first camera 121 and the second camera 122 to change positions along the second direction X, and the shooting actions of each injection needle 210 in each row are connected more quickly, thereby improving the overall detection efficiency.

[0141] In some implementations, refer to Figure 2 and Figure 3 The support structure 110 also includes a first mounting base 115, which is movably connected to the mounting plate 113. The first camera 121 is mounted on the first mounting base 115. Relative to the mounting plate 113, the first mounting base 115 can move in at least one of the following directions: a first direction Y, a second direction X, and a third direction Z, where the third direction Z is parallel to the axial direction of the injection needle 210. For example, the first mounting base 115 can move in the first direction Y, move in the second direction X, and rotate about the third direction Z.

[0142] In this embodiment, the first mounting base 115 can be moved along the first direction Y, moved along the second direction X, and rotated about the third direction Z, thereby facilitating the adjustment of the position or orientation of the first camera 121, which can be quickly aligned with the injection needle 210 through the first optical path 211.

[0143] In some implementations, refer to Figure 2 and Figure 3The bracket structure 110 also includes a second mounting base 116, which is movably connected to the mounting plate 113. The second camera 122 is mounted on the second mounting base 116. Relative to the mounting plate 113, the second mounting base 116 can perform at least one of the following: movement along a first direction Y, movement along a second direction X, and rotation about a third direction Z. For example, the second mounting base 116 can move along the first direction Y, move along the second direction X, and rotate about a third direction Z, respectively.

[0144] In this embodiment, the second mounting base 116 can move along the first direction Y, move along the second direction X, and rotate about the third direction Z, thereby facilitating the adjustment of the position or orientation of the second camera 122, which can be quickly aligned with the injection needle 210 through the second optical path 212.

[0145] In some implementations, refer to Figure 2 and Figure 3 The support structure 110 also includes a mirror mount 117, which is movably connected to the mounting plate 113. The reflector 130 is mounted on the mirror mount 117. Relative to the mounting plate 113, the mirror mount 117 can move in at least one of the following directions: a first direction Y, a second direction X, and a third direction Z. For example, the mirror mount 117 can move in the first direction Y, move in the second direction X, and rotate about the third direction Z.

[0146] In this embodiment, the mirror mount 117 can move along the first direction Y, move along the second direction X, and rotate about the third direction Z, thereby facilitating the adjustment of the position or orientation of the reflector 130, and the second camera 122 can be quickly aligned with the injection needle 210 through the second optical path 212.

[0147] In some embodiments, referring to the above description, the injection needle detection device 100 can be used to detect at least one row of injection needles 210, each row of injection needles 210 including at least two injection needles 210 arranged along the second direction X; referring to Figure 3 The injection needle detection device 100 includes at least two camera groups 120. Each camera group 120 includes the first camera 121 and the second camera 122 described above. The camera groups 120 are arranged along the second direction X, and each camera group 120 is used to take pictures of different injection needles 210 in the same row. The first camera 121 and the second camera 122 in each camera group 120 can be staggered in the second direction X, or the camera groups 120 can be completely separated in the second direction X. This embodiment does not impose any limitations on this.

[0148] In this embodiment, each camera group 120 is arranged along the second direction X, so that the injection needle detection device 100 can take pictures of the injection needle 210 in parallel through at least two camera groups 120, which helps to improve the overall detection efficiency.

[0149] In some embodiments, when the injection needle detection device 100 includes the two sets of camera groups 120 described above, refer to Figure 3 Along the second direction X, the first camera 121 of the first camera group 120, the first camera 121 of the second camera group 120, the second camera 122 of the first camera group 120, and the second camera 122 of the second camera group 120 are arranged sequentially, for example, along... Figure 3 The two camera groups are arranged sequentially from right to left, which improves the compactness of the layout.

[0150] In addition, refer to Figure 3 Along the first direction Y, the second camera 122 of the first camera group 120 is positioned on the side of the first camera 121 of the first camera group 120 facing the injection needle 210, for example, the second camera 122 of the first camera group 120 is positioned higher in the figure; the second camera 122 of the second camera group 120 is positioned on the side of the first camera 121 of the second camera group 120 facing the injection needle 210, for example, the second camera 122 of the second camera group 120 is positioned higher in the figure, so that the distance of the second optical path 212 corresponding to the second camera 122 of each group is shorter, which makes it easier to take pictures through the second optical path 212 by adjusting the relative position and relative orientation of the injection needle 210, the reflector 130 and the second camera 122, thereby improving the adjustment efficiency.

[0151] In some embodiments, the injection needles 210 in the same row include at least two subgroups of injection needles 210 arranged sequentially along a second direction. For example, Figure 3 The top row of injection needles 210 on the central image includes two subgroups of injection needles 210 arranged sequentially along the left-right direction of the image. The four injection needles 210 on the left form one subgroup, and the four injection needles 210 on the right form another subgroup. The number of camera groups 120 is the same as the number of subgroups of the injection needles 210 in the same row, for example... Figure 3 The number of camera groups in the 120-camera group is also set to two.

[0152] Correspondingly, the above-mentioned cell electrolyte injection method includes:

[0153] At least two sets of cameras 120 are used to take pictures of the injection needles 210 of each subgroup.

[0154] At this point, the cell injection method can take pictures of the injection needles 210 of each subgroup in the same row in parallel by at least two sets of camera groups 120, which helps to improve the overall detection efficiency.

[0155] In some embodiments, after the step of changing the position of the first camera 121 and the second camera 122 along the second direction to sequentially photograph each injection needle 210 in each row, the step of changing the position of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in the next row (sub-step two above) includes:

[0156] For two adjacent rows of injection needles, the first camera 121 is moved in the forward direction to photograph each injection needle 210 in the first row, and the first camera 121 is moved in the reverse direction to photograph each injection needle 210 in the second row.

[0157] For two adjacent rows of injection needles 210, the second camera 122 is moved in the forward direction to photograph each injection needle 210 in the first row, and the second camera 122 is moved in the reverse direction to photograph each injection needle 210 in the second row.

[0158] For example, in Figure 3 In this embodiment, the first camera group 120 takes a picture of the first injection needle 210 on the left side of the bottom of the image, while the second camera group 120 takes a picture of the fifth injection needle 210 on the left side of the bottom of the image; then, the first camera group 120 and the second camera group 120 move to the right for the first time, the first camera group 120 takes a picture of the second injection needle 210 on the left side of the bottom of the image, and the second camera group 120 takes a picture of the sixth injection needle 210 on the left side of the bottom of the image; then, the first camera group 120... 0. The second camera group 120 moves to the right for the second time. The first camera group 120 takes a picture of the third injection needle 210 from the left on the lower side of the image, while the second camera group 120 takes a picture of the seventh injection needle 210 from the left on the lower side of the image. Then, the first and second camera groups 120 move to the right for the third time. The first camera group 120 takes a picture of the fourth injection needle 210 from the left on the lower side of the image, while the second camera group 120 takes a picture of the eighth injection needle 210 from the left on the lower side of the image. Thus, the injection needle detection device 100 completes the photographing of a row of injection needles 210 on the lower side of the image.

[0159] Then, the first camera group 120 and the second camera group 120 moved upwards to the same position as... Figure 3 The focus position of the row of injection needles 210 on the upper middle side.

[0160] Following this, the first camera group 120 photographs the fourth injection needle 210 on the upper left of the image, while the second camera group 120 photographs the eighth injection needle 210 on the upper left of the image. Then, the first and second camera groups 120 move to the left for the first time, with the first camera group 120 photographing the third injection needle 210 on the upper left of the image, and the second camera group 120 photographing the seventh injection needle 210 on the upper left of the image. Then, the first and second camera groups 120 move to the left for the second time. The first camera group 120 takes a picture of the second injection needle 210 on the left side of the upper part of the image, while the second camera group 120 takes a picture of the sixth injection needle 210 on the left side of the upper part of the image. Then, the first camera group 120 and the second camera group 120 move to the left for the third time. The first camera group 120 takes a picture of the first injection needle 210 on the left side of the upper part of the image, while the second camera group 120 takes a picture of the fifth injection needle 210 on the left side of the upper part of the image. Thus, the injection needle detection device 100 completes the photographing of a row of injection needles 210 on the upper part of the image.

[0161] In this embodiment, for the lower row of injection needles 210 in the figure, the first camera 121 and the second camera 122 move in the right direction (referred to as the forward direction) to photograph each injection needle 210 in the lower row, and the first camera 121 and the second camera 122 move in the left direction (referred to as the reverse direction) to photograph each injection needle 210 in the upper row.

[0162] As described above, moving the first camera 121 in the opposite direction to photograph each injection needle 210 in the second row, and moving the second camera 122 in the opposite direction to photograph each injection needle 210 in the second row, can reduce the total distance traveled by the first camera 121 and the second camera 122, thereby improving the shooting efficiency.

[0163] In some implementations, refer to Figure 2 and Figure 3 The mounting plate 113 has a second clearance notch 1132 on the side facing the injection needle 210, for example, the second clearance notch 1132 is provided on the upper side of the mounting plate 113 in the figure; along the second direction X, the second clearance notch 1132 is located on the side of the mounting plate 113 facing the first camera 121, for example, on the right side in the figure, for example, the second clearance notch 1132 is located at the upper right corner of the mounting plate 113 in the figure, so that the first camera 121 of the first group of camera groups 120, the first camera 121 of the second group of camera groups 120, the second camera 122 of the first group of camera groups 120, and the second camera 122 of the second group of camera groups 120 are arranged sequentially along the second direction X, and the second camera 122 is located on the side of the first camera 121 facing the injection needle 210 (which can be understood as the first camera 121 being in a position relative to the second camera 122). Figure 3 The upper right corner of the mounting plate 113 is relatively empty, and the second clearance notch 1132 can more fully reduce the weight of the mounting plate 113.

[0164] In some implementations, refer to Figure 2 and Figure 3 The mounting plate 113 has a convex section 1133 on the side facing the injection needle 210, and the reflector 130 is mounted on the convex section 1133. Along the second direction X, the convex section 1133 is located on the side of the mounting plate 113 facing the second camera 122, for example, the convex section 1133 is located at the upper left corner of the figure. Thus, the first camera 121 of the first camera group 120, the first camera 121 of the second camera group 120, the second camera 122 of the first camera group 120, and the second camera 122 of the second camera group 120 are arranged sequentially along the second direction X, and the second camera 122 is located on the side of the first camera 121 facing the injection needle 210 (which can be understood as the second camera 122 being positioned relative to the first camera 121). Figure 3 The upper left corner of the mounting plate 113 is densely packed with components. The protruding section 1133 provides a mounting position for the reflector 130. Furthermore, the solid part of the mounting plate 113 can be reduced by adding only the protruding section 1133, thus reducing the overall weight of the mounting plate 113.

[0165] In some implementations, refer to Figure 2 , Figure 4 and Figure 5 A protective sleeve 220 is fitted around the outside of the injection needle 210, which can be understood as the battery cell injection device 200 including the protective sleeve 220. The protective sleeve 220 can move parallel to the axial direction of the injection needle 210, for example, along the Z-axis direction shown in the figure, relative to the injection needle 210. The injection needle detection device 100 also includes a lifting mechanism 150, which is used to move the protective sleeve 220 along the axial direction Z of the injection needle 210, so that the injection needle 210 extends relative to the protective sleeve 220.

[0166] In this embodiment, the lifting mechanism 150 can extend the injection needle 210 relative to the protective sleeve 220 through the lifting action, so that the first camera 121 and the second camera 122 can take pictures. In addition, the lifting mechanism 150 lifts the protective sleeve 220 at a relatively consistent height, which makes it easy to ensure that the part of the injection needle 210 to be photographed is extended, avoiding the problem of missing image information of the injection needle 210.

[0167] In some implementations, refer to Figure 4 and Figure 5The lifting mechanism 150 includes a lifting module 151 and a lifting plate 152. The lifting module 151 may include a drive motor. The lifting module 151 is connected to the lifting plate 152 via a transmission mechanism, such as a lead screw and nut or a threaded screw and nut. The lifting module 151 is used to move the lifting plate 152 along the axial direction Z of the injection needle 210. The lifting plate 152 is provided with a first through structure 1521, which can be configured as a notch or a through hole. The solid portion of the lifting plate 152 is used to abut against the protective sleeve 220, and the first through structure 1521 is used for the injection needle 210 to extend into.

[0168] In this embodiment, the lifting module 151 can lift each protective sleeve 220 in batches through the lifting plate 152, and the overall lifting speed is relatively fast; in addition, the first through structure 1521 can be inserted through the injection needle 210, thereby avoiding damage to the injection needle 210 by impact from the lifting plate 152.

[0169] In some embodiments, the diameter of the injection needle 210 can be set to be greater than or equal to 0.5 mm and less than or equal to 2 mm, and the diameter of the first through structure 1521 can be set to be greater than or equal to 7 mm and less than or equal to 13 mm, thereby further preventing the injection needle 210 from being damaged by the lifting plate 152.

[0170] In some embodiments, along a direction parallel to the rotation radius of the rotating device 230, the injection needle detection device 100 is located on the side of the injection needle 210 facing away from the rotation axis of the rotating device 230. The rotating device 230 has a clearance space on the side of the injection needle 210 facing away from the injection needle detection device 100, which can be understood as a clearance space behind the injection needle 210. Furthermore, the first camera 121 and the second camera 122 are respectively used to move with the support plate 1113. The first camera 121 and the second camera 122 are used to move through the gap between the injection needle 210 and the target cell and move to the side of the injection needle 210 facing away from the support base 1111, for example, moving into the aforementioned clearance space. The first light source 140 is fixed relative to the lifting plate 152. This fixing can be achieved through direct or indirect connection. The lifting module 151 is used to move the first light source 140 along the axial direction Z of the injection needle 210.

[0171] Understandably, before the injection needle 210 injects liquid into the target battery cell, the injection needle 210 is typically positioned above the target battery cell with a gap between them. In this case, the first camera 121 and the second camera 122 are used to move through the gap between the injection needle 210 and the target battery cell, and to move to the side of the injection needle 210 facing away from the support base 1111. Then, the lifting module 151 moves the first light source 140 along the axial direction Z of the injection needle 210, thereby achieving backlighting. Furthermore, when the first light source 140 is in its retracted state, the protruding part of the injection needle detection device 100 (the part mounted on the support plate 1113) is relatively flat overall. For example, this part occupies less space in the Z-axis direction in the figure, thereby allowing it to pass smoothly through the gap between the injection needle 210 and the target battery cell and reducing unnecessary collisions.

[0172] In some implementations, refer to Figure 2 , Figure 3 and Figure 6 The support plate 1113 has a first clearance notch 1101 on the side facing the propulsion power source 1117. For example, the support plate 1113 in the figure has the first clearance notch 1101 on the lower side. At least part of the lead screw 1118 is accommodated in the first clearance notch 1101, and the nut 1119 is accommodated in the first clearance notch 1101. This makes the extended part of the injection needle detection device 100 (the part installed on the support plate 1113) relatively flat overall. For example, this part occupies less space in the Z-axis direction in the figure, so that it can pass smoothly through the gap between the injection needle 210 and the target cell and reduce unnecessary collisions.

[0173] In some implementations, refer to Figure 2 and Figure 3 The mounting plate 113 is provided with a connecting seat 1131 on the side facing the first camera 121. The connecting seat 1131 can be composed of plates. The connecting seat 1131 is slidably connected to the transverse guide rail 1141. The connecting seat 1131 is located between the first optical path 211 and the second optical path 212, thereby avoiding interference with the first optical path 211 and the second optical path 212, and making the extended part of the injection needle detection device 100 (the part mounted on the support plate 1113) relatively flat overall. For example, this part occupies less space in the Z-axis direction in the figure, so that it can pass smoothly through the gap between the injection needle 210 and the target cell and reduce unnecessary collisions.

[0174] In some embodiments, the injection needle detection device 100 may further include a second light source, which is mounted on the support structure 110 and located on the side of the injection needle 210 facing the first camera 121 and the second camera 122.

[0175] In this embodiment, the second light source is located on the side of the injection needle 210 facing the first camera 121 and the second camera 122, making the second light source the front light source of the injection needle 210. Thus, the second light source can provide sufficient light to the side of the injection needle 210 facing the first camera 121 and the second camera 122 for taking pictures, thereby obtaining a front-lit image, which facilitates the detection of the injection port of the injection needle 210 through the front-lit image.

[0176] In some embodiments, a side plane may be provided on the side wall of the injection needle 210 at the end away from the needle tip, and the clamping device of the cell injection device 200 includes a clamping plane that abuts against the side plane, thereby facilitating the positioning of the injection needle 210.

[0177] In some embodiments, before the steps of changing the positions of the first camera 121 and the second camera 122 along a first direction to photograph the injection needles 210 in each row (step seven above), and changing the positions of the first camera 121 and the second camera 122 along a second direction to photograph each injection needle 210 in each row (step eight above), the cell injection method further includes:

[0178] The first camera 121 and the second camera 122 are respectively moved to preset shooting positions that are relative to the first circumferential position. Specifically, the first camera 121 and the second camera 122 can be moved to preset shooting positions that are relative to the first circumferential position through the aforementioned propulsion module 1112.

[0179] The injection needle 210 is illuminated by a light source, specifically activated based on a signal indicating that the injection needle 210 has reached its first circumferential position; and / or,

[0180] After the steps of changing the positions of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in each row (step seven above), and changing the positions of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row (step eight above), the cell injection method further includes:

[0181] Based on the images captured by the first camera 121 and the second camera 122, the morphological features of the injection needle 210 are obtained. For example, the detection area can be located according to existing image processing algorithms, and the morphological features can be obtained by calculating defects such as blunt needle tip, tilted needle tip, broken needle tip, tilted needle tube, notch in injection port, and burr in injection port within the detection area.

[0182] Based on the morphological characteristics of the injection needle 210 and preset judgment conditions, the test results are output. These results can be uploaded to the PLC and host computer via TCP protocol, and the host computer then feeds back the test results to the MES (Manufacturing Execution System). Furthermore, based on the test results, qualified injection needles 210 can be released for subsequent cleaning, injection, and other processes; unqualified injection needles 210 can be marked with a corresponding non-conformity flag.

[0183] In this embodiment, before the first camera 121 and the second camera 122 take pictures, they are moved to preset shooting positions relative to the first circumferential position. This helps avoid collisions between the first camera 121 and the second camera 122 and the rotating device 230 when the first camera 121 and the second camera 122 do not need to take pictures. The morphological characteristics of the injection needle 210 are obtained from the images captured by the first camera 121 and the second camera 122, respectively. The detection results are output based on the morphological characteristics of the injection needle 210 and preset judgment conditions, which helps to detect failures of the injection needle 210.

[0184] Correspondingly, the cell electrolyte injection method may also include the following steps, which can be understood as the above-mentioned step of irradiating the injection needle 210 with a light source including the following steps:

[0185] The first light source 140 is made to emit light, and the backlight image of the injection needle 210 is acquired by the first camera 121 and the second camera 122 respectively;

[0186] The second light source is made to emit light so as to obtain a front-lit image of the injection needle 210 through the first camera 121 or the second camera 122.

[0187] Regarding the above-mentioned injection needle detection device 100, in some embodiments, refer to... Figure 2 and Figure 3 The support plate 1113 is provided with at least one reinforcing rib 1114, which extends along the extension direction of the support plate 1113, for example, along the Y-axis direction in the figure, thereby improving the load-bearing strength of the support plate 1113. Furthermore, the support plate 1113 is provided with a second through structure 1115, which can be configured as a notch or a through hole. The second through structure 1115 is located on the side of the support plate 1113 facing the injection needle 210, thereby reducing the bending moment caused by the support plate 1113 and its supporting mounting plate 113 after the support plate 1113 extends outward, thus improving the overall reliability of the injection needle detection device 100.

[0188] In the above embodiments, when the injection needle detection device 100 and the cell injection equipment 200 are in use, after the injection needle 210 reaches the detection station, the lifting mechanism 150 can first drive the lifting plate 152 to rise, thereby lifting the protective sleeve 220 and exposing the area of ​​the injection needle 210 to be photographed. After that, the propulsion power source 1117 of the propulsion module 1112 works, and the longitudinal moving module 112, the lateral moving module 114, the mounting plate 113, the first camera 121 and the second camera 122 are moved as a whole to approach the injection needle 210 through the lead screw 1118, the nut 1119 and the support plate 1113, so that the first camera 121 and the second camera 122 reach the photographing station. After that, the lateral moving module 114 can make the first camera 121 and the second camera 122 take pictures of each injection needle 210 in a row in turn. After taking pictures of a row of injection needles 210, the first camera 121 and the second camera 122 are switched to the next row of injection needles 210 by the vertical movement module 112. Then, the first camera 121 and the second camera 122 are taken in turn by the horizontal movement module 114 to take pictures of each injection needle 210 in the row.

[0189] The injection needle inspection device 100 may further include a processor, which may include, but is not limited to, a personal computer, an industrial computer, or a server. This processor can combine existing image processing algorithms to perform image recognition on photos captured by the first camera 121 and the second camera 122, thereby detecting defects in the injection needle 210 such as needle tip tilt, needle tube tilt, blunt needle tip, needle tip breakage, injection port notch, and injection port burrs. Of course, when necessary, a comprehensive inspection of the injection needle 210's appearance can be performed manually using a magnifying glass, measuring tools, and templates. Furthermore, the processor can communicate with a MES (Manufacturing Execution System) to upload the inspection results to the MES system.

[0190] It is understandable that the lighting or extinguishing of the first light source 140 and the second light source, and the taking of pictures by the first camera 121 and the second camera 122, can be triggered by the processor based on the arrival signal of the injection needle 210.

[0191] In some embodiments, the cell electrolyte injection method further includes:

[0192] The injection device is rotated to at least one of the third, fourth, and fifth circumferential positions, wherein the first, third, second, fourth, and fifth circumferential positions are sequentially arranged along the rotation direction of the rotating device; wherein the first, second, third, fourth, and fifth circumferential positions can be respectively referenced Figure 1 Positions P1, P2, P3, P4, and P5 are shown in the diagram. These can be understood as the corresponding cell electrolyte injection equipment comprising multiple injection stations (corresponding to multiple second circumferential positions P2 and fifth circumferential positions P5).

[0193] In the third week, the injection needle 210 at position P3 is cleaned, for example by wiping or removing dust by blowing air.

[0194] In the fourth week, the liquid injection device is replenished at position P4, which can be understood as replenishing the liquid container corresponding to the liquid injection needle 210, so that liquid can continue to be injected into the target cell through the liquid injection needle 210.

[0195] The target cell is injected with electrolyte at position P5 in the fifth circumferential direction using injection needle 210.

[0196] At this point, the injection needle 210 is exposed for a relatively long time at the first circumferential position P1 (during the waiting period of loading and unloading), which may accumulate a lot of dust. The cell injection method can clean it in time at the third circumferential position P3, which helps to avoid contaminating the target cell with the injection needle 210. In addition, the cell injection method can replenish the liquid at the fourth circumferential position P4, thereby providing a larger total injection volume. Furthermore, the cell injection method can perform at least one of the following at the first circumferential position P1, the third circumferential position P4, the second circumferential position P2, the fourth circumferential position P4, and the fifth circumferential position P5: injection needle photography, injection needle cleaning, target cell injection, liquid replenishment of the injection device, and target cell injection, thereby improving the overall efficiency of the cell injection method.

[0197] In one embodiment, refer to Figures 2 to 6The battery cell liquid injection device 200 includes a rotating device 230. The rotating device 230 has at least two sets of liquid injection devices in the rotation direction. Each liquid injection device includes a supporting structure and a set of liquid injection needles 210 spaced apart from the supporting structure. The rotating device 230 is used to rotate the liquid injection device to at least a first circumferential position and a second circumferential position. The supporting structure is used to load and / or unload the target battery cell at the first circumferential position. The liquid injection needles 210 are used to move toward the supporting structure at the second circumferential position to inject liquid into the target battery cell. Each set of liquid injection needles 210 includes at least two rows of liquid injection needles 210. Each row of liquid injection needles 210 is arranged along a first direction, which is perpendicular to the rotation axis of the rotating device 230. Each row of liquid injection needles 210 includes at least two liquid injection needles 210 arranged along a second direction, which is perpendicular to the rotation axis of the rotating device 230 and intersects with the first direction. The injection needle detection device 100 includes a support structure 110, a first camera 121, a second camera 122, and a reflector 130. The first camera 121 is mounted on the support structure 110 and is used to take pictures of the injection needle 210 in a direction perpendicular to the axial direction of the injection needle 210. A first optical path 211 is formed between the first camera 121 and the injection needle 210. The second camera 122 is mounted on the support structure 110 and is used to take pictures of the injection needle 210 in a direction perpendicular to the axial direction of the injection needle 210. A second optical path 212 is formed between the second camera 122 and the injection needle 210. An angle is formed between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210. The reflector 130 is mounted on the support structure 110 and is located on the second optical path 212. The reflector 130 is used to reflect the light from the injection needle 210 to the second camera 122. The first camera 121 and the second camera 122 can change position along a first direction to photograph the injection needles 210 in each row. The first camera 121 and the second camera 122 can also change position along a second direction to photograph each injection needle 210 in each row. The injection needle detection device 100 also includes a first light source 140, which is mounted on the support structure 110. The first light source 140 is located on one side of the injection needle 210, and the first camera 121 and the second camera 122 are located on the side of the injection needle 210 facing away from the first light source 140. The first light source 140 includes a body section 143 and a first bent section 141. The plane containing the length direction of the body section 143 and the length direction of the first bent section 141 is perpendicular to the axial direction of the injection needle 210. The first bent section 141 is bent towards the injection needle 210. The first light source 140 also includes a second bent section 142. The first bent section 141 and the second bent section 142 are respectively disposed at both ends of the body section 143. The plane containing the length direction of the body section 143 and the length direction of the second bent section 142 is perpendicular to the axial direction of the injection needle 210. The second bent section 142 is bent toward the injection needle 210.The injection needle detection device 100 is used to detect two rows of injection needles 210. Each row of injection needles 210 includes at least one injection needle 210. The injection needles 210 in each row are arranged along a first direction, which is perpendicular to the axial direction of the injection needles 210. The support structure 110 includes a support body 111, a longitudinal moving module 112, and a mounting plate 113. The longitudinal moving module 112 is mounted on the support body 111 and connected to the mounting plate 113. The longitudinal moving module 112 is used to move the mounting plate 113 along the first direction. The first camera 121 and the second camera 122 are respectively mounted on the mounting plate 113. The support structure 110 also includes a lateral movement module 114. One of the longitudinal movement module 112 and the lateral movement module 114 is mounted on the support body 111, and the other of the longitudinal movement module 112 and the lateral movement module 114 is connected to the mounting plate 113. The lateral movement module 114 is used to move the mounting plate 113 along a second direction. The first camera 121 and the second camera 122 are used to change positions along the second direction to capture images of each row of injection needles 210. The support body 111 includes a support base 1111, a propulsion module 1112, and a support plate 1113. The longitudinal movement module 112 is mounted on the support plate 1113. The propulsion module 1112 is mounted on the support base 1111 and connected to the support plate 1113. The propulsion module 1112 is used to extend the support plate 1113 outward relative to the support base 1111 to propel the first camera 121 and the second camera 122 in a direction close to the injection needles 210. The support structure 110 further includes a first mounting base 115, which is movably connected to the mounting plate 113. The first camera 121 is mounted on the first mounting base 115. Relative to the mounting plate 113, the first mounting base 115 can move in at least one of a first direction, move in a second direction, or rotate about a third direction. The second direction is perpendicular to both the first direction and the axial direction of the injection needle 210, and the third direction is parallel to the axial direction of the injection needle 210. The support structure 110 also includes a second mounting base 116, which is movably connected to the mounting plate 113. The second camera 122 is mounted on the second mounting base 116. Relative to the mounting plate 113, the second mounting base 116 can move in at least one of a first direction, move in a second direction, or rotate about a third direction. The support structure 110 also includes a mirror mount, which is movably connected to the mounting plate 113, and a reflector 130 is mounted on the mirror mount. Relative to the mounting plate 113, the mirror mount can move along a first direction Y, move along a second direction X, and rotate about a third direction Z at least once. The injection needle detection device 100 includes at least two camera groups 120, each including a first camera 121 and a second camera 122. Each camera group 120 is arranged along the second direction, and each camera group 120 is used to photograph different injection needles 210 in the same row.A protective sleeve 220 is fitted around the outside of the injection needle 210; the protective sleeve 220 can move parallel to the axial direction of the injection needle 210 relative to the injection needle 210; the injection needle detection device 100 also includes a lifting mechanism 150, which is used to move the protective sleeve 220 along the axial direction of the injection needle 210 so that the injection needle 210 extends out relative to the protective sleeve 220. The lifting mechanism 150 includes a lifting module 151 and a lifting plate 152, the lifting module 151 is convexly connected to the lifting plate 152, the lifting module 151 is used to move the lifting plate 152 along the axial direction of the injection needle 210; the lifting plate 152 is provided with a first through structure 1521, the solid part of the lifting plate 152 is used to abut against the protective sleeve 220, and the first through structure 1521 is used for the injection needle 210 to extend into. The injection needle detection device 100 also includes a second light source, which is mounted on the bracket structure 110 and located on the side of the injection needle 210 facing the first camera 121 and the second camera 122. The side wall of the end of the injection needle 210 away from the needle tip has a side plane, and the clamping device of the battery cell injection equipment 200 includes a clamping plane that abuts against the side plane. The angle between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210 is greater than or equal to 70 degrees and less than or equal to 110 degrees. The first camera 121 and the second camera 122 are respectively used to move with the support plate 1113. The first camera 121 and the second camera 122 are used to move through the gap between the injection needle 210 and the target cell and to the side of the injection needle 210 facing away from the support base 1111. The first light source 140 is fixed relative to the lifting plate 152. The lifting module 151 is used to move the first light source 140 along the axial direction of the injection needle 210. The support plate 1113 is provided with at least one reinforcing rib 1114, which extends along the extension direction of the support plate 1113. The support plate 1113 is provided with a second through structure 1115, which is located on the side of the support plate 1113 facing the injection needle 210. The propulsion module 1112 includes a propulsion slide rail 1116, a propulsion power source 1117, a lead screw 1118, and a nut 1119. The propulsion slide rail 1116 extends along the extension direction of the support plate 1113 and is fixedly connected to the bracket base 1111. The side of the support plate 1113 facing the bracket base 1111 is slidably connected to the propulsion slide rail 1116. The propulsion power source 1117 is installed on the bracket base 1111 and is drivenly connected to the lead screw 1118. The lead screw 1118 extends along the extension direction of the support plate 1113, and the nut 1119 is drivenly connected to the lead screw 1118 and fixedly connected to the support plate 1113.The support plate 1113 has a first clearance notch 1101 on the side facing the propulsion power source 1117. At least a portion of the lead screw 1118 is accommodated in the first clearance notch 1101, and the nut 1119 is accommodated in the first clearance notch 1101. The longitudinal movement module 112 includes a longitudinal guide rail 1121 and a longitudinal power source 1122. The longitudinal guide rail 1121 extends along a first direction and is fixedly connected to the side of the bracket body 111 facing the mounting plate 113. The side of the mounting plate 113 facing the bracket body 111 is slidably connected to the longitudinal guide rail 1121. The longitudinal power source 1122 is mounted on the bracket body 111 and is drively connected to the mounting plate 113. The longitudinal power source 1122 is used to move the mounting plate 113 along the first direction. The longitudinal guide rail 1121 is fixedly connected to the support plate 1113 on the side facing the mounting plate 113. The side of the mounting plate 113 facing the support plate 1113 is slidably connected to the longitudinal guide rail 1121. The longitudinal power source 1122 is mounted on the support plate 1113. The lateral movement module 114 includes a lateral guide rail 1141 and a lateral power source 1142. The lateral guide rail 1141 extends along the second direction and is slidably connected to the longitudinal guide rail 1121 and the mounting plate 113. The housing part of the lateral power source 1142 is slidably connected to the longitudinal guide rail 1121, and the housing part of the lateral power source 1142 is drive-connected to the power output end of the longitudinal power source 1122. The power output end of the lateral power source 1142 is drive-connected to the mounting plate 113. The lateral power source 1142 is used to move the mounting plate 113 along the second direction. A connecting seat 1131 is provided on the side of the mounting plate 113 facing the first camera 121. The connecting seat 1131 is slidably connected to the transverse guide rail 1141 and is located between the first optical path 211 and the second optical path 212. Along the second direction, the first camera 121 of the first camera group 120, the first camera 121 of the second camera group 120, the second camera 122 of the first camera group 120, and the second camera 122 of the second camera group 120 are arranged sequentially. Along the first direction, the second camera 122 of the first camera group 120 is located on the side of the first camera 121 of the first camera group 120 facing the injection needle 210, and the second camera 122 of the second camera group 120 is located on the side of the first camera 121 of the second camera group 120 facing the injection needle 210. A second clearance notch 1132 is provided on the side of the mounting plate 113 facing the injection needle 210; along the second direction, the second clearance notch 1132 is located on the side of the mounting plate 113 facing the first camera 121. The mounting plate 113 has a convex section 1133 on the side facing the injection needle 210, and the reflector 130 is mounted on the convex section 1133; along the second direction, the convex section 1133 is located on the side of the mounting plate 113 facing the second camera 122.The cell liquid injection device 200 includes a rotating device 230, a supporting structure, and an injection needle 210, which are respectively connected to the rotating device 230. Along the radial direction of the rotating device 230, the injection needle detection device 100 is located on the side of the injection needle 210 facing away from the rotation axis of the rotating device 230, and the rotating device 230 is provided with a clearance space on the side of the injection needle 210 facing away from the injection needle detection device 100.

[0198] In one embodiment, the cell liquid injection method is used in a cell liquid injection device, which includes a rotating device 230. The rotating device 230 is provided with at least two sets of liquid injection devices in the rotation direction. Each liquid injection device includes a supporting structure and a set of liquid injection needles 210 disposed above the supporting structure. Each set of liquid injection needles 210 includes at least two rows of liquid injection needles 210. Each row of liquid injection needles 210 is arranged along a first direction, which is parallel to the radial direction of the rotating device 230. Each row of liquid injection needles 210 includes at least two liquid injection needles 210 arranged along a second direction, which is parallel to the tangential direction of the rotation direction of the rotating device 230.

[0199] Cell electrolyte filling methods include:

[0200] Rotate the injection device to the first circumferential position or the second circumferential position;

[0201] The target battery cell is loaded and unloaded at the first circumferential position using a supporting structure.

[0202] The target cell is injected with electrolyte through the injection needle 210 at the second circumferential position;

[0203] In the first circumferential position, the first camera 121 is positioned perpendicular to the axial direction of the injection needle 210 to take a picture of the injection needle 210, and a first optical path 211 is formed between the first camera 121 and the injection needle 210.

[0204] At the first circumferential position, the light from the injection needle 210 is reflected to the second camera 122;

[0205] In the first circumferential position, the second camera 122 is positioned perpendicular to the axial direction of the injection needle 210 to take a picture of the injection needle 210. A second optical path 212 is formed between the second camera 122 and the injection needle 210. An angle is formed between the end of the second optical path 212 near the injection needle 210 and the end of the first optical path 211 near the injection needle 210.

[0206] The first camera 121 and the second camera 122 are respectively moved along the first direction to photograph the injection needles 210 in each row;

[0207] The first camera 121 and the second camera 122 are respectively moved along the second direction to take pictures of each injection needle 210 in each row.

[0208] The axial direction of the injection needle 210 is parallel to the rotation center line of the rotating device 230, the first direction is parallel to the rotation radius of the rotating device 230, and the second direction is parallel to the tangent direction of the rotation direction of the rotating device 230.

[0209] The steps of changing the position of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row include:

[0210] The first camera 121 and the second camera 122 are respectively moved along the second direction to take pictures of each injection needle 210 in each row in sequence;

[0211] The steps of changing the position of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in each row include:

[0212] After the steps of changing the position of the first camera 121 and the second camera 122 along the second direction to sequentially photograph each injection needle 210 in each row, the first camera 121 and the second camera 122 are changed along the first direction to photograph the injection needles 210 in the next row.

[0213] After the steps of changing the positions of the first camera 121 and the second camera 122 along the second direction to sequentially photograph each injection needle 210 in each row, the steps of changing the positions of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in the next row include:

[0214] For two adjacent rows of injection needles 210, the first camera 121 is moved in the forward direction to photograph each injection needle 210 in the first row, and the first camera 121 is moved in the reverse direction to photograph each injection needle 210 in the second row.

[0215] For two adjacent rows of injection needles 210, the second camera 122 is moved in the forward direction to photograph each injection needle 210 in the first row, and the second camera 122 is moved in the reverse direction to photograph each injection needle 210 in the second row.

[0216] The same row of injection needles 210 includes at least two subgroups of injection needles 210 arranged sequentially along the second direction. The cell injection method includes:

[0217] At least two sets of camera groups 120 are used to take pictures of the injection needles 210 of each subgroup. Each camera group 120 includes a first camera 121 and a second camera 122. Each set of camera groups 120 is arranged along the second direction. The number of camera groups 120 is the same as the number of subgroups of injection needles 210 in the same row.

[0218] Cell electrolyte filling methods also include:

[0219] The injection device is rotated to at least one of the third circumferential position, the fourth circumferential position, and the fifth circumferential position, which are sequentially set along the rotation direction of the rotating device 230.

[0220] Clean the injection needle 210 at the position during the third week;

[0221] Replenish the injection device with liquid at the fourth lateral position;

[0222] The target cell is injected with electrolyte at the fifth circumferential position using the injection needle 210.

[0223] Before the steps of changing the positions of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in each row, and changing the positions of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row, the cell injection method further includes:

[0224] The first camera 121 and the second camera 122 are respectively moved to preset shooting positions that are opposite to the first circumferential position;

[0225] Illuminate the injection needle 210 with a light source;

[0226] After the steps of changing the positions of the first camera 121 and the second camera 122 along the first direction to photograph the injection needles 210 in each row, and changing the positions of the first camera 121 and the second camera 122 along the second direction to photograph each injection needle 210 in each row, the cell injection method further includes:

[0227] The morphological features of the injection needle 210 are obtained based on the images captured by the first camera 121 and the second camera 122, respectively.

[0228] The detection results are output based on the morphological characteristics of the injection needle 210 and the preset judgment conditions.

[0229] It is understood that since the above-mentioned cell liquid injection method adopts all the technical solutions of all embodiments of the above-mentioned cell liquid injection equipment, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0230] 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 battery cell electrolyte injection device, characterized in that, The battery cell electrolyte injection device includes a rotating device, which has at least two sets of injection devices in the rotation direction. Each injection device includes a supporting structure and a set of injection needles spaced apart from the supporting structure. The rotating device is at least used to rotate the injection device to a first circumferential position and a second circumferential position. The supporting structure is used to load and / or unload the target battery cell at the first circumferential position, and the injection needles are used to move toward the supporting structure at the second circumferential position to inject electrolyte into the target battery cell. Each group of injection needles includes at least two rows of injection needles, each row of injection needles is arranged along a first direction, the first direction being perpendicular to the rotation axis of the rotating device; each row of injection needles includes at least two injection needles arranged along a second direction, the second direction being perpendicular to the rotation axis of the rotating device and intersecting the first direction; The cell electrolyte injection device further includes an injection needle detection device, which includes a support structure, a first camera, a second camera, and a reflector. The first camera, the second camera, and the reflector are respectively mounted on the support structure. For the injection needle located in the first circumferential position, the first camera and the second camera are respectively used to take pictures in a direction perpendicular to the axial direction of the injection needle. The first camera and the second camera can change their positions along the first direction to take pictures of the injection needles in each row. The first camera and the second camera can also change their positions along the second direction to take pictures of each injection needle in each row. A first optical path is formed between the first camera and the injection needle, and a second optical path is formed between the second camera and the injection needle; a reflector is located on the second optical path, and the reflector is used to reflect the light from the injection needle to the second camera; an angle is formed between the end of the second optical path near the injection needle and the end of the first optical path near the injection needle.

2. The cell electrolyte injection device as described in claim 1, characterized in that, The injection needle detection device further includes a first light source, which is mounted on the bracket structure; the first light source is located on one side of the injection needle, and the first camera and the second camera are respectively located on the side of the injection needle facing away from the first light source.

3. The cell electrolyte injection device as described in claim 2, characterized in that, The first light source includes a body segment and a first bent segment. The plane containing the length direction of the body segment and the length direction of the first bent segment is perpendicular to the axial direction of the injection needle. The first bent segment is bent toward the injection needle.

4. The cell electrolyte injection device as described in claim 3, characterized in that, The first light source further includes a second bent section, and the first bent section and the second bent section are respectively disposed at both ends of the body section; the plane containing the length direction of the body section and the length direction of the second bent section is perpendicular to the axial direction of the injection needle, and the second bent section is bent toward the injection needle.

5. The cell electrolyte injection device as described in any one of claims 1 to 4, characterized in that, The support structure includes a support body, a longitudinal movement module, and a mounting plate. The longitudinal movement module is mounted on the support body and connected to the mounting plate. The longitudinal movement module is used to move the mounting plate along the first direction. The first camera and the second camera are respectively mounted on the mounting plate.

6. The cell electrolyte injection device as described in claim 5, characterized in that, The support structure further includes a lateral movement module. One of the longitudinal movement module and the lateral movement module is installed on the support body, and the other of the longitudinal movement module and the lateral movement module is connected to the mounting plate. The lateral movement module is used to move the mounting plate along the second direction.

7. The cell electrolyte injection device as described in claim 5 or 6, characterized in that, The support body includes a support base, a propulsion module, and a support plate, and the longitudinal movement module is mounted on the support plate; The propulsion module is mounted on the bracket base and connected to the support plate. The propulsion module is used to extend the support plate outward relative to the bracket base to propel the first camera and the second camera in a direction close to the injection needle.

8. The cell electrolyte injection device as described in claim 5 or 6, characterized in that, The bracket structure further includes a first mounting base, which is movably connected to the mounting plate, and the first camera is mounted on the first mounting base; Relative to the mounting plate, the first mounting base is capable of at least one of moving along the first direction, moving along the second direction, and rotating about a third direction, the third direction being parallel to the axial direction of the injection needle.

9. The cell electrolyte injection device as described in claim 5 or 6, characterized in that, The bracket structure further includes a second mounting base, which is movably connected to the mounting plate, and the second camera is mounted on the second mounting base; Relative to the mounting plate, the second mounting base is capable of at least one of moving along the first direction, moving along the second direction, and rotating about a third direction, the third direction being parallel to the axial direction of the injection needle.

10. The cell electrolyte injection device according to any one of claims 1 to 4, characterized in that, The injection needle detection device includes at least two camera groups, each camera group including a first camera and a second camera. Each camera group is arranged along the second direction and is used to take pictures of different injection needles in the same row.

11. The cell electrolyte injection device according to any one of claims 1 to 4, characterized in that, A protective sleeve is fitted over the outside of the injection needle; the protective sleeve can move parallel to the axial direction of the injection needle relative to the injection needle. The injection needle detection device further includes a lifting mechanism, which is used to move the protective sleeve along the axial direction of the injection needle so that the injection needle extends relative to the protective sleeve.

12. The cell electrolyte injection device as described in claim 11, characterized in that, The lifting mechanism includes a lifting module and a lifting plate. The lifting module is connected to the lifting plate in a transmission manner. The lifting module is used to move the lifting plate along the axial direction of the injection needle. The lifting plate is provided with a first through structure, the solid part of the lifting plate is used to abut against the protective sleeve, and the first through structure is used for the injection needle to extend into.

13. The cell electrolyte injection device as described in any one of claims 1 to 4, characterized in that, The injection needle detection device also includes a second light source, which is mounted on the bracket structure and located on the side of the injection needle facing the first camera and the second camera.

14. A method for injecting electrolyte into a battery cell, characterized in that, The cell electrolyte injection method is used in a cell electrolyte injection device, which includes a rotating device. The rotating device has at least two sets of injection devices in the rotation direction. Each injection device includes a supporting structure and a set of injection needles disposed above the supporting structure. Each set of injection needles includes at least two rows of injection needles, and each row of injection needles is arranged along a first direction, which is perpendicular to the rotation axis of the rotating device. Each row of injection needles includes at least two injection needles arranged along a second direction, which is perpendicular to the rotation axis of the rotating device and intersects with the first direction. The cell electrolyte injection method includes: Rotate the injection device to the first circumferential position or the second circumferential position; The target battery cell is loaded and / or unloaded at the first circumferential position using the supporting structure. The target battery cell is injected with liquid through the injection needle at the second circumferential position; At the first circumferential position, the first camera takes a picture of the injection needle in a direction perpendicular to the axial direction of the injection needle, and a first optical path is formed between the first camera and the injection needle. At the first circumferential position, light from the injection needle is reflected to the second camera; At the first circumferential position, the second camera takes a picture of the injection needle in a direction perpendicular to the axial direction of the injection needle. A second optical path is formed between the second camera and the injection needle. An angle is formed between the end of the second optical path near the injection needle and the end of the first optical path near the injection needle. The first camera and the second camera are respectively moved along the first direction to capture images of the injection needles in each row; The first camera and the second camera are respectively moved along the second direction to capture images of each of the injection needles in each row.

15. The cell electrolyte injection method as described in claim 14, characterized in that, The axial direction of the injection needle is parallel to the rotation center line of the rotating device, the first direction is parallel to the rotation radius of the rotating device, and the second direction is parallel to the tangent direction of the rotation direction of the rotating device. The steps of changing the position of the first camera and the second camera along the second direction to capture images of each of the injection needles in each row include: The first camera and the second camera are respectively moved along the second direction to sequentially photograph each of the injection needles in each row; The steps of changing the position of the first camera and the second camera along the first direction to photograph the injection needles in each row include: After the steps of changing the position of the first camera and the second camera along the second direction to sequentially photograph each of the injection needles in each row, the first camera and the second camera are changed along the first direction to photograph the injection needles in the next row.

16. The cell electrolyte injection method as described in claim 15, characterized in that, After the step of sequentially photographing each of the injection needles in each row by changing the positions of the first camera and the second camera along the second direction, the step of photographing the injection needles in the next row by changing the positions of the first camera and the second camera along the first direction includes: For two adjacent rows of injection needles, the first camera is moved in the forward direction to photograph each injection needle in the first row, and the first camera is moved in the reverse direction to photograph each injection needle in the second row. For two adjacent rows of injection needles, the second camera is moved in the forward direction to photograph each of the injection needles in the first row, and the second camera is moved in the reverse direction to photograph each of the injection needles in the second row.

17. The cell electrolyte injection method according to any one of claims 14 to 16, characterized in that, The injection needles in the same row include at least two subgroups of injection needles arranged sequentially along the second direction, and the cell injection method includes: At least two camera groups are used to photograph the injection needles of each subgroup. Each camera group includes a first camera and a second camera. The camera groups are arranged along the second direction. The number of camera groups is the same as the number of subgroups of injection needles in the same row.

18. The cell electrolyte injection method according to any one of claims 14 to 16, characterized in that, The cell electrolyte injection method further includes: The injection device is rotated to at least one of the third circumferential position, the fourth circumferential position, and the fifth circumferential position, wherein the first circumferential position, the third circumferential position, the second circumferential position, the fourth circumferential position, and the fifth circumferential position are sequentially arranged along the rotation direction of the rotating device; Clean the injection needle at the third circumferential position; The injection device is replenished with liquid at the fourth circumferential position; The target battery cell is injected with electrolyte through the injection needle at the fifth circumferential position.

19. The cell electrolyte injection method according to any one of claims 14 to 16, characterized in that, Before the steps of changing the positions of the first camera and the second camera along the first direction to photograph the injection needles in each row, and changing the positions of the first camera and the second camera along the second direction to photograph each injection needle in each row, the cell injection method further includes: The first camera and the second camera are respectively moved to preset shooting positions that are opposite to the first circumferential position; Irradiate the injection needle with a light source; and / or, After the steps of changing the positions of the first camera and the second camera along the first direction to photograph the injection needles in each row, and changing the positions of the first camera and the second camera along the second direction to photograph each injection needle in each row, the cell injection method further includes: The morphological features of the injection needle are obtained based on the images captured by the first camera and the second camera, respectively. The detection results are output based on the morphological characteristics of the injection needle and preset judgment conditions.

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