A full-automatic power battery CT detection device and detection method

Abstract

The application discloses a kind of full-automatic power battery CT detection equipment and detection mode, including tray conveying line system, first mechanical arm, second mechanical arm, CT detection system, defective product battery removal device, third mechanical arm and fourth mechanical arm, tray conveying line system includes first conveying line, second conveying line and third conveying line;First mechanical arm includes first battery transfer unit and first tray transfer unit;CT detection system is used to carry out CT scanning detection to the power battery clamped on the tray above third conveying line;Defective product battery removal device is used to output the defective product power battery that CT scanning detection is unqualified;Fourth mechanical arm includes second battery transfer unit and second tray transfer unit.The application can realize high-speed online full detection, can be from battery feeding, tray clamping, line body circulation, CT scanning detection, to defective product automatic rejection and good product unloading, whole-process high-efficiency automatic detection and automatic circulation tray.

Description

Technical Field

[0001] This invention relates to the field of CT testing equipment technology, and in particular to a fully automated CT testing device and method for power batteries. Background Technology

[0002] After the power battery (such as the blade battery) is manufactured, a product barcode or QR code needs to be affixed. After scanning the code, the internal electrode plates and tabs of the power battery are inspected. Defects in the internal electrode plates and tabs of the power battery cannot be detected by CCD vision equipment, nor can they be disassembled for inspection. Therefore, in the existing technology, CT inspection equipment is usually used to perform CT scan inspection on the inside of the power battery.

[0003] The main technical problems of existing power battery CT testing equipment are: 1) low testing efficiency, unable to match high-speed production lines, requiring shutdown for testing, resulting in slow speed; 2) high risk of missed detection, posing significant safety hazards, relying on manual sampling, which is prone to missed detection; 3) low degree of automation, relying on manual loading and unloading and judgment, which is not only inefficient but also increases labor costs and human error; 4) difficulty in achieving full inspection, limited by efficiency and cost, making it difficult to achieve 100% full inspection of every power battery. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a fully automated power battery CT inspection device to address the shortcomings of the prior art. This power battery CT inspection device can achieve high-speed online full inspection and seamless integration with high-speed mass production lines. It can perform highly efficient automated inspection and automatic pallet transfer throughout the entire process, from battery loading, tray clamping, line transfer, CT scanning inspection, to automatic rejection of defective products and unloading of good products. It is highly efficient and fast. At the same time, the present invention also provides an inspection method for the fully automated power battery CT inspection device.

[0005] To solve the first technical problem mentioned above, the present invention provides a fully automated power battery CT inspection device, comprising: A tray conveyor system includes a first conveyor line, a second conveyor line, and a third conveyor line. Multiple trays for clamping power batteries are respectively arranged on the first conveyor line, the second conveyor line, and the third conveyor line. The first conveyor line, the second conveyor line, and the third conveyor line each have a first end and a second end. The trays can be conveyed from the first end of the first conveyor line, the second conveyor line, or the third conveyor line to the second end. The first robotic arm is mounted above the first conveyor line. The first robotic arm includes a first battery transfer unit and a first tray transfer unit. The first battery transfer unit is used to transfer the power battery to be tested to the tray at the second end of the first conveyor line. The first tray transfer unit is used to transfer the tray containing the power battery at the second end of the first conveyor line to the first end of the second conveyor line. The second robotic arm is mounted above the second end of the second conveyor line and the first end of the third conveyor line, and is used to transfer the tray containing the power battery at the second end of the second conveyor line to the first end of the third conveyor line. A CT inspection system is installed on the outside of the third conveyor line and is used to perform CT scan inspection on the power battery clamped on the tray on the third conveyor line. A defective battery removal device is installed on the lower side of the third conveyor line and is used to output defective power batteries that fail CT scan detection. The third robotic arm, which is installed above the third conveyor line, is used to transfer defective power batteries that fail CT scan inspection or barcode scanning to the defective battery removal device. The fourth robotic arm is mounted above the first conveyor line. The fourth robotic arm includes a second battery transfer unit and a second tray transfer unit. The second tray transfer unit is used to transfer the tray at the second end of the third conveyor line to the first end of the first conveyor line. The second battery transfer unit is used to transfer the power battery on the tray at the first end of the first conveyor line.

[0006] Preferably, the first and fourth robotic arms are arranged back-to-back. The first robotic arm includes a first horizontally arranged crossbeam, and a first linear motor is mounted on the front side of the first crossbeam. The first linear motor includes a first stator, a first mover, and a second mover that cooperate with each other. The first stator is in the same length direction as the first crossbeam. The first mover is located at the left end of the first stator, and the second mover is located at the right end of the first stator. The first battery transfer unit is connected to the first mover, and the first tray transfer unit is connected to the second mover. The fourth robotic arm includes a fourth horizontally arranged crossbeam, and a second linear motor is mounted on the rear side of the fourth crossbeam. The second linear motor includes a second stator, a third mover, and a fourth mover that cooperate with each other. The second stator is in the same length direction as the fourth crossbeam. The third mover is located at the left end of the second stator, and the fourth mover is located at the right end of the second stator. The second battery transfer unit is connected to the third mover, and the second tray transfer unit is connected to the fourth mover.

[0007] Preferably, the tray includes a supporting base plate, a tray body, a corner-pressing cylinder, a first cylinder venting seat, and a second cylinder venting seat. The tray body is mounted on the supporting base plate and can rotate to adjust its angle. The tray body is used to support the power battery. At least two corner-pressing cylinders are provided, respectively installed on the front and rear ends of the tray body. Each corner-pressing cylinder has a corner-rotating pressure arm. In the air-off state, the corner-rotating pressure arm can rotate forward by a set angle and press down on the power battery on the tray body. The first cylinder venting seat is installed on the front end of the tray body, and the first cylinder venting seat is connected to the corner-pressing cylinder at the front end of the tray body via an air pipe. The second cylinder venting seat is installed on... Above the rear end of the pallet body, the second cylinder vent seat is connected to the corner pressing cylinder at the rear end of the pallet body via an air pipe. The first cylinder vent seat and the second cylinder vent seat are also connected via an air pipe. The first cylinder vent seat is provided with a one-way air inlet. When gas is input into the one-way air inlet, the first cylinder vent seat and the second cylinder vent seat can supply air to the corner pressing cylinder through the air pipe. In the air-supplying state, the corner rotating arm can move upward and rotate in the opposite direction at a set angle to clear the power battery. A mechanical vent valve is provided on one side of the second cylinder vent seat. The mechanical vent valve is provided with a control button. When the control button of the mechanical vent valve is pressed, the gas inside the corner pressing cylinder can be released, allowing the corner pressing cylinder to return to the air-off state.

[0008] Preferably, the first conveyor line is provided with a plurality of first support seats from the first end to the second end. Two parallel first longitudinal beams are mounted on the first support seats. First support plates are respectively mounted on opposite sides of the two first longitudinal beams. A first driven wheel is mounted between the first ends of the two first longitudinal beams, and a first driving roller is mounted between the second ends of the two first longitudinal beams. A first conveyor belt is wound around the first driven wheel and the first driving roller. The upper part of the first conveyor belt is slidably placed on the upper side of the first support plate and supported by the first support plate. The lower part of the first conveyor belt is located below the first support plate. The first... A first motor is mounted on the support base. A first transmission mechanism is installed between the power output end of the first motor and the first drive roller. The first motor can drive the first drive roller to rotate through the first transmission mechanism, and then drive the first conveyor belt to move through the first drive roller. The support base plate of the tray can be placed on the first conveyor belt so that the tray can be moved through the first conveyor belt. A first tray ventilation device for venting air into the one-way air inlet of the first cylinder ventilation seat is installed at the first end of the first conveyor line. A first tray venting device for pressing the mechanical venting valve of the second cylinder ventilation seat is installed at the second end of the first conveyor line.

[0009] Preferably, the second conveyor line has a plurality of second support seats from the first end to the second end. Two parallel second longitudinal beams are mounted on the second support seats. A second support plate is installed between the two second longitudinal beams. A second driven roller is installed between the first ends of the two second longitudinal beams, and a second driving roller is installed between the second ends of the two second longitudinal beams. A second conveyor belt is wound around the second driven roller and the second driving roller. The upper part of the second conveyor belt is slidably placed on the upper side of the second support plate and supported by the second support plate. The lower part of the second conveyor belt is located below the second support plate. A second motor is mounted on the second support seat at the second end of the second conveyor line. The power output end of the second motor... A second transmission mechanism is installed between the second motor and the second drive roller. The second motor can drive the second drive roller to rotate through the second transmission mechanism, and then drive the second conveyor belt to move through the second drive roller. Two second pallet limiting strips are respectively installed on the two second longitudinal beams. The two second pallet limiting strips are parallel to each other, and the distance between the two second pallet limiting strips matches the front and rear width of the pallet's support base plate. The pallet's support base plate can be placed on the second conveyor belt so that the pallet can be moved by the second conveyor belt, and the front and rear positions of the pallet are limited by the two second pallet limiting strips. A barcode scanner bracket is installed on the two second longitudinal beams, and a barcode scanner for scanning the power battery is installed on the barcode scanner bracket.

[0010] Preferably, the third conveyor line includes a first support unit and a second support unit arranged at intervals. The area between the first support unit and the second support unit is a power battery detection section. The first support unit is located at the first end of the third conveyor line, and the second support unit is located at the second end of the third conveyor line. The first support unit is provided with a third bracket, on which two parallel third longitudinal beams are installed. A third support plate is installed between the two third longitudinal beams. The second support unit is provided with a fourth bracket, on which two parallel fourth longitudinal beams are installed. A fourth support plate is installed between the two fourth longitudinal beams. The length direction of the two third longitudinal beams is consistent with the length direction of the two fourth longitudinal beams. A carbon fiber support plate connects the first support unit and the second support unit. The upper side of the carbon fiber support plate is on the same plane as the upper sides of the third support plate and the fourth support plate. A third driven roller is installed between the first ends of the two third longitudinal beams, and a third driving roller is installed between the second ends of the two fourth longitudinal beams. A third conveyor belt is wound around the third driven roller and the third driving roller. The third conveyor belt is slidably placed on the upper side of the third support plate, the fourth support plate, and the carbon fiber support plate, and is supported by the third support plate, the fourth support plate, and the carbon fiber support plate. The lower part of the third conveyor belt is located below the third support plate, the fourth support plate, and the carbon fiber support plate. A third motor is installed on the fourth support base. A third transmission mechanism is installed between the power output end of the third motor and the third drive roller. The third motor can drive the third drive roller to rotate through the third transmission mechanism, and then drive the third conveyor belt to move through the third drive roller. A third pallet limiting strip is installed on each of the two third longitudinal beams. The two third pallet limiting strips are parallel to each other, and the distance between the two third pallet limiting strips matches the front and rear width of the pallet's support base plate. A fourth pallet limiting strip is installed on each of the two fourth longitudinal beams. The two fourth pallet limiting strips are parallel to each other, and the distance between the two fourth pallet limiting strips matches the front and rear width of the pallet's support base plate. The pallet's support base plate can be placed on the third conveyor belt so that the pallet can be moved by the third conveyor belt, and the front and rear positions of the pallet are limited by the two third pallet limiting strips and the two fourth pallet limiting strips.

[0011] Preferably, a second tray ventilation device is installed on the fourth longitudinal beam of the second support unit. The second tray ventilation device includes a second ventilation cylinder. The piston extension rod of the second ventilation cylinder extends upward and is connected to a second ventilation nozzle support arm. A second ventilation nozzle is installed on the second ventilation nozzle support arm. The second ventilation nozzle corresponds vertically to the one-way air inlet of the first cylinder ventilation seat. When the second ventilation cylinder drives the second ventilation nozzle support arm to descend, the second ventilation nozzle is aligned with the one-way air inlet of the first cylinder ventilation seat, so that the corner pressing cylinder is ventilated.

[0012] Preferably, the CT detection system includes a CT detection gantry with a circular detection channel. The power battery detection unit of the third transmission line passes through the center of the circular detection channel. A slewing bearing is installed inside the circular detection channel. The slewing bearing includes an outer support ring and an inner support ring. The outer support ring is fixedly connected to the inner wall of the circular detection channel, and the inner support ring is rotatably installed inside the outer support ring. An annular bracket is connected to one side of the inner support ring. An X-ray emission source is installed at one end of the annular bracket, and an X-ray detector is installed at the other end of the annular bracket. The X-ray emission source and the X-ray detector are positioned opposite each other. The power battery above the power battery detection unit of the third transmission line is located in the area between the X-ray emission source and the X-ray detector. The CT detection gantry is equipped with a support drive device. The power output end of the support drive device is connected to the other side of the inner support ring. The support drive device can drive the inner support ring to rotate, thereby driving the X-ray emission source and the X-ray detector to rotate around the power battery.

[0013] Preferably, the defective battery removal device includes a power battery layered conveying device, and a power battery lifting conveying device is arranged to the side of the power battery layered conveying device; the power battery layered conveying device includes a first support, on which a first power battery conveyor belt assembly and a second power battery conveyor belt assembly are mounted, with the second power battery conveyor belt assembly located below the first power battery conveyor belt assembly; the power battery lifting conveying device includes a second support, on which a conveyor belt lifting device is mounted, and a third power battery conveyor belt assembly is mounted to one side of the conveyor belt lifting device, the conveyor belt lifting device being able to drive the third power battery conveyor belt assembly to rise to a position level with the first power battery conveyor belt assembly, or drive the third power battery conveyor belt assembly to descend to a position level with the second power battery conveyor belt assembly; the third robotic arm is arranged above the defective battery removal device, the third robotic arm being able to transfer defective power batteries that fail CT scan inspection on the third conveyor line to the third power battery conveyor belt assembly, the third power battery conveyor belt assembly then classifies and transfers the defective power batteries to the first power battery conveyor belt assembly or the second power battery conveyor belt assembly.

[0014] To address the second technical problem mentioned above, the present invention provides a detection method for the fully automated power battery CT detection equipment, comprising the following steps: S1. The first battery transfer unit of the first robotic arm transfers the power battery to be tested to the tray at the second end of the first conveyor line, and the first conveyor line controls the tray to clamp the power battery. S2. The first pallet transfer unit of the first robotic arm transfers the pallet containing the power battery at the second end of the first conveyor line to the first end of the second conveyor line; S3. The second conveyor line transports the tray containing the power battery from the first end to the second end of the second conveyor line. During the transport process, the second conveyor line uses a barcode scanning device to scan the power battery. S4. The second robotic arm moves the tray containing the power battery at the second end of the second conveyor line to the first end of the third conveyor line. S5. The third conveyor line moves the tray containing the power battery to the working position of the CT detection system; The S6.CT inspection system performs CT scan inspection on the power battery clamped on the tray on the third conveyor line. After the CT scan inspection, the third conveyor line moves the tray with the power battery clamped to the working position of the third robotic arm. S7. Power battery classification and transfer: (1) If the power battery fails the barcode scan or CT scan test, the third conveyor line controls the tray to release the power battery, and the third robotic arm then transfers the defective power battery that fails the barcode scan or CT scan test to the defective battery removal device. Then the third conveyor line continues to transfer the tray without the power battery to the second end of the third conveyor line; (2) If the power battery passes the barcode scan and CT scan test, the third conveyor line directly transfers the tray with the power battery to the second end of the third conveyor line. S8. The second pallet transfer unit of the fourth robotic arm transfers the pallet at the second end of the third conveyor line to the first end of the first conveyor line, and the first conveyor line controls the pallet to release the power battery; S9. The second battery transfer unit of the fourth robotic arm transfers the power battery on the tray at the first end of the first conveyor line. S10. The first conveyor line transports the tray from the first end of the first conveyor line to the second end, and the tray returns to its initial position.

[0015] The beneficial effects of the present invention are: (1) The present invention can realize high-speed online full inspection and ensure the safety of power batteries. The present invention sets the CT detection system on the outside of the third conveyor line and cooperates with the fully automatic flow, which solves the efficiency bottleneck of traditional offline sampling inspection and truly realizes 100% online full inspection of each power battery. This can thoroughly screen out internal defects such as electrode wrinkles and foreign objects, eliminate safety hazards from the source, and is a key technical guarantee for improving the safety of new energy vehicles; (2) The present invention adopts a conveyor structure with three conveyor lines and four robotic arms to completely decouple the loading, handling, inspection and unloading processes, ensuring that the CT detection equipment can be seamlessly connected to the high-speed mass production line, avoiding the traditional inspection becoming a bottleneck of production capacity; (3) The present invention can realize a high degree of automation of the whole process, greatly reduce costs and increase efficiency. From battery loading, tray clamping, line flow, scanning inspection, to automatic rejection of defective products and unloading of good products, the whole process does not require manual labor. Intervention not only saves high labor costs, but also eliminates collisions and positioning errors caused by manual handling, significantly improving the consistency of test results and the overall efficiency of equipment; (4) The present invention adopts a closed-loop circulation of pallets, saving space and cost. The present invention uses the second pallet transfer unit of the fourth robotic arm to accurately return the empty pallet at the end of the third conveyor line to the beginning of the first conveyor line, realizing the automatic closed-loop circulation of pallets. This design does not require an additional empty pallet recycling line, which saves the workshop floor space and reduces the spare parts cost of tooling fixtures; (5) The present invention places the defective product removal device on the lower side of the third conveyor line. The third robotic arm only needs to lower itself for a short stroke to remove defective products; at the same time, the CT detection system is placed on the outside, avoiding interference with the main logistics. This three-dimensional and compact layout significantly improves the space utilization of the CT detection equipment and shortens the movement path of the robotic arm, improving the overall action response speed. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of the present invention.

[0017] Figure 2 This is a top view of the structure of the present invention.

[0018] Figure 3 This is an overall structural diagram of the first and fourth robotic arms.

[0019] Figure 4 This is an overall structural diagram of the first battery transfer unit or the second battery transfer unit.

[0020] Figure 5 This is a schematic diagram of the side structure of the battery clamping device.

[0021] Figure 6 This is an overall structural diagram of the first pallet transfer unit or the second pallet transfer unit.

[0022] Figure 7 This is a schematic diagram of the side structure of the pallet clamping device.

[0023] Figure 8 This is a diagram of the overall structure of the pallet.

[0024] Figure 9 This is a diagram showing the distributed structure of the pallet.

[0025] Figure 10 A schematic diagram of the structure when the power battery is pressed against the tray.

[0026] Figure 11 A schematic diagram of the structure when the power battery is released from the tray.

[0027] Figure 12 This is a diagram showing the overall structure of the first transmission line.

[0028] Figure 13 This is a diagram showing the distributed structure of the first transmission line.

[0029] Figure 14 This is a diagram showing the overall structure of the second transmission line.

[0030] Figure 15 This is a diagram showing the distributed structure of the second transmission line.

[0031] Figure 16 This is a structural diagram of the second robotic arm.

[0032] Figure 17 This is a first-person view of the overall structure of the third conveyor line, CT detection system, and third robotic arm.

[0033] Figure 18 This is a second-view overall structural diagram of the third conveyor line, CT detection system, and third robotic arm.

[0034] Figure 19 This is a diagram of the distributed structure of the third transmission line.

[0035] Figure 20 for Figure 19 A magnified view of part A in the middle.

[0036] Figure 21 This is a first-view overall structural diagram of the CT detection system.

[0037] Figure 22 This is a second-view overall structural diagram of a CT detection system.

[0038] Figure 23 This is a first-view dispersion diagram of the CT detection system.

[0039] Figure 24 This is a second-view dispersion structure diagram of a CT detection system. Detailed Implementation

[0040] The structural and working principles of the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] like Figures 1-24 As shown, the present invention provides a fully automated power battery CT inspection device, including a tray conveyor system, a first robotic arm 5, a second robotic arm 6, a CT inspection system 7, a defective battery removal device 8, a third robotic arm 9, and a fourth robotic arm 10. The tray conveyor system includes a first conveyor line 1, a second conveyor line 2, and a third conveyor line 3. Multiple trays 4 for clamping power batteries 100 are respectively arranged on the first conveyor line 1, the second conveyor line 2, and the third conveyor line 3. The first conveyor line 1, the second conveyor line 2, and the third conveyor line 3 each have a first end and a second end. The tray 4 can be conveyed from the first end of the first conveyor line 1, the second conveyor line 2, or the third conveyor line 3 to the second end; the first robotic arm 5 is mounted above the first conveyor line 1, and the first robotic arm 5 includes a first battery transfer unit 51 and a first tray transfer unit 52. The first battery transfer unit 51 is used to transfer the power battery 100 to be tested onto the tray 4 at the second end of the first conveyor line 1, and the first tray transfer unit 52 is used to transfer the tray 4 containing the power battery 100 at the second end of the first conveyor line 1 onto the first end of the second conveyor line 2; the second robotic arm 5... A robotic arm 6 is mounted above the second end of the second conveyor line 2 and the first end of the third conveyor line 3, used to transfer the tray 4 containing the power battery 100 at the second end of the second conveyor line 2 to the first end of the third conveyor line 3; the CT detection system 7 is mounted on the outside of the third conveyor line 3, used to perform CT scan detection on the power battery 100 clamped on the tray 4 on the third conveyor line 3; the defective battery removal device 8 is mounted on the lower side of the third conveyor line 3, used to output defective power batteries 100 that fail the CT scan detection; the third robotic arm 9 is mounted on the third conveyor line 3. Above line 3, defective power batteries 100 that fail CT scan inspection or barcode scanning are transferred to defective battery removal device 8; the fourth robotic arm 10 is installed above the first conveyor line 1, and the fourth robotic arm 10 includes a second battery transfer unit 101 and a second tray transfer unit 102. The second tray transfer unit 102 is used to transfer the tray 4 at the second end of the third conveyor line 3 to the first end of the first conveyor line 1, and the second battery transfer unit 101 is used to transfer the power batteries 100 on the tray at the first end of the first conveyor line 1 out.

[0042] The detection method of the fully automatic 100CT power battery testing equipment of the present invention includes the following steps: S1. The first battery transfer unit 51 of the first robotic arm 5 transfers the power battery 100 to be tested to the tray 4 at the second end of the first conveyor line 1, and the first conveyor line 1 controls the tray 4 to clamp the power battery 100. S2. The first pallet transfer unit 52 of the first robotic arm 5 transfers the pallet 4 containing the power battery 100 at the second end of the first conveyor line 1 to the first end of the second conveyor line 2. S3. The second conveyor line 2 conveys the tray 4 containing the power battery 100 from the first end to the second end of the second conveyor line 2. During the conveying process, the second conveyor line 2 uses a barcode scanning device to scan the power battery 100. S4. The second robotic arm 6 moves the tray 4 containing the power battery 100 at the second end of the second conveyor line 2 to the first end of the third conveyor line 3. S5. The third conveyor line 3 moves the tray 4 containing the power battery 100 to the working position of the CT detection system 7; S6.CT inspection system 7 performs CT scan inspection on the power battery 100 clamped on the tray 4 on the third conveyor line 3. After the CT scan inspection, the third conveyor line 3 then moves the tray 4 with the power battery 100 clamped on it to the working position of the third robotic arm 9. S7. Classification and transfer of power battery 100: (1) If the barcode scan of power battery 100 is unqualified or the CT scan test is unqualified, then the third conveyor line 3 controls the tray 4 to release the power battery 100, and the third robotic arm 9 then transfers the defective power battery 100 that is unqualified by barcode scan or CT scan test to the defective battery removal device 8. Then the third conveyor line 3 continues to transfer the tray 4 without power battery 100 to the second end of the third conveyor line 3; (2) If the barcode scan of power battery 100 is qualified and the CT scan test is qualified, then the third conveyor line 3 directly transfers the tray 4 with power battery 100 to the second end of the third conveyor line 3. S8. The second pallet transfer unit 102 of the fourth robotic arm 10 transfers the pallet 4 at the second end of the third conveyor line 3 to the first end of the first conveyor line 1, and the first conveyor line 1 controls the pallet 4 to release the power battery 100. S9. The second battery transfer unit 101 of the fourth robotic arm 10 transfers the battery on the tray 4 at the first end of the first conveyor line 1. S10. The first conveyor line 1 transports the tray 4 from the first end of the first conveyor line 1 to the second end, and the tray 4 returns to its initial position.

[0043] This invention enables high-speed online full inspection, ensuring 100% safety of power batteries. By placing the CT inspection system 7 outside the third conveyor line 3 and coordinating with fully automated flow, it overcomes the efficiency bottleneck of traditional offline sampling inspection, truly achieving 100% online full inspection of every power battery. This thoroughly eliminates internal defects such as electrode wrinkles and foreign objects, preventing safety hazards at the source and providing a key technological guarantee for improving the safety of new energy vehicles. The invention employs a conveyor structure with three conveyor lines and four robotic arms, completely decoupling the loading, handling, inspection, and unloading processes. This ensures seamless integration of the CT inspection equipment with high-speed mass production lines, preventing traditional inspection from becoming a bottleneck for production capacity. This invention achieves a high degree of automation throughout the entire process, significantly reducing costs and increasing efficiency. From battery loading, tray clamping, line flow, scanning inspection, to automatic rejection of defective products and unloading of good products, the entire process requires no manual intervention, saving significant time and effort. The high labor costs are eliminated, and the collisions and positioning errors caused by manual handling are eliminated, significantly improving the consistency of test results and the overall efficiency of the equipment. The present invention adopts a closed-loop circulation of pallets 4, saving space and cost. The present invention uses the second pallet transfer unit 102 of the fourth robotic arm 10 to accurately return the empty pallets 4 at the end of the third conveyor line 3 to the beginning of the first conveyor line 1, realizing the automatic closed-loop circulation of pallets 4. This design eliminates the need for an additional empty pallet 4 recycling line, saving workshop space and reducing the cost of spare parts for tooling fixtures. The present invention places the defective product removal device on the lower side of the third conveyor line 3, and the third robotic arm 9 only needs a short stroke to remove defective products. At the same time, the CT detection system 7 is placed on the outside to avoid interference with the main logistics. This three-dimensional and compact layout significantly improves the space utilization of the CT detection equipment, shortens the movement path of the robotic arm, and improves the overall action response speed.

[0044] like Figures 1-3As shown, the first robotic arm 5 and the fourth robotic arm 10 are arranged back to back. The first robotic arm 5 includes a first horizontally arranged crossbeam 53. A first linear motor 54 is mounted on the front side of the first crossbeam 53. The first linear motor 54 includes a first stator 541, a first mover 542, and a second mover 543 that cooperate with each other. The first stator 541 is in the same length direction as the first crossbeam 53. The first mover 542 is located at the left end of the first stator 541, and the second mover 543 is located at the right end of the first stator 541. The first battery transfer unit 51 is connected to the first mover 542, and the first tray transfer unit 52 is connected to the second mover 543. The fourth robotic arm 10 includes a horizontally arranged fourth crossbeam 103. A second linear motor 104 is mounted on the rear side of the fourth crossbeam 103. The second linear motor 104 includes a second stator 1041, a third mover 1042, and a fourth mover 1043 that cooperate with each other. The second stator 1041 is in the same length direction as the fourth crossbeam 103. The third mover 1042 is located at the left end of the second stator 1041, and the fourth mover 1043 is located at the right end of the second stator 1041. The second battery transfer unit 101 is connected to the third mover 1042, and the second tray transfer unit 102 is connected to the fourth mover 1043. The first robotic arm 5 and the fourth robotic arm 10 of this invention both employ a single crossbeam equipped with only one stator, yet simultaneously drive two movers to control the movement of the battery transfer unit and the tray transfer unit, respectively. Compared to the traditional "one-axis, one-drive" scheme, this significantly reduces the number of crossbeams and installation space, lowering the equipment's footprint and manufacturing cost. The left and right movers on the same motor stator of this invention can be independently programmed and controlled, enabling asynchronous or synchronous movements of battery and tray transfer. This characteristic of different speeds on the same track effectively shortens cycle time and avoids waiting. The first and fourth robotic arms are arranged back-to-back, with linear motors mounted on the front and rear sides respectively. This layout naturally separates the working areas of the two robotic arms, avoiding mutual interference during movement and allowing the battery and tray to flow independently on both sides, facilitating assembly line docking. This invention achieves high precision and high dynamic response. The direct drive of the linear motor eliminates backlash and elastic deformation in intermediate transmission links such as lead screws and belts, ensuring high-precision positioning. Simultaneously, the movers can start and stop quickly, significantly improving transfer efficiency.

[0045] like Figures 3-5As shown, the first battery transfer unit 51 and the second battery transfer unit 101 have the same structure. The first battery transfer unit 51 and the second battery transfer unit 101 respectively include a first vertical support plate 511, a first lifting device 512, a first rotating device 513 and a battery clamping device 514. The first vertical support plate 511 is connected to a first mover 542 or a third mover 1042. The first lifting device 512 is installed on the side of the first vertical support plate 511. The first rotating device 513 is installed at the lower end of the first lifting device 512. The battery clamping device 514 is installed at the power output end of the first rotating device 513. The first lifting device 512 can drive the first rotating device 513 and the battery clamping device 514 to rise or fall. The first rotating device 513 can drive the battery clamping device 514 to rotate forward or backward.

[0046] like Figures 3-5As shown, the first lifting device 512 includes a first screw drive mechanism 5121 and a first lifting bracket 5122. The first screw drive mechanism 5121 can drive the first lifting bracket 5122 to rise or fall. The first rotating device 513 is installed at the lower end of the first lifting bracket 5122. The battery clamping device 514 includes a mounting box 5141, a gripper motor 5142, a first synchronous pulley 5143, a second synchronous pulley 5144, a first synchronous belt 5145, a first pusher 5146, a first battery gripper assembly 5147, a second pusher 5148, and a second battery gripper assembly 5149. The upper end of the mounting box 5141 is connected to the power output end of the first rotating device 513. The gripper motor 5142 is mounted outside one end of the mounting box 5141. The first synchronous pulley 5143 is disposed inside one end of the mounting box 5141. The power output end of the gripper motor 5142 is connected to the first synchronous pulley 5143. The second synchronous pulley 5144 is disposed inside the mounting box 5141. Inside the other end of 41, the first synchronous belt 5145 is simultaneously wrapped around the first synchronous pulley 5143 and the second synchronous pulley 5144. The upper part of one end of the first synchronous belt 5145 is connected to the upper end of the first pusher 5146, and the lower end of the first pusher 5146 is connected to the first battery gripper assembly 5147. The lower part of the other end of the first synchronous belt 5145 is connected to the upper end of the second pusher 5148, and the lower end of the second pusher 5148 is connected to the second battery gripper assembly 5149. The gripper motor 5142 can drive the first synchronous belt 5145 to move, and then drive the first battery gripper assembly 5147 and the second battery gripper assembly 5149 to move closer or further apart through the first synchronous belt 5145. A first gripper slide rail 5140 is installed inside the lower end of the mounting box 5141. The length direction of the first gripper slide rail 5140 is parallel to the length direction of the first synchronous belt 5145. The upper end of the first battery gripper assembly 5147 is slidably mounted on one end of the first gripper slide rail 5140, and the upper end of the second battery gripper assembly 5149 is slidably mounted on the other end of the first gripper slide rail 5140. This invention can achieve absolute mechanical synchronization and automatic centering. Utilizing the reverse motion characteristics of the upper and lower sides of the same synchronous belt, this invention can drive two grippers to move closer or further away in strict synchronization with only one motor. This pure mechanical linkage physically ensures that the grippers always open and close with the same center point as the reference, eliminating the need for sensor feedback correction and completely eliminating the risk of gripping deviation caused by timing errors in dual-motor drives. Furthermore, compared to dual-servo motor solutions, only one gripper motor is needed to complete the gripping action, which significantly reduces the complexity of the control system and hardware costs, and can adapt to gripping power batteries of different widths.

[0047] like Figure 3 , Figure 6 and Figure 7As shown, the first pallet transfer unit 52 and the second pallet transfer unit 102 have the same structure. The first pallet transfer unit 52 and the second pallet transfer unit 102 respectively include a second vertical support plate 521, a second lifting device 522, a second rotating device 523 and a pallet clamping device 524. The second vertical support plate 521 is connected to a second mover 543 or a fourth mover 1043. The second lifting device 522 is installed on the side of the second vertical support plate 521. The second rotating device 523 is installed at the lower end of the second lifting device 522. The pallet clamping device 524 is installed at the power output end of the second rotating device 523. The second lifting device 522 can drive the second rotating device 523 and the pallet clamping device 524 to rise or fall. The second rotating device 523 can drive the pallet clamping device 524 to rotate forward or backward.

[0048] like Figure 3 , Figure 6 and Figure 7 As shown, the second lifting device 522 includes a second lead screw transmission mechanism 5221 and a second lifting bracket 5222. The second lead screw transmission mechanism 5221 can drive the second lifting bracket 5222 to rise or fall. The second rotating device 523 is installed at the lower end of the second lifting bracket 5222. The pallet clamping device 524 includes a gripper bracket 5241, a first gripper cylinder 5242, a first pallet gripper assembly 5243, a second gripper cylinder 5245, and a second pallet gripper assembly 5244. The upper end of the gripper bracket 5241 is connected to the power output end of the second rotating device 523. The first gripper cylinder 5242 is installed inside one end of the gripper bracket 5241, and its piston rod is connected to the upper end of the first pallet gripper assembly 5243. The second gripper cylinder 5245 is installed inside the other end of the gripper bracket 5241, and its piston rod is connected to the upper end of the second pallet gripper assembly 5244. The first gripper cylinder 5242 and the second gripper cylinder 5245 can drive the first pallet gripper assembly 5243 and the second pallet gripper assembly 5244 to move closer to or further away from each other. The gripper bracket 5241 is equipped with a second gripper slide rail 5246 and a third gripper slide rail 5247. The upper end of the first pallet gripper assembly 5243 is slidably mounted on the second gripper slide rail 5246, and the upper end of the second pallet gripper assembly 5244 is slidably mounted on the third gripper slide rail 5247.

[0049] like Figures 8-11As shown, the tray 4 includes a supporting base plate 41, a tray body 42, a corner-pressing cylinder 43, a first cylinder vent seat 44, and a second cylinder vent seat 45. The tray body 42 is mounted on the supporting base plate 41 and can rotate to adjust its angle. The tray body 42 is used to support the power battery 100. At least two corner-pressing cylinders 43 are provided (four in this invention), respectively installed on the front and rear ends of the tray body 42. Each corner-pressing cylinder 43 has a corner-rotating pressure arm 431. In the air-off state, the corner-rotating pressure arm 431 can rotate forward by a set angle and press down on the power battery 100 on the tray body 42. The first cylinder vent seat 44 is installed on the front end of the tray body 42. The first cylinder vent seat 44 and the corner-pressing cylinder 43 at the front end of the tray body 42 are connected via an air pipe 432. The second cylinder vent seat 45 is installed on... Above the rear end of the tray body 42, the second cylinder vent seat 45 is connected to the corner pressing cylinder 43 at the rear end of the tray body 42 via an air pipe (not shown). The first cylinder vent seat 44 and the second cylinder vent seat 45 are also connected via an air pipe (not shown). The first cylinder vent seat 44 is provided with a one-way air inlet 441. When gas is input into the one-way air inlet 441, the first cylinder vent seat 44 and the second cylinder vent seat 45 can rotate through the air pipe. The corner-down cylinder 43 is vented. In the vented state, the corner-rotating pressure arm 431 can move upward and rotate in the opposite direction by a set angle to clear the power battery 100. A mechanical vent valve 451 is provided on one side of the second cylinder vent seat 45. The mechanical vent valve 451 is equipped with a control button 452. When the control button 452 of the mechanical vent valve 451 is pressed, the gas inside the corner-down cylinder 43 can be released, allowing the corner-down cylinder 43 to return to the de-vented state. This invention uses a normally closed corner-down cylinder. In the de-vented state, the pressure arm can automatically rotate forward and press down to lock the power battery. This structure allows the tray to maintain the battery clamping state and firmly lock the battery in the de-vented state during the transfer process. The multiple corner-down cylinders at the front and rear ends of this invention form a parallel air circuit through the first and second cylinder vent seats and the connecting air pipe. In practical applications, simply introducing gas into the one-way air inlet of the first cylinder's vent seat is sufficient to simultaneously drive all the corner cylinders. This design significantly reduces the cluttered distribution of external air pipes and the number of joints, lowering the risk of leakage while ensuring a high degree of synchronization between the front and rear cylinder actions. The invention also features a mechanical vent valve with a control button on the side of the second vent seat. When the pressure arm of the corner cylinder needs to release the power battery, simply pressing the control button on the mechanical vent valve quickly releases the gas from the cylinder, allowing the corner cylinder to return to its clamped state.

[0050] like Figures 8-11As shown, a vertical tray shaft 411 is fixedly installed on the middle of the support base plate 41, and a tray bearing 412 is installed on the tray shaft 411. A tray center hole 421 is opened in the middle of the tray body 42, and the tray center hole 421 is fixedly fitted outside the tray bearing 412. Two arc-shaped grooves 422 are provided on the tray body 42. The two arc-shaped grooves 422 are symmetrical to each other based on the tray shaft 411. A tightening bolt 423 is provided in the arc-shaped groove 422, and the lower end of the tightening bolt 423 is screwed to the support base plate 41. This invention uses a tray pivot and a tray bearing as the rotation hub, and the tray body is directly fitted onto the outside of the bearing through the central hole. Operators can easily adjust the angle of the tray body without jamming and with extremely high fine-tuning precision. This invention uses two symmetrical arc-shaped grooves with tightening bolts to form an adjustable locking mechanism. When the bolts are loosened, the tray can rotate continuously along the arc trajectory to achieve arbitrary angle adjustment. After the bolts are tightened, the bolt heads press against the tray body, providing strong static friction to ensure that the angle will not deviate under high-speed handling or vibration environment, thus balancing flexibility and stability.

[0051] like Figures 8-11 As shown, two corner-pressing cylinders 43 are respectively installed on the front and rear ends of the tray body 42. The corner-pressing cylinder 43's corner-rotating pressure arm 431 can rotate 90 degrees in the forward or reverse direction. One end of the corner-rotating pressure arm 431 is provided with an elastic pressing block 432 for pressing the power battery 100. The first cylinder vent seat 44 and the second cylinder vent seat 45 are respectively provided with two vent holes on their sides. Each vent hole is connected to a corner-pressing cylinder 43 through an air pipe. The one-way air inlet 441 is provided on the upper side of the first cylinder vent seat 44. The one-way air inlet 441 is connected to the vent hole of the first cylinder vent seat 44 and is connected to the second cylinder vent seat 45 through an air pipe.

[0052] like Figures 8-11As shown, the left and right ends of the tray body 42 are respectively provided with multiple tray connecting blocks 424 and battery end support blocks 425. The tray connecting blocks 424 are detachably connected sequentially in the left-right direction. One tray connecting block 424 is connected to the tray body 42, and the other tray connecting block 424 is connected to the battery end support block 425. The battery end support block 425 is made of carbon fiber composite material. This invention adjusts the length of the left and right ends of the tray by adjusting the number of tray connecting blocks to accommodate power batteries of different lengths. The battery end support block of the invention is made of carbon fiber composite material, which not only has high strength but also allows X-rays to penetrate the carbon fiber composite material to a high degree. When the tray and the power battery it holds are sent to the CT detection system to perform CT scan detection on both ends of the power battery, X-rays can penetrate the battery end support block made of carbon fiber composite material to a high degree, avoiding affecting the CT scan effect.

[0053] like Figures 8-11 As shown, the front and rear sides of the pallet body 42 are respectively provided with pallet rubber blocks 426, and the pallet rubber blocks 426 are provided with clamping grooves for external clamping components to clamp. This structure enables the pallet clamping device to accurately clamp the pallet, and the pallet rubber blocks have a certain degree of elasticity to avoid rigid contact with the pallet clamping device.

[0054] like Figure 1 , Figure 2 , Figure 12 and Figure 13As shown, the first conveyor line 1 has several first support seats 11 from the first end to the second end. Two parallel first longitudinal beams 12 are mounted on the first support seats 11. First support plates 13 are mounted on opposite sides of the two first longitudinal beams 12. A first driven wheel 13 is mounted between the first ends of the two first longitudinal beams 12, and a first driving roller 14 is mounted between the second ends of the two first longitudinal beams 12. A first conveyor belt 15 is wound around the first driven wheel 13 and the first driving roller 14. The upper part of the first conveyor belt 15 is slidably placed on the upper side of the first support plate 13 and supported by the first support plate 13. The lower part of the first conveyor belt 15 is located below the first support plate 13. The first support seat 11 at the second end of the first conveyor line 1... A first motor 16 is installed on the first conveyor line 1. A first transmission mechanism 17 is installed between the power output end of the first motor 16 and the first drive roller 14. The first motor 16 can drive the first drive roller 14 to rotate through the first transmission mechanism 17, and then drive the first conveyor belt 15 to move through the first drive roller 14. The support base plate 41 of the tray 4 can be placed on the first conveyor belt 15 so that the tray 4 can be moved through the first conveyor belt 15. A first tray ventilation device 18 for ventilation to the one-way air inlet 441 of the first cylinder ventilation seat 44 is installed at the first end of the first conveyor line 1. A first tray venting device 19 for pressing the mechanical venting valve 451 of the second cylinder ventilation seat 45 is installed at the second end of the first conveyor line 1. This invention features a first support plate positioned inside the two first longitudinal beams, with the upper part of the conveyor belt sliding on and supported by the support plate. This design is crucial; when the pallet carries a heavy power battery, the support plate bears all the vertical pressure, while the conveyor belt only "slides" rather than "bears the load in mid-air," ensuring the pallet remains stable and tilt-free during high-speed movement, achieving extremely high positioning accuracy. The invention also includes a ventilation device at the first end of the first conveyor line and a venting device at the second end, forming a fully automatic closed-loop logic with the previously described "air-cut self-locking pallet": when the pallet reaches the first end of the first conveyor line, the air path is automatically activated, causing the pressure arm to lift and unlock. At this time, the fourth robotic arm can remove the power battery from the pallet after testing. When the pallet reaches the second end of the first conveyor line, the first robotic arm can transfer the power battery awaiting testing into the pallet, then automatically press the mechanical venting valve to release the air. The pressure arm automatically presses down and locks the battery using spring force, facilitating subsequent handling or unloading.

[0055] like Figure 12 and Figure 13As shown, a first blocking member 10 is installed between the two ends of the two first longitudinal beams 12. The first blocking member 10 is located outside the first conveyor belt 15 and is used to block the support base plate 41 of the pallet 4 to limit the starting point and ending point of the pallet 4 on the first conveyor belt 15. Several sets of limiting members 151 are installed at intervals on the first conveyor belt 15. Each set of limiting members 151 can limit the front and rear side positions of a pallet 4.

[0056] like Figure 12 and Figure 13 As shown, the first tray ventilation device 18 includes a first ventilation cylinder 181. The piston extension rod of the first ventilation cylinder 181 extends upward and is connected to a first ventilation nozzle support arm 182. A first ventilation nozzle 183 is installed on the first ventilation nozzle support arm 182. The first ventilation nozzle 183 corresponds vertically to the one-way air inlet 441 of the first cylinder ventilation seat 44. When the first ventilation cylinder 181 drives the first ventilation nozzle support arm 182 to descend, the first ventilation nozzle 183 is aligned with the one-way air inlet 441 of the first cylinder ventilation seat 44, so that the corner pressing cylinder 43 is ventilated. The first tray venting device 19 includes a first venting cylinder 191. The piston extension rod of the first venting cylinder 191 is connected to a first venting pressing block 192. The first venting pressing block 192 corresponds to the mechanical venting valve 451 of the second cylinder venting seat 45. The first venting cylinder 191 can drive the first venting pressing block 192 to press the control button 452 of the mechanical venting valve 451, so that the corner pressing cylinder 43 is cut off.

[0057] like Figure 1 , Figure 2 , Figure 14 and Figure 15As shown, the second conveyor line 2 has several second support seats 21 from the first end to the second end. Two parallel second longitudinal beams 22 are mounted on the second support seats 21. A second support plate 23 is installed between the two second longitudinal beams 22. A second driven roller 24 is installed between the first ends of the two second longitudinal beams 22, and a second driving roller 25 is installed between the second ends of the two second longitudinal beams 22. A second conveyor belt 26 is wound around the second driven roller 24 and the second driving roller 25. The upper part of the second conveyor belt 26 is slidably placed on the upper side of the second support plate 23 and supported by the second support plate 23. The lower part of the second conveyor belt 26 is located below the second support plate 23. The second support seats 21 at the second end of the second conveyor line 2 are... A second motor 27 is installed, and a second transmission mechanism 28 is installed between the power output end of the second motor 27 and the second drive roller 25. The second motor 27 can drive the second drive roller 25 to rotate through the second transmission mechanism 28, and then drive the second conveyor belt 26 to move through the second drive roller 25. A second pallet limiting strip 29 is installed on each of the two second longitudinal beams 22. The two second pallet limiting strips 29 are parallel to each other, and the distance between the two second pallet limiting strips 29 matches the front and rear width of the support base plate 41 of the pallet 4. The support base plate 41 of the pallet 4 can be placed on the second conveyor belt 26 so that the pallet 4 can be moved through the second conveyor belt 26, and the front and rear positions of the pallet 4 can be restricted by the two second pallet limiting strips 29. This invention features a second support plate on the inner side of the two second longitudinal beams, with the upper part of the conveyor belt sliding on and supported by the support plate. This design is crucial because when the pallet carries a heavy power battery, the support plate bears all the vertical pressure, while the conveyor belt only "slides" rather than "bears the load in mid-air," ensuring that the pallet does not bounce or tilt during high-speed movement and achieving extremely high positioning accuracy. Furthermore, this invention installs parallel second pallet limiting strips on the two second longitudinal beams, with the spacing precisely matching the pallet width. When the pallet moves at high speed or stops abruptly, the second pallet limiting strips directly engage the front and rear sides of the pallet, forcing it to move linearly along the centerline, completely eliminating serpentine swaying caused by inertia or vibration during transport.

[0058] like Figure 14 and Figure 15 As shown, second blocking members 221 are respectively installed between the two ends of the two second longitudinal beams 22. The second blocking members 221 are located outside the second conveyor belt 26 and are used to block the support base plate 41 of the pallet 4 to limit the starting and ending positions of the pallet 4 on the second conveyor belt 26. A barcode scanner bracket 201 is installed on the two second longitudinal beams 22, and a barcode scanner 202 for scanning the power battery 100 is installed on the barcode scanner bracket 201.

[0059] like Figure 1 , Figure 2 and Figure 16 As shown, the second robotic arm 6 includes a second horizontally arranged crossbeam 61. A first screw-driven translation device 62 is mounted on the second crossbeam 61. The first screw-driven translation device 62 is connected to a third pallet transfer unit 63, and the first screw-driven translation device 62 can drive the third pallet transfer unit 63 to move back and forth. The third pallet transfer unit 63 of the present invention has the same structure as the first pallet transfer unit 52 and the second pallet transfer unit 102, and will not be described again here.

[0060] like Figure 1 , Figure 2 , Figures 17-20As shown, the third transmission line 3 includes a first support unit 301 and a second support unit 302 arranged at intervals. The area between the first support unit 301 and the second support unit 302 is the power battery detection unit 303. The first support unit 301 is located at the first end of the third transmission line 3, and the second support unit 302 is located at the second end of the third transmission line 3. The first support unit 301 is provided with a third bracket 31, and two parallel third longitudinal beams 32 are installed on the third bracket 31. A third support plate 33 is installed between the two third longitudinal beams 32. The second support unit 302 is provided with a fourth bracket 34, and two parallel third longitudinal beams 32 are installed on the fourth bracket 34. A fourth longitudinal beam 35 is arranged in a row, and a fourth support plate 36 is installed between the two fourth longitudinal beams 35. The length direction of the two third longitudinal beams 32 is consistent with the length direction of the two fourth longitudinal beams 35. A carbon fiber support plate 37 is connected between the first support unit 301 and the second support unit 302. The upper side of the carbon fiber support plate 37 is on the same plane as the upper side of the third support plate 33 and the fourth support plate 36. A third driven roller 38 is installed between the first ends of the two third longitudinal beams 32, and a third driving roller 39 is installed between the second ends of the two fourth longitudinal beams 35. A third conveyor belt 390 is wound around the third driven roller 38 and the third driving roller 39. The upper part of the third conveyor belt 390 is slidable. The third conveyor belt 390 is positioned above and supported by the third support plate 33, the fourth support plate 36, and the carbon fiber support plate 37. The lower part of the third conveyor belt 390 is located below the third support plate 33, the fourth support plate 36, and the carbon fiber support plate 37. A third motor 397 is mounted on the fourth support base 34. A third transmission mechanism 398 is installed between the power output end of the third motor 397 and the third drive roller 39. The third motor 397 can drive the third drive roller 39 to rotate via the third transmission mechanism 398, and then drive the third conveyor belt 390 to move via the third drive roller 39. Two third longitudinal beams 32 are respectively mounted on... The pallet 4 is equipped with two third pallet limiting strips 399, which are parallel to each other and the distance between them matches the front and rear width of the support base plate 41. Two fourth pallet limiting strips 389 are installed on the two fourth longitudinal beams 35, which are parallel to each other and the distance between them matches the front and rear width of the support base plate 41. The support base plate 41 of the pallet 4 can be placed on the third conveyor belt 390 so that the pallet 4 can be moved by the third conveyor belt 390, and the front and rear positions of the pallet 4 are restricted by the two third pallet limiting strips 399 and the two fourth pallet limiting strips 389.

[0061] This invention establishes an unobstructed online inspection station. The area between the first and second support units is specifically defined as the "power battery inspection section." This means that during transport, the battery does not need to be removed from the production line; the CT inspection system can directly perform online real-time CT scanning inspection of the power battery outside the inspection section. This "inspection while transporting" mode completely eliminates the loading and unloading time of independent inspection stations, greatly improving production line cycle time. This invention uses a carbon fiber support plate spanning the inspection gap, with its upper surface strictly coplanar with the two side support plates. Carbon fiber material has extremely high specific strength and an extremely low coefficient of thermal expansion. Not only is it strong, but X-rays can also penetrate the carbon fiber composite material to a high degree. When the tray and the power battery it holds are sent into the CT inspection system for CT scanning inspection of both ends of the power battery, X-rays can penetrate the carbon fiber support plate to a high degree, avoiding interference with the CT scan results. The third and fourth tray limiting strips of this invention can directly lock the front and rear sides of the tray, forcing it to move linearly along the center line, completely eliminating serpentine swaying caused by inertia or vibration during transport.

[0062] like Figures 17-20 As shown, a second tray ventilation device 391 is installed on the fourth longitudinal beam 35 of the second support unit 302. The second tray ventilation device 391 includes a second ventilation cylinder 392. The piston extension rod of the second ventilation cylinder 392 extends upward and is connected to a second ventilation nozzle support arm 393. A second ventilation nozzle 394 is installed on the second ventilation nozzle support arm 393. The second ventilation nozzle 394 corresponds vertically to the one-way air inlet 441 of the second cylinder ventilation seat 45. When the second ventilation cylinder 392 drives the second ventilation nozzle support arm 393 to descend, the second ventilation nozzle 394 is aligned with the one-way air inlet 441 of the first cylinder ventilation seat 44, so that the corner pressing cylinder 43 is ventilated. When the tray and its power battery reach the position of the second tray ventilation device, if the power battery fails the barcode scan or CT scan, the second ventilation cylinder drives the second ventilation nozzle on the second ventilation nozzle support arm to connect with the one-way air inlet of the first cylinder ventilation seat, which ventilates the corner pressing cylinder of the tray, automatically connecting the air passage and lifting the pressure arm to unlock. At this time, the third robotic arm can remove the unqualified power battery from the tray. If the power battery passes the barcode scan and the CT scan, neither the second tray ventilation device nor the third robotic arm works, and the tray and the clamped power battery continue to be conveyed on the third conveyor line.

[0063] like Figures 17-19As shown, a third blocking member 395 is installed between the first ends of the two third longitudinal beams 32, and a fourth blocking member 396 is installed between the second ends of the two fourth longitudinal beams 35. The third blocking member 395 and the fourth blocking member 396 are located outside the third conveyor belt 390 and are used to block the support base plate 41 of the pallet 4 to limit the starting and ending positions of the pallet 4 on the third conveyor belt 390.

[0064] like Figure 1 , Figure 2 , Figure 17 , Figure 18 , Figures 21-24 As shown, the CT detection system 7 includes a CT detection gantry 71, which has a circular detection channel 72. The power battery detection unit 303 of the third transmission line 3 passes through the center of the circular detection channel 72. A slewing bearing 73 is installed inside the circular detection channel 72. The slewing bearing 73 includes an outer support ring 731 and an inner support ring 732. The outer support ring 731 is fixedly connected to the inner wall of the circular detection channel 72, and the inner support ring 732 is rotatably installed inside the outer support ring 731. An annular bracket 76 is connected to one side of the inner support ring 732, and an X-ray emission source is installed at one end of the annular bracket 76. 74. An X-ray detector 75 is installed at the other end of the annular bracket 76. The X-ray emission source 74 and the X-ray detector 75 are positioned opposite each other. The power battery 100 on the power battery detection unit 303 of the third transmission line 3 is located in the area between the X-ray emission source 74 and the X-ray detector 75. The CT inspection frame 71 is equipped with a support drive device 77. The power output end of the support drive device 77 is connected to the other side of the support inner ring 732. The support drive device 77 can drive the support inner ring 732 to rotate, so as to drive the X-ray emission source 74 and the X-ray detector 75 to rotate around the power battery 100 through the support inner ring 732.

[0065] The third transmission line of this invention passes directly through the center of the circular detection channel, allowing the power battery to complete the CT scan during normal transport. The slewing bearing of this invention ensures ultra-high rigidity and coaxial accuracy. This invention employs a structure that supports a fixed outer ring and a rotating inner ring. The slewing bearing can simultaneously withstand enormous radial, axial, and overturning moments. When the X-ray source and detector rotate, the clearance is minimal and the operation is smooth, ensuring that the rotation axis is highly aligned with the centerline of the circular channel, eliminating image artifacts caused by shaking. This is the mechanical basis for obtaining clear CT tomographic images. This invention uses a rigid co-frame structure, X... The X-ray emission source and detector are respectively mounted at both ends of the same annular support and rotate synchronously with the inner ring. This shared support design ensures that the distance between the X-ray emission source and the detector remains absolutely constant during rotation. The present invention adopts an opposing layout to achieve dynamic balance characteristics. The X-ray emission source and detector are positioned 180° opposite each other on the annular support, and their masses are mutually balanced. During rotation, this pair of relative gravity produces a "couple" effect, which effectively counteracts the eccentric torque caused by the weight on one side. This not only reduces the torque requirement of the support drive device, but also reduces vibration during rotation and extends the service life of the slewing bearing.

[0066] like Figures 21-24 As shown, one end of the annular bracket 76 is provided with a first support plate 761, and a first adjusting plate 762 is installed on the side of the first support plate 761. Let the direction of the line connecting the midpoint between the X-ray emission source 74 and the X-ray detector 75 be the X-axis direction, the axis of the slewing bearing 73 be the Y-axis direction, and the direction perpendicular to the X-axis and the main shaft be the Z-axis direction. The first adjusting plate 762 can be adjusted in position along the X-axis direction. An emission source bracket 763 is installed on the side of the first adjusting plate 762, and the emission source bracket 763 can be adjusted in position along the Z-axis direction. The X-ray emission source 74 is mounted... The X-ray detector 75 is mounted on the emitter bracket 763. The other end of the annular bracket 76 has a second support plate 764. An adjusting bracket 765 is mounted on the side of the second support plate 764, and the adjusting bracket 765 can be adjusted along the X-axis. A second adjusting plate 766 is mounted on the side of the adjusting bracket 765, and the second adjusting plate 766 can be adjusted along the Z-axis. A detector bracket 767 is mounted on the side of the second adjusting plate 766, and the detector bracket 767 can be adjusted along the Y-axis. The X-ray detector 75 is mounted on the detector bracket 767.

[0067] like Figures 21-24As shown, in a preferred embodiment of the present invention, the first support plate portion 761 has a first adjustment groove 7611 arranged along the X-axis on its side, and the first adjustment plate 762 has a first boss portion 7621 that mates with the first adjustment groove 7611 on one side. The first boss portion 7621 is accommodated within the first adjustment groove 7611 and its position can be adjusted along the first adjustment groove 7611. The other side of the first adjustment plate 762 has a second adjustment groove 7622 arranged along the Z-axis, and the emitter bracket 763 has a second boss portion 7631 that mates with the second adjustment groove 7622 on one side. The second boss portion 7631 is accommodated within the second adjustment groove 7622 and its position can be adjusted along the second adjustment groove 7622. The second support plate portion 764 has a third adjustment groove 764 arranged along the X-axis on its side. 1. One end of the adjusting bracket 765 is housed within the third adjusting groove 7641 and its position can be adjusted along the third adjusting groove 7641; one side of the second adjusting plate 766 is provided with a fourth adjusting groove 7661 arranged along the Z-axis direction, and the other end of the adjusting bracket 765 is provided with a third protrusion 7651 that cooperates with the fourth adjusting groove 7661. The third protrusion 7651 is housed within the fourth adjusting groove 7661 and its position can be adjusted along the third adjusting groove 7641; one side of the detector bracket 767 is provided with a fifth adjusting groove 7671 arranged along the Y-axis direction, and the other side of the second adjusting plate 766 is provided with a fourth protrusion 7662 that cooperates with the fifth adjusting groove 7671. The fourth protrusion 7662 is housed within the fifth adjusting groove 7671 and its position can be adjusted along the fifth adjusting groove 7671.

[0068] like Figures 21-24 As shown, in a preferred embodiment of the present invention, the CT scanner 71 includes a scanner base 711, a scanner upright plate 712 welded onto the scanner base 711, a circular scanner channel 72 disposed within the scanner upright plate 712, and a reinforcing ring 713 fixedly welded to the outer periphery of the scanner upright plate 712, the lower end of the reinforcing ring 713 being welded to the scanner base 711. Vertical foot cup screws 714 are respectively installed at the four corners of the scanner base 711, and the foot cup screws 714 can be adjusted vertically based on the scanner base 711 by screwing. The lower end of each foot cup screw 714 is connected to a foot cup. The support drive device 77 includes a support motor 771, a support motor pulley 772, a support pulley 773, and a support transmission belt 774. The support motor 771 is mounted on the detection plate 712. The support motor pulley 772 is connected to the shaft of the support motor 771. The support pulley 773 is connected to the other side of the support inner ring 732. The support transmission belt 774 is wound around both the support motor pulley 772 and the support pulley 773.

[0069] like Figure 1, Figure 2 , Figure 17 and Figure 18 As shown, the working position of the third robotic arm 9 corresponds to that of the second tray ventilation device 391. The third robotic arm 9 includes a third horizontally arranged crossbeam. A second screw-driven translation device is installed on the third crossbeam. The second screw-driven translation device is connected to a third battery transfer unit. The second screw-driven translation device can drive the third battery transfer unit to move back and forth. The third battery transfer unit has the same structure as the first battery transfer unit 51 and the second battery transfer unit 101, and will not be described in detail here.

[0070] The above description is merely a preferred embodiment of the present invention. Any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical solution of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A fully automated power battery CT inspection device, characterized in that, include: A tray conveyor system includes a first conveyor line, a second conveyor line, and a third conveyor line. Multiple trays for clamping power batteries are respectively arranged on the first conveyor line, the second conveyor line, and the third conveyor line. The first conveyor line, the second conveyor line, and the third conveyor line each have a first end and a second end. The trays can be conveyed from the first end of the first conveyor line, the second conveyor line, or the third conveyor line to the second end. The first robotic arm is mounted above the first conveyor line. The first robotic arm includes a first battery transfer unit and a first tray transfer unit. The first battery transfer unit is used to transfer the power battery to be tested to the tray at the second end of the first conveyor line. The first tray transfer unit is used to transfer the tray containing the power battery at the second end of the first conveyor line to the first end of the second conveyor line. The second robotic arm is mounted above the second end of the second conveyor line and the first end of the third conveyor line, and is used to transfer the tray containing the power battery at the second end of the second conveyor line to the first end of the third conveyor line. A CT inspection system is installed on the outside of the third conveyor line and is used to perform CT scan inspection on the power battery clamped on the tray on the third conveyor line. A defective battery removal device is installed on the lower side of the third conveyor line and is used to output defective power batteries that fail CT scan detection. The third robotic arm, which is installed above the third conveyor line, is used to transfer defective power batteries that fail CT scan inspection or barcode scanning to the defective battery removal device. The fourth robotic arm is mounted above the first conveyor line. The fourth robotic arm includes a second battery transfer unit and a second tray transfer unit. The second tray transfer unit is used to transfer the tray at the second end of the third conveyor line to the first end of the first conveyor line. The second battery transfer unit is used to transfer the power battery on the tray at the first end of the first conveyor line.

2. The fully automated power battery CT inspection equipment according to claim 1, characterized in that: The first and fourth robotic arms are arranged back-to-back. The first robotic arm includes a first horizontally arranged crossbeam. A first linear motor is mounted on the front side of the first crossbeam. The first linear motor includes a first stator, a first mover, and a second mover that cooperate with each other. The first stator is in the same length direction as the first crossbeam. The first mover is located at the left end of the first stator, and the second mover is located at the right end of the first stator. The first battery transfer unit is connected to the first mover, and the first tray transfer unit is connected to the second mover. The fourth robotic arm includes a fourth horizontally arranged crossbeam. A second linear motor is mounted on the rear side of the fourth crossbeam. The second linear motor includes a second stator, a third mover, and a fourth mover that cooperate with each other. The second stator is in the same length direction as the fourth crossbeam. The third mover is located at the left end of the second stator, and the fourth mover is located at the right end of the second stator. The second battery transfer unit is connected to the third mover, and the second tray transfer unit is connected to the fourth mover.

3. The fully automated power battery CT inspection device according to claim 1, characterized in that: The tray includes a supporting base plate, a tray body, a corner-pressing cylinder, a first cylinder vent seat, and a second cylinder vent seat. The tray body is mounted on the supporting base plate and can rotate to adjust its angle. The tray body supports the power battery. At least two corner-pressing cylinders are installed at the front and rear ends of the tray body, respectively. Each corner-pressing cylinder has a corner-rotating pressure arm. In the air-off state, the corner-rotating pressure arm can rotate forward by a set angle and press down on the power battery on the tray body. The first cylinder vent seat is installed on the front end of the tray body and is connected to the corner-pressing cylinder at the front end of the tray body via an air pipe. The second cylinder vent seat is installed on the tray body... Above the rear end of the tray body, the second cylinder vent seat is connected to the corner pressing cylinder at the rear end of the tray body via an air pipe. The first cylinder vent seat and the second cylinder vent seat are also connected via an air pipe. The first cylinder vent seat is provided with a one-way air inlet. When gas is input into the one-way air inlet, the first cylinder vent seat and the second cylinder vent seat can supply air to the corner pressing cylinder through the air pipe. In the air-supply state, the corner rotating pressure arm can move upward and rotate in the opposite direction by a set angle to allow the power battery to pass. A mechanical vent valve is provided on one side of the second cylinder vent seat. The mechanical vent valve is provided with a control button. When the control button of the mechanical vent valve is pressed, the gas inside the corner pressing cylinder can be released, allowing the corner pressing cylinder to return to the air-off state.

4. The fully automated power battery CT inspection device according to claim 3, characterized in that: The first conveyor line has several first support seats from one end to the other. Two parallel first longitudinal beams are mounted on the first support seats. First support plates are mounted on opposite sides of the two first longitudinal beams. A first driven wheel is mounted between the first ends of the two first longitudinal beams, and a first driving roller is mounted between the second ends of the two first longitudinal beams. A first conveyor belt is wound around the first driven wheel and the first driving roller. The upper part of the first conveyor belt is slidably placed on the upper side of the first support plate and supported by the first support plate. The lower part of the first conveyor belt is located below the first support plate. The first support at the second end of the first conveyor line... A first motor is installed on the seat, and a first transmission mechanism is installed between the power output end of the first motor and the first drive roller. The first motor can drive the first drive roller to rotate through the first transmission mechanism, and then drive the first conveyor belt to move through the first drive roller. The support base plate of the tray can be placed on the first conveyor belt so that the tray can be moved through the first conveyor belt. A first tray ventilation device for venting air into the one-way air inlet of the first cylinder ventilation seat is installed at the first end of the first conveyor line, and a first tray venting device for pressing the mechanical venting valve of the second cylinder ventilation seat is installed at the second end of the first conveyor line.

5. The fully automated power battery CT inspection device according to claim 3, characterized in that: The second conveyor line has several second support seats from the first end to the second end. Two parallel second longitudinal beams are mounted on the second support seats. A second support plate is installed between the two second longitudinal beams. A second driven roller is installed between the first ends of the two second longitudinal beams, and a second driving roller is installed between the second ends of the two second longitudinal beams. A second conveyor belt is wound around the second driven roller and the second driving roller. The upper part of the second conveyor belt is slidably placed on the upper side of the second support plate and supported by the second support plate. The lower part of the second conveyor belt is located below the second support plate. A second motor is mounted on the second support seat at the second end of the second conveyor line. The power output end of the second motor is connected to the first... A second transmission mechanism is installed between the two drive rollers. The second motor can drive the second drive roller to rotate through the second transmission mechanism, and then drive the second conveyor belt to move through the second drive roller. A second pallet limiting strip is installed on each of the two second longitudinal beams. The two second pallet limiting strips are parallel to each other, and the distance between the two second pallet limiting strips matches the front and rear width of the pallet's support base plate. The pallet's support base plate can be placed on the second conveyor belt so that the pallet can be moved by the second conveyor belt, and the front and rear positions of the pallet are limited by the two second pallet limiting strips. A barcode scanner bracket is installed on the two second longitudinal beams, and a barcode scanner for scanning the power battery is installed on the barcode scanner bracket.

6. The fully automated power battery CT inspection device according to claim 3, characterized in that: The third transmission line includes a first support unit and a second support unit arranged at intervals. The area between the first support unit and the second support unit is a power battery detection unit. The first support unit is located at the first end of the third transmission line, and the second support unit is located at the second end of the third transmission line. The first support unit is provided with a third bracket seat. Two parallel third longitudinal beams are installed on the third bracket seat, and a third support plate is installed between the two third longitudinal beams. The second support unit is provided with a fourth bracket seat. Two parallel fourth longitudinal beams are installed on the fourth bracket seat, and a fourth support plate is installed between the two fourth longitudinal beams. The length direction of the two third longitudinal beams is consistent with the length direction of the two fourth longitudinal beams. A carbon fiber support plate connects the first support unit and the second support unit. The upper side of the carbon fiber support plate is on the same plane as the upper side of the third support plate and the upper side of the fourth support plate. A third driven roller is installed between the first ends of the two third longitudinal beams, and a third driving roller is installed between the second ends of the two fourth longitudinal beams. A third conveyor belt is wound around the third driven roller and the third driving roller. The upper part of the third conveyor belt is slidably placed on the upper side of the third support plate, the fourth support plate and the carbon fiber support plate and supported by the third support plate, the fourth support plate and the carbon fiber support plate. The lower part of the third conveyor belt is located below the third support plate, the fourth support plate and the carbon fiber support plate. A third motor is installed on the fourth support base. A third transmission mechanism is installed between the power output end of the third motor and the third driving roller. The third motor can drive the third driving roller to rotate through the third transmission mechanism, and then drive the third conveyor belt to move through the third driving roller. Three pallet limiting strips are installed on the two third longitudinal beams, and the two third pallet limiting strips are parallel to each other. The distance between the two third pallet limiting strips matches the front and rear width of the pallet's supporting base plate. Four pallet limiting strips are installed on the two fourth longitudinal beams, and the two fourth pallet limiting strips are parallel to each other. The distance between the two fourth pallet limiting strips matches the front and rear width of the pallet's supporting base plate. The supporting base plate of the pallet can be placed on the third conveyor belt so that the pallet can be moved by the third conveyor belt, and the front and rear positions of the pallet are restricted by the two third pallet limiting strips and the two fourth pallet limiting strips.

7. The fully automated power battery CT inspection device according to claim 6, characterized in that: A second tray ventilation device is installed on the fourth longitudinal beam of the second support unit. The second tray ventilation device includes a second ventilation cylinder. The piston extension rod of the second ventilation cylinder extends upward and is connected to a second ventilation nozzle support arm. A second ventilation nozzle is installed on the second ventilation nozzle support arm. The second ventilation nozzle corresponds vertically to the one-way air inlet of the first cylinder ventilation seat. When the second ventilation cylinder drives the second ventilation nozzle support arm to descend, the second ventilation nozzle is aligned with the one-way air inlet of the first cylinder ventilation seat, so that the corner pressing cylinder is ventilated.

8. The fully automated power battery CT inspection device according to claim 6, characterized in that: The CT detection system includes a CT detection gantry with a circular detection channel. The power battery detection unit of the third transmission line passes through the center of the circular detection channel. A slewing bearing is installed inside the circular detection channel. The slewing bearing includes an outer support ring and an inner support ring. The outer support ring is fixedly connected to the inner wall of the circular detection channel, and the inner support ring is rotatably installed inside the outer support ring. An annular bracket is connected to one side of the inner support ring. An X-ray emission source is installed at one end of the annular bracket, and an X-ray detector is installed at the other end of the annular bracket. The X-ray emission source and the X-ray detector are positioned opposite each other. The power battery above the power battery detection unit of the third transmission line is located in the area between the X-ray emission source and the X-ray detector. The CT detection gantry is equipped with a support drive device. The power output end of the support drive device is connected to the other side of the inner support ring. The support drive device can drive the inner support ring to rotate, thereby driving the X-ray emission source and the X-ray detector to rotate around the power battery.

9. The fully automated power battery CT inspection device according to claim 7, characterized in that: The defective battery removal device includes a power battery layered conveying device, with a power battery lifting conveying device disposed to the side of the power battery layered conveying device. The power battery layered conveying device includes a first support, on which a first power battery conveyor belt assembly and a second power battery conveyor belt assembly are mounted, with the second power battery conveyor belt assembly located below the first power battery conveyor belt assembly. The power battery lifting conveying device includes a second support, on which a conveyor belt lifting device is mounted, with a third power battery conveyor belt assembly mounted on one side of the conveyor belt lifting device. The conveyor belt lifting device can drive the third power battery conveyor belt assembly to rise to a position level with the first power battery conveyor belt assembly, or drive the third power battery conveyor belt assembly to descend to a position level with the second power battery assembly. A third robotic arm is disposed above the defective battery removal device. The third robotic arm can transfer defective power batteries that fail CT scan inspection on the third conveyor line to the third power battery conveyor belt assembly, which then sorts and transfers the defective power batteries to the first or second power battery conveyor belt assembly.

10. The detection method of the fully automated power battery CT detection equipment according to any one of claims 1-9, characterized in that, The methods and steps include the following: S1. The first battery transfer unit of the first robotic arm transfers the power battery to be tested to the tray at the second end of the first conveyor line, and the first conveyor line controls the tray to clamp the power battery. S2. The first pallet transfer unit of the first robotic arm transfers the pallet containing the power battery at the second end of the first conveyor line to the first end of the second conveyor line; S3. The second conveyor line transports the tray containing the power battery from the first end to the second end of the second conveyor line. During the transport process, the second conveyor line uses a barcode scanning device to scan the power battery. S4. The second robotic arm moves the tray containing the power battery at the second end of the second conveyor line to the first end of the third conveyor line; S5. The third conveyor line moves the tray containing the power battery to the working position of the CT detection system; The S6.CT inspection system performs CT scan inspection on the power battery clamped on the tray on the third conveyor line. After the CT scan inspection, the third conveyor line moves the tray with the power battery clamped to the working position of the third robotic arm. S7. Power battery classification and transfer: (1) If the power battery fails the barcode scan or CT scan test, the third conveyor line controls the tray to release the power battery, and the third robotic arm then transfers the defective power battery that fails the barcode scan or CT scan test to the defective battery removal device. Then the third conveyor line continues to transfer the tray without the power battery to the second end of the third conveyor line; (2) If the power battery passes the barcode scan and CT scan test, the third conveyor line directly transfers the tray with the power battery to the second end of the third conveyor line. S8. The second pallet transfer unit of the fourth robotic arm transfers the pallet at the second end of the third conveyor line to the first end of the first conveyor line, and the first conveyor line controls the pallet to release the power battery; S9. The second battery transfer unit of the fourth robotic arm transfers the power battery on the tray at the first end of the first conveyor line. S10. The first conveyor line transports the tray from the first end of the first conveyor line to the second end, and the tray returns to its initial position.

Images