Battery cell feeding equipment based on multi-view visual identification technology

Abstract

The utility model relates to the technical field of feeding equipment, and discloses battery cell feeding equipment based on a multi-view visual identification technology, the battery cell feeding equipment comprises a battery cell feeding area, the battery cell feeding area comprises a supporting structure and a battery cell feeding structure, the supporting structure is provided with a servo motor sliding rail, the servo motor sliding rail is provided with multi-view visual identification equipment, and the multi-view visual identification equipment is provided with a battery cell feeding mechanism. A battery cell feeding structure is installed on the supporting structure, a battery cell material placing area is arranged below the supporting structure, and a battery cell conveying line is arranged on the side edge of the battery cell feeding area. The intelligent production line integrating visual identification, accurate grabbing, rapid placing and production line conveying is formed, and the problems that an existing device is low in feeding speed and high in production efficiency are solved. And the positioning accuracy is poor, and the production efficiency of energy storage products is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of feeding equipment, and in particular to a battery cell feeding equipment based on multi-eye vision recognition technology. Background Art

[0002] With the development of manufacturing industry towards automation and intelligence, in many practical production applications, multi-eye vision has been widely used in electronic manufacturing, automobile manufacturing, chemical industry and other manufacturing fields because of its technical advantages such as fast and efficient completion of defect detection, target recognition, object positioning, and three-dimensional coordinate system establishment.

[0003] With the rapid development of the energy storage industry in recent years, various battery manufacturers and integrators have emerged rapidly. As the core component of the battery PACK, the battery cell needs to complete a series of electrical tests. The common practice in the energy storage industry is to use a manipulator with a 2D camera to guide the manipulator to grab the battery cell. The 2D camera is a monocular lens vision, which has problems such as small capture range, inability to identify the spacing between battery cell materials, inability to identify the stacking height of the battery cell, and inability to identify the deflection angle of the material. During use, the consistency of the battery cell material and the control accuracy of the loading are very high. The solution to this problem in the industry is to standardize the material packaging or to sort the materials for the second time, which requires manual secondary intervention and control to solve, and it will consume a lot of manpower in the process. How to make the loading equipment meet the packaging requirements of different manufacturers, automatically control the loading from the perspective of automation and intelligence, and improve the efficiency of loading has become a problem that energy storage battery manufacturers continue to solve.

[0004] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the application and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of this utility model is to provide a battery cell feeding equipment based on multi-eye vision recognition technology, forming an intelligent production line integrating visual recognition - precise grasping - fast placement - production line transportation, solving the problems of slow feeding speed and poor positioning accuracy of existing equipment, and effectively improving the production efficiency of energy storage products.

[0006] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions:

[0007] A battery cell feeding device based on multi-eye vision recognition technology comprises a battery cell feeding area, the battery cell feeding area comprises a support structure and the battery cell feeding structure, a servo motor slide rail is installed on the support structure, a multi-eye vision recognition device for collecting battery cell material position information is installed on the servo motor slide rail, the battery cell feeding structure is installed on the side of the support structure, a battery cell material placement area is arranged below the support structure, a material limit sensor for identifying the battery cell material conveying position is arranged in the battery cell material placement area, a battery cell conveying line is arranged on the side of the battery cell feeding area, and a communication relationship is established between the multi-eye vision recognition device and the battery cell feeding structure.

[0008] Optionally, the support structure includes four support columns and a crossbeam, the crossbeam is installed on the upper end of the support column, and a servo motor slide rail is installed on the crossbeam.

[0009] Optionally, the battery cell feeding structure comprises a battery cell feeding robot, and a battery cell clamp is connected to the end of the battery cell feeding robot.

[0010] Optionally, the battery cell loading robot is a six-axis transmission robot, and a battery cell clamp tooling is installed at the sixth axis flange position of the battery cell loading robot. The battery cell clamp tooling is controlled by a servo screw mechanism, and multiple groups of battery cell jaws and multiple groups of foam jaws are installed under the battery cell clamp tooling.

[0011] Optionally, the multi-eye visual recognition equipment includes a high-altitude mobile camera group, an information acquisition camera group and a blue-light highlight projector, the high-altitude mobile camera group is installed on a servo motor slide rail, the information acquisition camera group is installed under the motor slide rail, and the blue-light highlight projector is installed above the information acquisition camera group.

[0012] Optionally, the information acquisition camera group includes a fixed bracket and a 2D camera, the fixed bracket is connected to a servo motor slide rail, and the 2D camera is fixedly connected below the fixed bracket.

[0013] Optionally, the material limit sensor includes an infrared sensor and a laser sensor.

[0014] Optionally, a sponge rubber strip is arranged inside the battery cell clamping jaws.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] Through the overall linkage mode of multi-eye vision recognition equipment equipped with battery cell feeding manipulator, battery cell conveyor line and material limit sensor and other equipment, the sensor can measure the material position and height;

[0017] The multi-eye vision recognition equipment takes aerial images to establish a three-dimensional coordinate system, the battery cell loading robot accurately grabs the battery cells, and the battery cell conveyor line transmits materials. The intelligent distribution method of the entire equipment system effectively solves a series of inconsistencies such as inconsistent sizes, styles, stacking, orientation, and spacing of battery cells from different manufacturers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a structural schematic diagram of the multi-vision battery cell feeding equipment of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the battery cell feeding robot of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the battery core clamp of the utility model;

[0022] Figure 4 It is a structural schematic diagram of the material limit sensor of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the high altitude mobile camera group of the utility model;

[0024] Figure 6 This is a schematic diagram of the information acquisition camera group structure of the utility model.

[0025] Description of reference numerals:

[0026] 1. Battery cell feeding robot; 2. Battery cell gripper; 3. Material limit sensor; 4. High-altitude mobile camera group; 5. Servo motor slide rail; 6. Blue light high brightness projector; 7. Information acquisition camera group; 8. Battery cell conveyor line; 9. Support column; 10. Beam; 11. Flange; 12. Battery cell fixture tooling; 13. Battery cell gripper; 14. Foam gripper; 15. Single 2D camera; 16. Tray limit; 17. Battery cell tray; 18. Battery cell material; DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0028] Embodiment 1:

[0029] A battery cell feeding device based on multi-eye vision recognition technology, such as Figure 1 As shown, the battery cell loading area includes a supporting structure and a battery cell loading structure, a servo motor slide rail 5 is installed on the supporting structure, a multi-eye vision recognition device for collecting battery cell material position information is installed on the servo motor slide rail 5, the battery cell loading structure is installed on the side of the supporting structure, a battery cell material placement area is arranged below the supporting structure, the battery cell material placement area is provided with a material limit sensor 3 for identifying the battery cell material conveying position, a battery cell conveying line 8 is arranged on the side of the battery cell loading area, and a communication relationship is established between the multi-eye vision recognition device and the battery cell loading structure.

[0030] The material limit sensor 3 is used to measure the placement position of the battery cell material, and the battery cell material is imaged and recognized from different angles through a multi-eye vision recognition device, that is, the images on both sides of the same battery cell material are captured from different visual angles, thereby obtaining the three-dimensional coordinate system of the object, so that the battery cell feeding structure can adjust the blind area, thereby accurately grabbing the battery cell, placing it on the battery cell conveyor line 8 and transmitting it to the next process.

[0031] The supporting structure includes four supporting columns 9 and a crossbeam 10 . The crossbeam 10 is installed on the upper end of the supporting column 9 , and the servo motor slide rail 5 is installed on the crossbeam 10 .

[0032] like Figure 2 and Figure 3 As shown, the battery cell feeding structure includes a battery cell feeding robot 1, which is a six-axis transmission robot. A battery cell clamp tooling 12 is installed at the position of the sixth axis flange 11 of the robot. The battery cell clamp tooling 12 is controlled by a servo screw mechanism. A plurality of groups of battery cell clamps 13 and a plurality of groups of foam clamps 14 are installed under the battery cell clamp tooling 12. A single 2D camera 15 is installed on the side of the battery cell clamp tooling 12. The single 2D camera 15 on the clamp mechanism and the multi-eye vision device at the upper end are linked to identify and judge the position of the battery cell, and then the feedback signal is transmitted to the Siemens PLC for corresponding signal output. Then, through the servo variable pitch function of the servo screw mechanism, the packaging size of different battery cells can be identified and the width distance between the battery cell clamps 13 can be automatically adjusted, and then the battery cells can be clamped.

[0033] The inner side of the battery core clamping jaw 13 is affixed with a sponge rubber strip to increase the friction and clamping force of the clamping jaw, while protecting the battery core and preventing the clamp from damaging the outer surface of the battery core.

[0034] like Figure 4 As shown, the material limiting structure includes a material limiting sensor 3, which is installed on the column in layers according to the levels of the battery tray. It can detect the height of each layer of battery tray 17 and battery material 18, and cooperate with the multi-eye visual recognition system and the battery clamp for clamping. The tray limit 16 is used to limit the surrounding areas to ensure that all materials are within the limiting area.

[0035] The material limit sensor 3 includes an infrared sensor and a laser sensor, which is used for position recognition. When the material is transported to the specified position, the sensor transmits the recognized signal to the multi-eye vision recognition device for recognition.

[0036] like Figure 5 and Figure 6 As shown, the multi-eye visual recognition equipment includes a high-altitude mobile camera group 4, an information acquisition camera group 7 and a blue-light highlight projector 6. The high-altitude mobile camera group 4 is installed on a servo motor slide rail 5, the information acquisition camera group 7 is installed below the motor slide rail, and the blue-light highlight projector 6 is installed above the information acquisition camera group 7. The servo motor slide rail 5 can enable the high-altitude mobile camera group 4 to move back and forth on the slide rail, and can accurately drive the high-altitude mobile camera group 4 and the information acquisition camera group 7 to reach the corresponding shooting position, thereby achieving all-round visual recognition without blind spots. The blue-light highlight projector 6 provides fill light for the high-altitude mobile camera group 4 and the information acquisition camera group 7, so that the images taken by the high-altitude mobile camera group 4 and the information acquisition camera group 7 are clearer.

[0037] The information acquisition camera group 7 includes a fixed bracket and a 2D camera. The fixed bracket is connected to the servo motor slide rail 5. The 2D camera is fixedly connected below the fixed bracket to simultaneously take pictures of the materials on the left and right sides of the same position and obtain the information of the materials. The fixed bracket fixes the high-altitude mobile camera group 4 to the support frame so that it can normally shoot the materials below.

[0038] Embodiment 2

[0039] Based on the first embodiment, an implementation of a battery cell clamp is provided.

[0040] A sponge strip is arranged inside the battery core clamp 2.

[0041] The difference from the first embodiment is that the sponge rubber strip increases the friction and clamping force of the clamping jaws, and at the same time protects the battery cell to prevent the blue film on the surface of the battery cell from being damaged during clamping.

[0042] The workflow includes the following steps:

[0043] S1: Place the fully loaded battery cell tray into the designated battery cell material placement area;

[0044] S2: The material limit sensor 3 in the cell material placement area receives the instruction, and the sensor receives and outputs the signal by detecting the high and low levels through the digital quantity receiver, and measures the height unit of the material;

[0045] S3: The multi-eye vision device and the battery cell feeding mechanism establish a communication relationship through PROFINET (Industrial Ethernet) and are driven by the Siemens CPU1515-2PN central processor;

[0046] S4: The battery cell loading robot 1 receives the instruction, starts to prepare for operation, and moves to the designated position;

[0047] S5: The high-altitude mobile camera group 4 above the loading area receives the instruction and starts to perform the shooting and recognition operation;

[0048] S6: The 2D cameras of the high-altitude mobile camera group 4 and the information acquisition camera group 7 receive instructions and use the 2D cameras to take pictures;

[0049] S7: The control system receives the instruction, and the system starts to recognize the image taken by the 2D camera and the information measured by the material limit sensor 3, completes multi-eye visual recognition, determines the placement position of the battery material, the orientation position of the battery, the height of the material stacking, the spacing between each battery in the material packaging box, the height of a single battery, and establishes a three-dimensional coordinate system of the battery to be grasped;

[0050] S8: The battery cell feeding structure receives the system instruction and executes the command to grab the battery cell according to the three-dimensional coordinate system information established by the multi-eye vision recognition device. The battery cell clamp 2 changes the clamp spacing through the servo screw mechanism according to the size information fed back by the multi-eye vision device to clamp the battery cell material.

[0051] S9: The battery cell feeding robot 1 grabs the battery cell and rotates 180 degrees to place the battery cell material into the trough box on the battery cell conveyor line 8;

[0052] S10: The battery cell conveyor line 8 receives the instruction and conveys the battery cell to the next station according to the takt time set by the station;

[0053] S11: After the battery cell feeding robot 1 places the battery cell, the battery cell gripper 2 restores the spacing, rotates 180° and returns to the origin to continue to execute the next grabbing command;

[0054] S12: Repeat the work command steps S1-S12 according to the work cycle time set by the system until all battery cell materials are loaded and the production line stops operating.

[0055] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only used to explain the relative position relationship, movement, etc. between the components in a certain posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0056] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0057] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A battery cell feeding device based on multi-eye vision recognition technology, comprising a battery cell feeding area, characterized in that: The battery cell loading area includes a supporting structure and a battery cell loading structure, a servo motor slide rail is installed on the supporting structure, a multi-eye visual recognition device for collecting battery cell material position information is installed on the servo motor slide rail, the battery cell loading structure is installed on the side of the supporting structure, a battery cell material placement area is arranged below the supporting structure, a material limit sensor for identifying the battery cell material conveying position is arranged in the battery cell material placement area, a battery cell conveying line is arranged on the side of the battery cell loading area, and a communication relationship is established between the multi-eye visual recognition device and the battery cell loading structure.

2. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 1 is characterized in that: The support structure comprises four support columns and a crossbeam. The crossbeam is installed on the upper end of the support column, and a servo motor slide rail is installed on the crossbeam.

3. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 1 is characterized in that: The battery cell feeding structure comprises a battery cell feeding robot, and a battery cell clamp is connected to the end of the battery cell feeding robot.

4. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 3 is characterized in that: The battery cell feeding robot is a six-axis transmission robot. A battery cell clamp tooling is installed at the sixth axis flange position of the battery cell feeding robot. The battery cell clamp tooling is controlled by a servo screw mechanism. Multiple groups of battery cell jaws and multiple groups of foam jaws are installed under the battery cell clamp tooling.

5. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 1 is characterized in that: The multi-eye visual recognition equipment includes a high-altitude mobile camera group, an information acquisition camera group and a blue light highlight projector. The high-altitude mobile camera group is installed on a servo motor slide rail, and the information acquisition camera group is installed below the motor slide rail. The high-altitude mobile camera group and the information acquisition camera group collect position information of the battery cell material at different visual angles, and a blue light highlight projector is installed above the information acquisition camera group.

6. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 5 is characterized in that: The information acquisition camera group includes a fixed bracket and a 2D camera. The fixed bracket is connected to a servo motor slide rail, and the 2D camera is fixedly connected below the fixed bracket.

7. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 1 is characterized in that: The material limit sensor includes an infrared sensor and a laser sensor.

8. The battery cell feeding equipment based on multi-eye vision recognition technology according to claim 3 is characterized in that: A sponge rubber strip is arranged inside the battery core clamping claw.

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