CN115950894A - Battery pole piece burr detection method and device and electronic equipment - Google Patents
Battery pole piece burr detection method and device and electronic equipment Download PDFInfo
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- CN115950894A CN115950894A CN202310229150.9A CN202310229150A CN115950894A CN 115950894 A CN115950894 A CN 115950894A CN 202310229150 A CN202310229150 A CN 202310229150A CN 115950894 A CN115950894 A CN 115950894A
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to the technical field of product quality inspection, in particular to a battery pole piece burr detection method, a battery pole piece burr detection device and electronic equipment. A battery pole piece burr detection method comprises the following steps: an initialization step: presetting a reference line; a feeding step: adsorbing the battery pole piece to a negative pressure box; a reference line obtaining step: and acquiring a material reference line. A parallel judgment step: judging whether the material reference line and the reference line are parallel or not; pole piece angle adjustment: the second guide rail controls one end of the second support plate to move towards the direction close to the reference line; and (3) burr detection: and (3) taking the section of the battery pole piece by a section microscopic camera. According to the scheme, the feeding process is simple and convenient; the accuracy of detecting burrs of the battery pole piece is effectively improved; the whole detection process has no clamping action on the battery pole piece, and the problems of inclination and arching of the battery pole piece are effectively avoided.
Description
Technical Field
The invention relates to the technical field of product quality inspection, in particular to a battery pole piece burr detection method, a battery pole piece burr detection device and electronic equipment.
Background
The battery pole piece is cut by dividing a large strip into a plurality of strips, and each strip has two sections to be detected with burrs.
Chinese utility model patent publication No. CN210499872U (hereinafter, referred to as document 1) discloses a battery pole piece burr detecting jig and a battery pole piece burr detecting device in No. 05/12 of 2020, wherein the burr detection is performed again by clamping the battery pole piece 7100a by setting the first clamping plate 104 and the second clamping plate 105.
However, the solution of document 1 also has the following problems: the battery pole piece is positioned and fastened in a mode of clamping two ends of the battery pole piece, so that the battery pole piece is easy to incline due to the influence of gravity or the surface is uneven due to arching, and the detection precision is influenced.
Disclosure of Invention
The invention aims to provide a battery pole piece burr detection method, a detection device and electronic equipment aiming at overcoming the defects in the prior art, and aims to avoid the problems of inclination and arching of a battery pole piece and improve the detection precision.
The invention achieves the above purpose through the following technical scheme: a battery pole piece burr detection method comprises the following steps:
an initialization step: presetting a reference line;
a feeding step: placing the battery pole piece on the top surface of the negative pressure box, and fastening the battery pole piece to the negative pressure box in an adsorption manner;
a reference line obtaining step: the method comprises the following steps that a first calibration camera and a second calibration camera respectively shoot a battery pole piece and obtain a material reference line;
a parallel judgment step: judging whether the material reference line and the reference line are parallel or not;
pole piece angle adjustment: if not, the first guide rail drives one end of the first supporting plate to move towards the direction close to or far away from the reference line until the material reference line is parallel to the reference line;
and (3) burr detection: the detection guide rail controls the assembly frame to move, and a section microscopic camera on the assembly frame shoots the section of the battery pole piece.
As a further scheme of the invention: the glitch detection step further includes:
and a plane microscope camera on the assembly frame shoots the upper plane of the battery pole piece adjacent to the tangent plane.
As a further scheme of the invention: the glitch detection step further includes:
the section microscopic camera on the camera frame synchronously rotates along with the second gear and is close to a second section opposite to the first section, and the detection guide rail controls the section microscopic camera to shoot the second section of the battery pole piece;
furthermore, when the assembly frame moves, the circle center of the second gear always moves on the central shaft in the length direction of the battery pole piece in a matching manner, the assembly frame always moves towards the left end or the right end of the battery pole piece along the central shaft in the length direction of the battery pole piece until the circle center of the second gear reaches the reversing trigger position, and the reversing trigger position is obtained by using a formula II;
the formula II is as follows:
；
in the second formula, theta is the visual angle of the section microscopic camera, D is the shortest distance between the section microscopic camera and the first section, and O is the minimum distance from the reversing trigger position to the end along the length direction of the battery pole piece;
when the circle center of the second gear is located at the reversing trigger position, the reversing motor drives the first gear to drive the second gear to rotate, the section microscopic camera on the camera frame synchronously rotates along with the second gear and is close to a second section opposite to the first section, and the detection guide rail controls the section microscopic camera to continuously shoot a second section of the battery pole piece.
As a further scheme of the invention: the step before the step of parallel judgment or the step of adjusting the angle of the pole piece further comprises the following steps:
a pole piece translation adjusting step: the second guide rail and/or the third guide rail drive the second support plate to translate a preset distance towards the direction close to the reference line.
As a further scheme of the invention, the method also comprises the following steps between the step of adjusting the angle of the pole piece and the step of detecting burrs:
a reference line overlapping step: the second guide rail and/or the third guide rail drive the second support plate to translate towards the direction close to the reference line until the material reference line and the reference line coincide.
As a further aspect of the present invention, the initializing step further includes: setting the lens of the first calibration camera, the lens of the second calibration camera and the section microscope lens of the section microscope camera as a point A, a point B and a point C respectively, setting the plane passing through the segment AB in the vertical direction as a gamma plane, setting the plane passing through the point C in the horizontal direction as a mu plane, setting the reference line on the straight line intersecting the gamma plane and the mu plane, and setting the projection of the point A on the reference line as a point
The projection of the point B on the reference line is point->
。
As a further scheme of the invention: the pole piece translation adjusting step is as follows: the second guide rail and/or the third guide rail controls the second support plate to translate a predetermined distance in a direction close to the reference line
And->
，
Wherein the content of the first and second substances,
is a point->
The shortest distance to the material reference line->
Is a point>
The shortest distance to the material reference line;
the parallel judgment step comprises: the first calibration camera and the second calibration camera respectively shoot the battery pole piece and obtain a material reference line, and a deviation correction value is obtained by using a formula I
Judging whether the correction value is greater than or equal to>
Whether or not it is 0;
the formula I is as follows:
，/>
，/>
；
wherein, the first and the second end of the pipe are connected with each other,
is a deviation correcting value>
Is the shortest distance between the first calibration camera and the material reference line>
Is the shortest distance between the second calibration camera and the material reference line>
The distance between the first calibration camera and the second calibration camera is obtained;
the pole piece angle adjusting step is as follows: if not, the first guide rail controls one end of the first supporting plate to move towards the direction close to or far away from the reference line until the deviation correcting value
Equal to 0.
The invention also provides another technical scheme: the utility model provides a battery pole piece burr detection device, this battery pole piece burr detection device includes:
the angle positioning mechanism comprises a first supporting plate, a first guide rail, a first bearing and a second bearing, wherein one end of the first supporting plate is movably connected with the first guide rail through the first bearing, and the other end of the first supporting plate is movably connected with the second bearing;
the negative pressure adsorption mechanism is arranged on the top surface of the first supporting plate;
the detection guide rail is arranged on one side of the second support plate; and
the detection mechanism comprises an assembly frame movably connected to the detection guide rail and a shooting device arranged on the assembly frame.
As a further scheme of the invention: this battery pole piece burr detection device still includes the translation and looks for a position mechanism, the translation looks for a position the mechanism and includes:
a second guide rail;
the third guide rail is arranged on one side of the second guide rail; and
the two ends of the second supporting plate are respectively movably connected to the second guide rail and the third guide rail;
wherein, first guide rail with the second bearing set up respectively in the top surface of second backup pad, negative pressure adsorption device including set up in the negative pressure box of first backup pad top surface, the top surface of negative pressure box is provided with the negative pressure hole.
As a further scheme of the invention: the photographing apparatus includes:
the bottom of the plane micro-camera is provided with a plane micro-lens;
the section microscope camera is provided with a section microscope lens at the bottom, and the section microscope lens is lower than the plane microscope lens;
the first calibration camera is arranged on one side of the section microscopic camera; and
and the second calibration camera is arranged on the other side of the section microscopic camera.
As a further scheme of the invention: the first isThe lens of the calibration camera, the lens of the second calibration camera and the tangent plane micro lens are respectively a point A, a point B and a point C, a plane passing through the line segment AB in the vertical direction is a gamma plane, a plane passing through the point C in the horizontal direction is a mu plane, a reference line is arranged on a straight line intersecting the gamma plane and the mu plane, and the projection of the point A on the reference line is a point
The projection of the point B on the reference line is point->
The first calibration camera and the second calibration camera are jointly used for acquiring a material reference line of the battery pole piece; the included angle between the reference line and the material reference line is recorded as deviation correction value->
At a point->
The shortest distance to the material reference line is marked as->
At a point->
The shortest distance to the material reference line is marked as->
A distance between the first calibration camera and the second calibration camera is recorded as ^ er>
Then the following formula is satisfied:
as a further scheme of the invention: the distance between the reference line and the point C is L, and L is more than or equal to 10mm and less than or equal to 25mm or L is more than or equal to 20mm and less than or equal to 25mm.
As a further scheme of the invention: the assembly frame is provided with:
a commutation motor;
the first gear is synchronously connected with an output shaft of the reversing motor;
the second gear is in meshed connection with the first gear;
the camera frame is synchronously connected with the second gear;
the rotary bearing is sleeved on the camera frame;
the plane imaging light source is arranged at one side close to the plane microscopic camera; and
the section imaging light source is arranged on one side close to the section microscopic camera;
wherein the photographing device is installed at the camera stand.
The invention also provides another technical scheme: an electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of the preceding.
The invention has the beneficial effects that:
according to the scheme, the battery pole piece is placed on the top surface of the negative pressure box through the feeding step and is fixedly adsorbed on the negative pressure box, and the feeding process is simple and convenient; then, the battery pole piece is positioned by an initialization step, a parallel judgment step and a pole piece angle adjustment step, so that the burr detection accuracy of the battery pole piece is effectively improved; and finally, performing a burr detection step. The whole detection process does not involve any clamping action on the battery pole piece, the problem that the battery pole piece is inclined and arched is effectively avoided, the battery pole piece can be adjusted until being parallel to a lens of the section microscopic camera, accurate positioning is achieved, and the problem that the battery pole piece subjected to spot inspection is scrapped due to clamping damage is effectively solved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the bag body and the bag bottom of the present invention in an unfolded state.
Fig. 3 is a further exploded view of a portion of the structure of fig. 2.
Fig. 4 is a schematic structural diagram of the detecting mechanism 4 of the present invention.
Fig. 5 is a further exploded view of the structure of fig. 4.
Fig. 6 is a schematic plan structure diagram of a positional relationship among the first calibration camera, the second calibration camera, the reference line and the section microscope camera.
Fig. 7 is a schematic diagram of the left side view of fig. 6.
Fig. 8 is a schematic diagram of the positioning principle of the battery pole piece.
Fig. 9 is a schematic diagram of the principle of continuous detection.
Fig. 10 is a schematic view of a partial structure of the angle positioning mechanism.
The reference numerals include:
1-a translation and position finding mechanism,
11-a second guide rail, 12-a third guide rail, 13-a second support plate;
2-a negative pressure adsorption mechanism,
21-negative pressure box;
3, detecting a guide rail;
4-the detection mechanism is used for detecting the position of the object,
41-assembly frame, 42-shooting device,
411-a reversing motor, 412-a first gear, 413-a second gear, 414-a camera frame, 415-a rotary bearing, 416-a plane imaging light source, 417-a section imaging light source,
421-a plane microscopic camera, 422-a section microscopic camera, 423-a first calibration camera, 424-a second calibration camera;
5-an angle position finding mechanism,
51-a first guide rail, 53-a first support plate, 54-a first bearing, 55-a second bearing, 56-a positioning bearing seat, 57-a bearing guide groove;
6, a base;
7-a battery pole piece,
71-a first section, 72-a second section, 73-a first plane;
101-base reference line, 102-material reference line.
Detailed description of the preferred embodiments
The present invention is described in detail below with reference to the attached drawings.
As shown in fig. 1 to 10, in an embodiment of the present invention, a battery pole piece burr detection method is provided, including an initialization step, a feeding step, a reference line obtaining step, a parallel judgment step, and a pole piece angle adjusting step.
An initialization step: a reference baseline 101 is preset.
A feeding step: the battery pole piece 7 is placed on the top surface of the negative pressure tank 21 and is fixedly attached to the negative pressure tank 21 by suction.
A reference line obtaining step: the first calibration camera 423 and the second calibration camera 424 respectively shoot the battery pole piece 7 and acquire the material reference line 102.
A parallel judgment step: and judging whether the material reference line 102 and the reference line 101 are parallel or not.
Pole piece angle adjustment: if not, the first guide rail 51 drives one end of the first support plate 53 to move towards the direction close to or far away from the reference line 101 until the material reference line 102 is parallel to the reference line 101; if one end of the battery pole piece 7 close to the first guide rail 51 is closer to the reference line 101 than the other end thereof, the first guide rail 51 is operated to move away from the reference line 101, otherwise, the first guide rail 51 is operated to move close to the reference line 101.
The battery pole piece burr detection method in the embodiment of the invention further comprises a burr detection step.
And (3) burr detection: the detection guide rail 3 controls the assembly frame 41 to move, and the section microscopic camera 422 on the assembly frame 41 shoots the section of the battery pole piece 7. In particular, the guide rail is preferably a screw-type linear module.
In one embodiment, the glitch detection step further comprises:
the plane microscope 421 on the assembly frame 41 photographs the plane of the battery pole piece 7 adjacent to the tangent plane.
In another embodiment, the glitch detection step further comprises:
the section comprises a first section 71 and a second section 72, when the section microscopic camera 422 moves to the end of the battery pole piece 7, the reversing motor 411 drives the first gear 412 to drive the second gear 413 to rotate, the section microscopic camera 422 on the camera frame 414 synchronously rotates with the second gear 413 and is close to the second section 72 opposite to the first section 71, and the detection guide rail 3 controls the section microscopic camera 422 to shoot the second section 72 of the battery pole piece 7;
furthermore, as shown in fig. 9, when the assembly frame 41 moves, the center of the second gear 413 always matches and moves on the central axis of the battery pole piece 7 in the length direction, and the assembly frame 41 always moves along the central axis of the battery pole piece 7 in the length direction to the left end or the right end until the center of the second gear 413 reaches the reversing trigger position, and the reversing trigger position is obtained by using the formula two;
the second formula is as follows:
；
in the second formula, θ is the viewing angle of the section microscope 422, preferably 9.1771 °;
d is the shortest distance between the section microscopic camera 422 and the current detection section, and is preferably 25mm;
o is the minimum distance from the commutation trigger position to the end along the length direction of the battery pole piece 7, and because the assembly frame 41 can trigger commutation without moving to the end of the battery pole piece 7 along the length direction of the battery pole piece 7 under the scheme, O is also the distance for less movement of comparing the assembly frame 41 to trigger commutation after moving to the end of the battery pole piece 7 along the length direction of the battery pole piece 7 during each commutation trigger under the scheme, and O =2mm can be calculated by using a formula two;
when the center of the second gear 413 is located at the reversing trigger position, the reversing motor 411 drives the second gear 413 to rotate by driving the first gear 412, the section microscopic camera 422 on the camera frame 414 synchronously rotates along with the second gear 413 and is close to the other section opposite to the current detection section, and the detection guide rail controls the section microscopic camera 422 to continuously shoot the other section of the battery pole piece 7;
in general, the width H =100mm of the battery pole piece 7, since the distance T from the commutation trigger position to the nearer pole piece corner is:
0.5H+O=52mm；
and the rotation radius R of the section microscopic camera 422 in the process of executing the reversing action is:
0.5H+D=75mm；
from the length relationship of the three sides of the triangle, when the pole piece edge is continuously detected by the method, the distance T between the reversing trigger position on the battery pole piece 7 and one corner of the pole piece which is close to the reversing trigger position is smaller than the rotation radius R of the section microscopic camera 422, so that the section microscopic camera 422 cannot collide with the battery pole piece 7 in the process of reversing action of the section microscopic camera 422;
the beneficial effects of this scheme are that, rotate through control shooting device 42, realized two tangent planes of continuous detection battery pole piece under the prerequisite of guaranteeing that battery pole piece 7 can not receive to collide with, and assembly frame 41 reciprocating motion's distance when can reducing the execution burr and detect the step has improved work efficiency.
According to the scheme, the battery pole piece 7 is placed on the top surface of the negative pressure box 21 through the feeding step and is fixedly adsorbed on the negative pressure box 21, and the feeding process is simple and convenient; then, the positioning effect of the battery pole piece 7 is realized through the initialization step, the parallel judgment step and the pole piece angle adjustment step, and the burr detection accuracy of the battery pole piece 7 is effectively improved; and finally, performing a burr detection step. The whole detection process does not involve any clamping action on the battery pole piece 7, the problem that the battery pole piece 7 is inclined and arched is effectively avoided, the battery pole piece 7 can be adjusted until the tangent plane microscope lens parallel to the tangent plane microscope camera 422, accurate positioning is realized, and the problem that the battery pole piece 7 subjected to spot inspection is scrapped due to clamping is effectively solved.
In another embodiment, a step before the step of determining parallelism or the step of adjusting the angle of the pole piece further comprises:
a pole piece translation adjusting step: the second guide rail 11 and/or the third guide rail 12 drives the second support plate 13 to move horizontally for a preset distance in the direction close to the reference line 101; the scheme has the beneficial effect of reducing the angle adjustment error caused by the excessively long distance between the battery pole piece 7 and the reference line 101.
In another embodiment, the method further comprises the steps of:
a reference line overlapping step: the second guide rail 11 and/or the third guide rail 12 drives the second support plate 13 to translate towards the direction close to the reference line 101 until the material reference line 102 and the reference line 101 coincide.
In yet another embodiment, as shown in fig. 6 to 8, the initializing step further includes: let the lens of the first calibration camera 423, the lens of the second calibration camera 424 and the section microscope lens of the section microscope 422 be point a, point B and point C, respectively, the plane passing through the segment AB in the vertical direction be a γ plane, the plane passing through the segment C in the horizontal direction be a μ plane, the datum reference line 101 is on a straight line intersecting the γ plane and the μ plane, the projection of the point a on the datum reference line 101 is a point
The projection of the point B on the base reference line 101 is point->
。
In still another embodiment, as shown in FIGS. 6 to 8, the second guide rail 11 and/or the third guide rail 12 controls the second support plate 13 to translate a predetermined distance toward the reference line 101
And->
，
Wherein the content of the first and second substances,
is a point->
To the material reference line 102Is shortest distance of->
Is a point->
The shortest distance to the material reference line 102, the scheme has the advantages that the battery pole piece 7 enters a proper shooting range of a calibration camera, preferably, d = (m + n)/2;
the parallel judgment step is as follows: the first calibration camera 423 and the second calibration camera 424 respectively shoot the battery pole piece 7 and obtain the material reference line 102, and the deviation correction value is obtained by using the formula one
And judging the correction value->
Whether or not it is 0; />
The formula I is as follows:
，/>
，/>
；
wherein the content of the first and second substances,
is a deviation correcting value>
Is the shortest distance between the first calibration camera 423 and the material reference line 102, is greater than or equal to>
Is the shortest distance between the second calibration camera 424 and the material reference line 102, is->
Is the distance between the first calibration camera 423 and the second calibration camera 424;
the pole piece angle adjusting step is as follows: if not, the first guide rail 51 controls one end of the first support plate 53 to move towards the direction close to or away from the reference line 101 until the deviation correction value is reached
Equal to 0.
As for the above step of adjusting the pole piece translation and the step of adjusting the pole piece angle, the two steps should be executed in a sequence that combines with reality, if the initial position of the battery pole piece 7 is too far away from the first calibration camera 423 and the second calibration camera 424, the step of adjusting the pole piece translation should be executed first, and then the step of adjusting the pole piece angle should be executed, so as to avoid the problem that the battery pole piece 7 cannot be accurately shot by the first calibration camera 423 and the second calibration camera 424 due to too far distance, and after the above steps are completed, the step of adjusting the pole piece translation may be executed again in combination with reality, so as to achieve the best shooting effect of the plane microscope camera 421 and the tangent plane microscope camera 422; if the initial position of the battery pole piece 7 is relatively close to the first calibration camera 423 and the second calibration camera 424, it is enough to obtain an accurate deviation correction value
The step of adjusting the angle of the pole piece can be executed first, and then the step of adjusting the translation of the pole piece can be executed, so that higher working efficiency can be obtained.
The invention also provides a battery pole piece burr detection device which comprises an angle positioning mechanism 5, a negative pressure adsorption mechanism 2, a detection guide rail 3 and a detection mechanism 4.
Referring to fig. 2 and 3, the angle positioning mechanism 5 includes a first supporting plate 53, a first guide rail 51, a first bearing 54 and a second bearing 55, wherein one end of the first supporting plate 53 is movably connected to the first guide rail 51 through the first bearing 54, and the other end is movably connected to the second bearing 55;
a negative pressure adsorption mechanism 2 disposed on the top surface of the first support plate 53;
a detection guide rail 3 provided at one side of the second support plate 13; and
the detecting mechanism 4 includes an assembly frame 41 movably connected to the detecting guide rail 3 and a camera 42 provided on the assembly frame 41. In the scheme, the negative pressure adsorption mechanism 2 is arranged on the first support plate 53, so that the battery pole piece 7 can be placed and fastened on the first support plate 53 through adsorption; the position finding mechanism 5 is arranged through the angle, the position of the battery pole piece 7 can be adjusted to the best detection position, the battery pole piece 7 is parallel to the lens of the shooting device 42, accurate positioning is achieved, the detection precision is improved, the effects of positioning and fastening the battery pole piece 7 without clamping are achieved, any clamping action on the battery pole piece 7 is avoided, the problems that the battery pole piece 7 is inclined and arched are effectively solved, and the problem that the battery pole piece 7 subjected to spot inspection is scrapped due to being clamped is effectively solved. In detail, the slider of the first guide rail 51 drives one end of the first support plate 53 to move and adjust the angle, the other end of the first support plate 53 rotates along the second bearing 55 until the battery pole piece 7 is parallel to the lens of the shooting device 42, and then the slider of the detection guide rail 3 drives the detection mechanism 4 to move, so that the shooting device 42 shoots and detects back and forth along the length direction of the battery pole piece 7.
In some embodiments, the battery pole piece burr detection device further comprises a base 6.
In some embodiments, the battery pole piece burr detection device further includes a translation locating mechanism 1, where the translation locating mechanism 1 includes:
a second guide rail 11;
a third guide rail 12 provided on one side of the second guide rail 11; and
a second support plate 13, both ends of which are movably connected to the second guide rail 11 and the third guide rail 12 respectively;
wherein, first guide rail 51 with second bearing 55 set up respectively in the top surface of second backup pad 13, negative pressure adsorption apparatus constructs 2 including set up in the negative pressure case 21 of first backup pad 53 top surface, the top surface of negative pressure case 21 is provided with the negative pressure hole.
In some embodiments, the camera 42 includes:
a plane microscope 421, the bottom of which is provided with a plane microscope lens;
a section microscope 422, the bottom of which is provided with a section microscope lens lower than the plane microscope lens;
a first calibration camera 423 arranged on one side of the section microscope camera 422; and
and a second calibration camera 424 is arranged on the other side of the section microscope camera 422.
In some embodiments, as shown in fig. 6 to 8, the lens of the first calibration camera 423, the lens of the second calibration camera 424, and the tangent plane microlens are a point a, a point B, and a point C, respectively, a plane passing through the segment AB in the vertical direction is a γ plane, a plane passing through the segment C in the horizontal direction is a μ plane, a reference line 101 is disposed on a straight line intersecting the γ plane and the μ plane, and a projection of the point a on the reference line 101 is a point
The projection of point B on the base reference line 101 is point->
The first calibration camera 423 and the second calibration camera 424 are respectively used for acquiring the material reference line 102 of the battery pole piece 7; the included angle between the reference line 101 and the material reference line 102 is recorded as a deviation correction value->
On a point basis>
The shortest distance to the material reference line 102 is marked in [ ]>
On a point basis>
The shortest distance to the material reference line 102 is marked as +>
The distance between the first calibration camera 423 and the second calibration camera 424 is recorded as ≧ or>
Then the following formula is satisfied:
in some embodiments, the baseline reference line 101 is a distance L from point C of 10mm L25 mm or 20mm L25 mm.
Specifically, as shown in fig. 7, the point C is a tangent plane microlens of the tangent plane microscope 422, and the battery pole piece 7 moves until the material reference line 102 and the reference line 101 coincide, so that the distance from the tangent plane microlens to the battery pole piece 7 is L. The section microscope head is small in shooting face of the section of the battery pole piece 7, the shooting face is preferably rectangular, and the length and width of the rectangle are preferably 2mm x 4mm.
In some embodiments, the assembly frame 41 is provided with:
a commutation motor 411;
a first gear 412 synchronously connected with an output shaft of the reversing motor 411;
a second gear 413 engaged with the first gear 412;
a camera frame 414 synchronously connected with the second gear 413;
a rotary bearing 415 sleeved on the camera frame 414;
a planar imaging light source 416 disposed at a side close to the planar microscope camera 421; and
a section imaging light source 417 disposed on a side close to the section microscope camera 422;
wherein the camera 42 is mounted to the camera mount 414.
In some embodiments, the first supporting plate 53 includes a first flexible section and a second flexible section connected to the first flexible section by a sliding rail, the first flexible section is movably connected to the first guiding rail 51, the second flexible section is rotatably connected to the second bearing 55, the first flexible section is nested in the second flexible section to enable the first flexible section and the second flexible section to stretch, when the angle is adjusted, the adaptability between the first flexible section and the second flexible section is lengthened or shortened, and the clamping stagnation caused by insufficient degree of freedom is avoided.
In some embodiments, as shown in fig. 10, the angle positioning mechanism further includes a positioning bearing seat 56 connected to one end of the first supporting plate 53, and the first supporting plate 53 is movably connected to the first bearing 54 through the positioning bearing seat 56, specifically:
a bearing guide groove 57 is formed in the middle of the positioning bearing seat 56, the first bearing 54 is movably arranged in the bearing guide groove 57 of the positioning bearing seat 56, the first bearing 54 can reciprocate for a certain distance in the bearing guide groove 57, and the first bearing 54 is movably connected with the first guide rail 51. By positioning the bearing seat 56, the first bearing 54 can be adapted to move for a distance in the bearing guide groove 57 of the positioning bearing seat 56 when the pole piece angle adjusting step is performed, so that the clamping stagnation caused by insufficient degree of freedom is avoided.
In some embodiments, the present invention further provides another technical solution: an electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of the preceding.
The working process of the battery pole piece burr detection device provided by the embodiment of the invention is as follows:
an initialization step: presetting a reference line 101;
a feeding step: placing the battery pole piece 7 on the top surface of the negative pressure box 21, and fastening the battery pole piece 7 on the negative pressure box 21 in an absorption manner;
a reference line obtaining step: the first calibration camera 423 and the second calibration camera 424 respectively shoot the battery pole piece 7 and acquire the material reference line 102; according to the distance between the initial position of the battery pole piece 7 and the first calibration camera 423 and the second calibration camera, in combination with practical situations, the following steps are selected to be executed:
a parallel judgment step: judging whether the material reference line 102 and the reference line 101 are parallel or not; or
A pole piece translation adjusting step: the second guide rail 11 and/or the third guide rail 12 drive the second support plate 13 to move horizontally for a preset distance in a direction close to the reference line 101; pole piece angle adjustment: the first guide rail 51 drives one end of the first supporting plate 53 to move towards the direction close to or far away from the reference line 101 until the material reference line 102 is parallel to the reference line 101; if one end of the battery pole piece 7 close to the first guide rail 51 is closer to the reference line 101 than the other end thereof, the first guide rail 51 is operated to move away from the reference line 101, otherwise, the first guide rail 51 is operated to move close to the reference line 101; according to the distances between the current position of the battery pole piece 7 and the first calibration camera 423 and the second calibration camera, in combination with practical situations, the following steps are selected and executed:
a pole piece translation adjusting step: the second guide rail 11 and/or the third guide rail 12 drive the second support plate 13 to move horizontally for another preset distance in the direction close to the reference line 101;
and (3) burr detection: the detection guide rail 3 controls the assembly frame 41 to move, and the section microscopic camera 422 on the assembly frame 41 shoots the section of the battery pole piece 7.
In conclusion, the present invention has the above-mentioned excellent characteristics, so that it can be used to enhance the performance of the prior art and has practicability, and becomes a product with practical value.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (15)
1. A battery pole piece burr detection method is characterized by comprising the following steps:
an initialization step: presetting a reference line (101);
a feeding step: placing the battery pole piece (7) on the top surface of the negative pressure box (21), and fixedly attaching the battery pole piece to the negative pressure box (21);
a reference line acquisition step: the method comprises the following steps that a first calibration camera (423) and a second calibration camera (424) respectively shoot a battery pole piece (7) and obtain a material reference line (102);
a parallel judgment step: judging whether the material reference line (102) and the reference line (101) are parallel or not;
pole piece angle adjustment: if not, the first guide rail (51) drives one end of the first supporting plate (53) to move towards the direction close to or far away from the reference line (101) until the material reference line (102) is parallel to the reference line (101);
and (3) burr detection: the detection guide rail (3) controls the assembly frame (41) to move, and a section microscopic camera (422) on the assembly frame (41) shoots the section of the battery pole piece (7).
2. The battery pole piece burr detection method of claim 1, wherein the burr detection step further comprises:
and a plane microscope camera (421) on the assembly frame (41) shoots the upper plane of the battery pole piece (7) adjacent to the tangent plane.
3. The battery pole piece burr detection method of claim 1, wherein the burr detection step further comprises:
the section comprises a first section (71) and a second section (72), when the section microscopic camera (422) moves to the end of the battery pole piece (7), the reversing motor (411) drives the first gear (412) to drive the second gear (413) to rotate, the section microscopic camera (422) on the camera rack (414) synchronously rotates along with the second gear (413) and is close to the second section (72) opposite to the first section (71), and the detection guide rail (3) controls the section microscopic camera (422) to shoot the second section (72) of the battery pole piece (7).
4. The battery pole piece burr detection method according to claim 1, wherein a step before the parallel determination step or the pole piece angle adjustment step further comprises:
a pole piece translation adjusting step: the second guide rail (11) and/or the third guide rail (12) drive the second support plate (13) to move horizontally for a preset distance towards the direction close to the reference line (101).
5. The battery pole piece burr detection method according to claim 1, characterized in that between the pole piece angle adjustment step and the burr detection step, further comprising:
a reference line overlapping step: the second guide rail (11) and/or the third guide rail (12) drive the second support plate (13) to translate towards the direction close to the reference line (101) until the material reference line (102) and the reference line (101) coincide.
6. The battery pole piece burr detection method of claim 4, wherein the initializing step further comprises: the lens of the first calibration camera (423), the lens of the second calibration camera (424) and the section microscope lens of the section microscope camera (422) are respectively set as a point A, a point B and a point C, a plane passing through a line segment AB in the vertical direction is a gamma plane, a plane passing through the point C in the horizontal direction is a mu plane, a datum reference line (101) is on a straight line intersecting the gamma plane and the mu plane, and the projection of the point A on the datum reference line (101) is a point
The projection of the point B on the reference line (101) is point ^ or>
。
7. The battery pole piece burr detection method of claim 6, characterized in that:
the pole piece translation adjusting step is as follows: the second guide rail (11) and/or the third guide rail (12) controls the second support plate (13) to move a preset distance in a direction close to the reference line (101)
And->
，
Wherein the content of the first and second substances,
is a point>
The shortest distance to the material reference line (102), based on the measured value>
Is a point->
A shortest distance to a material reference line (102);
the parallel judgment step comprises: the first calibration camera (423) and the second calibration camera (424) respectively shoot the battery pole piece (7) and obtain a material reference line (102), and a deviation correction value is obtained by using a formula I
And judging the correction value->
Whether the value is 0; />
The formula I is as follows:
，/>
，/>
；
wherein the content of the first and second substances,
is a deviation correcting value>
For the first calibration camera (423) to the material reference line (1)02 Is) the shortest distance between->
Is the shortest distance between the second calibration camera (424) and the material reference line (102), is selected>
Is the distance between the first calibration camera (423) and the second calibration camera (424);
the pole piece angle adjusting step is as follows: if not, the first guide rail (51) controls one end of the first supporting plate (53) to move towards the direction close to or far away from the reference line (101) until the deviation correction value
Equal to 0.
8. The battery pole piece burr detection method of claim 1, wherein the burr detection step further comprises:
when the assembly frame (41) moves, the circle center of the second gear (413) always moves on the central shaft of the battery pole piece (7) in the length direction in a matching manner; obtaining a reversing trigger position by using a formula II, when the circle center of the second gear (413) is located at the reversing trigger position, driving the second gear (413) to rotate by a reversing motor (411) through driving a first gear (412), synchronously rotating a section microscopic camera (422) on a camera frame (414) along with the second gear (413) and approaching a second section opposite to the first section, and detecting a guide rail to control the section microscopic camera (422) to continuously shoot a second section of the battery pole piece (7);
the second formula is as follows:
；
in the second formula, theta is the visual angle of the section microscopic camera (422), D is the shortest distance between the section microscopic camera (422) and the current detection section, and O is the minimum distance from the reversing trigger position to the end along the length direction of the battery pole piece (7).
9. The utility model provides a battery pole piece burr detection device which characterized in that, this battery pole piece burr detection device includes:
the angle positioning mechanism (5) comprises a first supporting plate (53), a first guide rail (51), a first bearing (54) and a second bearing (55), wherein one end of the first supporting plate (53) is movably connected with the first guide rail (51) through the first bearing (54), and the other end of the first supporting plate is movably connected with the second bearing (55);
the negative pressure adsorption mechanism (2) is arranged on the top surface of the first supporting plate (53);
a detection guide rail (3) arranged on one side of the second support plate (13); and
the detection mechanism (4) comprises an assembly frame (41) movably connected to the detection guide rail (3) and a shooting device (42) arranged on the assembly frame (41).
10. The battery pole piece burr detection device of claim 9, characterized in that, this battery pole piece burr detection device still includes translation mechanism of looking for (1), translation mechanism of looking for (1) includes:
a second guide rail (11);
a third guide rail (12) provided on one side of the second guide rail (11); and
the two ends of the second supporting plate (13) are movably connected to the second guide rail (11) and the third guide rail (12) respectively;
wherein, first guide rail (51) with second bearing (55) set up respectively in the top surface of second backup pad (13), negative pressure adsorption apparatus constructs (2) including set up in negative pressure case (21) of first backup pad (53) top surface, the top surface of negative pressure case (21) is provided with the negative pressure hole.
11. The battery pole piece burr detection device according to claim 9, characterized in that the photographing device (42) includes:
a plane microscope camera (421), the bottom of which is provided with a plane microscope lens;
a section microscope (422), the bottom of which is provided with a section microscope lens, and the section microscope lens is lower than the plane microscope lens;
the first calibration camera (423) is arranged on one side of the section microscopic camera (422); and
and the second calibration camera (424) is arranged on the other side of the section microscopic camera (422).
12. The battery pole piece burr detection device of claim 11, wherein: the lens of the first calibration camera (423), the lens of the second calibration camera (424) and the section microscopic lens are respectively a point A, a point B and a point C, a plane passing through the segment AB in the vertical direction is a gamma plane, a plane passing through the point C in the horizontal direction is a mu plane, a reference line (101) is arranged on a straight line intersecting the gamma plane and the mu plane, and the projection of the point A on the reference line (101) is a point
The projection of the point B on the reference line (101) is point ^ or>
The first calibration camera (423) and the second calibration camera (424) are respectively used for acquiring a material reference line (102) of the battery pole piece (7); an included angle between the reference line (101) and the material reference line (102) is recorded as a deviation correction value->
At a point->
The shortest distance to the material reference line (102) is recorded as +>
On a point basis>
The shortest distance to the material reference line (102) is marked as->
The distance between the first calibration camera (423) and the second calibration camera (424) is recorded as +>
Then the following formula is satisfied:
13. the battery pole piece burr detection device of claim 12, wherein: the distance between the reference line (101) and the point C is L, and L is more than or equal to 10mm and less than or equal to 25mm or L is more than or equal to 20mm and less than or equal to 25mm.
14. The battery pole piece burr detection device according to claim 11, wherein the assembly frame (41) is provided with:
a commutation motor (411);
a first gear (412) synchronously connected with an output shaft of the reversing motor (411);
a second gear (413) in meshing connection with the first gear (412);
a camera frame (414) synchronously connected with the second gear (413);
a rotary bearing (415) sleeved on the camera frame (414);
a planar imaging light source (416) disposed on a side near the planar microscope camera (421); and
a section imaging light source (417) arranged at one side close to the section microscopic camera (422);
wherein the camera device (42) is mounted to the camera rig (414).
15. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to invoke the memory-stored instructions to perform the method of any one of claims 1 to 8.
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