CN216594831U

CN216594831U - Lithium battery appearance detection device applying multi-shaft mechanical arm

Info

Publication number: CN216594831U
Application number: CN202122599540.4U
Authority: CN
Inventors: 不公告发明人
Original assignee: Gaoshi Technology Suzhou Co ltd
Current assignee: Gaoshi Technology Suzhou Co ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-05-24
Anticipated expiration: 2031-10-27

Abstract

The application relates to a lithium cell outward appearance detection device who uses multiaxis arm, the device includes: the device comprises M six-axis mechanical arms, M appearance detection stations and a controller, wherein M is an integer larger than 1; each appearance inspection station comprises: the device comprises an appearance image collector, an appearance detection light emitter and a diffuse reflection plate; the M six-axis mechanical arms correspond to the M appearance detection stations one by one and are used for moving the lithium battery to be detected to the appearance detection stations and rotating the lithium battery to be detected to enable the lithium battery to be detected to present different poses; the controller is used for controlling the M six-axis mechanical arms to move and controlling the appearance image collector to shoot the lithium batteries to be detected with different poses. The scheme that this application provided has a plurality of outward appearance and detects the station, and an outward appearance detects the station and can accomplish lithium cell outward appearance and detect whole processes to avoid taking place because of certain station breaks down in the device and whole device is paralysed, influences detection efficiency's problem.

Description

Lithium battery appearance detection device applying multi-shaft mechanical arm

Technical Field

The application relates to the technical field of image detection, in particular to a lithium battery appearance detection device applying a multi-axis mechanical arm.

Background

With the improvement of the industrialization level and the continuous maturity of the lithium battery manufacturing process, the production or detection of each working section of the lithium battery by using equipment instead of manpower becomes an important trend, and the appeal of the detection device with compact structure, simple maintenance, simple operation and simple model change in the industry is more and more common and strong.

Among the correlation technique, there is a two carousel formula lithium cell outward appearance detection device, and the device rotates through a plurality of carousels mutually supporting for the lithium cell removes different detection station in the device, and every detection station carries out image acquisition to the different positions of lithium cell, thereby realizes the outward appearance detection to the lithium cell. The device is complex in structure, when detection procedures are switched, a large number of parts are required to be matched to transmit the lithium battery to be detected to different detection stations for detection, and the device is high in material cost and high in maintenance difficulty; in addition, because the different stations of the double-rotary-disc lithium battery appearance detection device are arranged on one detection production line, when a certain station breaks down, the whole detection device can be paralyzed, so that the detection flow cannot be completely propelled, and the efficiency is influenced.

In the prior art, a patent document with publication number CN210022875U provides a single-arm linear motor battery appearance detection apparatus, which has a conveying device, a front detection device, a grabbing and sorting manipulator and a back detection device, wherein the front detection device includes a first irradiation unit arranged above the conveying device and used for providing light to a lithium battery to be detected and at least one first front image acquisition unit arranged above the conveying device, and the grabbing and sorting manipulator is installed on a linear motor module and used for grabbing the lithium battery which is conveyed on the conveying device and passes through the front detection device and performing horizontal linear migration.

Although above-mentioned scheme is through the cooperation of transmission band and manipulator, it is many to have solved cooperation spare part among the two rotary table formula lithium cell outward appearance detection device, lead to the problem that the material is with high costs and the maintenance degree of difficulty is high, but its different detection station still sets up on a detection assembly line, detect the required detection image of a plurality of angles in order to obtain the lithium cell outward appearance that awaits measuring, need utilize transmission band and manipulator to await measuring the lithium cell and transport to another detection station from a detection station, thereby accomplish the collection of the detection image of different angles, when certain station breaks down among them, it will unable complete propulsion to detect the flow, make the testing process interrupt, influence the detection efficiency of lithium cell.

SUMMERY OF THE UTILITY MODEL

For the problem that exists among the prior art of overcoming, this application provides a lithium cell outward appearance detection device who uses multiaxis arm, can avoid taking place because of certain station breaks down in the device and whole device is paralysed, influences detection efficiency's problem.

This application first aspect provides a lithium cell outward appearance detection device who uses multiaxis arm, includes:

the system comprises M six-axis mechanical arms 10, M appearance detection stations 20 and a controller, wherein M is an integer greater than 1; each appearance inspection station 20 includes: an appearance image collector 201, an appearance detection light emitter 202, and a diffuse reflection plate 203;

the M six-axis mechanical arms 10 correspond to the M appearance detection stations 20 one by one, and are used for moving the lithium battery 80 to be detected to the appearance detection stations 20 and rotating the lithium battery 80 to be detected to present different poses;

the controller is used for controlling the M six-axis mechanical arms 10 to move and controlling the appearance image collector 201 to shoot the lithium batteries 80 to be detected in different poses.

In one embodiment, the appearance detection light emitter 202 comprises: a first strip-shaped light emitter 2021, 4 first facet light emitters 2022, a first ring-shaped light emitter 2023, and 4 second strip-shaped light emitters 2024;

the first strip-shaped light emitter 2021, the 4 first surface light emitters 2022, the first annular light emitter 2023, and the 4 second strip-shaped light emitters 2024 are sequentially arranged from top to bottom;

the appearance image collector 201 is arranged above the 4 first face light emitters 2022; the 4 first facet light emitters 2022 are circumferentially disposed above the first annular light emitter 2023; the 4 second bar-shaped light emitters 2024 are circumferentially arranged below the first annular light emitter 2023; the diffusive reflective plate 203 is arranged in parallel with the second strip-shaped light emitter 2024.

In one embodiment, the appearance detection device for a lithium battery using a multi-axis manipulator further includes: a tab detection station 30;

utmost point ear detection station 30 includes: 2 tab image collectors 301 and 2 dome light emitters 302; the 2 dome light emitters 302 are oppositely arranged, and the 2 tab image collectors 301 are symmetrically arranged at two sides of the 2 dome light emitters 302;

the controller is further configured to turn on the 2 dome light emitters 302 and control the 2 tab image collectors 301 to shoot when the lithium battery 80 to be tested is located between the 2 dome light emitters 302.

In one embodiment, the appearance detection device for a lithium battery using a multi-axis manipulator further includes: a tab leveling station 40;

utmost point ear flattening station includes: a tab flattening platform 401, a rolling mechanism 402 and a lifting mechanism 403; the roll-in mechanism includes: 2 rollers 4021; the distance between the 2 rollers 4021 is matched with the distance between the lugs of the lithium battery 80 to be tested;

the lug flattening platform 401 and the rolling mechanism 402 are both connected with the lifting mechanism 403; when the lithium battery 80 to be tested enters the tab leveling station 40, the controller controls the lifting mechanism 403 to move towards the lithium battery 80 to be tested, so that one side of a tab of the lithium battery 80 to be tested abuts against the tab leveling platform 401, and the other side of the tab is rolled and leveled by the rolling mechanism 402.

In one embodiment, the appearance detection device for a lithium battery using a multi-axis manipulator further includes: a main body inspection station 50;

the subject inspection station 50 includes: a subject image collector 501, 4 second-side light emitters 502 and a second annular light emitter 503; the main body image collector 501, the 4 second surface light emitters 502 and the second annular light emitter 503 are sequentially arranged from top to bottom; the 4 second face light emitters 502 are circumferentially disposed above the second annular light emitter 503;

the controller is further configured to start the 4 second-surface light emitters 502 and the second annular light emitter 503 when the lithium battery 80 to be tested is located below the second annular light emitter 503, and control the body image collector 501 to shoot.

In one embodiment, the appearance detection device for a lithium battery using a multi-axis manipulator further includes: a feeding conveyor 60 and a discharging conveyor 70;

the feeding conveying belt 60 is used for conveying the lithium batteries 80 to be tested to the grabbing range of the M six-axis mechanical arms 10;

the discharging conveyor belt 70 is used for conveying the lithium battery 80 to be detected out of the appearance detection station 20.

In one embodiment, the appearance detection device for a lithium battery using a multi-axis manipulator further includes: a material distributing mechanism;

a code scanning mechanism 701 is arranged on the discharging conveying belt 70; the code scanning mechanism 701 is used for scanning and acquiring the bar code information of the lithium battery 80 to be detected and sending the bar code information to the controller, and the controller controls the material distributing mechanism to execute material distributing action based on the bar code information.

In one embodiment, the feeding conveyor belt is provided with a positioning recognition mechanism 601;

the positioning and identifying mechanism 601 is used for positioning and bar code identification of the lithium battery to be detected, and sending the position information and the bar code information of the lithium battery to be detected to the controller, and the controller controls the six-axis mechanical arm to capture the lithium battery to be detected based on the position information.

In one embodiment, the feed mechanism comprises: the mechanical arm and the K material distributing boxes are arranged; k is an integer greater than 1; the mechanical arm moves the lithium battery to be tested from the discharging conveying belt to the corresponding material distributing box under the control of the controller.

In one embodiment, the feed mechanism comprises: a material distribution box conveying belt and K material distribution boxes; k is an integer greater than 1; k divide the workbin setting to be in divide the workbin conveyer belt, divide the workbin conveyer belt to move under the control of controller for corresponding branch workbin aims at ejection of compact conveyer belt.

The technical scheme provided by the application can comprise the following beneficial effects:

the application provides a lithium battery appearance detection device applying a multi-axis mechanical arm, wherein a six-axis mechanical arm has 6 degrees of freedom and can realize three-dimensional rotation and three-dimensional movement; through three-dimensional rotation and three-dimensional movement of the six-axis mechanical arm, the lithium battery to be detected is enabled to present different poses, namely different positions of the lithium battery to be detected face the appearance image collector, the controller controls the appearance image collector to shoot the lithium battery to be detected presenting different poses, appearance detection images of different positions on the lithium battery to be detected are obtained, and an appearance detection image data set of the lithium battery to be detected is formed. Because this use lithium cell outward appearance detection device of multiaxis arm contains a plurality of outward appearance detection stations, every outward appearance detection station corresponds a six arms, therefore, can accomplish the outward appearance detection of the lithium cell that awaits measuring on an outward appearance detection station, a plurality of outward appearance detection stations can carry out outward appearance detection simultaneously, thereby realize a plurality of lithium cell simultaneous detection that await measuring, and when certain outward appearance detection station breaks down wherein, other outward appearance detection station still can normal operating, accomplish complete detection flow, thereby avoid taking place because of certain station breaks down and whole device is paralysed in the device, influence detection efficiency's problem.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a block diagram illustrating a lithium battery appearance detection apparatus using a multi-axis robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a lithium battery appearance detection device applying a multi-axis mechanical arm according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a tab detection station according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a tab flattening station shown in an embodiment of the application;

fig. 5 is a schematic structural diagram of a main body detection station according to an embodiment of the present application.

Detailed Description

Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Example one

In two rotary table formula lithium cell outward appearance detection device and single armed linear electric motor battery outward appearance check out test set, its different detection station all sets up on a detection assembly line, in order to acquire the required detection image of a plurality of angles of lithium cell outward appearance detection that awaits measuring, need utilize transmission band or carousel to transport the lithium cell that awaits measuring to another detection station from a detection station, thereby accomplish the collection of the detection image of different angles, when certain station breaks down wherein, it will unable complete propulsion to detect the flow, make the testing process interrupt, influence the detection efficiency of lithium cell.

To above-mentioned problem, this application embodiment provides a lithium cell outward appearance detection device who uses multiaxis arm, can accomplish the outward appearance that awaits measuring the lithium cell on an outward appearance detection station and detect to a plurality of outward appearances detection stations can carry out outward appearance simultaneously and detect, thereby avoid taking place because of certain station breaks down in the device and whole device is paralysed, influences detection efficiency's problem.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a lithium battery appearance detection device using a multi-axis mechanical arm according to an embodiment of the present application.

Referring to fig. 1, the appearance detection device for a lithium battery using a multi-axis mechanical arm includes:

the system comprises M six-axis mechanical arms 10, M appearance detection stations 20 and a controller, wherein M is an integer greater than 1;

wherein each appearance inspection station 20 comprises: an appearance image collector 201, an appearance detection light emitter 202, and a diffuse reflection plate 203;

In this embodiment of the application, the appearance image collector 201 is a camera, and further, the appearance image collector may include a main camera and a bevel camera, where a main lens axis of the main camera is parallel to the diffuse reflection plate, that is, when the lithium battery to be detected is located in the appearance detection station, the main lens axis of the main camera is perpendicular to a plane where the lithium battery to be detected is located; a main shaft of a lens of the bevel camera and the diffuse reflection plate form a specific included angle; the appearance detection image of the peripheral surface of the lithium battery to be detected is collected through the main camera, and the appearance detection image of the bevel of the lithium battery to be detected is collected through the bevel camera.

It should be noted that, the above description on the appearance image collector is only an example given in the embodiment of the present application, and does not constitute the only limitation to the present application.

In the embodiment of the present application, the appearance detecting light emitter 202 may be one or a combination of annular light emitter, dome light emitter, strip light emitter and area light emitter, and the selection of the specific appearance detecting light emitter may be adjusted according to the actual situation, and is not limited herein.

In this application embodiment, outward appearance image collector 201, outward appearance detect light emitter 202 and diffuse reflection board 203 from last down setting gradually, and outward appearance detects station 20 during operation, and six axis mechanical arm 10 will await measuring lithium cell 80 and remove to the outward appearance and detect between light emitter 202 and the diffuse reflection board 203, reduce the influence of reverberation to the outward appearance and detect the image through diffuse reflection board 203 to guarantee the accuracy that the outward appearance detected.

In the lithium battery detection process, six arms snatch the lithium cell that awaits measuring earlier and move it to the shooting within range of outward appearance image collector through each joint cooperation, then it is rotatory to drive the lithium cell that awaits measuring through the joint rotation for the different bit planes of the lithium cell that awaits measuring are towards outward appearance image collector, once rotatory, outward appearance image collector just once shoots, and then obtain the outward appearance detection image data set of the lithium cell that awaits measuring, and transmit and carry out image recognition to the controller and detect, obtain the outward appearance testing result of this lithium cell that awaits measuring.

It should be noted that, because the six-axis mechanical arm has 6 degrees of freedom, it can realize the removal of arbitrary route in three-dimensional space, adopts six-axis mechanical arm to snatch, remove and rotate the lithium cell that awaits measuring in this application, can guarantee in the scope of snatching of six-axis mechanical arm, adjusts the outward appearance of the lithium cell that awaits measuring and in order to guarantee to acquire the outward appearance inspection image of all required angles.

In the practical application process, the multi-axis mechanical arm with different axes can be selected according to the requirement of the appearance detection image, for example: four-axis arm.

Further, the lithium battery appearance detection device using the multi-axis mechanical arm further comprises: a feeding conveyor 60 and a discharging conveyor 70; the feeding conveying belt 60 is used for conveying the lithium batteries 80 to be tested to the grabbing range of the M six-axis mechanical arms 10; the discharging conveyor belt 70 is used for conveying the lithium battery 80 to be tested out of the appearance detection station 20.

Wherein, the feeding conveying belt 60 is provided with a positioning identification mechanism 601; the positioning and identifying mechanism 601 is used for positioning and bar code identification of the lithium battery 80 to be detected, and sending the position information and the bar code information of the lithium battery 80 to be detected to the controller, and the controller controls the six-axis mechanical arm 10 to capture the lithium battery 80 to be detected based on the position information.

In the embodiment of the application, the implementation mode of the positioning identification mechanism is not strictly limited, in the practical application process, the positioning identification mechanism can be a sensor, whether the lithium battery to be detected reaches a preset grabbing position or not is identified through an output signal of the sensor, and if yes, the six-axis mechanical arm is controlled to grab; or the image collector is used as a positioning identification mechanism, and the coordinate information of the lithium battery to be detected is obtained according to the positioning image detection, so that the lithium battery to be detected is grabbed.

The application provides a lithium battery appearance detection device applying a multi-axis mechanical arm, wherein the six-axis mechanical arm has 6 degrees of freedom and can realize three-dimensional rotation and three-dimensional movement; through three-dimensional rotation and three-dimensional movement of the six-axis mechanical arm, the lithium battery to be detected is enabled to present different poses, namely different positions of the lithium battery to be detected face the appearance image collector, the controller controls the appearance image collector to shoot the lithium battery to be detected presenting different poses, appearance detection images of different positions on the lithium battery to be detected are obtained, and an appearance detection image data set of the lithium battery to be detected is formed. Because this use lithium cell outward appearance detection device of multiaxis arm contains a plurality of outward appearance detection stations, every outward appearance detection station corresponds a six arms, therefore, can accomplish the outward appearance detection of the lithium cell that awaits measuring on an outward appearance detection station, a plurality of outward appearance detection stations can carry out outward appearance detection simultaneously, thereby realize a plurality of lithium cell simultaneous detection that await measuring, and when certain outward appearance detection station breaks down wherein, other outward appearance detection station still can normal operating, accomplish complete detection flow, thereby avoid taking place because of certain station breaks down and whole device is paralysed in the device, influence detection efficiency's problem.

Example two

Because the shapes of different position surfaces of the lithium battery are different, in order to ensure the quality of the appearance detection image of the position surface, the light condition of the appearance detection image is often required to be set.

Fig. 2 is another schematic structural diagram of a lithium battery appearance detection device using a multi-axis mechanical arm according to an embodiment of the present application.

Referring to fig. 2, the appearance inspection apparatus for a lithium battery using a multi-axis robot arm includes:

the system comprises M six-axis mechanical arms 10, M appearance detection stations 20 and a controller, wherein M is an integer greater than 1; the M six-axis mechanical arms 10 correspond to the M appearance detection stations 20 one by one; each appearance inspection station 20 includes: an appearance image collector 201, an appearance detection light emitter 202, and a diffuse reflection plate 203;

wherein appearance detecting light emitter 202 includes: a first strip-shaped light emitter 2021, 4 first facet light emitters 2022, a first ring-shaped light emitter 2023, and 4 second strip-shaped light emitters 2024;

the appearance image collector 201 is arranged above the 4 first surface light emitters 2022; the 4 first facet light emitters 2022 are circumferentially disposed above the first annular light emitter 2023; the 4 second bar-shaped light emitters 2024 are circumferentially arranged below the first annular light emitter 2023; the diffusive reflective plate 203 is arranged in parallel with the second strip-shaped light emitter 2024.

In an embodiment of the application, the first strip light emitters are UV strip light emitters, the second strip light emitters are blue strip light emitters, and the first side light emitters are blue side light emitters.

When an appearance detection image of the front face of a main body of a lithium battery to be detected is collected, a first annular light emitter is started; when the appearance detection image of the long side of the lithium battery to be detected is collected, 4 second strip-shaped light emitters are started; when an appearance detection image of a tail main body of a lithium battery to be detected is collected, 4 first surface light emitters are started; when an appearance detection image of a tail bevel of a lithium battery to be detected is collected, 4 first surface light emitters and a first strip-shaped light emitter are started; when an appearance detection image of the head main body of the lithium battery to be detected is collected, 4 second strip-shaped light emitters are started; when the appearance detection image of the head bevel of the lithium battery to be detected is collected, the 4 first surface light emitters are started.

In the embodiment of the application, the controller controls the corresponding appearance detection light emitter to be started according to the pose presented by the lithium battery to be detected, and controls the appearance image collector to shoot.

It should be noted that, in practical applications, the types of the first bar-shaped light emitter, the first surface light emitter, the first annular light emitter, and the second bar-shaped light emitter may be adjusted according to practical situations, for example, in practical applications, the first bar-shaped light emitter may adopt a blue-violet mixed light emitter, and the first surface light emitter may adopt a red surface light emitter.

It is to be understood that the above description of the appearance detecting light emitter does not constitute the only limitation of the present application.

The embodiment of the application provides an appearance detection light emitter composed of a plurality of light emitters, different light emitters are controlled to be started through a controller, different light source combinations are formed, appearance detection images of different position surfaces of a corresponding lithium battery to be detected are collected under the irradiation of the light sources of the different combinations, the obtained appearance detection images of all angles are collected under the illumination condition matched with the appearance detection images, the quality of all the appearance detection images is guaranteed, and the reliability of the appearance detection of the lithium battery is further guaranteed; compare with traditional two rotary table formula lithium cell outward appearance detection device, the lithium cell outward appearance detection device who uses the multiaxis arm in the embodiment of this application can multiplex each light emitter among the outward appearance detection light emitter, has simplified the quantity of the required light emitter of outward appearance detection process, has reduced the equipment cost who detects by a wide margin.

EXAMPLE III

On the basis of the lithium battery appearance detection device using the multi-axis mechanical arm shown in the first embodiment or the second embodiment, one or more detection stations among the lug detection station, the lug leveling station and the main body detection station are additionally arranged in the embodiment of the application, so that more detection processes are realized.

Referring to fig. 3 to 5, an appearance inspection apparatus for a lithium battery using a multi-axis robot arm includes: the system comprises M six-axis mechanical arms 10, M appearance detection stations 20 and a controller; each appearance inspection station 20 includes: an appearance image collector 201, an appearance detection light emitter 202, and a diffuse reflection plate 203; the M six-axis mechanical arms 10 correspond to the M appearance detection stations 20 one to one.

Use lithium cell outward appearance detection device of multiaxis arm still includes: a tab detection station 30;

In this application embodiment, when the lithium cell that awaits measuring is located between 2 calotte light emitters, 2 utmost point ear image collector shoot, can obtain two utmost point ear detection images on utmost point ear front and back simultaneously to transmit and carry out image detection for the controller, obtain utmost point ear testing result.

In the practical application process, a plurality of tab detection stations 30 can be arranged and correspond to the six-axis mechanical arm 10 one by one; or only one multi-shaft mechanical arm is arranged, and the lithium battery to be detected is grabbed and moved by the aid of the additional multi-shaft mechanical arm before or after appearance detection is finished, so that the lithium battery to be detected is located in the lug detection station.

Further, the lithium battery appearance detection device using the multi-axis mechanical arm further comprises: a tab leveling station 40;

utmost point ear flattening station 40 includes: a tab flattening platform 401, a rolling mechanism 402 and a lifting mechanism 403; the rolling mechanism 402 includes: 2 rollers 4021; the distance between the 2 rollers 4021 is matched with the distance between the lugs of the lithium battery 80 to be tested;

In the practical application process, a plurality of lug leveling stations 40 can be arranged and correspond to the six-axis mechanical arm 10 one by one; or only set up one, before carrying out utmost point ear detection, utilize extra multiaxis arm to snatch and remove the lithium cell that awaits measuring, make one side of the utmost point ear of the lithium cell that awaits measuring be located utmost point ear flattening platform, 2 gyro wheels in opposite side and the rolling mechanism align in vertical direction to utmost point ear rolls the flattening through the rolling mechanism.

Further, use lithium cell outward appearance detection device of multiaxis arm, still include: a main body inspection station 50;

the controller is further used for starting the 4 second-surface light emitters and the second annular light emitter and controlling the main body image collector to shoot when the lithium battery to be tested is located below the second annular light emitter.

In the embodiment of the application, the second surface light emitter is a blue surface light emitter; in practical applications, the second surface light emitter may also be an infrared surface light emitter, that is, the above description of the second surface light emitter does not limit the present application.

In the embodiment of the application, the main body detection image acquired through the main body detection station can realize the detection of the wrinkling defect and the top seal wrinkling defect of the lithium battery.

In the practical application process, a plurality of main body detection stations can be arranged and correspond to the six mechanical arms one by one; or only one multi-axis mechanical arm is arranged, and before appearance detection is carried out or after appearance detection is finished, the lithium battery to be detected is grabbed and moved by the aid of the additional multi-axis mechanical arm, so that the lithium battery to be detected is located in the main body detection station.

The embodiment of the application provides a lithium battery appearance detection device with utmost point ear detects the station, utmost point ear flattening station and main part detect the application multiaxis arm of station, detect the detection of station realization to the lithium battery utmost point ear defect that awaits measuring through utmost point ear, carry out the flattening through utmost point ear flattening station with the utmost point ear of the lithium battery that awaits measuring, guarantee the level and smooth of utmost point ear structure, detect the station through the main part and realize the detection to the lithium battery that awaits measuring wrinkle defect and top seal wrinkle defect, thereby extend the cover face that lithium battery appearance detected, realize the lithium battery appearance detection of wider, further improve the qualification rate of lithium battery products.

Example four

Because the severity of various appearance defects of the lithium battery is different, for example, slight scratches and particles belong to slight defects, and edge damage belongs to severe defects, the defective products can be further divided when the to-be-detected lithium battery is divided into good products and defective products. The lithium battery appearance detection device using the multi-axis mechanical arm is designed, so that the lithium battery can be divided according to the appearance detection result of the lithium battery.

A lithium battery appearance detection device applying a multi-axis mechanical arm comprises: the system comprises M six-axis mechanical arms 10, M appearance detection stations 20 and a controller; each appearance inspection station 20 includes: an appearance image collector 201, an appearance detection light emitter 202, and a diffuse reflection plate 203; the M six-axis mechanical arms 10 correspond to the M appearance detection stations 20 one by one;

use lithium cell outward appearance detection device of multiaxis arm still includes: a feeding conveyor 60 and a discharging conveyor 70; further, still include: a material distributing mechanism;

in the embodiment of the application, the feeding conveyor belt 60 is used for conveying the lithium battery to be tested to the grabbing range of the six-axis mechanical arm; the discharging conveyor belt 70 is used for conveying the lithium battery 80 to be tested out of the appearance detection station 20. Wherein, a code scanning mechanism 701 is arranged on the discharging conveying belt; the code scanning mechanism 701 is used for scanning and acquiring the bar code information of the lithium battery to be detected and sending the bar code information to the controller, and the controller controls the material distributing mechanism to execute material distributing action based on the bar code information.

In this application embodiment, after the controller detects the appearance detection result of obtaining the lithium cell, bind this result with the bar code information of this lithium cell, consequently, when ejection of compact transmission band will await measuring lithium cell 80 and send out outward appearance detection station 20, obtain the bar code information of obtaining the lithium cell through sweeping a yard mechanism, the controller calls the appearance detection result of this lithium cell according to this bar code information to according to this outward appearance detection result control feed mechanism with this lithium cell remove to the branch material case that corresponds.

In the embodiment of the present application, the implementation manner of the material separating mechanism is not exclusive, and includes but is not limited to:

the feed mechanism includes: the mechanical arm and the K material distributing boxes are arranged; k is an integer greater than 1; the mechanical arm moves the lithium battery to be tested from the discharging conveying belt to the corresponding material distributing box under the control of the controller.

Or

The feed mechanism includes: a material distribution box conveying belt and K material distribution boxes; k is an integer greater than 1; k divide the workbin setting to be in divide the workbin conveyer belt, divide the workbin conveyer belt to move under the control of controller for corresponding branch workbin aims at ejection of compact conveyer belt.

In this application embodiment, the K partial bins may include: good product case, microdefect defective products case and serious defect defective products case. The non-defective products case is used for placing the lithium cell that the outward appearance testing result is the flawless, and the defective products case that the microdefect is not used for placing the lithium cell that the outward appearance testing result is mar or granule, and the defective products case that the serious defect is used for placing the outward appearance testing result and is the damaged lithium cell in edge.

It should be noted that, in the practical application process, the material separating mechanisms with different structures may be selected according to practical situations, that is, the above description of the material separating mechanism does not constitute the only limitation of the present application.

The embodiment of the application provides a lithium battery appearance detection device who uses multiaxis arm with feed mechanism, and the controller calls outward appearance testing result according to the bar code information that sweeps a yard mechanism and obtains to in controlling feed mechanism and removing the lithium cell to the depiler box that corresponds according to this outward appearance testing result, make the lithium cell can classify according to the severity of defect, realize the detailed management of lithium cell.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the modules in the device according to the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. The utility model provides an use lithium cell outward appearance detection device of multiaxis arm which characterized in that includes:

the system comprises M six-axis mechanical arms (10), M appearance detection stations (20) and a controller, wherein M is an integer larger than 1; each appearance inspection station (20) comprises: an appearance image collector (201), an appearance detection light emitter (202) and a diffuse reflection plate (203);

the M six-axis mechanical arms (10) correspond to the M appearance detection stations (20) one by one, and are used for moving the lithium battery (80) to be detected to the appearance detection stations (20) and rotating the lithium battery (80) to be detected to enable the lithium battery to be detected to present different poses;

the controller is used for controlling the M six-axis mechanical arms (10) to move and controlling the appearance image collector (201) to shoot the lithium batteries (80) to be detected in different poses.

2. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 1,

the appearance detecting light emitter (202) includes: a first strip-shaped light emitter (2021), 4 first facet light emitters (2022), a first ring-shaped light emitter (2023), and 4 second strip-shaped light emitters (2024);

the first strip-shaped light emitter (2021), the 4 first surface light emitters (2022), the first annular light emitter (2023) and the 4 second strip-shaped light emitters (2024) are sequentially arranged from top to bottom;

the appearance image collector (201) is arranged above the 4 first face light emitters (2022); the 4 first facet light emitters (2022) are disposed circumferentially above the first annular light emitter (2023); the 4 second strip-shaped light emitters (2024) are arranged circumferentially below the first annular light emitter (2023); the diffusive reflective plate (203) is arranged in parallel with the second strip-shaped light emitter (2024).

3. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 1, further comprising: a tab detection station (30);

utmost point ear detects station (30), includes: 2 tab image collectors (301) and 2 dome light emitters (302); the 2 dome light emitters (302) are oppositely arranged, and the 2 tab image collectors (301) are symmetrically arranged on two sides of the 2 dome light emitters (302);

the controller is also used for turning on the 2 dome light emitters (302) and controlling the 2 lug image collectors (301) to shoot when the lithium battery (80) to be tested is located between the 2 dome light emitters (302).

4. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 1, further comprising: a tab leveling station (40);

utmost point ear flattening station includes: the device comprises a tab flattening platform (401), a rolling mechanism (402) and a lifting mechanism (403); the roll-in mechanism includes: 2 rollers (4021); the distance between the 2 rollers (4021) is matched with the distance between the lugs of the lithium battery (80) to be tested;

the lug flattening platform (401) and the rolling mechanism (402) are connected with the lifting mechanism (403); when lithium cell (80) that awaits measuring gets into utmost point ear flattening station (40), controller control elevating system (403) court lithium cell (80) that await measuring remove for utmost point ear one side of lithium cell (80) that await measuring supports and leans on utmost point ear flattening platform (401), the opposite side warp roll-in flattening of rolling mechanism (402).

5. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 1, further comprising: a body detection station (50);

the body inspection station (50) comprising: a main body image collector (501), 4 second-surface light emitters (502) and a second annular light emitter (503); the main body image collector (501), the 4 second surface light emitters (502) and the second annular light emitter (503) are sequentially arranged from top to bottom; the 4 second face light emitters (502) are circumferentially disposed above the second annular light emitter (503);

the controller is further used for starting the 4 second surface light emitters (502) and the second annular light emitter (503) when the lithium battery (80) to be tested is located below the second annular light emitter (503), and controlling the main body image collector (501) to shoot.

6. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 1, further comprising: a feeding conveyor belt (60) and a discharging conveyor belt (70);

the feeding conveying belt (60) is used for conveying the lithium batteries (80) to be tested to the grabbing range of the M six-axis mechanical arms (10);

and the discharging conveying belt (70) is used for conveying the lithium battery (80) to be detected out of the appearance detection station (20).

7. The lithium battery appearance detecting device applying the multi-axis mechanical arm as claimed in claim 6, further comprising: a material distributing mechanism;

a code scanning mechanism (701) is arranged on the discharging conveying belt (70); the code scanning mechanism (701) is used for scanning and acquiring the bar code information of the lithium battery (80) to be detected and sending the bar code information to the controller, and the controller controls the material distributing mechanism to execute material distributing action based on the bar code information.

8. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 6,

a positioning identification mechanism (601) is arranged on the feeding conveying belt;

the positioning and identifying mechanism (601) is used for positioning and bar code identification of the lithium battery to be detected, and sending the position information and the bar code information of the lithium battery to be detected to the controller, and the controller controls the six-axis mechanical arm to capture the lithium battery to be detected based on the position information.

9. The lithium battery appearance inspection device using the multi-axis robot arm as claimed in claim 7,

the feed mechanism includes: the mechanical arm and the K material distribution boxes are arranged; k is an integer greater than 1; and the mechanical arm moves the lithium battery to be tested from the discharging conveying belt to the corresponding material distribution box under the control of the controller.

10. The lithium battery appearance inspection device applying the multi-axis robot arm as claimed in claim 7,