CN117949855A - Detection equipment and battery production line - Google Patents

Abstract

The application is applicable to the technical field of battery production and manufacturing, and provides detection equipment and a battery production line. The detection equipment comprises a storage mechanism, a manipulator, a plug frame, a plug structure, a visual positioning mechanism and a code reader, wherein the plug structure and the visual positioning mechanism are both arranged on the manipulator, and the visual positioning mechanism is used for detecting the position of a connector of an object to be detected on the storage mechanism; the mechanical arm is detachably connected with the plug structure through the first quick-change structure and the second quick-change structure; the plug frame is used for placing a plurality of plug structures with different types, and the manipulator is connected with the matched plug structures according to the type information acquired by the code reader; the mechanical arm can drive the plug structure and the visual positioning mechanism to move, and the plug structure is inserted with the connector of the object to be detected. The detection equipment provided by the application is automatically connected with the adaptive plug structure through the mechanical arm and moves the plug structure to perform the opposite-plug operation, is adaptive to different types of objects to be detected, and has high adaptation degree.

Description

Detection equipment and battery production line

Technical Field

The application relates to the technical field of battery production and manufacturing, in particular to detection equipment and a battery production line.

Background

In the production process of the battery, the performance of the battery needs to be detected, for example, the on-off of a wire harness of the battery, the overall performance and the like are detected. Performance testing of batteries typically requires inserting a plug into the battery's connector. The positions of the connectors of the batteries of different types are different, so that the plugging positions of the plugs are different in the detection process of the batteries of different types. After the model of the battery to be detected is changed, it is difficult for the existing detection device to realize an operation of changing the plug moving position according to the battery model change.

Disclosure of Invention

An embodiment of the present application aims to provide a detection device, and aims to solve the technical problem that a detection device in the prior art is difficult to realize an operation of changing a plug moving position according to battery model replacement.

In order to achieve the above purpose, the application adopts the following technical scheme:

in a first aspect, there is provided a detection apparatus comprising: the device comprises a storage mechanism, a manipulator, a plug frame, a plug structure, a visual positioning mechanism and a code reader, wherein the storage mechanism is used for accommodating an object to be detected, the plug structure and the visual positioning mechanism are both arranged on the manipulator, the plug structure is used for being inserted with a connector of the object to be detected, and the visual positioning mechanism is used for detecting the position of the connector of the object to be detected; wherein,

The mechanical arm is provided with a first quick-change structure, the plug structure is provided with a second quick-change structure, and the mechanical arm is detachably connected with the plug structure through the first quick-change structure and the second quick-change structure;

the plug frame is used for placing a plurality of plug structures with different types, the code reader is used for reading the type information of the object to be detected, and the manipulator is used for being connected with the matched plug structures according to the type information; the mechanical arm can drive the plug structure and the visual positioning mechanism to move, and the plug structure is inserted with the connector of the object to be detected.

In the embodiment of the application, the object placing mechanism is used for accommodating an object to be detected, the visual positioning mechanism is used for detecting the position of the connector, the code reader is used for reading the model information of the object to be detected, the manipulator is connected with the adaptive plug structure according to the model information of the object to be detected, and the manipulator is automatically connected with the adaptive plug structure specifically through the cooperation of the first quick-change structure and the second quick-change structure. The manipulator is also used for moving the matched plug structure and plugging the plug structure with the connector. Because the vision positioning mechanism can detect the position of the connector to be inserted every time, even if the model or the position of the connector of the object to be detected which is continuously detected is different, the mechanical arm automatically changes the plug structure matched with the connector according to the model information read by the code reader, and still can accurately insert the plug structure into the matched connector according to the detection information of the vision positioning mechanism, namely, the connected plug structure can be changed according to the model change of the battery, and the moving position of the plug structure is changed, so that the device can be suitable for detecting various battery models and has wider adaptation.

In one possible design, the plug rack has a plurality of plug placements, which are respectively used for placing plug structures of different models, and the plug rack is provided with an object detector, and one plug placement is correspondingly provided with at least one object detector, and the object detector is used for detecting whether an object is placed on the corresponding plug placement.

In the embodiment of the application, the object detector can feed back whether the object is placed on the plug placing piece, and when the object is not placed on the plug placing piece, the mechanical arm can place the plug structure on the plug placing piece, so that the automation degree is high.

In one possible design, a plug holder is provided with a plurality of object detectors, which are arranged opposite to the same plug holder, respectively, which can be triggered by different types of plug structures.

In an embodiment of the present application, the model number of the plug structure placed on the plug placement member can be judged by a plurality of object detectors.

In one possible design, the manipulator is equipped with a pressure sensor for detecting the plugging pressure information of the plug structure, and the manipulator controls the plug structure to move according to the plugging pressure information of the plug structure detected by the pressure sensor.

In the embodiment of the application, the pressure sensor is arranged, so that whether the plug structure moves in place can be judged according to the plugging pressure information of the pressure sensor, and the movement of the plug structure can be controlled by the mechanical arm conveniently.

In one possible design, the object placing mechanism comprises a rack and a jacking structure, wherein the jacking structure is installed on the rack and used for driving the object to be detected to move along a first direction, and the first direction is intersected with the feeding direction of the object to be detected.

In the embodiment of the application, when the detection device is applied to the battery production line, the feeding operation of the battery can be performed through the conveying device in the battery production line, and the lifting structure can move the object to be detected along the direction intersecting with the feeding direction, so that the object to be detected is separated from the conveying device, automatic feeding is realized, and the automation degree of the detection equipment is improved.

In one possible design, the jacking structure includes a jacking driver and a supporting carrier, the jacking driver is mounted on the frame, the supporting carrier is connected with the jacking driver, the supporting carrier is used for supporting the object to be detected, and the jacking driver can drive the supporting carrier to move along the first direction.

In the embodiment of the application, the supporting member is arranged, so that the contact area between the jacking structure and the object to be detected can be increased, and the stability of the object to be detected when moving along the first direction is improved.

In one possible design, the jacking structure includes a plurality of jacking drives, each of which is connected to the carrier.

In the embodiment of the application, the design of a plurality of jacking drivers can simultaneously jack a plurality of different areas of the carrier, so that the load of a single jacking driver can be reduced.

In one possible design, the jacking structure includes a mounting plate coupled to the frame, and the plurality of jacking drives are mounted to the mounting plate in spaced relation.

In the embodiment of the application, the assembly plate integrates a plurality of jacking drivers into a whole, so that the connection with the rack is convenient to realize.

In one possible design, the jacking structure further comprises a guide assembly, the guide assembly comprises a guide shaft and a guide sleeve body, one of the support member and the assembly plate is provided with the guide shaft, the other one is provided with the guide sleeve body, one end of the guide shaft is inserted into the guide sleeve body, and the guide shaft can move along the first direction relative to the guide sleeve body.

In the embodiment of the application, the arrangement of the guide component improves the movement stability of the supporting member.

In one possible design, a stopper is mounted on the frame, the stopper includes a driving portion and a blocking portion, and the driving portion can drive the blocking portion to move so that the blocking portion contacts the object to be detected at a first position.

In the embodiment of the application, the stopper can limit the object to be detected to a certain degree when in the first position, so that the positioning stability of the object to be detected is improved.

In one possible design, the number of the manipulators is multiple, and the multiple manipulators are arranged at intervals in the peripheral area of the storage mechanism.

In the embodiment of the application, a plurality of manipulators can simultaneously perform plugging operation on a plurality of plug structures, so that the detection efficiency is improved.

In a second aspect, a battery production line is provided, including a detection device according to any of the above-mentioned aspects.

Since the battery production line comprises the detection device, the battery production line has at least all the beneficial effects of the detection device, and the description is omitted herein.

In one possible design, the battery production line further comprises a conveying device for conveying the object to be detected to the object placing mechanism of the detection device.

In the embodiment of the application, the object to be detected moves to the object placing mechanism from the conveying device, so that automatic feeding is realized, and the degree of automation is high.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a detecting apparatus according to an embodiment of the present application;

FIG. 2 is a schematic diagram showing the relative positions of a detecting device and a battery according to an embodiment of the present application;

FIG. 3 is an enlarged view at A in FIG. 2;

Fig. 4 is an enlarged view at B in fig. 2;

FIG. 5 is a schematic view of a visual positioning mechanism and plug structure according to an embodiment of the present application;

FIG. 6 is a schematic diagram showing another view of the visual positioning mechanism and the plug structure according to an embodiment of the present application;

FIG. 7 is a schematic diagram showing a view angle of the second quick-change structure and the plug structure according to an embodiment of the present application;

FIG. 8 is a schematic diagram showing another perspective relative position of a second quick-change structure and a plug structure according to an embodiment of the present application;

FIG. 9 is a schematic diagram showing the relative positions of a detection device and a battery from another view angle according to an embodiment of the present application;

FIG. 10 is a schematic view of a plug placement member with a plug placed therein according to one embodiment of the present application;

FIG. 11 is a schematic view of a plug placement provided by an embodiment of the present application;

FIG. 12 is a front view of a detection device and battery relative position provided by one embodiment of the present application;

FIG. 13 is a top view of the relative position of the detection device and the battery provided by one embodiment of the present application;

FIG. 14 is a schematic view of a jacking structure according to one embodiment of the present application at a first view angle;

FIG. 15 is a schematic view of a jacking structure according to one embodiment of the present application at a second view angle;

FIG. 16 is a schematic view of a jacking structure according to one embodiment of the present application at a third view angle;

FIG. 17 is a schematic diagram of a jacking structure according to one embodiment of the present application at a fourth view angle;

fig. 18 is an enlarged view at C in fig. 9.

Reference numerals related to the above figures are as follows:

100. a manipulator; 110. a fixed platform;

200. A storage mechanism; 210. a frame; 220. a jacking structure; 221. a jack-up drive; 222. a carrier; 223. an assembly plate; 230. a guide assembly; 240. a stopper; 241. a driving section; 242. a blocking portion; 251. a position detection sensor; 252. a trigger; 260. a buffer member;

300. A plug structure;

400. A visual positioning mechanism;

510. a first quick change structure; 520. a second quick change structure;

600. a plug frame; 610. a plug placement member; 620. an object detector;

700. A battery; 710. a connector; 720. an RFID chip; 730. a tray;

800. A belt body.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In describing embodiments of the present application, the term "plurality" refers to more than two (including two).

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the detection device or element referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Along with the serious environmental pollution, the environmental protection consciousness of people is gradually enhanced, and the new energy industry is rapidly raised at the moment, so that a wide space is provided for the application and development of batteries.

The battery is manufactured through a plurality of steps in a battery production line, and different equipment is required to operate in different steps, so that a plurality of equipment is arranged in the battery production line to perform different processing operations on the battery. In the manufacturing process of the battery, a plurality of different inspection operations are required for the battery. In some testing procedures, a battery connector is inserted through a plug to perform a performance test on the battery.

In the related art, a part of battery production lines are manually subjected to plug connection operation of a plug and a connector, the part of battery production lines are provided with driving mechanisms, the driving mechanisms comprise an X-axis driving part, a Y-axis driving part and a plug connection driving part, the plug connection driving part is connected with the plug, the X-axis driving part and the Y-axis driving part are matched together to drive the plug connection driving part and the plug to move in the X-axis direction and the Y-axis direction, so that the plug connection driving part and the plug are driven to move to a position opposite to the connector, and the plug connection driving part inserts the plug into the connector. The former adopts manual operation, and manual grafting operation makes the cost of labor higher, and detects grafting efficiency and grafting yield and all relate to personnel's operation proficiency and personnel fatigue degree, is difficult to control. The latter adopts a mechanical operation mode of the driving mechanism, but the connector mounting positions of the batteries of different types are different, and even the batteries of the same type have differences in the positions of the connectors due to production and manufacturing errors or assembly errors. The driving mechanism usually moves according to a preset moving track, and cannot be automatically adapted to batteries of different types and connectors with mounting position errors, so that the plug is easy to plug askew, and the plug or the connector is seriously worn or even damaged.

In view of the above, in order to solve the above problems, the present application provides a detection apparatus that can be used to detect a battery. The detection equipment comprises a manipulator, a plug frame, a plug structure, a visual positioning mechanism and a code reader, wherein the code reader can read the type of the battery so as to be convenient for matching with a connector corresponding to the type of the battery and matching with the plug structure matched with the connector. The manipulator can be according to the information that the code reader read through the cooperation of first quick change structure and second quick change structure by the plug structure of connection adaptation in the plug frame, and vision positioning mechanism is used for detecting the position of connector, and the manipulator is used for removing plug structure according to the position of connector that vision positioning mechanism detected to with plug structure and connector grafting. Due to the arrangement of the visual positioning mechanism, the code reader and the first quick-change structure, the manipulator can automatically change the adaptive plug structure after the battery is changed, and the plug structure is moved to the position of the connector of the battery after the battery is changed.

The battery box provided by the embodiment of the application is explained in detail below.

As shown in fig. 1 to 11, a detection apparatus provided in an embodiment of the present application includes: the storage mechanism 200, the robot 100, the connector holder 600, the plug structure 300, the visual positioning mechanism 400, and a code reader (not shown); the object placing mechanism 200 is used for accommodating an object to be detected; the plug structure 300 and the visual positioning mechanism 400 are both arranged on the manipulator 100, the plug structure 300 is used for being inserted with a connector of an object to be detected, and the visual positioning mechanism is used for detecting the position of the connector of the object to be detected; as shown in fig. 5 to 8, the manipulator 100 is provided with a first quick-change structure 510, the plug structure 300 is provided with a second quick-change structure 520, and the manipulator 100 and the plug structure 300 are detachably connected with the second quick-change structure 520 through the first quick-change structure 510. As shown in fig. 9, the plug frame 600 is used for placing a plurality of plug structures 300 with different types, the code reader is used for reading the type information of the object to be detected, and the manipulator 100 is used for connecting with the adapted plug structures 300 according to the type information. The manipulator 100 can drive the plug structure 300 and the visual positioning mechanism 400 to move, and insert the plug structure 300 and the connector 710 of the object to be detected.

The detection device provided by the embodiment of the application is used for inserting the plug structure 300 into the connector 710 of the object to be detected so as to detect the object to be detected. The detection device can be used in a battery production line, the object to be detected is a battery 700, the detection device can detect the battery, the battery 700 can comprise one battery monomer or a plurality of battery monomers, and the plurality of battery monomers can be connected in series, in parallel or in series-parallel to form a battery module. The battery can also be a battery pack, and the battery pack comprises a box body and a battery monomer, and the battery monomer or the battery module is accommodated in the box body. The detection device may be used to perform detection operations on the battery 700, such as harness on-off detection, overall performance detection, and the like. As shown in fig. 2, for convenience of description, in the following description, the object to be detected including the battery 700 will be further described as an example. As shown in fig. 3, battery 700 includes a connector 710. It should be noted that, in some cases, the battery 700 is located on the tray 730 during transportation, and thus the tray 730 is located on the storage mechanism 200 together with the battery 700 during detection.

The storage mechanism 200 is used for placing the battery 700, and the storage mechanism 200 plays a role in supporting the battery 700. When the battery 700 is located on the tray 730, the tray 730 is placed on the placement mechanism 200, the battery 700 is located on the tray 730, and the placement mechanism 200 plays a role in supporting both the tray 730 and the battery 700.

The manipulator 100 is used to drive the plug structure 300 to move in multiple directions, or the manipulator 100 may be used to drive the plug structure 300 to move and rotate in multiple directions. Illustratively, the robot 100 may be a multi-axis robot 100 such as a five-axis robot or a six-axis robot. In fig. 1, the manipulator 100 is a six-axis manipulator, which has six articulated arms connected in series in a driving manner, and the six-axis manipulator has six degrees of freedom and is capable of moving along an X axis (such as the X direction in fig. 1), a Y axis (such as the Y direction in fig. 1), and a Z axis (such as the Z direction in fig. 1), and rotating about the X axis, the Y axis, and the Z axis.

The plug structure 300 is mounted at the end of the manipulator 100, and when the manipulator 100 is a six-axis manipulator, the plug structure 300 is mounted on the sixth axis of the manipulator 100, that is, the manipulator 100 can drive the plug structure 300 to move along the X axis, the Y axis, and the Z axis, and rotate along the X axis, the Y axis, and the Z axis.

As shown in fig. 4 to 6, the visual positioning mechanism 400 is used for image acquisition and positioning, the visual positioning mechanism 400 can capture an image, and obtain position information of the connector 710 from the image, so that the manipulator 100 can move the plug structure 300 according to coordinates of the connector 710, so that the plug structure 300 moves to a position opposite to the connector 710. To facilitate subsequent accurate insertion of the plug structure 300 into the connector 710 by the robot 100 to connect the plug structure 300 with the connector 710. The visual positioning mechanism 400 and the plug structure 300 are both mounted at the end of the manipulator 100, so that the visual positioning mechanism 400 and the plug structure 300 move synchronously, and the visual positioning mechanism 400 can shoot images on the opposite sides of the plug structure 300 conveniently. Illustratively, the visual positioning mechanism 400 may include a CCD (Charge coupled Device ) camera, and the visual positioning mechanism 400 may further include a light source that may be used for light replenishment to make the image captured by the CCD camera clearer.

In the process of detecting the battery 700 through the detection device, the manipulator 100 drives the visual positioning mechanism 400 and the plug structure 300 to move, the visual positioning mechanism 400 shoots and identifies the position of the connector 710 of the battery 700, the manipulator 100 drives the visual positioning mechanism 400 and the plug structure 300 to move to the position where the plug structure 300 is opposite to the connector 710, the manipulator 100 inserts the plug structure 300 into the connector 710, and after the detection is completed, the manipulator 100 pulls out the plug structure 300 from the connector 710. Since the visual positioning mechanism 400 detects the position of the connector 710 to be inserted each time, even if the positions of the connectors 710 of the objects to be detected are continuously detected are different, the manipulator 100 can accurately insert the plug structure 300 into the matched connector 710 according to the detection information of the visual positioning mechanism 400, that is, the moving position of the plug can be changed according to the change of the type of the battery 700, even if the setting position of the connector 710 in the battery 700 with the same type has deviation, the accurate position of the connector 710 can be obtained after the visual positioning mechanism 400 performs shooting positioning, so that the device can be suitable for batteries 700 with various types and batteries 700 with manufacturing errors or installation errors, and the adaptation degree is wider.

The first quick change structure 510 and the second quick change structure 520 are matched with each other, and a quick loading and unloading function can be realized. Illustratively, the first quick-change structure 510 may include an electromagnet, the second quick-change structure 520 may include a magnetic body, the first quick-change structure 510 may attract the second quick-change structure 520 when energized, thereby connecting the manipulator 100 with the plug structure 300, and the first quick-change structure 510 may disconnect from the second quick-change structure 520 when de-energized, thereby disconnecting the manipulator 100 from the plug structure 300.

In some embodiments, as shown in fig. 5 to 8, the first quick-change structure 510 and the second quick-change structure 520 are quick-change discs, the first quick-change structure 510 is a portion of the quick-change discs for connecting with the end of the manipulator 100, the second quick-change structure 520 is a portion of the quick-change discs for being mounted on an executing tool (in this embodiment, the executing tool is a plug structure), and quick connection and separation between the first quick-change structure 510 and the second quick-change structure 520 can be achieved through locking structures such as a steel ball locking structure and a claw locking structure. Illustratively, a locking ball (e.g., a steel ball) is disposed on the first quick-change structure 510, a locking groove is disposed on the second quick-change structure 520, and after the first quick-change structure 510 is aligned with the second quick-change structure 520, a portion of the locking ball is driven to move into the locking groove, so that the first quick-change structure 510 and the second quick-change structure 520 are locked; the locking balls are driven out of the locking grooves to unlock the first and second quick-change structures 510 and 520. In the embodiment of the present application, the cooperation of the first quick-change structure 510 and the second quick-change structure 520 enables the manipulator 100 to quickly replace the plug structure 300, thereby improving the automation degree of the detection device.

The plug frame 600 may have a plurality of different types of plug structures 300 simultaneously placed thereon. A variety of different models of plug structures 300 may be adapted to different models of connectors 710. Illustratively, when a plurality of different types of connectors 710 are mounted on one battery 700, a plurality of different types of plug structures 300, which are one-to-one matched with the plurality of different types of connectors 710, may be placed on the plug frame 600, and the robot 100 may sequentially connect the different types of plug structures 300 and insert the plug structures 300 into the matched connectors 710 to perform a plurality of different inspection operations with respect to the battery 700. Or when the model of the battery 700 is different, so that the model of the connector 710 on the battery 700 is different, the robot 100 may connect the plug structure 300 matched with the connector 710 of the battery 700 to be currently detected for detection.

The code reader is used for reading the model information of the battery 700, a label or a chip can be arranged on the outer side wall of the battery 700 or on the tray 730 on which the battery 700 is placed, the label can display patterns such as a bar code, a two-dimensional code and the like, the code reader reads the label to decode the model information of the battery 700 contained in the label, the chip can be an RFID (Radio Frequency Identification ) chip, and the code reader obtains the model information of the battery 700 by reading the information in the chip. After the model information of the battery 700 is obtained, the installation position of the connector 710 and the model of the connector 710 in the battery 700 can be obtained according to the model matching of the battery 700, the manipulator 100 can move to the plug frame 600 to connect the plug structure 300 matched with the connector 710, and the visual positioning mechanism 400 and the plug structure 300 can be quickly driven to move to a position close to the connector 710 according to the installation position of the connector 710, so that the position of the connector 710 can be more accurately positioned through the visual positioning mechanism 400.

In the embodiment of the application, the code reader reads the model information of the object to be detected, so that the manipulator 100 can automatically assemble the adaptive plug structure 300, and the automation degree of the detection equipment is improved.

As can be seen from the above, in the detection apparatus provided in the embodiment of the present application, the type of the object to be detected is read by the code reader, the plug structure 300 adapted to the connector 710 of the object to be detected is automatically replaced by the manipulator 100, and the position of the connector 710 to be inserted is detected by the visual positioning mechanism 400, so that even if the type or position of the connector 710 of the object to be detected that is continuously detected is different, the manipulator 100 can change the connected plug structure 300 according to the change of the type of the object to be detected, and change the moving position of the plug structure 300, thereby being adapted to detect the objects to be detected with various types, and having wider adaptation.

As shown in fig. 9, in one possible design, the plug rack 600 has a plurality of plug placers 610, the plurality of plug placers 610 being used to place different models of plug structures 300, respectively. As shown in fig. 11, the object detector 620 is mounted on the plug holder 600, and one plug holder 610 is provided with at least one object detector 620, and the object detector 620 is used to detect whether an object is placed on the corresponding plug holder 610.

As shown in fig. 9 to 11, the plug frame 600 is used to provide an installation space for the plug holder 610, and the plug holder 610 is used to hold the plug structure 300. Since the plug housing 600 is provided with a plurality of plug holders 610, a plurality of plug structures 300 can be placed on the plug housing 600. One plug holder 610 is used for holding one or more plug structures 300, and when a plurality of plug structures 300 are placed on the same plug holder 610, the plurality of plug structures 300 can be of the same type or different types. Different plug placers 610 may be used to place different models of plug structures 300.

The number of the object detection sensors is equal to the number of the plug structures 300 that can be placed on the plug placement member 610, and when one plug structure 300 can be placed on the plug placement member 610, the number of the object detection sensors is one, and when a plurality of plug structures 300 can be placed on the plug placement member 610, the number of the object detection sensors is a plurality. Illustratively, at most two plug structures 300 may be disposed on one plug receptacle 610, with another two object detection sensors disposed on the plug receptacle 610. The object detection sensor may be a contact sensor, a proximity sensor, a photoelectric sensor, an infrared sensor, a pressure sensor, or the like.

In the embodiment of the present application, the object detector 620 may feed back whether an object is placed on the plug placement member 610, and the robot 100 may place the plug structure 300 on the plug placement member 610 when an object is not placed on the plug placement member 610, so that the automation degree is high. The plug placer 610 is configured to place the plug structure 300, and thus when the object detector 620 detects that an object is placed on the corresponding plug placer 610, it is indicative that the plug structure 300 is stored on the plug placer 610.

In one possible design, one plug holder 610 is correspondingly provided with a plurality of object detectors 620, and a plurality of object detectors 620 arranged opposite to the same plug holder 610 can be triggered by different types of plug structures 300, respectively.

The difference in the structural shape or the difference in the size due to the difference in the structural shape or the difference in the size of the different types of the plug structures 300 may be detected by the object detector 620 at the difference in the plug structures 300, so that the type of the plug structure 300 placed on the plug placement member 610 is determined by which object detector 620 of the plurality of object detectors 620 is activated. Illustratively, of the two different types of plug structures 300, one plug structure 300 is provided with a first protrusion on one side and the other plug structure 300 is provided with a second protrusion on the other side, and object detectors 620 are provided corresponding to the first protrusion and the second protrusion, respectively, and when the object detector 620 corresponding to the first protrusion is triggered, it indicates that the first plug structure 300 is placed in the current plug placement 610, and when the object detector 620 corresponding to the second protrusion is triggered, it indicates that the second plug structure 300 is placed in the current plug placement 610.

When a plurality of plug structures 300 can be simultaneously placed on one plug placement member 610, a plurality of sets of detection mechanisms may be provided corresponding to the plurality of plug structures 300, each set of detection mechanisms including a plurality of object detectors 620, respectively.

In an embodiment of the present application, the model of the plug structure 300 placed on the plug placement 610 may be determined by a plurality of object detectors 620.

In one possible design, the robot 100 is equipped with a pressure sensor (not shown) for detecting the plugging pressure information of the plug structure 300, and the robot 100 controls the plug structure movement according to the plugging pressure information of the plug structure 300 detected by the pressure sensor.

Illustratively, when the plug structure 300 is not plugged in place, the pressure sensor detects increased pressure information, indicating an error in the plugging position of the plug structure 300, e.g., the plug structure 300 is plugged into the edge region of the connector 710, in which case the manipulator 100 may recalibrate the position of the plug structure 300 to successfully plug the plug structure 300 into the plug connector.

In the embodiment of the application, since the pressure sensor is provided, whether the plug structure 300 moves in place can be judged according to the plugging pressure information of the pressure sensor, so that the manipulator 100 can control the plug structure 300 to move conveniently. That is, in the present embodiment, the detection device employs the force control logic to reduce the stress influence of the battery 700.

As shown in fig. 12, in one possible design, the placement mechanism 200 includes a frame 210 and a lifting structure, where the lifting structure is mounted on the frame 210, and the lifting structure is used to move the object to be detected along a first direction, and the first direction intersects with a feeding direction of the object to be detected.

When the detecting device is applied to the battery production line, the feeding of the detecting device can be realized by a conveying device in the battery production line, namely, the tray 730 and the battery 700 are moved to the storage mechanism 200. The feeding direction of the object to be detected is the moving direction of the battery 700 when the conveying device in the battery production line drives the tray 730 and the battery 700 to move towards the object placing mechanism 200. In one example, the conveyor includes a conveyor belt, and the conveyor belt drives the tray 730 and the battery 700 to move in a horizontal direction, so that the first direction may be a direction inclined with respect to a horizontal plane, or may be a vertical direction (i.e., an up-down direction).

The rack 210 is used for installing a jacking structure, and the rack 210 can be formed by connecting any one or more of a box body, a plate body, a beam body and the like. The frame 210 may be made of metal or composite materials, such as steel.

The lifting structure 220 is used for driving the object to be detected to move up and down.

Because the check out test set is applied in the production line, for example battery production line, battery production line includes conveyer, and conveyer can remove battery 700 between a plurality of equipment, and the jacking structure can cooperate with conveyer to realize automatic unloading and automated inspection, improve the degree of automation of battery production line.

As shown in fig. 13, the conveyor includes a conveyor belt having two parallel belt bodies 800, and two ends of a tray 730 having a battery 700 placed thereon are positioned on the two belt bodies 800 and moved in a horizontal direction by the two belt bodies 800, and a first direction is a vertical direction. The jacking structure 220 is located in a lower area of the two strips 800, and at least partially located between the two strips 800, and the detection area is located above the jacking structure and in an upper area of the two strips 800. When the tray 730 with the battery 700 placed thereon is moved above the jacking structure, the jacking structure 220 jacks up the tray 730 and the battery 700 together, that is, the tray 730 and the battery 700 are moved upwards together, so that the tray 730 and the two belt bodies 800 are separated, after the jacking structure 220 stops moving, the position where the battery 700 is located is called a detection area, and the battery 700 waits for detection at the position (detection area). After the battery 700 is detected, the jacking structure moves the tray 730 and the battery 700 downward until the tray 730 contacts with the two belt bodies 800, and the jacking structure 220 continues to move downward and separate from the tray 730, and the two belt bodies 800 drive the tray 730 and the battery 700 to move to the next process equipment.

The jacking mechanism 220 may include a cylinder, hydraulic cylinder, motor, etc. capable of linear reciprocation.

As shown in fig. 14, in one possible design, the lifting structure 220 includes a lifting driver 221 and a supporting member 222, the lifting driver 221 is mounted on the rack 210, the supporting member 222 is connected to the lifting driver 221, the supporting member 222 is used for supporting the object to be detected, and the lifting driver 221 can drive the supporting member 222 to move along the first direction.

The carrier 222 is connected to the driving end of the jack-up driver 221, and illustratively, the jack-up driver 221 is a cylinder including a cylinder body and a cylinder rod, the cylinder body is connected to the frame 210, the cylinder rod is the driving end of the cylinder, and the carrier 222 is connected to the cylinder rod of the cylinder. The structural shape of the carrier 222 may be changed more than the cylinder rod, i.e., the carrier 222 having a structural shape matching the tray 730 may be provided, or the carrier 222 having a relatively larger size may be provided. In the embodiment of the present application, the supporting member 222 is disposed to increase the contact area between the jacking structure 220 and the object to be detected, so as to improve the stability of the object to be detected when moving along the first direction.

In one possible design, as shown in fig. 14 and 15, the jacking structure 220 includes a plurality of jacking drivers 221, each of the plurality of jacking drivers 221 being connected to a carrier 222. The plurality of jack-up drivers 221 are symmetrically or uniformly distributed, and illustratively, when the number of jack-up drivers 221 is two, two jack-up drivers 221 are symmetrically distributed; when the number of the jacking drivers 221 is three, the connection points of the three jacking drivers 221 and the supporting member 222 can be enclosed to form an isosceles triangle. When the number of the jacking drivers 221 is four, the connection points of the four jacking drivers 221 and the supporting member 222 can be enclosed to form a rectangle. When the number of the jack-up drivers 221 is more, the connection points of the jack-up drivers 221 and the carrier 222 can be enclosed to form a regular polygon or a circle.

In the embodiment of the application, the design of the plurality of jacking drivers 221 can simultaneously jack a plurality of different areas of the carrier 222, so that the load of the single jacking driver 221 can be reduced.

As shown in fig. 14 to 17, in one possible design, the jacking structure 220 includes a mounting plate 223 connected to the frame 210, and a plurality of jacking drivers 221 are mounted to the mounting plate 223 at intervals.

The mounting plate 223 is used for mounting a plurality of jack drivers 221, and the mounting plate 223 may be manufactured from one plate body or may be connected from a plurality of plate bodies.

Illustratively, the jacking drivers 221 are cylinders, and the cylinders of the plurality of cylinders are respectively connected with the mounting plate 223 by bolts.

In an embodiment of the present application, the mounting plate 223 integrates a plurality of jack-up drivers 221 to facilitate connection with the frame 210.

As shown in fig. 14 and 16, the jacking structure 220 further includes two position detection sensors 251 and two triggering pieces 252, the number of the position detection sensors 251 is one, the two position detection sensors 251 are mounted on the mounting plate 223, and the triggering pieces 252 are mounted on the carrier 222. During the process of the lift driver 221 driving the carrier 222 to move, the trigger 252 moves relative to the position detecting sensor 251. When the triggering element 252 triggers one of the position detecting sensors 251, the carrying element 222 is located above the conveyor belt, that is, the element to be detected located on the carrying element 222 is located in the detection area. When the triggering piece 252 triggers the other position detecting sensor 251, the supporting piece 222 is located below the conveyor belt, and the supporting piece 222 is separated from the piece to be detected. The position detecting sensor 251 may be a photoelectric sensor, which includes a transmitting end and a receiving end, and is triggered when the receiving end cannot receive the light emitted from the transmitting end when the trigger 252 moves between the transmitting end and the receiving end.

With continued reference to fig. 14 and 16, a buffer member 260 is disposed between the carrier 222 and the mounting plate 223, and the buffer member 260 is configured to define a minimum distance between the carrier 222 and the mounting plate 223, and to provide a certain buffer effect between the carrier 222 and the mounting plate 223. At least a portion of the cushioning member 260 is formed of a flexible material, such as foam, rubber, silicone, sponge, or the like. Illustratively, the buffer 260 includes a stem portion connected to the mounting plate 223, and a head portion mounted at an end of the stem portion adjacent to the carrier 222, the head portion being made of a flexible material.

As shown in fig. 14, 15 and 16, in one possible design, the jacking structure 220 further includes a guide assembly 230, the guide assembly 230 includes a guide shaft and a guide sleeve body, one of the carrier 222 and the assembly plate 223 is mounted with the guide shaft, the other is mounted with the guide sleeve body, one end of the guide shaft is inserted into the guide sleeve body, and the guide shaft can move in the first direction relative to the guide sleeve body.

The first direction is the moving direction of the lifting structure 220, and is also the Z-axis direction. The guide shaft can be of a cylindrical structure, the guide sleeve body is provided with a cylindrical accommodating space, and the guide shaft is inserted into the guide sleeve body. In one example, the guide sleeve is cylindrical, the guide shaft is inserted into the guide sleeve, and during movement of the carrier 222, the guide shaft moves relative to the guide sleeve, and the guide sleeve limits and guides the guide shaft. In another example, the guide sleeve body is a linear bearing, the linear bearing comprises an outer ring, an inner ring and rolling bodies, the rolling bodies are positioned between the inner ring and the outer ring, the outer ring is sleeved on the outer side of the inner ring, and the inner ring can move relative to the outer ring along the axial direction. The guide shaft is inserted into the inner ring and is connected with the inner ring, and in the moving process of the carrier 222, the guide shaft drives the inner ring to move relative to the outer ring. The movement stability of the guide shaft, that is, the movement stability of the carrier 222 is further improved under the action of the linear bearing.

As shown in fig. 9, 12, 13 and 18, in one possible design, a stopper 240 is mounted on the rack 210, and the stopper 240 includes a driving portion 241 and a blocking portion 242, where the driving portion 241 can drive the blocking portion 242 to move so that the blocking portion contacts with the object to be detected in the first position.

The blocking portion 242 is used for blocking an object to be detected, and when no conveyor is provided in the battery production line, the blocking portion 242 can be used for limiting the battery 700 or the tray 730 placed on the carrier 222. The blocking portion 242 serves to block the tray 730 on the conveyor at a position opposite to the carrier 222 when the conveyor is provided in the battery production line and the tray 730 and the battery 700 are conveyed to the detecting device by the conveyor.

In the process that the conveying device drives the tray 730 and the battery 700 to move along the feeding direction, the driving portion 241 may drive the blocking portion 242 to move along any direction intersecting the feeding direction, for example, the feeding direction is the length direction of the battery 700, and the driving portion 241 may drive the blocking portion 242 to move along the width direction of the battery 700 or the thickness direction of the battery 700.

In one example, the driving portion 241 may drive the blocking portion 242 to move between a first position where the blocking portion 242 can contact the object to be detected, and a second position where the blocking portion 242 is staggered from the object to be detected, and the blocking portion 242 cannot contact the object to be detected.

In a specific example, the feeding direction is the length direction of the battery 700, the driving portion 241 drives the blocking portion 242 to move along the thickness direction (Z-axis direction) of the battery 700, the conveying device includes a conveying belt, the blocking portion 242 is located between two parallel belt bodies 800 in the case that the conveying belt includes two parallel belt bodies 800, when the blocking portion 242 is located at the second position, the top of the blocking portion 242 is located below the height of the belt body 800, and the tray 730 and the battery 700 can move above the blocking portion 242 without contacting the blocking portion 242 under the driving of the belt body 800. The driving portion 241 may drive the blocking portion 242 to move upwards to move to the first position at the second position, when the blocking portion 242 is located at the first position and the tray 730 and the battery 700 are moved to the position where the blocking portion 242 is located under the driving of the belt 800, the blocking portion 242 contacts with the tray 730, so that the tray 730 will not move continuously under the driving of the belt 800, that is, the tray 730 and the battery 700 stay above the lifting structure 220, after the lifting driver 221 in the lifting structure 220 drives the carrier 222 to move upwards for a certain distance, the carrier 222 contacts with the tray 730, and the lifting driver 221 continues to drive the carrier 222 to move upwards, so that the carrier 222 drives the tray 730 and the battery 700 to move upwards until the battery 700 reaches the detection area. After the detection is completed, the jacking structure 220 moves the battery 700 and the tray 730 to one side of the blocking portion 242, after the carrying member 222 continues to move downwards, the carrying member 222 is separated from the tray 730, the blocking portion 242 moves to the second position under the driving of the driving portion 241, and the tray 730 continues to move to the next process under the driving of the belt 800. The stopper 240 is provided to facilitate the limitation of the tray 730 and the battery 700 in cooperation with the transfer device.

In one possible design, the number of manipulators 100 is plural, and the plural manipulators 100 are disposed at intervals in the peripheral area of the placement mechanism 200. That is, the plurality of manipulators 100 are located beside the storage mechanism 200, and the plurality of manipulators 100 are distributed at intervals.

Illustratively, the number of the manipulators 100 is two, the two manipulators 100 are respectively located at two sides of the storage mechanism 200, and the two manipulators 100 are oppositely disposed at two sides of the conveyor belt in the conveying device.

In the case that the number of the manipulators 100 is plural and plural connectors 710 for detection are provided on one battery 700, the plural manipulators 100 may respectively drive the plural plug structures 300 to move, so that the plural plug structures 300 may be respectively inserted into the matched connectors 710 at a relatively faster speed, and thus plural detections may be simultaneously performed on the battery 700.

In the case where the number of the robot arms 100 is plural and one connector 710 for detection is provided on one battery 700, different models of the plug structures 300 may be connected by different robot arms 100 and the plugging operation may be performed by the robot arm 100 connected with the plug structure 300 that matches the connector 710 of the battery 700 of the detection area. By the arrangement, the time for replacing the plug-in component by the manipulator 100 can be saved, and the efficiency of detecting and operating the whole link can be improved.

It should be noted that, each joint arm of the manipulator 100, the visual positioning mechanism 400, the code reader, the first quick-change structure 510, the position detection sensor 251, the lifting driver 221, the object detector 620, and the driving portion 241 of the stopper 240 are all in communication connection with a control system, the control system controls each joint arm of the manipulator 100 to move or rotate, receives the battery model information read by the code reader, matches the plug structure 300 according to the battery model information, and controls each joint arm of the manipulator 100 to move or rotate to move to the plug placement member 610 where the matched plug structure 300 is located; controlling the first quick-change structure to be connected or disconnected with the second quick-change structure so as to facilitate the manipulator 100 to replace the adapted plug structure 300; receiving an image shot by the visual positioning mechanism, acquiring position information of the connector 710, and controlling each joint arm of the manipulator 100 to move or rotate so as to enable the plug structure 300 to move to a position opposite to the connector 710 and drive the plug structure 300 to be inserted into the connector 710; the control driving part 241 drives the blocking part 242 to move to the first position or the second position; the lifting driver 221 is controlled to drive the carrier 222 to move, etc. The control system may be separately provided in the detection device to accomplish the above-described control operation. The above operations may be performed using a control system that is self-contained with the robot 100. This may be accomplished using a control system in the battery production line.

The embodiment of the application also provides a battery production line, which comprises the detection equipment provided by any embodiment. The battery production line is used for producing the battery 700, and the battery 700 may be a battery module or a battery pack. The battery 700 is applied to an electric device, and the battery 700 is used to supply electric power. The power device may be, but is not limited to, a cell phone, tablet, notebook computer, electric toy, electric tool, battery car, electric car, ship, spacecraft, etc. Among them, the electric toy may include fixed or mobile electric toys, such as game machines, electric car toys, electric ship toys, electric plane toys, and the like, and the spacecraft may include planes, rockets, space planes, and spacecraft, and the like.

Since the battery production line comprises the detection device, the battery production line has at least all the beneficial effects of the detection device, and the description is omitted herein.

In one possible design, the battery production line further comprises a conveying device for conveying the object to be detected to the object placing mechanism 200 of the detecting device.

The conveyor may be used to transport material from one apparatus to the next for the next operational flow. In this embodiment, the conveyor is at least used to transport material to the placement mechanism 200.

The conveyor may include one or more structures for moving objects such as conveyor rollers, conveyor chains, conveyor belts, conveyor carts, etc. In one embodiment, the conveying device comprises a conveying belt, the conveying belt comprises two belt bodies 800 arranged in parallel, and the two belt bodies 800 are used for supporting two side edges of the bottom of the tray 730 so as to drive the tray 730 and the battery 700 located on the tray 730 to move. In the detection device, the manipulator 100 is located at a side of at least one of the belt bodies 800 away from the other belt body 800, the lifting structure 220 is located between the two belt bodies 800, and the lifting structure 220 can move below and above the height of the belt body 800.

In the embodiment of the application, the object to be detected moves to the object placing mechanism 200 from the conveying device, so that the automatic feeding and the automatic discharging of the detection equipment are realized, and the automation degree is high.

In one embodiment of the present application, the battery production line includes a conveyor and a detecting device, the conveyor includes a conveyor belt, the conveyor belt includes two belt bodies 800 spaced apart in a width direction of the battery 700 and arranged in parallel, and the two belt bodies 800 are used for supporting two bottom side edges of the tray 730 so as to drive the tray 730 and the battery 700 located on the tray 730 to move. The detection device comprises a storage mechanism 200, a manipulator 100, a plug structure 300, a plug frame 600, a code reader and a visual positioning mechanism 400, wherein the number of the manipulators 100 is two, and the two manipulators 100 are arranged at intervals in the width direction of the battery 700 and are positioned at the outer sides of the two belt bodies 800, namely, at one sides of the two belt bodies 800, which are away from each other. The manipulator 100 is mounted on a fixed platform 110, and the fixed platform 110 is used for positioning the manipulator 100 at a relatively high position so that the manipulator 100 can perform plugging operation of the plug structure 300 on the battery 700 in the detection area. The manipulator 100 is a six-axis manipulator, the visual positioning mechanism 400 and the first quick-change structure 510 are installed at the tail end (sixth axis) of the manipulator 100, the visual positioning mechanism 400 comprises a CCD camera, the second quick-change structure 520 is installed on the plug structure 300, and the first quick-change structure 510 can be quickly installed and detached with the second quick-change structure 520.

The connector holder 600 is formed by connecting a plurality of beams, and the connector holder 600 is fixedly connected with the fixing platform 110, so that the manipulator 100 and the connector holder 600 are integrated into a whole, thereby facilitating the improvement of the stability of the manipulator 100 and the connector holder 600. The plug holder 600 is mounted with a plurality of plug placement positions, which are spaced apart in the width direction of the battery 700, one plug placement position for placing two plug structures 300, one plug placement position being provided with an object detector 620 for each plug structure 300, and the object detector 620 being able to detect whether the corresponding plug placement position is placed with a plug structure 300. The connector holder 600 has a clearance opening through which the two belt bodies 800 pass, and the tray 730 and the battery 700 can pass through, so that the connector holder 600 can be arranged across the conveyor belt, so that the plug placing member 610 is positioned above the conveyor belt, the installation space of the connector holder 600 and the plug placing position is saved, and the distances between the two manipulators 100 positioned at two sides of the conveyor belt and the connector holder 600 are similar, so that the plug structure 300 is convenient to take and place. The end of the manipulator 100 is also provided with a pressure sensor for detecting the plugging pressure of the plug structure 300.

The jacking structure 220 comprises a frame 210, a mounting plate 223, jacking drivers 221 and supporting members 222, the frame 210 is fixedly connected with the fixed platform 110, the jacking drivers 221 are four in number, the jacking drivers 221 are cylinders, each cylinder comprises a cylinder body and a cylinder rod, the four cylinders are mounted on the mounting plate 223, a guide sleeve body is mounted on the mounting plate 223 and comprises a linear bearing, a guide shaft is mounted on the supporting member 222, and extends into an inner ring of the linear bearing and is connected with the inner ring. The cylinder is located below the height of the belt 800, and the carrier 222 is located between the two belts 800. The carrier 222 is driven by the cylinder rod to be located completely below the height of the belt 800 and can be moved to above the height of the belt 800. The rack 210 is provided with a stopper 240, along the conveying direction of the belt 800, the stopper 240 is located at the front side of the jacking structure 220, the stopper 240 comprises a driving part 241 and a blocking part 242, the driving part 241 drives the blocking part 242 to move up and down, so that the blocking part 242 moves between a first position and a second position, the first position is located above the height of the belt 800, and the second position is located below the height of the belt 800. When the blocking portion 242 is located at the first position, the blocking portion 242 can block the tray 730 conveyed by the belt 800, and when the blocking portion 242 is located at the second position, the tray 730 can move forward continuously under the driving of the belt 800. The code reader may be mounted on the stationary platform 110 or on the housing 210.

In the process of detecting the battery 700 through the battery production line, the tray 730 carries the battery 700, and the tray 730 is located on the belt 800 and moves forward under the driving of the belt 800. The tray 730 has an RFID chip 720 disposed thereon. When the tray 730 is not moved above the carrier 222, the carrier 222 is located at a height below the height of the belt 800, and the blocking portion 242 is located at the first position, and when the tray 730 is moved above the carrier 222, the tray 730 is blocked by the blocking portion 242, so that the tray 730 stops above the carrier 222. The jacking structure 220 drives the carrying member 222 to move upwards, so that the tray 730 is separated from the belt body 800, after a certain distance is moved, the battery 700 on the tray 730 reaches the placement area, the RFID chip 720 is located at a position opposite to the code reader, and the code reader reads information of the RFID chip 720, so that the model of the battery 700 is obtained, and the model and the installation position of the connector 710 matched with the model of the battery 700 are obtained. The manipulator 100 moves to the position of the plug frame 600 to mount the plug structure 300 matched with the connector 710, and moves the plug structure 300 to a position close to the connector 710, and after the visual positioning mechanism 400 performs shooting positioning on the position of the connector 710, the manipulator 100 drives the plug structure 300 to move to a position opposite to the connector 710, and inserts the plug structure 300 into the connector 710, so that the detection operation of the battery 700 is performed. After the detection is completed, the plug structure 300 is pulled out by the manipulator 100, the lifting structure 220 drives the supporting member 222 to drive the tray 730 and the battery 700 to descend, and after the tray 730 contacts the belt body 800, the blocking portion 242 moves to the second position under the driving of the driving portion 241, and the tray 730 and the battery 700 continue to move forward under the driving of the belt body 800.

According to the battery production line provided by the embodiment, the incoming material compatibility can be improved, even if the incoming material direction (namely, the direction that the battery 700 reaches the carrier 222) and the position are different, the manipulator 100 can still position the connector 710 through the visual positioning mechanism 400, the plug structure 300 can be accurately inserted into the connector 710, the opposite insertion precision is improved, other limiting mechanisms are not needed, and the abrasion of the plug structure 300 in the opposite insertion process can be reduced. The detection equipment in the battery production line that this embodiment improves does not adopt cabinet style design, but through the connection of fixed platform 110 and frame 210 for a plurality of mechanisms connect as an organic wholely, and this kind of open design in space is convenient for observe equipment running condition, can reduce equipment maintenance cost, reduces equipment processing cycle, reduces equipment occupation space, improves equipment place availability.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (13)

1. A detection apparatus, characterized by comprising: the device comprises a storage mechanism, a manipulator, a plug frame, a plug structure, a visual positioning mechanism and a code reader, wherein the storage mechanism is used for accommodating an object to be detected, the plug structure and the visual positioning mechanism are both arranged on the manipulator, the plug structure is used for being inserted with a connector of the object to be detected, and the visual positioning mechanism is used for detecting the position of the connector of the object to be detected; wherein,

The manipulator is provided with a first quick-change structure, the plug structure is provided with a second quick-change structure, and the manipulator and the plug structure are detachably connected with the second quick-change structure through the first quick-change structure;

The plug frame is used for placing a plurality of plug structures with different types, the code reader is used for reading the type information of the object to be detected, and the manipulator is used for being connected with the plug structure in an adaptive mode according to the type information; the mechanical arm can drive the plug structure and the visual positioning mechanism to move, and the plug structure and the connector of the object to be detected are inserted in an opposite mode.

2. The detecting apparatus according to claim 1, wherein the plug frame has a plurality of plug placement pieces for placing the plug structures of different models, respectively, the plug frame is mounted with an object detector, one of the plug placement pieces is provided with at least one of the object detectors for detecting whether or not an object is placed on the corresponding plug placement piece.

3. The detecting apparatus according to claim 2, wherein one plug holder is provided with a plurality of object detectors, respectively, and a plurality of said object detectors provided opposite to the same plug holder can be triggered by different types of said plug structures, respectively.

4. A testing device according to claim 3, wherein the manipulator is provided with a pressure sensor for detecting plugging pressure information of the plug structure, the manipulator controlling the movement of the plug structure in dependence on the plugging pressure information.

5. The apparatus according to any one of claims 1 to 4, wherein the placement mechanism includes a frame and a lifting structure, the lifting structure is mounted on the frame, and the lifting structure is configured to drive the object to be detected to move along a first direction, and the first direction intersects with a feeding direction of the object to be detected.

6. The inspection apparatus according to claim 5, wherein the jacking structure includes a jacking actuator mounted to the frame and a carrier coupled to the jacking actuator, the carrier being adapted to support the object to be inspected, the jacking actuator being adapted to drive the carrier in the first direction.

7. The inspection apparatus of claim 6 wherein said jacking structure includes a plurality of said jacking drives, each of said jacking drives being connected to said carrier.

8. The inspection apparatus of claim 7 wherein said jacking structure includes a mounting plate coupled to said frame, a plurality of said jacking actuators being mounted at spaced intervals to said mounting plate.

9. The inspection apparatus of claim 8 wherein said jacking structure further comprises a guide assembly including a guide shaft and a guide sleeve, one of said carrier and said mounting plate being mounted with said guide shaft and the other being mounted with said guide sleeve, one end of said guide shaft being inserted within said guide sleeve, said guide shaft being movable in said first direction relative to said guide sleeve.

10. The inspection apparatus of claim 9 wherein a blocker is mounted on the frame, the blocker including a drive portion and a blocking portion, the drive portion being capable of driving the blocking portion to move so that the blocking portion contacts the object to be inspected in the first position.

11. The inspection apparatus according to any one of claims 1 to 4, wherein the number of the manipulators is plural, and the plural manipulators are disposed at intervals in a peripheral area of the storage mechanism.

12. A battery production line comprising a detection apparatus according to any one of claims 1-11.

13. The battery production line of claim 12, comprising a conveyor for conveying the object to be inspected to an object placement mechanism of the inspection apparatus.