Lithium sagger surface defect detection device based on visual identification

Abstract

The invention discloses a lithium sagger surface defect detection device based on visual identification, relates to the technical field of surface defect detection, and solves the technical problems of large environmental interference and single detection dimensionality in the existing technical scheme, the lithium sagger surface defect detection device comprises a main base, an inner detection assembly and an outer detection assembly, and the upper part of the main base is provided with a working box; a material conveying roller is arranged between the upper portion in the main base box and the lower portion of the working box, a mechanical arm structure is hoisted at the top end in the working box, and by arranging a cleaning air supply system with an air filtering structure, invasion of external production dust is effectively prevented. And in cooperation with a pulse dust removal unit in the inner detection assembly, floating dust on the surface of the sagger can be removed before detection, interference of environmental factors on detection precision is reduced, and the service life of a precise optical element is prolonged. According to the device, non-blind area scanning of the inner bottom face, the inner side wall and the outer side wall of the saggar is achieved through longitudinal stretching and retracting of the mechanical arm structure and circumferential movement of the track surrounding structure.

Description

Technical Field

[0001] This invention relates to the field of surface defect detection technology, specifically to a device for detecting surface defects in lithium saggers based on visual recognition. Background Technology

[0002] Lithium-ion saggers are critical support containers during the sintering process of lithium-ion battery cathode materials. Under prolonged high-temperature cycling, saggers are prone to cracking, peeling, bulging, or overall geometric deformation. Operating with these defects not only contaminates the cathode material but may also lead to breakage on automated production lines, causing production stoppages and losses.

[0003] Currently, the quality inspection of saggers mainly faces the following problems: high dust concentration in the production workshop, with dust easily adhering to the sagger surface and inspection lenses, leading to high false alarm rates or shortened sensor lifespan in visual inspection equipment. Existing automated inspection equipment mostly uses single two-dimensional visual inspection, which is difficult to accurately obtain depth deformation data of the sagger and cannot simultaneously cover comprehensive inspection of both the inner cavity and the outer wall. Some processes still rely on manual visual identification, which is greatly affected by subjective factors, resulting in low inspection efficiency and difficulty in accurately digitally recording the location of defects.

[0004] Existing technical solutions suffer from significant environmental interference and limited detection dimensions. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a visual recognition-based surface defect detection device for lithium saggers, which solves the technical problems of significant environmental interference and limited detection dimensions in existing solutions.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a visual recognition-based lithium crucible surface defect detection device, comprising a main base, an inner detection component, and an outer detection component. A working box is mounted on the upper part of the main base. A material conveying roller is positioned between the upper part of the main base and the lower part of the working box. A robotic arm structure is suspended at the top of the working box. A track-encircling structure is provided on the inner wall of the working box. Automatic doors are located at the front and rear ends of the working box. A cleaning air supply structure is located at the top of the working box. This device constructs a closed detection space through the main base and the working box, and, in conjunction with the automatic doors, achieves automated material entry and exit and environmental isolation. The material conveying roller is responsible for the stable transport of the lithium crucible. The robotic arm structure and the track-encircling structure respectively carry the inner and outer detection components, achieving omnidirectional coverage detection of the inner and outer walls of the crucible. The cleaning air supply structure maintains the cleanliness inside the box, reducing the interference of dust on the accuracy of visual recognition.

[0007] Preferably, the robotic arm structure includes a rotating part and an arm assembly. The rotating part is disposed on the top surface of the work box, the upper end of the arm assembly is connected to the drive end of the rotating part, and the internal detection component is disposed at the lower end of the arm assembly. The robotic arm structure provides horizontal circumferential rotational freedom through the rotating part, driving the arm assembly and the internal detection component at the end to perform orientation adjustment. This structure saves space at the bottom of the box through a hoisting method, ensuring that the detection component can accurately extend into the crucible from above.

[0008] Preferably, the rotating part includes a motor frame, a first motor, and a gear reducer. The motor frame is fixedly installed on the upper outer wall of the work box. The first motor is fixedly installed on the motor frame with its output end facing vertically downwards. The gear reducer is fixedly installed on the upper wall of the work box with its output end passing through the upper wall of the work box and facing vertically downwards. The drive end of the first motor is fixedly connected to the input end of the gear reducer, and the arm assembly is disposed on the output end of the gear reducer. The rotating part uses the gear reducer to reduce the high-speed rotation of the first motor and increase its torque, ensuring that the arm assembly has high positioning accuracy and stability during rotation. The motor frame places the drive core outside the work box, which facilitates maintenance and reduces heat sources and vibrations inside the box.

[0009] Preferably, the arm assembly includes an upper hinge connector, an upper electric cylinder, an upper electric push rod, an arm motor, a lower hinge connector, a lower electric cylinder, and a lower electric push rod. The upper hinge connector is connected to the rotating end of the rotating part. The upper electric cylinder is mounted on the upper hinge connector. The upper electric push rod is fixedly connected to the upper electric cylinder. The telescopic end of the upper electric push rod is fixedly connected to the arm motor. The lower hinge connector is fixedly mounted on the drive end of the arm motor. The lower electric cylinder is disposed on the lower hinge connector. The lower electric push rod is fixedly mounted on the lower electric cylinder. The telescopic end of the lower electric push rod is equipped with the internal detection component. The arm assembly achieves a wide range of vertical lifting and lowering adjustment through a dual-stage electric push rod to adapt to crucibles of different depths. The arm motor located in the middle provides additional joint rotation freedom. Together with the upper and lower hinge connectors, the internal detection component can flexibly adjust its posture to complete complex internal cavity dead angle detection.

[0010] Preferably, the track-encircling structure includes a ring rail, which is fixedly installed on the inner wall of the work box. The ring rail has a T-shaped guide groove. A lifting frame is slidably mounted on the ring rail, and a surrounding part is provided between the lifting frame and the ring rail to drive its movement circumferentially along the track. The lifting frame also has a lifting part to drive the external detection component to move longitudinally. The track-encircling structure provides the external detection component with a motion trajectory around the crucible. The T-shaped guide groove ensures the mechanical stability of the lifting frame during the encircling process. Through the cooperation of the surrounding part and the lifting part, the external detection component can achieve a composite movement of circumferential full scanning and longitudinal height coverage.

[0011] Preferably, the surrounding section includes a third motor, a drive gear, and a gear ring. The gear ring is fixedly mounted on the wall surface of the annular track, the third motor is fixedly mounted on the lifting frame, and the drive gear is fixedly mounted on the drive end of the third motor. The drive gear meshes with the gear ring. The surrounding section uses gear and gear ring meshing transmission to convert the rotation of the third motor into the circumferential motion of the lifting frame along the annular track. This rigid transmission method eliminates the risk of slippage, enables precise circumferential angle feedback, and ensures the continuity of outer wall image acquisition.

[0012] Preferably, the lifting unit includes a fourth motor, a lead screw, and a lifting platform; the lead screw is rotatably mounted inside the lifting frame and one end is fixedly connected to the drive end of the fourth motor; the fourth motor is fixedly mounted on the lifting frame; the lifting platform is slidably mounted inside the lifting frame; the lifting platform has a threaded hole; the lifting platform is threadedly connected to the lead screw; and the external detection component is mounted on the lifting platform. The lifting unit converts the rotational motion of the fourth motor into the linear motion of the lifting platform through the lead screw and nut pair. The lead screw drive has the characteristics of self-locking and high precision, which can accurately control the scanning height of the external detection component and realize line-by-line scanning of the outer wall of the sagger from the bottom to the top.

[0013] Preferably, the internal detection assembly includes a fixed cylinder, swing frames, a linkage structure, a pulse dust removal unit, a high-power illumination lamp, and a high-resolution camera. The fixed cylinder is mounted on the telescopic end of the lower electric push rod, and the high-resolution camera is fixedly mounted on the end of the fixed cylinder. Multiple swing frames are rotatably mounted on the lower side wall of the fixed cylinder. The pulse dust removal unit and the high-power illumination lamp are disposed on the swing frames. The linkage mechanism includes a linkage sleeve and a connecting rod. The linkage sleeve is slidably mounted on the fixed cylinder, and the two ends of the connecting rod are rotatably connected to the rear end of the swing frame and the linkage sleeve, respectively. The internal detection assembly integrates optical acquisition, illumination, and dust removal functions. By sliding the linkage sleeve on the fixed cylinder, the multiple swing frames are synchronously opened or closed via the connecting rod, thereby adjusting the angle between the pulse dust removal unit and the illumination lamp according to the inner diameter of the crucible, ensuring that the camera captures a clear image of the inner wall under optimal lighting conditions, and simultaneously removing surface dust.

[0014] Preferably, the external detection assembly includes a vertical drive roller and a horizontal drive roller. The vertical drive roller is vertically mounted on the lifting platform, and the horizontal drive roller is connected to the rotating end of the vertical drive roller. A swing seat is provided on the horizontal drive roller, and a scanning laser unit and a high-frequency scanning camera are fixedly mounted on the swing seat. The external detection assembly achieves multi-dimensional angle transformation of the scanning probe by adjusting the axial direction of the vertical and horizontal drive rollers. The scanning laser unit is used to acquire three-dimensional topographic data of the sagger, the high-frequency scanning camera is used to capture visual defects such as surface cracks, and the design of the swing seat ensures that the sensor can cover the upper edge and corner areas of the sagger.

[0015] Preferably, the clean air supply structure includes a blower, an annular duct, and a filter box. The blower is installed on the top surface of the working chamber, with its output end connected to the inside of the working chamber via a pipe and its input end connected to the annular duct. The filter box is located at the input end of the annular duct. The clean air supply structure filters impurities in the air through the filter box and continuously supplies clean air to the chamber through the blower. A uniform positive pressure airflow field is formed through the annular duct, effectively suppressing dust generated during the transport and testing of the crucible and protecting the precision optical components from contamination.

[0016] Beneficial Effects: This invention provides a visual recognition-based device for detecting surface defects in lithium-ion crucibles. By incorporating a clean air supply system with a filtration structure, the invention effectively prevents the intrusion of external production dust. Combined with a pulse dust removal unit in the internal detection assembly, surface dust can be removed before detection, reducing the interference of environmental factors on detection accuracy and extending the lifespan of precision optical components. The device achieves blind-spot-free scanning of the inner bottom surface, inner sidewalls, and outer sidewalls of the crucible through the longitudinal extension and retraction of the robotic arm structure and the circumferential movement of the orbital structure. The collaborative working mode of the internal and external detection components shortens the detection cycle of a single crucible and improves detection efficiency. By combining high-resolution visual imaging with line laser point cloud acquisition technology, it overcomes the shortcomings of single detection methods in spatial deformation detection, achieving the following effects: 1. This invention solves the detection interference problem caused by dust in the production environment from two aspects through the synergistic design of a clean air supply structure and a pulse dust removal unit. After the clean air supply structure filters the air through the air filter box, it delivers clean air into the working chamber through a ring-shaped air duct, forming a positive pressure environment and effectively blocking the intrusion of external dust. The pulse dust removal unit of the internal detection component can specifically remove floating dust from the surface of the sagger before detection, avoiding dust from covering defects or contaminating precision optical components. The dual protection not only significantly reduces the false alarm rate and false negative rate of visual inspection, but also extends the service life of core optical components such as high-resolution cameras and scanning laser units, and reduces equipment maintenance costs.

[0017] 2. Relying on the composite motion design of the robotic arm structure and the orbital ring structure, this device breaks through the coverage limitations of traditional detection equipment. The robotic arm structure, through the circumferential rotation of the rotating part, the longitudinal extension and retraction of the two-stage electric push rod, and the posture adjustment of the arm motor, can drive the inner detection component to flexibly extend into the inner cavity of the crucible, achieving precise scanning of the inner sidewall, inner bottom surface, and blind spots of the inner cavity. The orbital ring structure, through the cooperation of the gear ring meshing ring part and the lead screw driven lifting part, drives the outer detection component to move circumferentially and move longitudinally along the ring track, fully covering the outer sidewall and edge corner areas of the crucible. The inner and outer detection components work together to achieve blind-spot-free detection of the entire surface of the crucible, completely solving the technical pain point of traditional equipment that is difficult to simultaneously detect the inner cavity and outer wall.

[0018] 3. This invention integrates two-dimensional visual imaging and three-dimensional shape acquisition technologies, overcoming the limitations of single detection methods. The high-resolution camera of the internal detection component, combined with a high-power illumination lamp, can capture two-dimensional defects such as micron-level cracks, holes, and material residues on the inner wall of the sagger. The scanning laser unit of the external detection component acquires three-dimensional contour data through the principle of laser triangulation, accurately detecting geometric deviations and surface deformations (such as bulging, diameter reduction, and warping). The high-frequency scanning camera simultaneously identifies visual defects such as scratches, color differences, and fine through-line patterns on the outer wall. The fusion analysis of two-dimensional images and three-dimensional point cloud data can not only accurately determine the defect type but also obtain quantitative parameters such as the length, width, depth, and area of ​​the defect, providing comprehensive and accurate data support for defect classification and quality assessment.

[0019] 4. The entire process is fully automated, from the automatic conveying of the saggers (material conveying rollers) and the enclosure of the inspection space (automatic door), to the collaborative scanning of internal and external inspection components and the automatic collection of defect data. No manual intervention is required, which greatly reduces the subjective error and labor intensity of manual inspection. The transmission design of the robotic arm structure and the track surround structure (gear reducer, lead screw and nut pair, etc.) ensures the smoothness and positioning accuracy of the inspection action. Combined with the parallel working mode of internal and external inspection components, the inspection cycle of a single sagger is significantly shortened, meeting the high-efficiency inspection requirements of automated production lines. At the same time, the system can automatically record the spatial coordinates of defects (circumferential angle and height), realize the digital marking of defect locations, and provide accurate guidance for subsequent sorting, repair and other processes.

[0020] 5. This device features a modular and adjustable design, making it highly adaptable. The swing frame of the internal detection component can be opened or closed synchronously through the cooperation of the linkage sleeve and connecting rod to accommodate crucibles of different inner diameters. The robotic arm's dual-stage electric push rod and the lifting part of the track-surround structure can flexibly adjust the detection height to meet the detection requirements of crucibles of different depths and heights. There is no need to adjust the equipment structure for specific crucible specifications, which significantly improves the versatility and applicability of the device and reduces the equipment investment cost in multi-specification production scenarios. Attached Figure Description

[0021] Figure 1 This is a first three-dimensional structural diagram of a vision-based lithium crucible surface defect detection device according to the present invention.

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of a lithium crucible surface defect detection device based on visual recognition as described in this invention.

[0023] Figure 3 This is a schematic diagram of the oblique cross-sectional structure of a lithium crucible surface defect detection device based on visual recognition according to the present invention.

[0024] Figure 4 This is a side view cross-sectional structural diagram of a lithium crucible surface defect detection device based on visual recognition according to the present invention.

[0025] Figure 5 This is a schematic diagram of the front cross-sectional structure of a lithium crucible surface defect detection device based on visual recognition according to the present invention.

[0026] Figure 6 This is a top-view cross-sectional view of the lithium crucible surface defect detection device based on visual recognition described in this invention.

[0027] Figure 7 This is a first partial cross-sectional structural diagram of a lithium crucible surface defect detection device based on visual recognition according to the present invention.

[0028] Figure 8 This is a second partial cross-sectional structural diagram of the lithium crucible surface defect detection device based on visual recognition described in this invention.

[0029] In the diagram: 1. Main base; 2. Working box; 3. Material conveying roller; 4. Automatic box door; 5. Motor frame; 6. First motor; 7. Gear reducer; 8. Upper hinge connecting seat; 9. Lower hinge connecting seat; 10. Lower electric cylinder; 11. Lower electric push rod; 12. Circular rail; 13. Lifting frame; 14. Third motor; 15. Drive gear; 16. Gear ring; 17. Fourth motor; 18. Lead screw; 19. Lifting platform; 20. Fixed cylinder; 21. Swing frame; 22. High-resolution camera; 23. Linkage sleeve; 24. Connecting rod; 25. Vertical drive roller; 26. Horizontal drive roller; 27. High-frequency scanning camera; 28. Air supply fan; 29. ​​Circular air duct; 30. Air filter box; 31. Upper electric cylinder; 32. Upper electric push rod; 33. Arm motor. Detailed Implementation

[0030] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Detailed description follows.

[0031] Please see Figures 1-8This invention provides a technical solution: a visual recognition-based lithium crucible surface defect detection device, comprising a main base 1, an inner detection component, and an outer detection component. A working box 2 is mounted on the upper part of the main base 1. A material conveying roller 3 is positioned between the upper part of the main base 1 and the lower part of the working box 2. A robotic arm structure is suspended from the top of the working box 2. A track surround structure is provided on the inner side wall of the working box. Automatic doors 4 are located at both the front and rear ends of the working box 2. A cleaning air supply structure is located at the top of the working box 2. This device constructs a closed detection space through the main base 1 and the working box 2, and, in conjunction with the automatic doors 4, achieves automated material entry and exit and environmental isolation. The material conveying roller 3 is responsible for the stable transport of the lithium crucible. The robotic arm structure and the surround structure respectively carry the inner and outer detection components, achieving omnidirectional coverage detection of the inner and outer walls of the crucible. The cleaning air supply structure is used to maintain the cleanliness inside the box and reduce the interference of dust on the accuracy of visual recognition.

[0032] This embodiment is further configured such that the robotic arm structure includes a rotating part and an arm assembly. The rotating part is located on the top surface of the work box 2, the upper end of the arm assembly is connected to the drive end of the rotating part, and the internal detection component is located at the lower end of the arm assembly. The robotic arm structure provides horizontal circumferential rotational freedom through the rotating part, driving the arm assembly and the internal detection component at the end to perform orientation adjustment. This structure saves space at the bottom of the box through a hoisting method, ensuring that the detection component can accurately extend into the crucible from above.

[0033] This embodiment is further configured such that the rotating part includes a motor frame 5, a first motor 6, and a gear reducer 7. The motor frame 5 is fixedly installed on the upper outer wall of the work box 2. The first motor 6 is fixedly installed on the motor frame 5 with its output end facing vertically downward. The gear reducer 7 is fixedly installed on the upper wall of the work box 2 with its output end passing through the upper wall of the work box 2 and facing vertically downward. The drive end of the first motor 6 is fixedly connected to the input end of the gear reducer 7, and the arm assembly is located on the output end of the gear reducer 7. The rotating part uses the gear reducer 7 to reduce the high-speed rotation of the first motor 6 and increase its torque, ensuring that the arm assembly has high positioning accuracy and stability during rotation. The motor frame 5 places the drive core outside the work box 2, which facilitates maintenance and reduces heat sources and vibrations inside the box.

[0034] This embodiment is further configured such that the arm assembly includes an upper hinge connecting seat 8, an upper electric cylinder 31, an upper electric push rod 32, an arm motor 33, a lower hinge connecting seat 9, a lower electric cylinder 10, and a lower electric push rod 11. The upper hinge connecting seat 8 is connected to the rotating end of the rotating part. The upper electric cylinder 31 is mounted on the upper hinge connecting seat 8. The upper electric push rod 32 is fixedly connected to the upper electric cylinder 31. The telescopic end of the upper electric push rod 32 is fixedly connected to the arm motor 33. The lower hinge connecting seat 9 is fixedly mounted on the driving end of the arm motor 33. The lower electric cylinder 10 is disposed on the lower hinge connecting seat 9. The lower electric push rod 11 is fixedly mounted on the lower electric cylinder 10. The telescopic end of the lower electric push rod 11 is equipped with an internal detection component. The arm assembly achieves a wide range of vertical lifting and lowering adjustment through a dual-stage electric push rod to adapt to crucibles of different depths. The arm motor 33, located in the middle, provides additional joint rotation freedom. Together with the upper and lower hinge connecting seats 9, the internal detection component can flexibly adjust its posture to complete complex internal cavity dead angle detection.

[0035] This embodiment is further configured such that the track-encircling structure includes an annular rail 12, which is fixedly installed on the inner wall of the work box 2. The annular rail 12 has a T-shaped guide groove. A lifting frame 13 is slidably mounted on the annular rail 12. A surrounding part is provided between the lifting frame 13 and the annular rail 12 to drive its movement circumferentially along the track. The lifting frame 13 also has a lifting part to drive the external detection component to move longitudinally. The track-encircling structure provides the external detection component with a motion trajectory around the crucible. The T-shaped guide groove ensures the mechanical stability of the lifting frame 13 during the encircling process. Through the cooperation of the surrounding part and the lifting part, the external detection component can achieve a composite movement of circumferential full scanning and longitudinal height coverage.

[0036] This embodiment is further configured such that the surrounding section includes a third motor 14, a drive gear 15, and a gear ring 16. The gear ring 16 is fixedly mounted on the upper wall of the annular rail 12, and the third motor 14 is fixedly mounted on the lifting frame 13. The drive gear 15 is fixedly mounted on the drive end of the third motor 14, and the drive gear 15 meshes with the gear ring 16. The surrounding section uses gear and gear ring 16 meshing transmission to convert the rotation of the third motor 14 into the circumferential motion of the lifting frame 13 along the annular rail 12. This rigid transmission method eliminates the risk of slippage, enables precise circumferential angle feedback, and ensures the continuity of outer wall image acquisition.

[0037] In this embodiment, the lifting unit includes a fourth motor 17, a lead screw 18, and a lifting platform 19. The lead screw 18 is rotatably mounted inside the lifting frame 13, with one end fixedly connected to the drive end of the fourth motor 17. The fourth motor 17 is fixedly mounted on the lifting frame 13. The lifting platform 19 is slidably mounted inside the lifting frame 13. A threaded hole is provided on the lifting platform 19, and the lifting platform 19 is threadedly connected to the lead screw 18. An external detection component is mounted on the lifting platform 19. The lifting unit converts the rotational motion of the fourth motor 17 into the linear motion of the lifting platform 19 through the lead screw 18 nut pair. The lead screw 18 transmission has the characteristics of self-locking and high precision, which can accurately control the scanning height of the external detection component and realize line-by-line scanning of the outer wall of the sagger from the bottom to the top.

[0038] This embodiment is further configured such that the internal detection component includes a fixed cylinder 20, a swing frame 21, a linkage structure, a pulse dust removal unit, a high-power lighting lamp, and a high-resolution camera 22. The fixed cylinder 20 is installed at the telescopic end of the lower electric push rod 11, and the high-resolution camera 22 is fixedly installed at the end of the fixed cylinder 20. Multiple swing frames 21 are rotatably installed on the lower side wall of the fixed cylinder 20. The pulse dust removal unit and the high-power lighting lamp are set on the swing frames 21. The linkage mechanism includes a linkage sleeve 23 and a connecting rod 24. The linkage sleeve 23 is slidably installed on the fixed cylinder 20, and the two ends of the connecting rod 24 are rotatably connected to the rear end of the swing frame 21 and the linkage sleeve 23, respectively. The internal detection component integrates optical acquisition, lighting, and dust removal functions. By sliding the linkage sleeve 23 on the fixed cylinder 20, the multiple swing frames 21 are driven to open or close synchronously via the connecting rod 24, thereby adjusting the angle between the pulse dust removal unit and the lighting lamp according to the inner diameter of the crucible, ensuring that the camera captures a clear image of the inner wall under optimal lighting conditions, and simultaneously removing surface dust.

[0039] In this embodiment, the external detection assembly includes a vertical drive roller 25 and a horizontal drive roller 26. The vertical drive roller 25 is vertically mounted on the lifting platform 19, and the horizontal drive roller 26 is connected to the rotating end of the vertical drive roller 25. A swing seat is provided on the horizontal drive roller 26, and a scanning laser unit and a high-frequency scanning camera 27 are fixedly mounted on the swing seat. The external detection assembly achieves multi-dimensional angle transformation of the scanning probe through axial adjustment of the vertical and horizontal drive rollers 26. The scanning laser unit is used to acquire three-dimensional topographic data of the sagger, and the high-frequency scanning camera 27 is used to capture visual defects such as surface cracks. The design of the swing seat ensures that the sensor can cover the upper edge and corner areas of the sagger.

[0040] This embodiment is further configured such that the clean air supply structure includes a blower 28, an annular duct 29, and a filter box 30. The blower 28 is installed on the top surface of the working chamber 2, with its output end connected to the inside of the working chamber 2 via a pipeline, and its input end connected to the annular duct 29. The filter box 30 is located at the input end of the annular duct 29. The clean air supply structure filters impurities in the air through the filter box 30, and the blower 28 continuously supplies clean air to the chamber. A uniform positive pressure airflow field is formed through the annular duct 29, effectively suppressing dust generated during the transport and testing of the crucible, and protecting the precision optical components from contamination.

[0041] The following are the model numbers and functions of each component in this case: The high-resolution camera 22 uses an industrial-grade CMOS area array camera to acquire close-range high-definition images of the bottom surface and inner wall of the lithium crucible; by capturing surface reflected light signals, it identifies micron-level defects such as cracks, chips, holes, and material residues.

[0042] The high-power lighting uses industrial high-power LED ring or strip light sources; it solves the problem of insufficient light in the inner cavity deep inside the sagger; through high-brightness and uniform lighting, it eliminates shadow interference, improves image contrast, and ensures that the camera can still obtain clear image details under high-speed shooting.

[0043] The pulse dust removal unit uses a miniature electromagnetic pulse nozzle to spray high-pressure gas instantaneously before detection. The lithium crucible is prone to adsorbing dust from the positive electrode material during long-term use. The function of this component is to remove loose dust from the area to be inspected, so as to avoid dust covering up the real cracks and causing missed or false detections.

[0044] The scanning laser unit uses a line laser 3D contour sensor; it acquires the three-dimensional contour data of the outer wall of the sagger through the principle of laser triangular reflection; it is mainly used to detect geometric deviations, outer wall deformation, and large-area surface protrusions or depressions of the sagger, making up for the shortcomings of 2D vision in depth detection. The high-frequency scanning camera 27 uses a high frame rate industrial linear array camera; in conjunction with the movement of the track surrounding structure, it continuously and dynamically captures images of the outer wall of the sagger; its function is to identify surface scratches, stains, color differences, and fine through-line patterns caused by high-temperature sintering on the outer wall.

[0045] The electric actuator and drive roller motor adopt high-precision DC servo electric actuators and stepper / servo motors; precisely control the physical position of the detection components in space; and bind the acquired defect image with the spatial coordinates of the crucible through real-time data feedback from the encoder to achieve precise positioning of the defect. Its detailed connection method is a well-known technology in the field; when the clean air supply structure is activated, the air supply fan 28 sends the clean air filtered by the air filter box 30 into the working box 2 through the annular air duct 29, so that a positive pressure environment is formed inside the box; the automatic box door 4 at the front end of the working box 2 opens, and the material conveying roller 3 transports the lithium crucible to be tested to the predetermined testing position inside the working box 2, and the automatic box door 4 closes immediately. Based on the height of the crucible to be inspected, the rotating part of the robotic arm structure drives the arm assembly to rotate to a specified angle; through the first motor 6 and the gear reducer 7, the arm assembly is driven to adjust its orientation, the upper electric push rod 32 and the lower electric push rod 11 extend and retract in coordination, the upper electric cylinder 31 and the lower electric cylinder 10 control the relative angle of the upper electric push rod 32 and the lower electric push rod 11, and the arm motor 33 drives the adjustment of the relative angle of the upper electric push rod 32 and the lower electric push rod 11, driving the inner detection component to extend vertically into the inner cavity of the crucible from above; at this time, the linkage sleeve 23 in the inner detection component slides along the fixed cylinder 20, and through the connecting rod 24 drives multiple swing frames 21 to open outward synchronously to a suitable angle, so that the pulse dust removal unit and high-power lighting lamp on the swing frame 21 point to the edge of the inner wall of the crucible; The high-power lighting lamp is turned on to provide a uniform light source for the inner cavity of the sagger; the internal detection component rotates circumferentially with the arm assembly under the drive of the rotating part, while the pulse dust removal unit sprays airflow onto the inner wall to remove floating dust; the high-resolution camera 22 acquires visual image information of the inner wall and bottom of the sagger in real time. The third motor 14 drives the active gear 15 to mesh and rotate on the gear ring 16, causing the lifting frame 13 to move circumferentially along the ring rail 12; the fourth motor 17 drives the lead screw 18 to rotate, causing the lifting platform 19 to move up and down along the longitudinal guide rail, thereby driving the external detection component to achieve full coverage trajectory scanning of the outer wall of the sagger. The external inspection component adjusts the angle of the swing seat through the vertical drive roller 25 and the horizontal drive roller 26; the scanning laser unit acquires the three-dimensional morphological data of the outer wall of the sagger, and the high-frequency scanning camera 27 simultaneously captures visual image information such as surface cracks and pits; After the inspection is completed, the swing frame 21 of the inner inspection component retracts, and the electric push rod retracts upward to reset; the outer inspection component returns to its initial height with the lifting platform 19; the automatic box door 4 at the rear of the work box 2 opens, and the material conveying roller 3 transports the inspected sagger out of the work box 2 to enter the next production stage, while preparing to receive the next material to be inspected. The specific defect identification is completed by the surface defect detection and judgment system. High-resolution camera 22 and high-frequency scanning camera 27 acquire two-dimensional grayscale or color images of the inner and outer surfaces of the sagger. The device records the circumferential angle and height of the sagger corresponding to each frame of the image in real time through pulse signals from the robotic arm's rotary encoder, surrounding part, and lifting part. The scanning laser unit simultaneously acquires the line laser contour data of the sagger surface, forming a 3D point cloud model reflecting the geometry of the sagger. Based on the acquired coordinate information, background interference is automatically eliminated, and edge detection algorithms or deep learning convolutional neural networks are used to identify discontinuous features in the image. For cracks, chips, and holes, feature parameters such as length, width, area, and grayscale difference are extracted. The measured point cloud data is compared with the CAD data of a standard sagger. The system compares the data with a digital model or a preset reference plane; calculates the deviation values ​​of surface points, and extracts deformation features such as bulging, narrowing, and warping; the system performs multi-dimensional hierarchical judgment on the extracted features according to preset threshold standards: if the continuous length of gray-level abrupt changes in a certain area of ​​the image exceeds the preset threshold and the shape features conform to a linear distribution, it is judged as a crack; if the area-type gray-level anomaly and the depth information changes significantly, it is judged as a chip, etc.; if the contour deviation acquired by laser exceeds the allowable tolerance, it is judged as geometric deformation; the system combines the detection results of the inner and outer walls to determine whether there is a through crack; after the judgment is completed, the system generates a detection report, marking the type, size, and specific location coordinates of the defect; this information is then fed back to the control system to guide subsequent material sorting operations.

[0046] It should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0047] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A surface defect detection device for lithium-ion crucibles based on visual recognition, comprising a main base (1), an inner detection component, and an outer detection component, characterized in that, The main base (1) is provided with a working box (2) on the upper part. A material conveying roller (3) is provided between the upper part of the main base and the lower part of the working box (2). A mechanical arm structure is suspended at the top of the working box (2). A track surround structure is provided on the inner side wall of the action box. Automatic box doors (4) are provided at the front and rear ends of the working box (2). A cleaning air supply structure is provided at the top of the working box (2).

2. The device for detecting surface defects of lithium-ion crucibles based on visual recognition according to claim 1, characterized in that, The robotic arm structure includes a rotating part and an arm body assembly. The rotating part is disposed on the top surface of the work box (2). The upper end of the arm body assembly is connected to the driving end of the rotating part. The internal detection component is disposed at the lower end of the arm body assembly.

3. The device for detecting surface defects of lithium-ion crucibles based on visual recognition according to claim 2, characterized in that, The rotating part includes a motor frame (5), a first motor (6), and a gear reducer (7). The motor frame (5) is fixedly installed on the upper outer wall of the work box (2). The first motor (6) is fixedly installed on the motor frame (5) with its output end facing vertically downward. The gear reducer (7) is fixedly installed on the upper wall of the work box (2) with its output end passing through the upper wall of the work box (2) and facing vertically downward. The drive end of the first motor (6) is fixedly connected to the input end of the gear reducer (7). The arm assembly is located on the output end of the gear reducer (7).

4. The device for detecting surface defects of lithium saggers based on visual recognition according to claim 3, characterized in that, The arm assembly includes an upper hinge connector (8), an upper electric cylinder (31), an upper electric push rod (32), an arm motor (33), a lower hinge connector (9), a lower electric cylinder (10), and a lower electric push rod (11). The upper hinge connector (8) is connected to the rotating end of the rotating part. The upper electric cylinder (31) is mounted on the upper hinge connector (8). The upper electric push rod (32) is fixedly connected to the upper electric cylinder (31). The telescopic end of the upper electric push rod (32) is fixedly connected to the arm motor (33). The lower hinge connector (9) is fixedly mounted on the driving end of the arm motor (33). The lower electric cylinder (10) is disposed on the lower hinge connector (9). The lower electric push rod (11) is fixedly mounted on the lower electric cylinder (10). The telescopic end of the lower electric push rod (11) is equipped with the internal detection component.

5. The device for detecting surface defects of lithium-ion crucibles based on visual recognition according to claim 1, characterized in that, The track surround structure includes a ring rail (12), which is fixedly installed on the inner wall of the work box (2). The ring rail (12) is provided with a T-shaped guide groove. A lifting frame (13) is slidably installed on the ring rail (12). A surrounding part is provided between the lifting frame (13) and the ring rail (12) to drive it to move along the circumference of the track. The lifting frame (13) is provided with a lifting part to drive the external detection component to move longitudinally.

6. The device for detecting surface defects of lithium saggers based on visual recognition according to claim 5, characterized in that, The surrounding part includes a third motor (14), a drive gear (15) and a gear ring (16). The gear ring (16) is fixedly installed on the upper wall of the annular rail (12). The third motor (14) is fixedly installed on the lifting frame (13). The drive end of the third motor (14) is fixedly installed with the drive gear (15). The drive gear (15) meshes with the gear ring (16).

7. The device for detecting surface defects of lithium-ion crucibles based on visual recognition according to claim 6, characterized in that, The lifting unit includes a fourth motor (17), a lead screw (18), and a lifting platform (19); the lead screw (18) is rotatably installed inside the lifting frame (13) and one end is fixedly connected to the drive end of the fourth motor (17); the fourth motor (17) is fixedly installed on the lifting frame (13); the lifting platform (19) is slidably installed inside the lifting frame (13); the lifting platform (19) has a threaded hole; the lifting platform (19) is threadedly connected to the lead screw (18); and the external detection component is installed on the lifting platform (19).

8. The lithium sagger surface defect detection device based on visual recognition according to claim 7, characterized in that, The internal detection component includes a fixed cylinder (20), a swing frame (21), a linkage structure, a pulse dust removal unit, a high-power lighting lamp, and a high-resolution camera (22). The fixed cylinder (20) is installed on the telescopic end of the lower electric push rod (11). The high-resolution camera (22) is fixedly installed on the end of the fixed cylinder (20). Multiple swing frames (21) are rotatably installed on the lower side wall of the fixed cylinder (20). The pulse dust removal unit and the high-power lighting lamp are set on the swing frame (21). The linkage mechanism includes a linkage sleeve (23) and a connecting rod (24). The linkage sleeve (23) is slidably installed on the fixed cylinder (20). The two ends of the connecting rod (24) are rotatably connected to the rear end of the swing frame (21) and the linkage sleeve (23), respectively.

9. A visual recognition-based surface defect detection device for lithium saggers according to claim 7, characterized in that, The external detection assembly includes a vertical drive roller (25) and a horizontal drive roller (26). The vertical drive roller (25) is vertically mounted on the lifting platform (19), and the horizontal drive roller (26) is connected to the rotating end of the vertical drive roller (25). The horizontal drive roller (26) is provided with a swing seat, and a scanning laser unit and a high-frequency scanning camera (27) are fixedly mounted on the swing seat.

10. A visual recognition-based surface defect detection device for lithium saggers according to claim 1, characterized in that, The clean air supply structure includes an air supply fan (28), an annular duct (29), and an air filter box (30); the air supply fan (28) is installed on the top surface of the working box (2), its output end is connected to the inside of the working box (2) through a pipeline, and its input end is connected to the annular duct (29). The air filter box (30) is located at the input end of the annular duct (29).

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