A vision-based triaxial calibration platform

Abstract

This invention provides a three-axis calibration platform based on visual recognition, belonging to the field of position calibration technology. It includes a base, a moving platform, a vision device, and a calibration suction cup. The moving platform and vision device are mounted on the base. The moving platform has a calibration surface. The calibration suction cup is used to transfer a film from an intermediate platform to the calibration surface. The vision device is used to acquire offset information between the film position on the calibration surface and a preset film placement position. The moving platform moves relative to the base based on the offset information to adjust the position of the calibration surface. The calibration suction cup includes a suction cup body and an elastic adjustment component. The suction cup body has a negative pressure adsorption surface, and a mounting groove is provided at the edge of the negative pressure adsorption surface. The elastic adjustment component is disposed in the mounting groove. After contacting the film, the elastic adjustment component can deform into the mounting groove under the pressure of the bottom of the mounting groove and the intermediate platform, pushing the film outward from the suction cup body. The three-axis calibration platform provided by this application has a wide range of applications, strong adaptability, and good calibration effect.

Description

Technical Field

[0001] This invention belongs to the field of position correction technology, specifically relating to a three-axis correction platform based on visual recognition. Background Technology

[0002] An ID card consists of a card body and a printed film covering both sides of the card body. During the ID card production process, the position of the printed film and the card body needs to be corrected. In existing technology, color mark sensors are generally used for identification and positioning. However, in actual production, due to the influence of the card body material itself and the printing quality, the black color blocks used for positioning in the raw materials are of varying shades, causing frequent problems with color mark detection, greatly affecting equipment efficiency. Customers need to constantly adjust the color mark threshold, increasing their workload and leading to a decline in customer experience and satisfaction.

[0003] Furthermore, during the transfer of the printed film to the calibration platform, the thinness of the printed film makes it prone to wrinkles, which can deform the positioning marks on the printed film and affect subsequent calibration. Summary of the Invention

[0004] The purpose of this application is to provide a vision-based three-axis calibration platform to solve the aforementioned technical problems in the prior art.

[0005] This application is implemented as follows:

[0006] This application provides a vision-based triaxial calibration platform, including a base, a moving platform, a vision device, and a calibration suction cup. The moving platform and vision device are disposed on the base. The moving platform has a calibration surface. The calibration suction cup is used to transfer a film from an intermediate platform to the calibration surface. The vision device is used to acquire offset information between the film position on the calibration surface and a preset film placement position. The moving platform moves relative to the base based on the offset information to adjust the position of the calibration surface, thereby adjusting the film to the preset film placement position. The movement direction of the moving platform includes moving along a first direction and a second direction parallel to the calibration surface, and rotating around a first axis perpendicular to the calibration surface. The calibration suction cup includes a suction cup body and an elastic adjustment member. The suction cup body has a negative pressure adsorption surface, and a mounting groove is provided at the edge of the negative pressure adsorption surface. The elastic adjustment member is disposed in the mounting groove. At least a portion of the elastic adjustment member protrudes from the negative pressure adsorption surface. During the process of the calibration suction cup pressing down to pick up the film, after the elastic adjustment member contacts the film, it can deform into the mounting groove under the pressure of the bottom of the mounting groove and the intermediate platform, and push the film outward from the suction cup body.

[0007] The technical solution adopted in this invention can achieve the following beneficial effects:

[0008] In this application, a vision device is set up to detect the position of the film on the calibration surface. The color difference between the card body and the film has a low impact on the vision device. The vision device can handle materials with different color difference ranges well. No user intervention is required or almost no user intervention is required. The device as a whole has a wide range of applications and strong adaptability.

[0009] In addition, an elastic adjustment element is provided to work with the film. During the calibration process of the calibrating suction cup picking up the film, the deformation of the elastic adjustment element can be used to drive the film to unfold outward from the suction cup body, thereby eliminating wrinkles on the film and ensuring the flatness of the positioning marks on the film, thus improving the calibration effect. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the overall structure of the triaxial calibration platform provided in some embodiments of this application. Figure 1 ;

[0012] Figure 2 This is a schematic diagram of the overall structure of the triaxial calibration platform provided in some embodiments of this application. Figure 2 ;

[0013] Figure 3 This is a schematic diagram of the fitting process between the calibration suction cup and the thin film provided in some embodiments of this application. Figure 1 ;

[0014] Figure 4 This is a schematic diagram of the fitting process between the calibration suction cup and the thin film provided in some embodiments of this application. Figure 2 ;

[0015] Figure 5 This is a schematic diagram of the fitting process between the calibration suction cup and the thin film provided in some embodiments of this application. Figure 3 ;

[0016] Figure 6 This is a schematic diagram of the overall structure of the calibration suction cup provided in some embodiments of this application. Figure 1 ;

[0017] Figure 7 This is a schematic diagram of the overall structure of the calibration suction cup provided in some embodiments of this application. Figure 2 ;

[0018] Figure 8 This is a schematic diagram of the overall structure of the mobile platform provided in some embodiments of this application;

[0019] Figure 9 This is a schematic diagram showing the breakdown of a mobile platform provided in some embodiments of this application.

[0020] In the diagram: 100-calibration suction cup, 110-suction cup body, 111-negative pressure adsorption surface, 111a-mounting groove, 120-elastic adjustment component, 121-through hole, 122-protrusion, 130-adsorption hole, 200-moving platform, 210-calibration surface, 220-transparent plate, 230-first adjustment plate, 231-first through hole, 240-second adjustment plate, 241-second through hole, 250-third adjustment plate, 251-third through hole, 260-first drive mechanism, 270-second drive mechanism, 280-third drive mechanism, 300-vision device, 400-base, 500-intermediate platform, 610-printing equipment, 620-first suction cup, 630-second suction cup, 640-card placement platform, 650-manufacturing platform, 700-equipment housing, 800-film. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] This application provides a vision-based triaxial calibration platform, including a base 400, a moving platform 200, a vision device 300, and a calibration suction cup 100. The moving platform 200 and the vision device 300 are both mounted on the base 400, which serves as the mounting base for both. The calibration suction cup 100 is used to transfer the thin film 800 from the intermediate platform 500 to the calibration surface 210. Figure 1 and Figure 2 As shown. The intermediate platform 500 is used to place the film 800. When the position of the film 800 needs to be calibrated, the calibration suction cup 100 is used to pick up the film 800, and then the film 800 is transferred to the moving platform 200, where the position of the film 800 is calibrated.

[0023] The vision device 300 detects the position information of the film 800 located on the calibration surface 210 and compares it with a preset film placement position on the calibration surface 210 to obtain offset information between the position of the film 800 on the calibration surface 210 and the preset film placement position. A signal connection exists between the vision device 300 and the moving platform 200. The offset information is transmitted to the moving platform 200, which moves relative to the seat 400 based on the offset information, thereby adjusting the position of the calibration surface 210 and adjusting the film 800 on the calibration surface 210 to the preset film placement position. The movement directions of the moving platform 200 include moving along a first direction and a second direction parallel to the calibration surface 210, and rotating about a first axis perpendicular to the calibration surface 210.

[0024] Both the vision device 300 and the moving platform 200 are mounted on the base 400. Adjusting the position of the moving platform 200 relative to the base 400 is actually adjusting the position of the moving platform 200 relative to the vision device 300, thereby adjusting the position of the film 800 on the calibration surface 210 and adjusting the film 800 to the preset film placement position. After the vision device 300 detects that the film 800 is correctly placed, the calibration is completed.

[0025] The mobile platform 200 adjusts the position of the correction surface 210 based on the offset information. It can adjust the position in one or two directions only, or adjust in all three directions together, depending on the actual needs.

[0026] The calibration suction cup 100 includes a suction cup body 110 and an elastic adjustment member 120. The suction cup body 110 has a negative pressure adsorption surface 111, and a mounting groove 111a is provided at the edge of the negative pressure adsorption surface 111. The elastic adjustment member 120 is disposed in the mounting groove 111a. Figures 3 to 5 As shown. At least a portion of the elastic adjustment member 120 protrudes from the negative pressure adsorption surface 111. During the process of the calibration suction cup 100 pressing down to pick up the film 800, after the elastic adjustment member 120 contacts the film 800, it can deform into the mounting groove 111a under the pressure of the bottom of the mounting groove 111a and the intermediate platform 500, and push the film 800 outward from the suction cup body 110. The picking process of the film 800 can be referred to Figure 3 and Figure 4 As shown, you can also refer to... Figure 3 and Figure 5 As shown.

[0027] The film 800 is placed on the intermediate platform 500. During the process of the calibration suction cup 100 picking up the film 800, the calibration suction cup 100 gradually descends, and the negative pressure adsorption surface 111 gradually approaches the film 800. The elastic adjustment element 120 protruding from the negative pressure adsorption surface 111 first contacts the film 800. As the calibration suction cup 100 continues to descend, the elastic adjustment element 120 is squeezed, thereby squeezing the elastic adjustment element 120 into the mounting groove 111a. As the elastic adjustment element 120 deforms, its movement drives the film 800 to unfold outward from the suction cup body 110, thereby eliminating wrinkles on the film 800, ensuring the flatness of the positioning marks on the film 800, and thus improving the calibration effect.

[0028] During the process of being squeezed into the mounting groove 111a, the elastic adjusting member 120 deforms, causing a change in the position of the part of the elastic adjusting member 120 in contact with the film 800, thereby driving the film 800 to unfold outwards from the suction cup body 110. In some specific embodiments, the elastic adjusting member 120 is made of an elastic material. Under the pressure of the intermediate platform 500 and the bottom of the mounting groove 111a, the elastic member deforms, and the deformation direction of the part of the elastic adjusting member 120 in contact with the film 800 is towards the outside of the suction cup body 110, thereby pushing the film 800 to unfold outwards from the suction cup body 110.

[0029] The entire ID card production process, besides positional correction of the film 800, includes initial printing of the film 800 and subsequent transfer of the position-corrected film 800. (See reference...) Figure 1 and Figure 2 As shown, the three-axis calibration platform also includes an intermediate platform 500 that works in conjunction with the calibration suction cup 100. The three-axis calibration platform also works in conjunction with the printing device 610, the first suction cup 620, the second suction cup 630, the card placement stage 640, the fabrication platform 650, and the device housing 700. All these components are directly integrated into the device housing 700, making it easy to use.

[0030] Printing equipment 610 is used to print on film 800, including but not limited to printing positioning marks on film 800 or printing necessary patterns on film 800. After printing, film 800 is transferred to intermediate platform 500 using first suction cup 620. Subsequently, calibration suction cup 100 is used to transfer film 800 to the calibration surface 210 of moving platform 200 for position calibration. After position calibration, film 800 is transferred to production platform 650 using second suction cup 630. ID cards and other certificates are generally made of two layers of film 800 and a card body, with film 800 attached to both sides of the card body. The positioning of the card body is similar to that of the film 800. Before position calibration, the card body is placed separately from the film 800. The card body is placed on the card body placement stage 640. The calibration suction cup 100 transfers the card body to the calibration surface 210 of the moving platform 200 to calibrate its position. After the position is calibrated, the second suction cup 630 is used to transfer the card body to the manufacturing platform 650. At this time, the card body and the film 800 are in accurate positions, and manufacturing can begin.

[0031] During the certificate making process, the position of one of the films 800 is first corrected, and then it is moved to the production platform 650. Next, the card body is corrected and moved to the production platform 650. Finally, the position of the other film 800 is corrected and moved to the production platform 650, after which the subsequent certificate making process can be carried out.

[0032] After the positions of the film 800 and the card body are accurately corrected, the card body and film 800 are moved to the production platform 650. The positions of the card body and film 800 are then determined, and the certificate can be made directly without further position correction.

[0033] During the position calibration process of the card body and the film 800, positioning marks are generally set on the card body and the film 800. The positioning marks are usually cross-shaped. The position of the card body and the film 800 is detected by the vision device 300 detecting the position of the cross-shaped marks. The vision device 300 includes a camera and a light source. The light source provides sufficient light so that the camera can acquire clear image information.

[0034] Compared with color mark detection in existing technologies, the use of vision device 300 only requires one vision device 300, which greatly reduces the cost. At the same time, vision device 300 can handle materials with different color difference ranges well, requiring little or no user intervention. The device as a whole has a wide range of applications and strong adaptability.

[0035] The triaxial calibration platform provided in this application embodiment can not only calibrate the position of the film 800 and the card body, but also position other sheet-like items with positioning marks. Furthermore, since the vision device 300 needs to detect the position information of the film 800 on the calibration surface 210, the vision device 300 must be able to capture images of the positioning marks on the film 800. There must be no obstruction of view between the vision device 300 and the film 800 on the calibration surface 210. In some embodiments, the vision device 300 can be located above or below the calibration surface 210, and the moving platform 200 is partially transparent to avoid obstructing the image capture by the vision device 300.

[0036] In some preferred embodiments, reference may be made to Figures 3 to 5 As shown, one end of the elastic adjustment member 120 is fixed to the mounting groove 111a, and the other end is a free end. It extends outward from the suction cup body 110 and away from the bottom of the groove 111a, so that a part of the elastic adjustment member 120 protrudes from the negative pressure adsorption surface 111, allowing this part of the elastic adjustment member 120 to contact the film 800 before the negative pressure adsorption surface 111, thereby adjusting the position of the film 800.

[0037] During the process of the calibration suction cup 100 pressing down to pick up the film 800, the elastic adjustment member 120 can deform towards the mounting groove 111a until the surface of the elastic adjustment member 120 is flush with the negative pressure adsorption surface 111 where the mounting groove 111a is not provided. The negative pressure adsorption surface 111 can adsorb and fix the film 800 and the elastic adjustment member 120. The cooperation process between the elastic adjustment member 120 and the film 800 can be referred to Figure 3 and Figure 4 As shown, or Figure 3 and Figure 5 As shown. After the adsorption and fixing effect of the negative pressure adsorption surface 111 is released, part of the elastic adjustment member 120 can be moved outside the mounting groove 111a.

[0038] After the surface of the elastic adjustment member 120 is flush with the negative pressure adsorption surface 111 without the mounting groove 111a, this part of the negative pressure adsorption surface 111 contacts the film 800, and the suction cup body 110 can no longer press down. At this time, the negative pressure adsorption function of the calibration suction cup 100 can be activated. The film 800 and the elastic adjustment member 120 are fixed by the negative pressure adsorption surface 111, so that the film 800 is kept in the unfolded state for easy transfer.

[0039] After the elastic adjusting member 120 comes into contact with the film 800, during the process of the elastic adjusting member 120 being squeezed and deformed, the elastic adjusting member 120 essentially rotates around its end fixed to the mounting groove 111a, and its rotation trajectory is an arc, as shown in the reference. Figure 3As shown by the dotted line, as the elastic adjustment member 120 rotates, the position of the elastic adjustment member 120 in contact with the film 800 gradually moves towards the bottom of the mounting groove 111a and then towards the outside of the suction cup body 110, thereby driving the film 800 to unfold.

[0040] In some preferred embodiments, the thickness of the elastic adjustment member 120 is the same as the depth of the mounting groove 111a. After the elastic adjustment member 120 is squeezed into the mounting groove 111a, the elastic adjustment member 120 is just located in the mounting groove 111a, and the surface of the elastic adjustment member 120 is flush with the negative pressure adsorption surface 111 where the mounting groove 111a is not provided.

[0041] After the calibration suction cup 100 transfers the film 800 to the calibration surface 210, the suction cup body 110 descends until the film 800 is placed on the calibration surface 210. Then, the negative pressure adsorption function of the moving platform 200 is activated to adsorb and fix the film 800. After the position of the film 800 is fixed, the adsorption and fixing effect of the negative pressure adsorption surface 111 is released. At the same time, the calibration suction cup 100 moves upward. After the elastic adjustment member 120 is unrestrained, as the calibration suction cup 100 moves upward, part of the elastic adjustment member 120 gradually deforms outside the mounting groove 111a. The calibration suction cup 100 separates from the film 800. Since the moving platform 200 adsorbs and fixes the film 800, even if the elastic adjustment member 120 comes into contact with the film 800 during the upward movement of the calibration suction cup 100, the position of the film 800 will not change.

[0042] In some preferred embodiments, the number of elastic adjustment members 120 is greater than or equal to two, and two of the elastic adjustment members 120 are located at opposite edges of the negative pressure adsorption surface 111. The two elastic adjustment members 120 simultaneously expand the film 800 in two directions, improving the expansion effect of the film 800. The negative pressure adsorption surface 111 is provided with mounting grooves 111a for mounting the elastic adjustment members 120.

[0043] Further preferred options, refer to Figure 6 and Figure 7 As shown, there are multiple elastic adjustment elements 120. The multiple elastic adjustment elements 120 are arranged around the negative pressure adsorption surface 111 in a circumferential manner, and act on the film 800 in multiple directions at the same time, which further improves the unfolding effect of the film 800 and further avoids wrinkles on the film 800 located on the calibration surface 210, which would affect the calibration effect of the film 800.

[0044] refer to Figures 3 to 7 As shown, the elastic adjustment member 120 is provided with multiple through holes 121, and the negative pressure adsorption surface 111 is provided with multiple adsorption holes 130. When the surface of the elastic adjustment member 120 is flush with the portion of the negative pressure adsorption surface 111 without the mounting groove 111a, refer to... Figure 4 and Figure 5 As shown, each through hole 121 is connected to one of the adsorption holes 130. The adsorption hole 130 is connected to a suction device such as a negative pressure source, thereby suctioning the surface of the negative pressure adsorption surface 111. The mounting groove 111a is provided on the negative pressure adsorption surface 111, therefore, the bottom of the mounting groove 111a is also provided with a negative pressure adsorption hole 130.

[0045] After the suction device is started, the objects on the surface of the negative pressure adsorption surface 111 are adsorbed. At the same time, since the through hole 121 is connected to the adsorption hole 130, the objects on the surface of the through hole 121 are also adsorbed. That is, the film 800 on the surface of the through hole 121 will be adsorbed, and the position of the film 800 is fixed to prevent the film 800 from shifting during the process of transferring the film 800 from the intermediate platform 500 to the moving platform 200, which would cause wrinkles.

[0046] In addition to the parts of the film 800 that are in contact with the negative pressure adsorption surface 111, the parts of the film 800 that are in contact with the elastic adjustment member 120 are also adsorbed and fixed, so that the central and edge areas of the film 800 can remain fixed.

[0047] In some preferred embodiments, the number of through holes 121 on the elastic adjustment member 120 is less than the number of adsorption holes 130 at the bottom of the mounting groove 111a, reference Figure 7 As shown. Furthermore, in a row of adsorption holes 130 arranged near the edge of the negative pressure adsorption surface 111, a portion of the adsorption holes 130 are covered by the elastic adjustment member 120, as shown in the reference. Figure 5 As shown, located Figure 5 The rightmost and leftmost suction holes 130 directly adsorb and fix the elastic adjusting member 120. The other part of the suction holes 130 are connected to the through holes 121 one-to-one, as shown in the reference. Figure 4 As shown, located Figure 4 The rightmost and leftmost adsorption holes 130 are connected to the through holes 121, directly adsorbing and fixing the film 800.

[0048] The through hole 121 covered by the elastic adjustment member 120 can adsorb the elastic adjustment member 120 and fix its position. The adsorption hole 130 connected to the through hole 121 can adsorb and fix the film 800 in contact with the elastic adjustment member 120.

[0049] Furthermore, the two types of adsorption holes 130 are arranged alternately to balance the adsorption and fixation effect on the elastic adjustment member 120 and the adsorption and fixation effect on the film 800.

[0050] The adsorption hole 130 for adsorbing the elastic adjustment member 120 is located on the outermost side of the negative pressure adsorption surface 111. This position is as far away as possible from the end of the elastic adjustment member 120 that is fixed to the mounting groove 111a, thereby improving the stability of the adsorption and fixation of the elastic adjustment member 120.

[0051] The elastic adjusting member 120 includes a protrusion 122 located between its two ends, see reference. Figure 3 and Figure 6 As shown, the protrusion 122 protrudes in a direction away from the mounting groove 111a. When the elastic adjusting member 120 does not deform into the mounting groove 111a, the distance between the protrusion 122 and the bottom of the mounting groove 111a is greater than the distance between the rest of the elastic adjusting member 120 and the bottom of the mounting groove 111a.

[0052] During the process of adsorbing the film 800 using the calibration suction cup 100, the protrusion 122 first contacts the film 800. Relative to the end of the elastic adjustment member 120, the protrusion 122 has no sharp edges, which can prevent the end of the elastic adjustment member 120 from poking into the surface of the film 800 and causing damage to the film 800. Preferably, the surface of the elastic adjustment member 120 facing away from the mounting groove 111a is smoothly provided to avoid scratches or other damage to the film 800.

[0053] In some embodiments, the elastic adjusting member 120 can be bent near its free end, causing the free end to curve upwards and forming a protrusion 122 at the bent position; in other embodiments, the elastic adjusting member 120 can be directly raised near its free end, and the height of the raised portion exceeds that of the free end to form the protrusion 122. This application does not specifically limit the specific method of forming the protrusion 122.

[0054] The elastic adjustment element 120 is fixed to the bottom of the mounting groove 111a. The mounting groove 111a can be divided into two areas. One area is deeper and is used to fix the elastic adjustment element 120 to improve the fixing stability. The other area is shallower and is used to accommodate the elastic adjustment element 120 after deformation.

[0055] Part of the groove in the mounting groove 111a is located on the peripheral sidewall of the suction cup body 110. When the surface of the elastic adjustment member 120 is flush with the negative pressure adsorption surface 111, part of the elastic adjustment member 120 extends out of the mounting groove 111a through the part of the groove in the peripheral sidewall of the calibration suction cup 100. During the deformation process, the elastic adjustment member 120 has a larger range of motion and stronger adjustability for the film 800.

[0056] In some embodiments, the triaxial calibration platform further includes an intermediate platform 500 for the film 800. The surface of the intermediate platform 500 is covered with a separating cloth. The friction between the separating cloth and the film 800 is less than the friction between the elastic adjusting member 120 and the film 800. During the process of the elastic adjusting member 120 contacting the film 800 and thereby driving the film 800 to unfold, there is sufficient friction between the elastic adjusting member 120 and the film 800 to drive the film 800 to unfold, while the friction between the film 800 and the separating cloth is small, which facilitates the movement of the film 800 relative to the separating cloth.

[0057] The moving platform 200 is mainly used to adjust the position of the film 800. In some embodiments, reference is made to... Figure 8 and Figure 9 As shown, the mobile platform 200 includes a transparent plate 220, a first adjusting plate 230, a second adjusting plate 240, and a third adjusting plate 250 arranged sequentially along the direction of gravity. The third adjusting plate 250 is located at the bottom and is mounted on the base 400. The mobile platform 200 also includes a first driving mechanism 260, a second driving mechanism 270, and a third driving mechanism 280. The surface of the transparent plate 220 is a correction surface 210, and the thin film 800 is placed on the surface of the transparent plate 220 for correction.

[0058] The first drive mechanism 260 is connected to the first adjusting plate 230 and is used to drive the first adjusting plate 230 to move. The second drive mechanism 270 is connected to the second adjusting plate 240 and is used to drive the second adjusting plate 240 to move. The third drive mechanism 280 is connected to the third adjusting plate 250 and is used to drive the third adjusting plate 250 to move. The movement directions of the first adjusting plate 230, the second adjusting plate 240, and the third adjusting plate 250 are one of moving along a first direction, moving along a second direction, and rotating around a first rotating axis. Furthermore, the movement directions of the first adjusting plate 230, the second adjusting plate 240, and the third adjusting plate 250 are different.

[0059] Of the three adjustment plates, one needs to move along the first direction, one needs to move along the second direction, and the remaining one needs to be able to rotate around the first axis of rotation, so as to correct the position of the thin film 800 in the three-axis directions.

[0060] The drive mechanism is generally powered by an electric motor. It can work with a lead screw and nut to drive the adjusting plate to move in the first and second directions, or work with gears to drive the adjusting plate to rotate, or other rotating mechanisms.

[0061] In some implementations, reference Figure 9As shown, the first adjustment plate 230 is provided with a first through hole 231, the second adjustment plate 240 is provided with a second through hole 241, and the third adjustment plate 250 is provided with a third through hole 251. The first through hole 231, the second through hole 241, and the third through hole 251 have the same diameter, and when the positions of the three adjustment plates are appropriate, the three through holes 121 can be coaxially arranged. The vision device 300 is located below the third through hole 251 and obtains the position information of the film 800 on the transparent plate 220 through the third through hole 251, the second through hole 241, and the first through hole 231.

[0062] Negative pressure holes need to be provided on the first adjustment plate 230 and the transparent plate 220 to facilitate the adsorption of the film 800 to fix its position.

[0063] In the embodiments provided in this application, the adjustment of the position of the film 800 is a fine adjustment. Therefore, the moving distance of the three adjustment plates is short or the rotation angle is small, so that the first through hole 231, the second through hole 241 and the third through hole 251 always have a large area of ​​corresponding overlap, which makes it easier for the vision device 300 to obtain the position information of the film 800.

[0064] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0065] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-axis calibration platform based on visual recognition, characterized in that, Includes a base, a moving platform, a vision device, and a calibration suction cup; The mobile platform and the vision device are disposed on the base. The mobile platform has a calibration surface. The calibration suction cup is used to transfer the film from the intermediate platform to the calibration surface. The vision device is used to acquire offset information between the film position on the calibration surface and the preset film placement position. The mobile platform moves relative to the base based on the offset information to adjust the position of the calibration surface, thereby adjusting the film to the preset film placement position. The movement direction of the mobile platform includes moving along a first direction and a second direction parallel to the calibration surface, and rotating about a first axis perpendicular to the calibration surface. The calibration suction cup includes a suction cup body and an elastic adjustment component. The suction cup body has a negative pressure adsorption surface and a mounting groove is provided at the edge of the negative pressure adsorption surface. The elastic adjustment component is disposed in the mounting groove. At least a portion of the elastic adjustment member protrudes from the negative pressure adsorption surface, and during the process of the calibration suction cup pressing down to pick up the film, after the elastic adjustment member comes into contact with the film, it can deform into the mounting groove under the pressure of the bottom of the mounting groove and the intermediate platform, and push the film outward from the suction cup body.

2. The three-axis calibration platform based on vision recognition according to claim 1, characterized in that, One end of the elastic adjustment member is fixed to the mounting groove, and the other end extends outward from the suction cup body and away from the bottom of the mounting groove, so that part of the elastic adjustment member protrudes from the negative pressure adsorption surface. During the process of the calibration suction cup pressing down to pick up the film, the elastic adjustment member can deform toward the mounting groove until the surface of the elastic adjustment member is flush with the negative pressure adsorption surface of the part without the mounting groove. The negative pressure adsorption surface can adsorb and fix the film and the elastic adjustment member. After the adsorption and fixing effect of the negative pressure adsorption surface is released, part of the elastic adjustment member can move out of the mounting groove.

3. The three-axis calibration platform based on vision recognition according to claim 2, characterized in that, The number of the elastic adjustment elements is greater than or equal to two, and two of the elastic adjustment elements are located at opposite edges of the negative pressure adsorption surface.

4. The three-axis calibration platform based on vision recognition according to claim 3, characterized in that, There are multiple elastic adjustment elements, which are arranged circumferentially around the negative pressure adsorption surface.

5. A three-axis calibration platform based on visual recognition according to claim 2, characterized in that, The elastic adjustment component is provided with multiple through holes, and the negative pressure adsorption surface is provided with multiple adsorption holes. When the surface of the elastic adjustment component is flush with the part of the negative pressure adsorption surface without the mounting groove, any one of the through holes is connected to one of the adsorption holes.

6. A three-axis calibration platform based on vision recognition according to claim 5, characterized in that, The number of through holes on the elastic adjustment member is less than the number of adsorption holes provided at the bottom of the mounting groove. In a row of adsorption holes provided near the edge of the negative pressure adsorption surface, a portion of the adsorption holes are covered by the elastic adjustment member, while the other portion of the adsorption holes are connected to the through holes one by one.

7. A three-axis calibration platform based on visual recognition according to claim 2, characterized in that, The elastic adjusting member includes a protrusion located between its two ends, the protrusion being arranged to protrude away from the mounting groove. When the elastic adjusting member does not deform into the mounting groove, the distance between the protrusion and the bottom of the mounting groove is greater than the distance between the rest of the elastic adjusting member and the bottom of the mounting groove.

8. A three-axis calibration platform based on vision recognition according to claim 1, characterized in that, The triaxial calibration platform also includes an intermediate platform for placing a thin film. The surface of the intermediate platform is covered with a separating cloth, and the friction between the separating cloth and the thin film is less than the friction between the elastic adjustment member and the thin film.

9. A three-axis calibration platform based on visual recognition according to claim 1, characterized in that, The mobile platform includes a transparent plate, a first adjustment plate, a second adjustment plate, and a third adjustment plate arranged sequentially along the direction of gravity. The third adjustment plate is mounted on the base. The mobile platform also includes a first drive mechanism, a second drive mechanism, and a third drive mechanism. The first driving mechanism is connected to the first adjusting plate and is used to drive the first adjusting plate to move. The second driving mechanism is connected to the second adjusting plate and is used to drive the second adjusting plate to move. The third driving mechanism is connected to the third adjusting plate and is used to drive the third adjusting plate to move. The movement directions of the first adjusting plate, the second adjusting plate, and the third adjusting plate are one of moving along a first direction, moving along a second direction, and rotating around a first rotating axis, and the movement directions of the first adjusting plate, the second adjusting plate, and the third adjusting plate are different.

10. A three-axis calibration platform based on visual recognition according to claim 9, characterized in that, The first adjustment plate is provided with a first through hole, the second adjustment plate is provided with a second through hole, and the third adjustment plate is provided with a third through hole. The first through hole, the second through hole, and the third through hole have the same diameter and can be coaxially arranged. The vision device is located below the third through hole.

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