Alignment equipment based on visual system

Abstract

The invention discloses alignment equipment based on a visual system, and the equipment comprises a rack which is provided with a visual device, a product positioning part, an automatic locking mechanism, a YZ theta axis alignment mechanism and a product jig moving platform. The vision device is provided with a split type focusing and light source reflecting structure, so that accurate imaging is realized; the product positioning part is provided with a pitching positioning camera, and a photographing position is arranged below; the YZ theta axis alignment mechanism drives a clamping part to move in a three-axis mode through a driving mechanism, and a component is clamped and adjusted. The product jig moving platform drives the jig module to move among multiple stations through an XY-axis and theta-axis mechanism. And the automatic locking mechanism fastens the screw to fix the product. Full-automatic high-precision alignment is achieved through the steps of feeding, positioning and photographing, clamping and fixing, screw loosening, visual alignment, screw locking, secondary detection and discharging and data storage. The X-axis, Y-axis and theta-axis precision is excellent, the product position deviation is small, the single alignment time is short, the labor intensity is reduced, the percent of pass is improved, and the precise manufacturing batch requirements of laser product assembly and the like are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision machinery alignment technology, and particularly relates to an alignment device based on a vision system. BACKGROUND

[0002] In the precision manufacturing scenarios such as assembly of a laser product signal receiving assembly and butt joint of optical elements, a to-be-aligned component (such as a signal receiving unit) needs to be aligned with a reference component (such as a laser reflection end) with micron-level precision, so as to ensure the stability of signal transmission or optical performance. At present, the mainstream alignment method in the industry is still mainly manual adjustment, and the core technical scheme and existing problems are as follows.

[0003] The existing manual alignment system mainly consists of three parts:

[0004] The first part: a precision XYθ alignment platform is used to fix the to-be-adjusted component, and the platform is provided with a manual adjustment knob. An operator drives the platform to translate along the X and Y axes and rotate around the θ axis by rotating the knob;

[0005] The second part: a vision image module including an industrial camera and a display is used to collect the position image of the to-be-aligned component in real time, and the operator observes the offset of the component relative to the reference through the display;

[0006] The third part: a clamping mechanism adopts a manual clamp or a simple pneumatic clamp to fix the to-be-adjusted component to prevent the component from shifting during the adjustment process.

[0007] The working process of the traditional manual alignment system is as follows: the operator fixes the to-be-aligned component on the XYθ alignment platform, observes the position offset of the component through the vision image, manually rotates the platform adjustment knob, gradually corrects the position of the component, until the vision image shows that the component is aligned with the reference, and finally manually locks the component fixing screw to complete the alignment.

[0008] Disadvantages of the prior art:

[0009] 1. Poor precision stability: the alignment precision completely depends on the observation and judgment of the operator and the manual adjustment force. The precision difference of different operators or different batches of operations of the same operator is large, and it is difficult to ensure product consistency;

[0010] 2. Low efficiency: manual adjustment needs to be repeatedly observed, corrected and confirmed, and the time consumption of single alignment is usually more than 5 minutes, which cannot meet the batch production demand;

[0011] 3. High labor intensity: the operator needs to focus on the vision image and fine adjustment for a long time, which is easy to cause visual fatigue and lead to an increase in operation failure rate. SUMMARY

[0012] To address the shortcomings of existing technologies, the present invention aims to provide a vision-based alignment device that achieves high-precision automatic alignment through visual guidance, fully automatic displacement adjustment, and synchronous locking.

[0013] To solve the above-mentioned technical problems, the present invention provides the following solution: A alignment device based on a vision system, comprising a frame, with a platform at the upper end of the frame, and further comprising:

[0014] A vision device is arranged along the Y-axis and is located on the platform. It has a split focusing structure and a light source reflection structure.

[0015] The product positioning unit is located on the platform and is arranged along the Y-axis. It has a positioning camera with the lens facing downwards, and a photo-taking position for positioning is below the camera.

[0016] A YZθ axis alignment mechanism is provided on the platform. The YZθ axis alignment mechanism has a YZθ axis drive mechanism and a clamping part that is driven and connected to the YZθ axis drive mechanism. The YZθ axis drive mechanism drives the clamping part to move along the YZθ three-axis direction, and the clamping part can move to the clamping position.

[0017] A product fixture moving platform is provided on the platform. The product fixture moving platform has an XY axis mechanism and an θ axis drive mechanism that is driven and connected to the XY axis mechanism. The θ axis drive mechanism drives and connects to the fixture module and can drive the fixture module to perform a horizontal circumferential rotation. The moving trajectory of the fixture module can reach the loading position, the photo taking position, the clamping position and the adjustment position.

[0018] An automatic locking mechanism is provided on the platform. This automatic locking mechanism can lock and loosen the fixture screws on the fixture module, thereby locking and loosening the product.

[0019] Furthermore, the visual device includes:

[0020] An inverted U-shaped bracket fixed to the platform, the U-shaped bracket having a position adjustment hole and a lens mounting base installed on its upper end face;

[0021] The camera, with its lens facing the Y-axis, is adjustablely mounted in the position adjustment hole via a camera bracket.

[0022] The lens is fixed to the lens mounting base by a lens bracket and faces the lens of the camera. The lens and the camera form a separate focusing structure.

[0023] A semi-transparent mirror is vertically fixed to the upper surface of the inverted U-shaped bracket by a mirror bracket, and the angle of the semi-transparent mirror is adjustable. The camera, lens and the semi-transparent mirror are coaxially arranged.

[0024] A light source assembly, wherein the light emission direction of the light source is directed toward the mirror surface of the semi-transparent and semi-reflective mirror.

[0025] Furthermore, the light source assembly includes a first fine-tuning mechanism, a light source bracket vertically mounted on the first fine-tuning mechanism, and a light source fixed to the light source bracket. The first fine-tuning mechanism is adjustable along the Y-axis and is fixed to the upper end face of the inverted U-shaped bracket. The light source and the semi-transparent mirror together form the light source reflection structure.

[0026] Furthermore, the YZθ axis drive mechanism includes:

[0027] A first Y-axis mechanism is located at the bottom, and the first Y-axis mechanism is fixed to the platform by a base;

[0028] A first Z-axis mechanism that is driven and connected to the first Y-axis mechanism;

[0029] The θ-axis mechanism is driven and connected to the first Z-axis mechanism.

[0030] Furthermore, both the first Y-axis mechanism and the first Z-axis mechanism use dual-drive servo motor modules as power sources;

[0031] The θ-axis mechanism includes:

[0032] The upright plate is connected to the first Z-axis mechanism and is driven by the first Z-axis mechanism to move along the Z-axis.

[0033] A rotating plate rotatably mounted on one side of the upright plate, the rotating plate having a cross-shaped mounting position;

[0034] A servo motor fixed to the upright plate and driving the rotating plate to rotate.

[0035] Furthermore, the clamping part includes two fixed clamping parts and two movable clamping parts installed in the four directions of the cross-shaped mounting position;

[0036] The movable clamp and the fixed clamp are arranged opposite each other to form a clamping structure. The power source of the movable clamp is a cylinder, which drives the movable chuck. The fixed clamp is provided with a fixed chuck.

[0037] Furthermore, the XY axis mechanism includes:

[0038] The second Y-axis mechanism is mounted on the platform;

[0039] The first X-axis mechanism is driven and connected to the second Y-axis mechanism.

[0040] Furthermore, the power sources for both the second Y-axis mechanism and the first X-axis mechanism are servo motors and are driven by a lead screw and nut transmission structure.

[0041] Furthermore, the power source of the θ-axis drive mechanism is an θ-axis servo motor, which drives the fixture module base plate to rotate horizontally, and the fixture module is mounted on the fixture module base plate.

[0042] Furthermore, the automatic locking mechanism includes:

[0043] The third Y-axis mechanism is installed on the platform;

[0044] The second Z-axis mechanism is driven and connected to the third Y-axis mechanism;

[0045] The second X-axis mechanism is driven and connected to the second Z-axis mechanism;

[0046] A nut tensioner is driven and connected to the second X-axis mechanism. The nut tensioner is provided in at least one set, and the working end of the nut tensioner can reach the adjustment position.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] 1. The alignment device based on the vision system of this invention significantly improves the accuracy: the repeatability of the XY axis is improved, the accuracy of the θ axis is improved, and the position deviation of the product after alignment is small, which is far better than the accuracy of manual alignment, thus meeting the high-precision alignment requirements of the signal receiving part of laser products;

[0049] 2. The alignment equipment based on the vision system of this invention has significantly improved efficiency: the time for a single alignment is shortened, production efficiency is improved, and it can meet the needs of mass production;

[0050] 3. The alignment device based on the vision system of this invention reduces labor intensity: the operator only needs to complete the loading / unloading operation, without having to participate in the alignment adjustment, thus reducing labor intensity and avoiding operational errors caused by visual fatigue;

[0051] 4. The alignment device based on the vision system of this invention ensures product consistency: the automated process eliminates human differences, the alignment accuracy of different batches of products fluctuates little, and the product qualification rate is improved. Attached Figure Description

[0052] Figure 1 This is a structural diagram of the alignment device of the present invention.

[0053] Figure 2 This is a structural diagram of the vision device of the present invention.

[0054] Figure 3 This is a structural diagram of the YZθ axis alignment mechanism of the present invention.

[0055] Figure 4 This is an enlarged view of the structure of the clamping part of the present invention.

[0056] Figure 5 This is a structural diagram of the jig moving platform of the present invention.

[0057] Figure 6 This is a structural diagram of the automatic locking mechanism of the present invention.

[0058] Figure 7 for Figure 1 Enlarged view of the automatic locking mechanism.

[0059] Figure 8 This is a flowchart illustrating the automatic locking mechanism of the present invention.

[0060] The attached diagram is labeled as follows: 1. Vision device; 2. YZθ axis alignment mechanism; 3. Product fixture platform; 4. Automatic locking mechanism; 5. Product positioning part; 6. Camera; 7. Lens; 8. Semi-transparent mirror; 9. Light source assembly; 10. First Y-axis mechanism; 11. First Z-axis mechanism; 12. θ-axis mechanism; 13. Clamping part; 15. θ-axis drive mechanism; 16. First X-axis mechanism; 17. Second Y-axis mechanism; 18. Frame; 19. Table; 20. Inverted U-shaped bracket; 41. Second X-axis mechanism; 42. Nut tensioner; 43. Second Z-axis mechanism; 44. Third Y-axis mechanism; 121. Rotating plate; 122. Vertical plate; 131. Fixed clamp; 132. Moving clamp. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention. Obviously, the embodiments described in this invention are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] To address the shortcomings of existing manual alignment systems, this invention aims to solve the following core problems:

[0064] 1. Achieve full automation of the alignment process, replacing manual adjustments and eliminating the impact of human factors on accuracy;

[0065] 2. Improve alignment accuracy and efficiency, ensure alignment consistency of batch products, and reduce the labor intensity of operators;

[0066] 3. Add alignment data acquisition and storage functions to enable alignment parameters to be traceable and provide data support for process optimization.

[0067] Example 1: The specific structure of the present invention is as follows:

[0068] Please refer to the appendix. Figures 1-7 The present invention discloses a alignment device based on a vision system, the alignment device including a frame 18, the upper end of the frame 18 being provided with a platform 19, and the alignment device further including:

[0069] The vision device 1 is arranged along the Y-axis and is located on the platform 19. It has a split focusing structure and a light source reflection structure.

[0070] The product positioning unit 5 is located on the platform 19 and is arranged along the Y-axis. It has a positioning camera with the lens facing downwards, and the area below the camera is a photo-taking position for positioning.

[0071] YZθ axis alignment mechanism 2 is provided on the platform 19. The YZθ axis alignment mechanism 2 has a YZθ axis drive mechanism and a clamping part 13 driven and connected to the YZθ axis drive mechanism. The YZθ axis drive mechanism drives the clamping part 13 to move along the YZθ three-axis direction. The clamping part can move to the clamping position.

[0072] Product fixture platform 3 is located on the platform 19. Product fixture platform 3 has an XY axis mechanism and an θ axis drive mechanism 15 driven by the XY axis mechanism. The θ axis drive mechanism 15 drives the fixture module and can drive the fixture module to perform a horizontal circumferential rotation. The movement trajectory of the fixture module can reach the loading position, the photo taking position, the clamping position and the adjustment position.

[0073] An automatic locking mechanism 4 is provided on the platform 19. This automatic locking mechanism 4 can lock and loosen the fixture screws on the fixture module, thereby realizing the locking and loosening of the product.

[0074] The visual device 1 includes:

[0075] An inverted U-shaped bracket 20 is fixed to the platform 19. The U-shaped bracket 20 has a position adjustment hole and a lens mounting seat is installed on its upper end surface.

[0076] Camera 6, with its lens facing the Y-axis, is adjustablely mounted in the position adjustment hole via a camera bracket.

[0077] Lens 7 is fixed to the lens mounting base by a lens bracket and faces the lens of camera 6. Lens 7 and camera 6 form a split focusing structure.

[0078] The semi-transparent mirror 8 is vertically fixed to the upper surface of the inverted U-shaped bracket 20 by a mirror bracket and the angle of the semi-transparent mirror 8 is adjustable. The camera 6, the lens 7 and the semi-transparent mirror 8 are coaxially arranged.

[0079] A light source assembly 9, the light source 9 emitting light in a direction facing the mirror surface of the semi-transparent and semi-reflective mirror 8.

[0080] The light source assembly 9 includes a first fine-tuning mechanism, a light source bracket vertically mounted on the first fine-tuning mechanism, and a light source fixed to the light source bracket. The first fine-tuning mechanism is adjustable in the Y-axis and is fixed to the upper end face of the inverted U-shaped bracket 20. The light source and the semi-transparent mirror 8 together form the light source reflection structure.

[0081] The working principle of the vision device 1 is based on the core logic of "customized lighting - light path splitting - precise imaging". It achieves high-precision visual acquisition of product position through the collaboration of various components. First, the light source component 9 provides a customized wavelength light source (such as 450nm blue light to suppress metal reflection and 650nm red light to adapt to transparent parts) according to the material of the product to be aligned (such as metal or glass). The position is adjusted along the Y-axis by the first fine-tuning mechanism to ensure that the light is accurately projected onto the 45° tilted semi-transparent and semi-reflective mirror 8. The semi-transparent and semi-reflective mirror 8 reflects the light source light vertically downward at 90° to the product imaging position, providing uniform illumination to the product surface. At the same time, it allows the imaging light reflected by the product to pass vertically upward through the mirror, realizing the spatial reuse of the "lighting and imaging light path" and avoiding cross interference.

[0082] Subsequently, the imaging light transmitted through the semi-transparent mirror is transmitted to lens 7. Lens 7, as the "split-type focusing core," works in conjunction with camera 6. By adjusting the Y-axis position of camera 6 along the adjustment hole on the side wall of the inverted U-shaped bracket 20, the distance between the camera and the lens is changed to adapt to the imaging needs of products of different sizes (such as clear focusing within the range of 100-500mm). Finally, the focused optical signal is transmitted to camera 6. Camera 6 converts the optical signal into a digital image signal and sends it to the control system in real time. The control system analyzes the deviation between the product positioning mark and the reference position in the image to generate X and Y axis offsets and θ axis rotation offset data, providing accurate visual guidance for the fully automatic XYθ alignment platform.

[0083] The YZθ axis drive mechanism includes:

[0084] A first Y-axis mechanism 10 is located at the bottom and is fixed to the platform 19 by a base.

[0085] The first Z-axis mechanism 11 is driven and connected to the first Y-axis mechanism 10;

[0086] The θ-axis mechanism 12 is driven and connected to the first Z-axis mechanism 11.

[0087] Both the first Y-axis mechanism 10 and the first Z-axis mechanism 11 use a dual-drive servo motor module as a power source. The dual-drive servo motor module can achieve short-distance micron-level inching through synchronous control, avoiding the sway error of single-motor drive.

[0088] The θ-axis mechanism 12 includes:

[0089] The upright plate 122 is connected to the first Z-axis mechanism 11 and is driven by the first Z-axis mechanism 11 to move along the Z-axis.

[0090] A rotating plate 121 is rotatably disposed on one side of the upright plate 122, and the rotating plate 121 has a cross-shaped mounting position;

[0091] A servo motor is fixed to the upright plate 122 and drives the rotating plate 121 to rotate. The servo motor drives the rotating plate 121 to rotate with a repeatability of ±2 arcsec and a rotation range of ±10°.

[0092] The clamping part 13 includes two fixed clamping parts 131 and two movable clamping parts 132 installed in the four directions of the cross-shaped mounting position;

[0093] The movable clamping part 132 and the fixed clamping part 131 are arranged opposite each other to form a clamping structure. The power source of the movable clamping part 132 is a cylinder, which drives the movable chuck. The fixed clamping part 131 is equipped with a fixed chuck. By adjusting the air pressure of the cylinder, the clamping force can be controlled to avoid damage to the product and ensure clamping stability.

[0094] The XY axis mechanism includes:

[0095] The second Y-axis mechanism 17 is installed on the platform 19;

[0096] The first X-axis mechanism 16 is driven and connected to the second Y-axis mechanism 17.

[0097] The power source for the second Y-axis mechanism 17 and the first X-axis mechanism 16 is a servo motor, and both are driven by a lead screw and nut transmission structure.

[0098] The power source of the θ-axis drive mechanism 15 is an θ-axis servo motor, which drives the fixture module base plate to rotate horizontally. The fixture module is mounted on the fixture module base plate.

[0099] The automatic locking mechanism 4 includes:

[0100] The third Y-axis mechanism 44 is provided on the platform 19; the power source of the third Y-axis mechanism 44 is a servo motor and is driven by a lead screw and nut transmission structure.

[0101] The second Z-axis mechanism 43 is driven and connected to the third Y-axis mechanism 44. The power source of the second Z-axis mechanism 43 is a servo motor and is driven by a lead screw and nut transmission structure.

[0102] The second X-axis mechanism 41 is driven and connected to the second Z-axis mechanism 43. The power source of the second X-axis mechanism 41 is a servo motor and is driven by a lead screw and nut transmission structure.

[0103] A nut tensioner 42 is driven and connected to the second X-axis mechanism 41. The nut tensioner 42 has at least one set, and the working end of the nut tensioner 42 can reach the adjustment position via its moving trajectory. Figure 6 As shown, the nut tightener 42 has 2 sets.

[0104] The automatic fastening mechanism 4 operates on the principle of "precise positioning - adaptive tightening - proper alignment." Its core is to automate the screw operation through multi-axis linkage adjustment and torque-controllable tightening and loosening actions, while avoiding alignment misalignment caused by tightening force. During operation, the control system first drives the third Y-axis mechanism 44, the second Z-axis mechanism 43 (vertical direction), and the second X-axis mechanism 41 (horizontal direction) in conjunction with the screw coordinates of the product to be aligned (pre-stored in the system). This precisely moves the nut tensioner 42 to directly above the screw at the adjustment position. The second Z-axis mechanism adjusts the height of the nut tensioner to ensure its working end (e.g., the bit) is in contact with the top surface of the screw. The second X-axis mechanism compensates for horizontal positional deviations, ensuring the bit and screw are coaxially aligned.

[0105] Once the nut tensioner reaches the designated position, it performs the corresponding actions according to the alignment process requirements: When the screw needs to be loosened before alignment, the tensioner rotates in the reverse direction at a set torque (usually 0.3-0.5 N·m, retaining a slight preload to prevent product displacement) to tighten the screw to a semi-loose state; after the fully automatic XYθ alignment platform completes the product position adjustment, the tensioner rotates in the forward direction again to tighten the screw at a preset locking torque (such as 1.5 N·m, set according to the product material) to ensure the product is fixed; if the secondary visual inspection finds that the product displacement exceeds the threshold after tightening, the mechanism will repeat the cycle of loosening the screw - waiting for alignment - tightening the screw until the accuracy requirements are met. The torque data throughout the process is fed back to the control system in real time and stored, realizing traceability and stability control of the locking process.

[0106] like Figure 8As shown, the automatic locking mechanism 4 works by gradually tightening the screws in stages while coordinating with positioning adjustments to avoid product misalignment caused by a single tightening. First, the screws are loosened, followed by APD positioning and adjustment. Then, the screws are tightened to 30% torque, and APD positioning adjustment is performed again. If this is not satisfactory (NG), the process returns to the first step for readjustment. If it is satisfactory (OK), the screws are tightened to 50% torque, and APD positioning adjustment is performed again. If this is not satisfactory, the process returns to the first step. If it is satisfactory, the screws are tightened sequentially in stages of 70%, 90%, and 100% torque, with APD positioning adjustment performed after each torque stage. If any stage is unsatisfactory, the process returns to the first step for readjustment. Only when all stages are satisfactory is the adjustment finally completed.

[0107] Example 2:

[0108] The following are the core components and functions of this invention:

[0109] 1. Vision Device 1: Set along the Y-axis, providing precise visual positioning guidance, featuring a split focusing structure and a light source reflection structure;

[0110] II. Product Positioning Unit 5: Set along the Y-axis, used for initial product position calibration, with its lens positioned downwards and the product photography position below it;

[0111] 3. Fully automatic YZθ axis alignment mechanism 2: used for high-precision displacement adjustment of the parts to be aligned, and has an XYθ three-axis drive mechanism and a clamping part 13;

[0112] IV. Product Fixture Platform 3: Used to carry products and realize multi-station transfer, with XY axis moving mechanism and θ axis rotating mechanism;

[0113] 5. Automatic locking mechanism 4: Set along the Y-axis, used to automatically tighten or loosen the product fixing screws to prevent parts from shifting during alignment.

[0114] The following is the workflow of the alignment device of this invention:

[0115] Step 1, Loading: The operator places the product to be aligned (such as a laser signal receiving component) on the fixture module of the product fixture platform 3, and the fixture module initially fixes the product.

[0116] Step 2, Positioning and Photography: The product fixture platform 3 uses the XY axis moving mechanism to transfer the product to the photography position of the product positioning unit 5; the camera of the product positioning unit 5 captures the initial position image of the product, transmits it to the control system, and calculates the initial offset of the product.

[0117] Step 3, clamping and fixing: The product fixture platform 3 transfers the product to the clamping station of the fully automatic YZθ axis alignment mechanism 2; the cylinder of the clamping part 13 is activated, driving the moving chuck to cooperate with the fixed clamping part 131 to clamp the product.

[0118] Step 4, loosen the screw: The automatic locking mechanism 4, through the linkage of the second X-axis mechanism 41 and the second Z-axis mechanism 43, moves the nut tensioner 42 to the product screw position and loosens the fixing screw (retaining a slight preload to prevent product displacement);

[0119] Step 5, visual alignment: Vision device 1 acquires an image of the product's current position, compares it with the reference position, and calculates the offsets of the X and Y axes and the rotational offset of the θ axis; the control system sends adjustment commands to the fully automatic YZθ axis alignment mechanism 2, driving the X, Y axis and θ axis mechanisms to move and gradually correct the product position until the offset is less than 0.5μm;

[0120] Step 6, screw tightening: After alignment, the automatic locking mechanism 4 moves to the screw position again and tightens the screw to the set torque (1.5 N·m);

[0121] Step 7, Secondary Inspection: Vision device 1 acquires the product position image again to confirm that the product has no offset after tightening; if the offset exceeds the threshold (0.5μm), repeat steps 4-6 until the accuracy requirements are met.

[0122] Step 8, material unloading and data storage: After the alignment is qualified, the clamping part 13 is released, and the product fixture platform 3 transfers the product to the unloading position; the control system automatically stores the X, Y, and θ axis adjustment parameters and locking torque data of this alignment for easy subsequent traceability.

[0123] In summary, the alignment device based on the vision system of this invention significantly improves the accuracy: the repeatability of the XY axis is improved, the accuracy of the θ axis is improved, and the positional deviation of the product after alignment is small, which is far superior to the accuracy of manual alignment, thus meeting the high-precision alignment requirements of the signal receiving part of laser products.

[0124] The alignment equipment based on the vision system of this invention has significantly improved efficiency: the time for a single alignment is shortened, production efficiency is improved, and it can meet the needs of mass production.

[0125] This invention provides a vision-based alignment device that reduces labor intensity: operators only need to complete loading / unloading operations and do not need to participate in alignment adjustments, thus reducing labor intensity and avoiding operational errors caused by visual fatigue.

[0126] This invention provides a vision-based alignment device that ensures product consistency: the automated process eliminates human error, the alignment accuracy of different batches of products fluctuates little, and the product qualification rate is improved.

[0127] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A alignment device based on a vision system, the alignment device comprising a frame (18) having a platform (19) at its upper end, characterized in that, The alignment device also includes: A vision device (1) is arranged along the Y-axis. The vision device (1) is located on the platform (19) and has a split focusing structure and a light source reflection structure. The product positioning part (5) is located on the platform (19) and is arranged along the Y axis. It has a positioning camera with the lens facing downwards, and the camera is located below the camera for taking pictures. YZθ axis alignment mechanism (2) is provided on the platform (19). The YZθ axis alignment mechanism (2) has a YZθ axis drive mechanism and a clamping part (13) driven and connected to the YZθ axis drive mechanism. The YZθ axis drive mechanism drives the clamping part (13) to move along the YZθ three-axis direction. The clamping part can move to the clamping position. The product fixture moving platform (3) is located on the platform (19). The product fixture moving platform (3) has an XY axis mechanism and an θ axis drive mechanism (15) connected to the XY axis mechanism. The θ axis drive mechanism (15) drives the fixture module and can drive the fixture module to perform a horizontal circumferential rotation. The movement trajectory of the fixture module can reach the loading position, the photo taking position, the clamping position and the adjustment position. An automatic locking mechanism (4) is provided on the platform (19). The automatic locking mechanism (4) can lock and loosen the fixture screws on the fixture module, thereby locking and loosening the product.

2. The alignment device based on a vision system according to claim 1, characterized in that, The visual device (1) includes: An inverted U-shaped bracket (20) is fixed to the platform (19), the U-shaped bracket (20) has a position adjustment hole, and a lens mounting seat is installed on its upper end face; The camera (6) has a lens facing the Y-axis direction and is adjustablely mounted in the position adjustment hole via a camera bracket. The lens (7) is fixed to the lens mounting base by the lens bracket and faces the lens of the camera (6). The lens (7) and the camera (6) form a split focusing structure. A semi-transparent mirror (8) is vertically fixed to the upper surface of the inverted U-shaped bracket (20) by a mirror bracket and the angle of the semi-transparent mirror (8) is adjustable. The camera (6), lens (7) and the semi-transparent mirror (8) are coaxially arranged. A light source assembly (9) whose light emission direction is toward the mirror surface of the semi-transparent mirror (8).

3. The alignment device based on a vision system according to claim 2, characterized in that, The light source assembly (9) includes a first fine-tuning mechanism, a light source bracket vertically mounted on the first fine-tuning mechanism, and a light source fixed to the light source bracket. The first fine-tuning mechanism is adjustable in the Y-axis and is fixed to the upper end face of the inverted U-shaped bracket (20). The light source and the semi-transparent mirror (8) together form the light source reflection structure.

4. The alignment device based on a vision system according to claim 1, characterized in that, The YZθ axis drive mechanism includes: A first Y-axis mechanism (10) is provided at the bottom, and the first Y-axis mechanism (10) is fixed to the platform (19) by a base; A first Z-axis mechanism (11) is driven and connected to the first Y-axis mechanism (10); The θ-axis mechanism (12) is driven and connected to the first Z-axis mechanism (11).

5. A alignment device based on a vision system according to claim 4, characterized in that, Both the first Y-axis mechanism (10) and the first Z-axis mechanism (11) use a dual-drive servo motor module as the power source; The θ-axis mechanism (12) includes: The upright plate (122) is connected to the first Z-axis mechanism (11) and is driven by the first Z-axis mechanism (11) to move in the Z-axis direction; A rotating plate (121) is rotatably disposed on one side of the upright plate (122), the rotating plate (121) having a cross-shaped mounting position; A servo motor fixed to the upright plate (122) and driving the rotating plate (121) to rotate.

6. The alignment device based on a vision system according to claim 5, characterized in that, The clamping part (13) includes two fixed clamping parts (131) and two movable clamping parts (132) installed in the four directions of the cross-shaped mounting position; The movable clamping part (132) and the fixed clamping part (131) are arranged opposite to each other to form a clamping structure. The power source of the movable clamping part (132) is a cylinder, which drives the movable clamping head. The fixed clamping part (131) is provided with a fixed clamping head.

7. The alignment device based on a vision system according to claim 1, characterized in that, The XY axis mechanism includes: The second Y-axis mechanism (17) is mounted on the platform (19); The first X-axis mechanism (16) is driven and connected to the second Y-axis mechanism (17).

8. A alignment device based on a vision system according to claim 7, characterized in that, The power sources for the second Y-axis mechanism (17) and the first X-axis mechanism (16) are both servo motors and are driven by a lead screw and nut transmission structure.

9. A alignment device based on a vision system according to claim 1, characterized in that, The power source of the θ-axis drive mechanism (15) is an θ-axis servo motor, which drives the fixture module base plate to rotate horizontally. The fixture module is mounted on the fixture module base plate.

10. A alignment device based on a vision system according to claim 1, characterized in that, The automatic locking mechanism (4) includes: The third Y-axis mechanism (44) is disposed on the platform (19); The second Z-axis mechanism (43) is driven and connected to the third Y-axis mechanism (44); The second X-axis mechanism (41) is driven and connected to the second Z-axis mechanism (43); A nut tensioner (42) is driven and connected to the second X-axis mechanism (41). The nut tensioner (42) is provided with at least one set, and the working end of the nut tensioner (42) can reach the adjustment position.

Images