Registration device based on machine vision and registration method thereof

Abstract

The invention relates to the technical field of precision manufacturing, in particular to a machine vision-based registration device and a registration method thereof.The machine vision-based registration device comprises a base station, a vision detection structure is bolted to the top of the base station, and rotation driving structures are bolted to the inner side of the vision detection structure and the top of the base station; the other side of the rotary driving structure is in bolted connection with a connecting platform, the top of the connecting platform is in bolted connection with linear precision guide rails in the X direction and the Y direction, the other side of each linear precision guide rail in the Y direction is in bolted connection with a fixed platform, and the opposite sides of the two fixed platforms are in bolted connection with fixed structures; the fixing structure comprises a protective shell, a two-way lead screw is rotationally connected into the protective shell, and internal thread blocks are slidably arranged on the two sides of the interior of the protective shell. The invention provides a registration device based on machine vision and a registration method thereof, which have the advantages of realizing the integration of a visual reference and a mechanical reference and adapting to the self-adaptive fixation of various types of devices.

Description

Technical Field

[0001] This invention relates to the field of precision manufacturing technology, specifically to a machine vision-based registration device and registration method. Background Technology

[0002] As is well known, in the field of precision manufacturing, such as semiconductor packaging, display assembly, and high-precision printing, it is often necessary to accurately align and register two or more workpieces. The registration accuracy directly determines the product performance and yield. Machine vision-based registration technology has become the mainstream solution due to its advantages of non-contact, high precision, and high degree of automation.

[0003] With the development of machine vision technology, vision-based registration devices have emerged in existing technologies. These devices typically use industrial cameras to capture images of the workpiece, calculate positional deviations through image processing algorithms, and drive the actuator to perform positional compensation. Traditional registration devices mainly rely on mechanical positioning methods, using rigid structures such as positioning pins and backings to fix and align the workpiece. However, there is a problem that the mechanical positioning reference and the visual inspection reference are not consistent, which leads to the accumulation of system errors. Furthermore, rigid fixtures are prone to local stress concentration when clamping thin or flexible workpieces, resulting in wrinkles or micro-deformation at the workpiece edges. Furthermore, for large workpieces, the central area suffers from sagging deformation due to a lack of effective support, which severely affects the alignment accuracy. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a machine vision-based registration device and method, which has the advantages of integrating visual and mechanical references and adapting to adaptive fixing of various types of devices.

[0006] (II) Technical Content

[0007] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a machine vision-based registration device and registration method, comprising a base, a vision detection structure being bolted to the top of the base, a rotary drive structure being bolted to the inner side of the vision detection structure and the top of the base, and a connecting platform being bolted to the other side of the rotary drive structure, a linear precision guide rail in the X and Y directions being bolted to the top of the connecting platform, and a fixed platform being bolted to the other side of the Y-direction linear precision guide rail, and a fixed structure being bolted to the opposite side of the two fixed platforms; The fixing structure includes a protective shell, a bidirectional lead screw is rotatably connected inside the protective shell, and internal thread blocks are slidably provided on both sides inside the protective shell. The internal thread blocks are threaded onto the surface of the bidirectional lead screw. A fixing shell is bolted to the top of the internal thread blocks, and reference marks are provided at both ends of the top of the fixing shell. A fixing component is provided inside the fixing shell, and a central support component is bolted to the side of the protective shell away from the fixing platform.

[0008] By adopting the above technical solution, the combination of the fixing components and the central support components in the fixed structure can be used to adapt to flexible, brittle and large-sized workpieces, avoid wrinkles, deformation or damage caused by clamping stress, and prevent the central sagging deformation of large-sized workpieces, ensuring that the workpiece maintains an ideal planar state throughout the entire alignment process. Through the reference marks distributed around the fixed structure, the visual reference and mechanical reference are unified, and the reference marks on the fixed shell directly establish the correlation between visual inspection and mechanical positioning, eliminating cumulative errors and improving alignment accuracy.

[0009] The present invention is further configured such that: the fixing component includes a contact plate, a connecting plate is provided on the side of the contact plate near the fixing shell, a plurality of first fine-tuning electric cylinders are bolted inside the fixing shell, and the output end of the first fine-tuning electric cylinder is hinged to the connecting plate, a second fine-tuning electric cylinder is hinged to both ends inside the fixing shell, the output end of the second fine-tuning electric cylinder is hinged to the connecting plate, a plurality of springs are bolted between the connecting plate and the contact plate along the length direction, a flexible contact is slidably provided inside the contact plate, and a fixing electric cylinder is bolted to the side of the flexible contact near the connecting plate.

[0010] By adopting the above technical solution, a fixing component is set up, and the elasticity of the spring is used to make the contact plate directly contact the workpiece, achieving coarse positioning of the workpiece. The first and second fine-tuning electric cylinders can work together to adjust the position of the contact plate and the workpiece. The first fine-tuning electric cylinder can adjust the position of the contact plate and the workpiece between the two fixed shells, while the second fine-tuning electric cylinder pulls the connecting plate from both ends to adjust the tilt angle of the contact plate and the workpiece, thereby ensuring that the workpiece is parallel to the surface and meeting the posture adjustment requirements for relative alignment of two workpieces. After the workpiece reference calibration is completed, the flexible contact can extend out of the contact plate surface under the drive of the fixed electric cylinder, contact the edge of the workpiece and apply clamping force to achieve final precise fixation of the workpiece, keeping the workpiece in the reference position. The independently controlled fixed electric cylinder can adjust the extension amount and clamping force of each flexible contact according to the edge shape of the workpiece to achieve distributed uniform clamping and improve fixation stability.

[0011] The present invention is further configured such that the flexible contacts are arranged in an array inside the contact plate and are uniformly distributed along the length of the contact plate.

[0012] By adopting the above technical solution, the contact area with the workpiece edge is increased by the array-distributed flexible contacts, and the clamping force is distributed to multiple contact points to avoid workpiece deformation caused by excessive pressure at a single point. Moreover, the uniformly distributed layout balances the force on the workpiece edge, reduces torsion or displacement caused by uneven force, ensures the stability of the workpiece posture after alignment, and adapts to workpiece edges of different shapes (such as straight lines, curves, and irregular edges), improving the adaptability of the device to non-standard workpieces.

[0013] The invention is further configured such that: the central support assembly includes a support plate, the support plate is bolted to the side of the protective shell away from the fixed platform, a movable plate is provided on the other side of the support plate, an arc-shaped elastic sheet is bolted to the side of the movable plate near the support plate, and both ends of the elastic sheet are slidably connected to the inner wall of the support plate, a pushing cylinder is bolted to both sides inside the support plate, and the other end of the pushing cylinder is bolted to the elastic sheet, a support column is bolted to the side of the movable plate away from the support plate, an elastic contact is slidably provided inside the support column, a piezoelectric ceramic actuator is bolted inside the support column, and the piezoelectric ceramic actuator works in conjunction with the elastic contact, and the end of the elastic contact is provided with a suction hole and externally connected to a vacuum generator.

[0014] By adopting the above technical solution, a central support component is set up. When the cylinder is pushed to extend or retract, the elastic sheet can be deformed, allowing the movable plate to move closer to or further away from the center of the workpiece. This causes the support column on the movable plate to move with the movable plate to the bottom of the workpiece. The piezoelectric ceramic actuator drives the elastic contact to extend out of the support column and contact the center of the workpiece, thus achieving the function of supporting the center of the workpiece. Furthermore, the suction hole at the end of the elastic contact generates negative pressure through a vacuum generator to slightly attract the workpiece for auxiliary fixation. The height of the elastic contact can be finely adjusted according to the degree of sag in the center of the workpiece to ensure that the center of the workpiece is flat.

[0015] The present invention is further configured such that the number of the support columns is several, and they are arranged in a matrix on the side of the movable plate away from the support plate.

[0016] By adopting the above technical solution, the matrix layout achieves full-area support for the middle part of the workpiece, avoiding deformation in unsupported areas, solving the problem of uneven force caused by traditional single-point support, and each support column can be adjusted independently to adapt to the micro-morphology of the middle part of the workpiece (such as uneven surface or slight warping), achieving conformal support and improving the flatness of the middle part of the workpiece.

[0017] The present invention is further configured such that: the visual inspection structure includes a mounting bracket, the mounting bracket is bolted to the top of the base, and a fixing frame is bolted to both the front and rear sides of the mounting bracket. Two first industrial cameras are bolted to the inner side of the front fixing frame, and a movable frame is slidably arranged inside the rear fixing frame, and a second industrial camera is bolted to the inside of the movable frame. A beam splitter is arranged at the front end inside the movable frame, and directional light sources are bolted to the top and bottom of the front end of the movable frame. A focusing lens is bolted to the inside of the directional light source, and the focusing lens is coaxially arranged with the beam splitter.

[0018] By adopting the above technical solution, and by setting up a visual inspection structure, two first industrial cameras on the front fixed frame take pictures of the opposite surfaces of the two workpieces from different angles, while the movable frame in the rear fixed frame can be adjusted to allow the second industrial camera to simultaneously collect the features of the opposite surfaces of the two workpieces through a beam splitter. Illumination is provided by a directional light source, and the focusing lens images the workpiece features onto the beam splitter, which then reflects them to the second industrial camera. This enables a single camera to simultaneously inspect two workpieces, simplifies the relative deviation calculation process, and improves inspection efficiency.

[0019] The present invention is further configured such that: the optical axis of the lens of the first industrial camera on the left is arranged obliquely upward, the optical axis of the lens of the first industrial camera on the right is arranged obliquely downward, the intersection of the optical axes of the two first industrial cameras is located in the middle area of ​​the two fixed structures facing each other, and the beam splitter and the focusing lens are both located in the middle area of ​​the two fixed structures facing each other.

[0020] Using the above technical solution, the first industrial camera on the left obliquely upwards captures the lower surface features of the upper workpiece, and the first industrial camera on the right obliquely downwards captures the upper surface features of the lower workpiece. The intersection of the optical axes of the two cameras is located in the middle of the opposite surfaces of the two workpieces, ensuring that the key features of the two workpieces are covered at the same time. The beam splitter and focusing lens are located in the middle of the opposite surfaces of the two workpieces, guiding the reflected light from the two workpieces to the second industrial camera respectively, forming a partitioned image, which is convenient for the controller to extract the relative deviation.

[0021] The present invention is further configured such that: a controller is bolted to the front side of the base, the controller is electrically connected to the visual detection structure and the motion execution component, and the controller integrates a display module, an image acquisition and preprocessing module, a feature recognition and coordinate mapping module, and a deviation calculation and decision module.

[0022] Using the above technical solution, the controller receives image data from the vision inspection structure via electrical connection. The display module displays the workpiece image, feature coordinates, and deviation values ​​in real time. The image acquisition and preprocessing module performs noise reduction and enhancement processing on the original image. The feature recognition and coordinate mapping module extracts the coordinates of the workpiece features and the fixed shell reference mark, and converts the pixel coordinates into mechanical coordinates. The deviation calculation and decision module generates adjustment commands based on the coordinate difference, controlling the rotation drive structure, linear precision guide rail, and fixed components. Through the integrated controller, the entire process from image acquisition, processing, decision-making to execution is automated, improving registration efficiency. Furthermore, the collaborative work of each module ensures real-time linkage between vision inspection and mechanical adjustment, solving the error accumulation problem caused by traditional segmented control.

[0023] The present invention is further configured such that: a displacement cylinder is bolted to the top inside the mounting bracket, and the bottom of the displacement cylinder is bolted to the top rotation drive structure.

[0024] By adopting the above technical solution, the height of the fixed platform above can be adjusted by a displacement cylinder, which facilitates the alignment operation.

[0025] A registration method based on a machine vision-based registration device includes the following steps: S1. Place the workpiece between the two fixed components, initially position it, and adjust the middle support component to contact the middle of the workpiece. At the same time, slightly open the vacuum adsorption to fix the workpiece. S2. Move the vision inspection structure between the two workpieces, capture images of the workpiece features and platform reference marks, send them to the controller, and calculate the positional deviation; S3. Based on the deviation value, the controller controls the movement of the rotary drive structure and the linear precision guide rail to adjust the workpiece position; S4. After adjustment, the fixing component applies clamping force to the workpiece according to the preset pressure, the middle support component finely adjusts the height according to the shape of the workpiece, and the vacuum adsorption force increases at the same time to complete the fixing. Finally, the alignment operation can be performed.

[0026] (III) Beneficial Effects

[0027] Compared with the prior art, the present invention provides a machine vision-based registration device and registration method, which has the following beneficial effects: The machine vision-based alignment device and its alignment method, through the combined use of the fixing components and the central support components in the fixed structure, can be adapted to flexible, brittle and large-sized workpieces, avoid wrinkles, deformation or damage caused by clamping stress, and at the same time prevent the central sagging deformation of large-sized workpieces, ensuring that the workpiece maintains an ideal planar state throughout the alignment process. By using reference marks distributed around the perimeter of the fixed structure, the visual reference and mechanical reference are unified. Furthermore, the reference marks on the fixed shell directly establish the correlation between visual inspection and mechanical positioning, eliminating accumulated errors and improving registration accuracy. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram showing the connection between the fixed structure and the fixed platform in this invention; Figure 3 This is a schematic diagram of the fixing structure in this invention; Figure 4 This is a schematic diagram showing the connection between the fixing component and the fixing shell in this invention; Figure 5 This is a schematic diagram of the central support component structure in this invention; Figure 6 This is a schematic diagram of the visual detection structure in this invention; Figure 7 This is a flowchart illustrating the registration method of the machine vision-based registration device in this invention.

[0029] In the diagram: 1. Base; 2. Vision inspection structure; 21. Mounting bracket; 22. Fixing frame; 23. First industrial camera; 24. Moving frame; 25. Beam splitter; 26. Directional light source; 27. Focusing lens; 28. Second industrial camera; 3. Rotary drive structure; 4. Connecting platform; 5. Linear precision guide rail; 6. Fixing platform; 7. Fixing structure; 71. Protective shell; 72. Bidirectional lead screw; 73. Internal threaded block; 74. Fixing shell; 7 5. Fixing assembly; 751. Contact plate; 752. Connecting plate; 753. First fine-tuning electric cylinder; 754. Second fine-tuning electric cylinder; 755. Spring; 756. Flexible contact; 757. Fixing electric cylinder; 76. Central support assembly; 761. Support plate; 762. Movable plate; 763. Elastic sheet; 764. Push cylinder; 765. Support column; 766. Elastic contact; 767. Piezoelectric ceramic actuator; 8. Controller; 9. Displacement cylinder. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments 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.

[0031] Example 1

[0032] Please see Figure 1-6A machine vision-based registration device includes a base 1, a vision detection structure 2 is bolted to the top of the base 1, a rotary drive structure 3 is bolted to the inner side of the vision detection structure 2 and the top of the base 1, and a connecting platform 4 is bolted to the other side of the rotary drive structure 3. A linear precision guide rail 5 in the X and Y directions is bolted to the top of the connecting platform 4, and a fixed platform 6 is bolted to the other side of the Y-direction linear precision guide rail 5. A fixed structure 7 is bolted to the opposite side of the two fixed platforms 6. The fixed structure 7 includes a protective shell 71. A bidirectional lead screw 72 is rotatably connected inside the protective shell 71, and internal thread blocks 73 are slidably arranged on both sides inside the protective shell 71. The internal thread blocks 73 are threaded onto the surface of the bidirectional lead screw 72. A fixed shell 74 is bolted to the top of the internal thread blocks 73, and reference marks are provided at both ends of the top of the fixed shell 74. A fixed component 75 is provided inside the fixed shell 74. A central support component 76 is bolted to the side of the protective shell 71 away from the fixed platform 6. Through the cooperation of the fixed component 75 and the central support component 76 in the fixed structure 7, it can adapt to flexible, brittle and large-sized workpieces, avoid wrinkles, deformation or damage caused by clamping stress, and prevent the central sagging deformation of large-sized workpieces, ensuring that the workpiece maintains an ideal planar state throughout the entire alignment process. Through the reference marks distributed around the fixed structure 7, the visual reference and mechanical reference are unified, and the reference marks on the fixed shell 74 directly establish the correlation between visual inspection and mechanical positioning, eliminate cumulative errors and improve alignment accuracy.

[0033] The fixing component 75 includes a contact plate 751. A connecting plate 752 is disposed on the side of the contact plate 751 near the fixing housing 74. Several first fine-tuning electric cylinders 753 are bolted inside the fixing housing 74, and the output ends of the first fine-tuning electric cylinders 753 are hinged to the connecting plate 752. Second fine-tuning electric cylinders 754 are hinged to both ends inside the fixing housing 74, and the output ends of the second fine-tuning electric cylinders 754 are hinged to the connecting plate 752. Several springs 755 are bolted between the connecting plate 752 and the contact plate 751 along the length direction. A flexible contact 756 is slidably disposed inside the contact plate 751, and a fixing electric cylinder 757 is bolted to the side of the flexible contact 756 near the connecting plate 752. By setting up the fixing component 75, the contact plate 751 is made to directly contact the workpiece by utilizing the elastic action of the springs 755, thereby achieving coarse positioning of the workpiece. Furthermore, the first fine-tuning electric cylinders 755 are used to adjust the position of the workpiece. The first fine-tuning cylinder 753 and the second fine-tuning cylinder 754 can work together to adjust the position of the contact plate 751 and the workpiece. The first fine-tuning cylinder 753 can adjust the direction of the contact plate 751 and the workpiece to be positioned between the two fixed shells 74, while the second fine-tuning cylinder 754 pulls the connecting plate 752 from both ends to adjust the tilt angle of the contact plate 751 and the workpiece, thereby ensuring that the workpiece is parallel to the surface and meeting the posture adjustment requirements for relative alignment of the two workpieces. After the workpiece reference calibration is completed, the flexible contact 756 can extend out of the surface of the contact plate 751 under the driving action of the fixed cylinder 757, and can contact the edge of the workpiece and apply clamping force to achieve the final precise fixation of the workpiece, keeping the workpiece in the reference position. The independently controlled fixed cylinder 757 can adjust the extension amount and clamping force of each flexible contact 756 according to the edge shape of the workpiece to achieve distributed uniform clamping and improve fixation stability.

[0034] The flexible contacts 756 are arranged in an array inside the contact plate 751 and are evenly distributed along the length of the contact plate 751. The array distribution of the flexible contacts 756 increases the contact area with the edge of the workpiece, disperses the clamping force to multiple contact points, avoids workpiece deformation caused by excessive pressure at a single point, and the evenly distributed layout balances the force on the edge of the workpiece, reduces torsion or displacement caused by uneven force, ensures the stability of the workpiece posture after alignment, and adapts to workpiece edges of different shapes (such as straight lines, curves, and irregular edges), improving the adaptability of the device to non-standard workpieces.

[0035] The central support assembly 76 includes a support plate 761, which is bolted to the side of the protective shell 71 away from the fixed platform 6. A movable plate 762 is provided on the other side of the support plate 761. An arc-shaped elastic sheet 763 is bolted to the side of the movable plate 762 closest to the support plate 761, and both ends of the elastic sheet 763 are slidably connected to the inner wall of the support plate 761. Push cylinders 764 are bolted to both sides inside the support plate 761, and the other end of the push cylinder 764 is bolted to the elastic sheet 763. A support column 765 is bolted to the side of the movable plate 762 away from the support plate 761. An elastic contact 766 is slidably arranged inside the support column 765. A piezoelectric ceramic actuator 767 is bolted to the inside of the support column 765, and the piezoelectric ceramic actuator 767 is connected to... The elastic contact 766 is used in conjunction with a suction hole at its end and is connected to an external vacuum generator. By setting a central support assembly 76, when the cylinder 764 is pushed to extend or retract, it can drive the elastic sheet 763 to deform, which can make the movable plate 762 move closer to or away from the center of the workpiece. This allows the support column 765 on the movable plate 762 to move with the movable plate 762 to the bottom of the workpiece. The piezoelectric ceramic actuator 767 drives the elastic contact 766 to extend out of the support column 765 and contact the center of the workpiece, thus achieving the function of supporting the center of the workpiece. The suction hole at the end of the elastic contact 766 generates negative pressure through the vacuum generator to slightly attract the workpiece for auxiliary fixation. The height of the elastic contact 766 can be finely adjusted according to the degree of sag in the center of the workpiece to ensure that the center of the workpiece is flat.

[0036] The support columns 765 are numerous and arranged in a matrix on the side of the movable plate 762 away from the support plate 761. The matrix layout provides full-area support for the middle of the workpiece, avoiding deformation in unsupported areas and solving the problem of uneven force distribution caused by traditional single-point support. Furthermore, each support column 765 can be adjusted independently to adapt to the micro-morphology of the middle of the workpiece (such as uneven surface or slight warping), achieving conformal support and improving the flatness of the middle of the workpiece.

[0037] The visual inspection structure 2 includes a mounting bracket 21, which is bolted to the top of the base 1. Fixing brackets 22 are bolted to both the front and rear sides of the mounting bracket 21. Two first industrial cameras 23 are bolted to the inner side of the front fixing bracket 22. A movable bracket 24 is slidably disposed inside the rear fixing bracket 22, and a second industrial camera 28 is bolted inside the movable bracket 24. A beam splitter prism 25 is disposed at the front end of the movable bracket 24, and directional light sources 26 are bolted to the top and bottom of the front end of the movable bracket 24. A focusing lens 27 is bolted inside the directional light source 26. The beam splitter 25 and the beam splitter 27 are coaxially arranged. By setting up the vision inspection structure 2, the two first industrial cameras 23 on the front fixed frame 22 take pictures of the opposite surfaces of the two workpieces from different angles. The movable frame 24 in the rear fixed frame 22 can be adjusted so that the second industrial camera 28 can simultaneously collect the features of the opposite surfaces of the two workpieces through the beam splitter 25. The directional light source 26 provides illumination, and the focusing lens 27 images the workpiece features onto the beam splitter 25 and then reflects them to the second industrial camera 28. This realizes the synchronous inspection of two workpieces by a single camera, simplifies the relative deviation calculation process, and improves the inspection efficiency.

[0038] The lens optical axis of the left first industrial camera 23 is arranged obliquely upward, and the lens optical axis of the right first industrial camera 23 is arranged obliquely downward. The intersection of the lens optical axes of the two first industrial cameras 23 is located in the middle area of ​​the two opposing surfaces of the fixed structure 7. The beam splitter prism 25 and the focusing lens 27 are both located in the middle area of ​​the two opposing surfaces of the fixed structure 7. The left first industrial camera 23 obliquely upward captures the lower surface features of the upper workpiece, and the right first industrial camera 23 obliquely downward captures the upper surface features of the lower workpiece. The intersection of their optical axes is located in the middle of the opposing surfaces of the two workpieces, ensuring that the key features of the two workpieces are covered at the same time. The beam splitter prism 25 and the focusing lens 27 are located in the middle of the opposing surfaces of the two workpieces, guiding the reflected light from the two workpieces to the second industrial camera 28 respectively to form a partitioned image, which is convenient for the controller 8 to extract the relative deviation.

[0039] The base 1 is bolted to the front of a controller 8, which is electrically connected to the vision inspection structure 2 and the motion execution components. The controller 8 integrates a display module, an image acquisition and preprocessing module, a feature recognition and coordinate mapping module, and a deviation calculation and decision module. The controller 8 receives image data from the vision inspection structure 2 through electrical connection. The display module displays the workpiece image, feature coordinates, and deviation value in real time. The image acquisition and preprocessing module performs noise reduction and enhancement processing on the original image. The feature recognition and coordinate mapping module extracts the coordinates of the workpiece features and the reference mark of the fixed shell 74, and converts the pixel coordinates into mechanical coordinates. The deviation calculation and decision module generates adjustment instructions based on the coordinate difference, controlling the rotation drive structure 3, the linear precision guide rail 5, and the fixed component 75 to move. The integrated controller 8 realizes full-process automation from image acquisition, processing, decision-making to execution, improving the registration efficiency. Furthermore, the collaborative work of each module ensures real-time linkage between vision inspection and mechanical adjustment, solving the error accumulation problem caused by traditional segmented control.

[0040] The top of the mounting bracket 21 is bolted with a displacement cylinder 9, and the bottom of the displacement cylinder 9 is bolted with the top rotation drive structure 3. The height of the upper fixed platform 6 can be adjusted by the displacement cylinder 9, which facilitates the alignment operation.

[0041] The working principle of this embodiment is as follows: Two workpieces to be fitted are placed between two fixed structures 7. The contact plate 751 contacts the edge of the workpiece under the action of the spring 755, achieving initial positioning. Subsequently, the first fine-tuning electric cylinder 753 and the second fine-tuning electric cylinder 754 work together. The first fine-tuning electric cylinder 753 adjusts the spatial position of the contact plate 751, and the second fine-tuning electric cylinder 754 adjusts the tilt angle of the connecting plate 752 from both ends, so that the two workpieces reach an ideal posture of relative parallelism. Then, the pushing cylinder 764 of the middle support assembly 76 starts to work, pushing the elastic plate 763 to deform, driving the movable plate 762 and the matrix of support columns 765 to move towards the workpiece. The piezoelectric ceramic actuator 767 in each support column 765 drives the elastic contact 766 to fine-tune the height, so that it fits against the back of the workpiece. Simultaneously, the vacuum generator produces a slight negative pressure through the suction hole, achieving initial adsorption and fixation of the workpiece. Then, the moving frame 24 moves the focusing lens 27 and the beam splitter 25 between the two workpieces. Two first industrial cameras 23 simultaneously capture images of the relative surface features of the two workpieces from above and below, respectively, while the second industrial camera 28 synchronously acquires image data of the two workpieces through the beam splitter 25. The directional light source 26 and the focusing lens 27 provide uniform illumination and clear imaging for image acquisition. All cameras synchronously capture image data including workpiece features and reference marks on the fixed housing 74, and transmit it to the controller 8. The image acquisition and preprocessing module of the controller 8 performs noise reduction and enhancement processing on the acquired images. The feature recognition and coordinate mapping module extracts the pixel coordinates of the workpiece feature points and reference marks, converting them into actual coordinates in the mechanical coordinate system. The deviation calculation and decision module comprehensively analyzes the relative position deviation of the two workpieces, including parameters such as horizontal displacement and rotation angle, generating precise adjustment commands. According to the commands of the controller 8, the rotation drive structure 3 starts working, adjusting the angular position of the connecting platform 4. Simultaneously, the linear precision guide rails 5 in the X and Y directions move in tandem, driving the fixed platform 6 and its components. The workpiece undergoes micron-level position correction. Once the position adjustment reaches the preset accuracy requirement, the fixing component 75 enters the final fixing stage. The arrayed flexible contacts 756 extend from the surface of the contact plate 751 under the drive of the fixing electric cylinder 757, forming uniformly distributed clamping points with the edge of the workpiece. Each flexible contact 756 independently adjusts its clamping force according to the shape of the workpiece edge, achieving distributed adaptive clamping. At the same time, the vacuum adsorption force of the central support component 76 increases, forming a synergistic fixing effect with the flexible contacts 756. After fixing, the vision inspection system performs verification measurement again to ensure that the registration accuracy meets the requirements.

[0042] Example 2

[0043] refer to Figure 7 The present invention also provides a registration method based on a machine vision-based registration device, comprising the following steps: S1. Place the workpiece between the two fixing components 75, initially position it, and adjust the middle support component 76 to contact the middle of the workpiece. At the same time, slightly open the vacuum adsorption to fix the workpiece. S2. Move the vision inspection structure 2 between the two workpieces, capture the workpiece features and platform reference marks, send them to the controller 8, and calculate the position deviation; S3. Based on the deviation value, the controller 8 controls the movement of the rotary drive structure 3 and the linear precision guide rail 5 to adjust the workpiece position; S4. After adjustment, the fixing component 75 applies clamping force to the workpiece according to the preset pressure, the middle support component 76 finely adjusts the height according to the shape of the workpiece, and at the same time the vacuum adsorption force increases to complete the fixing. Finally, the alignment operation can be performed.

[0044] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. Those skilled in the art can make modifications to this embodiment without contributing any inventive step after reading this specification. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A register device based on machine vision, comprising a base station (1), characterized in that: The top of the base (1) is bolted with visual detection structure (2), the inside of visual detection structure (2) and the top of base (1) are bolted with rotary drive structure (3), and the other side of rotary drive structure (3) is bolted with connecting platform (4), the top of connecting platform (4) is bolted with linear precision guide rail (5) in X direction and Y direction respectively, and the other side of Y direction linear precision guide rail (5) is bolted with fixed platform (6), the opposite side of two fixed platforms (6) is bolted with fixed structure (7); The fixed structure (7) includes protective shell (71), the inside of protective shell (71) is rotatably connected with bidirectional screw rod (72), and the two sides in the inside of protective shell (71) are slidably provided with internal thread block (73), the internal thread block (73) is threadedly sleeved on the surface of bidirectional screw rod (72), the top of internal thread block (73) is bolted with fixed shell (74), and the two ends of the top of fixed shell (74) are provided with reference marks, the inside of fixed shell (74) is provided with fixed assembly (75), and the side, away from fixed platform (6), of protective shell (71) is bolted with middle support assembly (76).

2. The machine vision based register apparatus according to claim 1, wherein: The fixed assembly (75) includes contact plate (751), the side, close to fixed shell (74), of contact plate (751) is provided with connecting plate (752), the inside of fixed shell (74) is bolted with a plurality of first fine adjustment electric cylinders (753), and the output end of first fine adjustment electric cylinder (753) is hingedly connected with connecting plate (752), the two ends in the inside of fixed shell (74) are hingedly connected with second fine adjustment electric cylinders (754), the output end of second fine adjustment electric cylinder (754) is hingedly connected with connecting plate (752), a plurality of springs (755) are bolted between connecting plate (752) and contact plate (751) along the length direction, the inside of contact plate (751) is slidably provided with flexible contact (756), and the side, close to connecting plate (752), of flexible contact (756) is bolted with fixed electric cylinder (757).

3. The machine vision based register apparatus according to claim 2, wherein: The flexible contact (756) is arranged in array in the inside of contact plate (751), and is evenly distributed along the length direction of contact plate (751).

4. The machine vision based register apparatus of claim 1, wherein: The middle support assembly (76) comprises a support plate (761) which is bolted on the side of the protective shell (71) away from the fixed platform (6), the other side of the support plate (761) is provided with a movable plate (762), the side close to the support plate (761) of the movable plate (762) is bolted with an elastic sheet (763) arranged in an arc shape, and the two ends of the elastic sheet (763) are slidably connected with the inner wall of the support plate (761), the two sides of the inside of the support plate (761) are bolted with a push air cylinder (764), and the other end of the push air cylinder (764) is bolted with the elastic sheet (763), the side away from the support plate (761) of the movable plate (762) is bolted with a support column (765), the inside of the support column (765) is slidably provided with an elastic contact (766), the inside of the support column (765) is bolted with a piezoelectric ceramic driver (767), and the piezoelectric ceramic driver (767) is used in cooperation with the elastic contact (766), the end of the elastic contact (766) is provided with a suction hole, and the outside is connected with a vacuum generator.

5. The machine vision based register apparatus according to claim 4, wherein: The number of the support column (765) is several, and the support column (765) is arranged in a matrix form on the side away from the support plate (761) of the movable plate (762).

6. The machine vision based register apparatus according to claim 1, wherein: The visual detection structure (2) comprises a mounting bracket (21) bolted on the top of the base (1), the front side and the rear side of the mounting bracket (21) are bolted with a fixed frame (22), the inner side of the front side fixed frame (22) is bolted with two first industrial cameras (23), the inside of the rear side fixed frame (22) is slidably provided with a moving frame (24), and the inside of the moving frame (24) is bolted with a second industrial camera (28), the front end of the inside of the moving frame (24) is provided with a beam splitter prism (25), and the top and the bottom of the front end of the moving frame (24) are bolted with a directional light source (26), the inside of the directional light source (26) is bolted with a focusing lens (27), and the focusing lens (27) is coaxially arranged with the beam splitter prism (25).

7. The machine vision based register apparatus according to claim 6, wherein: The lens optical axis of the left first industrial camera (23) is arranged obliquely upward, the lens optical axis of the right first industrial camera (23) is arranged obliquely downward, and the intersection of the lens optical axes of the two first industrial cameras (23) is located in the middle region of the opposite faces of the two fixed structures (7), and the beam splitter prism (25) and the focusing lens (27) are both located in the middle region of the opposite faces of the two fixed structures (7).

8. The machine vision based register apparatus of claim 6, wherein: The front side of the base (1) is bolted with a controller (8), the controller (8) is electrically connected with the visual detection structure (2) and the motion execution component, and the controller (8) is integrated with a display module, an image acquisition and preprocessing module, a feature recognition and coordinate mapping module, and a deviation calculation and decision module.

9. The machine vision based register apparatus of claim 6, wherein: The top inside of the mounting bracket (21) is bolted with a displacement air cylinder (9), and the bottom of the displacement air cylinder (9) is bolted with the top rotary driving structure (3).

10. The register method of a register device based on machine vision according to claims 1-9, characterized in that: The method comprises the following steps: S1. The workpiece is placed between the two fixed assemblies (75), and is preliminarily positioned, and the middle support assembly (76) is adjusted to contact the middle part of the workpiece, and the vacuum suction is slightly opened to fix the workpiece; S2. The visual detection structure (2) is moved between the two workpieces, the workpiece features and platform reference marks are photographed and sent to the controller (8), and the position deviation is calculated; S3. According to the deviation value, the controller (8) controls the rotation driving structure (3) and the linear precision guide rail (5) to move, and adjusts the position of the workpiece; S4. After the adjustment is completed, the workpiece is clamped by the fixed assembly (75) according to the preset pressure, the middle support assembly (76) is adjusted according to the workpiece topography, the vacuum suction force is increased, the fixing is completed, and finally the registration operation can be performed.

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