Assembly platform

Abstract

The utility model relates to an assembling platform which comprises a platform base, an adsorption device, a bearing piece, a visual recognition assembly and a six-axis platform, the platform base is provided with a lower piece alignment area, an upper piece alignment area and a main track communicating the lower piece alignment area with the upper piece alignment area, and the adsorption device is fixedly arranged on the platform base, located in the upper piece alignment area and used for adsorbing an upper lens. The bearing part is used for bearing the lower lens, the visual recognition assembly comprises a lower lens recognition camera, an upper lens recognition camera and an image recognition module, the lower lens recognition camera is located in the lower lens alignment area and located above the bearing part, the upper lens recognition camera is located in the upper lens alignment area and located below the adsorption device, and the six-axis platform is slidably installed on the main track. The six-axis platform is in driving connection with the bearing part and is in communication connection with the image recognition module. And the recognition camera is matched with the six-axis platform, so that automatic alignment of the lenses in different shapes can be realized visually, the die does not need to be replaced frequently, and full-automatic laminating assembly of the lenses is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to lens assembly technical field, in particular to the assembly platform. BACKGROUND

[0002] At present, AR products realize automatic lamination between lenses through automatic laminating process, and the existing automatic laminating equipment often needs to develop corresponding shape molds for two laminated lenses to ensure lamination accuracy. With the development of AR products, the shape of lenses tends to diversify, and different shaped lenses need to be laminated. If the existing automatic laminating equipment is still used, the mold needs to be replaced when laminating different lenses, in other words, the existing automatic laminating equipment is difficult to compatible with the laminating requirements of lenses of multiple shapes, resulting in low degree of automation of lens production, low efficiency in large-scale batch production, and easy to cause equipment to enter dust during replacement, which may affect product yield. SUMMARY

[0003] Based on the fact that the existing lens automatic laminating equipment is difficult to compatible with the laminating requirements of lenses of multiple shapes, it is necessary to provide an assembly platform.

[0004] The assembly platform is used for laminating a lower lens to a predetermined position of an upper lens, comprising:

[0005] A platform base has a lower piece alignment area, an upper piece alignment area, and a main track connecting the lower piece alignment area and the upper piece alignment area;

[0006] An adsorption device is fixed to the platform base and located in the upper piece alignment area and used for adsorbing the upper lens;

[0007] A carrier is used for carrying the lower lens;

[0008] A visual recognition component includes a lower piece recognition camera located in the lower piece alignment area and above the carrier, an upper piece recognition camera located in the upper piece alignment area and below the adsorption device, and an image recognition module communicatively connected to the lower piece recognition camera and the upper piece recognition camera; and

[0009] A six-axis platform is slidably installed on the main track, and the six-axis platform is drivingly connected to the carrier and communicatively connected to the image recognition module.

[0010] In this way, the assembly platform is equipped with an identification camera, and the six-axis platform can realize automatic alignment of lenses of different shapes from a visual perspective, without the need to develop multiple molds for lenses of different shapes and the need to frequently replace molds, thereby realizing full-automatic lens assembly. The lower lens alignment area and the upper lens alignment area clearly display the bonding surfaces of the lower lens and the upper lens to the outside, thereby facilitating the shooting of the lower lens identification camera and the upper lens identification camera and facilitating the calculation of the deviation value required for alignment by the image recognition module.

[0011] In one embodiment, the number of lower lens identification cameras is two, and the lower lens identification cameras are a lower lens Mark identification camera and a lower lens contour identification camera, respectively. The number of upper lens identification cameras is also two, and the upper lens identification cameras are an upper lens Mark identification camera and an upper lens contour identification camera, respectively.

[0012] In this way, the assembly platform can be compatible with multiple alignment conditions, such as Mark-to-Mark, Mark-to-contour, contour-to-contour, and off-site Mark, and has wide adaptability.

[0013] In one embodiment, the platform base further has a first branch track located at the upper lens alignment area and a second branch track located at the lower lens alignment area, and the first branch track and the second branch track intersect with the main track, respectively.

[0014] The upper lens Mark identification camera and the upper lens contour identification camera are slidably installed on the first branch track, and the lower lens Mark identification camera and the lower lens contour identification camera are slidably installed on the second branch track.

[0015] In this way, the introduction of the branch track facilitates the movement of different identification cameras to the best shooting position, thereby obtaining the best shooting angle, i.e., placing the Mark point or the lens at the center of the camera field of view, which is beneficial to reducing image distortion or calibration deviation.

[0016] In one embodiment, the lower lens Mark identification camera and the upper lens Mark identification camera are each a telecentric camera assembly.

[0017] The lower lens contour identification camera and the upper lens contour identification camera are each a depth-of-field camera assembly.

[0018] In this way, the shooting requirements of different alignment conditions are met, which is beneficial to improving the alignment accuracy.

[0019] In one embodiment, the adsorption device includes an adsorption body fixedly connected to the platform base and a transparent partition plate installed below the adsorption body, and the assembly platform further includes a curing light emitting element located on the upper side of the transparent partition plate.

[0020] In this way, the transparent carrier or the transparent partition is used to transmit the curing light, so as to realize the automation of the curing process.

[0021] In one of the embodiments, the platform base further comprises an upper and lower feeding area, the assembly platform further comprises a pick-and-place device for mounting the platform base, and an upper tray and a lower tray located in the upper and lower feeding area, the carrier has a transfer surface corresponding to the upper tray and a positioning surface corresponding to the lower tray;

[0022] The pick-and-place device has a first pick-and-place path starting from the upper tray and ending at the transfer surface, and a second pick-and-place path starting from the lower tray and ending at the positioning surface.

[0023] In this way, the assembly platform is further promoted to realize automation, which is conducive to eliminating the adverse effects of dust on lens fitting.

[0024] In one of the embodiments, the pick-and-place device further has a third pick-and-place path starting from the positioning surface and ending at any one of the upper tray and the lower tray.

[0025] In this way, the finished product is still discharged by the pick-and-place device, without the need for additional discharge components, thereby saving costs. During the feeding and discharging process, the six-axis platform waits in the feeding and discharging area without sliding, thereby reducing the wear of the track and improving the service life of the assembly platform.

[0026] In one of the embodiments, the platform base further has an upper and lower feeding area and a third guide rail located in the upper and lower feeding area, the pick-and-place device comprises a gripper assembly slidably mounted on the third guide rail, an upper camera mounted on the gripper assembly, and a lower camera fixed to the platform base and located below the gripper assembly, the upper camera and the lower camera are respectively communicatively connected to the image recognition module.

[0027] In this way, it is conducive to improving the pick-and-place precision and preventing damage to the lens caused by the gripper during the pick-and-place process.

[0028] In one of the embodiments, the upper camera and the lower camera are respectively a depth-of-field camera assembly.

[0029] In this way, the depth-of-field camera has a larger field of view and can cope with large-size trays and small-size lenses.

[0030] In one of the embodiments, the platform base further has a fourth guide rail located in the lower lens positioning area, and the assembly platform further comprises a dispensing device mounted on the fourth guide rail.

[0031] In this way, the upper and lower lenses do not need to be pre-coated with glue when being fed, avoiding premature curing or contamination with dust, and after alignment, the glue dispensing device can be moved to the lower piece, thereby reducing the time of curing glue in contact with air and external light. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A schematic diagram of the planar layout of the assembly platform in one embodiment of the present application is provided.

[0033] Figure 2 To Figure 1 The front view of the assembly platform is shown.

[0034] Reference signs:

[0035] 10, platform base; 101, upper piece alignment area; 102, lower piece alignment area; 103, upper and lower feeding area; 104, main rail; 105, first branch rail; 106, second branch rail; 107, third branch rail; 108, fourth branch rail; 20, visual recognition component; 21, upper piece recognition camera; 211, upper piece Mark recognition camera; 212, upper piece contour recognition camera; 22, lower piece recognition camera; 221, lower piece Mark recognition camera; 222, lower piece contour recognition camera; 30, six-axis platform; 40, bearing; 41, transfer surface; 42, alignment surface; 50, suction device; 60, pick-and-place device; 61, clamping jaw assembly; 62, upper camera; 63, lower camera; 70, glue dispensing device; 81, upper piece holder; 82, lower piece holder. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a variety of ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Thus, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0039] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be indirectly contacted through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0041] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiment.

[0042] At present, AR products realize automatic lamination between lenses through an automatic laminating process. The existing automatic laminating equipment often needs to develop a mold corresponding to the shape of two laminated lenses to ensure the lamination precision. With the development of AR products, the shape of lenses tends to diversify, and different shapes of lenses need to be laminated. If the existing automatic laminating equipment is still used, the mold needs to be replaced when laminating different lenses. In other words, the existing automatic laminating equipment cannot be compatible with the laminating requirements of lenses of multiple shapes, resulting in low degree of automation of lens production, low efficiency in large-scale batch production, and easy dust entering the equipment during replacement, which may affect the yield of products.

[0043] Therefore, it is necessary to provide an assembly platform capable of being compatible with the automatic laminating requirements of lenses of multiple shapes and having high assembly precision of lenses.

[0044] Please refer to Figure 1 , Figure 1 the planar layout diagram of the assembly platform in one embodiment of the utility model, Figure 2 is Figure 1 the front view of the assembly platform.

[0045] The assembling platform provided in the application comprises a platform base 10, an adsorption device 50, a bearing 40, a visual identification assembly 20 and a six-axis platform 30. The platform base has a lower lens positioning area 102, an upper lens positioning area 101 and a main track 104 connecting the lower lens positioning area 102 and the upper lens positioning area 101. The adsorption device 50 is fixed to the platform base 10 and located in the upper lens positioning area 101 and used for adsorbing the upper lens. The bearing 40 is used for bearing the lower lens. The visual identification assembly 20 comprises a lower lens identification camera 22, an upper lens identification camera 21 and an image identification module. The lower lens identification camera 22 is located above the bearing 40 in the lower lens positioning area 102. The upper lens identification camera 21 is located below the adsorption device 50 in the upper lens positioning area 101. The six-axis platform 30 is slidably installed in the main track 104. The six-axis platform 30 is drivingly connected to the bearing 40 and communicatively connected to the image identification module. Specifically, the position of the adsorption device 50 is the identification position of the upper lens identification camera 21. The main track 104 is also provided with an identification position of the lower lens identification camera 22 in the lower lens positioning area 102. The two identification positions of the upper lens identification camera 21 and the lower lens identification camera 22 are mutually mapped. In actual operation, the bearing 40 and the six-axis platform 30 are located in the lower lens positioning area 102. The lower lens identification camera 22 photographs the lower lens located in the bearing 40. The upper lens identification camera 21 photographs the upper lens located in the bearing 40. The image identification module calculates the deviation of the upper lens and the lower lens according to the images received by the two cameras and sends the deviation to the six-axis platform 30. The six-axis platform 30 adjusts the position of the bearing 40 according to the deviation so that the upper lens and the lower lens are positioned in the two mapped identification positions. After positioning, the six-axis platform 30 carries the bearing 40 and the lower lens to slide to the position directly below the adsorption device 50 and lifts the lower lens so that the lower lens and the upper lens are attached. Since the identification camera is provided in the assembling platform, the six-axis platform 30 can realize the automatic positioning of lenses of different shapes from the visual point of view. It is not necessary to develop multiple molds for lenses of different shapes and it is not necessary to frequently replace the molds. The full-automatic attachment and assembling of lenses are realized. The lower lens positioning area 102 and the upper lens positioning area 101 provided in the application can clearly display the attachment surface of the lower lens and the upper lens to the outside, thereby facilitating the photographing of the lower lens identification camera 22 and the upper lens identification camera 21 and facilitating the calculation of the deviation value required for positioning by the image identification module.

[0046] Further, in order to further ensure the fitting accuracy when fitting and assembling lenses of more different shapes, in an embodiment provided by the present application, the number of the lower lens recognition cameras 22 is two, and they are respectively a lower lens Mark recognition camera 221 and a lower lens contour recognition camera 222. The number of the upper lens recognition cameras 21 is also two, and they are respectively an upper lens Mark recognition camera 211 and an upper lens contour recognition camera 212. When the lens surface is provided with Mark points, the lower lens Mark recognition camera 221 and the upper lens Mark recognition camera 211 are preferentially enabled to perform recognition, and then the contour recognition cameras are enabled to perform visual alignment. When the lens surface is not provided with Mark points, the assembly platform provided by the present application can also perform visual alignment only through the contour recognition cameras. In this way, the assembly platform can be compatible with various alignment conditions: Mark-to-Mark, Mark-to-contour, contour-to-contour, and off-site Mark. The off-site Mark refers to the Mark points on the upper and lower lenses not coinciding after fitting.

[0047] In order to enable the different recognition cameras to obtain the best shooting angle, in an embodiment provided by the present application, the platform base 10 further has a first branch track 105 located in the upper lens alignment area 101 and a second branch track 106 located in the lower lens alignment area 102. The first branch track 105 and the second branch track 106 respectively intersect with the main track 104. The upper lens Mark recognition camera 211 and the upper lens contour recognition camera 212 are respectively slidably installed on the first branch track 105. The lower lens Mark recognition camera 221 and the lower lens contour recognition camera 222 are respectively slidably installed on the second branch track 106. In this way, in different alignment conditions, different recognition cameras can be selected to be moved to the track intersection point so that the camera can shoot the lens directly, which is beneficial to reducing the influence of image distortion on image recognition.

[0048] In order to adapt to the shooting requirements of different alignment conditions, in an embodiment provided by the present application, the lower sheet Mark recognition camera 221 and the upper sheet Mark recognition camera 211 are telecentric camera assemblies, specifically using a 600W pixel sensor + a telecentric lens + a point light source, and the lower sheet contour recognition camera 222 and the upper sheet contour recognition camera 212 are depth-of-field cameras, specifically using a 2500W pixel sensor + a FA (depth-of-field) lens + an open hole planar light source. It is worth noting that the planar light is provided by an infrared light emitter, so as to avoid the adverse effects on the curing glue at the lens bonding surface. Optionally, in an embodiment provided by the present application, the adsorption device 50 includes an adsorption body fixedly connected to the platform base 10 and a transparent partition plate installed below the adsorption body, and the assembly platform further includes a curing light emitting element located on the upper side of the transparent partition plate, which specifically uses a UV light emitter. In addition, the carrier table is also a transparent glass plate, and the assembly platform further includes a background light emitting element installed on the back of the carrier table, which provides background light for illuminating the carrier table, making the contour between the carrier table and the lower lens more clear, and also for illuminating the calibration plate during calibration, improving the field brightness of the depth-of-field camera, and thus improving the calibration accuracy and alignment accuracy.

[0049] Optionally, in order to realize the automatic feeding and discharging to further eliminate the adverse effects of dust on the lens bonding, in an embodiment provided by the present application, the platform base 10 further includes a feeding and discharging area 103, and the assembly platform further includes a taking and placing device 60 installed on the platform base 10 and an upper sheet storage tray 81 and a lower sheet storage tray 82 located in the feeding and discharging area 103. The carrier 40 has a transfer surface 41 corresponding to the upper sheet storage tray 81 and an alignment surface 42 corresponding to the lower sheet storage tray 82. The taking and placing device 60 has a first taking and placing path starting from the upper sheet storage tray 81 and ending at the transfer surface 41, and a second taking and placing path starting from the lower sheet storage tray 82 and ending at the alignment surface 42. Further, in order to optimize the planar layout space of the assembly platform, in an embodiment provided by the present application, the taking and placing device 60 further has a third taking and placing path starting from the alignment surface 42 and ending at any one of the upper sheet storage tray 81 and the lower sheet storage tray 82. In this way, the product after bonding is still discharged through the taking and placing device 60, without the need to additionally set another discharging assembly, saving costs. During the feeding and discharging process, the six-axis platform 30 waits in the feeding and discharging area 103 without the need to slide, reducing the wear of the track and being beneficial to improving the service life of the assembly platform. The upper sheet storage tray 81 and the lower sheet storage tray 82 specifically use tray trays.

[0050] Further, in order to improve the taking and placing precision and prevent the damage of the lens caused by the clamping jaw during the taking and placing process, in an embodiment provided by the present application, the platform base 10 further has a feeding and discharging area 103 and a third supporting track 107 located in the feeding and discharging area 103, and the taking and placing device 60 includes a clamping jaw assembly 61 slidably mounted on the third supporting track 107, an upper camera 62 mounted on the clamping jaw assembly 61, and a lower camera 63 fixed to the platform base 10 and located below the clamping jaw assembly 61, and the upper camera 62 and the lower camera 63 are respectively communicatively connected to the image recognition module. The clamping jaw assembly 61 equipped with the upper camera 62 can determine the clamping position and the inclination angle of the clamping jaw before clamping the lens, so as to accurately abut the clamping position of the lens rather than other positions, and the lower camera 63 ensures that the placing position of the clamping jaw assembly 61 is aligned with the carrier 40. The upper and lower cameras 63 cooperate with the image recognition module to guide the taking and placing path of the clamping jaw assembly 61, thereby ensuring that the upper lens or the lower lens can be accurately placed on the transfer surface 41 and the alignment surface 42 of the carrier 40. Specifically, the upper and lower cameras 63 are respectively a depth-of-field camera assembly, and the depth-of-field camera specifically adopts a 2500W pixel sensor + a depth-of-field lens + an open hole planar light source. In this way, the camera has a larger field of view and can cope with the working conditions of large-size placing trays and small-size lenses.

[0051] Optionally, the platform base 10 further has a fourth supporting track 108 located in the lower lens alignment area 102, and the assembly platform further includes a dispensing device 70 mounted on the fourth supporting track 108. In this way, the upper and lower lenses do not need to be pre-coated with glue when being fed, thereby avoiding early solidification or dust contamination, and the dispensing device 70 can be moved to the lower lens after the alignment is completed, thereby reducing the contact time of the solidified glue with air and external light. It can be understood that the dispensing device 70 includes a dispensing assembly and a dispensing recognition camera mounted on the dispensing assembly to improve the dispensing precision. Optionally, the dispensing recognition camera includes a dispensing Mark recognition camera and a dispensing contour recognition camera.

[0052] The visual alignment system suitable for the assembly platform provided by the present application includes a product module, a lighting test module, a feeding and discharging module, a calibration module, an alignment module, and an operation interface.

[0053] The product module needs to be compatible with ordinary glass and coated glass. Specifically, the surface of the ordinary glass only has an AR structure area, and the surface is not treated. In addition to the AR structure area, the surface of the coated glass is further coated, such as ARC film and anti-reflection film, to increase the transmittance of the glass.

[0054] The light test module specifically includes loading and unloading light test, Mark light test and profile light test. The loading and unloading light test requires full field shooting of product glass (range: 50x80mm), and the combination scheme of 2500W camera + FA lens + open hole plane light source is adopted. In order to distinguish product glass and tray carrier, the surface of the carrier needs to be specially treated. In the Mark light test, the size of Mark is set to 0.5mm, and the required field diameter of the camera is 3mm, so the combination scheme of 600W pixel camera + telecentric lens + point light source is adopted. The profile light test is similar to the loading and unloading light test, which requires full field shooting of product glass (range: 50x80mm). In order to be compatible with the UV curing process, the upper glass platform of the suction device 50 is made of transparent glass with a thickness of 10mm. In order to distinguish ordinary glass and coated glass, the open hole plane light source selects infrared light.

[0055] The loading and unloading module includes loading and unloading. When loading, the upper camera 62 is used to shoot the upper and lower pieces in the tray, to ensure that the jaw assembly 61 can take out according to the shape of the upper and lower pieces, and avoid touching the structure area of the product. The lower camera 63 is used to shoot the upper piece on the jaw, to ensure that the product can be accurately placed on the transfer surface 41 of the carrier 40, and the standard requirement is that the Mark and profile of the upper and lower lenses are in the field of view of the identification camera. When unloading, the upper camera 62 moves with the jaw assembly 61 above one of the trays and shoots the tray, so that the thinned and laminated product can be accurately placed in the tray.

[0056] The calibration module includes mapping calibration, nine-point calibration and rotation calibration. The mapping calibration is used to unify the camera coordinates, including Mark identification camera calibration, profile camera calibration and dispensing identification camera calibration. The nine-point calibration is used to convert the camera coordinates to mechanical coordinates, so that the calculation result deviation is directly the mechanical deviation, including nine-point calibration of the upper camera 62 and the lower camera 63, Mark identification camera nine-point calibration, profile alignment camera nine-point calibration, dispensing Mark camera nine-point calibration and dispensing profile camera nine-point calibration. The rotation calibration is used to determine the rotation center position of the alignment mechanical system, which is suitable for the working condition that the product center is not consistent with the mechanical center. In this working condition, the position of the product center will be offset due to the need for angle compensation.

[0057] The alignment module is compatible with various alignment methods of upper and lower lenses, including Mark-to-Mark (homologous Mark, heterologous Mark), contour-to-contour, and Mark-to-contour. Taking the Mark-to-Mark working condition as an example, the alignment module includes multiple sub-modules: camera hardware module, camera position confirmation module, mapping calibration module, nine-point calibration module, rotation calibration module, image recognition module, Mark position calculation, and alignment algorithm module. The camera hardware module includes four Mark recognition cameras for adapting to the working condition of upper and lower lenses each having two Marks. The camera shafts are adjustable in position on the plane to be compatible with homologous and heterologous Marks and different models of products. It can be understood that the camera hardware module can also use a single camera to correspond to shooting two Marks on one lens. This is suitable for the working condition where two Marks are close and two cameras cannot be installed side by side. The camera position confirmation module is used to determine the reference position of the camera each time alignment is performed. Since the camera has a small field of view, after automatic feeding and unloading, it is moved to the recognition position for photographing and recognition. The camera is moved to make the Mark located as close to the center of the field of view as possible, preventing the tray position from deviating too much or even moving out of the camera's field of view. The mapping calibration module is used to map and calibrate the camera with a calibration target after the position is confirmed. All coordinate systems are converted to the product camera that needs to be aligned. The mapping calibration module includes the selection of light sources, the extraction of calibration target corner points, the parameter setting of calibration target, and the direction confirmation of calibration target. The light source assists in shooting the calibration target image. Selecting a back plane light source can more clearly shoot the calibration target image, and the calibration accuracy is higher. The calibration target corner point extraction is used to confirm the position of the image coordinates. The parameter setting of the calibration target includes setting the length of a grid of the chessboard calibration target, the filtering method, and the degree of freedom. The direction confirmation of the calibration target needs to set the starting point and X, Y directions of the calibration target to ensure that the directions of the coordinate systems of the four cameras are consistent. The nine-point calibration module is used to convert the calibration target coordinate system to the mechanical coordinate system, including nine-point calibration input and parameter setting. The nine-point calibration input needs to input the image coordinates of nine points and the physical coordinates of nine points. The nine-point calibration parameter setting includes setting the number of translations and the translation distance. The rotation calibration module is used to find the rotation center of the six-axis machine. The main steps are to set the rotation angle, use the positions before and after rotation and the rotation angle, and according to the angle bisector principle, the rotation center can be obtained.

[0058] The image recognition module comprises Mark point recognition parameter setting; selection of template Mark point, interference of useless area, training parameter setting, application parameter setting, search area setting, template self-matching, Mark position calculation. The selection of template Mark point specifically refers to the selection of the Mark point area in the image by using the ROI region frame. The interference of useless area means that the area content irrelevant to visual alignment in the framed ROI region needs to be removed. The training parameter setting specifically comprises three aspects of parameter setting, i.e. angle range, scaling size and contrast size, wherein the angle range parameter represents the rotation range of the object Mark during recognition, the scaling size parameter represents the scalable range of the object Mark during recognition, and the contrast size represents the gray difference between the background of the object Mark during recognition. The application parameter setting comprises two parameters, i.e. minimum score and matching number, wherein the minimum score is the minimum score preset value for judging the completion of matching, and the matching number is the number of recognized Mark points. The search area setting is used to set the recognition range of the Mark point in the image position during recognition, and in this range, the image recognition module searches for the position similar to the template image. The template self-matching is used to verify whether the parameter setting is established and to self-match the Mark position. The Mark position calculation comprises setting the type of caliper, setting the parameter of caliper, setting the gray difference of Mark point, and fitting position, wherein the type of caliper can be selected as a circular caliper or a straight line caliper; the parameter of caliper comprises the number of calipers, height, width, polarity and selection method; the number of calipers is used to select the number of Mark point boundaries; the height of caliper is the recognition height of each caliper; the width of caliper is the recognition width of each caliper, and the width setting of the caliper requires covering the position to be recognized; the polarity of caliper is specifically, for example, from black to white, from white to black or custom setting; the selection method of caliper is used to set the line segment of the specific position of the caliper recognition, such as the first line segment, the last line segment or the maximum line segment; setting the gray difference of Mark point is used to enable the caliper to confirm the boundary position according to the gray scale; the fitting position is used to perform straight line fitting or circle fitting after the caliper confirms the boundary position, and to confirm the Mark point position.

[0059] The alignment algorithm module is used to realize the alignment of the two groups of Mark of the upper sheet and the lower sheet, including the homologous Mark and the heterologous Mark. The homologous Mark refers to that the upper and lower sheet products are in the same position, and the alignment is performed according to the angle and distance deviation between the two groups of Mark. The heterologous Mark refers to that the upper and lower sheet products are in different positions (there is a fixed deviation). The alignment process includes the measurement method of the fixed deviation, the input method of the fixed deviation, and the coordinate conversion of the alignment algorithm. The measurement method of the fixed deviation takes the upper sheet product as the reference (the position of the upper sheet product is fixed), takes the left Mark of the upper sheet product as the origin, and takes the Mark line as the reference axis, and measures the coordinate position of the lower sheet product in the CAD drawing. The input of the fixed deviation is to directly input the coordinate points of the upper and lower sheet products into the algorithm for calculation. In the coordinate conversion of the alignment algorithm, the Mark point line of the upper sheet product is taken as the reference, and the left Mark of the lower sheet product is converted to the coordinate system with the upper sheet product as the reference. At this time, the deviation of the coordinate of the lower sheet product from the standard lower sheet product coordinate is the alignment deviation.

[0060] The operation interface is divided into an engineer interface and an operator interface. The engineer interface includes a camera image display interface, camera parameter setting, various algorithm and parameter setting, result display interface and error prompt interface, etc. The operator interface, compared with the engineer interface, only includes a simple operation process and does not involve a parameter setting interface.

[0061] Based on the above-mentioned visual alignment system, the specific working process of the assembly platform includes a calibration process and an automatic alignment process.

[0062] The calibration process is as follows:

[0063] Step one: place the calibration plate on the bearing table and wait for the electrical trigger to identify the mapping calibration of the camera.

[0064] Step two: electrically trigger the mapping calibration module to perform mapping calibration. First, electrically drive the six-axis platform 30 to move to the lower sheet alignment area 102, and electrically drive the lower sheet Mark identification camera 221 and the lower sheet contour identification camera 222 to move to the upper side of the calibration plate and take pictures to realize mapping calibration. Then, electrically drive the six-axis platform 30 to move to the upper sheet alignment area 101, and electrically drive the upper sheet Mark identification camera 211 and the upper sheet contour identification camera 212 to move to the lower side of the calibration plate and take pictures to realize mapping calibration.

[0065] Step three: electrically trigger the nine-point calibration module to perform nine-point calibration. First, place two tray discs in the loading and unloading area 103 and specifically on both sides of the main track 104, electrically trigger the loading and unloading module to perform loading and unloading; second, electrically drive the six-axis platform 30 to move to the lower lens alignment area 102, the lower lens Mark recognition camera 221 captures the Mark of the lower lens, and the six-axis platform 30 drives the carrier and the calibration plate on the carrier to walk nine positions in the field of view of the lower lens Mark recognition camera 221, while triggering the camera to identify the nine positions of the Mark. The camera sends the mechanical position to the image recognition module, and the conversion relationship between the camera coordinate system and the mechanical coordinate system is obtained through the calculation of the affine matrix.

[0066] Step four: electrically trigger the rotation calibration module to perform rotation calibration. First, place the tray disc in the loading and unloading area 103 and on both sides of the main track 104, electrically trigger the loading and unloading module to perform loading and unloading, and at this time the six-axis platform 30 is located in the loading and unloading area 103; second, electrically drive the six-axis platform 30 to move to the lower lens alignment area 102, electrically drive the lower lens Mark recognition camera 221 to capture the Mark point on the lower lens, electrically drive the six-axis platform 30 to rotate a certain angle (at least twice) in the camera field of view, trigger the camera to identify the position of the Mark point of the lower lens after rotation, and the camera further sends the mechanical rotation angle to the image recognition module for calculation. Since the camera coordinate system and the mechanical coordinate system have been mapped to each other in step three, the rotation center in the mechanical coordinate system can be obtained according to the calculation result of the camera coordinate system.

[0067] The automatic alignment process is as follows:

[0068] Step five: automatic loading and unloading. First, place two tray discs respectively loaded with upper and lower lenses in the main track 104 on both sides of the loading and unloading area 103, and electrically drive the six-axis platform 30 to move to the loading and unloading area 103; second, electrically trigger the upper camera 62 to capture, and the upper camera 62 sends the captured image to the image recognition module to calculate the deviation of the product from the reference position, and then feeds back to the electric for compensation (i.e. adjust the lowering position and angle of the jaw assembly 61); third, after compensation is completed, electrically drive the jaw to lower to grab the lens, and thus transfer the upper and lower lenses to the carrier, respectively; finally, electrically drive the six-axis platform 30 to move to the upper lens alignment area 101, and electrically drive the six-axis platform 30 to make the Z-axis of the six-axis platform 30 rise, so that the upper lens is adsorbed by the adsorption device 50.

[0069] Step six: automatic alignment, taking the Mark-to-Mark working condition as an example. First, the electrical drive six-axis platform 30 moves again to the lower lens alignment area 102, and the electrical drive also moves the lower lens Mark recognition camera 221 to the upper position of the lower lens, and the upper lens Mark recognition camera 211 moves to the lower position of the upper lens; second, trigger the camera shooting and image recognition module to calculate the Mark point positions of the upper lens and the lower lens, convert the coordinate system to the standard measurement coordinate system, and calculate the offset between the actual positions of the two Mark points and the standard positions; third, according to the X, Y offset and the deviation of the θ angle between the two positions, the electrical drive six-axis platform 30 performs Mark point alignment, and adjusts the θ axis, X axis and Y axis of the six-axis platform 30 in turn, and finally realizes the alignment of the Mark point. It can be understood that in other working conditions, only different recognition cameras need to be selected.

[0070] Step seven: secondary alignment to reduce error. The secondary alignment is basically the same as the automatic alignment in step six. After the specific deviation is obtained by the camera shooting and image recognition module, the six-axis platform 30 is driven to adjust the θ axis, X axis and Y axis in turn. It is worth noting that the rotation center at this time is the secondary alignment rotation center plus the alignment deviation of the first alignment rotation center in step six.

[0071] Step eight: automatic dispensing and curing. The electrical drive dispensing device 70 moves to the upper position of the lower lens, and the dispensing position is determined according to the dispensing recognition camera. After completion, the electrical drive six-axis platform 30 moves to the upper lens alignment area 101, and the electrical drive Z axis of the six-axis platform 30 is driven to rise to make the lower lens and the upper lens adhere. The UV light source is turned on for irradiation and curing. After curing, the electrical drive adsorption device 50 releases the upper lens, and the electrical drive Z axis of the six-axis platform 30 is lowered.

[0072] Step nine: automatic unloading. The electrical drive six-axis platform 30 carrying the glued product moves to the upper and lower unloading area 103, triggers the upper camera 62 to shoot the position of the product, triggers the image recognition module to calculate the deviation between the product position and the reference position, which is the reference position of the original upper lens, and compensates the electrical drive to drive the jaw assembly 61 to drop and grab. Trigger the upper camera 62 to shoot the tray, trigger the image recognition module to calculate the deviation between the current position of the tray and the reference position, and compensate the electrical drive to drive the jaw assembly 61 to drop the product to the tray.

[0073] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0074] The above-described embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but can not therefore be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled person in the art, without departing from the utility model concept, several modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.

Claims

1. Assembly platform for fitting a lower lens to a predetermined position of an upper lens, characterized in that, The application relates to a lens assembling platform, comprising: a platform base with a lower lens positioning area, an upper lens positioning area and a main track connecting the lower lens positioning area and the upper lens positioning area; an adsorption device fixedly arranged on the platform base and located in the upper lens positioning area and used for adsorbing the upper lens; a carrier used for carrying the lower lens; a visual recognition assembly comprising a lower lens recognition camera located in the lower lens positioning area and above the carrier, an upper lens recognition camera located in the upper lens positioning area and below the adsorption device and an image recognition module in communication connection with the lower lens recognition camera and the upper lens recognition camera; and a six-axis platform slidably arranged on the main track, the six-axis platform being in driving connection with the carrier and in communication connection with the image recognition module. The number of the lower lens recognition cameras is two, and the two lower lens recognition cameras are a lower lens Mark recognition camera and a lower lens contour recognition camera respectively; the number of the upper lens recognition cameras is also two, and the two upper lens recognition cameras are an upper lens Mark recognition camera and an upper lens contour recognition camera respectively.

2. The assembly platform of claim 1, wherein, The platform base further has a first branch track located in the upper lens positioning area and a second branch track located in the lower lens positioning area, and the first branch track and the second branch track are respectively intersected with the main track.

3. The assembly platform of claim 2, wherein, The upper lens Mark recognition camera and the upper lens contour recognition camera are respectively slidably arranged on the first branch track, and the lower lens Mark recognition camera and the lower lens contour recognition camera are respectively slidably arranged on the second branch track. The lower lens Mark recognition camera and the upper lens Mark recognition camera are respectively telecentric camera assemblies.

4. The assembly platform of claim 3, wherein, The lower lens contour recognition camera and the upper lens contour recognition camera are respectively depth-of-field camera assemblies. The adsorption device comprises an adsorption main body fixedly connected with the platform base and a transparent partition plate arranged below the adsorption main body, and the assembling platform further comprises a solidification light emitting element located on the upper side of the transparent partition plate.

5. The assembly platform of claim 1, wherein, The platform base further comprises a feeding and discharging area, the assembling platform further comprises a taking and placing device arranged on the platform base and a lower lens placing disc and an upper lens placing disc located in the feeding and discharging area, and the carrier has a transfer surface corresponding to the upper lens placing disc and a positioning surface corresponding to the lower lens placing disc.

6. The assembly platform according to any one of claims 1 to 5, wherein, The taking and placing device has a first taking and placing path with the upper lens placing disc as a starting point and the transfer surface as an end point, a second taking and placing path with the lower lens placing disc as a starting point and the positioning surface as an end point. The taking and placing device further has a third taking and placing path with the positioning surface as a starting point and any one of the upper lens placing disc and the lower lens placing disc as an end point.

7. The assembly platform of claim 6, wherein, The platform base further has a feeding and discharging area and a third branch track located in the feeding and discharging area, and the taking and placing device comprises a gripper assembly slidably arranged on the third branch track, an upper camera arranged on the gripper assembly and a lower camera fixedly arranged on the platform base and below the gripper assembly, and the upper camera and the lower camera are respectively in communication connection with the image recognition module.

8. The assembly platform of claim 6, wherein, The upper camera and the lower camera are respectively depth-of-field camera assemblies.

9. The assembly platform of claim 8, wherein, ​ 10. The assembly platform of claim 6, wherein, The platform base further has a fourth supporting track at the lower piece alignment area, and the assembly platform further comprises a dispensing device installed on the fourth supporting track.

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