CN220844235U

CN220844235U - Image feature-based overturning and transferring servo system

Info

Publication number: CN220844235U
Application number: CN202322435047.8U
Authority: CN
Inventors: 张正涛; 黄依龙; 张武杰; 沈飞; 张峰; 杨化彬
Original assignee: Casi Vision Technology Luoyang Co Ltd
Current assignee: Casi Vision Technology Luoyang Co Ltd
Priority date: 2023-09-08
Filing date: 2023-09-08
Publication date: 2024-04-26
Anticipated expiration: 2033-09-08

Abstract

The utility model discloses an image feature-based overturning and transferring servo system, which relates to the technical field of product movement. The first transfer portion comprises a first adsorption component and a turnover component, the first adsorption component comprises a base plate, the adsorption ends of the first adsorption component and the second adsorption component are made of flexible materials, and the base plate is made of hard materials. In the process of transferring and overturning, the first transferring part positions the product through the first image recognition component, and the second transferring part positions the product through the second image recognition component; the soft corresponding type butt joint in the whole process of overturning and transferring is realized, the product damage caused by malposition of the adsorption end, uneven stress and other reasons of soft-to-soft type butt joint can be avoided, and the yield can be effectively improved.

Description

Image feature-based overturning and transferring servo system

Technical Field

The utility model relates to the technical field of product movement, in particular to a turnover transfer servo system based on image characteristics.

Background

Along with the progress of technological development and living standard, the quality requirement of people on products is higher and higher, in order to guarantee the product quality, the production end must guarantee the yield of the products, at present, the product is overturned and transferred to another working platform, a method of positioning in advance is generally adopted in the transfer process, namely the products are always placed at the preset position of the working platform, and then transferred through a mechanical arm, the method has a limitation on the positions of the products, when the products deviate, flexible coping cannot be achieved, meanwhile, in the overturning process, the traditional structure of a buffer suction rod is used for overturning, the buffer suction rod is used for carrying out soft-to-soft adsorption overturning, the defect is easily caused on softer objects, and a mechanism of soft-to-hard adsorption overturning is needed to cope with the working condition, so that the yield of the products is improved.

Disclosure of utility model

The present utility model aims to solve at least one of the technical problems existing in the prior art or related art.

To this end, the utility model provides a roll-over transfer servo system based on image features, comprising: the first platform is used for placing the product in the first state;

a second platform for placing a product in a second state;

A first transfer portion for attracting the product in the first state from the first stage and turning the product in the first state to the second state;

The second transfer part is used for completing the product handover in the second state with the first transfer part and transferring the product to the second platform;

The first image recognition part is electrically connected to the first transfer part and is used for assisting the first transfer part to position the product;

The second image recognition part is electrically connected to the second transfer part and is used for assisting the second transfer part to position the product;

The first transfer part comprises a first adsorption component and a turnover component;

The first adsorption component comprises a first adsorption end and a backing plate, wherein the first adsorption end is made of a flexible material, the backing plate is made of a hard material, and a through hole through which the adsorption end can pass is formed in the backing plate; and

The overturning assembly is used for driving the first adsorption assembly to overturn;

The second transfer part comprises a second adsorption component, and a second adsorption end of the second adsorption component is made of flexible materials;

The first image recognition part includes,

The first camera shooting piece shoots a first platform; and

The control end is electrically connected to the first transfer part, the image information of the first image pickup piece is transmitted to the control end, the control end identifies the image information, and the first transfer part is controlled based on the image information.

In a possible embodiment, the second image recognition part includes:

the second shooting part shoots the first transfer part, transmits the image information to the control end, recognizes the image information by the control end and controls the second shooting part to move based on the image information.

In a possible embodiment, it is characterized in that the first transfer section further comprises:

the first lifting assembly is used for driving the first adsorption assembly to descend to a first operation position and ascend to a second operation position;

The first connecting piece is connected to the first lifting assembly, and the first transferring part is connected to an external workpiece through the first connecting piece.

In one possible embodiment, the first adsorption assembly further comprises:

The movable end of the second lifting assembly is connected with the base plate, the base plate is provided with a third operation position and a fourth operation position under the driving of the second lifting assembly, when the base plate is in the fourth operation position, the base plate is in contact with a product, and the product is not separated from the attraction of the first adsorption end.

In one possible embodiment, the first platform comprises a first vacuum path, one end of which communicates with the surface of the first platform on which the product is placed;

the second platform comprises a second vacuum passage, and one end of the second vacuum passage is communicated with the surface of the second platform for placing products;

the first adsorption assembly comprises a third vacuum passage, and one end of the third vacuum passage is communicated with the first adsorption end;

the second adsorption assembly comprises a fourth vacuum passage, and one end of the fourth vacuum passage is communicated with the second adsorption end;

And the other ends of the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage are connected to a vacuum pump, and the vacuum pump is used for providing negative pressure environment in the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage.

In a possible embodiment, the method further includes:

The detection assembly is a vacuum meter, the detection end of the detection assembly is arranged on the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage, when the indication number of the detection assembly is 0, the other ends of the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage are not provided with attractive products, and when the indication number of the detection assembly is negative, the other ends of the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage are provided with attractive products.

In one possible embodiment, the first adsorption assembly further comprises:

The first adsorption end is arranged on the first base plate, and the fixed end of the second lifting assembly is connected with the first base plate;

The shockproof end of the first shock-proof shaft is abutted against the first base plate;

The first vibration-proof shaft is fixedly connected with the first base plate, and a through hole through which the first adsorption end can pass is formed in the first base plate;

the two ends of the guide rail are respectively connected with the first base plate and the base plate;

The first shell is used for protecting the internal structure of the first adsorption component.

In one possible embodiment, the second adsorption assembly further comprises:

the second adsorption end is connected to the third base plate;

the shockproof end of the second shock-proof shaft is abutted against the third base plate;

the second vibration-proof shaft is fixedly connected with the first base plate, and a through hole through which the second adsorption end can pass is formed in the first base plate;

And the second shell is used for protecting the internal structure of the second adsorption assembly.

In a possible embodiment, the first adsorption assembly further comprises a first extension bracket connected to the first base plate;

The second adsorption assembly further includes a second extension bracket coupled to the third base plate.

In a possible implementation manner, the first extension frame is provided with a first adsorption end, and the first adsorption end is movably connected to the first extension frame;

the second extension frame is provided with a second adsorption end, and the second adsorption end is movably connected with the second extension frame.

Compared with the prior art, the utility model at least comprises the following beneficial effects: in the use, the first state that the product kept keeping kept flat is placed on first platform, when needs are carried out the upset and are shifted, first transfer portion attracts the product under the first state through first adsorption terminal, by the upset subassembly upset of first adsorption component, make the product overturn from the first state of keeping flat to the second state, the backing plate is contacted with the product at this moment, but the product is not broken away from the absorption of first adsorption terminal all the time, adsorb the product by the second adsorption component of second transfer portion again, thereby accomplish the upset of product, transfer the product to the second platform by the second transfer portion again, thereby accomplish the transfer of product, in the in-process of transfer and upset, first transfer portion fixes a position the product through first image recognition component, even the dislocation takes place for the product, first transfer portion and second transfer portion also can be according to the visual information that first image recognition portion and second image recognition portion provided, thereby improve the flexibility and the stability of this technical scheme, because of the second adsorption terminal is flexible material, and the upset is soft backing plate, thereby realize corresponding soft good product efficiency, the soft quality of the butt joint is avoided in the soft quality of the upset, the soft quality of the butt joint end is effectively avoided because of the soft quality of the realization of the transfer, the dislocation of the soft quality of the product is effectively avoided in the whole course to the transfer and the process of the transfer.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic block diagram of a roll-over transfer servo system based on image features according to one embodiment of the present utility model;

FIG. 2 is a block diagram of a first transfer section according to one embodiment of the present utility model;

FIG. 3 is a block diagram of a first adsorbent assembly according to an embodiment of the present utility model;

Fig. 4 is a block diagram of a first adsorption assembly and a turnover assembly according to an embodiment of the present utility model.

The correspondence between the reference numerals and the component names in fig. 1 to 4 is:

100. A first platform; 200. a second platform; 300. a first transfer section; 400. a second transfer section; 500. a first image recognition unit; 600. a second image recognition unit;

310. A first adsorption assembly; 320. a flip assembly; 330. a first lifting assembly; 340. a first connector;

311. A first adsorption port; 312. a backing plate; 313. a first base plate; 314. a first shock-resistant shaft; 315. a guide rail; 316. a first housing; 317. a first extension frame; 318. and a second lifting assembly.

Detailed Description

In order to better understand the above technical solutions, the following detailed description of the technical solutions of the embodiments of the present utility model is made by using the accompanying drawings and the specific embodiments, and it should be understood that the specific features of the embodiments of the present utility model are detailed descriptions of the technical solutions of the embodiments of the present utility model, and not limit the technical solutions of the present utility model, and the technical features of the embodiments of the present utility model may be combined with each other without conflict.

As shown in fig. 1-4, according to an embodiment of the present utility model, a flipping transfer servo system based on image features is provided, including: the first platform 100 is provided with a first state of being horizontally placed and a second state of being overturned, and the first platform 100 is used for placing the product in the first state; a second platform 200, the second platform 200 being configured to place a product in a second state; a first transfer part 300 for sucking the product in the first state from the first stage 100 and turning the product in the first state to the second state; a second transfer part 400, wherein the second transfer part 400 is used for completing the product handover with the first transfer part 300 in the second state and transferring the product to the second platform 200; the first image recognition part 500 is electrically connected to the first transfer part 300, and is used for assisting the first transfer part 300 to position the product; the second image recognition part 600, the second image recognition part 600 is electrically connected to the second transfer part 400, and is used for assisting the second transfer part 400 to position the product; the first transfer part 300 includes a first adsorption assembly 310 and a turnover assembly 320; the first adsorption component 310 comprises a first adsorption end 311 and a backing plate 312, the first adsorption end 311 is made of a flexible material, the backing plate 312 is made of a hard material, and the backing plate 312 is provided with a through hole through which the adsorption end can pass; the overturning component 320 is used for driving the first adsorption component 310 to overturn; the second transferring portion 400 includes a second adsorption component, and a second adsorption end of the second adsorption component is made of a flexible material.

The image feature-based flip transfer servo system provided by the embodiment of the utility model comprises a first platform 100, a second platform 200, a first transfer part 300, a second transfer part 400, a first image recognition part 500 and a second image recognition part 600. The first transferring portion 300 includes a first adsorbing assembly 310 and a turnover assembly 320, the first adsorbing assembly 310 includes a first adsorbing end 311 and a backing plate 312, the second transferring portion 400 includes a second adsorbing assembly, the second adsorbing assembly has a second adsorbing end, the adsorbing ends of the first adsorbing assembly 310 and the second adsorbing assembly are made of flexible materials, and the backing plate 312 is made of hard materials. In the use process, the first state that the product keeps flat is placed on the first platform 100, when the product needs to be overturned and transferred, the first transfer part 300 attracts the product in the first state through the first adsorption end 311, the first adsorption assembly 310 is driven by the overturning assembly 320 to overturn the product from the flat first state to the second state, at the moment, the backing plate 312 is in contact with the product, but the product is not separated from the adsorption of the first adsorption end 311 all the time, the second adsorption assembly of the second transfer part 400 adsorbs the product, so that the overturning of the product is finished, the second transfer part 400 transfers the product to the second platform 200, so that the transfer of the product is finished, the first transfer portion 300 is located the product through first image recognition component, the second transfer portion 400 is located the product through second image recognition component, even the dislocation takes place for the product, first transfer portion 300 and second transfer portion 400 also can be according to the visual information that first image recognition portion 500 and second image recognition portion 600 provided and carry out accurate positioning, thereby improve this technical scheme's flexibility and stability, because the second adsorption end is flexible material, and backing plate 312 is hard material, thereby realize whole soft corresponding butt joint in upset transfer process, can effectively avoid soft to soft butt joint because the product damage that adsorption end dislocation, atress inhomogeneous etc. cause arouses, can effectively improve the yields.

As shown in fig. 1 to 4, the first image recognition part 500 includes: a first image pickup device that picks up an image of the first platform 100; the control end is electrically connected to the first transfer portion 300, the image information of the first image capturing element is transmitted to the control end, the control end identifies the image information, and the first transfer portion 300 is controlled based on the image information.

In this technical scheme, the first image recognition part 500 includes the first photographic element and the control end, the first photographic element acquires the image information on the first platform 100 in the use, and the control end analyzes the image information, and mainly controls the first transfer part 300 based on the position information of the product and the height information of the product, and mainly controls the first transfer part 300 to perform overall movement, so that the first transfer part 300 can accurately adsorb the product, and the setting improves the accuracy of the first transfer part 300 in the product adsorption process, so that the product placement position is not required to be fixed any more, and meanwhile, the accurate adsorption of products with different heights and misplaced products can be realized.

As shown in fig. 1 to 4, the second image recognition part 600 includes: and a second image pickup unit for picking up an image of the first transfer unit 300, transferring the image information to the control unit, recognizing the image information by the control unit, and controlling the movement of the second image pickup unit based on the image information.

In this technical scheme, the second identification part includes the second photographic piece, and the second photographic piece is used for acquireing the positional information transmission of first transfer part 300 to the control end to carry out the product by the control end, its specific information is the positional information of product and the high information of product, and remove second transfer part 400 based on image information, and this setting has improved the accuracy of second transfer part 400 when the product adsorbs, makes the position that the product was put no longer fixed, also can realize accurate absorption to the product of not co-altitude, dislocation simultaneously.

It can be understood that the specific algorithm of image recognition can be applied to the prior art, and the technical scheme is not repeated and is not in the protection scope of the utility model.

As shown in fig. 1 to 4, the first transfer part 300 further includes: a first lifting assembly 330, wherein the first lifting assembly 330 is configured to drive the first adsorption assembly 310 to descend to a first operation position and to ascend to a second operation position; the first connecting member 340 is connected to the first lifting assembly 330, and the first transferring part 300 is connected to an external workpiece through the first connecting member 340.

In this technical solution, the first transferring portion 300 further includes a first lifting assembly 330 and a first connecting member 340, in the use process, the first connecting member 340 is connected to an external workpiece, the external workpiece can drive the first transferring portion 300 to integrally move and integrally rotate, the first lifting rod can drive the first adsorbing assembly 310 to descend to a first operation position and ascend to a second operation position, wherein the first operation position is an adsorption position, the first adsorbing assembly 310 can realize attraction to a product when descending to the first operation position, the second operation position is a turnover position, the first adsorbing assembly 310 can overturn when ascending to the second operation position, then the product is handed over to the second adsorbing assembly, and after ascending, a sufficient turnover space can be left after overturning.

As shown in fig. 1-4, the first adsorption assembly 310 further includes: the second lifting assembly 318, the moving end of the second lifting assembly 318 is connected to the pad 312, the pad 312 has a third operating position and a fourth operating position under the driving of the second lifting assembly 318, when the pad 312 is in the fourth operating position, the pad 312 contacts with the product, and the product is not separated from the suction of the first suction end 311.

In this technical solution, the first adsorption assembly 310 further includes a second lifting assembly 318, the moving end of the second lifting assembly 318 is connected to the pad 312, the pad 312 may have a third operating position and a fourth operating position under the drive of the second lifting assembly 318, where the fourth operating position is closer to the adsorbed product, the third operating position is far away from the adsorbed product, when the first adsorption assembly 310 attracts the product in the first operating position, the pad 312 is in the third operating position, far away from the adsorbed product, so as to avoid the collision between the product and the pad 312 when moving and vibrating, thereby affecting the stability of adsorption, when the first adsorption assembly 310 rises to the second operating position and finishes overturning, the pad 312 is transferred from the third operating position to the fourth operating position, at this time, the pad 312 contacts with the product, but the product is not separated from the attraction of the first adsorption end 311, in this setting, the pad 312 may serve as a hard table for placing the product, so as to realize soft to hard contact, and improve the attraction rate, and meanwhile, the product is not illustrated with the first adsorption end 311, so as to ensure that dislocation occurs in the transfer process of the product, and the accuracy of the dislocation system is improved.

As shown in fig. 1 to 4, the first stage 100 includes a first vacuum path having one end communicating with a surface of the first stage 100 on which a product is placed; the second platform 200 includes a second vacuum path, one end of which is communicated with the surface of the second platform 200 for placing the product; the first adsorption assembly 310 includes a third vacuum path, one end of which is communicated with the first adsorption end 311; the second adsorption assembly comprises a fourth vacuum passage, and one end of the fourth vacuum passage is communicated with the second adsorption end; and the other ends of the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage are connected to a vacuum pump, and the vacuum pump is used for providing negative pressure environment in the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage.

In this embodiment, the system realizes vacuum adsorption through the first vacuum path, the second vacuum path, the third vacuum path, the first vacuum path and the vacuum pump, and in practical use, the vacuum pump can realize independent control on each vacuum path, for example, when the first transfer part 300 and the second transfer part 400 perform product handover, and the second adsorption component adsorbs the product, the third vacuum path can stop providing the negative pressure environment, so that the product can be separated from the first adsorption component 310.

As shown in fig. 1-4, further comprising: the detection assembly is a vacuum meter, and the detection end of the detection assembly is arranged on the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage.

In this technical scheme, still include detection component, detection component specifically is the vacuum table, when detection component's registration is 0, the other end of first vacuum passageway, second vacuum passageway, third vacuum passageway and fourth vacuum passageway does not have the product of being attracted, when detection component's registration is the negative number, the other end of first vacuum passageway, second vacuum passageway, third vacuum passageway and fourth vacuum passageway exists the product of being attracted, in practical application, when the vacuum.

As shown in fig. 1-4, the first adsorption assembly 310 further includes: a first base plate 313, the first adsorption end 311 is disposed on the first base plate 313, and the fixed end of the second lifting assembly 318 is connected to the first base plate 313; a first shock-proof shaft 314, wherein a shock-proof end of the first shock-proof shaft 314 abuts against the first base plate 313; the second base plate, one end of the first shock-proof shaft 314 far away from the shock-proof end is fixedly connected to the second base plate, and a through hole through which the first adsorption end 311 can pass is formed in the second base plate; a guide rail 315, wherein two ends of the guide rail 315 are respectively connected to the first base plate 313 and the backing plate 312; a first housing 316, wherein the first housing 316 is used to protect the internal structure of the first adsorption assembly 310.

In this technical scheme, first subassembly 310 still includes first base plate 313, first shock-proof axle 314, second base plate, guide rail 315 and first casing 316, in this embodiment, first shock-proof axle 314 plays the effect of reducing first base plate 313 vibrations to reduce the vibrations of product in transfer, the reverse in-process, guide rail 315 sets up in the relative side surface of second lifting assembly 318, avoids backing plate 312 to take place the crooked condition of vibrations in lift and handing-over in-process, this setting improves the stability of product by a wide margin.

As shown in fig. 1-4, the second adsorption assembly further comprises: the second adsorption end is connected to the third base plate; the shockproof end of the second shock-proof shaft is abutted against the third base plate; the second vibration-proof shaft is fixedly connected with the first base plate, and a through hole through which the second adsorption end can pass is formed in the first base plate; and the second shell is used for protecting the internal structure of the second adsorption assembly.

In this technical scheme, the second absorption subassembly still includes third base plate, second shock-proof axle, fourth base plate and second casing, and wherein the shock-proof axle of second is used for reducing the vibrations of third base plate to reduce the vibrations of lift transfer in-process product, thereby improve the stability of product.

As shown in fig. 1-4, the first adsorption assembly 310 further includes a first extension frame 317, the first extension frame 317 is connected to the first base plate 313, and a first adsorption end 311 is disposed on the first extension frame 317; the second adsorption assembly further comprises a second extension frame, the second extension frame is connected to the third base plate, a second adsorption end is arranged on the second extension frame, a first adsorption end is arranged on the first extension frame, and the first adsorption end is movably connected to the first extension frame; the second extension frame is provided with a second adsorption end, and the second adsorption end is movably connected with the second extension frame.

In this technical scheme, when the scope of product is great, surpass the projection scope of first base plate 313 and second base plate, the product loses the protection, easily produce the collision, consequently add first extension frame 317 and second extension frame, can protect the product of exceeding the scope, be connected with first adsorption terminal 311 and second adsorption terminal on first extension frame 317 and the second extension frame respectively simultaneously, can adsorb the product of exceeding the scope, stability when further having increased the product and transfer, first adsorption terminal mobilizable connection is in the second extension frame simultaneously, its connected mode can adopt buckle formula to connect, or slider and fixed screw connection, this technical scheme does not limit, what adopt in this embodiment is slider and fixed screw's connection.

In the present utility model, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. An image feature-based flip transfer servo system, comprising:

The first platform is used for placing the product in the first state;

a second platform for placing a product in a second state;

The second transfer part is used for completing the delivery of the product in the second state with the first transfer part and transferring the product to the second platform;

the first image recognition part is electrically connected to the first transfer part and is used for assisting the first transfer part to position a product;

The first adsorption component comprises a first adsorption end and a backing plate, wherein the first adsorption end is made of a flexible material, the backing plate is made of a hard material, and a through hole through which the adsorption end can pass is formed in the backing plate;

The overturning assembly is used for driving the first adsorption assembly to overturn; and

the first image recognition part includes;

The first image pickup piece picks up the image of the first platform; and

The control end is electrically connected to the first transfer part, the image information of the first image pickup part is transmitted to the control end, the control end identifies the image information, and the first transfer part is controlled based on the image information.

2. The image feature-based flip-transfer servo system according to claim 1, wherein the second image recognition section includes:

The second shooting part shoots the first transfer part, transmits the image information to the control end, recognizes the image information by the control end and controls the second transfer part to move based on the image information.

3. The image feature-based flip-transfer servo system of claim 1, wherein the first transfer section further comprises:

4. The image feature based flip-flop transfer servo of claim 1 wherein said first adsorption assembly further comprises:

5. The image feature-based flip-transfer servo system of claim 1, wherein:

The first platform comprises a first vacuum passage, and one end of the first vacuum passage is communicated with the surface of the first platform for placing products;

6. The image feature based flip-flop transfer servo of claim 5 and further comprising:

The detection assembly is a vacuum meter, and the detection end of the detection assembly is arranged on the first vacuum passage, the second vacuum passage, the third vacuum passage and the fourth vacuum passage.

7. The image feature based flip-flop transfer servo of claim 4 wherein said first said adsorption means further comprises:

8. The image feature based flip-flop transfer servo of claim 7 wherein said second adsorption assembly further comprises:

the second adsorption end is connected to the third base plate;

9. The image feature based flip transfer servo system of claim 8 wherein:

The first adsorption assembly further comprises a first extension bracket connected to the first base plate;

10. The image feature based flip transfer servo system of claim 9 wherein:

The first extension frame is provided with a first adsorption end which is movably connected with the first extension frame;