Correction device, correction method, and working machine to which the correction method is applied

Abstract

The present application provides a kind of correction device, correction method and its application operation machine, for correcting the position of multiple work machines, the correction device includes holder, position corrector and indexing drive source, the top of holder constitutes detection area, position corrector is assembled in holder along detection axis, and indexing drive source is used to drive holder to rotate; Multiple work machines are displaced in the detection area of holder along the first direction, position corrector detects the position of multiple work machines in the first direction in the first detection position in contact or non-contact, and indexing drive source drives holder to carry the position corrector synchronous rotation, so that position corrector is changed from the first detection position to the second detection position, multiple work machines are displaced in the detection area of holder along the second direction, and position corrector detects the position of multiple work machines in the second direction, so as to obtain the position deviation value of multiple work machines, which is beneficial to compensate the actual work position of multiple work machines, and further improve the work accuracy.

Description

Technical Field

[0001] The present invention relates to a correction device and correction method for detecting the position of a plurality of working devices in at least one direction by means of contact or non-contact, which is beneficial for compensating and correcting the actual working position of the plurality of working devices and improving the accuracy of operation. Background Technology

[0002] Nowadays, the machine uses a working mechanism (such as a material handling mechanism or a printing mechanism) to perform default operations (such as material handling or printing operations) on electronic components on different supports (such as material trays, platforms, testers or preheating trays). Taking a material transfer mechanism as an example, the mechanism has multiple transfer devices that move to a default working position to perform the picking and placing of multiple electronic components. As electronic components become increasingly precise and miniaturized, the accuracy requirements for the working position of multiple transfer devices simultaneously moving multiple electronic components into multiple receiving slots on the platform are extremely high. However, due to factors such as replacing a batch of multiple transfer devices, differences in the picking and placing accuracy of multiple transfer devices, or collisions between transfer devices, the working position of the transfer devices is prone to abnormalities. For example, if the transfer devices are assembled at an angle, the distance between multiple transfer devices will be abnormal. For example, if the assembly height of the transfer devices is insufficient, the picking and placing height will be abnormal. All of the above abnormalities will prevent the transfer devices from accurately picking and placing electronic components, and the manufacturer must check and correct the accuracy of the working position of the multiple transfer devices in the material transfer mechanism. Summary of the Invention

[0003] The purpose of this invention is to provide a calibration device, a calibration method, and a machine for application thereof.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A calibration device for calibrating the positions of a plurality of workpieces, characterized in that the calibration device comprises:

[0006] Support: forms the detection area above;

[0007] Position calibrator: mounted on the support along the detection axis, the position calibrator detects displacement in at least one detection position to the position of the plurality of working devices in at least one direction in the detection area by contact or non-contact means;

[0008] Indexing drive source: to drive the bearing to rotate, so that the bearing carries the position corrector to change the detected position.

[0009] The correction device, wherein: the indexing drive source is a motor, or includes a motor and at least one transmission assembly.

[0010] The aforementioned calibration device, wherein: the support is provided with a rotating shaft component for connecting the indexing drive source.

[0011] The aforementioned correction device further includes at least one height corrector for detecting the position of the workpiece in a third-order orientation.

[0012] The aforementioned correction device, wherein: the support is provided with at least one through hole, and the height corrector is disposed below the through hole.

[0013] The aforementioned correction device further includes at least one third adjuster for adjusting the assembly height of the height corrector.

[0014] The aforementioned calibration device, wherein the position calibrator is a reference sensor, a reflective sensor, a magnetic sensor, a pressure sensor, or a conductive sensor.

[0015] The aforementioned calibration device further includes at least one first adjuster for adjusting the assembly position of the position calibrator.

[0016] A calibration method for calibrating the position of a plurality of workpieces in at least one direction, characterized in that the calibration method comprises:

[0017] First transfer operator procedure: Displace the plurality of operators in the detection area above the support along the first direction;

[0018] Second transfer operator procedure: The plurality of transfer operators are displaced along the second direction in the detection area above the support;

[0019] First detection procedure: The position of the plurality of working devices in the first direction is detected by a position calibrator at the first detection position in a contact or non-contact manner;

[0020] Second detection procedure: The position corrector detects the position of the plurality of workpieces in the second direction at the second detection position;

[0021] The repositioning procedure involves rotating the position corrector via the support to change its position from the first detected position to the second detected position.

[0022] Comparison procedure: The processor receives the position data of the plurality of operators transmitted by the first detection procedure and the second detection procedure, analyzes the position of the plurality of operators in the first direction and the second direction, obtains the position deviation value of the plurality of operators, and compensates and corrects the actual working position of the plurality of operators.

[0023] The aforementioned correction method further includes a pre-processing procedure, wherein the pre-processing procedure defaults to the center position of the operator located in the detection area as the initial correction position, so that other operators can make displacements in at least one direction based on the initial correction position.

[0024] The correction method, wherein: the first transfer operator program further includes a first micro-motion means, the first micro-motion means being to make a micro-motion displacement of the operator along the first direction, so that the first detection program can detect the position of the operator after the micro-motion and the comparison program can analyze the position data after the micro-motion, so as to obtain the position deviation value of the operator in the first direction.

[0025] The correction method, wherein: the second transfer operator program further includes a second micro-motion means, the second micro-motion means that the operator makes a micro-motion displacement along the second direction, so that the second detection program can detect the position of the operator after the micro-motion, and the comparison program can analyze the position data after the micro-motion to obtain the position deviation value of the operator in the second direction.

[0026] The correction method further includes a third transfer operator program and a third detection program. The third transfer operator program uses a default height value for the displacement of the plurality of operators along a third direction in the detection area of ​​the carrier. The third detection program uses a height corrector to non-contactly detect the position of the plurality of operators in the third direction. The comparison program uses a processor to receive the position data of the plurality of operators transmitted by the third detection program to obtain the height position deviation value of the plurality of operators and compensate and correct the actual height working position of the operators.

[0027] The correction method, wherein: the third transfer operator program further includes a third micro-motion means, the third micro-motion means to make a micro-motion displacement of the operator along the third third direction, so that the third detection program can detect the position of the operator after the micro-motion, and the comparison program can analyze the position data after the micro-motion to obtain the position deviation value of the operator in the third third direction.

[0028] The correction method, wherein the first detection procedure further includes using the position corrector to non-contactly detect the position of the plurality of operators in a third-direction orientation at the first detection position or the second detection position.

[0029] A work machine, characterized in that it comprises:

[0030] Machine tool;

[0031] At least one working device: disposed on the machine tool, and provided with at least one support and at least one working mechanism, the at least one support for supporting a plurality of electronic components, the at least one working mechanism being provided with a plurality of working devices for performing default operations on the plurality of electronic components;

[0032] At least one of the aforementioned correction devices is mounted on the machine base to correct the position of the plurality of working devices in at least one direction;

[0033] Central control unit: Used to control and integrate the operation of various devices to perform automated operations.

[0034] The described work machine, wherein the work device further includes a temperature control mechanism, and the temperature control mechanism is provided with at least one temperature control device on the work machine.

[0035] The described work machine, wherein the work device further includes a test chamber, which is enclosed outside the tester.

[0036] One of the advantages of this invention is that it can improve the accuracy of operations.

[0037] A second advantage of the present invention is that it provides a calibration device in which a rotation drive source is provided for a drive carrier to carry the position calibrator to rotate from a first detection position to a second detection position, so that the position calibrator can detect the positions of a plurality of working devices in a first direction and a second direction at the first detection position and the second detection position. This not only reduces the number of calibration components, but also expands the detection of positions in different directions, thereby saving costs and improving efficiency.

[0038] A third advantage of the present invention is that it provides a correction device, which further includes at least one height corrector. The height corrector detects the position (height working position) of a plurality of working devices located in the detection area of ​​the support in a third direction, so as to obtain a height position deviation value, which is beneficial to compensate and correct the actual working height position of the plurality of working devices, thereby improving the accuracy of operation.

[0039] The fourth advantage of the present invention is that it provides a calibration device, which further includes at least one first adjuster. The first adjuster is disposed on a support for mounting the position calibrator. The first adjuster adjusts the mounting position of the position calibrator according to the operation requirements, thereby improving the accuracy of the calibration operation.

[0040] The fifth advantage of this invention is that it provides a calibration method for calibrating the positions of a plurality of workpieces, comprising a first transfer workpiece program, a second transfer workpiece program, a first detection program, a second detection program, a repositioning program, and a comparison program; the first transfer workpiece program moves the plurality of workpieces along a first direction by transferring them to a detection area above a support; the first detection program uses a position calibrator to detect the positions of the plurality of workpieces in the first direction at a first detection position using contact or non-contact methods; the repositioning program uses the support to rotate the position calibrator from the first detection position to a different position. At the second detection position; the second transfer operator program moves multiple operators along the second direction in the detection area above the carrier; the second detection program uses a position corrector to detect the position of the multiple operators in the second direction at the second detection position; the comparison program uses a processor to receive the position data of the multiple operators transmitted by the first detection program and the second detection program, to analyze the position of the multiple operators in the first direction and the second direction, to obtain the position deviation value of the multiple operators, and to compensate and correct the actual working position of the multiple operators, thereby improving the accuracy of the operation.

[0041] The sixth advantage of the present invention is that it provides a correction method, which further includes at least one pre-processing procedure. The pre-processing procedure defaults to the center position of a worker located in the detection area as the initial correction position, so that other workers can make displacements in at least one direction based on the initial correction position.

[0042] The seventh advantage of this invention is that it provides a correction method, which further includes a third transfer operator program and a third detection program. The third transfer operator program transfers a plurality of operators to the detection area of ​​the carrier and moves them along a third-party direction by a default height value. The third detection program uses a height corrector to non-contactly detect the position of the plurality of operators in the third-party direction. The comparison program uses a processor to receive the position data of the plurality of operators transmitted by the third detection program, thereby obtaining the height position deviation value of the plurality of operators and compensating for and correcting the actual height working position of the operators, thereby improving the accuracy of the operation.

[0043] The eighth advantage of this invention is that it provides a correction method in which a third transfer operator program transfers a plurality of operators to a detection area of ​​a carrier along a third-direction displacement default height value. The first detection program further includes using a position corrector to non-contactly detect the position of the plurality of operators in the third-direction direction at a first detection position or a second detection position, so that a comparison program can analyze the position data of the plurality of operators to obtain the height position deviation value of the plurality of operators and compensate and correct the actual height working position of the operators, thereby improving the accuracy of the operation.

[0044] The ninth advantage of this invention is that it provides a work machine comprising a machine base, at least one work device, the calibration device of this invention, and a central control device. The at least one work device is disposed on the machine base and is provided with at least one support and at least one work mechanism. The at least one support is provided for supporting a plurality of electronic components, and the work mechanism is provided with a plurality of work devices for performing default operations on the plurality of electronic components. The calibration device of this invention is disposed on the machine base for calibrating the positions of the plurality of work devices. The central control device controls and integrates the operation of each device to perform automated operation, thereby achieving the practical benefit of improving work efficiency. Attached Figure Description

[0045] Figure 1 This is a configuration diagram of the machine used in this invention.

[0046] Figure 2 This is a schematic diagram of the material transfer mechanism of the present invention.

[0047] Figure 3 This is a top view of the first embodiment of the correction device of the present invention.

[0048] Figure 4 This is a side view of the first embodiment of the correction device of the present invention.

[0049] Figure 5 This is a flowchart of the correction method of the present invention.

[0050] Figure 6 This is a schematic diagram of the initial calibration position of the transfer device in the detection area.

[0051] Figure 7-1 This is a schematic diagram (a) showing the position of the transfer device in the first direction.

[0052] Figure 7-2 This is a schematic diagram (II) showing the position of the transfer device in the first direction.

[0053] Figure 7-3 This is a schematic diagram (III) showing the position of the transfer device in the first direction.

[0054] Figure 8-1 This is a schematic diagram (a) showing the position of the transfer device in the second direction.

[0055] Figure 8-2 This is a schematic diagram (II) showing the position of the transfer device in the second direction.

[0056] Figure 8-3 This is a schematic diagram (III) showing the position of the transfer device in the second direction.

[0057] Figure 9 This is a schematic diagram of the first implementation method for correcting the position of the transfer device in the third direction.

[0058] Figure 10 This is a schematic diagram of a second implementation method for correcting the position of the transfer device in the third direction.

[0059] Figure 11 This is a top view of the second embodiment of the correction device of the present invention.

[0060] Reference numerals: 10 Machine base; 20 Working device; 21 Feeder; 22 Take-up device; 23 First material transfer mechanism; 231 Moving arm; 232 Pitch unit; 2331 First material transferor; 2332 Second material transferor; 2333 Third material transferor; 2334 Fourth material transferor; 2341 First lifting device; 2342 Second lifting device; 2343 Third lifting device; 2344 Fourth lifting device; 24 Tester; 25 First platform; 26 Crimping device; 27 Second platform; 28 Second material transfer mechanism; 29 Test chamber; 30 Calibration device; 31 Support; 311 Rotating shaft component; 312 Through hole; 321 Light-emitting component; 322 Light-receiving component; 331 Motor; 332 Pulley assembly; 341 First adjuster; 342 Second adjuster; 35 Height corrector; 36 Third adjuster; 37 Pressure sensor; L Detection axis. Detailed Implementation

[0061] To provide a better understanding of the present invention, a preferred embodiment is described in detail below with reference to the accompanying drawings:

[0062] Please see Figures 1-5 The present invention's operating machine includes a machine base 10, at least one operating device 20, at least one calibration device 30, and a central control device (not shown). The at least one operating device 20 is disposed on the machine base 10 and has at least one support and at least one operating mechanism. The at least one support is for holding a plurality of electronic components, and the at least one operating mechanism has a plurality of operating devices for performing default operations on the plurality of electronic components. The calibration device 30 is disposed on the machine base 10 for calibrating the position of the plurality of operating devices of the operating mechanism in at least one direction. The central control device controls and integrates the operation of each device to perform automated operation. Depending on the operational requirements, the support of the operating device 20 can be a feeder, receiver, platform, tester, or preheating tray, etc., for holding a plurality of electronic components; the operating mechanism of the operating device 20 can be a transfer mechanism, pressing mechanism, or printing mechanism, etc., and the operating devices can be transfer devices, pressing devices, or printers, etc., not limited to this embodiment.

[0063] To clearly illustrate the present invention, the "at least one direction" referred to in the present invention can be the X direction, Y direction, or Z direction. In the embodiments of the present invention, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction. The direction of the detection axis can be the same as or different from the movement direction of the workpiece. For example, the position corrector detects the workpiece in a non-contact manner, and the direction of the detection axis is different from the movement direction of the workpiece. For example, the position corrector detects the workpiece in a contact manner, and the direction of the detection axis is the same as the movement direction of the workpiece.

[0064] In this embodiment, the working device 20 includes a feeder 21, a receiver 22, a working mechanism consisting of a first material transfer mechanism 23, a tester 24, a first platform 25, a presser 26, a second platform 27, and another working mechanism consisting of a second material transfer mechanism 28, a temperature control mechanism (not shown in the figure), and a test chamber 29. The feeder 21 holds a plurality of electronic components to be tested; the receiver 22 holds a plurality of tested electronic components. The first transfer mechanism 23 and the second transfer mechanism 28 are designed similarly. Taking the first transfer mechanism 23 as an example, the first transfer mechanism 23 is provided with a moving arm 231, a pitch-changing unit 232, and a plurality of working devices that are transfer devices. The moving arm 231 drives the pitch-changing unit 232 and the plurality of transfer devices to perform XY direction displacement and a larger Z direction displacement. The plurality of transfer devices includes a first transfer device 2331, a second transfer device 2332, a third transfer device 2333, and a fourth transfer device 2334. The fixedly configured second transfer device 2332 is used as the pitch-changing reference. The first transfer device 2331, the third transfer device 2333, and the fourth transfer device 2334 are connected to the pitch-changing unit 232. According to the operational requirements, the variable pitch unit 232 drives the first transfer device 2331, the third transfer device 2333, and the fourth transfer device 2334 to change the spacing by making X-direction displacement based on the second transfer device 2332 and the default spacing value. The first transfer device 2331, the second transfer device 2332, the third transfer device 2333, and the fourth transfer device 2334 are respectively connected to the first lift device 2341, the second lift device 2342, the third lift device 2343, and the fourth lift device 2344 to make Z-direction displacement to the default height working position for picking up and placing electronic components. Therefore, the first transfer mechanism 23 uses the moving arm 231 to drive the first transfer device 2331, the second transfer device 2332, the third transfer device 2333, and the fourth transfer device 2334 to pick up a plurality of electronic components to be tested from the feeder 21.

[0065] The tester 24 includes an electrically connected circuit board and a test socket with probes for testing electronic components. A first stage 25 is used to transport the electronic components under test for displacement in at least one direction. For example, the first stage 25 can transport the electronic components under test to the side of the tester 24, or it can transport the electronic components under test to below the tester 24. In this embodiment, the first stage 25 is used by the first transfer mechanism 23's first transferor 2331, second transferor 2332, third transferor 2333, and fourth transferor 2334 to transfer a plurality of electronic components under test to the side of the tester 24. A crimper 26 removes the plurality of electronic components under test from the first stage 25 to transfer and press the plurality of electronic components under test onto the tester 24 to perform the testing operation. Test chamber 29 is placed outside tester 24. During cold testing, dry air is supplied to test chamber 29 via fluid delivery pipe (not shown). Temperature control mechanism (not shown) is provided on crimper 26 to control the temperature of electronic components, so that the electronic components are tested at the simulated ambient temperature. After testing, crimper 26 transfers multiple tested electronic components from tester 24 to second stage 27. Second stage 27 removes multiple tested electronic components, and second transfer mechanism 28 removes multiple tested electronic components from second stage 27. Based on the test results, multiple tested electronic components are transported to receiver 22 for sorting and storage. Central control device (not shown) is used to control and integrate the operation of each device to perform automated operation, thereby improving work efficiency.

[0066] However, depending on the operational requirements, the working device 20 may only be equipped with the first transfer mechanism 23, which transfers the electronic components to be tested and the tested electronic components between the feeder 21 and the receiver 22. Depending on the operational requirements, the working device 20 may only be equipped with the first platform 25, which carries the electronic components to be tested and the tested electronic components. Depending on the operational requirements, the crimper 26 of the working device 20 may be able to move in one or more directions. For example, the crimper 26 may be used in conjunction with the transfer mechanism, which moves the electronic components to be tested into the tester 24, while the crimper 26 performs a single-direction pressing action. Depending on the operational requirements, during thermal testing, the working device 20 may be equipped with a blower in the test chamber 29 to blow hot air and raise the internal temperature of the test chamber 29. Depending on the operational requirements, the working device 20 may also be equipped with a preheating plate to preheat the electronic components to be tested.

[0067] The present invention provides a calibration device 30 for calibrating the position of a plurality of working devices of a working mechanism in at least one direction; the calibration device 30 includes a support 31, a position calibrator, and a rotation drive source.

[0068] The upper part of the support 31 forms a detection area; further, the support 31 can be a base or a plate; in this embodiment, the support 31 is a plate with a flat top surface and a detection area formed on top; the bottom surface of the support 31 is provided with a rotating shaft component 311 and at least one through hole 312, which extends from the bottom surface of the rotating shaft component 311 to the top surface of the support 31 and communicates with the detection area.

[0069] The position calibrator is mounted on the support 31 along the detection axis L. The working device moves in at least one direction within the detection area of ​​the support 31. The position calibrator detects the position of the working device in at least one direction at at least one detection position using contact or non-contact methods. Furthermore, the position calibrator can be a reference sensor, a reflective sensor, a magnetic sensor, a pressure sensor, or a conductive sensor, etc. For example, a reference sensor, a reflective sensor, or a magnetic sensor can be used to detect the position of the working device non-contactly, while a pressure sensor or a conductive sensor can be used to detect the position of the working device in contact.

[0070] In this embodiment, the position calibrator is a reference sensor, including a light-emitting component 321 and a light-receiving component 322. The light-emitting component 321 can project a light beam, and the light-receiving component 322 can receive the light beam. In this embodiment, the light-emitting component 321 and the light-receiving component 322 of the position calibrator are arranged opposite to each other on both sides of the support 31 along a detection axis L in the Y direction, and are located at a first detection position. In the undetected state, the light-emitting component 321 projects a light beam along the detection axis L at the first detection position, and the light-receiving component 322 receives the light beam projected by the light-emitting component 321 along the detection axis L. The position of the operator in the first direction or the second direction, or even the height operation position of the operator in a third direction, can be detected by the passage or blocking of the light beam.

[0071] The indexing drive source drives the bearing 31 to rotate synchronously. Furthermore, the indexing drive source can be a motor, or include a motor and at least one transmission assembly. It is not limited to this embodiment. The indexing drive source only needs to drive the bearing 31 to rotate. In this embodiment, the indexing drive source includes a motor 331 and a transmission assembly of pulleys 332. The pulley assembly 332 is connected to the rotating shaft component 311 of the bearing 31 to drive the bearing 31 to rotate, thereby changing the position corrector from the first detected position to the second detected position.

[0072] The calibration device 30 further includes at least one first adjuster, which is disposed on the support 31 to support the position calibrator and adjust the assembly position (such as the assembly height position) of the position calibrator to improve the accuracy of the calibration operation. In this embodiment, the calibration device 30 includes a first adjuster 341 and a second adjuster 342, which are arranged opposite to each other on both sides of the support 31. The first adjuster 341 is used to assemble the light-emitting component 321 of the position calibrator, and the second adjuster 342 is used to assemble the light-receiving component 322 of the position calibrator. The first adjuster 341 and the second adjuster 342 are used to adjust the assembly height position of the light-emitting component 321 and the light-receiving component 322 respectively, so that the light-receiving component 322 accurately receives the light beam projected by the light-emitting component 321.

[0073] The calibration device 30 further includes at least one height calibrator, which detects the position of the workpiece located in the detection area of ​​the support 31 in a third-party upward position. In this embodiment, the height calibrator 35 is a reflective sensor and is disposed below the through hole 312 of the support 31. The height calibrator 35 can project a light beam from bottom to top toward the detection area through the through hole 312 and receive the reflected light beam.

[0074] The calibration device 30 further includes at least one third adjuster 36 for mounting the height calibrator 35 and adjusting the mounting height of the height calibrator 35.

[0075] As described above, the support 31 may have a groove on its top surface and a receiving hole on at least one side of the groove for mounting the position corrector (such as a reflective sensor), or it may have receiving holes on two opposite sides of the groove for mounting the light-emitting component and the light-receiving component of the position corrector (such as a reference sensor). Furthermore, a through hole may be provided on the bottom surface of the groove for the height corrector 35 to detect the position of the workpiece in a third-dimensional direction (working height position).

[0076] Please see Figure 2 , Figures 4-9The correction method of the present invention includes a first transfer operator program, a second transfer operator program, a first detection program, a second detection program, a transposition program, and a comparison program. The first transfer operation program moves multiple operation devices along a first direction within a detection area above the support 31; the first detection program uses a position calibrator at the first detection position to detect the position of the multiple operation devices in the first direction using contact or non-contact methods; the repositioning program uses the support 31 to rotate the position calibrator from the first detection position to a second detection position; the second transfer operation program moves multiple operation devices along a second direction within a detection area above the support 31; the second detection program uses a position calibrator at the second detection position to detect the position of the multiple operation devices in the second direction; the comparison program uses a processor to receive the position data of the multiple operation devices transmitted by the first and second detection programs, analyzes the position of the multiple operation devices in the first and second directions, obtains the position deviation value of the multiple operation devices, and compensates and corrects the actual working position of the multiple operation devices, thereby improving the accuracy of the operation.

[0077] The calibration method further includes a pre-processing procedure, which defaults to the center position of a workpiece located in the detection area as the initial calibration position, allowing other workpieces to move relative to this initial position. Furthermore, this default workpiece can be one of a plurality of workpieces, such as a fixed workpiece or the first workpiece. The initial calibration positions can be the same as or different from the center position of the support 31. For example, if the default workpiece is a fixed workpiece, since the distance from the origin to the center of the support 31 is known, and the diameter of the workpiece is also known, the default fixed workpiece can be moved from the origin to the center of the support 31, aligning the center position of the fixed workpiece with the center position of the support 31, thus achieving the desired calibration. The center position of the fixed-position working device (i.e., the center position of the support 31) is used as the initial calibration position, so that other working devices can be moved to the default distance value based on the initial calibration position. For example, the default working device is the movable first working device. If the diameter of the first working device is unknown, the first working device can be moved from the origin to the detection area of ​​the support 31, and the beam of the position calibrator is blocked. This coordinate value is recorded. Then the first working device is moved to the beam of the position calibrator is turned on, and this other coordinate value is recorded. The center position of the first working device is obtained from the two coordinate values, and the center position of the first working device is used as the initial calibration position, so that other working devices can be moved to the default distance value based on the initial calibration position.

[0078] In this embodiment, the actual working positions of the first transfer device 2331, the second transfer device 2332, the third transfer device 2333, and the fourth transfer device 2334 are detected. The initial state of the calibration device 30 is determined. The position calibrator, located at the first detection position in the Y direction, projects a light beam along the detection axis L using the light-emitting component 321, and the light-receiving component 322 receives the light beam projected by the light-emitting component 321 along the detection axis L. The preprocessing uses the fixed second transfer device 2332 as the default reference operator, moving the second transfer device 2332 from the origin to the center position of the support 31, and placing it in the detection area, so that the second transfer device 2332... The center of the 332 is aligned with the center of the support 31. The second transfer device 2332 blocks the light beam projected by the light-emitting component 321 of the position corrector along the detection axis L. The light-receiving component 322 transmits a signal to the processor (not shown in the figure). Since the distance from the origin to the center of the support 31 is known, and the diameter of the second transfer device 2332 is known, the processor analyzes and determines the center position of the second transfer device 2332 (i.e. the center position of the support 31) as the initial position for correction. The first transfer device 2331, the third transfer device 2333, and the fourth transfer device 2334 are then moved according to the default spacing value based on the initial position for correction.

[0079] In this embodiment, the correction method of the present invention further includes a third transfer operator program and a third detection program. The third transfer operator program moves a plurality of operators to a detection area above the support 31 along a third-direction displacement default height value. The third detection program uses a height corrector to non-contactly detect the position of the plurality of operators in the third-direction upward direction. The comparison program uses a processor to receive the position data of the plurality of operators transmitted by the third detection program, thereby obtaining the height position deviation value of the plurality of operators and compensating for and correcting the actual height working position of the operators. However, depending on the operational requirements and the type of position calibrator, the first transfer machine program further includes a first micro-motion means, which allows the machine to make a micro-motion displacement along a first direction, so that the first detection program can detect the position of the machine after the micro-motion, and the comparison program can analyze the position data after the micro-motion, and can also obtain the position deviation value of the machine in the first direction; the second transfer machine program further includes a second micro-motion means, which allows the machine to make a micro-motion displacement along a second direction, so that the second detection program can detect the position of the machine after the micro-motion, and the comparison program can analyze the position data after the micro-motion, and can also obtain the position deviation value of the machine in the second direction; the third transfer machine program further includes a third micro-motion means, which allows the machine to make a micro-motion displacement along a third direction, so that the third detection program can detect the position of the machine after the micro-motion, and the comparison program can analyze the position data after the micro-motion, and can also obtain the position deviation value of the machine in the third direction.

[0080] Please see Figure 6 , Figures 7-1 to 7-3Taking the detection of the position of the first transfer device 2331 in the first direction (X direction) as an example, the first transfer operation program uses the moving arm 231 to move the first transfer device 2331 in the detection area above the support 31 along the first direction (X direction) by a default distance value to the default working position. The first transfer device 2331 first blocks the light beam projected by the light-emitting component 321 of the position calibrator; the light-emitting component 321 and the light-receiving component 322 of the position calibrator of the first detection program are located in the first detection position, when the first transfer device 2331 blocks the light beam projected by the light-emitting component 321. The light-receiving component 322 of the position calibrator sends a signal to the processor because it does not receive a light beam. The processor of the comparison program records this position data of the first transfer device 2331. Since the diameter of the first transfer device 2331 is known, the processor can analyze whether this position data conforms to the default value. However, the first transfer device 2331 may be tilted. To further confirm whether the first transfer device 2331 has a position deviation value in the first direction, the first transfer operator program executes the first micro-motion means. The first micro-motion means moves the first transfer device 2331 along the first direction (X direction). The first micro-motion means moves the first transfer device 2331 in the positive direction until the light-receiving component 322 receives the light beam and becomes conductive, so that the light-receiving component 322 of the position corrector of the first detection program receives the light beam and sends a signal to the processor. The first transfer device 2331 stops moving, and the comparison program records the first X coordinate of the position of the first transfer device 2331 after this micro-motion by the processor. The first micro-motion means then moves the first transfer device 2331 in the reverse direction (X direction) until the light-receiving component 322 of the position corrector receives the light beam again and becomes conductive. The position corrector of the first detection program... After receiving the light beam, the light-receiving component 322 also sends a signal to the processor, and the first transfer device 2331 stops moving. The comparison program uses the processor to record the second X coordinate of the position of the first transfer device 2331 after this second micro-movement, and analyzes the first X coordinate and the second X coordinate of the first transfer device 2331 after the micro-movement to obtain the center position (X coordinate value) of the first transfer device 2331 in the first direction (X direction). Therefore, by the above method, the positions (X coordinate values) of the third transfer device 2333 and the fourth transfer device 2334 in the first direction (X direction) can be obtained in sequence.

[0081] Please see Figure 4 , Figure 6 , Figures 8-1 to 8-3 The transposition process uses the motor 331 of the transposition drive source to drive the support 31 to rotate 90 degrees via the pulley group 332. The support 31 carries the light-emitting component 321 and the light-receiving component 322 of the position corrector and rotates synchronously, so that the light-emitting component 321 and the light-receiving component 322 of the position corrector are transposed from the first detection position to the second detection position. In other words, the direction of the detection axis L changes from the Y direction to the X direction, and the light-emitting component 321 of the position corrector projects a light beam along the X direction.

[0082] Before detecting the position of the first transfer device 2331 in the second direction (Y direction), the first transfer device 2331 is reset to the default working position, and the first transfer device 2331 will block the light beam projected by the light-emitting component 321; the second transfer operation program uses the moving arm 231 to drive the first transfer device 2331 to move forward in the detection area above the support 31 along the second direction (Y direction) until the light-receiving component 322 receives the light beam and becomes conductive; after the light-receiving component 322 of the position calibrator receives the light beam, the second detection program sends a signal to the processor, and the first transfer device 2331 stops moving; the comparison program uses the processor to record this first Y coordinate position data of the first transfer device 2331. Since the diameter of the first transfer device 2331 is known, the processor can analyze whether this position data conforms to the default value; then the second transfer operation program... The first transfer device 2331 may be tilted. To further confirm whether the first transfer device 2331 has a positional deviation value in the second direction, the second transfer operator program executes a second micro-motion means. The second micro-motion means then moves the first transfer device 2331 in the opposite direction (Y direction) until the light receiving component 322 of the position calibrator receives the light beam again and becomes conductive. After the light receiving component 322 of the position calibrator receives the light beam, the second detection program also sends a signal to the processor, and the first transfer device 2331 stops moving. The comparison program uses the processor to record the second Y coordinate of the position of the first transfer device 2331 after this micro-motion, and analyzes the first Y coordinate and the second Y coordinate of the first transfer device 2331 to obtain the center position (Y coordinate value) of the first transfer device 2331 in the second direction (Y direction).

[0083] The comparison program uses a processor to analyze the center position (X coordinate value) of the first transfer device 2331 in the first direction (X direction) and the center position (Y coordinate value) in the second direction (Y direction), and obtains the position deviation value of the first transfer device 2331 to compensate and correct the actual working position of the first transfer device 2331. Using the above method, the position deviation values ​​of the first transfer device 2331, the third transfer device 2333, and the fourth transfer device 2334 can be obtained sequentially, and the actual working positions of the first transfer device 2331, the third transfer device 2333, and the fourth transfer device 2334 can be adjusted and compensated respectively, using the second transfer device 2332 as a reference.

[0084] Please see Figure 9A schematic diagram of a first implementation method for correcting the position of a transfer device in the third direction (Z direction). Taking the actual height operation position of the first transfer device 2331 as an example, the third transfer operation program uses the moving arm 231 to move the first transfer device 2331 to the detection area of ​​the support 31 and above the through hole 312, and uses the first lifting device 2341 to move the first transfer device 2331 downward along the third direction (Z direction) by a default height value; since the height corrector 35 is a reflective sensor and is located below the through hole 312 of the support 31, and projects a beam of light toward the through hole 312; the height corrector 35 of the third detection program corrects the position of the first transfer device 2331. The feeder 2331 projects a non-contact beam and receives the beam reflected by the first feeder 2331, and transmits a signal to the processor. The comparison program analyzes whether this third-direction position data conforms to the default value, obtains the height position deviation value of the first feeder 2331 in the third direction, and compensates and corrects the actual height working position of the first feeder 2331. Therefore, by the above method, the height position deviation values ​​of the second feeder 2332, the third feeder 2333, and the fourth feeder 2334 in the third direction (Z direction) can be obtained in sequence, and the actual height working position can be compensated and corrected, thereby improving the accuracy of operation.

[0085] Please see Figure 10A schematic diagram of a second implementation method for correcting the position of a transfer device in the third direction (Z direction). The difference between the second implementation method and the first implementation method is that the first detection procedure further includes non-contact detection of the positions of multiple working devices in the third direction using a position calibrator at the first or second detection position. Taking the actual height working position of the first transfer device 2331 as an example, the third transfer device procedure uses the first lifting device 2341 to move the first transfer device 2331 downward along the third direction (Z direction) by a default height value. If the first transfer device 2331 blocks the light beam projected by the light-emitting component 321 of the position calibrator, the first detection procedure sends a signal to the processor because the light-receiving component 322 of the position calibrator does not receive the light beam. The comparison procedure uses the processor to analyze whether this third-direction position data conforms to the default value. To further understand the first... The first transfer device 2331 has a height position deviation value in the third direction. The third transfer operation program executes a third micro-motion means, which moves the first transfer device 2331 upward in the third direction (Z direction) until the third detection program receives the light beam in the light-receiving component 322 of the position calibrator and transmits the signal to the processor. The comparison program analyzes the third direction position data of the first transfer device 2331 after micro-motion to obtain the height position deviation value of the first transfer device 2331 in the third direction and compensates and corrects the actual height working position of the first transfer device 2331. Therefore, by the above method, the height position deviation values ​​of the second transfer device 2332, the third transfer device 2333, and the fourth transfer device 2334 in the third direction (Z direction) can be obtained in sequence and the actual height working position can be compensated and corrected, thereby improving the accuracy of operation.

[0086] Please see Figure 11 The difference between the second embodiment of the correction device 30 of the present invention and the first embodiment is that the position corrector is a contact pressure sensor 37, which is mounted on one side of the support 31 along the detection axis L. The working device (not shown) moves in at least one direction along the detection axis L toward the pressure sensor 37 and contacts the pressure sensor 37. After being pressed, the pressure sensor 37 sends a signal to the processor so that the processor can analyze this position data, obtain the position deviation value of the working device, and compensate and correct the actual working position of the plurality of working devices.

Claims

1. A calibration device for calibrating the positions of a plurality of working devices on a moving arm, characterized in that, The calibration device includes: Support: forms the detection area above; Position calibrator: mounted on the support along the detection axis, and capable of rotating synchronously with the support to change the detection position, the position calibrator non-contactly detects displacement at at least one detection position to the position of the plurality of working devices in the detection area in at least one direction; Indexing drive source: to drive the bearing to rotate, so that the bearing carries the position corrector to change the detected position.

2. The calibration device as described in claim 1, characterized in that: The indexing drive source is a motor, or includes a motor and at least one transmission assembly.

3. The calibration device as described in claim 1, characterized in that: The fixture is equipped with a rotating shaft component for connecting the indexing drive source.

4. The calibration device as described in claim 1, characterized in that: It also includes at least one height corrector for detecting the position of the plurality of operators in a third direction, the third direction being the Z direction.

5. The calibration device as described in claim 4, characterized in that: The support has at least one through hole, and the height corrector is disposed below the through hole.

6. The calibration device as described in claim 4, characterized in that: It also includes at least one third adjuster for adjusting the mounting height of the height corrector.

7. The calibration device according to any one of claims 1 to 6, characterized in that: The position calibrator can be a reference sensor, a reflective sensor, a magnetic sensor, a pressure sensor, or a conductive sensor.

8. The calibration device according to any one of claims 1 to 6, characterized in that: It also includes at least one first adjuster for adjusting the assembly position of the position corrector.

9. A calibration method, providing at least one calibration device as described in claim 1 for calibrating the position of a plurality of working devices in at least one direction, characterized in that, The correction method includes: First transfer operator procedure: Displace the plurality of operators in the detection area above the support along the first direction; First detection procedure: The position of the plurality of working devices in the first direction is detected non-contactly at the first detection position using a position calibrator; The repositioning procedure involves rotating the position corrector using the support to change its position from the first detected position to the second detected position. Second transfer operator procedure: The plurality of transfer operators are displaced along the second direction in the detection area above the carrier; Second detection procedure: The position calibrator detects the position of the plurality of operators in the second direction at the second detection position; Comparison procedure: The processor receives the position data of the plurality of operators transmitted by the first detection procedure and the second detection procedure, analyzes the position of the plurality of operators in the first direction and the second direction, obtains the position deviation value of the plurality of operators, and compensates and corrects the actual working position of the plurality of operators.

10. The correction method as described in claim 9, characterized in that: It also includes a pre-processing procedure, which defaults to the center position of one of the plurality of operators located in the detection area as the initial correction position, so that the other operators can make displacements in at least one direction based on the initial correction position.

11. The correction method as described in claim 10, characterized in that: The first transfer operator program also includes a first micro-motion means, which means that the plurality of operators make micro-motion displacements along the first direction, so that the first detection program can detect the position of the plurality of operators after micro-motion and the comparison program can analyze the position data after micro-motion to obtain the position deviation value of the plurality of operators in the first direction.

12. The correction method as described in claim 10, characterized in that: The second transfer operator program also includes a second micro-motion means, which involves the plurality of operators making micro-motion displacements along the second direction, so that the second detection program can detect the position of the plurality of operators after micro-motion, and the comparison program can analyze the position data after micro-motion to obtain the position deviation value of the plurality of operators in the second direction.

13. The correction method according to any one of claims 9 to 12, characterized in that: It also includes a third transfer operator program and a third detection program. The third transfer operator program uses the default height value of the displacement of the plurality of operators in the third direction along the detection area of ​​the carrier. The third detection program uses a height corrector to detect the position of the plurality of operators in the third direction in a non-contact manner. The comparison program uses the processor to receive the position data of the plurality of operators transmitted by the third detection program to obtain the height position deviation value of the plurality of operators and compensate and correct the actual height working position of the operators.

14. The correction method as described in claim 13, characterized in that: The third transfer operator program also includes a third micro-motion means, which allows the plurality of operators to make micro-motion displacements along the third third direction, so that the third detection program can detect the position of the plurality of operators after micro-motion, and the comparison program can analyze the position data after micro-motion to obtain the position deviation value of the plurality of operators in the third third direction.

15. The correction method according to any one of claims 9 to 12, characterized in that: The first detection procedure also includes using the position calibrator to non-contactly detect the position of the plurality of operators in a third-direction orientation at the first detection position or the second detection position.

16. A work machine, characterized in that, Include: Machine tool; At least one working device: disposed on the machine tool, and provided with at least one support and at least one working mechanism, the at least one support for supporting a plurality of electronic components, the at least one working mechanism being provided with a plurality of working devices for performing default operations on the plurality of electronic components; At least one correction device as described in claim 1: mounted on the machine base for correcting the position of the plurality of working devices in at least one direction; Central control unit: Used to control and integrate the operation of various devices to perform automated operations.

17. The work machine as described in claim 16, characterized in that: The working device also includes a temperature control mechanism, which provides at least one temperature control point among the plurality of working devices.

18. The work machine as described in claim 16, characterized in that: The operating device also includes a test chamber, which is enclosed outside the tester.

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