Method for aligning two objects for relative bonding and device therefor

Abstract

The present invention provides a method and apparatus for aligning two objects to be joined, comprising selecting a space domain in which the two objects are to be joined, moving a first object to a stop position in the space domain, using a plurality of sensors to detect a plurality of true positions of the periphery of the first object in the space domain, and moving a second object to follow the plurality of true positions to align with the first object; wherein the plurality of sensors move around the periphery of the first object to detect a plurality of positioning portions, and stop when detecting the plurality of positioning portions to define the plurality of true positions, thereby eliminating accumulated tolerances that are likely to occur when moving the first object, and improving the accuracy of the relative joining of the two objects. The present invention also includes an aligning apparatus for performing the above method.

Description

Technical Field

[0001] This invention relates to an object positioning calibration technique, and more particularly to a calibration method and apparatus for aligning two objects. Background Technology

[0002] Most products are assembled from numerous components (hereinafter referred to as objects), and the assembly line plays a crucial role in this assembly process. The assembly line itself possesses the capability to move and position objects along one or more axes. Around the assembly line, multi-axis robotic arms or other uniaxial or multi-axis moving mechanisms are typically used to pick up and move other objects to be assembled, allowing one picked-up object to be joined with another positioned object on the assembly line. Robotic arms, due to their strong adaptability to multi-axis trajectories and relatively small footprint, are widely used around assembly lines. However, robotic arms and other uniaxial or multi-axis moving mechanisms are prone to accumulating tolerances during object movement, affecting the alignment accuracy of the two objects during assembly.

[0003] Furthermore, existing technologies commonly employ detectors such as lasers, photocells, and charge-coupled devices (CCDs) to detect the actual position of objects moved to that specific location on the product assembly line. However, when dealing with objects transported by robotic arms, which are prone to accumulating tolerances, the detection technology of these detectors is not properly applied when they are joined with another object. This results in the objects being susceptible to the influence of the accumulated tolerances when they are joined, and the accuracy of alignment is still lacking.

[0004] like Figure 1 As shown, the two objects to be combined can be compared to a typical television, computer, or other product, which has a back cover 91 (or back shell) and a glass panel 92 to be assembled on the back cover 91. On the product assembly line, the back cover 91 is first positioned on a carrier (not shown) to obtain at least a certain position of the back cover 91. Then, a robotic arm (not shown) is used to cut and transport the glass panel 92. During this process, the robotic arm will move the glass panel 92 to directly above the back cover 91 based on the actual position of the positioning point of the back cover 91. Then, a charge-coupled device (CCD) is installed on the robotic arm or on the product assembly line to calibrate the installation position that the glass panel 92 should move to.

[0005] Furthermore, since the frame 910 around the back cover 91 is pre-coated with an adhesive layer 93 made of UV glue or double-sided tape, the glass panel 92 can be bonded to the frame 910 of the back cover 91 by adhesive. However, as the aforementioned products are gradually trending towards thinner and more curved shapes, the width of the frame 910 that can support the glass panel 92 is becoming smaller and smaller. Moreover, when the back cover 91 and the glass panel 92 are joined together, in order to avoid the defect of glue overflow in the adhesive layer 93 (i.e., to avoid defects during bonding), (Defective products) The alignment accuracy between the back cover 91 and the glass panel 92 is required to be very high; however, the existing robotic arms (or other equivalent multi-axis mechanisms) used to pick up and transport the glass panel 92 are prone to generating cumulative tolerances during the movement process, which affects the alignment accuracy of the relative connection between the back cover 91 and the glass panel 92. Moreover, the application of the above-mentioned detector is not able to overcome the problem of cumulative tolerances in the case of the alignment connection between the back cover 91 and the glass panel 92, so it is urgent to improve it. Summary of the Invention

[0006] To address the aforementioned issues in the background technology, the technical means conceived in this invention involves moving a first object, which requires a longer movement distance and is prone to large cumulative tolerances, to a specific position. Then, a movable detector is used to detect the true position of the first object, allowing a second object, which has a relatively shorter movement distance, to move slightly based on this true position information to align and combine with the first object, thus avoiding the cumulative tolerances affecting the accuracy of the combination of the two objects.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A method for calibrating two objects in relative combination, characterized by comprising, in sequence:

[0009] First, select a spatial area where the two objects are to be joined. Then, move one of the two objects to stop in the spatial area. Next, use multiple detectors to detect multiple real positions of the four edges of the first object in the spatial area. Then, move one of the two objects to follow the multiple real positions for alignment and then join the first object.

[0010] The detectors search for multiple positioning parts around the first object in a moving manner, and stop when they detect the multiple positioning parts, in order to define the multiple real positions.

[0011] The calibration method for relatively combining two objects, wherein the movement of the first object, the movement of the second object, and the movement of the plurality of detectors are performed separately in a multidimensional space.

[0012] The calibration method for relatively combining two objects, wherein the distance the first object moves is greater than the distance the second object moves.

[0013] The calibration method for relatively combining two objects, wherein the movement range of the second object is constrained to the periphery and bottom layer of the spatial area.

[0014] The calibration method for relatively combining two objects includes: the spatial region is located above an assembly station, and the second object is moved from the assembly station to the spatial region and multiple real positions for alignment and combination with the first object.

[0015] The calibration method for relatively combining two objects includes: a first object collection station is provided around the assembly area station; the first object is picked up from the first object collection station by a robotic arm and moved to a stop in the spatial area.

[0016] The calibration method for relatively combining two objects, wherein: the first object is a polygonal panel, and the plurality of positioning parts are the multiple end corners around the polygonal panel.

[0017] The calibration method for relatively combining two objects includes: the second object having a polygonal border for combining with the polygonal panel, and the polygonal border having multiple corners around its perimeter; the second object being aligned with the multiple corners of the first object and the multiple end corners of the first object.

[0018] The calibration method for relatively combining two objects, wherein the second object is a back cover for assembling the polygonal panel.

[0019] A calibration device for aligning two objects, characterized in that it comprises:

[0020] An assembly station is used to place a second object, and the assembly station has a spatial area above it;

[0021] A first multi-axis drive is configured on the side of the assembly station for picking up a first object outside the assembly station and moving the first object to the spatial area.

[0022] Multiple second multi-axis drives are spaced apart and arranged above the assembly station, and each of the multiple second multi-axis drives is connected to drive a detector, such that the multiple detectors are spaced apart and located around the perimeter above the spatial area.

[0023] A third multi-axis drive, configured within the assembly station, is used to drive the second object to move to the spatial area;

[0024] In this process, the first object is stopped in the spatial region by being braked by the first multi-axis driver, and the plurality of detectors are driven by the respective second multi-axis drivers to detect the multiple actual positions of the four edges of the stopped first object in the spatial region. The third multi-axis driver drives the second object and the stopped first object to align and engage with each other based on the multiple actual positions.

[0025] The calibration device for relatively joining two objects, wherein the assembly station is located in a product assembly line.

[0026] The calibration device for relatively combining two objects includes: a first object collection station is provided around the assembly area station; the first object is picked up from the first object collection station by the first multi-axis drive and moved to stop in the spatial area.

[0027] The calibration device for relatively joining two objects, wherein: the distance by which the first multi-axis driver drives the first object to move is greater than the distance by which the third actuator drives the second object to move.

[0028] The calibration device for relatively combining two objects, wherein: the first object is a polygonal panel, and the plurality of actual positions are the plurality of end corners around the polygonal panel.

[0029] The alignment device for relative joining of two objects, wherein: the second object has a polygonal frame for joining the polygonal panel, and the polygonal frame has a plurality of corners around its perimeter, and the second object is aligned with the plurality of corners of the first object by the plurality of corners.

[0030] The alignment device for relative joining of two objects, wherein the second object is a back cover for assembling the polygonal panel.

[0031] Based on the above, the technical effect achieved by the present invention is as follows: using a multi-axis drive that easily generates cumulative tolerances when moving a first object, the first object is first transported to a spatial area equipped with multiple detectors (at this time, the position of the first object has generated cumulative tolerances), and the positions of the multiple detectors are finely adjusted to search for and detect the true positions of the four corners of the first object, so as to eliminate the cumulative tolerances generated during the movement of the first object. Then, based on the information of the true positions, the second object is finely adjusted to move into the spatial area to align and engage with the first object, so as to improve the accuracy of the alignment and engagement of the two objects.

[0032] Therefore, please refer further to the detailed embodiments and drawings described below to demonstrate the feasibility of the present invention and the practicality of its technical effects. Attached Figure Description

[0033] Figure 1 This is an illustration of the action of combining two traditional objects.

[0034] Figure 2 The diagram illustrates the steps of the calibration method of the present invention.

[0035] Figure 3 for Figure 2 The diagram shows the action blocks for steps S1 to S4.

[0036] Figure 4a for Figure 2 The diagram shown in step S3 is a schematic diagram of detecting the four corners of the first object.

[0037] Figure 4b for Figure 2 The diagram shown in step S4 is a schematic diagram of detecting the four corners of the second object and aligning it with the first object.

[0038] Figure 5 This is a three-dimensional configuration diagram of a preferred embodiment of the device of the present invention.

[0039] Figure 6 for Figure 5 A three-dimensional configuration diagram of another preferred embodiment of the assembly area station.

[0040] Figure 7 For self Figure 5 A 3D configuration diagram of the third multi-axis driver extracted from the image.

[0041] Figure 8 for Figure 5 Side view sectional view.

[0042] Figure 9 for Figure 5 A top-down view.

[0043] Explanation of reference numerals in the attached drawings: 10-Spatial area; 11-First object; 110-End corner; 12-Second object; 120-Frame corner; 31-First multi-axis driver; 32-Picker; 41-Second multi-axis driver; 411-X-axis servo slide; 412-Y-axis servo slide; 413-Z-axis servo slide; 42-Detector; 51-Third multi-axis driver; 511-X-axis servo slider; 512-Y-axis servo slider; 513-Z-axis lifter; 61-Assembly station; 62-First object collection station; 63-Tooling table; L1, L2, L3-Distance; S1 to S4-Steps. Detailed Implementation

[0044] Based on the known background technology and the combination of two objects (such as...) Figure 1 (As shown), please continue reading. Figures 2 to 5 .in, Figure 2The present invention discloses that the two objects to be checked and combined are a first object 11 and a second object 12. In practice, the first object 11 and the second object 12 can be polygonal bodies (e.g., quadrilateral bodies) or other shapes such as circles or arcs. Figure 3 A preferred embodiment of the present invention discloses a method for calibrating two objects that are relatively joined together.

[0045] like Figure 3 As shown, the calibration method includes performing the following steps S1 to S4 in sequence (please provide an explanation of the actions). Figure 2 As shown):

[0046] Step S1: Select a spatial region

[0047] like Figure 2 As shown, the present invention defines the spatial region 10 as a spatial position where the first object 11 and the second object 12 are to be joined relative to each other. The range encompassed by the spatial region 10 can be determined according to the spatial outline of the two objects, and is set within a control unit (not shown) that performs the calibration method. Furthermore, the spatial region 10 is a planar area existing in space, which must be sufficient to accommodate the two objects suspended within it and joined relative to each other. Therefore, the spatial region 10 can be slightly larger than the volume required before (i.e., alignment) and after the two objects are joined relative to each other in space, and the spatial region 10 is not limited to a planar region or a curved surface region. In one embodiment, the spatial region 10 can be considered to exist in an assembly station 61 (e.g., Figure 5 Above (as shown) (details to follow).

[0048] Step S2: Move the first object to the spatial surface.

[0049] This step can rely on existing multi-axis drives to perform the process of moving the first object 11, such as... Figure 2 and Figure 5 As shown, the multi-axis actuator is defined as a first multi-axis actuator 31, and the first multi-axis actuator 31 is equipped with a gripper 32 made of, for example, a suction claw or a gripper, etc., and the first object 11 was originally far away from the second object 12. Figure 5 As shown, the distant location can be configured in Figure 5 A first object collection station 62 is located around the assembly area station 61 shown, and the first multi-axis drive 31 is configured in... Figure 5 The assembly station 61 is located to the side of the assembly station 61 and between the assembly station 61 and the object collection station 62. Accordingly, the object 11 is moved into the spatial area 10 of the assembly station 61 by the first multi-axis drive 31 and is driven to stop (i.e., remain stationary) in the spatial area 10.

[0050] As is known from the background art, since traditional multi-axis actuators (such as robotic arms) can carry and position objects in multi-dimensional space, they are applicable to this step. It is also known that the more paths, angles, and distances a traditional multi-axis actuator uses when carrying objects, the greater the cumulative tolerance it generates. This is the problem that the calibration method of the present invention aims to overcome. Of course, the first object 11 that moves into the spatial area 10 in this step will generate a cumulative tolerance after stopping. Steps S3 to S4 described later in this invention can be used to absorb this cumulative tolerance, so that the two objects can be accurately aligned and joined together.

[0051] Step S3: Determine the actual position of the end edge of the first object.

[0052] This step can utilize existing charge-coupled devices (CCDs) or light sensors capable of emitting laser or infrared light as detectors 42, and multiple detectors 42 can be moved using, for example, multiple multi-axis drives (described in detail later) programmed with multi-axis servo slides, such as... Figure 5 As shown, the multiple actuators used in this step are defined as a second multi-axis actuator 41, enabling the multiple detectors 42 to be spaced apart and positioned above the periphery of the spatial area 10, and allowing the multiple detectors 42 to move in a multi-dimensional manner from top to bottom to search for multiple positioning parts around the first object 11; as shown Figure 4a As shown, for example, the first object 11 is a quadrilateral object with four corners 110 as positioning parts. The multiple detectors 42 can search for the images of each corner 110 (i.e., positioning part) in a micro-movement manner to detect multiple real positions of the four edges of the first object 11. Subsequently, after the multiple detectors 42 synchronously detect and determine the real positions of the multiple positioning parts, the second multi-axis driver 41 synchronously stops the multiple detectors 42 to define the multiple real positions and transmit the information of the multiple real positions to the control unit for storage.

[0053] In addition to the above-described cases, when the first object 11 has an arc or circular outline, the positioning portion searched by each detector 42 can also be a user-defined arc or circular edge. Furthermore, the image or reference point defining the positioning portion searched by the detector can be preset by the control unit and the vision lens. Moreover, the number of the plurality of second multi-axis drives 41 and the plurality of detectors 42 can be the same as the number of positioning portions around the first object 11. Since the surface area of ​​an object must be enclosed by at least three positioning portions, the number of positioning portions cannot be less than three.

[0054] Furthermore, based on the content revealed in steps S1 to S3 above, the spatial area 10 can also be defined as being constructed from a visible area enclosed by multiple detectors 42.

[0055] Step S4: Move the second object to align and fit it with the first object.

[0056] This step can rely on existing multi-axis drives to perform the process of moving the second object 12. Figure 2 In this context, the multi-axis drive is defined as a third multi-axis drive 51. This third multi-axis drive 51 can be installed in a separate workbench or in an assembly station 61 (described in detail later) within a product assembly line. The spatial area 10 can be selectively formed above the separate workbench or assembly station 61. The separate workbench or assembly station 61 is used to hold, assemble, or transfer the second object 12. Therefore, the third multi-axis drive 51 installed in the separate workbench or assembly station 61 can drive the second object 12 to perform actions such as lifting and fine-tuning left and right with a shorter travel distance, moving the second object 12 into the spatial area 10 to align with the first object 11. After alignment, the third multi-axis drive 51 moves the second object 12 towards the first object 11 for a relative fitting process. Thus, the movement range of the second object 12 is limited to or can be restricted to the periphery and bottom layer of the spatial area 10.

[0057] In this step, such as Figure 4b As shown, for example, the second object 12 is a quadrilateral object with a polygonal frame for use with the first object 11. The polygonal frame is formed by the four corners 120 (or reference points) around the second object 12, so that the multiple corners 120 can serve as reference points for the detector 42 when it is stopped and illuminated or viewed. Furthermore, the third multi-axis driver 51 can read the information of multiple real positions of the first object 11 stored in the control unit in step S3, and use it to perform multi-micro-adjustment movement of the second object 12 to align the second object 12 with the stopped first object 11. This includes aligning the multiple corners 120 between the second object 12 and the first object 11 with each other. The alignment process can be completed by the detector 42's vision and by the control unit's comparison and calculation.

[0058] Furthermore, after the multiple second multi-axis drivers 41 and the multiple detectors 42 synchronously stop after detecting multiple real positions of the first object 11 in step S3, when executing step S4, the multiple second multi-axis drivers 41 can also drive the multiple detectors 42 to move three micro-movements again to search for the real positions of multiple frame corners 120 of the second object 12, and command the third multi-axis driver 51 to fine-tune the movement of the second object 12 so that it can be aligned with the first object 11 and fit together after alignment.

[0059] In the above steps, the multidimensional, multi-axis, and spatial nature can be interpreted by the X-axis, Y-axis, and Z-axis coordinate lines marked in the diagram; in other words, the movement of the first object 11, the movement of the second object 12, and the movement of the plurality of detectors 42 can be performed individually in the multidimensional space.

[0060] Furthermore, since the first multi-axis driver 31 in step S2 moves the distant first object 11 into the spatial region 10, the second multi-axis driver 31 in step S3 only performs fine-tuning movements of the detector 42 around the spatial region 10, and the third multi-axis driver 51 in step S4 only performs fine-tuning movements of the second object at the bottom layer of the spatial region 10, the required movement distances for the first object 11, the second object 12, and the detector 42 are: movement distance of the first object 11 > movement distance of the second object 12 > movement distance of the detector 42. Therefore, the cumulative tolerance generated by the first multi-axis driver 31 during the movement of the first object 11 > the cumulative tolerance generated by the third multi-axis driver 51 during the movement of the second object 12 > the cumulative tolerance generated by the second multi-axis driver 41 during the movement of the detector 42. However, the above-described method of the present invention uses the detector 42 to detect the true position of the first object 11, which has generated a large cumulative tolerance. Obviously, this does help to improve the accuracy of the two objects during alignment and assembly.

[0061] Furthermore, in the above steps, the first object 11 can be considered as... Figure 1 The glass panel 92 of the product shown, the second object 12 can be regarded as being Figure 1 The back cover 91 of the product shown.

[0062] Next, please refer to Figures 5 to 9 Another preferred embodiment of the present invention is to provide a calibration device for relatively combining two objects. The calibration method of the present invention can be implemented in more detail according to the following contents disclosed in the calibration device.

[0063] like Figure 5 As shown, the calibration device includes the aforementioned assembly station 61, a first multi-axis driver 31, multiple second multi-axis drivers 41, and a third multi-axis driver 51. The spatial area 10 selected by the above method (e.g., Figure 2 The object (as shown) can be located above the assembly station 61, and the assembly station 61 is a place where the second object 12 is placed first and then the first object 11 is received from outside. The first object 11 from outside can refer to a first object collection station 62 configured at an appropriate position around the assembly station 61, so that the first object 11 can be collected in advance on the first object collection station 62, waiting for the first multi-axis drive 31 to pick it up, thus becoming the first object 11 picked up from outside the assembly station 61.

[0064] exist Figure 5 The example illustrates that the first multi-axis actuator 31 is a robotic arm capable of multi-axial transmission, allowing it to be positioned beside the assembly station 61, between the assembly station 61 and the first object collection station 62. This enables the first multi-axis actuator 31 to pick up the first object 11 from the first object collection station 62, and then, through its multi-dimensional transmission function, move the first object 11 to a stop within the spatial area 10. Please refer to... Figure 6 As shown, in a preferred embodiment, the assembly station 61 can be located within a product assembly line 60, and the product assembly line 60 carries multiple tooling tables 63. Each tooling table 63 can stably support a second object 12, so that the product assembly line 60 can transfer each tooling table 63 and the second object 12 it carries into the assembly station 61 one by one to carry out the assembly operation of the two objects being joined together.

[0065] Please match Figure 5 and Figure 7 As shown, where Figure 5 Multiple second multi-axis drives 41 are disclosed to be spaced apart above the assembly station 61. Figure 7 The diagram reveals that multiple second multi-axis drivers 41 are respectively connected to drive a detector 42. In this embodiment, each detector 42 can be made of a charge-coupled element, such that the multiple detectors 42 are spaced apart and located around the perimeter of the spatial region 10 shown in Figure 2. Figure 7 Further, it is revealed that the multiple second multi-axis drives 41 can be substantially formed by multiple sets of X-axis servo slides 411, Y-axis servo slides 412 and Z-axis servo slides 413, each with its own power, which are interconnected to drive each detector 42 to perform multi-dimensional micro-movements, so as to perform the operation of detecting the true position of the first object 11; in addition, through the field of view of each detector 42, monitoring and detection operations can also be provided when the second object 12 and the first object 11 are aligned.

[0066] Please continue reading Figure 8 This reveals that the third multi-axis drive 51 is configured within the assembly station 61 for driving the second object 12 to move into the spatial region 10 and Figure 2The first object 11 shown is aligned and engaged with each other. The third multi-axis drive 51 may consist of an X-axis servo slider 511, a Y-axis servo slider 512, and a Z-axis lifter 513 that are dynamically connected to each other. The Z-axis lifter 513 can lift the second object 12 into the spatial area 10. Then, the X-axis servo slider 511 and the Y-axis servo slider 512 carry the second object 12 in the spatial area 10 to perform multi-dimensional micro-movements so that the second object 12 can perform the mutual alignment operation described in the above-mentioned calibration method with the first object 11. After the alignment is completed, the Z-axis lifter 513 can lift the second object 12 again slightly and engage the first object 11.

[0067] Please refer to the combined documents further. Figure 7 and Figure 9 , among which Figure 7 As shown, since the detector 42 does not need to move away from the spatial surface 10 for detection, the distance L2 that the second multi-axis actuator 41 drives the detector 42 to move in three dimensions is much smaller than that of the detector 42. Figure 9 The first multi-axis drive 31 shown drives and carries the first object 11 a distance L1. Please also refer to [the relevant documentation / reference]. Figure 8 and Figure 9 , among which Figure 8 As shown, since the distance L3 of the three-dimensional movement of the second object 12 only needs to be or can be constrained to the periphery and bottom layer of the spatial region 10, the distance L3 of the three-dimensional movement of the second object 12 driven by the third multi-axis actuator 51 is much smaller than that of the second object 12. Figure 9 The first multi-axis drive 31 shown drives and carries the first object 11 a distance L1. Furthermore, based on the movement requirements of the detector, it is not difficult to determine... Figure 7 The distance L2 of the three-dimensional movement of the second multi-axis actuator 41 driving the detector 42 can also be less than... Figure 8 The distance L3 by which the third multi-axis driver 51 drives the second object 12 to move in three dimensions is shown and described.

[0068] The configuration of the above-mentioned device enables the operation of the above-mentioned method. In particular, the detection of the true position of the first object 11, which has generated a large cumulative tolerance, by the slight movement of the detector 42, obviously helps to improve the accuracy of the two objects during alignment and assembly.

[0069] The above description is illustrative only and not restrictive of the present invention. Those skilled in the art will understand that many modifications, variations or equivalents can be made without departing from the spirit and scope defined by the claims, and all such modifications, variations or equivalents will fall within the protection scope of the present invention.

Claims

1. A method for calibrating two relatively joined objects, characterized in that, In order include: First, select a spatial area where the two objects are to be joined. Then, move one of the two objects to stop in the spatial area. Next, use multiple detectors to detect multiple real positions of the four edges of the first object in the spatial area. Then, move one of the two objects to follow the multiple real positions for alignment and then join the first object. In this process, after the first object moves to the spatial region and stops, it generates a cumulative tolerance. Multiple detectors search for multiple positioning parts around the first object by making small movements in the XYZ three-dimensional directions, and stop when they detect multiple positioning parts to eliminate the cumulative tolerance generated by the first object. This defines multiple true positions for the second object to follow and align with the first object. The multiple detectors move in three dimensions to search for the true positions of multiple frame corners of the second object, and fine-tune the movement of the second object to align with the first object. The movement distance of the first object > the movement distance of the second object > the movement distance of each detector. The movement range of the second object is confined to the periphery and bottom layer of the spatial region.

2. The calibration method for two relatively joined objects as described in claim 1, characterized in that: The movement of the first object, the movement of the second object, and the movement of the plurality of detectors are each carried out individually in a multidimensional space.

3. The calibration method for two relatively joined objects as described in claim 1, characterized in that: The spatial area is located above an assembly station, and the second object is moved from the assembly station to the spatial area and multiple real positions for alignment and combination with the first object.

4. The calibration method for two relatively joined objects as described in claim 3, characterized in that: The assembly area is surrounded by a first object collection station. The first object is picked up from the first object collection station by a robotic arm and moved to a stop in the space.

5. The calibration method for two relatively joined objects as described in claim 1, characterized in that: The first object is a polygonal panel, and the plurality of positioning parts are the multiple end corners around the polygonal panel.

6. The calibration method for two relatively joined objects as described in claim 5, characterized in that: The second object has a polygonal border for attaching to the polygonal panel, and the polygonal border has multiple corners around its perimeter, the second object being aligned with the multiple corners of the first object.

7. The calibration method for two relatively joined objects as described in claim 6, characterized in that: The second object is a back cover used to assemble the polygonal panel.

8. A calibration device for aligning two objects, characterized in that, include: An assembly station is used to place a second object, and the assembly station has a spatial area above it; A first multi-axis drive is configured on the side of the assembly station for picking up a first object outside the assembly station and moving the first object to the spatial area. Multiple second multi-axis drives are spaced apart and arranged above the assembly station, and each of the multiple second multi-axis drives is connected to drive a detector, such that the multiple detectors are spaced apart and located around the perimeter above the spatial area. A third multi-axis drive, configured within the assembly station, is used to drive the second object to move to the spatial area; In this process, the first object is stopped in the spatial region by the braking of the first multi-axis drive. After the first object moves to the stop in the spatial region, it generates an accumulated tolerance. The plurality of detectors are driven by the second multi-axis drive to make small movements in the XYZ three-dimensional directions, and detect the multiple real positions of the four edges of the stopped first object in the spatial region so that the second object can follow and align with the first object. The plurality of detectors stop when they detect the multiple real positions to eliminate the accumulated tolerance generated by the first object. The third multi-axis drive drives the second object and the stopped first object to align with each other and engage relative to each other according to the multiple real positions. Multiple detectors move in three dimensions to search for the true positions of multiple frame corners of the second object, and fine-tune the movement of the second object to align it with the first object. The movement distance of the first object > the movement distance of the second object > the movement distance of each detector. The movement range of the second object is confined to the periphery and bottom layer of the spatial area.

9. The calibration device for aligning two objects as described in claim 8, characterized in that: The assembly station is located within a product assembly line.

10. The calibration device for relative joining of two objects as described in claim 8, characterized in that: A first object collection station is provided around the assembly area station. The first object is picked up from the first object collection station by the first multi-axis drive and moved to the stop in the spatial area.

11. The calibration device for relative joining of two objects as described in claim 8, characterized in that: The first object is a polygonal panel, and the multiple actual positions are multiple corners around the polygonal panel.

12. The calibration device for relative coupling of two objects as described in claim 11, characterized in that: The second object has a polygonal border for attaching to the polygonal panel, and the polygonal border has multiple corners around its perimeter, the second object being aligned with the multiple corners of the first object.

13. The calibration device for relative coupling of two objects as described in claim 12, characterized in that: The second object is a back cover used to assemble the polygonal panel.

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