TW201619023A - Correction unit of operation device and correction method thereof - Google Patents

Abstract

Disclosed are a correction unit of an operation device and a correction method thereof. The operation device is provided with an operation mechanism having at least one conveyor arranged on a machine chassis. The correction unit includes a correction mechanism, an imaging mechanism, and a comparison mechanism. The correction mechanism is provided with a reference device having at least one reference section arranged on the machine chassis. The imaging mechanism is provided with an imaging device arranged on the at least one conveyor of the operation mechanism. The imaging device is driven by the conveyor to move in synchronization, so that the imaging mechanism may take an image of each reference section of the reference device and transmit data of the image to a database of the comparison mechanism to allow a controller of the comparison mechanism to compare the data of the image with reference image data built in the database for analysis of a difference between an actual position of the imaging device and a preset position thereby determining an amount of deviation for the operation of the conveyor. The controller calculates a compensation value according to the amount of deviation and uses the amount of compensation to correct the displacement value of the conveyor in a subsequent regular operation thereby improving the accuracy of the operation of the conveyor and achieving the effects of precise correction and operation time saving.

Description

Correction unit of working device and correction method thereof

The invention provides a synchronous displacement of the image taking device of the image capturing mechanism by the transfer mechanism of the working mechanism, so that the image picker takes the reference of the image correcting mechanism, and compares the displacement deviation of the image capturing device by the comparing mechanism. The discriminating amount of the movement of the transfer device is determined to correct the displacement of the transfer device, thereby improving the accuracy of the movement of the transfer device.

Nowadays, after the different working devices of the working equipment are assembled on the machine table, the working devices of the working devices are susceptible to positioning accuracy due to factors such as the accuracy of the assembly of the transfer device or the cumulative tolerance of the assembly of the machine, especially the increasingly precise and volumetric electronic components. Small, so that the accuracy of the operation device for placing the electronic components into the work area is quite high. If the accuracy is slightly deviated, the electronic components cannot effectively perform the preset work in the work area, thereby reducing the quality of the work. After the assembly work of the working equipment is completed, the correcting operation of the transfer device of each working device must be performed; for example, the electronic component testing device is referred to FIG. 1 , and the electronic component testing device is configured on the machine 10 The feeding device 11, the conveying device 12, the testing device 13 and the receiving device 14; the first moving mechanism 121 of the conveying device 12 transports the electronic components to be tested on the feeding device 11 to the test socket 131 of the testing device 13, The test stand 131 of the test device 13 performs a test operation on the electronic component, and after the test is completed, the second transfer mechanism 122 of the transport device 12 is tested. The seat 131 takes out the measured electronic components, and according to the test result, the measured electronic components are sent to the receiving device 14 for sorting; for example, the current operator corrects the assembly accuracy of the first moving mechanism 121, see the second and third. The Y-axis transfer device 1211 of the first transfer mechanism 121 is mounted on the machine table 10, and the X-axis transfer device 1212 is mounted on the Y-axis transfer device 1211, and the X-axis transfer device 1212 is equipped with a device. The nozzle operator 1213 is for picking and placing electronic components. However, in order to correct the assembly accuracy of the carrier of the first moving mechanism 121, the worker replaces the nozzle of the operator 1213 with the sharp needle 151, and the operator 1213 An ink plate 152 is placed under the X-axis transfer device 1212 to drive the work device 121 when the X-axis transfer device 1212 is being corrected. 3 X-axis displacement, so that the sharp needle 151 on the working device 1213 draws an X-axis line on the ink plate 152, and then manually uses the right angle plate (not shown) and visually measures the sharp needle 151 on the ink plate. Whether the X-axis line drawn on the 152 is skewed, if the X-axis line drawn by the sharp needle 151 is inclined, the assembly angle of the X-axis transfer device 1212 must be constantly adjusted until the sharp needle 151 is drawn. The X-axis line is within the allowable range to complete the calibration operation. Since the Y-axis transfer device 1211 is fixed to the machine table 10, it is quite inconvenient to adjust. Therefore, most of the operators only correct the assembly of the X-axis transfer device 1212. Angle; however, since the staff adjusts the X-axis transfer device 1212 by visual inspection, the amount of deviation of the X-axis transfer device 1212 cannot be accurately known, so that the assembly angle of the X-axis transfer device 1212 can only be roughly adjusted. For the operator 1213 of the enlarged size electronic component, perhaps the deviation amount of the X-axis transfer device 1212 can still cause the operator 1213 to perform the operation of taking the enlarged size electronic component, but the alignment accuracy is relatively high. For small-sized electronic components, X-axis The transfer device 1212 will therefore be unable to drive the operator 1213 to accurately align the small-sized electronic components, so that the operator 1213 cannot accurately perform the operation of picking and placing small-sized electronic components, resulting in a lack of work inconvenience; The calibration operation is manually visually measured, and then continuously adjusted and corrected, which is not only prone to visual discrimination errors, but also time-consuming and laborious, thereby reducing the production efficiency of the machine.

A first object of the present invention is to provide a correction unit for a working device and a method for correcting the same, wherein the working device is provided with an operating mechanism having at least one transfer device, and the correcting unit comprises a correcting mechanism, an image capturing mechanism and a ratio For the mechanism, the correction mechanism is provided with a reference device having at least one reference component on the machine table, the image capturing mechanism is provided with at least one image capturing device on at least one of the transfer mechanisms of the working mechanism, and the image capturing device is transferred by the image capturing device The synchronous driving displacement is performed, so that the image capturing device takes the reference components on the reference image, and transmits the image data of the image to the database of the comparison mechanism, so that the controller of the comparison mechanism images the image and the image. The reference image data built in the library is compared to analyze the difference between the actual position of the image capture device and the preset position, thereby determining the deviation of the movement of the transfer device, and the controller calculates the compensation value according to the deviation amount, and The compensation value corrects the displacement of the subsequent formal operation of the transfer device, and improves the accuracy of the movement of the transfer device, thereby achieving the practical benefit of facilitating accurate correction.

A second object of the present invention is to provide a correction unit for a working device and a correction thereof The method, wherein the correcting unit can use the transfer mechanism of the working mechanism to drive the image sensor of the image capturing mechanism to synchronously shift, so that the image picker takes the reference of the image correcting mechanism, and compares the deviation of the transfer device through the comparing mechanism. And compensate the displacement of the transfer device, and then automatically correct the operating mechanism, in order to effectively reduce the correction work time and manpower, to achieve the practical benefits of ease of use.

[study]

10‧‧‧ machine

11‧‧‧Feeding device

12‧‧‧Conveyor

121‧‧‧First moving agency

1211‧‧‧Y axial transfer device

1212‧‧‧X axial transfer

1213‧‧‧Worker

122‧‧‧Second moving mechanism

13‧‧‧Testing device

131‧‧‧ test seat

14‧‧‧ Receiving device

151‧‧‧ sharp needle

152‧‧‧ ink board

〔this invention〕

20‧‧‧Working device

21‧‧‧ operating agencies

211‧‧‧Y axial transfer device

212‧‧‧X axial transfer

22‧‧‧Correction agency

221‧‧‧ benchmark

2211‧‧‧ reference parts

222‧‧‧ Positioning parts

23‧‧‧Image agency

231‧‧‧Imager

24‧‧ ‧ comparison agency

241‧‧‧Database

242‧‧‧ Controller

Figure 1: Schematic diagram of a conventional electronic component test equipment.

Figure 2: Schematic diagram of the use of the first shifting mechanism (1).

Figure 3: Schematic diagram of the use of the first shifting mechanism (2).

Figure 4 is a schematic view showing the configuration of the working device of the present invention.

Fig. 5 is a schematic view showing the correcting operation of the working device of the present invention (1).

Figure 6: Schematic diagram of the corrective action of the working device of the present invention (2).

Figure 7: Schematic diagram of the corrective action of the working device of the present invention (3).

In order to make the present invention more fully understood by the reviewing committee, a preferred embodiment and a drawing will be described in detail. As follows: Referring to FIG. 4, the working device 20 of the present invention includes at least one working mechanism 21 and a correcting unit. The working mechanism 21 can be a moving mechanism or a pressing mechanism, and is provided with at least one transfer device, and at least one working device (not shown, such as a pick and place device) is mounted on the transfer device for executing the pre-preparation. In the present embodiment, the working mechanism 21 is a moving mechanism, and is provided with a Y-axis transfer device 211 and an X-axis transfer device 212, and the Y-axis transfer device 211 is mounted on the machine table and driven. The X-axis shifter 212 is axially displaced. The X-axis shifter 212 is equipped with at least one operator (not shown) for axially displacing the operator; the correction unit includes a correction mechanism 22, The image capturing mechanism 23 and the comparing mechanism 24 are provided with a reference 221 having at least one reference member on the machine table. In the embodiment, the correcting mechanism 22 is at the correction reference position on the machine table. A plurality of positioning members 222 are provided, because the positioning position of the positioning member 222 is relative to The stage has precision. When the reference 221 is placed between the plurality of positioning members 222, the plurality of positioning members 222 can be used to position the reference 221, so that the XY axis of the reference 221 is accurately placed, and further, The calibration reference position can be the position of the assembly tray in the future, so as to correct the transfer device to drive the operator to officially The displacement of the electronic component is taken up and held on the disk. The reference device 221 is a reference fixture, and the top surface is provided with a plurality of reference components 2211 in an XY axial array. The reference component 2211 can be a planar marking pattern or a stereo component. In this embodiment, a reference member 2211 which is a circular mark is disposed at every 10 mm XY axial intersection of the top surface of the reference 221; the image capturing mechanism 23 is disposed on at least one of the transfer mechanisms of the working mechanism 21. There is at least one image capturing device, so that the image capturing device is synchronously displaced by the transfer device, and the reference components 2211 on the image bearing unit 221 are taken, and the image capturing image data is transmitted to the comparison mechanism 24, in this embodiment. The image capturing mechanism 23 is provided with a CCD image taking device 231 which is mounted on the X-axis transfer device 212 of the working mechanism 21 instead of the working device, and the Y-axis of the working mechanism 21 The shifter 211 and the X-axis shifter 212 are axially displaced by the action XY. Therefore, the moving position of the image picker 231 is the moving position of the operator, and the image data is transmitted to the comparison mechanism 24; The comparison mechanism 24 is provided with at least one database 241 and at least one controller 242, the database 241 has reference image data of the reference 221, the controller 242 receives the image data transmitted by the image capturing mechanism 23, and the reference image data of the image data and the database 241 For comparison, the Y-axis shifter 211 and the X-axis shifter 212 of the working mechanism 21 are determined to drive the deviation between the actual position of the image capture device 231 and the preset position, and are calculated according to the deviation amount. The compensation value is used to correct the displacement of the Y-axis transfer device 211 and the X-axis transfer device 212 in the subsequent official operation, so that the Y-axis transfer device 211 and the X-axis transfer device 212 drive the working mechanism 21 to be assembled later. The operator is accurately displaced to the preset position.

Referring to FIG. 5, the calibration method of the present invention first performs a calibration positioning component program, which uses another image capturing mechanism to take the image positioning member 222, and transmits the image capturing data to the comparison mechanism 24 for comparison. Whether the positioning position of the positioning member 222 is deviated, and the adjustment and adjustment are performed to accurately position the positioning member 222. In this embodiment, the image capturing and positioning member 222 can be imaged by using another imaging mechanism (not shown) having an assembly precision. The image data is transmitted to the controller 242 of the comparison mechanism 24. Since the database 241 of the comparison mechanism 24 has the correct image data of the positioning member 222, the controller 242 can correctly image the positioning member 222. If the position of the positioning member 222 has an error, the staff can perform correction adjustment so that the positioning member 222 is accurately positioned on the machine table, and then the erecting reference program is used, and the reference device of the correction mechanism 22 is used. 221 calibration benchmark positioned on the machine Position, in this embodiment, since the positioning member 222 of the correction mechanism 22 is disposed on the calibration reference position on the machine table and has precision with respect to the machine table, the reference unit 221 can be accurately used by using a plurality of positioning members 222. The calibration reference position is located on the machine to ensure the XY axial accuracy of the reference 221.

Referring to FIG. 6, when the transfer device of the working mechanism 21 is calibrated, an image capturing program is performed, wherein at least one of the transfer mechanisms of the working mechanism 21 drives the image pickup unit 231 of the image capturing mechanism 23 to be displaced, so that the image taking device 231 is moved. The image capturing unit 221 of the image capturing mechanism 22 is mounted on the working mechanism 21, that is, the image capturing device 231 of the image capturing mechanism 23 is mounted on the working mechanism 21, that is, the image capturing device 231 of the image capturing mechanism 23 is mounted on the working mechanism 21. In the future, the position of the operator (not shown, such as the pick and place device) is assembled, so that the Y-axis shifter 211 and the X-axis shifter 212 of the working mechanism 21 drive the position of the image picker 231 to move, that is, Y in the future. The axial transfer device 211 and the X-axis transfer device 212 drive the position of the movement of the working device. Therefore, when performing the image capturing operation, the working mechanism 21 can be preset to drive the X-axis transfer device 212 with the Y-axis transfer device 211. And the image capturing device 231 moves the 10 mm Y axial displacement amount, and drives the image pickup device 231 to move the 10 mm X axial displacement amount by the X-axis transfer device 212, so that the image pickup device 231 takes the reference device 221 of the image correcting mechanism 22, The reference 221 is provided with a reference member 2211 which is a circular mark every 10 mm XY axial intersection. The image capturing device 231 can take the reference member 2211 of the reference 221, and so on. The working mechanism 21 drives the image taking device 231 to perform XY axial displacement with the Y-axis shifter 211 and the X-axis shifter 212. The imager 231 takes a plurality of reference components 2211 of the image reference unit 221 at a plurality of positions, and transmits a plurality of image capturing image data to the comparison mechanism 24; and then performs a comparison program, which is a comparison mechanism 24 The controller 242 compares the captured image data with the reference image data in the database 241, and determines the deviation amount of the movement of the transfer device. In the embodiment, the Y-axis transfer device of the working mechanism 21 The actual position where the 211 and the X-axis shifter 212 drives the image picker 231 to move is not necessarily the correct preset position (such as the coordinate (10, 10)), and may be the coordinate (9.57, 10.01) position. Therefore, the comparison mechanism The controller 242 of 24 compares the reference image data of the reference 221 established in the database 241 with the image data of the reference 221 of the image capturer 231 to analyze the actual position of the image finder 231. The difference from the preset position, and further the Y axis Transmitter 211 and the X-axis actuator 212 of the transfer deviation amount.

Referring to FIG. 7 , in order to enable the shifter of the working mechanism 21 to accurately shift the operator of the future assembly to the preset position, after the comparison procedure is completed, the compensation calibration program is further executed, and the controller of the comparison mechanism 24 is used. 242 calculates the compensation value according to the deviation amount, and corrects the displacement amount of the transfer device with the compensation value, so that the transfer device is accurately operated. In this embodiment, if the X-axis transfer device 212 is due to assembly deviation or component accumulation error factor The image pickup device 231 should be moved to the preset position of 10 mm, but the image pickup device 231 is displaced to the actual position of 9.57 mm. The comparison mechanism 24 is constructed with an X-axis transfer device 212 in the database 241. The 0.43mm displacement amount compensation value causes the X-axis shifter 212 to drive the image pickup unit 231 to a displacement of 10.43 mm during the official operation, so that the image capturing device 231 is accurately positioned at a preset position of 10 mm X-axis. The Y-axis shifter 211 should originally move the image pickup unit 231 to a preset position of 10 mm, but drive the image pickup unit 231 to the actual position of 10.05 mm. The comparison mechanism 24 builds a Y-axis in the database 241. -0.05mm displacement compensation value to the transferer 212, When the Y-axis transfer device 212 is in the normal operation, the image pickup device 231 is driven to have a displacement of 9.95 mm, so that the image pickup device 231 is accurately positioned at a preset position of 10 mm Y-axis. Therefore, the Y-axis of the working mechanism 21 The transfer device 211 and the X-axis transfer device 212 can drive the image pickup device 231 to accurately shift to a preset position, in other words, it can drive the officially assembled work device to be accurately displaced to a preset position in the future, thereby improving the practical efficiency of the work accuracy. .

20‧‧‧Working device

21‧‧‧ operating agencies

211‧‧‧Y axial transfer device

212‧‧‧X axial transfer

22‧‧‧Correction agency

221‧‧‧ benchmark

2211‧‧‧ reference parts

222‧‧‧ Positioning parts

23‧‧‧Image agency

231‧‧‧Imager

24‧‧ ‧ comparison agency

241‧‧‧Database

242‧‧‧ Controller

Claims (8)

A correction unit for a working device, comprising: a machine table; an operating mechanism: at least one transfer device is disposed on the machine table; and a correction unit is provided with a correction mechanism, an image capturing mechanism and a comparison mechanism, wherein the correction mechanism is The machine is provided with a reference device having at least one reference component, wherein the image capturing mechanism is provided with at least one image capturing device on at least one of the moving mechanisms of the working mechanism, and the image capturing device is used to take the reference device, and Transmitting the image data to the comparison mechanism, the comparison mechanism is provided with a database and a controller, and the controller compares the image data with the reference image data of the database, and discriminates The deviation of the movement of the conveyor and establishing the displacement compensation value of the conveyor. The calibration unit of the working device according to claim 1, wherein the working mechanism is provided with a Y-axis transfer device and an X-axis transfer device, and the Y-axis transfer device is disposed on the machine. The X-axis transfer device is mounted on the Y-axis transfer device and is provided with an image take-up of the image taking mechanism. The calibration unit of the working device according to claim 1, wherein the reference mechanism of the correction mechanism is mounted on the calibration reference position of the machine, so that the reference device is accurately placed. The calibration unit of the working device according to claim 3, wherein the correction mechanism is provided with at least one positioning member at the calibration reference position on the machine to position the reference. The calibration unit of the working device according to claim 1, wherein the reference mechanism of the correction mechanism is provided with a plurality of reference members of an X-Y axial array, the reference member being a planar marking pattern or a three-dimensional element. The correction unit of the working device according to claim 1, wherein the image capturing device of the image capturing mechanism is a CCD. A method for correcting a working device, comprising: erecting a benchmark program: positioning a reference of the correcting mechanism on a calibration reference position on the machine; The image capturing program is configured to: at least one of the transfer mechanism of the working mechanism drives the image pickup device of the image capturing mechanism to be displaced, the image capturing device is taken as a reference device of the correcting mechanism, and the image capturing image data is transmitted to the image capturing device. The comparison program is: the comparison mechanism compares the image data of the image with the reference image data in the database, and determines the deviation of the movement of the conveyor; and the compensation program: the comparison mechanism The controller calculates the compensation value according to the deviation amount, and corrects the displacement amount of the conveyor with the compensation value. The method for correcting a working device according to claim 7, wherein before the setting of the reference program, the correcting positioning program can be performed, and the positioning device is taken by another image capturing mechanism, and The image data is transmitted to the comparison mechanism for comparison to determine whether the positioning position of the positioning member is deviated, and correction is performed.