TW202144943A - Correction method for a moving device - Google Patents

Abstract

The present invention provides a correction method for a moving device which includes a first disposing step, a first reference step, a second disposing step, a second reference step, an analysis step, and a correction step. In the first disposing step, a correction member is disposed on a first disposing hole of a rail. In the first reference step, a motor drives the moving device to abut against a reference surface of the correction member and then a first rotation angle of the motor is obtained. In the second disposing step, the correction member is moved to a second disposing hole. In the second reference step, the motor drives the moving device to abut against the reference surface of the correction member and then a second rotation angle of the motor is obtained. In the analysis step, a processor analyzes the first and second rotation angles and the distance between the first and second disposing holes so as to obtain a rotation angle error of the motor. In the correction step, the rotation angle of the motor is corrected according to the rotation angle error, thereby the moving device is able to be moved accurately to the preset position.

Description

Transfer device adjustment method and operating equipment for its application

The invention provides a transfer device adjustment method for adjusting the displacement of the transfer device to the preset position accurately and improving the operation accuracy.

Nowadays, the operation equipment uses the transfer device of the transfer device (such as a pick-up, a stage) to transfer electronic components to different devices, and the electronic components are becoming more and more sophisticated. quite important. Please refer to Fig. 1, the transfer device is attached to the frame 11 to assemble the pulley set 12 , and the drive pulley set 12 is connected with the output shaft of the motor 13, the transfer device 14 is connected with the belt 121 assembled on the pulley set 12 by the connecting piece 141, and the belt 121 drives the movement in the X direction to displace, and set up a plurality of positioning on the frame 11. The holes 111 are used for assembling the slide rail set 15. The slide rails 151 of the slide rail set 15 are provided with a plurality of fitting holes 1511 with precise spacing and dimensions, so that the plurality of bolts 16 can be inserted through the plurality of fitting holes 1511 and screwed into the plurality of fitting holes 1511. The plurality of positioning holes 111 of the rack 11 are used to assemble and lock the slide rails 151 to the rack 11 . The sliders 152 of the slide rail group 15 slide on the slide rails 151 and are connected to the transfer device 14 to assist the transfer device 14 smooth displacement.

Since the belt 121 of the pulley set 12 is assembled or used for a period of time, the belt 121 of the belt 121 will be tightened or loosened, resulting in a change in the tooth pitch, so that the belt 121 drives the transfer device 14 to generate displacement deviation; After the group 12 is assembled or used for a period of time, it must be adjusted; the current adjustment method is to assemble a pointed rod on the transfer device 14, move the pointed rod on the steel ruler, and then manually judge the pointed rod on the steel ruler. Whether there is an abnormal deviation in the movement amount above; however, to judge the displacement deviation amount of the tip rod by manual visual inspection, it is easy to affect the accuracy of judgment due to human factors, so that the transfer device 14 cannot be accurately adjusted.

One of the objectives of the present invention is to provide a method for adjusting a transfer device, wherein the initial mounting means of the calibration part initially assembles the calibration part in the first assembly hole of the slide rail, and the initial reference means uses a motor to drive the transfer device to abut against the position of the calibration part. The datum plane and feedback to obtain the first rotation angle of the motor, the calibration part sub-rack means converts the calibration part from the first assembly hole of the slide rail to the second assembly hole, and the secondary reference means uses the motor to drive the transfer device to abut Calibrate the reference plane of the part, and give feedback to obtain the second rotation angle of the motor. The comparison method uses the processor to analyze the rotation angle value of the motor and the distance between the first and second assembly holes of the slide rail to obtain the angle error value of the motor rotation. , The adjustment method compensates the angle error value to the preset rotation angle value of the motor, and accurately adjusts the displacement of the transfer device, so that the transfer device can be accurately displaced to the preset position, so as to achieve the practical benefit of improving the adjustment accuracy.

The second object of the present invention is to provide a transfer device adjustment method, wherein the initial reference means and the secondary reference means can automatically obtain the first and second rotation angles of the motor, and use the processor of the comparison means to automatically analyze the rotation of the motor The angle value and the distance between the first and second assembly holes of the slide rail are obtained, and the angle error value of the motor is obtained, so as to facilitate the adjustment of the displacement of the transfer device without manual visual inspection of the displacement deviation of the transfer device. , thereby improving the convenience of adjustment work.

The third object of the present invention is to provide a working equipment, including a machine, a feeding device, a receiving device, an operating device, a transferring device and a central control device, the feeding device is arranged on the machine, and at least one feeding device is installed The receiving device is arranged on the machine table, and at least one receiving device is arranged to hold at least one electronic component that has been operated; the working device is arranged on the machine table, and is provided with at least one A manipulator is used to perform a preset operation on the electronic components; the transfer device is arranged on the machine table, and at least one transfer device is set to transfer the electronic components; the central control device is used to control and integrate the actions of each device, so as to Execute automated operations to achieve practical benefits of improving operational efficiency.

In order to make your examiners further understand the present invention, hereby give a preferred embodiment and cooperate with the drawings, the details are as follows:

Please refer to FIG. 2 , the transfer device is mounted on the frame 21 with a pulley set 22 . The pulley set 22 includes a first pulley 221 , a second pulley 222 and a belt 223 . The first pulley 221 and the second pulley 222 are assembled on the frame 21 . And snare the belt 223; a motor 23 is assembled on the frame 21, and has an output shaft and an encoder (not shown), the output shaft is connected to drive the first pulley 221, and the encoder detects the rotation angle of the output shaft; The carrier can be a pick-up or a stage, and transfer electronic components. The transfer device is equipped with a belt 223 connected to the pulley group 22, and is driven by the belt 223 to move in the X direction, and the rotation angle of the output shaft of the motor 23 is used to control the movement. The displacement of the carrier; in this embodiment, the carrier is the pick-up part 24, and the connecting part 241 is used to connect the belt 223; in addition, a plurality of positioning holes 211 are opened in the frame 21 for assembling the slide rail group 25, sliding The slide rail 251 of the rail set 25 is provided with a plurality of mounting holes with high spacing value, and the mounting holes are countersunk screw holes, so that the plurality of bolts 26 can be inserted through the plurality of mounting holes of the slide rail 251 and screwed to the rack. The plurality of positioning holes 211 of 21 are used to assemble and lock the slide rail 251 to the frame 21 , and the slider 252 on the slide rail 251 is connected to the pick-up member 24 to assist the pick-up member 24 to move smoothly.

Please refer to FIGS. 2 , 3 and 4 . The method for adjusting the transfer device of the present invention includes a means for calibrating a first set, an initial reference means, a secondary set means for calibrating a piece, a second reference means, a comparison means and an adjustment means.

The calibration piece initial mounting means initially assembles the calibration piece in the first assembly hole of the slide rail 251; since the spacing value of the plurality of assembly holes of the slide rail 251 has high precision and is designed for countersunk screw holes, at least one calibration piece 27 has at least one A reference surface 271 and at least one engaging member 272. The reference surface 271 is used for the transfer device to abut and locate, and the engaging member 272 is used to be embedded in the mounting hole of the slide rail 251 for assembly and positioning. In this embodiment, the side of the calibration member 27 is used as the The base surface 271 is protruded with a rod-shaped joint member 272 on the bottom surface. First, according to the needs of the adjustment operation, remove at least two bolts on the slide rail 251 to reserve the empty first assembly hole 2511 and The second assembly hole 2512, the first assembly hole 2511 and the second assembly hole 2512 can be arranged adjacent to each other, or they can be separated by a plurality of assembly holes, because the distance L1 between the first assembly hole 2511 and the second assembly hole 2512 is fixed and The accuracy is high, and the distance L1 from the first assembly hole 2511 to the second assembly hole 2512 can be known. No manual measurement is required, and then the engaging part 272 of the calibration part 27 is embedded in the first assembly hole 2511 of the slide rail 251. , and keep the calibration member 27 and the slide rail 251 in an orthogonal direction, and then initially place the calibration member 27 on the slide rail 251 .

In the initial reference means, the transfer device abuts against the reference plane of the calibration member 27 and obtains the first rotation angle of the motor. Further, the transfer device is configured with at least one abutting member abutting against the calibration member 27, and the abutting member can be an independent component , or the sliding block 252 of the slide rail group 25 is used as the abutting member; in this embodiment, the transfer device uses the sliding block 252 as the abutting member, since the pick-up member 24 is connected to the sliding block 252, the sliding block 252 is connected to the sliding rail 251 Make a displacement in the X direction , the output shaft of the motor 23 drives the first pulley 221 of the pulley set 22 to act, the first pulley 221 and the second pulley 222 drive the pickup 24 to move in the X direction through the belt 223, and the pickup 24 moves with the slider 252 to move , and the slider 252 abuts against the reference surface 271 of the calibration member 27 located at the first assembly hole 2511 of the slide rail 251, and is located at the first reference position A, and feeds back the rotation angle of the motor 23, which is known by the encoder The motor 23 outputs the first rotation angle of the shaft.

The calibrating piece sub-rack means converts the calibrating piece 27 from the first assembling hole 2511 of the slide rail 251 to the second assembling hole 2512; The submount means can take out the engaging part 272 of the calibration piece 27 from the first assembly hole 2511 of the slide rail 251 , and then directly insert it into the second assembly hole 2512 of the slide rail 251 for positioning so that the slider 252 can abut.

The secondary reference means pushes the transfer device against the reference surface of the calibration member 27, and obtains the second rotation angle of the motor 23; in this embodiment, the output shaft of the motor 23 drives the first pulley 221 of the pulley set 22 to act, A pulley 221 and a second pulley 222 drive the pickup 24 to move in the X direction through the belt 223 , and the pickup 24 drives the slider 252 to move the slider 252 from the first reference position A against the second assembly hole of the slide rail 251 The reference surface 271 of the calibration member 27 at 2512 is located at the first reference position B, and the rotation angle of the motor 23 is fed back, and the encoder is used to obtain the second rotation angle of the output shaft of the motor 23 .

The comparison means uses the processor to analyze the rotation angle value of the motor 23 and the distance value between the first and second assembly holes 2511 and 2512 of the slide rail 251 to obtain the angle error value of the rotation of the motor 23; The spacing value is fixed and has high accuracy. The processor (not shown in the figure) has built-in spacing values of a plurality of mounting holes of the slide rail 251 , and the distance between the first mounting hole 2511 to the second mounting hole 2512 of the slide rail 251 can be known. The distance value L1 (for example, 10cm), and an analysis and calculation of the first rotation angle and the second rotation angle of the motor 23 are made. When the reference surface 271 is changed to abut against the same reference surface 271 of the calibration piece 27 located at the second assembly hole 2512 , it can be known that the base distance value L2 from the first reference position A to the second reference position B is the same as the first assembly hole 2511 The distance value L1 from the second assembly hole 2512 means that the displacement of the pickup 24 is 10 cm; and the processor analyzes the first rotation angle and the second rotation angle of the motor 23. When the reference position A is displaced to the second reference position B, the output shaft of the motor 23 rotates from the first rotation angle (eg 5 degrees) to the second rotation angle (eg 15 degrees), and the calculated rotation angle of the output shaft is 10 The processor analyzes and calculates the rotation angle value of the motor 23 and the displacement of the pickup 24, and can obtain that when the pickup 24 is displaced by 1 cm, the actual rotation angle of the output shaft of the motor 23 is 1 degree for adjustment. Motor 23.

Furthermore, the processor has a built-in preset rotation angle value of the output shaft of the motor 23 , but the actual rotation angle value of the output shaft of the motor 23 is different from the preset rotation angle value. The processor can obtain the motor 23 through comparison and analysis. The angle error value of the output shaft rotation is used to adjust the motor.

The adjustment means compensates the angle error value to the preset rotation angle value of the motor 23 , and adjusts the displacement of the transfer device accurately, so that the transfer device can be accurately displaced to the preset position; the adjustment method compensates the angle error value of the motor 23 The preset rotation angle value of the motor 23 built in the processor is used to correct the rotation angle of the output shaft of the motor 23 and to control the precise displacement of the pick-up member 24 to the preset position, so as to achieve the practical benefit of improving the transfer accuracy.

Please refer to FIGS. 2 to 4 and 5, an operation equipment includes a machine table 30, a feeding device 40, a receiving device 50, a working device 60, a transfer device 70 and a central control device (not shown in the figure); the feeding device 40 is assembled on the machine table 30 and is provided with at least one feeder 41 for receiving the electronic components to be operated; For holding the electronic components that have been operated The operation device 60 is assembled on the machine 30 and is provided with at least one operator for performing preset operations on electronic components. In this embodiment, the operator is a tester, including an electrically connected circuit board 61 and a test seat 62 to perform testing operations on the electronic components; the transfer device 70 is disposed on the machine table 30 and is provided with at least one transfer device for transferring at least one electronic component. In this embodiment, the transfer device The device 70 is provided with a first transfer carrier 71, an infeed carrier 72, an outfeed carrier 73, a second transfer carrier 74 and a third transfer carrier 75, and the first transfer carrier 71, the infeed carrier 72, After the discharge stage 73, the second transfer device 74 and the third transfer device 75 are assembled or used for a period of time, the adjustment method is the same as that of the transfer device (ie the pick-up part 24) shown in Figs. After the adjustment is completed, the first transfer device 71 takes out the electronic components to be processed from the feeder 41 of the feeding device 40, and transfers them to the feeding stage 72, and the feeding stage 72 carries the electronic components to be processed to On the side of the working device 60 , the second transfer device 73 takes out the electronic components to be operated from the feeding stage 72 , and transfers them to the test seat 62 to perform the test operation, and transfers the processed electronic components of the test seat 62 . To the discharge stage 73, the discharge stage 73 carries out the electronic components that have been processed, and the third transfer device 75 takes out the electronic components that have been processed from the discharge stage 73, and according to the test results, the electronic components that have been processed are transferred. It is conveyed to the receiver 51 of the receiving device 50 for classification and storage; the central control device is used to control and integrate the actions of each device, so as to perform automatic operation and achieve the practical benefit of improving the operation efficiency.

[Knowledge] 11: Rack 111: Positioning hole 12: Pulley set 121: Belt 13: Motor 14:Transfer 141: Connector 15: Slide rail group 151: Slide rail 1511: Mounting holes 152: Slider 16: Bolt [this invention] 21: Rack 211: Positioning hole 22: Pulley set 221: The first pulley 222: Second pulley 223: Belt 23: Motor 24: Pickup 241: Connector 25: Slide rail group 251: Slide rail 2511: First Assembly Hole 2512: Second Assembly Hole 252: Slider 26: Bolt 27: Correction parts 271: Datum plane 272:Joint Parts L1: Spacing value L2: base distance value A: The first reference position B: Second reference position 30: Machine 40: Feeding device 41: Feeder 50: Receiving device 51: Receiver 60: Working device 61: circuit board 62: Test seat 70: Transfer device 71: The first transfer device 72: Feeding platform 73: discharge stage 74: Second Transfer 75: Third Transfer

Figure 1: A schematic diagram of a conventional transfer device. Figure 2: A schematic diagram of the transfer device of the present invention. FIG. 3 is a flow chart of the adjustment method of the present invention. Figure 4: Schematic diagram of the use of the transfer carrier adjustment method. Figure 5: Operational equipment using the transferr adjustment method.

22: Pulley set

221: The first pulley

222: Second pulley

223: Belt

23: Motor

24: Pickup

251: Slide rail

2511: First Assembly Hole

2512: Second Assembly Hole

252: Slider

27: Correction parts

271: Datum plane

272:Joint Parts

L1: Spacing value

L2: base distance value

A: The first reference position

B: Second reference position

Claims (10)

A transferr adjustment method, comprising: The means of initial mounting of the calibration part: the calibration part is initially assembled in the first assembly hole of the slide rail; Initial reference means: drive the transfer carrier against the reference surface of the calibration piece with a motor, and take get the first rotation angle of the motor; The means of calibrating the sub-rack: the calibrating piece is assembled from the first assembly hole of the slide rail to the second assembly hole; Secondary reference means: drive the transfer device against the reference surface of the calibration piece with the motor, and obtain the second rotation angle of the motor; Comparison method: use the processor to analyze the rotation angle value of the motor and the first installation of the slide rail The distance value from the matching hole to the second mounting hole to obtain the rotation angle of the motor degree error value; Adjustment method: Compensate the angle error value to the preset rotation angle value of the motor, and the accurate Accurately regulate the displacement of the transfer carrier. The adjustment method of the transfer device as claimed in claim 1, the adjustment of the first set-up means of the calibration piece The part includes at least one of the reference plane and at least one joint part, and the reference plane is used for the transfer device to lean against. Abutting position, the engaging part is for fitting to the first fitting hole or the second fitting of the slide rail hole. The adjustment method of the transfer device as claimed in claim 1, the adjustment of the first set-up means of the calibration piece The parts remain orthogonal to the slide rail. According to the adjustment method of the transfer device according to claim 1, the first setting means of the adjustment part is the sliding rail The at least two bolts above are removed to reserve the empty first assembly hole and the second assembly hole. The transfer device adjustment method as claimed in claim 1, wherein the first method of the calibration element initial setting means The assembling hole and the second assembling hole are arranged adjacently or separated by a plurality of assembling holes. The transfer device adjustment method as claimed in claim 1, wherein the motor of the initial reference means is The set of pulleys drives the shifter to move. The relocator adjustment method as claimed in claim 1, the relocator of the initial reference means At least one abutting member is configured to abut against the correcting member, and the abutting member can be an independent component or a sliding block as the abutment. The transferr adjustment method according to claim 1, wherein the processor of the comparison means has built-in the preset rotation angle value of the motor. The method for adjusting the transfer device according to claim 1, wherein the processor of the comparison means has a built-in distance value from the first assembly hole to the second assembly hole of the slide rail. A work equipment comprising: Machine; Feeding device: It is arranged on the machine, and at least one feeder is set to accommodate at least one Electronic components to be operated; Receiving device: It is arranged on the machine, and at least one receiving device is set to accommodate at least one Worked electronic components; Operating device: It is arranged on the machine, and at least one operating device is set to operate the electronic components. execute preset jobs; Transfer device: It is arranged on the machine, and at least one transfer device is set to transfer electronic components piece; Central control device: used to control and integrate the actions of various devices to perform automated operations.

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