TW202329803A - Correction device for oppositely combining two objects - Google Patents

Abstract

The utility model provides a proofreading device used for oppositely combining two objects, which comprises an assembling area station used for placing a second object, a first multi-axis driver used for capturing an external first object and moving the external first object to the space area for stopping, and a second multi-axis driver used for capturing the external second object and moving the external second object to the space area for stopping. The plurality of second multi-axis drivers are respectively connected with detectors, and the third multi-axis driver is configured in the assembling area station and is used for driving a second object; wherein the plurality of detectors can dynamically detect a plurality of real positions of the peripheral end edges of the first object in a space area, and the third multi-axis driver can drive the second object and the first object to be mutually aligned and relatively combined according to the plurality of real positions, so that accumulated tolerance easily generated in the process of moving the first object is eliminated, and the second object and the first object are relatively combined. Therefore, the accuracy of relative combination of the two objects is improved.

Description

Proofreading method and device for relatively combining two objects

The present invention relates to the proofreading technology of object position, especially relates to a proofreading method and its device for relatively combining two objects.

Most general products are relatively assembled from many components (hereinafter referred to as objects), and the assembly line of the product plays an important role in assembly. And it is known that the product assembly line itself has the ability to move and position the carrying objects in uniaxial or multi-axial directions; around the product assembly line, robots with multi-axial degrees of freedom or other devices with single-axis The picking mechanism with the ability to move in multiple directions can pick up and move other objects to be combined, and enable a picked-up item to be combined with another positioned item on the product assembly line relative to each other. Among them, due to the adaptability of the multi-axis trajectory of the robot arm is very strong, and it occupies less configuration space, it has been widely deployed around the product assembly line. However, the mechanical arm and other single-axis or multi-axis moving mechanisms tend to generate cumulative tolerances during the movement of the carrying object, which affects the alignment accuracy of the two objects when they are assembled and combined.

In addition, in the existing technology, detectors such as lasers, electric eyes, and charge-coupled devices (CCDs) are installed on specific positions of the product assembly line to detect the real position of the objects that are moved to the specific position on the product assembly line. However, in the face of an object such as a robot arm that is easy to generate cumulative tolerances, when it is combined with another object, the detection technology of the above-mentioned detector is not properly applied, resulting in the relative combination of the two objects. Susceptible to said cumulative tolerances, while still lacking in precision in alignment.

As shown in Figure 1, the above-mentioned two objects to be combined can be compared to that products such as general televisions and computers all have a back shell 91 (or called back shell) and a glass panel 92 to be assembled on the back shell 91; On the assembly line, the rear case 91 will first be positioned on the carrier (not shown), and at least one positioning point of the rear case 91 will be obtained, and then the glass panel 92 will be cut and carried by a robot arm (not shown). , the mechanical arm will move the glass panel 92 to the top of the rear shell 91 according to the real position of the positioning point of the rear shell 91, and then rely on the charge coupled device (CCD) installed on the mechanical arm or on the product assembly line to use To check the installation position that the glass panel 92 should move to.

It is also known that since the frame 910 around the rear case 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 rear case 91 in an adhesive manner, but the surface The above-mentioned products have gradually become thinner and more curved, resulting in the width of the frame 910 that can carry the glass panel 92 becoming smaller and smaller, and when the rear shell 91 and the glass panel 92 are relatively combined, in order to avoid the adhesive layer 93 In the event of the defective phenomenon of overflowing glue (that is, avoiding defective products during lamination), the alignment accuracy between the rear shell 91 and the glass panel 92 is very high; however, the existing method for picking up and carrying the glass panel 92 The mechanical arm (or other equivalent multi-axis mechanism) is easy to generate cumulative tolerances during the moving process, which affects the alignment accuracy of the relative combination between the rear shell 91 and the glass panel 92, and the application of the above-mentioned detector, in In the case of the alignment combination of the rear shell 91 and the glass panel 92, there is no way to overcome the problem of accumulated tolerances, so improvement is urgently needed.

Aiming at the problems of the above-mentioned prior art, the technical means conceived in the present invention is to move to a specific position in advance according to the first object that needs to move farther and is likely to have a larger cumulative tolerance among the two objects to be combined. , and then use a movable detector to detect the real position of the first object, so that a second object with a relatively short moving distance can be aligned and combined with the first object according to the real position information to avoid The cumulative tolerance affects the accuracy of the combination of the two objects.

For this reason, a preferred embodiment of the present invention is to provide a kind of proofreading method that is used for relatively combining two objects, comprises in sequence: first select a spatial region that two objects want to combine relatively, then move a first in two objects The object stops in the space area, and then a plurality of detectors are used to detect a plurality of real positions of the first object in the space area, and then a second object in the two objects is moved and chased. The real positions are aligned and then relatively combined with the first object; wherein, a plurality of the detectors move to search for a plurality of positioning parts around the first object, and when detecting a plurality of the positioning parts stops, for defining a plurality of said real positions.

In a further implementation, the movement of the first object, the movement of the second object and the movement of the plurality of detectors are independently performed in the multi-dimensional space. The moving distance of the first object is greater than the moving distance of the second object. The moving range of the second object is limited to the periphery and the bottom layer of the space area. The space area is located above an assembly station, and the second object is moved from the assembly station to the space area and a plurality of the real positions for alignment and combination with the first object. A first object storage station is arranged around the assembly area station, and the first object is picked up from the first object storage station by a mechanical arm and then moved to the space area for stopping.

In a further implementation, the first object is a polygonal panel, and the plurality of positioning portions are a plurality of corners around the polygonal panel. The second object has a polygonal frame combined with the polygonal panel, and the polygonal frame is surrounded by a plurality of frame corners, the second object is based on the plurality of frame corners and the plurality of end corners of the first object Do the counterpoint. The second item is a rear case for assembling the polygonal panel.

Another preferred embodiment of the present invention is to provide a calibration device for performing the above method, including: the assembly station, the first multi-axis drive, a plurality of the second multi-axis drive and the third multi-axis Drive; wherein, the assembly station is used to place the second object, and the space area is selected above the assembly station; the first multi-axis driver is arranged beside the assembly station for picking up A first object outside the assembly station, and move the first object to the space area; a plurality of the second multi-axis drives are arranged at intervals above the assembly station, and are used to respectively link and drive multiple The detectors are arranged so that a plurality of the detectors are spaced around the upper part of the space; the third multi-axis driver is arranged in the assembly station and is used to drive the second object to move to the space domain; wherein, the first object is braked by the first multi-axis driver to stop in the space area, and a plurality of detectors are respectively driven by the second multi-axis driver to detect the space a plurality of real positions around the end edges of the stopped first object in the area, and the third multi-axis driver drives the second object and the stopped first object to align with each other according to the plurality of said real positions; relatively combined.

In a further implementation, the assembly station is located in a product assembly line.

In a further implementation, a first object collection station is provided around the assembly area, and the first object is picked up from the first object collection station by the first multi-axis driver and then moved to the space area to stop .

According to the above content, the technical effect that the present invention can realize is: use the multi-axis drive that is easy to generate cumulative tolerance to move the first object, and first carry the first object to a space area where a plurality of detectors are arranged (thereby The position of the first object has generated cumulative tolerances), and fine-tuning the position of multiple detectors to search and detect the real position of the corners around the first object to eliminate the accumulation generated by the movement of the first object Tolerance, and then fine-tuning the second object to align and combine with the first object in the space area according to the information of the real position, so as to improve the accuracy of the alignment and combination of the two objects.

For this reason, please refer further to the detailed description of the following embodiments and drawings, so as to prove the practicability of the present invention and its technical effects.

On the basis of combining two objects in the known prior art (as shown in FIG. 1 ), please refer to FIGS. 2 to 5 in succession. Wherein, Fig. 2 discloses that the two objects that the present invention wants to proofread and combine are a first object 11 and a second object 12, and in implementation, the first object 11 and the second object 12 can be respectively polygonal body (such as quadrilateral body ) or other shapes such as circles or arcs; FIG. 3 discloses that a preferred embodiment of the present invention is to provide a proofreading method for relatively combining two objects.

As shown in Figure 3, the proofreading method includes sequentially performing the following steps S1 to S4 (please refer to Figure 2 for the action explanation):

Step S1: Select a spatial area

As shown in Figure 2, the present invention defines the spatial area 10 as a spatial position where the first object 11 and the second object 12 are to be combined relatively, and the space area 10 can be determined according to the spatial contours of the two objects. generalized range, and is set in a control unit (not shown) that executes the proofreading method; in other words, the space area 10 is a planar area existing in space, and must be sufficient to accommodate the two objects suspended therein And relatively combined, so the space area 10 can be slightly larger than the required volume of the two objects before (referring to alignment) and after the combination in space, and the space area 10 is not limited to a plane area or a curved area. In one implementation, the space area 10 can be regarded as existing above an assembly station 61 (shown in FIG. 5 ) (details will be described later).

Step S2: Move the first object to the space area

This step can rely on the known multi-axis driver to perform the process of moving the first object 11, as shown in Figure 2 and Figure 5, the multi-axis driver is defined as a first multi-axis driver 31, and the first multi-axis driver 31 is attached with a picker 32 made of, for example, suction claws, clamping claws, etc., and the first object 11 was originally far away from the second object 12 . As shown in FIG. 5, the said remote place can be disclosed as a first object collection station 62 arranged around the assembly area station 61 shown in FIG. 61, and is located between the assembly area station 61 and the object collection station 62. Accordingly, it is picked up by the first multi-axis driver 31 to move to the assembly station 61 in the space area 10 , and drives the first object 11 to stop in the space area 10 (that is, to stop).

Known from the prior art, since the traditional multi-axis driver (such as a mechanical arm) can carry and position the object in the multi-dimensional space, it can be applied in this step; When there are more paths, angles, and distances, the cumulative tolerance generated will be larger, which is the problem to be overcome by the proofreading method of the present invention; of course, the first object moved to the space area 10 in this step 11 will generate a cumulative tolerance after the stop, and the steps S3 to S4 described later in the present invention can be used to absorb the cumulative tolerance, so that the two objects can be accurately aligned and combined relative to each other.

Step S3: Detect the real position of the edge of the first object

This step can rely on a known charge-coupled device (CCD), or a light sensor that can emit laser light or infrared light as the detector 42, and can use, for example, a plurality of multi-axis servo slides. A multi-axis driver (detailed later) carries a plurality of detectors 42 to move, as shown in Figure 5, a plurality of actuators used in this step is defined as a second multi-axis driver 41, so that a plurality of said detectors The detectors 42 can be arranged at intervals above the periphery of the space area 10, and enable multiple detectors 42 to search for multiple positioning parts around the first object 11 in a multi-dimensional mobile manner from top to bottom; As shown in FIG. 4a, for example, the first object 11 is a quadrilateral object, and its periphery has four end corners 110 as the positioning parts, and a plurality of the detectors 42 can search for each of the end corners by moving slightly. 110 (that is, the positioning part), and detect a plurality of real positions around the edge of the first object 11; then, when multiple detectors 42 synchronously detect and determine the real positions of multiple positioning parts After the position, the second multi-axis driver 41 synchronously stops the plurality of detectors 42 to define the plurality of true positions, and transmits the information of the plurality of true positions to the control unit for storage.

In addition to the above-mentioned situation in this step, when the first object 11 is surrounded by an arc or a circle, the positioning portion searched by each detector 42 can also be an arc or a circle defined by the user. It is also known that the image or reference point defining the positioning part searched by the detector can be preset by the control unit and the visual lens. Furthermore, the number of multiple second multi-axis drivers 41 and multiple detectors 42 can be the same as the number of positioning parts around the first object 11, and it is known that the area shape of an object needs to be at least composed of It is surrounded by three positioning parts, so the number of the positioning parts cannot be less than three.

Furthermore, according to the content disclosed in the steps S1 to S3 above, it can also be defined that the space area 10 is constructed by a visible area surrounded by a plurality of the detectors 42 .

Step S4: Move the second object to match the first object

This step can rely on a known multi-axis driver to perform the process of moving the second object 12. In FIG. 2, the multi-axis driver is defined as a third multi-axis driver 51, which can be installed In an independent workbench, or in an assembly station 61 (described in detail later) in a product assembly line, and the space area 10 can be selected to be formed on the independent workbench or assembly station 61; wherein, the independent workbench or assembly area station 61 is used to hold, assemble or transport the second object 12, so the third multi-axis driver 51 installed in the independent workbench or assembly area station 61, It is possible to drive the second object 12 with a short moving distance to carry out movements such as lifting and fine-tuning left and right, so that the second object 12 moves to the space area 10 to align with the first object 11, and then After the alignment, the second object 12 is moved toward the first object 11 by the third multi-axis driver 51 to perform a relative bonding process. It can be seen from this that the moving range of the second object 12 is limited or can be constrained to the periphery and the bottom layer of the space area 10 .

In this step, as shown in FIG. 4 b, for example, the second object 12 is a quadrangular object, which has a polygonal frame combined with the first object 11. The polygonal frame consists of four corners 120 ( or reference point) frame, so that a plurality of frame corners 120 can be used as the reference point for the stopped detector 42 to project light and illuminate or to judge visually; moreover, the third multi-axis driver 51 is readable Get the information of multiple real positions of the first object 11 stored in the control unit in step S3, and use it to move the second object 12 in a multi-fine-tuning manner, so that the second object 12 and the first object 11 in stop Alignment includes aligning multiple frame corners 120 between the second object 12 and the first object 11. The alignment process can be visualized by the detector 42 and compared and compared by the control unit. operation is completed.

In addition, after the plurality of second multi-axis drivers 41 and the plurality of detectors 42 are synchronously stopped after detecting the plurality of real positions of the first object 11 in step S3, when performing step S4, the plurality of The second multi-axis driver 41 can also drive a plurality of the detectors 42 to move slightly to search for the real positions of the frame corners 120 of the second object 12, and command the third multi-axis driver 51. Fine-tuning and moving the second object 12 to align with the first object 11, and after the alignment, they are relative to each other.

In the above steps, the multi-dimensional, multi-axis, and space can be interpreted by the X-axis, Y-axis, and Z-axis coordinate lines marked in the drawing; in other words, the movement of the first object 11 and the movement of the second object 12 and the movement of the plurality of detectors 42 can be independently performed in the multi-dimensional space.

In addition, since the first multi-axis driver 31 used in the above step S2 moves the distant first object 11 into the space area 10, the second multi-axis driver 31 used in the above step S3 only moves the remote first object 11 into the space area 10. The fine-tuning movement of the detector 42 is performed around the periphery, and the third multi-axis driver 51 relied on in the above step S4 only performs the fine-tuning movement of the second object on the bottom layer of the space area 10. Therefore, the first object 11 1. The required moving distances of the second object 12 and the detector 42 are: the moving distance of the first object 11 > the moving distance of the second object 12 > the moving distance of the detector 42 . It can be seen that the cumulative tolerance generated by the first multi-axis driver 31 during the process of moving the first object 11 > the cumulative tolerance generated by the third multi-axis driver 51 during the process of moving the second object 12 > the second multi-axis driver 41 is moving The cumulative tolerance generated by the detector 42 process. However, the above-mentioned method of the present invention uses the detector 42 to detect the real position of the first object 11 that has generated a large cumulative tolerance. Obviously, it does help to improve the accuracy of the alignment and combination of the two objects.

Moreover, in the above steps, the first object 11 can be regarded as the glass panel 92 of the product shown in FIG. 1 , and the second object 12 can be regarded as the rear shell 91 of the product shown in FIG. 1 .

Next, please refer to FIG. 5 to FIG. 9 , disclosing another preferred embodiment of the present invention is to provide a proofreading device for relatively combining two objects. The above-mentioned proofreading method of the present invention can be implemented according to the following content disclosed by the proofreading device Get a more concrete implementation.

As shown in Figure 5, the proofreading device includes the above-mentioned assembly station 61, the first multi-axis driver 31, a plurality of second multi-axis drivers 41 and the third multi-axis driver 51, the space area 10 selected by the above method (As shown in FIG. 2 ) can be located above the assembling station 61 , and the assembling station 61 is a place where the second object 12 is first placed and then combined with the external first object 11 . Wherein, the foreign first article 11 may refer to the first article collection station 62 arranged at an appropriate position around the assembly area station 61, and the first article 11 can be collected in the first article collection station 62 in advance. The station 62 is waiting for the first multi-axis driver 31 to pick up, and becomes the first object 11 picked up from outside the station 61 in the assembly area.

In FIG. 5 , the first multi-axis drive 31 is shown as an example of a multi-axis transmission mechanical arm, so that it can be arranged on the side of the assembly area 61, and is located at the assembly area 61 and the first object collection station 62. between, so that the first multi-axis driver 31 can pick up the first object 11 from the first object stacking station 62, and then move the first object 11 to the first multi-axis driver 31 through the multi-dimensional transmission function Stop in space area 10. Please refer to FIG. 6 to illustrate that the assembly area station 61 can be located in a product assembly line 60 in a preferred implementation, and the product assembly line 60 is loaded with a plurality of tooling pallets 63, each tooling board The platform 63 can stably carry a second object 12, so that the product assembly line 60 can transfer each tooling platform 63 and the second object 12 carried by it into the assembly area station 61 one by one, and implement the assembly operation of the relative combination of the two objects.

Please match as shown in Figure 5 and Figure 7, wherein Figure 5 discloses that a plurality of second multi-axis drivers 41 are arranged at intervals above the assembly area station 61, and Figure 7 discloses that a plurality of the second multi-axis drivers 41 are respectively connected to drive one The detectors 42 , in this implementation, each detector 42 can be made of a charge-coupled device, so that a plurality of the detectors 42 are located at intervals around the space area 10 shown in 2 . Among them, FIG. 7 further discloses that a plurality of the second multi-axis drives 41 can be formed by a plurality of groups of X-axis servo slides 411, Y-axis servo slides 412, and Z-axis servo slides 413, each with power, which are connected to each other through transmission. , to drive each of the detectors 42 to perform multi-dimensional micro-movement, so as to perform the operation of detecting the real position of the first object 11; in addition, through the visual range of each of the detectors 42, the When the second object 12 is in alignment with the first object 11, monitoring and detection operations are provided.

Continue referring to FIG. 8 , which discloses that the third multi-axis drive 51 is disposed in the assembly area 61 for driving the second object 12 to move to the space area 10 and the first object 11 shown in FIG. 2 Mutual alignment and relative combination. The third multi-axis driver 51 can be composed 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, wherein the Z-axis lifter 513 can lift the second object 12 to the space surface In the field 10, the second object 12 in the space area 10 is carried by the X-axis servo slider 511 and the Y-axis servo slider 512 to perform multi-dimensional micro-movement, so that the second object 12 can perform the above-mentioned proofreading method on the first object 11 In the mutual alignment operation described above, when the alignment is completed, the Z-axis lifter 513 can slightly lift the second object 12 and the first object 11 to engage with each other.

Please further refer to FIG. 7 and FIG. 9 together. As shown in FIG. 7 , since the detector 42 does not need to be far away from the space area 10 for detection, the distance L2 that the second multi-axis driver 41 drives the detector 42 to move three-dimensionally is much less than As shown in FIG. 9 , the first multi-axis driver 31 drives and carries the first object 11 to move a distance L1. In addition, please refer to Fig. 8 and Fig. 9 together again, wherein as shown in Fig. 8, since the distance L3 of the three-dimensional movement of the second object 12 only needs or can be constrained to the periphery and the bottom layer of the space area 10, the third more The distance L3 that the axis driver 51 drives the second object 12 to move three-dimensionally is much smaller than the distance L1 that the first multi-axis driver 31 drives and carries the first object 11 shown in FIG. 9 . Furthermore, it is not difficult to know that the distance L2 of the three-dimensional movement of the detector 42 driven by the second multi-axis driver 41 in FIG. The distance L3 of the three-dimensional movement of the object 12 will be described.

The configuration of the above-mentioned device can realize the operation of the above-mentioned method according to which, especially through the micro-movement of the detector 42, the real position of the first object 11 that has generated a large cumulative tolerance is detected, obviously, it really helps Improve the accuracy of the alignment and combination of two objects.

The above examples only express the preferred implementation modes of the present invention, but should not be construed as limiting the patent scope of the present invention. Therefore, the present invention should be based on the content of the claims defined in the scope of the patent application.

10: Spatial area 11: First Object 110: end angle 12: Second object 120: frame corner 31: The first multi-axis drive 32: Extractor 41: Second multi-axis driver 411: X-axis servo slide table 412: Y-axis servo slide table 413:Z axis servo slide table 42: Detector 51: The third multi-axis driver 511: X axis servo slider 512: Y-axis servo slider 513: Z axis lifter 61: Assembly area station 62: The first object collection station 63: tooling pallet L1, L2, L3: Distance S1 to S4: step description

Figure 1 is an explanatory diagram of the traditional combination of two objects. Figure 2 is an explanatory diagram of the steps of the teaching method of the present invention. FIG. 3 is a schematic block diagram of steps S1 to S4 shown in FIG. 2 . FIG. 4a is a schematic diagram of detecting the corners around the first object in step S3 shown in FIG. 2 . FIG. 4 b is a schematic diagram of step S4 shown in FIG. 2 , detecting frame corners around the second object and aligning with the first object. Fig. 5 is a schematic perspective view of a preferred embodiment of the device of the present invention. FIG. 6 is a perspective view of another preferred embodiment of the assembly station in FIG. 5 . FIG. 7 is a perspective view of a third multi-axis driver extracted from FIG. 5 . FIG. 8 is a side sectional view of FIG. 5 . FIG. 9 is a schematic top view of FIG. 5 .

S1 to S4: step description

Claims (16)

A collation method for relatively combining two objects, comprising sequentially: First select a space area where the two objects are to be relatively combined, then move a first object of the two objects to stop in the space area, and then use a plurality of detectors to detect the first object in the space area. A plurality of real positions on the edge of the object, and then move a second object in the two objects to follow the multiple real positions for alignment and then relatively combine the first object; Wherein, a plurality of said detectors search for a plurality of positioning parts around the first object in a moving manner, and stop when detecting a plurality of said positioning parts, so as to define a plurality of said real positions. The collation method for relatively combining two objects as described in Claim 1, wherein the movement of the first object, the movement of the second object, and the movement of a plurality of detectors are independently performed in a multi-dimensional space. The proofreading method for relatively combining two objects as described in claim 1 or 2, wherein the moving distance of the first object is greater than the moving distance of the second object. The collation method for relatively combining two objects as described in claim 3, wherein the moving range of the second object is restricted to the periphery and the bottom layer of the space area. The proofreading method for relatively combining two objects as described in claim 4, wherein the space area is located above an assembly station, and the second object is moved from the assembly station to the space area and a plurality of the space area The real position is aligned and combined with the first object. The proofreading method for relatively combining two objects as described in claim 5, wherein a first object collection station is provided around the assembly area, and the first object is retrieved from the first object collection station by a mechanical arm Then move to the space area to stop. The proofreading method for relatively combining two objects as described in Claim 1, wherein the first object is a polygonal panel, and the plurality of positioning parts are a plurality of corners around the polygonal panel. The proofreading method for relatively combining two objects as described in claim item 7, wherein the second object has a polygonal frame for combining the polygonal panel, and the polygonal frame has a plurality of frame corners around it, and the second object is multi-frame The frame corners are aligned with the plurality of end corners of the first object. The collation method for relatively combining two objects as described in claim 8, wherein the second object is a rear case for assembling the polygonal panel. A collation device for relatively combining two objects, comprising: An assembling station is used for arranging a second object, and there is a space area above the assembling station; a first multi-axis drive, arranged beside the assembly station, for picking up a first object outside the assembly station, and moving the first object to the space area; A plurality of second multi-axis drivers are arranged at intervals above the assembly area, and the plurality of second multi-axis drivers are respectively connected to drive a detector, so that a plurality of the detectors are located on the space surface at intervals around the top of the domain; a third multi-axis driver, configured in the assembly station, for driving the second object to move to the space area; Wherein, the first object is braked by the first multi-axis driver to stop in the space area, and the plurality of detectors are respectively driven by the second multi-axis driver to detect the space area According to the multiple real positions of the peripheral end edges of the stopped first object, the third multi-axis drive drives the second object and the stopped first object to align with each other and combine relative to each other according to the multiple real positions . According to claim 10, the collation device for relatively combining two objects, wherein the assembly station is located in a product assembly line. The proofreading device for relatively combining two objects as described in claim 10, wherein the periphery of the assembly area is provided with a first object collection station, and the first object is collected from the first object via the first multi-axis drive After the station is picked up, it moves to the space area to stop. As claimed in claim 10 or 12, the calibration device for relatively combining two objects, wherein the first multi-axis driver drives the first object to move a distance greater than the third actuator drives the second object to move. According to claim 10, the collation device for relatively combining two objects, wherein the first object is a polygonal panel, and the plurality of positioning parts are a plurality of corners around the polygonal panel. The proofreading device for relatively combining two objects as described in claim 14, wherein the second object has a polygonal frame for combining the polygonal panel, and the polygonal frame has a plurality of frame corners around it, and the second object is made of multiple The frame corners are aligned with the plurality of end corners of the first object. As claimed in claim 15, the collation device for relatively combining two objects, wherein the second object is a rear case for assembling the polygonal panel.

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