TWI565568B - Automatically manufacturing apparatus and deviation eliminating method thereof - Google Patents

Description

Automatic manufacturing equipment and error elimination method thereof

The present invention relates to a manufacturing apparatus, and more particularly to an automatic manufacturing apparatus and an error eliminating method thereof.

The reclaiming device of the conventional automatic manufacturing equipment can be passed through the robot arm to mount the material to a predetermined position of the workpiece. In order to achieve the effect that the material can be accurately mounted on the predetermined position of the workpiece, the conventional automatic manufacturing equipment mostly confirms the position of the material or the running track of the robot arm before the robot arm operates.

However, in the process of operating the robotic arm of the automatic manufacturing equipment (such as picking up the material), it is inevitable that a slight error will occur. This error can be classified into the manufacturing tolerance range in the past, but for the precision. For the increasingly demanding manufacturing industry, the above error has gradually become one of the problems that cannot be ignored.

Therefore, the present inventors have felt that the above-mentioned deficiencies can be improved, and they have devoted themselves to research and cooperated with the application of the theory, and finally proposed a present invention which is reasonable in design and effective in improving the above-mentioned defects.

An embodiment of the present invention provides an automatic manufacturing apparatus, an error elimination method thereof, and a visual reclaiming apparatus, which can effectively improve a defect that may occur in a conventional automatic manufacturing apparatus.

An embodiment of the present invention provides an automatic manufacturing device, including: a carrier; a feeding device mounted on the carrier for providing a material to be mounted; a carrier device mounted on the carrier for a predetermined loading position on which a workpiece is disposed, the workpiece a predetermined material position on which the material to be mounted is disposed; and a visual reclaiming device mounted on the carrier, and the visual reclaiming device comprises: a static camera module having a An upwardly directed imaging direction; a robotic arm having a picker, and the picker defining a predetermined picking position, the robot arm movably positioning the picker in a first position, a first Moving between the second position and the third position; wherein, when the picker is located at the first position, the material to be mounted on the feeding device can be captured, when the picker and the bit are located When the component to be mounted is in the second position, it falls in the imaging direction of the static camera module, so that the static camera module obtains a first relative position of the component to be mounted and a first reference. Information, when the picker and the bit on it are to be installed When the device is in the third position, it falls on the workpiece carried by the carrier device; a dynamic camera module is fixed on the robot arm and has a downward facing imaging direction for the picker and the bit A second relative position information of the workpiece and a second reference is obtained when the material to be mounted is in the third position; and a processor module is electrically connected to the static camera module. The first arm and the dynamic camera module are configured to receive the first relative position information obtained by the static camera module to obtain a first error compared with the predetermined capture position, and the first error is obtained. The processor module is configured to receive the second relative position information obtained by the dynamic camera module to obtain a second error compared with the predetermined bearing position; wherein the processor module can command the robot arm to follow A correction path after the first error and the second error is eliminated, and the to-be-mounted component on the picker is disposed at the predetermined material position on the workpiece.

An embodiment of the present invention further provides an error elimination method for an automatic manufacturing device, comprising: providing an automatic manufacturing device as described above; the feeding device outputs a material to be mounted from a tray installed therein; the robot arm Moving to the top of the to-be-installed material, and sucking the to-be-installed material with the picker; the robotic arm moves the picker And the image capturing direction of the component to be mounted to the static camera module; the static camera module obtains first relative position information of the component to be mounted, and transmits the first relative position information to the processing The module is configured to cause the processor module to compare the first relative position information with the predetermined capture position to obtain the first error; the robot arm moves the picker and the to-be-mounted component to the The workpiece is carried by the loading device and the workpiece is positioned in the imaging direction of the dynamic camera module; the dynamic camera module obtains the second relative position information of the workpiece, and transmits the second relative position information to The processor module, wherein the processor module compares the second relative position information with the predetermined bearing position to obtain the second error; and the robot arm eliminates the first error along the processor module A correction path obtained after the second error, the material to be mounted on the picker is placed at the predetermined material position on the workpiece.

The embodiment of the invention further provides a visual reclaiming device for an automatic manufacturing device, comprising: a static camera module having an upward imaging direction; a robot arm having a picker for capturing a device to be installed a material member, and the picker defines a predetermined picking position, the robot arm movably moves the picker in the image capturing direction of the static camera module, so that the static camera module obtains the picker a first relative position information of the material to be mounted; a dynamic camera module fixed to the robot arm and having a downward facing imaging direction; and a processor module electrically connected to the static camera mode a first camera, the robot arm, and the dynamic camera module, the processor module is configured to receive the first relative position information obtained by the static camera module, to obtain a first error compared with the predetermined capture position The processor module can command the robot arm to move the to-be-mounted component on the picker along a correction path after eliminating the first error.

In summary, the automatic manufacturing device and the error elimination method and the visual reclaiming device provided by the embodiments of the present invention can transmit relative position information obtained by the static camera module (with the dynamic camera module) through the above. The relative position information is compared with the predetermined position to obtain a slight error, and the micro-error is eliminated through the processor module. A poor correction path to enable the robot to accurately position the mounting material at a predetermined piece of material on the workpiece.

The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

100‧‧‧Automatic manufacturing equipment

1‧‧‧bearing seat

11‧‧‧ Track

12‧‧‧ Positioning card

2‧‧‧Feeding device

2'‧‧‧Substituting feeder

3‧‧‧Packing device

31‧‧‧Track module

311‧‧‧C type rail

3111‧‧‧ Track slot

32‧‧‧ stage

33‧‧‧Conveyor belt

4‧‧‧Visual reclaiming device

41‧‧‧Static camera module

411‧‧‧Support frame

412‧‧‧Camera

413‧‧‧ ring light source

4131‧‧‧ openings

42‧‧‧ Robotic arm

421‧‧‧ base

422‧‧‧First arm

423‧‧‧second arm

424‧‧‧Selector

43‧‧‧Dynamic camera module

44‧‧‧Processor Module

D‧‧‧Tray

M‧‧‧Materials to be installed (eg label)

W‧‧‧Workpieces (eg carrier board)

P0‧‧‧Predetermined material location

P1‧‧‧ Reservation selection location

P2‧‧‧Predetermined carrying position

R1‧‧‧ first relative position information

R2‧‧‧Second relative position information

1 is a schematic perspective view of an automatic manufacturing apparatus of the present invention.

Figure 2 is a top view of Figure 1.

Figure 3 is a side view of Figure 1.

Figure 4 is a front elevational view of Figure 1.

FIG. 5 is a schematic diagram of step S110 of the error elimination method of the automatic manufacturing equipment of the present invention.

FIG. 6 is a schematic diagram of step S120 of the error elimination method of the automatic manufacturing equipment of the present invention.

FIG. 7 is a schematic diagram of step S130 of the error elimination method of the automatic manufacturing equipment of the present invention.

Figure 8 is a partial schematic view of Figure 7.

FIG. 9 is a schematic diagram showing the step S140 of the error elimination method of the automatic manufacturing equipment of the present invention.

Figure 10 is a schematic diagram showing the step S150 of the error elimination method of the automatic manufacturing equipment of the present invention.

Figure 11 is a schematic diagram showing the step S160 of the error elimination method of the automatic manufacturing equipment of the present invention.

Figure 12 is a schematic diagram showing the step S170 of the error elimination method of the automatic manufacturing apparatus of the present invention.

Please refer to FIG. 1 to FIG. 12 , which are an embodiment of the present invention. It should be noted that the related embodiments refer to the related quantities and appearances of the drawings, and only the embodiments of the present invention are specifically described. In order to understand the contents thereof, it is not intended to limit the scope of the invention.

Referring to FIG. 1 to FIG. 4 , the embodiment is an automatic manufacturing device 100 and an error elimination method thereof, and particularly relates to an automatic manufacturing device 100 applied in a high precision field such as a semiconductor and an error elimination method thereof, but not limited thereto. . The automatic manufacturing device 100 described in this embodiment is capable of eliminating internal errors that may be generated thereof, so that one The material to be mounted M can be accurately mounted on a predetermined material position P0 on a workpiece W. In order to facilitate the understanding of the present embodiment, the respective device configurations in the automatic manufacturing apparatus 100 will be described below, and then the error elimination method using the above-described automatic manufacturing apparatus 100 will be described.

The automatic manufacturing apparatus 100 includes a carrier 1 and a feeding device 2, a substitute feeding device 2', a carrier device 3, and a visual reclaiming device 4 disposed on the carrier 1. Wherein, the opposite side portions of the carrier 1 (such as the lower left side portion and the upper left side portion of the carrier 1 in FIG. 2) are respectively provided with two rails 11, and the carrier 1 corresponds to the position of each rail 11 a retractable positioning cassette 12, so that the feeding device 2 and the alternate feeding device 2' can be detachably slidably disposed on the two rails 11 of the carrier 1 for use in the feeding device 2 or When the substitute feeding device 2' is not functioning properly, the feeding device 2 or the alternate feeding device 2' can be pulled away from the carrier 1 along the corresponding rail 11. And the positioning cassette 12 provided for each of the rails 11 can be selectively embedded in the corresponding feeding device 2 or the alternate feeding device 2'.

Furthermore, the tray device 3 is disposed on one half of the carrier 1 (such as the right block of the carrier 1 in FIG. 2), and the feeding device 2, the alternate feeding device 2', and the visual The reclaiming device 4 is disposed on the other half of the carrier 1 (such as the left block of the carrier 1 in FIG. 2). Further, the position of the visual reclaiming device 4 fixed to the carrier 1 is substantially between the feeding device 2 and the alternate feeding device 2'.

The feeding device 2 is provided with a tray D, and the feeding device 2 can provide a material M to be mounted (such as the label M shown in FIG. 5, but is not limited thereto) by processing the above-mentioned tray D. . In the present embodiment, the tray D is wound into a disk shape by a long structure provided with a plurality of materials M to be mounted, and the elongated structure is gradually input to the feeding device 2 to pass the feeding. The device 2 takes out the to-be-installed material set in the above-mentioned elongated structure M. Furthermore, the feeding device 2 is provided with a positioning hole (not shown), and the positioning cassette 12 of the carrier 1 can be selectively inserted into the positioning hole of the feeding device 2. When the positioning clip 12 is inserted through the positioning hole, the feeding device 2 is positioned and electrically connected to the carrier 1 via the cooperation of the positioning tab 12 and the positioning hole. When the positioning cassette 12 is separated from the positioning hole, the feeding device 2 can be moved along the rail 11 of the carrier 1 to be separated from the carrier 1.

Further, the matching mechanism of the positioning latch 12 and the positioning hole can be mechanically controlled or electronically controlled, and is not limited herein. For example, the feeding device 2 or the carrier 1 may further be provided with a power button (not shown), an operation button (not shown), and a release button (not shown) when the feeding device 2 is along the carrier. When the rail 11 is pushed to the bottom end, the triggering power button is used to extend the positioning tab 12 to engage with the positioning hole of the feeding device 2, so that the triggering operation key can be transmitted to start the feeding device 2. Providing the above-mentioned material to be installed M; when the feeding device 2 is to be separated from the carrier 1, through the trigger release button, the positioning cassette 12 is retracted to be separated from the positioning hole, so that the feeding device 2 can be along the track 11 Move to separate from the carrier 1.

The configuration and operation of the alternate feeding device 2' is substantially identical to that of the above-described feeding device 2, and thus will not be described again. However, it should be emphasized that only one of the feeding device 2 and the alternate feeding device 2' will participate in the operation of the automatic manufacturing equipment 100, that is, only when the feeding device 2 is not functioning properly, The feeding device 2' will participate in the workflow of the automatic manufacturing apparatus 100 (i.e., provide another material to be mounted that has the same function as the material M to be mounted described above). Thereby, the automatic manufacturing apparatus 100 can take the feeding device 2 by the substitute feeding device 2' by providing the substitute feeding device 2' so that the feeding device 2 is damaged and needs maintenance, to maintain the automatic manufacturing device 100. The operation flow avoids the automatic manufacturing equipment 100 from causing the operation to stop.

The tray device 3 is for supplying a workpiece W (such as the carrier W shown in FIG. 5, but Not limited to this) a predetermined load bearing position P2 (such as FIG. 11) disposed thereon, and the workpiece W is used for a predetermined material position P0 on which the material to be mounted M is disposed (FIG. 11). . In the embodiment, the loading device 3 includes two track modules 31, two loading stages 32 respectively mounted on the two track modules 31, and two conveying belts 33 respectively located in the two track modules 31. , but not limited to this. Furthermore, since the two track modules 31, the two stages 32, and the two conveyor belts 33 have the same structure, only the single track module 31 and its corresponding stage 32 and the conveyor belt 33 are described below. Description.

The track module 31 includes two C-shaped rails 311, and the two C-shaped rails 311 are recessed to form a track groove 3111 (see FIG. 3), and the track grooves 3111 of the two C-shaped rails 311 face each other. . The stage 32 defines the predetermined carrying position P2, and the workpiece W is placed in the predetermined carrying position P2 under ideal conditions (although there may be some deviation in practice, which will be described later). Further, the opposite side edges of the stage 32 (such as the left side edge and the right side edge of the stage 32 in FIG. 3) are slidably disposed on the track grooves 3111 of the two C-shaped rails 311, respectively, thereby transmitting the The two C-shaped rails 311 limit the stage 32, and the stage 32 can be smoothly slid.

Furthermore, the conveyor belt 33 is located substantially between the two C-shaped rails 311, and the conveyor belt 33 abuts against the bottom edge of the carrier 32, thereby driving the carrier 32 to slide along the track module 31, and the carrier 32 The sliding direction (ie, corresponding to the long axis direction of the track module 31) is substantially parallel to the distance direction between the feeding device 2 and the alternate feeding device 2', and the length of the track module 31 substantially corresponds to the feeding. The distance between the device 2 and the alternate feeding device 2' is not limited thereto.

The visual reclaiming device 4 includes a static camera module 41 , a robot arm 42 , a dynamic camera module 43 , and a processor module 44 . The processor module 44 is electrically connected to the static camera module 41, the robot arm 42, and the dynamic camera module 43 to enable the processor module 44 to be coupled with the static camera module 41 and the robot. The effect of signal transmission and reception is achieved between the arm 42 and the dynamic camera module 43.

Furthermore, the visual reclaiming device 4 of the present embodiment is exemplified by the static camera module 41 and the dynamic camera module 43. However, in actual applications, it is not excluded to use only the static camera module 41 and the dynamic camera. One of the modules 43. Hereinafter, the respective components of the visual reclaiming device 4 will be described separately, and then the connection relationship between them will be introduced in time.

The static camera module 41 is located substantially between the feeding device 2 and the alternate feeding device 2 ′, and the height of the static camera module 41 is preferably not higher than the feeding. The device 2 (or the alternate feeding device 2') provides the position height of the above-mentioned material to be mounted M, but is not limited thereto. Furthermore, in the embodiment, the static camera module 41 needs to have an upward imaging direction.

Further, as shown in FIG. 8 , the static camera module 41 includes a support frame 411 fixed to the carrier 1 , a camera 412 mounted on the bottom end of the support frame 411 , and a top end mounted on the support frame 411 . A ring-shaped light source 413 above the camera 412. The camera 412 has an imaging direction facing upward, and the ring-shaped light source 413 is for emitting light in a direction away from the camera 412 to provide a light source required for the camera 412 to perform imaging. The ring-shaped light source 413 is surrounded by an opening 4131, and the imaging direction of the camera 412 corresponds to the opening 4131 of the ring-shaped light source 413. That is to say, the camera 412 can obtain corresponding image information through the opening 4131.

As shown in FIG. 3, the mechanical arm 42 includes a base portion 421, a first arm 422, a second arm 423, and a picker 424. The base portion 421 is fixed to the carrier 1 and has a position. On the side of the static camera module 41 away from the track module 31 (such as the left side of the static camera module 41 in FIG. 2), the two ends of the first arm 422 are respectively pivotally connected to one ends of the base portion 421 and the second arm 423. The picker 424 is mounted to the other end of the second arm 423. Thereby, the mechanical arm 42 can pivot through the first arm 422 and the second arm 423, so that the picker 424 is sequentially in a first position (as shown in FIG. 6). The second position (as shown in FIG. 7) and the third position (as shown in FIG. 10) move, but the specific structure and the movable path of the robot arm 42 can also be adjusted according to the designer's needs, and are not limited to this.

The picker 424 has a nozzle (not labeled) for sucking the material to be mounted M, and the picker 424 defines a predetermined picking position for the position at which the nozzle sucks the material to be mounted M. P1 (Figure 9). Further, when the picker 424 is in the first position, the material M to be mounted on the feeding device 2 can be retrieved; when the picker 424 and the material to be installed M located thereon are in the first In the second position, it falls in the imaging direction of the static camera module 41, so that the camera 412 of the static camera module 41 obtains a first relative position information of the material M to be mounted and a first reference (as shown in FIG. 9); When the picker 424 and the item M to be mounted thereon are in the third position, they fall above the workpiece W carried by the stage 32 of the tray device 3.

It should be noted that the first reference is the picker 424 in the embodiment, that is, the first relative position information R1 that can be obtained by the static camera module 41 is defined as the static camera module 41. A picture file (Fig. 9) is obtained which shows the relative positions of the picker 424 and the item M to be mounted thereon. Further, in this embodiment, the processor module 44 can receive the first relative position information R1 obtained by the static camera module 41 (as shown in FIG. 9), and the processor module 44 transmits the edge detection. The measurement technique processes the image file to know the relative position of the outline of the picker 424, the outline of the item to be mounted M, and the outlines of the two. The edge detection technique is based on the fact that the edge is likely to occur at a position where the color or gray scale value of two adjacent pixels is changed sharply, so that the gray point value or the first derivative has a significant change in the image file. . However, the actual position determination manner of the present invention is not limited thereto. For example, the first criterion is the picker 424 as an example in the present embodiment, but the first reference may be adjusted according to the designer's needs.

Furthermore, the processor module 44 compares the first relative position information R1 with the predetermined extraction position P1 to obtain a first error. For example, the first relative position information R1 is superimposed with the outline of the picker 424 corresponding to the predetermined picking position P1. And comparing the contours of the first relative position information R1 and the predetermined capturing position P1 to obtain a center point offset and an angular offset of the first relative position information R1 and the predetermined capturing position P1, and the center point offset The amount and the angular offset correspond to the first error.

The dynamic camera module 43 (ie, the camera) is fixed to the picker 424 of the robot arm 42 and has a downward facing imaging direction, that is, the dynamic camera module 43 moves with the robot arm 42. The bottom edge of the dynamic camera module 43 is preferably not lower than the bottom edge of the picker 424 of the robot arm 42 or the bottom edge of the picker 424 substantially flush with the robot arm 42. Therefore, the dynamic camera module 43 can be used to obtain a second relative position information of the workpiece W and a second reference when the picker 424 and the to-be-mounted component M positioned thereon are in the third position. R2 (Figure 11).

It should be noted that, in the embodiment, the second reference is the stage 32 of the tray device 3 carrying the workpiece W, that is, the second relative position information R2 that the dynamic camera module 43 can obtain. Defined as a picture file (see FIG. 11) that can be obtained by the dynamic camera module 43, it displays the relative positions of the stage 32 of the carrier device 3 and the workpiece W thereon. Further, in this embodiment, the processor module 44 can receive the second relative position information R2 obtained by the dynamic camera module 43 (as shown in FIG. 11), and the processor module 44 transmits the The edge detection technique processes the image file to know the relative position of the stage 32 of the tray device 3, the contour of the workpiece W, and the contours of the two. However, the actual position determination manner of the present invention is not limited thereto. For example, the second reference is based on the stage 32 of the tray device 3 in the present embodiment, but the second reference may also be based on the designer's needs. And change it.

Furthermore, the processor module 44 compares the second relative position information R2 with the predetermined bearing position P2 to obtain a second error. For example, the second relative position information R2 is superimposed with the contour of the stage 32 of the tray device 3 corresponding to the predetermined carrying position P2, and then the contours of the second relative position information R2 and the predetermined carrying position P2 are compared to obtain the first The center point offset of the relative position information R2 and the predetermined carrying position P2 And the angular offset, and the center point offset and the angular offset amount correspond to the second error.

The processor module 44 adjusts a predetermined movement path of the robot arm 42 according to the calculated first error and the second error to plan a correction path after eliminating the first error and the second error; and the processor module 44 can command the robot arm 42 to accurately set the to-be-mounted material M on the workpiece 424 to the predetermined material position P0 on the workpiece W along the above-mentioned correction path after eliminating the first error and the second error (as shown in the figure). 12).

The above is the description of the configuration of each device in the automatic manufacturing apparatus 100 of the present embodiment. The following describes the error elimination method of the automatic manufacturing apparatus 100, and in the following description, the construction description of the automatic manufacturing apparatus 100 which has been partially described will be described. Will not repeat them. The error elimination method of the automatic manufacturing apparatus 100 includes steps S110 to S170 (as shown in FIG. 5 to FIG. 12, and please refer to FIG. 1 to FIG. 4 as appropriate), as follows:

Step S110: As shown in FIG. 5, the feeding device 2 outputs a material M to be installed from a tray D installed therein. Wherein, when the feeding device 2 is damaged and needs to be repaired, the feeding device 2 is replaced by the feeding device 2', but the feeding device 2 and the feeding device 2 are not involved in the error described in the embodiment. The elimination method is described here first.

Step S120: As shown in FIG. 6, the mechanical arm 42 moves to the top of the material to be mounted M (that is, moves the picker 424 to the first position), and sucks the material M to be mounted by the picker 424.

Step S130: As shown in FIG. 7 and FIG. 8 , the robot arm 42 moves the capturing direction of the camera 424 and the camera 412 of the static camera module 41 to be mounted on the picker 424 and the camera unit 412 (ie, corresponds to the picker 424). Move to the second position). Further, the 撷 The picker 424 and the material to be mounted M thereon are located within the illumination range of the ring type light source 413, and pass through the opening 4131 of the ring type light source 413 to face the camera 412.

Step S140: As shown in FIG. 9, the static camera module 41 obtains the first relative position information R1 of the material M to be mounted, and transmits the first relative position information R1 to the processor module 44, so that the processor module 44 compares the first relative position information R1 with the predetermined extraction position P1 to obtain a first error.

Step S150: As shown in FIG. 10, the robot arm 42 moves the picker 424 and the material to be mounted M thereon to the workpiece W carried by the tray device 3, and places the workpiece W in the dynamic camera module 43. Camera direction. Further, at this time, the position of the picker 424 is to set the to-be-mounted material M at the predetermined material position P0 of the workpiece W, but since the internal error of the automatic manufacturing apparatus 100 has not been eliminated (ie, the first error and the first Second error), so the material to be mounted M is not located directly above the predetermined material position P0 of the workpiece W.

Step S160: As shown in FIG. 11, the dynamic camera module 43 obtains the second relative position information R2 of the workpiece W, and transmits the second relative position information R2 to the processor module 44, so that the processor module 44 compares the first The second relative position information R2 and the predetermined carrying position P2 obtain a second error.

Step S170: As shown in FIG. 12, the mechanical arm 42 eliminates the correction path obtained after the first error and the second error along the processor module 44, and accurately sets the to-be-installed material M on the picker 424 to The predetermined material position P0 on the workpiece W.

It should be noted that the order of the above steps can be reasonably adjusted sequentially without affecting the operation of the automatic manufacturing equipment 100, and is not limited herein. For example, the acquisition of the first error in step S140 and the acquisition of the second error in step S160 may also be performed in step S170.

[Possible effects of the embodiments of the present invention]

In summary, the automatic manufacturing equipment and the error elimination provided by the embodiments of the present invention In addition to the method and the visual reclaiming device, the relative position information obtained by the static camera module (and the dynamic camera module) can be used to obtain a small error by comparing the relative position information with the predetermined position, and then pass through the processor module. The set provides a correction path that eliminates the aforementioned minor errors so that the robot can accurately position the mounting material at a predetermined position on the workpiece.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent variations and modifications of the scope of the invention are intended to be within the scope of the invention.

100‧‧‧Automatic manufacturing equipment

1‧‧‧bearing seat

11‧‧‧ Track

12‧‧‧ Positioning card

2‧‧‧Feeding device

2'‧‧‧Substituting feeder

3‧‧‧Packing device

31‧‧‧Track module

311‧‧‧C type rail

3111‧‧‧ Track slot

32‧‧‧ stage

33‧‧‧Conveyor belt

4‧‧‧Visual reclaiming device

41‧‧‧Static camera module

42‧‧‧ Robotic arm

421‧‧‧ base

422‧‧‧First arm

423‧‧‧second arm

424‧‧‧Selector

43‧‧‧Dynamic camera module

44‧‧‧Processor Module

Claims (8)

An automatic manufacturing device comprising: a carrier; a feeding device mounted on the carrier for providing a component to be mounted; and a carrier device mounted on the carrier for setting a workpiece a predetermined loading position on the workpiece for a predetermined position of the workpiece to be mounted thereon; and a visual reclaiming device mounted on the carrier, and the visualizing The material device comprises: a static camera module having an upward imaging direction; a robot arm having a picker, and the picker defines a predetermined picking position, the robot arm movably capturing The device is sequentially moved between a first position, a second position, and a third position; wherein, when the picker is located at the first position, the device to be installed on the feeding device can be retrieved a material member, when the picker and the material to be mounted thereon are in the second position, falling in the imaging direction of the static camera module, for the static camera module to obtain the material to be installed a first relative position of the piece to a first reference When the picker and the component to be mounted thereon are in the third position, fall on the workpiece carried by the carrier device; a dynamic camera module is fixed on the robot arm and Having a downward facing imaging direction for obtaining a second relative positional information of the workpiece and a second reference when the picker and the to-be-mounted component located thereon are in the third position; and a processor module is electrically connected to the static camera module, the robot arm, and the dynamic camera module, and the processor module is configured to receive the first relative position information obtained by the static camera module. Obtaining a first error according to the predetermined capture position, and the processor module is configured to receive the second relative position information obtained by the dynamic camera module to match the predetermined load Obtaining a second error by comparing the positions; wherein the processor module can command the robot arm to follow a correction path after eliminating the first error and the second error, and the to-be-installed material on the picker The predetermined position of the component is set on the workpiece; wherein the second reference is further defined as the carrier device; the second relative position information that can be obtained by the dynamic camera module is defined as the dynamic camera module A picture file that can be obtained that shows the relative position of the carrier device and the workpiece thereon. The automatic manufacturing device of claim 1, wherein the static camera module comprises a support frame, a camera mounted on the support frame, and a ring-type light source mounted on the support frame and located above the camera; the ring The light source is configured to emit light in a direction away from the camera, and the annular light source surrounds an opening, and the imaging direction of the camera corresponds to the opening of the annular light source. The automatic manufacturing device of claim 1, wherein the robot arm includes a base, a first arm, and a second arm, and the two ends of the first arm are respectively pivotally connected to the base and the second arm. At one end, the picker is mounted on the other end of the second arm, and the dynamic camera module is fixed to the picker. The automatic manufacturing apparatus of claim 1, wherein the carrier is provided with a track, and the feeding device is slidably disposed on the track of the carrier. The automatic manufacturing device of claim 4, wherein the carrier is provided with a retractable positioning cassette, and the feeding device is provided with a positioning hole, and the positioning card of the carrier is selectively disposed at the supply In the positioning hole of the material device; when the positioning card is inserted through the positioning hole, the feeding device is positioned and electrically connected to the bearing seat through the cooperation of the positioning card and the positioning hole; When the cassette is separated from the positioning hole, the feeding device can move along the track of the carrier to be separated from the carrier. The automatic manufacturing device of claim 1, wherein the carrier device comprises a track module and a loading platform mounted on the track module, the track module includes two a C-shaped rail, each of the two C-shaped rails is formed with a track groove, and the track grooves of the two C-shaped line rails face each other, and opposite side edges of the stage are slidably disposed on the two C-shaped line rails respectively Track slot. The automatic manufacturing device of any one of claims 1 to 6, wherein the first reference is further defined as the picker; the first relative position information that the static camera module can obtain is defined as An image file that can be obtained by the static camera module displays the relative positions of the picker and the material to be mounted thereon. An error elimination method for an automatic manufacturing apparatus, comprising: providing an automatic manufacturing apparatus according to claim 1; the feeding device outputs a material to be mounted from a tray installed therein; the robot arm moves to the Above the material to be installed, and sucking the material to be installed by the picker; the robot arm moves the picker and the component to be mounted thereon to the image capturing direction of the static camera module; the static The camera module obtains first relative position information of the to-be-installed material and the first reference, and transmits the first relative position information to the processor module, so that the processor module compares the first relative position The first error is obtained by the information and the predetermined picking position; the robot arm moves the picker and the component to be mounted thereon to the workpiece carried by the loading device, and places the workpiece in the dynamic The imaging direction of the camera module; the dynamic camera module obtains second relative position information of the workpiece and the second reference, and transmits the second relative position information to the processor module, so that the processor module Group comparison Obtaining the second error according to the second relative position information and the predetermined bearing position; and the correcting path obtained after the mechanical arm eliminates the first error and the second error along the processor module, The item to be installed on the device is set The predetermined piece position on the workpiece.