TWI728812B - 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

Adjustment method of transferer

The present invention provides a method for adjusting the accurate displacement of the transfer device to a preset position, thereby improving the accuracy of the operation.

Nowadays, work equipment uses transfer devices (such as pickers and stages) to transfer electronic components to different devices. Electronic components are becoming more and more sophisticated. How to make the transfer device accurately transfer electronic components to different devices is true Quite important. Please refer to Figure 1, the transfer device is mounted on the frame 11 to assemble the pulley set 12, and the output shaft of the motor 13 is connected to the drive pulley set 12, and the transfer device 14 is connected to the belt 121 assembled to the pulley set 12 by a connecting piece 141. The belt 121 moves in the X direction. In addition, a plurality of positioning holes 111 are provided in the frame 11 for assembling the slide rail group 15. The slide rail 151 of the slide rail group 15 is provided with a plurality of assembly holes 1511 with precise spacing and dimensions for A plurality of bolts 16 are inserted through a plurality of assembling holes 1511, and they are screwed into a plurality of positioning holes 111 of the frame 11, and the slide rails 151 are assembled and locked to the frame 11, and the slide block 152 of the slide rail group 15 is slidably placed The sliding rail 151 is connected to the transfer device 14 to assist the transfer device 14 to move smoothly.

After 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 tensioned or slack, causing the tooth pitch to change, so that the belt 121 drives the transfer device 14 to produce a 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 judge the pointed rod on the steel rule manually by visual inspection Whether there is any abnormal deviation of the upper moving amount; but the sharp rod is judged by manual visual inspection The displacement deviation is likely to affect the accuracy of judgment due to human factors, so that the transfer device 14 cannot be accurately adjusted.

The first objective of the present invention is to provide a method for adjusting a transfer device, in which the correcting piece is initially assembled to the first assembly hole of the slide rail by means of initial mounting of the correcting piece, and the initial reference means uses a motor to drive the transfer device against the correcting piece. The reference plane, and feedback to obtain the first rotation angle of the motor, the correction part secondary rack means transforms the correction 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 against Calibrate the reference plane of the component and obtain the second rotation angle of the motor by feedback. The comparison means 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 regulates the displacement of the transfer device, so that the transfer device accurately moves to the preset position, achieving the practical benefit of improving the accuracy of the adjustment.

The second objective of the present invention is to provide a method for adjusting the transfer device, 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 angular error value of the motor is obtained to facilitate the control of the displacement of the transfer device, without the need for manual visual inspection of the displacement deviation of the transfer device, thereby improving the adjustment operation Convenience.

The third objective of the present invention is to provide a working equipment, including a machine, a feeding device, a receiving device, a working device, a transfer device, and a central control device. The feeding device is arranged on the machine and is provided with at least one feeding device. The receiving device is configured to hold at least one electronic component to be operated; the receiving device is arranged on the machine, and at least one receiving device is arranged to hold at least one electronic component that has been operated; the operating device is arranged on the machine and is provided with at least A working device to perform preset operations on the electronic components; the transfer device is arranged on the machine It is equipped with at least one transfer device to transfer electronic components; the central control device is used to control and integrate the actions of various devices to perform automated operations and achieve the practical benefits of improving operational performance.

[Learning]

11: rack

111: positioning hole

12: Pulley set

121: belt

13: Motor

14: transfer device

141: Attachment

15: Slide rail group

151: Slide

1511: assembly hole

152: Slider

16: Bolt

〔this invention〕

21: rack

211: positioning hole

22: Pulley set

221: first pulley

222: second pulley

223: belt

23: Motor

24: Pick up pieces

241: Link

25: Slide rail group

251: Slide

2511: The first assembly hole

2512: second assembly hole

252: Slider

26: Bolt

27: Calibration parts

271: datum plane

272: Joining 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: operating device

61: circuit board

62: Test Block

70: Transfer device

71: The first transfer device

72: Feeding stage

73: discharge stage

74: Second transfer device

75: Third transfer device

Figure 1: Schematic diagram of the conventional transfer device.

Figure 2: Schematic diagram of the transfer device of the present invention.

Figure 3: Flow chart of the calibration method of the present invention.

Figure 4: The schematic diagram of the adjustment method of the transfer device.

Figure 5: Operating equipment using the transfer device adjustment method.

In order to enable your reviewer to have a better understanding of the present invention, here is a preferred embodiment combined with the drawings. The details are as follows: Please refer to Fig. 2, the transfer device is attached to the frame 21 and the pulley set 22 is assembled. 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 The first belt pulley 221 is connected with the output shaft, and the encoder detects the rotation angle of the output shaft; the transfer device can be a pickup or a stage, and the electronic components are transferred, and the transfer device is assembled The belt 223 connected to the pulley set 22 is moved 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 displacement of the transfer; in this embodiment, the transfer is the pickup 24, The belt 223 is connected with a connecting piece 241; in addition, a plurality of positioning holes 211 are provided in the frame 21 for assembling the slide rail group 25. The slide rail 251 of the slide rail group 25 has a plurality of assembly holes with high spacing values. It is a countersunk screw hole for a plurality of bolts 26 to pass through the plurality of assembly holes of the slide rail 251, and to be screwed into the plurality of positioning holes of the frame 21 211. Assemble and lock the slide rail 251 to the frame 21, and the slider 252 on the slide rail 251 is connected to the pickup 24 to assist the pickup 24 to move smoothly.

Please refer to Figures 2, 3, and 4, the method for adjusting the transfer device of the present invention includes a means for initial mounting of calibration parts, means for initial reference, means for second mounting of calibration parts, means for secondary reference, means for comparison, and means for adjustment.

The initial mounting means of the calibration piece 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 is high and is a countersunk screw hole design, at least one calibration piece 27 has at least A reference surface 271 and at least one joining component 272. The reference surface 271 is for the transfer device to be positioned against and the joining component 272 is embedded in the assembly hole of the slide rail 251 for assembly and positioning; in this embodiment, the calibration component 27 is used as a side surface The reference surface 271 is provided with a rod-shaped joint part 272 protruding from the bottom surface. First, according to the requirements of the adjustment operation, at least two bolts on the slide rail 251 are removed to reserve empty first assembly holes 2511 and The second assembling hole 2512, the first assembling hole 2511 and the second assembling hole 2512 may be arranged adjacently, or the two may be separated by a plurality of assembling holes, because the distance L1 from the first assembling hole 2511 to the second assembling hole 2512 is fixed and The accuracy is high, and the distance L1 between the first assembling hole 2511 to the second assembling hole 2512 can be known, and no manual measurement is required, and then the joining part 272 of the calibration member 27 is embedded in the first assembling hole 2511 of the slide rail 251 , And keep the correcting element 27 and the sliding rail 251 in an orthogonal direction, and then the correcting element 27 is initially mounted on the sliding rail 251.

The initial reference means uses the transfer device to abut against the reference surface of the calibration member 27 and obtain the first rotation angle of the motor. Furthermore, the transfer device is equipped with at least one abutment member to abut the calibration member 27, and the abutment member can be an independent component , Or use the slider 252 of the slide rail set 25 as the abutting member; in this embodiment, the transferer uses the slider 252 as the abutting member. Since the pickup member 24 is connected to the slider 252, the slider 252 is attached to the slide rail 251 When moving upward 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 via the belt 223, and the pickup 24 is linked with the slider 252 Displacement , And the slider 252 abuts against the reference surface 271 of the calibration member 27 at the first assembly hole 2511 of the slide rail 251, and is located at the first reference position A, and feedbacks the rotation angle of the motor 23, which is obtained by the encoder The first rotation angle of the output shaft of the motor 23.

The secondary mounting means of the calibration part converts the calibration part 27 from the first assembling hole 2511 of the slide rail 251 to the second assembling hole 2512; since the diameter of the first assembling hole 2511 and the second assembling hole 2512 of the slide rail 251 are the same, the calibration part The secondary frame means can take out the joining part 272 of the calibration member 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 against it.

The secondary reference means pushes the transfer device against the reference surface of the correction 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 via the belt 223. The pickup 24 is linked to the slider 252, so that the slider 252 is displaced from the first reference position A against the second assembly hole of the slide rail 251 The reference surface 271 of the calibration element 27 at 2512 is located at the first reference position B, and the rotation angle of the motor 23 is fed back, and the second rotation angle of the output shaft of the motor 23 is obtained by the encoder.

The comparison means uses the processor to analyze the rotation angle value of the motor 23 and the distance between the first and second assembly holes 2511 and 2512 of the slide rail 251 to obtain the angular error value of the rotation of the motor 23; The spacing value is fixed and the accuracy is high. The processor (not shown in the figure) has a built-in spacing value of the plurality of assembly holes of the slide rail 251, and the distance between the first assembly hole 2511 to the second assembly hole 2512 of the slide rail 251 can be known. The distance value L1 (such as 10cm), and the first rotation angle and the second rotation angle of the motor 23 are analyzed and calculated. When the slider 252 of the picking member 24 is pressed against the calibration member 27 at the first assembly hole 2511 When the reference surface 271 shifts against the same reference surface 271 of the calibration member 27 at the second mounting hole 2512, it can be known that the base distance L2 from the first reference position A to the second reference position B is the same as the first mounting hole 2511 The distance L1 from the second assembly hole 2512, that is, the displacement of the pickup 24 is 10cm; and the processor is driven by the first rotation angle of the motor 23 Degrees and the second rotation angle for an analysis. When the pickup 24 is displaced from the first reference position A to the second reference position B, the output shaft of the motor 23 is rotated from the first rotation angle (for example, 5 degrees) to the second rotation angle (Such as 15 degrees), and the rotation angle value of the output shaft is calculated to be 10 degrees. The processor analyzes and calculates the rotation angle value of the motor 23 and the displacement of the pickup 24 to obtain that when the pickup 24 is displaced by 1 cm, the motor The actual rotation angle value of the output shaft of 23 is 1 degree for adjusting the 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 has a gap with 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 method compensates the angle error value to the preset rotation angle value of the motor 23, and accurately regulates the displacement of the transfer device, so that the transfer device accurately moves 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 of the output shaft of the motor 23 to the correct angle, and to control the precise displacement of the pickup 24 to the preset position to achieve the practical benefit of improving the accuracy of transfer.

Please refer to Figures 2 to 4 and Figure 5, a kind of working equipment includes a machine 30, a feeding device 40, a receiving device 50, a working device 60, a transfer device 70 and a central control device (not shown); a feeding device 40 is assembled on the machine 30 and is provided with at least one feeder 41 for holding electronic components to be operated; the material receiving device 50 is assembled on the machine 30 and is provided with at least one receiver 51 for Used to hold the electronic components that have been operated; the working device 60 is assembled on the machine 30 and is provided with at least one working device for performing preset operations on the electronic components. In this embodiment, the working device is a tester, The circuit board 61 and the test socket 62 that are electrically connected are included to perform test operations on electronic components; the transfer device 70 is disposed on the machine 30 and is provided with at least one transfer device for transferring at least one electronic component, In this embodiment, the transfer device 70 is provided with a first transfer device 71, an input stage 72, an output stage 73, a second transfer device 74 and a third transfer device 75, and the first transfer device The carrier 71, the feeding stage 72, the discharging 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 in Figs. 2 to 4 After the adjustment is completed, the first transfer device 71 takes out the electronic components to be operated from the feeder 41 of the feeding device 40, and transfers the electronic components to the feeding stage 72. The stage 72 carries the electronic components to be operated to the side of the working device 60, and the second transferer 73 takes out the electronic components to be operated on the feeding stage 72 and transfers them to the test base 62 to perform the test operation, and The operated electronic components of the test base 62 are transferred to the discharge stage 73, the discharge stage 73 carries the operated electronic components, and the third transfer device 75 takes out the operated electronic components on the discharge stage 73, and According to the test results, the electronic components that have been operated are transported to the receiver 51 of the receiving device 50 for sorting and storage; the central control device is used to control and integrate the actions of each device to perform automated operations and achieve the practicality of improving operating performance benefit.

22: Pulley set

221: first pulley

222: second pulley

223: belt

23: Motor

24: Pick up pieces

251: Slide

2511: The first assembly hole

2512: second assembly hole

252: Slider

27: Calibration parts

271: datum plane

272: Joining Parts

L1: Spacing value

L2: Base distance value

A: The first reference position

B: Second reference position

Claims (9)

A method for adjusting a transfer device includes: initial mounting of a calibration part: initially assembling the calibration part in the first assembly hole of the slide rail; and initial reference means: driving the transfer device against the reference surface of the calibration part by a motor, And obtain the first rotation angle of the motor; the second frame means of the correction part: the correction part is transformed and assembled from the first assembly hole of the slide rail to the second assembly hole; the second reference means: the transfer is driven by the motor The device abuts against the reference surface of the calibration piece and obtains the second rotation angle of the motor; comparison means: analyzes the rotation angle value of the motor and the first assembly hole of the slide rail to the second assembly by a processor The pitch value of the hole is used to obtain the angular error value of the motor rotation; the adjustment means: the angular error value is compensated to the preset rotation angle value of the motor, and the displacement of the transfer device is accurately regulated. According to the method for adjusting the transfer device according to claim 1, the correction part of the correction part initial mounting means includes at least one reference surface and at least one joint component, the reference surface is for the transfer device to be positioned against, the The joining part is for assembling in the first assembly hole or the second assembly hole of the slide rail. According to the method for adjusting the transfer device according to claim 1, the correcting element and the sliding rail of the correcting element initial mounting means maintain an orthogonal direction. According to the method for adjusting the transfer device according to claim 1, the initial mounting means of the calibration part removes at least two bolts on the slide rail to reserve the empty first assembly hole and the second assembly hole . According to the method for adjusting the transfer device according to claim 1, the first assembly hole and the second assembly hole of the initial mounting means of the calibration piece are arranged adjacently or the two are separated by a plurality of assembly holes. According to the method for adjusting the transfer device according to claim 1, the motor of the initial reference means drives the transfer device to be displaced by a pulley set. According to the method for adjusting the transfer device according to claim 1, the transfer device of the initial reference means is configured with at least one abutting member to abut against the correcting member, and the abutting member may be an independent element or a slider as The top piece. In the method for adjusting the transfer device as described in claim 1, the processor of the comparison means has the preset rotation angle value of the motor built-in. According to the transfer device adjustment method of claim 1, 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.

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