TWI777740B - Correction apparatus, correction method, and handler using the same - Google Patents

Abstract

The present invention reveals a correction apparatus for correcting positions of plural operators, including a base, a first position corrector, and a second position corrector. The base is arranged fixedly with a detection area defined thereabove. The first position corrector is disposed on a first detection position of the base, having a first pression sustainer. The second position corrector is disposed on a second detection position of the base , having a second pression sustainer. The operators are moved along a first direction in the detection area, pressing on the first pression sustainer. Positions of the operators are then detected by the contact between the operators and the first pression sustainer. The operators are moved along a second direction in the detection area, pressing on the second pression sustainer. Positions of the operators are then detected by the contact between the operators and the second pression sustainer. Therefore, positions and deviations of the operators are obtained, and compensations for actual position fitting can be processed precisely.

Description

Correction device, correction method and working machine for application thereof

The present invention relates to a calibration device and a calibration method for detecting the positions of a plurality of working devices in a plurality of directions by a contact type, which is beneficial to compensate and correct the actual working positions of the plurality of working devices and improve the accuracy of operation.

At present, the working machine uses the working device (such as a feeder or a printer) of the working mechanism (such as a feeding mechanism or a printing mechanism) on different holders (such as a tray, a carrier, a tester or a pre-warming tray). etc.) perform preset jobs (such as pick-and-place jobs or print jobs, etc.) on electronic components. Take an operation mechanism of a material-moving mechanism as an example. The material-moving mechanism has a plurality of material movers, and moves to a preset operation position to perform picking and unloading operations of a plurality of electronic components. The accuracy of the operation position of the plurality of feeders to simultaneously move the plurality of electronic components into the plurality of accommodating slots of the carrier is quite high; however, the feeding mechanism is required to replace the plurality of feeders and the plurality of feeders in one batch. When the pick-and-place accuracy is different or the feeder collides with the machine, the working position of the feeder is prone to abnormal; The assembly height is insufficient, resulting in abnormal working position of the pick-and-place height; the aforementioned abnormal conditions make the feeder unable to accurately pick and place electronic components, and the operator must make a detection and correction of the working position accuracy of the multiple feeders of the feeding mechanism .

The first objective of the present invention is to provide a calibration device for calibrating the positions of a plurality of operating tools. The calibration device includes a holder, a first position corrector and a second position corrector. The holder is fixedly arranged and is formed above In the detection area, the first position corrector is assembled at the first detection position of the holder, and is provided with a first pressure-receiving piece for crimping, and the second position corrector is assembled at the second detection position of the holder, There is also a second pressure-bearing member for crimping; a plurality of operating devices are displaced along the first direction in the detection area of the bearing to crimp the first pressure-bearing member of the first position corrector to correct the first position The device detects the positions of the plurality of operators in the first direction by contact, and the plurality of operators are displaced along the second direction in the detection area of the bearing to press the second pressure-bearing member of the second position corrector, so that the The second position corrector detects the positions of the plurality of working devices in the second direction, thereby obtaining the position deviation values of the plurality of working devices, which is beneficial to compensate and correct the actual working positions of the plurality of working devices, thereby improving the operation accuracy.

The second object of the present invention is to provide a calibration device, further comprising at least one height calibrator, and the height calibrator detects the positions (working height positions) of a plurality of operators located in the detection area of the support in the third direction to obtain The height position deviation value is helpful for compensating and correcting the actual working height position of multiple working tools, thereby improving the working accuracy.

The third object of the present invention is to provide a calibration device, further comprising a first adjuster and a second adjuster, the first adjuster and the second adjuster are assembled on a support, and respectively support the first position adjuster and the second adjuster The position corrector, the first adjuster and the second adjuster adjust the assembling positions of the first position corrector and the second position corrector respectively according to the operation requirements, thereby improving the accuracy of the correcting operation.

The fourth object of the present invention is to provide a calibration method for calibrating the positions of a plurality of operators, including a first transfer operator program, a second transfer operator program, a first detection process, a second detection process and The comparison procedure; the first transfer operation procedure is used to transfer a plurality of operational instruments to the detection area above the carrier, and the detection area is displaced along the first direction; Know The position is that the first pressure-receiving part is used to receive the crimping of the operator, and the position of the plurality of operators in the first direction is detected by contact; the second transfer operator program is used to transfer the plurality of operators above the carrier The detection area is displaced along the second direction; in the second detection process, the second position corrector is placed at the second detection position of the holder, and the second pressure-bearing member is subjected to the pressing of the operating tool, and the multiple contact detection is performed. The positions of the plurality of operators in the second direction; the comparison program uses the processor to receive a plurality of operator position data transmitted by the first detection process and the second detection process, so as to analyze the plurality of operators in the first direction and the second detection process. The position in the two directions can obtain the position deviation value of a plurality of operating devices, and compensate and correct the actual operating positions of the plurality of operating devices, thereby improving the operation accuracy.

The fifth object of the present invention is to provide a calibration method, further comprising at least one pre-program, the pre-program is to preset a central position of a working device in the detection area as the calibration initial position for other operators to calibrate the initial position Make at least one direction displacement as the reference.

The sixth object of the present invention is to provide a calibration method, further comprising a third transfer operator program and a third detection program, wherein the third transfer operator program is used to transfer a plurality of operators to the detection area of the carrier along the first The three-direction displacement preset height value; the third detection program uses the height corrector to detect the positions of the plurality of operators in the third direction; the comparison process uses the processor to receive the position data of the plurality of operators transmitted by the third detection program , so as to obtain the height position deviation value of a plurality of operating machines, and compensate and correct the actual height working position of the operating machines, thereby improving the operation accuracy.

The seventh object of the present invention is to provide a working machine, which includes a machine base, at least one working device, a calibration device of the present invention, and a central control device. At least one working device is arranged on the machine base and is provided with at least one holder and at least one working device Mechanism, at least one holder is used to accommodate a plurality of electronic components, and the operating mechanism is provided with a plurality of operators for performing preset operations on a plurality of electronic components; the calibration device of the present invention is equipped with It is placed on the machine for correcting the positions of multiple operators; the central control device controls and integrates the actions of each device to perform automated operations and achieve practical benefits of improving operational efficiency.

10: Machine

20: Working device

21: Feeder

22: Receiver

23: The first moving mechanism

231: Moving Arm

232: Variable pitch unit

2331: First mover

2332: Second mover

2333: Third mover

2334: Fourth mover

2341: First Lifter

2342: Second lifter

2343: Third Lifter

2344: Fourth Lifter

24: Tester

25: The first stage

26: Crimper

27: Second stage

28: The second moving mechanism

29: Test Room

30: Correction device

31: Bearing

311: Through hole

32: First position corrector

321: The first pressure-bearing part

322: First Perception Piece

323: First insulation

324: First Space

L1: The first detection axis

33: Second position corrector

331: The second pressure-bearing part

332: Second Perception Piece

333: Second insulation

334: Second Space

L2: Second detection axis

341: First Adjuster

342: Second Adjuster

35: Altitude Corrector

36: Third Adjuster

Figure 1: The configuration diagram of the working machine of the present invention.

Figure 2: Schematic diagram of the material-moving mechanism of the present invention.

Figure 3: A top view of the calibration device of the present invention.

Figure 4: A side view of the correction device of the present invention.

FIG. 5 is a flow chart of the calibration method of the present invention.

Figure 6: Schematic diagram of the corrected initial position of the feeder in the detection area.

Figure 7: A schematic diagram of correcting the position of the feeder in the first direction.

Figure 8: Schematic diagram of the calibration shifter reset.

Figure 9: Schematic diagram of correcting the position of the feeder in the second direction.

Figure 10: Schematic diagram of correcting the position of the feeder in the third direction.

In order to make your examiners have a further understanding of the present invention, a preferred embodiment is hereby exemplified in conjunction with the drawings. The detailed description is as follows: Please refer to FIGS. 1-4. The working machine of the present invention includes a machine 10 and at least one working device. 20. At least one calibration device 30 of the present invention and a central control device (not shown). At least one operation device 20 is disposed on the machine table 10 and is provided with at least one holder and at least one operation mechanism, at least one holder is used for holding a plurality of electronic components, and at least one operation mechanism is provided with a plurality of operation mechanisms, for performing preset operations on a plurality of electronic components; the calibration device 30 of the present invention is arranged on the machine 10 for a plurality of operations of the calibration operation mechanism The position of the industrial device in multiple directions; the central control device is used to control and integrate the actions of each device to perform automatic operations. According to the operation requirements, the holder of the operation device 20 can be a feeder, a receiver, a carrier, a tester or a pre-warming plate, etc., for holding a plurality of electronic components; the operation mechanism of the operation device 20 can be a material transfer mechanism, crimping mechanism, or printing mechanism, etc., and the operator may be a feeder, a crimper, or a printer, etc., which is not limited to this embodiment.

In order to clearly illustrate this case, the first direction or the second direction referred to in this case may be the X direction or the Y direction, the first direction described in the embodiments of this case is the X direction, the second direction is the Y direction, and the third direction is the Z direction. ; The direction of the detection axis is the same as the moving direction of the working tool.

In this embodiment, the working device 20 includes a feeder 21 , a receiver 22 , a working mechanism for the first feeding mechanism 23 , a tester 24 , a first stage 25 , a crimper 26 , and a second stage 27 and the other are the operation mechanism, temperature control mechanism (not shown) and testing chamber 29 of the second material moving mechanism 28 . The feeder 21 is used for holding a plurality of electronic components to be tested; the receiver 22 is used for holding a plurality of electronic components that have been tested; the design of the first feeding mechanism 23 and the second feeding mechanism 28 are the same. Taking the feeding mechanism 23 as an example, the first feeding mechanism 23 is provided with a moving arm 231, a distance changing unit 232, and a plurality of operators that are feeders. The moving arm 231 drives the distance changing unit 232 and the plurality of feeders to move in the X-Y direction. Displacement and Z-direction displacement of the larger stroke, the plurality of feeders include a first feeder 2331, a second feeder 2332, a third feeder 2333 and a fourth feeder 2334, and the fixed configuration of the first feeder The second feeder 2332 is used as the reference for changing the distance. The first feeder 2331, the third feeder 2333 and the fourth feeder 2334 are connected to the distance changing unit 232. According to the operation requirements, the distance changing unit 232 drives the first feeder. 2331, the third feeder 2333 and the fourth feeder 2334 use the second feeder 2332 as the reference to shift the preset spacing value in the X direction to change the spacing; the first feeder 2331, the second feeder 2332 , the third feeder 2333 and the fourth feeder 2334 are respectively connected to the first lifter 2341, the second lifter 2342, the third lifter 2343 and the fourth lifter 2344 for displacement in the Z direction to a preset height Operation Therefore, the first feeding mechanism 23 drives the first feeding device 2331, the second feeding device 2332, the third feeding device 2333 and the fourth feeding device 2334 with the moving arm 231 to feed the electronic components. The device 21 takes out a plurality of electronic components to be tested.

The tester 24 includes an electrically connected circuit board and a test seat with probes for testing electronic components, and a first stage 25 for carrying the electronic components to be tested for displacement in at least one direction. For example, the first stage 25 The electronic components to be tested can be carried to the side of the tester 24. For example, the first stage 25 can carry the electronic components to be tested below the tester 24; in this embodiment, the first stage 25 is used for the first moving The first feeder 2331, the second feeder 2332, the third feeder 2333 and the fourth feeder 2334 of the feeding mechanism 23 move a plurality of electronic components to be tested, and transfer the plurality of electronic components to be tested to The side of the tester 24; the crimper 26 takes out a plurality of electronic components to be tested on the first stage 25 to transfer and press down the plurality of electronic components to be tested to perform the test operation on the tester 24, the test chamber 29 is covered It is placed outside the tester 24. During the cold test operation, a fluid delivery pipe (not shown in the figure) is used to deliver dry air to the test chamber 29. The temperature control mechanism (not shown in the figure) is provided with a temperature control device on the crimper 26. The components are used for temperature-controlled electronic components, so that the electronic components can perform test operations under the simulated environment temperature in the future; after the test is completed, the crimper 26 transfers a plurality of tested electronic components from the tester 24 to the second stage 27; The second carrier 27 loads out a plurality of tested electronic components, the second moving mechanism 28 takes out a plurality of tested electronic components from the second carrier 27, and according to the test results, removes the tested electronic components The components are transported to the receiver 22 for sorting and storage; the central control device (not shown in the figure) is used to control and integrate the actions of each device to perform automatic operations, thereby improving the operation efficiency.

However, the operation device 20 can only be configured with the first feeding mechanism 23 according to the operation requirements, and the first feeding mechanism 23 can be used to transfer the electronic components to be tested and the electronic components that have been tested on the feeder 21 and the receiver 22 , and there is no Not possible. The operation device 20 can be configured with only the first stage 25 according to the operation requirements, and the first stage 25 can be used to carry the electronic components to be tested and the electronic components that have been tested. The operation device 20 can be used as a single crimper 26 according to the operation requirements. Displacement in one direction or in multiple directions. For example, the crimper 26 can be operated with a material-moving mechanism, and the material-moving mechanism moves the electronic component to be tested into the tester 24. The crimper 26 can only perform a pressing action when displaced in a single direction. . The operation device 20 may be equipped with a blower in the test chamber 29 for blowing hot air during the thermal measurement operation according to the operation requirements, so as to heat up the interior of the test chamber 29 . The operating device 20 is configured with a pre-warming plate according to operational requirements, for pre-warming the electronic components to be tested.

The calibration device 30 is used for calibrating the positions of the plurality of operators of the operating mechanism in a plurality of directions; the calibration device 30 includes a holder 31 , a first position calibrator 32 and a second position calibrator 33 .

The holder 31 is a fixed configuration, and a detection area is formed above it; further, the holder 31 can be a seat body, a plate body or a machine plate; in this embodiment, the holder 31 is a plate body, and its top surface is At least one through hole 311 is formed in the holder 31 , and the through hole 311 penetrates from the bottom surface to the top surface of the holder 31 and communicates with the detection area.

The first position corrector 32 is assembled at the first detection position of the holder 31 along the first detection axis L1 in the first direction, and is provided with at least one first pressure-receiving member 321 that can be crimped. The detection area of the holder 31 is displaced along the first direction, and the first position corrector 32 uses the first pressure-bearing member 321 at the first detection position to perform a contact detection of the position of the operating tool in the first direction; further , the first position corrector 32 can be a pressure sensor or a conductive sensor; the first pressure-bearing member 321 can be a block, a sheet or a face; the first position corrector 32 includes a first pressure-bearing member 321 and the first sensing member 322, the first sensing member 322 is assembled at the first sensing position of the holder 31, and the first pressure-bearing member 321 contacts or links the first sensing member 322 when pressed; A position corrector 32 is a conductive sensor, including a first pressure-bearing member 321, a first sensing member 322 and a first insulating member 323. The first sensing member 322 is connected to a processor (not shown), and runs along the The first detection axis L1 in the X direction is assembled at the first detection position on the first side of the holder 31 , the first surface of the first sensing member 322 is provided with a first insulating member 323 on both sides, and two first insulating members 323 for mounting the first pressure-bearing member 321, the first The pressure-bearing member 321 is a metal elastic sheet that can be elastically bent and deformed under pressure. There is a first space 324 between the first pressure-bearing member 321 and the first sensing member 322 . Deformation space; when the first pressure-bearing member 321 is not pressed, the first pressure-bearing member 321 and the first sensing member 322 are in a power-off state, and when the first pressure-bearing member 321 is pressed, the first pressure-bearing member 321 is pressed. The connection between the element 321 and the first sensing element 322 is in a conducting state, and the first position corrector 32 can conduct the first sensing element 322 by being pressed by the first pressure-receiving element 321 at the first sensing position of the holder 31, and the The position of the working tool in the first direction is detected by contact.

The second position corrector 33 is assembled at the second detection position of the holder 31 along the second detection axis L2 in the second direction, and is provided with at least one second pressure-receiving member 331 that can be crimped. The detection area of the holder 31 is displaced along the second direction, and the second position corrector 33 uses the second pressure-bearing member 331 at the second detection position to perform a contact detection of the position of the operating tool in the second direction; further , the second position corrector 33 can be a pressure sensor or a conductive sensor, the second pressure-bearing member 331 can be a block, a sheet or a face; the second position corrector 33 includes a second pressure-bearing member 331 and the second sensing member 332, the second sensing member 332 is assembled at the second sensing position of the holder 31, and the second pressure-bearing member 331 contacts or links the second sensing member 332 when pressed; The two position correctors 33 are conductive sensors, including a second pressure-bearing member 331 , a second sensing member 332 and a second insulating member 333 . The second sensing member 332 is connected to the processor (not shown in the figure), and extends along the The second detection axis L2 in the Y direction is assembled at the second detection position on the second side of the holder 31, the second side is adjacent to the first side, and the first surface of the second sensing element 332 is provided with second insulation on both sides 333, two second insulating members 333 are used to mount the second pressure-bearing member 331. The second pressure-bearing member 331 is a metal elastic sheet and can be elastically bent and deformed under pressure. The second space 334, the second space 334 is used as a retreat space for the second pressure-bearing member 331 to be bent and deformed under pressure; when the second pressure-bearing member 331 is not under pressure, the second pressure-bearing member 331 and the second sensing member 332 The power-off state is intermittent, when the second pressure-bearing member 331 is pressed, the second pressure-bearing member 331 and the second sensing member 332 are in a conductive state, and the second position corrector 33 can detect the second detection of the holder 31 position, with the second The pressure-receiving member 331 is pressed to conduct the second sensing member 332 to detect the position of the operating tool in the second direction by contact.

The calibration device 30 further includes a first adjuster 341 and a second adjuster 342 . The first adjuster 341 and the second adjuster 342 are assembled on the holder 31 and respectively support the first position adjuster 32 and the second position adjuster. The first adjuster 341 and the second adjuster 342 adjust the assembly positions (eg assembly height) of the first position corrector 32 and the second position corrector 33 respectively according to the operation requirements, so as to improve the accuracy of the calibration operation. In this embodiment, the first adjuster 341 is assembled on the first side of the holder 31 for mounting the first position corrector 32 and can adjust the assembly position and height of the first position corrector 32; the second adjuster 342 is assembled on the second side of the holder 31 for mounting the second position corrector 33 and can adjust the assembly position and height of the second position corrector 33 .

The calibration device 30 further includes at least one height calibrator 35. The height calibrator 35 detects the position of the operator located in the detection area of the support 31 in the third direction; the height calibrator 35 can be used for contact or non-contact detection. The position of the operator in the third direction, for example, the height corrector 35 is a reflective sensor, and is assembled under the through hole 311 of the holder 31 to detect the position of the operator in the third direction in a non-contact manner; for example The height corrector 35 is a conductive sensor and is assembled on the top surface of the holder 31 to detect the position of the operator in the third direction by contact; in this embodiment, the height corrector 35 is a reflective sensor The height corrector 35 can project a light beam toward the detection area from bottom to top through the through hole 311 and receive the reflected light beam.

The calibration device 30 further includes at least one third adjuster 36 for assembling the height corrector 35 and adjusting the assembly height of the height corrector 35 .

In view of the above, the holder 31 can be provided with a groove on the top surface, and the first position corrector 32 and the second position corrector 33 can be respectively assembled on the first side and the second side of the groove. A through hole 311 is formed on the bottom surface of the groove for the height corrector 35 to detect the position of the working device in the third direction (working height position).

2, 5-10, the calibration method of the present invention includes a first transfer operator program, a first detection process, a second transfer operator program, a second detection process, and a comparison process. The first transfer operation process is to transfer a plurality of operators to the detection area above the carrier 31 , and the detection area is displaced along the first direction; In the position, the first pressure-receiving member 321 is used to receive the crimping of the operator, and the position of the plurality of operators in the first direction is detected by contact; the second transfer operator program is used to transfer the plurality of operators to the carrier The detection area above 31 is displaced along the second direction; in the second detection process, the second position corrector 33 is at the second detection position of the holder 31 and the second pressure-bearing member 331 is subjected to the pressing of the operating tool to perform the operation. The contact type detects the positions of the plurality of operators in the second direction; the comparison program uses the processor to receive the position data of the plurality of operators transmitted by the first detection process and the second detection process, so as to analyze the plurality of operators in the The positions in the first direction and the second direction are used to obtain the positional deviation values of the plurality of working devices, and compensate and correct the actual working positions of the plurality of working devices, thereby improving the operation accuracy.

The calibration method of the present invention further includes a third transfer operator program and a third detection process. The third transfer operator program is located before the comparison process, and is used for detecting by transferring a plurality of operators above the carrier 31 . The region is displaced along the third direction by a preset height value; the third detection program uses the height corrector 35 to detect the positions of the plurality of operating devices in the third direction, and the comparison program uses the processor to receive the plurality of data transmitted by the third detection program The position data of the operating equipment is used to obtain the height position deviation value of a plurality of operating equipment, and to compensate and correct the actual height position of the operating equipment. However, according to the operation requirements and the type of the position corrector, the first transfer operator program further includes a first micro-movement means, and the first micro-movement means uses the operator to perform a micro-movement displacement along the first direction for detection by the first detection program. The position of the operator after inching, and the position data after the inching is analyzed by the comparison program, and the position deviation value of the operator in the first direction can also be obtained; the second transfer operator The program further includes a second micro-moving means, the second micro-moving means uses the operating tool to perform micro-movement and displacement along the second direction, so that the second detection program can detect the position of the operating device after micro-moving, and the comparison program can analyze the position after micro-moving. The data can also be used to obtain the position deviation value of the operator in the second direction; the third transfer operator program further includes a third micro-movement method. The three-detection program detects the position of the operator after inching, and provides the comparison program to analyze the position data after inching, and also obtains the height position deviation value of the operator in the third direction.

The calibration method further includes a pre-procedure, the pre-procedure is located before the procedure of the first transfer operator, and a central position of the operator in the detection area is preset as the calibration initial position, so that other operators can use the calibration initial position as Further, the preset one of the working devices can be one of a plurality of working devices, such as a fixed working device or a first working device, and the calibration initial position can be the same or different from that of the support 31 Center position; for example, a preset operator is a fixed operator, since the distance from the origin to the center of the holder 31 is known, and the diameter of the operator is known, the preset fixed operator can be moved from the origin Move to the center of the holder 31, and make the center position of the stationary operator align with the center position of the holder 31, that is, the center position of the stationary operator (ie, the center position of the holder 31) can be used as the initial calibration position for calibration. Other operators are displaced by a preset distance value based on the center position of the fixed operator (ie, the center of the holder 31 ).

Please refer to FIG. 6 , in this embodiment, the actual operating positions of the first feeder 2331 , the second feeder 2332 , the third feeder 2333 and the fourth feeder 2334 are detected; The distance between the centers of 31 is known, and the diameter of each feeder is known. The pre-program takes the fixed second feeder 2332 as the preset reference operator, and moves the second feeder 2332 from the origin. To the central position of the holder 31 and located in the detection area, the center of the second feeder 2332 is aligned with the central position of the holder 31, and the processor analyzes and judges the central position of the second feeder 2332 (that is, the holder 31 center position) as the calibration initial position for the first feeder 2331, the third feeder 2333 and the fourth feeder 2334 to shift the preset distance value based on the calibrated initial position; to detect the actual working position of the first feeder 2331 For example, the moving arm 231 drives the first feeder 2331 to move along the first direction (X direction) in the detection area of the holder 31 by a predetermined distance to a predetermined working position.

Please refer to FIGS. 6 and 7 , for example, to detect the position of the first feeder 2331 in the first direction (X direction), the first transfer operator program uses the moving arm 231 to drive the first feeder 2331 to the support The detection area above the tool 31 is displaced along the first direction (X direction), so that the first feeder 2331 is pressed against the first pressure member 321 of the first position corrector 32 at the first detection position. The pressing member 321 bends and deforms toward the first space 324 after being pressed, and contacts the first sensing member 322. The first pressing member 321 and the first sensing member 322 are in a conductive state, and the first sensing member 322 sends a signal to the processor. (not shown in the figure), since the diameter of the first feeder 2331 is known, the comparison program uses the processor to analyze the distance value detected by the first position corrector 32 to the first feeder 2331 to determine the first feeder 2331. Is the X coordinate position of a feeder 2331 in the first direction (X direction) correct? The diameter size is known, and the processor can obtain the X direction deviation value of the first feeder 2331 by calculating the distance value, so as to compensate and correct the actual working position of the first feeder 2331; The positions (X coordinate values) of the third feeder 2333 and the fourth feeder 2334 in the first direction (X direction) are sequentially obtained.

Please refer to FIGS. 6 , 8 and 9 , before detecting the position of the first feeder 2331 in the second direction (Y direction), the moving arm 231 drives the first feeder 2331 along the detection area above the holder 31 . The reverse displacement in the first direction (X direction) is reset, the first pressure-bearing member 321 of the first position corrector 32 is elastically restored to its original state, and the first pressure-bearing member 321 and the first sensing member 322 are in a power-off state because they are not in contact. Taking the detection of the position of the first feeder 2331 in the second direction (Y direction) as an example, the second transfer operator program uses the moving arm 231 to drive the first The detection area of the feeder 2331 above the holder 31 is displaced along the second direction (Y direction), so that the first feeder 2331 is pressed against the second pressure bearing of the second position corrector 33 at the second detection position The second pressure-bearing member 331 bends and deforms toward the second space 334 after being pressed, and contacts the second sensing member 332. The second pressure-bearing member 331 and the second sensing member 332 are in a conductive state, and the second sensing member 332 is connected to the second sensing member 332. Send a signal to the processor (not shown in the figure), since the diameter of the first feeder 2331 is known, the comparison program uses the processor to analyze the second position corrector 33 to detect the first feeder 2331. The distance value is used to determine whether the Y coordinate position of the first feeder 2331 in the second direction (Y direction) is correct. The diameter of a feeder 2331 is known, and the processor can obtain the Y direction deviation value of the first feeder 2331 by calculating the distance value, so as to compensate and correct the actual working position of the first feeder 2331; therefore, With the above method, the positions (Y coordinate values) of the third feeder 2333 and the fourth feeder 2334 in the second direction (Y direction) can be obtained in sequence.

Therefore, after obtaining the positional deviation values of the first feeder 2331 , the third feeder 2333 and the fourth feeder 2334 in the X-Y direction, and using the second feeder 2332 as a reference, respectively adjust and compensate the first feeder The actual working position of the feeder 2331, the third feeder 2333 and the fourth feeder 2334.

Please refer to FIG. 10 to correct the position of the feeder in the third direction (Z direction). Taking the calibration of the actual height working position of the first feeder 2331 as an example, the third shifter program uses the moving arm 231 to drive the first feeder. A feeder 2331 is displaced to the detection area of the holder 31 and located above the through hole 311, and the first lifter 2341 drives the first feeder 2331 to move downward along the third direction (Z direction) by a preset Height value; since the height corrector 35 is a reflective sensor, and is located below the through hole 311 of the holder 31, and projects a beam toward the through hole 311; 2331 is used as a non-contact projection beam, and receives the beam reflected by the first feeder 2331, and transmits a signal to the processor; the comparison program uses the processor to analyze the reflected distance value of the beam received by the height corrector 35, and analyzes First mover 2331 Check whether the height position in the third direction (Z direction) is correct, and obtain the height position deviation value of the first feeder 2331 in the third direction to compensate and correct the actual height position of the first feeder 2331; therefore, With the above method, the height position deviation value of the second feeder 2332, the third feeder 2333 and the fourth feeder 2334 in the third direction (Z direction) can be obtained in sequence, and the actual height position can be compensated and corrected. , thereby improving the accuracy of work.

231: Moving Arm

2331: First mover

31: Bearing

32: First position corrector

321: The first pressure-bearing part

322: First Perception Piece

324: First Space

Claims (17)

A calibrating device for calibrating the positions of a plurality of operating tools, the calibrating device comprises: a holder: a fixed configuration, and a detection area is formed above; a first position calibrator: a first detection device along a first direction The known axis is assembled at the first detection position of the bearing, and at least one first pressure bearing member for crimping is provided, and the first position corrector is displaced to the first detection position by contact detection. The positions of the plurality of operators in the detection area in the first direction; the second position corrector: assembled at the second detection position of the holder along the second detection axis in the second direction, and is provided with At least one second pressure-receiving member available for crimping, the second position corrector is displaced to the position of the plurality of operators in the detection area in the second direction by contact detection at the second detection position . The calibration device according to claim 1, further comprising at least one height corrector for detecting the position of the operating tool in the third direction. The calibration device according to claim 2, wherein the holder is provided with at least one through hole, the through hole communicates with the detection area, and the height corrector is disposed below the through hole. The calibration device according to claim 2, further comprising at least one third adjuster for adjusting the assembly height of the height corrector. The calibration device according to claim 1, wherein the first position calibrator comprises the first pressure-bearing part and a first sensing part, the first sensing part is assembled at the first sensing position of the bearing, the first sensing part A pressure-bearing piece contacts or links the first sensing piece when being pressed; the second position corrector includes the second pressure-bearing piece and a second sensing piece, and the second sensing piece is assembled on the second sensing piece of the holder For detecting the position, the second pressure-bearing member contacts or links the second sensing member when being pressed. The calibration device according to claim 5, wherein the first position calibrator further comprises at least one first insulating member, the first sensing member is assembled with the first insulating member, and the first insulating member is used for mounting the first bearing a pressure piece; the second position corrector further includes at least one second insulating piece, the second sensing piece is assembled with the second insulating piece, and the second insulating piece is used to mount the second pressure-bearing piece. The calibration device according to any one of claims 1 to 6, further comprising a first adjuster and a second adjuster, the first adjuster is used to adjust the assembly position of the first position corrector, the second adjuster For adjusting the assembly position of the second position corrector. The calibration device according to any one of claims 1 to 4, wherein the first position calibrator and the second position calibrator are pressure sensors or conductive sensors. A calibration method for calibrating the positions of a plurality of working tools in a first direction and a second direction, the calibration method comprising: a first transferring and loading working device procedure: to transfer the multiple working tools to a position above a carrier The detection area is displaced along the first direction; the first detection procedure: the first position corrector uses the first pressure-bearing member at the first detection position of the holder to bear the crimping of the operating tool, and the contact type is used. Detecting the positions of the plurality of operators in the first direction; the second transfer operator procedure: to move the detection area above the carrier to move the plurality of operators along the second direction; the first Two detection procedures: the second position corrector uses a second pressure-receiving member at the second detection position of the holder to bear the crimping of the operator, and performs contact detection of the plurality of operators at the second position in the direction; comparison procedure: the plurality of operations transmitted by the first detection procedure and the second detection procedure are received by the processor The position data of the operating equipment is used to analyze the positions of the plurality of operating equipment in the first direction and the second direction, to obtain the position deviation value of the plurality of operating equipment, and to compensate and correct the actual operating position of the plurality of operating equipment . The calibration method according to claim 9, further comprising a pre-process, the pre-process is located before the first transfer process, and a center position of the operator in the detection area is preset as the calibration initial position for the other working tools to be displaced based on the corrected initial position. According to the calibration method described in claim 10, the first transfer operator program further includes a first micro-movement means, and the first micro-movement means uses the operator to perform micro-movement displacement along the first direction for the first inspection. The knowing program detects the position of the operating tool after inching, and the comparing program analyzes the position data after the inching, so as to obtain the position deviation value of the operating device in the first direction. The calibration method according to claim 10, wherein the second transfer operator program further includes a second micro-movement means, and the second micro-movement means uses the operator to perform micro-movement displacement along the second direction for the second micro-movement. The detection program detects the position of the operating tool after inching, and provides the comparison program to analyze the position data after the inching, so as to obtain the position deviation value of the operating device in the second direction. The calibration method according to any one of claims 9 to 12, further comprising a third transfer operator program and a third detection program, the third transfer operator program is located before the comparison process, and the third transfer operator program is located before the comparison process. The transfer operation program is used to transfer the plurality of operators to the detection area of the carrier by a preset height value along a third direction, and the third detection program detects the plurality of operators at the height corrector For the position in the third direction, the comparison program uses the processor to receive the position data of the plurality of operators transmitted by the third detection program, so as to obtain the height position deviation value of the plurality of operators, and to compensate and correct the plurality of operators The actual height working position of each operator. The calibration method according to claim 13, wherein the third transfer operator program further comprises a third micro-movement means, and the third micro-movement means uses the operator to perform micro-movement displacement along the third direction for the third micro-movement. The detection program detects the position of the operating tool after inching, and provides the comparison program to analyze the position data after the inching, so as to obtain the height position deviation value of the operating device in the third direction. A working machine, comprising: a machine; at least one working device: disposed on the machine, and provided with at least one holder and at least one working mechanism, the at least one holder is used for holding a plurality of electronic components, the At least one operating mechanism is provided with a plurality of operating devices for performing preset operations on the plurality of electronic components; at least one calibration device as described in claim 1: mounted on the machine for calibrating the plurality of operating devices The position on the first direction and the second direction; the central control device: to control and integrate the actions of each device to perform automatic operations. The working machine according to claim 15, wherein the working device further comprises a temperature control mechanism, and the temperature control mechanism is provided with at least one temperature control on the working machine. The working machine of claim 15, wherein the working device further comprises a test chamber, and the test chamber cover is placed outside the tester.

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