TWM573079U - Calibration apparatus - Google Patents

Abstract

This creation discloses a correction device, which includes a main body module and a foot position adjustment module. The main body module includes a main body unit and a pick-and-place unit that is located on the main body unit and can move back and forth with respect to the main body unit movably. The foot position adjustment module includes at least one drive unit and a plurality of foot position adjustment units connected to the at least one drive unit. Wherein, the pick-and-place unit is controlled to obtain the object to be calibrated, and at least one driving unit is controlled to drive the multiple pin position adjustment units to perform pin position correction on the multiple conductive pins of the object to be calibrated.

Description

Calibration device

This creation relates to a correction device, in particular to a correction device that automatically organizes the pins of electronic components.

Generally speaking, various commonly used electronic components have their pins soldered to connection points on the circuit board to achieve installation and electrical connection between the electronic component and the circuit board. Commonly used electronic components can be resistors, capacitors, transistors, transmission module components, receiver module components or transceiver module components, etc., which are soldered and electrically connected to the circuit board by pins protruding from the body of the electronic component Connection point. In order to avoid problems during assembly and welding, the electronic components must be tested one by one in advance.

Some electronic components may include more than three pins, such as laser diodes. When these pins are distributed in a spatially staggered arrangement on the side of the electronic component, it may cause difficulty in aligning with the connection points on the circuit board Therefore, in the current testing conventional technology, the pins are manually arranged manually, the long pins that are bent are corrected one by one, and then inserted into the testing machine for testing. However, this method is not only time-consuming, but may also cause human damage.

The technical problem to be solved in this creation is to provide a correction device for the deficiencies of the prior art.

In order to solve the above technical problems, the technical solution adopted in this creation is to provide a correction device, which includes a main body module and a foot position adjustment module. The main body module includes a main body unit and a pick-and-place unit that is located on the main body unit and can move back and forth with respect to the main body unit movably. The foot adjustment module includes at least one driving unit located on the body unit and a plurality of foot adjustment units connected to the at least one driving unit. among them, The pick-and-place unit is controlled to obtain the object to be calibrated, and at least one driving unit is controlled to drive the multiple pin position adjustment units to perform pin position correction on the multiple conductive pins of the object to be calibrated.

One of the beneficial effects of this creation is that the correction device provided by this creation can pass the “body module including the body unit and the pick-and-place unit located on the body unit and capable of movably resetting relative to the body unit”, “foot The position adjustment module includes at least one drive unit located on the body unit and a plurality of foot position adjustment units connected to the at least one drive unit" and "the pick-and-place unit is controlled to obtain the object to be calibrated, and at least one drive unit is controlled to The technical solution of “driving multiple pin position adjustment units to perform pin position correction on multiple conductive pins of the object to be calibrated” achieves the technical effect of automatically sorting the pins of electronic components.

In order to further understand the characteristics and technical content of this creation, please refer to the following detailed description and drawings of this creation. However, the drawings provided are for reference and explanation only, and are not intended to limit this creation.

1‧‧‧ Calibration device

10‧‧‧Main module

100‧‧‧Body unit

101‧‧‧ pick and place unit

102‧‧‧rotating unit

11‧‧‧Position adjustment module

110‧‧‧Drive unit

111‧‧‧Pin adjustment unit

1110‧‧‧ Unit body

1110A‧‧‧Groove

1111‧‧‧Partition

12‧‧‧Control module

13‧‧‧Image capture module

14‧‧‧Mobile Module

15‧‧‧pin expansion module

150‧‧‧Expansion Department

2‧‧‧ Objects to be checked

20‧‧‧conductive pin

A‧‧‧Accommodation slot

FIG. 1 is a schematic side view of the correction device of the first embodiment of the author.

FIG. 2 is a first schematic perspective view of the calibration device of the first embodiment of the invention.

FIG. 3 is a second schematic perspective view of the calibration device of the first embodiment.

FIG. 4 is a third schematic perspective view of the calibration device of the first embodiment of the invention.

FIG. 5 is a first schematic bottom view of the correction device of the first embodiment of the author.

FIG. 6 is a second bottom view schematic diagram of the calibration device of the first embodiment.

FIG. 7 is a schematic side view of the correction device of the second embodiment.

FIG. 8 is a schematic perspective view of the calibration device of the second embodiment of the invention.

FIG. 9 is a partially enlarged schematic view of part IX in FIG. 8.

FIG. 10 is a first schematic bottom view of the calibration device of the second embodiment.

FIG. 11 is a second schematic bottom view of the correction device of the second embodiment of the author.

FIG. 12 is a schematic side view of the correction device of the third embodiment.

FIG. 13 is a block diagram of a device for creating a correction device according to a third embodiment.

FIG. 14 is a schematic front view of the correction device of the third embodiment.

FIG. 15 is a schematic side view of the correction device of the fourth embodiment.

FIG. 16 is a first flowchart of the correction method of the creation.

FIG. 17 is a second flowchart of the correction method of the creation.

The following is a description of the implementation of the “correction device and method” disclosed in this creation by specific specific examples. Those skilled in the art can understand the advantages and effects of this creation by the content disclosed in this specification. This creation can be implemented or applied through other different specific embodiments. The details in this specification can also be based on different views and applications, and various modifications and changes can be made without departing from the concept of this creation. In addition, the drawings created in this article are only a schematic illustration, not based on actual size, and are declared in advance. The following embodiments will further describe the relevant technical content of the creation, but the disclosed content is not intended to limit the protection scope of the creation.

It should be understood that although terms such as “first”, “second”, and “third” may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one component from another component, or one signal from another signal. In addition, the term "or" as used herein may include any combination of any one or more of the associated listed items, depending on the actual situation.

[First embodiment]

Please refer to FIG. 1 to FIG. 6, which are respectively a side view schematic diagram, a first three-dimensional schematic diagram, a second three-dimensional schematic diagram, a third three-dimensional schematic diagram, a first upward schematic diagram, and a second upward schematic diagram of the calibration device of the first embodiment. As shown in the figure, the first embodiment of the present invention provides a calibration device 1, which includes a main body module 10 and a foot position adjustment module 11. The main body module 10 includes a main body unit 100 and a pick-and-place unit 101 located on the main body unit 100 and capable of movably resetting relative to the main body unit 100. The foot position adjustment module 11 includes at least one driving unit 110 located on the body unit 100 and at least one A plurality of pin adjustment units 111 connected to a driving unit 110. The pick-and-place unit 101 is controlled to obtain the object 2 to be corrected, and at least one driving unit 110 is controlled to drive the plurality of foot position adjustment units 111 to perform foot position correction on the plurality of conductive pins 20 of the object 2 to be corrected.

Specifically, the calibration device 1 of the present invention includes a main body module 10 and a foot position adjustment module 11. The main body module 10 may include a body unit 100 and a pick-and-place unit 101. The pick-and-place unit 101 may be movably connected to the body unit 100 and perform a reciprocating displacement operation relative to the body unit 100. The pick-and-place unit 101 may have a gripper s component. The foot adjustment module 11 may include at least one drive unit 110 and a plurality of foot adjustment units 111. The at least one drive unit 110 may be connected to or disposed on the body unit 100. The drive unit 110 may be pneumatic or electromagnetic. Type or mechanical type dynamic components; each foot position adjusting unit 111 is connected to at least one driving unit 110.

Therefore, when the calibration device 1 of the present invention performs inspection or installs the object to be calibrated 2 (which can be any electronic component with pins, such as a laser diode, but not limited to this), the body unit 100 can be controlled The pick-and-place unit 101 is driven to be displaced relative to the body unit 100 to approach the platform (not shown in the figure) carrying the object 2 to be checked, and the pick-and-place unit 101 can controlly obtain the object 2 to be checked; or, take The placing unit 101 can be controlledly displaced relative to the body unit 100 to approach the platform carrying the object 2 to be corrected and obtain the object 2 to be corrected. Next, the driving unit 110 (in this embodiment, two are taken as examples, but not limited to this) can be controlled to drive the plurality of pin adjustment units 111 to operate to treat the plurality of conductive pins of the object 2 20 Perform foot position correction.

Therefore, through the above structural design, the calibration device 1 of the present invention can achieve the technical effect of arranging the pins of electronic components in an automated manner.

In one of the preferred embodiments, each foot adjustment unit 111 includes a unit body 1110 connected to at least one driving unit 110 and having a recess on the side, and a unit body 1110 connected to the unit body 1110 and connecting the recess A partition 1111 divided into a plurality of grooves 1110A, each unit body 1110 passes through at least one driving unit The element 110 is driven to move toward the plurality of conductive pins 20, so that each partition 111 distinguishes the plurality of conductive pins 20, and allows each of the differentiated conductive pins 20 to be accommodated in the corresponding recess Slot 1110A.

For example, as shown in FIGS. 5 and 6, each foot adjustment unit 111 of the present invention may further include a unit body 1110 and a partition 1111. The unit body 1110 has a recess at one end, and the partition 1111 is located in the recess And connected to the unit body 1110 to divide the recess into a plurality of grooves 1110A, similar to a fork, but not limited to this. However, each foot position adjustment unit 111 of the present invention is not limited to only one partition 1111, and may be provided in accordance with the needs of users or manufacturers.

Therefore, when the calibration device 1 of the present invention detects or installs the object 2 to be checked, after the object to be checked 2 is obtained by the pick-and-place unit 101, the driving unit 110 can respectively drive the unit body 1110 to move toward the plurality of conductive pins 20, The partition 1111 is inserted into the plurality of conductive pins 20, and the plurality of conductive pins 20 (in this embodiment, four conductive pins 20 are used as examples, but not limited thereto) And it is accommodated in the corresponding groove 1110A, and then the posture of the conductive pin 20 is adjusted to perform foot position correction.

It is worth mentioning that although the advantages and effects of this creation can be understood through the above content, the examples given above are only one of the feasible embodiments and are not intended to limit this creation.

[Second Embodiment]

7 to FIG. 11, which are respectively a schematic side view of the calibration device of the second embodiment of the author, a perspective schematic view of the calibration device of the second embodiment of the author, a partially enlarged schematic view of part IX in FIG. 8, Please refer to FIGS. 1 to 6 for the first looking-up schematic diagram of the calibration device of the second embodiment and the second looking-up schematic diagram of the calibration device of the second embodiment of the present invention. As shown in the figure, the second embodiment of the present invention provides a correction device 1, which includes a main body module 10 and a foot position adjustment module 11. The main body module 10 includes a main body unit 100 and is located on the main body unit 100 relative to the main body unit 100 is a pick-and-place unit 101 that can move to the reset position movably. The foot adjustment module 11 includes at least one driving unit 110 and a plurality of foot adjustment units 111 connected to the at least one driving unit 110. The pick-and-place unit 101 is controlled to obtain the object 2 to be corrected, and at least one driving unit 110 is controlled to drive the plurality of foot position adjustment units 111 to perform foot position correction on the plurality of conductive pins 20 of the object 2 to be corrected.

In addition, each of the foot position adjusting units 111 includes a unit body 1110 connected to at least one driving unit 110 and a partition 1111 connected to the unit body 1110. Each unit body 1110 is driven by at least one driving unit 110 toward The plurality of conductive pins 20 are displaced so that each partition 1111 distinguishes part of the conductive pins 20, and the two adjacent partitions 1111 form a receiving groove A to accommodate one of the corresponding Conductive pin 20.

Specifically, the difference between the calibration device 1 of the second embodiment of the present invention and the calibration device 1 of the foregoing first embodiment is that in this embodiment, each foot position adjustment unit 111 includes a unit body 1110 and a partition 1111 The unit body 1110 can be connected to at least one driving unit 110. The partition 1111 is located at one end of the unit body 1110. The partition 1111 can be slightly triangular, but not limited to this. The correction device 1 of the second embodiment of the present invention may be provided with a plurality of driving units 110, and each driving unit 110 is connected to a unit body 1110, or only one driving unit 110 may be provided to drive all foot adjustments. Unit 111 is not limited to the implementation instructions provided in this creation.

Therefore, in the calibration device 1 of the present invention, during the process of detecting or installing the to-be-calibrated object 2, after the to-be-released unit 101 acquires the to-be-calibrated object 2, the driving unit 110 can drive the plurality of unit bodies 1110 toward the plurality of conductive pins 20 displacement, so that the partition 1111 is inserted into the plurality of conductive pins 20; and, two adjacent partitions 1111 will form a receiving slot A, therefore, a plurality of conductive pins 20 (in this embodiment In the middle system, five conductive pins 20 are taken as examples, but not limited to this) are distinguished and accommodated in the corresponding accommodating grooves A, and then the posture of the conductive pins 20 is adjusted to perform foot position correction.

It is worth mentioning that although the above content can understand the advantages and effects of this creation As a result, however, the examples given above are only one of the feasible embodiments and are not intended to limit the creation.

[Third Embodiment]

Refer to FIGS. 12 to 14, which are a schematic side view, a block diagram, and a schematic front view of the calibration device according to the third embodiment, and refer to FIGS. 1 to 11 together. As shown in the figure, the calibration device of this embodiment is similar to the operation of the same elements in the foregoing embodiments, and will not be repeated here. However, in this embodiment, the pick-and-place unit 101 is controlled to be displaced from a first position To a second position to obtain the object 2 to be corrected; and, the pick-and-place unit 101 is controlled to be displaced from the second position to the first position, and at least one driving unit 110 is controlled to drive a plurality of pairs of foot adjustment units 111 A plurality of conductive pins 20 perform foot position correction.

For example, in the calibration device 1 of the third embodiment of the present invention, in the process of acquiring the object 2 to be corrected, the pick-and-place unit 101 can be controlled to move from the first position (as shown in FIG. 1) to the second Position (as shown in FIG. 12); Then, the pick-and-place unit 101 obtains the object 2 from the platform (not shown in the figure) carrying the object 2 to be corrected, wherein the obtaining method may be clamping, suction or any other form The way. After the pick-and-place unit 101 obtains the object 2 to be calibrated, it is then shifted from the second position to the first position, and the driving unit 110 is controlled to drive the postures of the plurality of foot adjustment units 111 to the positions of the plurality of conductive pins 20 , Position adjustment.

In one of the preferred embodiments, the calibration device 1 further includes a control module 12, which is electrically connected to the pick-and-place unit 101 and the driving unit 110, and the control module 12 controls the pick-and-place unit 101 to obtain according to an execution command The object 2 to be corrected, and the control module 12 controls the pick-and-place unit 101 to move from the second position to the first position according to the execution command, and controls the driving unit 110 to drive the plurality of foot position adjustment units 111 to perform foot position correction.

Specifically, the calibration device 1 of the present invention may further include a control module 12, which may be a central processing unit or a control device with control and processing functions. control The control module 12 can be electrically connected to the pick-and-place unit 101 and the driving unit 110. Therefore, the operator can provide execution commands to the control module 12 through the keyboard or the touch screen. Then, the control module 12 can control the pick-and-place unit 101 to obtain the object 2 to be checked according to the execution command, and after the pick-and-place unit 101 obtains the object 2 to be checked, the control module 12 can control the driving unit 110 to drive a plurality of feet The position adjusting unit 111 adjusts the posture and position of the positions of the plurality of conductive pins 20.

In another preferred embodiment, the calibration device 1 may further include an image capture module 13, which is electrically connected to the control module 12, and the image capture module 13 captures according to the control of the control module 12 Pick and place the image of the object 2 to be corrected on the unit 101 to generate at least one object image message.

For example, the calibration device 1 of the present invention further includes an image capture module 13, which may be a miniature photography device, but not limited to this. The image capturing module 13 can be electrically connected to the control module 12 and can be located below the pick-and-place unit 101 and corresponds to the pick-and-place unit 101. Therefore, after the pick-and-place unit 101 obtains the object 2 to be corrected, and the driving unit 110 drives the plurality of foot position adjustment units 111 to adjust the posture and position of the foot positions of the plurality of conductive pins 20, the control module 12 may also perform The command controls the image capturing module 13 to take a picture toward the pick-and-place unit 101 to obtain the foot image of the object 2 to be corrected, and correspondingly generate at least one object image message. The control module 12 can have a storage component (not shown in the figure), such as a hard disk or a memory, which can be used to store object image information and preset image information (comparison-based images).

In yet another preferred embodiment, the main body module 10 further includes a rotating unit 102 rotatably sleeved on the pick-and-place unit 101 and driving the pick-and-place unit 101 to rotate. The rotating unit 102 is electrically connected to the control mode Group 12; wherein, the control module 12 controls the rotation unit 102 to drive the pick-and-place unit 101 to rotate by a predetermined angle according to at least one object image message that does not match a preset image message.

Furthermore, the main body module 10 of the present invention further includes a rotating unit 102 that is rotatably sleeved on the pick-and-place unit 101 and electrically connected to the control module 12. Therefore, after the image capturing module 13 generates object image information, control The module 12 compares the object image information with the preset image information, and determines whether the position of the foot position of the object 2 to be corrected on the pick-and-place unit 101 is adjusted to be the same as the system's default position If there is a deviation and there is no match, the control module 12 controls the rotation unit 102 to drive the pick-and-place unit 101 to rotate the corresponding angle according to how much the position of the foot position of the object 2 to be corrected deviates from the preset foot position. The foot position of the calibration object 2 after rotation is the same as the preset foot position of the system.

After the rotation unit 102 drives the pick-and-place unit 101 to rotate, the control module 12 can also control the image capture module 13 to capture the foot image of the object 2 to be corrected again, and perform a second comparison to determine the rotation Whether the foot position of the object 2 to be corrected is the same as the preset foot position of the system; if different, repeat the above steps again until it is determined that the foot position of the object 2 to be corrected is the same as the default foot position of the system.

In addition, the structure and operation of the rotating unit 102 and the comparison technology of the control module 12 to compare the object image information with the preset image information are conventional technologies, and will not be specifically described here.

It is worth mentioning that although the advantages and effects of this creation can be understood through the above content, the examples given above are only one of the feasible embodiments and are not intended to limit this creation.

[Fourth embodiment]

Please refer to FIG. 15, which is a schematic side view of a calibration device according to the fourth embodiment, and please refer to FIGS. 1 to 14 together. As shown in the figure, the correction device of this embodiment is similar to the operation of the same elements in the previous embodiments, and will not be described here again. However, in this embodiment, the correction device 1 further includes a mobile module 14 and a pin Enlarge module 15. The mobile module 14 can be movably connected to the body unit 100. The foot expansion module 15 has an expansion portion 150 and is adjacent to the main body module 10. Among them, the mobile module 14 is controlled to drive the body unit 100 to a predetermined position, and the pick-and-place unit 101 is controlled to move from the first position to a third position to move toward the expansion portion 150 and make the object to be calibrated 2 Resistance to the extension 150.

Specifically, the calibration device 1 of the present invention further includes a mobile module 14 and a foot expansion module 15, the mobile module 14 may be a rail assembly, and the foot expansion module 15 may be a conical or pyramidal element , But not limited to this. Therefore, after the control module 12 determines that the foot position of the object to be corrected 2 is the same as the preset foot position of the system, the control module 12 can control the moving module 14 to drive the main body module 10 to a predetermined position, so that The pick-and-place unit 101 corresponds to the foot expansion module 15. Then, the control module 12 can control the pick-and-place unit 101 to approach the expansion portion 150 of the foot expansion module 15, and move from the first position to the third position (as shown in FIG. 15 ), so that the object 2 to be adjusted resists expansion Part 150, and spread the plurality of conductive pins 20 outwards to facilitate subsequent testing or installation procedures.

Among them, the image capturing module 13 and the foot expansion module 15 can be located at different positions (that is, located in different working areas), and adjacent to the main body module 10, and the main body module 10 can be displaced by the movement of the moving module 14 To the top of the image capture module 13 or the pin expansion module 15.

It is worth mentioning that although the advantages and effects of this creation can be understood through the above content, the examples given above are only one of the feasible embodiments and are not intended to limit this creation.

In addition, the above embodiments not only explain the overall operation of the calibration device 1 of the present creation, but also explain the calibration method of the present creation. However, in order to make the steps of the calibration method of the present creation more clear and clear, further Rear.

Please refer to FIG. 15 and FIG. 16, which are the first flowchart and the second flowchart of the authored calibration method. As shown in the figure, the calibration method of the present creation includes the following steps: Step S30: Obtain the object to be calibrated by controlling the pick-and-place unit; and Step S31: Use at least one driving unit to drive the plurality of foot adjustment units to conduct multiple electrical conductions of the object to be calibrated Pin correction.

Among them, in the step S30 of obtaining the object to be corrected, the method further includes the following steps: Step S300: Displace the first position to the second position by controlling the pick-and-place unit, To obtain the object to be corrected; and step S301: controlling the pick-and-place unit to move from the second position to the first position.

The calibration method of the present invention further includes the following steps: Step S40: the control module controls the pick-and-place unit to obtain the object to be calibrated according to the execution command; step S41: the control module controls the pick-and-place unit according to the execution command The two positions are displaced to the first position, and at least one driving unit is controlled to drive a plurality of foot position adjustment units to perform foot position correction.

After the step S41 of controlling at least one driving unit to drive a plurality of pin adjustment units to perform pin correction, the method further includes the following steps: Step S42: controlling the image capture module to capture The image of the object to be corrected to generate at least one object image message.

After the step S42 of generating at least one object image message, the method further includes the following steps: Step S43: when the control module determines that the at least one object image message does not match the preset image message, the rotation unit is controlled to drive the pick-and-place unit to rotate Predetermined angle.

It is worth mentioning that although the implementation process of the correction method of this creation can be understood through the above content, however, the examples given above are only one of the feasible embodiments and are not intended to limit this creation.

[Beneficial effect of embodiment]

One of the beneficial effects of this creation is that the correction device provided by this creation can pass the “main module 10 including the body unit 100 and the pick-and-place unit located on the body unit 100 and movably moving back and forth relative to the body unit 100 101", "Foot adjustment module 11 includes at least one driving unit 110 located in the body unit 100 and a plurality of foot adjustment units 111 connected to the at least one driving unit 110" and "The pick-and-place unit 101 is controlled to obtain a pending calibration Object 2, and at least one driving unit 110 is controlled to drive a plurality of foot adjustment units 111 to treat the object 2 The technical solution of "correcting the position of multiple conductive pins 20" achieves the technical effect of automatically sorting the pins of electronic components.

Furthermore, the calibration device 1 and the calibration method of the present invention can calibrate and adjust different numbers of conductive pins 20 of the school object 2 through the cooperation of the main body module 10 and the foot position adjustment module 11 in an automated manner. In addition, the calibration device 1 can further cooperate with the image capturing module 13, the mobile module 14 and the foot expansion module 15 to perform the process of expanding the conductive pins 20 on the object 2 to be corrected whose feet are corrected, in order to facilitate The process of subsequent inspection or installation of the object 2 to be corrected.

The content disclosed above is only a preferred and feasible embodiment of this creation, and does not limit the scope of the patent application for this creation, so any equivalent technical changes made by using this creation specification and graphic content are included in this creation application Within the scope of the patent.

Claims (8)

A calibration device includes: a main body module, which includes a body unit and a pick-and-place unit located on the body unit and capable of movably resetting relative to the body unit; and a foot position adjustment module, which includes At least one driving unit located on the body unit and a plurality of foot adjustment units connected to the at least one driving unit; wherein the pick-and-place unit is controlled to obtain an object to be calibrated, and at least one of the driving units is controlled to Drive a plurality of foot position adjustment units to perform a foot position correction on the plurality of conductive pins of the object to be calibrated. The calibration device according to claim 1, wherein each of the foot position adjusting units includes a unit body connected to at least one of the driving units and having a recess on a side, and a unit body connected to the unit body and connecting the recess A partition divided into a plurality of grooves, each of the unit bodies is displaced toward the plurality of conductive pins by driving of at least one of the driving units, so that each of the partitions faces the plurality of conductive pins Make a distinction, and make each of the distinguished conductive pins be accommodated in the corresponding groove. The calibration device according to claim 1, wherein each of the foot position adjusting units includes a unit body connected to at least one of the driving units and a partition connected to the unit body, each of the unit bodies passes through at least A driving unit is displaced toward the plurality of conductive pins, so that each of the partitions distinguishes part of the conductive pins, and the two adjacent partitions form a receiving groove to accommodate Set one of the corresponding conductive pins. The calibration device according to claim 1, wherein the pick-and-place unit is controlled to move from a first position to a second position to obtain the object to be calibrated; and, the pick-and-place unit is controlled and controlled by the first The two positions are displaced to the first position, and at least one of the driving units is controlled to drive the plurality of pin position adjustment units to perform the pin position correction on the plurality of conductive pins. The calibration device according to claim 4, further comprising a control module electrically connected to the pick-and-place unit and the driving unit, and the control module controls the pick-and-place unit to obtain the pending according to an execution command Calibrate objects, and the control module controls the pick-and-place unit to move from the second position to the first position according to the execution command, and controls the driving unit to drive the plurality of foot position adjustment units to perform the foot position correction. The calibration device according to claim 5, further comprising an image capturing module electrically connected to the control module, the image capturing module capturing the pick-and-place according to the control of the control module The image of the object to be corrected on the unit to generate at least one object image message. The calibration device according to claim 6, wherein the main body module further includes a rotating unit rotatably sleeved on the pick-and-place unit and driving the pick-and-place unit to rotate, the rotating unit is electrically connected to the A control module; wherein, the control module controls the rotation unit to drive the pick-and-place unit to rotate by a predetermined angle according to at least one object image message that does not match a preset image message. The calibration device according to claim 1, further comprising: a mobile module movably connected to the body unit; and a pin expansion module having an expansion part and adjacent to the main body Module; wherein, the mobile module is controlled to drive the body unit to a predetermined position, and the pick-and-place unit is controlled to move from the first position to a third position to move toward the expansion portion, and Make the object to be checked against the expansion part.