CN116465336A - Method and device for checking two objects in opposite combination - Google Patents
Method and device for checking two objects in opposite combination Download PDFInfo
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- CN116465336A CN116465336A CN202210067269.6A CN202210067269A CN116465336A CN 116465336 A CN116465336 A CN 116465336A CN 202210067269 A CN202210067269 A CN 202210067269A CN 116465336 A CN116465336 A CN 116465336A
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- 238000010586 diagram Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention provides a method and a device for checking two objects to be combined relatively, comprising selecting a space area where the two objects are to be combined, moving a first object to stop in the space area, detecting a plurality of real positions of the peripheral edges of the first object in the space area by using a plurality of detectors, moving a second object to track the plurality of real positions for alignment, and then combining the first object; the detectors search for the positioning parts around the first object in a moving manner, stop when detecting the positioning parts, define the real positions, eliminate accumulated tolerance easily generated in the process of moving the first object, and further improve the accuracy of the relative combination of the two objects. The invention also comprises a checking device needed for executing the method.
Description
Technical Field
The present invention relates to a method for checking the positions of objects, and more particularly, to a method and apparatus for checking the positions of two objects.
Background
In general, most of products are assembled by a plurality of components (hereinafter referred to as objects), and an assembly line of the products plays an important role in assembly. The product assembly line itself is known to have the capability of moving and positioning the articles in a single or multiple axial direction; the periphery of the product assembly line is also typically configured to capture and move other objects to be joined using a robot arm (robot) or other capture mechanism having a single or multiple axial motion capability, and to enable one object to be captured to be joined relative to another located object on the product assembly line. Among them, the robot arm has a strong adaptability to multi-axial trajectories and occupies less space, and thus is widely deployed around the product assembly line. However, robots and other single-axis or multi-axis movement mechanisms tend to create cumulative tolerances during movement of the carrying objects, which can affect the accuracy of alignment of the two objects when they are assembled and joined relative to one another.
In addition, it is common in the art to install a detector such as a laser, an electric eye, a Charge Coupled Device (CCD) at a specific position on a product assembly line to detect the true position of an object transferred to the specific position on the product assembly line, but the detector is not properly applied when the detector is combined with another object, for example, an object carried by a robot arm or the like and easily generating a cumulative tolerance, so that the accuracy of the positioning is still lacking when the two objects are combined relatively.
As shown in fig. 1, the two articles to be combined, such as a general television, a computer, etc., each have a rear case 91 (or back case) and a glass panel 92 to be assembled on the rear case 91; the rear case 91 is positioned on a carrier (not shown) on a product assembly line, at least a positioning point of the rear case 91 is obtained, then a mechanical arm (not shown) is used to intercept and carry the glass panel 92, in this process, the mechanical arm will move the glass panel 92 to a position right above the rear case 91 according to a real position of the positioning point of the rear case 91, and then a Charge Coupled Device (CCD) is mounted on the mechanical arm or the product assembly line for checking a mounting position where the glass panel 92 should be moved.
Moreover, as the frame 910 around the back shell 91 is pre-coated with the adhesive layer 93 formed by UV adhesive or double-sided tape, the glass panel 92 can be bonded to the frame 910 of the back shell 91 in an adhesive manner, but the frame 910 has a smaller and smaller width for carrying the glass panel 92 due to the trend of thinning and bending the product, and in order to avoid the defect of the adhesive layer 93 (i.e. to avoid defective products during bonding) when the back shell 91 and the glass panel 92 are relatively bonded, the alignment accuracy between the back shell 91 and the glass panel 92 is very high; however, the conventional robot arm (or other equivalent multi-axis mechanism) for picking up and carrying the glass panel 92 is prone to generate accumulated tolerance during the movement process, which affects the alignment accuracy of the relative combination between the rear housing 91 and the glass panel 92, and the application of the sensor has no means to overcome the problem of the accumulated tolerance in the case of the alignment combination between the rear housing 91 and the glass panel 92, so that improvement is needed.
Disclosure of Invention
In view of the above-mentioned background art, the present invention provides a method for aligning and combining two objects to be combined, wherein a first object, which is required to move far and easily generates a large accumulation tolerance, is moved to a specific position in advance, and then a movable detector is used to detect the real position of the first object, so that a second object, which is relatively close to the first object, is moved slightly according to the real position information to align and combine the two objects, thereby avoiding the influence on the combining accuracy of the two objects due to the accumulation tolerance.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method for collation of two objects in a relative combination, comprising in order:
firstly, selecting a space area where two objects are to be combined relatively, then moving a first object in the two objects to stop in the space area, then using a plurality of detectors to detect a plurality of real positions of the peripheral end edges of the first object in the space area, then moving a second object in the two objects to align with the plurality of real positions and then combining the first object relatively;
the detectors search for a plurality of positioning parts around the first object in a moving manner, and stop when detecting the positioning parts, so as to define a plurality of real positions.
The method for calibrating two objects in a relative combination, wherein: the movement of the first object, the movement of the second object and the movement of the plurality of detectors are independently performed in a multidimensional space.
The method for calibrating two objects in a relative combination, wherein: the first object moves a distance greater than the second object.
The method for calibrating two objects in a relative combination, wherein: the movement range of the second object is limited by the periphery of the space area and the bottom layer.
The method for calibrating two objects in a relative combination, wherein: the space area is located above an assembly area station, and the second object moves from the assembly area station to the space area and a plurality of real positions to align and combine the first object.
The method for calibrating two objects in a relative combination, wherein: the periphery of the assembly area station is provided with a first object collecting and placing station, and the first object is moved to the space area for stopping after being picked from the first object collecting and placing station by a mechanical arm.
The method for calibrating two objects in a relative combination, wherein: the first object is a polygonal panel, and the plurality of positioning parts are a plurality of end angles around the polygonal panel.
The method for calibrating two objects in a relative combination, wherein: the second object is provided with a polygonal frame combined with the polygonal panel, a plurality of frame angles are arranged around the polygonal frame, and the second object is aligned with the plurality of frame angles and the plurality of end angles of the first object.
The method for calibrating two objects in a relative combination, wherein: the second object is a rear shell for assembling the polygonal panel.
A collation apparatus for relatively bonding two articles, comprising:
the assembly area station is used for placing a second object, and a space area is arranged above the assembly area station;
the first multi-axis driver is arranged at the side of the assembly area station and used for capturing a first object outside the assembly area station and moving the first object to the space area;
the second multi-axis drivers are arranged above the assembly area station at intervals, and are respectively connected with and drive a detector to enable the detectors to be located around the upper part of the space area at intervals;
a third multi-axis driver, configured in the assembly area station, for driving the second object to move to the space area;
the first object is braked by the first multi-axis driver and stopped in the space surface, the detectors are driven by the second multi-axis drivers respectively, the true positions of the peripheral end edges of the stopped first object in the space surface are detected, and the third multi-axis driver drives the second object and the stopped first object to be mutually aligned and combined relatively according to the true positions.
The proofing device for relatively combining two objects, wherein: the assembly station is located in a product assembly line.
The proofing device for relatively combining two objects, wherein: the periphery of the assembly area station is provided with a first object collecting and placing station, and the first object is moved to the space area for stopping after being picked from the first object collecting and placing station through the first multi-axis driver.
The proofing device for relatively combining two objects, wherein: the distance that the first multi-axis driver drives the first object to move is greater than the distance that the third driver drives the second object to move.
The proofing device for relatively combining two objects, wherein: the first object is a polygonal panel, and the plurality of real positions are a plurality of end angles around the polygonal panel.
The proofing device for relatively combining two objects, wherein: the second object is provided with a polygonal frame combined with the polygonal panel, a plurality of frame angles are arranged around the polygonal frame, and the second object is aligned with the plurality of frame angles and the plurality of end angles of the first object.
The proofing device for relatively combining two objects, wherein: the second object is a rear shell for assembling the polygonal panel.
According to the above, the technical effects of the invention are as follows: the multi-axis driver is used for moving the first object to easily generate accumulated tolerance, the first object is firstly carried into a space area where a plurality of detectors are arranged (at the moment, the accumulated tolerance is generated at the position of the first object), the positions of the plurality of detectors are moved in a fine-tuning mode, the actual positions of the peripheral end angles of the first object are searched and detected, the accumulated tolerance generated in the moving process of the first object is eliminated, and then the second object is moved in the space area in a fine-tuning mode according to the information of the actual positions to be aligned and combined with the first object, so that the accuracy of alignment and combination of the two objects is improved.
For this reason, reference is made to the following detailed description and drawings, which are to be taken in a further sense, to demonstrate the feasibility of the invention and its technical efficacy.
Drawings
Fig. 1 is an explanatory diagram of the operation of combining two conventional objects.
Fig. 2 is a diagram illustrating steps of the collation method of the present invention.
Fig. 3 is a schematic block diagram illustrating the operations of step S1 to step S4 shown in fig. 2.
Fig. 4a is a schematic diagram illustrating the detection of the peripheral corners of the first object in step S3 shown in fig. 2.
Fig. 4b is a schematic diagram of step S4 shown in fig. 2, in which the peripheral frame angle of the second object is detected to align with the first object.
Fig. 5 is a schematic perspective view of a preferred embodiment of the apparatus of the present invention.
FIG. 6 is a schematic perspective view of another preferred embodiment of the assembly station of FIG. 5.
Fig. 7 is a schematic perspective view of a third multi-axis drive extracted from fig. 5.
Fig. 8 is a side sectional view of fig. 5.
Fig. 9 is a schematic plan view of fig. 5.
Reference numerals illustrate: 10-spatial domain; 11-a first article; 110-end angle; 12-a second object; 120-frame angle; 31-a first multi-axis drive; 32-a picker; 41-a second multi-axis drive; 411-X axis servo slipway; 412-Y axis servo slipway; 413-Z axis servo slipway; 42-a detector; 51-a third multi-axis drive; 511-X axis servo slider; 512-Y axis servo slider; 513-Z axis lifter; 61-assembly station; 62-a first article-gathering station; 63-a tooling pallet; l1, L2, L3-distance; s1 to S4 steps.
Detailed Description
Based on the conventional combination of two objects (as shown in fig. 1), please refer to fig. 2 to 5. Wherein, fig. 2 shows that two objects to be aligned and combined according to the present invention are a first object 11 and a second object 12, and in practice, the first object 11 and the second object 12 may be polygonal (e.g. quadrangular) or other circular or arc-shaped objects, respectively; FIG. 3 shows a preferred embodiment of the present invention for providing a proofing method for relatively joining two articles.
As shown in fig. 3, the checking method includes sequentially executing the following steps S1 to S4 (please refer to fig. 2 for operation explanation):
step S1: selecting a spatial area
As shown in fig. 2, the spatial area 10 is defined as a spatial position where the first object 11 and the second object 12 are to be combined, and the range outlined by the spatial area 10 can be determined according to the outline shape of the two objects in space and is set in a control unit (not shown) for performing the calibration method; in other words, the space area 10 is a planar area existing in the space, and must be sufficient to accommodate the two objects suspended therein and combined relatively, so the space area 10 may be slightly larger than the volume required before (pointing) and after the two objects are combined relatively in the space, and the space area 10 is not limited to a planar area or a curved area. In one implementation, the spatial area 10 may be considered to exist above an assembly station 61 (shown in FIG. 5) (described in more detail below).
Step S2: moving the first object to the spatial area
This step may rely on the conventional multi-axis drive to perform the process of moving the first object 11, as shown in fig. 2 and 5, the multi-axis drive is defined as a first multi-axis drive 31, and the first multi-axis drive 31 is attached with a picker 32, such as a suction claw, a clamping claw, etc., where the first object 11 is far from the second object 12. As shown in fig. 5, the remote location may be a first object placement station 62 disposed about the assembly station 61 of fig. 5, with the first multi-axis drive 31 disposed to the side of the assembly station 61 of fig. 5 and located between the assembly station 61 and the object placement station 62. In this way, the first multi-axis drive 31 is moved into the space domain 10 at the assembly station 61, and the first object 11 is driven to stop (i.e. stop) in the space domain 10.
As known in the art, this step is enabled by the fact that conventional multi-axis drives (e.g., robotic arms) can move and position objects in a multi-dimensional space; moreover, as known, the more paths and angles and the larger distances the conventional multi-axis drive has when carrying objects, the larger the accumulated tolerance is, which is the problem to be overcome by the calibration method of the present invention; of course, the first object 11 moving into the space area 10 in this step generates a cumulative tolerance after stopping, and the steps S3 to S4 described later can be used to absorb the cumulative tolerance, so that the two objects can be accurately aligned and combined with each other.
Step S3: detecting the true position of the end edge of the first object
In this step, the existing Charge Coupled Device (CCD) or photo sensor capable of releasing laser light or infrared light is used as the detector 42, and multiple multi-axis drivers (described in detail later) such as multi-axis servo slipway are used to carry the multiple detectors 42 to move, as shown in fig. 5, the multiple drivers used in this step are defined as a second multi-axis driver 41, so that the multiple detectors 42 can be arranged above the periphery of the space domain 10 at intervals, and the multiple detectors 42 can be moved in multiple dimensions to search multiple positioning portions around the first object 11 from top to bottom; as shown in fig. 4a, the first object 11 is a quadrangular object, and has four corners 110 at its periphery as the positioning portions, and the plurality of detectors 42 can search images of the corners 110 (i.e. the positioning portions) in a plurality of micro-moving manner, so as to detect a plurality of real positions of the edges of the first object 11; subsequently, after the plurality of detectors 42 synchronously detect and determine the true positions of the plurality of positioning portions, the second multi-axis driver 41 synchronously stops the plurality of detectors 42 to define the plurality of true positions, and transfers the information of the plurality of true positions to the control unit for storage.
In addition to the above, when the circumference of the first object 11 is curved or circular, the positioning portion searched by each of the detectors 42 may be a curved edge or a circular edge defined by the user. It is known that the image or reference point defining the positioning portion searched by the detector can be preset by the control unit and the vision lens. Furthermore, the number of the second multi-axis drivers 41 and the detectors 42 may be equal to the number of the positioning portions around the first object 11, and the area of the object is defined by at least three positioning portions, so that the number of the positioning portions cannot be less than three.
Furthermore, according to the disclosure of the steps S1 to S3, the space area 10 may be defined to be constructed by the visible area formed by the frames of the plurality of detectors 42.
Step S4: moving the second object to align and attach to the first object
This step may rely on the existing multi-axis drive to perform the process of moving the second object 12, which in fig. 2 is defined as a third multi-axis drive 51, the third multi-axis drive 51 may be installed in a separate table or in an assembly station 61 (described in detail below) of a product assembly line, and the spatial area 10 may be selected to be formed above the separate table or assembly station 61; the independent table or the assembly station 61 is used for carrying, assembling or transporting the second object 12, so that the third multi-axis driver 51 installed in the independent table or the assembly station 61 can drive the second object 12 to perform a moving motion such as lifting and left-right fine adjustment with a short moving distance, so that the second object 12 moves into the space area 10 to align with the first object 11, and after the alignment, the third multi-axis driver 51 moves the second object 12 toward the first object 11 to perform a relative bonding process. It is understood that the movement range of the second object 12 is limited or restricted by the periphery and the bottom of the space area 10.
In this step, as shown in fig. 4b, the second object 12 is a square object, and has a polygonal frame for combining the first object 11, wherein the polygonal frame is formed by surrounding four frame corners 120 (or reference points) around the second object 12, so that a plurality of the frame corners 120 can be used as reference points for determining when the stopped detector 42 projects light for irradiation or vision; furthermore, the third multi-axis driver 51 can read the information of the plurality of real positions of the first object 11 stored in the control unit in step S3, so as to perform a plurality of fine adjustments to move the second object 12, so that the second object 12 and the first object 11 in the stop are aligned, including aligning the plurality of corners 120 between the second object 12 and the first object 11 with each other, wherein the alignment process can be visually performed by the detector 42 and is performed by the control unit for comparison and calculation.
In addition, after the second multi-axis drivers 41 and the detectors 42 are synchronously stopped after detecting the real positions of the first object 11 in step S3, the second multi-axis drivers 41 may also drive the detectors 42 to move three times again to search the real positions of the frame angles 120 of the second object 12 when executing step S4, and instruct the third multi-axis driver 51 to move the second object 12 in a fine adjustment manner so that the second object 12 and the first object 11 are aligned with each other and are relatively attached after alignment.
In the above steps, the multi-dimensional, multi-axis, space can be interpreted from the X-axis, Y-axis, Z-axis coordinate lines indicated in the drawings; in other words, the movement of the first object 11, the movement of the second object 12 and the movement of the plurality of detectors 42 may be individually performed in a multi-dimensional space.
In addition, since the first multi-axis driver 31 in the step S2 moves the first object 11 far into the space domain 10, the second multi-axis driver 31 in the step S3 only performs the fine adjustment movement of the detector 42 around the space domain 10, and the third multi-axis driver 51 in the step S4 only performs the fine adjustment movement of the second object on the bottom layer of the space domain 10, the moving distances required by the first object 11, the second object 12 and the detector 42 are as follows: the moving distance of the first object 11 > the moving distance of the second object 12 > the moving distance of the detector 42. It can be seen that the cumulative tolerance of the first multi-axis driver 31 generated during the movement of the first object 11 > the cumulative tolerance of the third multi-axis driver 51 generated during the movement of the second object 12 > the cumulative tolerance of the second multi-axis driver 41 generated during the movement of the detector 42. However, the above method of the present invention detects the true position of the first object 11, which has generated a larger accumulated tolerance, by the detector 42, and it is obvious that it is helpful to improve the accuracy of the alignment and the combination of the two objects.
Furthermore, in the above steps, the first object 11 can be regarded as a glass panel 92 of the product shown in fig. 1, and the second object 12 can be regarded as a rear shell 91 of the product shown in fig. 1.
Referring to fig. 5 to 9, another preferred embodiment of the present invention is to provide a calibration device for combining two objects relatively, and the calibration method of the present invention can be implemented more specifically according to the following disclosure of the calibration device.
As shown in fig. 5, the calibration device includes the assembly station 61, the first multi-axis driver 31, the second multi-axis drivers 41 and the third multi-axis driver 51, the spatial area 10 (as shown in fig. 2) selected by the above method can be located above the assembly station 61, and the assembly station 61 is a location where the second object 12 is placed in advance and then combined with the first object 11. The external first object 11 may mean a first object collecting and placing station 62 disposed at a proper position around the assembly area 61, and the first object 11 may be collected and placed on the first object collecting and placing station 62 in advance, waiting for the first multi-axis driver 31 to be picked up, and becoming the first object 11 picked up outside the assembly area 61.
The first multi-axis drive 31 is illustratively shown in fig. 5 as a multi-axis drivable robot arm capable of being disposed beside the assembly station 61 and located between the assembly station 61 and the first object-gathering station 62 such that the first multi-axis drive 31 is capable of picking up the first object 11 from the first object-gathering station 62 and then moving the first object 11 into the spatial area 10 for stopping via multi-axis driving through the first multi-axis drive 31. Referring to fig. 6, the assembly station 61 is illustrated as being located in a product assembly line 60 in a preferred embodiment, and a plurality of tooling pallets 63 are carried on the product assembly line 60, each tooling pallet 63 being capable of stably carrying a second object 12, such that the product assembly line 60 can transfer each tooling pallet 63 and the second object 12 carried thereby into the assembly station 61 one by one, thereby performing the assembly of the two objects in a relative combination.
Referring to fig. 5 and 7, in which fig. 5 shows that a plurality of second multi-axis drivers 41 are disposed above the assembly station 61 at intervals, fig. 7 shows that a plurality of second multi-axis drivers 41 are respectively connected to and drive a detector 42, in this embodiment, each detector 42 may be made of a charge coupled device, so that a plurality of detectors 42 are located around the upper side of the space area 10 shown in fig. 2 at intervals. FIG. 7 further discloses that the plurality of second multi-axis drivers 41 may be substantially formed by mutually driving and connecting a plurality of groups of X-axis servo sliding table 411, Y-axis servo sliding table 412 and Z-axis servo sliding table 413, so as to drive each detector 42 to perform multi-dimensional micro-movement, so as to facilitate the operation of detecting the real position of the first object 11; in addition, by the visual range of each of the detectors 42, the operation of monitoring and detecting when the second object 12 and the first object 11 are aligned can be provided.
With continued reference to fig. 8, the third multi-axis driver 51 is disposed in the assembly station 61 for driving the second object 12 to move into the space area 10 and to align and relatively couple the first object 11 shown in fig. 2 with each other. The third multi-axis actuator 51 may be comprised of an X-axis servo-slider 511, a Y-axis servo-slider 512, and a Z-axis lifter 513 that are in dynamic communication with each other, wherein the Z-axis lifter 513 is capable of lifting the second object 12 into the space region 10, and then carrying the second object 12 in the space region 10 through the X-axis servo-slider 511 and the Y-axis servo-slider 512 for multi-dimensional micro-movement so that the second object 12 can perform the mutual alignment operation of the first object 11 as described in the above-mentioned alignment method, and after alignment is completed, the Z-axis lifter 513 is capable of again micro-lifting the second object 12 into relative engagement with the first object 11.
Referring to fig. 7 and 9 in combination, as shown in fig. 7, since the detector 42 does not need to be far away from the spatial area 10 for detection, the distance L2 for three-dimensional movement of the detector 42 driven by the second multi-axis driver 41 is much smaller than the distance L1 for the first multi-axis driver 31 shown in fig. 9 to drive and carry the first object 11. In addition, referring to fig. 8 and 9, as shown in fig. 8, since the distance L3 of the three-dimensional movement of the second object 12 is only required or limited by the periphery and the bottom layer of the space area 10, the distance L3 of the three-dimensional movement of the third multi-axis driver 51 driving the second object 12 is much smaller than the distance L1 of the three-dimensional movement of the first multi-axis driver 31 driving and carrying the first object 11 shown in fig. 9. It is also understood that, according to the determination of the detector movement requirement, the distance L2 of the second multi-axis driver 41 driving the detector 42 in three dimensions in fig. 7 may be smaller than the distance L3 of the third multi-axis driver 51 driving the second object 12 in three dimensions in fig. 8, and it is described.
The arrangement of the device allows the operation of the method described above to be carried out, in which the true position of the first object 11, which has generated a large cumulative tolerance, is detected, in particular by a slight movement of the detector 42, which, obviously, does help to improve the accuracy of the alignment and the bonding of the two objects.
The above description is illustrative of the invention and is not to be construed as limiting, and it will be understood by those skilled in the art that many modifications, variations or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for collation of two objects in a relative combination, comprising in order:
firstly, selecting a space area where two objects are to be combined relatively, then moving a first object in the two objects to stop in the space area, then using a plurality of detectors to detect a plurality of real positions of the peripheral end edges of the first object in the space area, then moving a second object in the two objects to align with the plurality of real positions and then combining the first object relatively;
the detectors search for a plurality of positioning parts around the first object in a moving manner, and stop when detecting the positioning parts, so as to define a plurality of real positions.
2. A method for collation relative to two articles according to claim 1, wherein: the movement of the first object, the movement of the second object and the movement of the plurality of detectors are independently performed in a multidimensional space.
3. A method for collation relative to two articles according to claim 1 or 2, wherein: the first object moves a distance greater than the second object.
4. A method for collation relative to two articles according to claim 3, wherein: the movement range of the second object is limited by the periphery of the space area and the bottom layer.
5. The method for collation relative to two articles according to claim 4, wherein: the space area is located above an assembly area station, and the second object moves from the assembly area station to the space area and a plurality of real positions to align and combine the first object.
6. The method for collation relative to two articles according to claim 5, wherein: the periphery of the assembly area station is provided with a first object collecting and placing station, and the first object is moved to the space area for stopping after being picked from the first object collecting and placing station by a mechanical arm.
7. A collation apparatus for relatively bonding two articles, comprising:
the assembly area station is used for placing a second object, and a space area is arranged above the assembly area station;
the first multi-axis driver is arranged at the side of the assembly area station and used for capturing a first object outside the assembly area station and moving the first object to the space area;
the second multi-axis drivers are arranged above the assembly area station at intervals, and are respectively connected with and drive a detector to enable the detectors to be located around the upper part of the space area at intervals;
a third multi-axis driver, configured in the assembly area station, for driving the second object to move to the space area;
the first object is braked by the first multi-axis driver and stopped in the space surface, the detectors are driven by the second multi-axis drivers respectively, the true positions of the peripheral end edges of the stopped first object in the space surface are detected, and the third multi-axis driver drives the second object and the stopped first object to be mutually aligned and combined relatively according to the true positions.
8. The proofing apparatus for relatively combining two articles according to claim 7, wherein: the assembly station is located in a product assembly line.
9. The proofing apparatus for relatively combining two articles according to claim 7, wherein: the periphery of the assembly area station is provided with a first object collecting and placing station, and the first object is moved to the space area for stopping after being picked from the first object collecting and placing station through the first multi-axis driver.
10. A proofing apparatus for relatively joining two articles according to claim 7 or 9, wherein: the distance that the first multi-axis driver drives the first object to move is greater than the distance that the third driver drives the second object to move.
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| Application Number | Priority Date | Filing Date | Title |
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| TW111101304 | 2022-01-12 | ||
| TW111101304A TWI788187B (en) | 2022-01-12 | 2022-01-12 | Proofreading method and device for relatively combining two objects |
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| CN116465336A true CN116465336A (en) | 2023-07-21 |
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| CN202210067269.6A Pending CN116465336A (en) | 2022-01-12 | 2022-01-20 | Method and device for checking two objects in opposite combination |
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| GB201908127D0 (en) * | 2019-06-07 | 2019-07-24 | Renishaw Plc | Manufacturing method and apparatus |
| US11626305B2 (en) * | 2019-06-25 | 2023-04-11 | Applied Materials, Inc. | Sensor-based correction of robot-held object |
| TWM627047U (en) * | 2022-01-12 | 2022-05-11 | 威光自動化科技股份有限公司 | Correcting device for coupling two objects relative to each other |
-
2022
- 2022-01-12 TW TW111101304A patent/TWI788187B/en active
- 2022-01-20 CN CN202220160504.XU patent/CN217585720U/en active Active
- 2022-01-20 CN CN202210067269.6A patent/CN116465336A/en active Pending
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| TW202329803A (en) | 2023-07-16 |
| CN217585720U (en) | 2022-10-14 |
| TWI788187B (en) | 2022-12-21 |
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