TWM627047U

TWM627047U - Correcting device for coupling two objects relative to each other

Info

Publication number: TWM627047U
Application number: TW111200429U
Authority: TW
Inventors: 鄭冠群; 陳彥廷
Original assignee: 威光自動化科技股份有限公司
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-05-11

Abstract

本新型提供一種用於相對結合兩物件的校對裝置，包括一用於擺放第二物件的組裝區站，組裝區站上方具有一空間面域，一用於擷取外來之第一物件移動至該空間面域止動的第一多軸驅動器，多個分別連結有檢知器的第二多軸驅動器，以及一配置於該組裝區站內用於驅動第二物件的第三多軸驅動器；其中，多個所述檢知器能動態檢知空間面域中第一物件四周端邊的多個真實位置，該第三多軸驅動器能依多個所述真實位置而驅動第二物件和第一物件相互對位並且相對結合，用以消除移動第一物件過程中所易生成累積公差，進而提升兩物件相對結合時的精確性。The present invention provides a proofreading device for relatively combining two objects, including an assembly area station for placing the second object, a space area above the assembly area station, a first object for capturing foreign objects and moving to A first multi-axis driver for stopping in the space area, a plurality of second multi-axis drivers respectively connected with detectors, and a third multi-axis driver disposed in the assembly station for driving the second object; wherein , a plurality of the detectors can dynamically detect a plurality of real positions of the end edges around the first object in the spatial area, and the third multi-axis driver can drive the second object and the first object according to the plurality of the real positions The mutual alignment and relative combination are used to eliminate the accumulated tolerances that are easily generated during the process of moving the first object, thereby improving the accuracy of the relative combination of the two objects.

Description

用於相對結合兩物件的校對裝置Proofreading device for relatively combining two objects

本新型涉及物件位置的校對技術，特別有關一種用於相對結合兩物件的校對裝置。The present invention relates to the proofreading technology of object position, in particular to a proofreading device for relatively combining two objects.

一般產品，大多數都是由諸多零組件(以下簡稱物件)相對組裝而成，其中產品的組裝線，便扮演着重要的組裝角色。且知產品組裝線本身即具有單軸向或多軸向載運物件移動及定位的能力；產品組裝線的周邊，通常還會利用具有多軸向自由度的機械手臂(robot)或其它具有單軸向或多軸向移動能力的擷取機構來擷取及搬移其它待結合的物件，並且使得擷取而來的一物件能夠在產品組裝線上和另一已定位的物件彼此間相對地結合。其中，由於機械手臂的多軸向軌跡的適應能力甚強，且較不佔據配置空間，因此已在產品組裝線的周邊被廣為配置。惟，機械手臂及其它單軸或多軸移動機構卻容易在載運物件移動的過程中生成累積公差，而影響兩物件在相對組裝結合時的對位精確性。In general, most of the products are relatively assembled from many components (hereinafter referred to as objects), among which the assembly line of the product plays an important role in assembly. It is also known that the product assembly line itself has the ability to move and position objects in uniaxial or multiaxial directions; around the product assembly line, a robot with multiaxial degrees of freedom or other uniaxial The fetching mechanism capable of moving in multiple directions or multiple axes is used to capture and move other objects to be combined, and enables a captured object to be combined with another positioned object relative to each other on the product assembly line. Among them, because the multi-axial trajectory of the robot arm is very adaptable and occupies less space for configuration, it has been widely deployed around the product assembly line. However, robotic arms and other single-axis or multi-axis moving mechanisms tend to generate cumulative tolerances during the movement of the carrier objects, which affects the alignment accuracy of the two objects when they are assembled and combined relative to each other.

此外，現有技術已泛見在產品組裝線的特定位置上安裝雷射、電眼、電荷耦合元件(CCD)等檢知器，來檢知產品組裝線上被移送到該特定位置的物件的真實位置，但是面對例如是機械手臂等載運而來、且容易生成累積公差的物件，在和另一物件作相對結合時，上述檢知器的檢測技術並未妥善的被應用，導致兩物件相對結合時易受所述累積公差的影響，而仍然欠缺對位時的精確性。In addition, it has been widely seen in the prior art that detectors such as lasers, electric eyes, charge-coupled devices (CCDs), etc. are installed on a specific position of the product assembly line to detect the real position of the object moved to the specific position on the product assembly line. However, in the face of objects that are carried by a robotic arm and are prone to accumulative tolerances, when they are relatively combined with another object, the detection technology of the above-mentioned detector has not been properly applied, resulting in the relative combination of the two objects. Susceptible to the cumulative tolerance, while still lacking in alignment accuracy.

如圖1所示，上述待結合的兩物件，可比擬是一般電視、電腦等產品都具有一後殼91(或稱背殼)以及待組裝在該後殼91上的玻璃面板92；在產品組裝線上會先將後殼91定位於載具(圖未示)上，取得後殼91的至少一定位點，隨後利用機械手臂(圖未示)來截取及載運玻璃面板92，在此過程中，機械手臂會依據該後殼91的定位點的真實位置，而將玻璃面板92移送至後殼91的正上方，隨後依靠機械手臂上亦或是產品組裝線上安裝電荷耦合元件(CCD)，用以校對玻璃面板92應移動到達的安裝位置。As shown in FIG. 1 , the above two objects to be combined can be compared to general televisions, computers and other products that have a rear shell 91 (or a back shell) and a glass panel 92 to be assembled on the rear shell 91; On the assembly line, the rear shell 91 is first positioned on the carrier (not shown), at least one positioning point of the rear shell 91 is obtained, and then a robotic arm (not shown) is used to intercept and carry the glass panel 92. During this process , the robotic arm will move the glass panel 92 to the top of the rear shell 91 according to the real position of the positioning point of the rear shell 91, and then rely on the robotic arm or the product assembly line to install a charge-coupled device (CCD), using To check the installation position to which the glass panel 92 should be moved.

且知，由於後殼91四周的邊框910上預先塗附有由UV膠或是雙面膠帶構成的黏著層93，使玻璃面板92能以黏著方式結合在後殼91的邊框910上，但面對上述產品已經逐漸朝向薄形化、弧曲化的趨勢，導致上述邊框910可承載玻璃面板92的寬度愈來愈小，而且在後殼91和玻璃面板92相對結合時，為了避免黏著層93發生溢膠的瑕疵現象(即避免貼合時產出不良品)，該後殼91和玻璃面板92之間的對位精確度要求甚高；惟，現有用於擷取及載運玻璃面板92的機械手臂(亦或其他等效的多軸機構)卻容易在移動過程生成累積公差，而影響後殼91和玻璃面板92之間相對結合的對位精確性，而且上述檢知器的應用，在後殼91和玻璃面板92的對位結合的場合，並沒有辦法用來克服所述累積公差的問題，故亟需加以改進。It is known that, since the frame 910 around the rear case 91 is pre-coated with an adhesive layer 93 composed of UV glue or double-sided tape, the glass panel 92 can be bonded to the frame 910 of the rear case 91 in an adhesive manner, but the surface The above-mentioned products have gradually become thinner and curved, resulting in the width of the frame 910 that can support the glass panel 92 becoming smaller. The defect phenomenon of glue overflow occurs (that is, to avoid the production of defective products during lamination), and the alignment accuracy between the rear case 91 and the glass panel 92 is very high; however, the existing method for capturing and carrying the glass panel 92 However, the mechanical arm (or other equivalent multi-axis mechanism) is likely to generate cumulative tolerances during the movement process, which affects the alignment accuracy of the relative combination between the rear case 91 and the glass panel 92, and the application of the above-mentioned detector, in In the case where the rear case 91 and the glass panel 92 are aligned and combined, there is no way to overcome the problem of the accumulated tolerance, so there is an urgent need for improvement.

針對上述先前技術的課題，本新型所思及的技術手段，乃是依兩欲結合的物件之中，需求移動距離較遠而容易產生較大累積公差的一第一物件先行移動至一特定位置，而後使用可動式的檢知器檢知第一物件的真實位置，令移動距離相對較近的一第二物件，依據該真實位置資訊微量移動而和第一物件進行對位及結合，避免因所述累積公差而影響兩物件的結合精確性。Aiming at the above-mentioned problems of the prior art, the technical means contemplated by the present invention is to first move to a specific position according to a first object that needs to move a long distance and is likely to generate a large cumulative tolerance among the two objects to be combined. , and then use a movable detector to detect the real position of the first object, so that a second object with a relatively short moving distance moves slightly according to the real position information to align and combine with the first object. The cumulative tolerance affects the joining accuracy of the two objects.

為此，本新型一較佳實施例在於提供一種用於相對結合兩物件的校對方法，依序包括：先選定兩物件所欲相對結合的一空間面域，隨後移動兩物件中的一第一物件至該空間面域中止動，接續使用多個檢知器檢知該空間面域之中該第一物件四周端邊的多個真實位置，隨後移動兩物件中的一第二物件跟追多個所述真實位置進行對位而後相對結合該第一物件；其中，多個所述檢知器以移動方式搜尋該第一物件四周的多個定位部，並於檢知多個所述定位部時止動，用以定義多個所述真實位置。To this end, a preferred embodiment of the present invention provides a calibration method for relatively combining two objects, which sequentially includes: first selecting a spatial area where the two objects are to be relatively combined, and then moving a first one of the two objects The object stops in the space area, and successively uses a plurality of detectors to detect the real positions of the end edges around the first object in the space area, and then moves a second object among the two objects to follow more Each of the real positions is aligned and then relatively combined with the first object; wherein, a plurality of the detectors search for a plurality of positioning parts around the first object in a moving manner, and when detecting a plurality of the positioning parts Stops are used to define a plurality of said true positions.

在進一步實施中，該第一物件的移動、該第二物件的移動及多個所述檢知器的移動，分別在多維空間內單獨進行。該第一物件移動的距離大於該第二物件的移動距離。該第二物件的移動範圍拘束於該空間面域的周緣及底層。該空間面域坐落於一組裝區站的上方，該第二物件由該組裝區站移動至該空間面域和多個所述真實位置進行對位及結合該第一物件。該組裝區站的周邊設有一第一物件集放站，該第一物件經由一機械手臂自該第一物件集放站擷取後移動至該空間面域中止動。In a further implementation, the movement of the first object, the movement of the second object and the movement of the plurality of detectors are performed independently in a multi-dimensional space. The moving distance of the first object is greater than the moving distance of the second object. The moving range of the second object is restricted to the periphery and the bottom layer of the space area. The space area is located above an assembly area station, and the second object is moved from the assembly area station to the space area and a plurality of the real positions to align and combine the first object. A first object collection station is arranged around the assembly area station, and the first object is picked up from the first object collection station by a robotic arm and moved to the space area to stop.

在進一步實施中，該第一物件為一多邊形面板，多個所述定位部為該多邊形面板四周的多個端角。該第二物件具有結合該多邊形面板用的一多邊形邊框，且該多邊形邊框四周具有多個框角，該第二物件係以多個所述框角和該第一物件的多個所述端角進行對位。該第二物件為組裝該多邊形面板用的一後殼。In a further implementation, the first object is a polygonal panel, and the positioning portions are a plurality of corners around the polygonal panel. The second object has a polygonal frame for combining with the polygonal panel, and the polygonal frame has a plurality of frame corners around it, the second object is composed of a plurality of the frame corners and a plurality of the end corners of the first object Align. The second object is a rear shell for assembling the polygonal panel.

本新型之另一較佳實施例在於提供一種用於執行上述方法的校對裝置，包括：該組裝區站、該第一多軸驅動器、多個所述第二多軸驅動器及該第三多軸驅動器；其中，該組裝區站用於擺放第二物件，且該空間面域選定於該組裝區站的上方；該第一多軸驅動器配置於該組裝區站的旁側，用於擷取該組裝區站外部的一第一物件，並且移動該第一物件至該空間面域；多個所述第二多軸驅動器間隔配置於該組裝區站的上方，用以分別連結而驅動多個所述檢知器，使多個所述檢知器間隔坐落於該空間面域上方的四周；該第三多軸驅動器配置於該組裝區站內，用於驅動該第二物件移動至該空間面域；其中，該第一物件接受該第一多軸驅動器的制動而於該空間面域中止動，多個所述檢知器分別接受各該第二多軸驅動器的驅動，而檢知該空間面域中止動的該第一物件的四周端邊的多個真實位置，該第三多軸驅動器根據多個所述真實位置而驅動該第二物件和止動的該第一物件相互對位並且相對結合。Another preferred embodiment of the present invention is to provide a calibration device for performing the above method, comprising: the assembly station, the first multi-axis driver, a plurality of the second multi-axis drivers and the third multi-axis driver a driver; wherein, the assembly area station is used for placing the second object, and the space area is selected above the assembly area station; the first multi-axis driver is arranged on the side of the assembly area station for capturing A first object outside the assembly station, and moves the first object to the space area; a plurality of the second multi-axis drivers are arranged at intervals above the assembly station for connecting and driving a plurality of The detectors are arranged so that a plurality of the detectors are spaced around the space above the space area; the third multi-axis driver is disposed in the assembly area station for driving the second object to move to the space area domain; wherein, the first object receives the braking of the first multi-axis driver and stops in the space area, and a plurality of the detectors respectively receive the driving of each of the second multi-axis drivers, and detect the space Multiple real positions of the surrounding end edges of the stopped first object in the area, the third multi-axis driver drives the second object and the stopped first object to align with each other according to the multiple real positions and relatively combined.

在進一步實施中，該組裝區站坐落於一產品組裝線之中。In a further implementation, the assembly area station is located in a product assembly line.

在進一步實施中，該組裝區站的周邊設有一第一物件集放站，該第一物件經由該第一多軸驅動器自該第一物件集放站擷取後移動至該空間面域中止動。In a further implementation, a first object collection station is disposed around the assembly area station, and the first object is picked up from the first object collection station by the first multi-axis drive and moved to the space area for stopping .

依上述內容，本新型能實現的技術功效為：使用來移動第一物件而容易生成累積公差的多軸驅動器，先載運第一物件至佈設有多個檢知器的一空間面域內(此時第一物件的位置已生成累積公差)，並且微調式的移動多個檢知器位置，搜尋並檢知第一物件四周端角的真實位置，用以消除第一物件移動過程所生成的累積公差，隨後依所述真實位置的資訊微調式的移動第二物件至空間面域中和該第一物件對位及結合，用以提升兩物件對位結合時的精確性。According to the above content, the technical effect that the present invention can achieve is: using a multi-axis drive for moving the first object to easily generate cumulative tolerances, firstly carrying the first object to a spatial area where a plurality of detectors are arranged (this When the position of the first object has generated a cumulative tolerance), and finely move multiple detector positions, search and detect the real positions of the corners around the first object, so as to eliminate the accumulation generated during the movement of the first object Then, according to the information of the real position, the second object is finely moved to the spatial area to align and combine with the first object, so as to improve the accuracy of the alignment and combination of the two objects.

為此，請進一步參閱詳述於後的實施方式及圖式，據以證明本新型的可實施性及其技術功效的可實踐性。To this end, please refer to the detailed description of the following embodiments and drawings, so as to prove the practicability of the present invention and the practicability of its technical effects.

在已知先前技術結合兩物件的基礎下(如圖1所示)，請接續參閱圖2至圖5。其中，圖2揭露本新型所欲校對結合的兩物件為一第一物件11及一第二物件12，在實施中，該第一物件11及第二物件12可分別為多邊形體(例如四邊形體)或其他例如是圓形或弧形的形體；圖3揭露本新型一較佳實施方式在於提供一種用於相對結合兩物件的校對方法。On the basis of the known prior art combining two objects (as shown in FIG. 1 ), please continue to refer to FIGS. 2 to 5 . 2 shows that the two objects to be collated and combined in the present invention are a first object 11 and a second object 12. In practice, the first object 11 and the second object 12 can be polygonal bodies (eg, quadrilateral bodies), respectively. ) or other shapes such as circles or arcs; FIG. 3 discloses a preferred embodiment of the present invention to provide a proofreading method for relatively combining two objects.

如圖3所示，該校對方法包括依序執行下述步驟S1至步驟S4 (動作解說請搭配圖2所示)：As shown in FIG. 3 , the proofreading method includes performing the following steps S1 to S4 in sequence (please refer to the action descriptions shown in FIG. 2 ):

步驟S1：選定一空間面域Step S1: Select a spatial area

如圖2所示，本新型定義該空間面域10為第一物件11及第二物件12要相對結合的一空間位置，可依兩物件在空間上的輪廓形體而決定該空間面域10所概括的範圍，並且設定於執行校對方法的一控制單元(圖未示)內；另言之，該空間面域10為存在於空間中的面狀區域，必須足以容納所述兩物件懸置其中並且相對結合，因此該空間面域10可以略大於兩物件在空間中相對結合前(指對位)及結合後所需的容積，且該空間面域10不受限於是平面區域或曲面區域。在一實施中，該空間面域10可被視為是存在於一組裝區站61(如圖5所示)的上方(容後詳述)。As shown in FIG. 2 , the present invention defines the spatial area 10 as a spatial position where the first object 11 and the second object 12 are to be relatively combined, and the spatial area 10 can be determined according to the contours of the two objects in space. The general scope is set in a control unit (not shown) that executes the proofreading method; in other words, the spatial area 10 is a planar area existing in the space, which must be sufficient to accommodate the two objects suspended therein. And relative combination, so the space area 10 can be slightly larger than the volume required by the two objects before and after relative combination in space (referring to the alignment), and the space area 10 is not limited to be a plane area or a curved area. In one implementation, the space area 10 can be regarded as existing above an assembly area station 61 (shown in FIG. 5 ) (described in detail later).

步驟S2：移動第一物件至空間面域Step S2: Move the first object to the space area

本步驟可仰賴習知的多軸驅動器來執行移動第一物件11的工序，如圖2及圖5所示，該多軸驅動器被定義為一第一多軸驅動器31，且第一多軸驅動器31上附設有例如是吸爪、夾爪等製成的擷取器32，該第一物件11原先遠作落於該第二物件12的遠方。如圖5所示，揭露所述遠方，可為配置在圖5所示組裝區站61周邊的一第一物件集放站62，該第一多軸驅動器31配置在圖5所示組裝區站61的旁側，而坐落組裝區站61和物件集放站62之間。依此，經由該第一多軸驅動器31的擷取而移動至該組裝區站61該空間面域10中，並驅使第一物件11再該空間面域10中止動(即停止不動)。This step can rely on a conventional multi-axis driver to perform the process of moving the first object 11. As shown in FIG. 2 and FIG. 5, the multi-axis driver is defined as a first multi-axis driver 31, and the first multi-axis driver An extractor 32 made of, for example, suction claws, clamping claws, etc. is attached to the 31 , and the first object 11 originally fell far away from the second object 12 . As shown in FIG. 5 , the disclosed remote place can be a first object collecting station 62 disposed around the assembly area station 61 shown in FIG. 5 , and the first multi-axis drive 31 is disposed in the assembly area station shown in FIG. 5 . 61, and is located between the assembly area station 61 and the object collection station 62. Accordingly, the first object 11 is moved to the space area 10 of the assembly station 61 through the capture of the first multi-axis driver 31 , and the first object 11 is driven to stop (ie, stop) in the space area 10 .

由先前技術可知，由於傳統的多軸驅動器(例如機械手臂)可在多維空間內載運物件移動並且定位該物件，使之能夠夠本步驟應用；且知，傳統的多軸驅動器在載運物件移動時的路徑、角度愈多、距離愈大時，所生成的累積公差就愈大，這是本新型之校對方法所要克服的問題；當然，本步驟中移動至該空間面域10中的第一物件11會於止動後生成累積公差，本新型後述的步驟S3至步驟S4可用於吸收該累積公差，而使兩物件能精確的相互對位並相對結合。It can be known from the prior art that since the traditional multi-axis drive (such as a robotic arm) can carry the object to move and position the object in the multi-dimensional space, it can be applied in this step; When there are more paths, angles, and distances, the greater the cumulative tolerance generated, which is the problem to be overcome by the new proofreading method; of course, in this step, the first object moved to the spatial area 10 11 A cumulative tolerance will be generated after stopping, and the steps S3 to S4 described later in the present invention can be used to absorb the cumulative tolerance, so that the two objects can be precisely aligned with each other and relatively combined.

步驟S3：檢知第一物件端邊的真實位置Step S3: Detecting the real position of the edge of the first object

本步驟可憑藉習知的電荷耦合元件(CCD)、或能釋放雷射光或紅外光的光感測器作為檢知器42，並且可使用例如是由多軸伺服滑台編製而成的多個多軸驅動器(容後詳述)來載運多個檢知器42移動，如圖5所示，本步驟使用的多個動器被定義為一第二多軸驅動器41，使多個所述檢知器42能間隔的佈建於該空間面域10周邊的上方，並使多個所述檢知器42能多維移動式的由上往下搜尋該第一物件11四周的多個定位部；如圖4a所示，舉例該第一物件11為四邊形物件，其周邊具有四個端角110作為所述定位部，多個所述檢知器42可分別多微移動式的搜尋各該端角110(即定位部)的影像，而檢知該第一物件11四周端邊的多個真實位置；隨後，當多個所述檢知器42同步檢知並且確定多個所述定位部的真實位置之後，第二多軸驅動器41隨即同步止動多個所述檢知器42，用以定義多個所述真實位置，並且將多個所述真實位置的資訊傳遞至控制單元內儲存。In this step, a conventional charge-coupled device (CCD), or a light sensor capable of emitting laser light or infrared light can be used as the detector 42, and a plurality of multi-axis servo slides, for example, can be used. A multi-axis drive (described in detail later) is used to carry a plurality of detectors 42 to move, as shown in FIG. The detectors 42 can be arranged above the periphery of the spatial area 10 at intervals, so that a plurality of the detectors 42 can search for a plurality of positioning parts around the first object 11 from top to bottom in a multi-dimensional mobile manner; As shown in FIG. 4a , for example, the first object 11 is a quadrilateral object, and its periphery has four corners 110 as the positioning portions, and the plurality of detectors 42 can search for each corner in a multi-micro-movement manner. 110 (that is, the positioning part), and detect multiple real positions of the end edges around the first object 11; then, when the multiple detectors 42 synchronously detect and determine the real positions of the multiple positioning parts After the position, the second multi-axis driver 41 synchronously stops a plurality of the detectors 42 to define a plurality of the real positions, and transmit the information of the real positions to the control unit for storage.

本步驟除上述情形外，當第一物件11的四周為弧形或圓形輪廓時，各該檢知器42所搜尋的定位部，亦可為使用者定義的弧邊或圓邊。且知，定義檢知器搜尋的定位部的影像或基準點，可由控制單元及視覺鏡頭預先設定而成。再者，多個所述第二多軸驅動器41和多個所述檢知器42的配置數量，可相同於第一物件11四周的定位部數量，且知一物件的面域形體至少需由三個定位部框圍而成，因此所述定位部的數量不能少於三個。In addition to the above situation in this step, when the periphery of the first object 11 has an arc or circular outline, the positioning portion searched by each detector 42 can also be an arc edge or a round edge defined by the user. It is known that the image or the reference point that defines the positioning part 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 can be the same as the number of positioning parts around the first object 11, and the area shape of an object needs to be at least determined by Three positioning parts are framed, so the number of the positioning parts cannot be less than three.

再者，依上述步驟S1至步道S3所揭內容，還可定義該空間面域10是由多個所述檢知器42框圍形成的可視區建構而成。Furthermore, according to the contents disclosed in the above steps S1 to S3, it can also be defined that the spatial area 10 is constructed by a visible area framed by a plurality of the detectors 42 .

步驟S4：移動第二物件對位貼合第一物件Step S4: Move the second object to position and fit the first object

本步驟可仰賴習知的多軸驅動器來執行移動第二物件12的工序，在圖2中，該多軸驅動器被定義為一第三多軸驅動器51，該第三多軸驅動器51可裝設於一獨立的工作台內，或是一產品組裝線中的一組裝區站61(容後詳述)內，而且，該空間面域10可被選定而形成於該獨立工作台或組裝區站61的上方；其中，該獨立工作台或組裝區站61是用於承放、組裝或傳輸該第二物件12，因此安裝在獨立工作台或組裝區站61內的第三多軸驅動器51，能夠以較短的移動距離驅動第二物件12進行例如是抬升及左右微調式的移動動作，而使第二物件12移動至該空間面域10中和第一物件11進行相互對位，並於對位後，再由第三多軸驅動器51移動第二物件12朝向第一物件11進行相對貼合的工序。由此可知，該第二物件12的移動範圍僅限於或可被拘束於該空間面域10的周緣及底層。This step can rely on a conventional multi-axis driver to perform the process of moving the second object 12. In FIG. 2, the multi-axis driver is defined as a third multi-axis driver 51, and the third multi-axis driver 51 can be installed In a separate workbench, or in an assembly station 61 (described in more detail below) in a product assembly line, and the space area 10 can be selected to be formed on the independent workbench or assembly station Above 61; wherein, the independent workbench or assembly area station 61 is used to hold, assemble or transport the second object 12, so the third multi-axis drive 51 is installed in the independent workbench or assembly area station 61, The second object 12 can be driven to perform movements such as lifting and left-right fine-tuning with a short moving distance, so that the second object 12 can be moved to the space area 10 and the first object 11 can be aligned with each other, and the After the alignment, the second object 12 is moved toward the first object 11 by the third multi-axis driver 51 to perform the relative bonding process. It can be seen from this that the movement range of the second object 12 is limited to or can be restricted to the periphery and the bottom layer of the spatial area 10 .

在本步驟中，如圖4b所示，舉例該第二物件12為四邊形物件，具有結合該第一物件11用的一多邊形邊框，該多邊形邊框由第二物件12周邊的四個框角120(或基準點)框圍而成，使多個所述框角120能作為已經止動的檢知器42投光照射或視覺時判定的基準點；再者，該第三多軸驅動器51可讀取步驟S3中控制單元所儲存的第一物件11的多個真實位置的資訊，用以執行多微微調式移動該第二物件12，使該第二物件12和止動中的第一物件11進行對位，包括讓第二物件12和第一物件11兩者間的多個框角120彼此作對位，所述對位的工序可由所述檢知器42視覺，並由控制單元進行比對和運算而完成。In this step, as shown in FIG. 4b , for example, the second object 12 is a quadrilateral object with a polygonal frame for combining with the first object 11 , and the polygonal frame is formed by four frame corners 120 ( (or reference point) frame, so that a plurality of the frame corners 120 can be used as reference points for the stopped detector 42 to project light or to judge when it is visual; moreover, the third multi-axis driver 51 can read Obtaining the information of multiple real positions of the first object 11 stored in the control unit in step S3, to execute the multi-pitch movement of the second object 12, so that the second object 12 and the first object 11 in the stop are moved. Alignment, including aligning the plurality of frame corners 120 between the second object 12 and the first object 11 with each other, the alignment process can be visualized by the detector 42, and the control unit performs comparison and comparison operation is completed.

此外，當步驟S3中多個所述第二多軸驅動器41和多個所述檢知器42在檢知第一物件11的多個真實位置而同步止動之後，在執行步驟S4時，多個所述第二多軸驅動器41亦可再次驅動多個所述檢知器42三微移動，來搜尋第二物件12的多個所述框角120的真實位置，並且命令第三多軸驅動器51微調移動第二物件12能和第一物件11相互對位，並於對位後相對貼合。In addition, after the plurality of second multi-axis drivers 41 and the plurality of detectors 42 are synchronously stopped after detecting the plurality of real positions of the first object 11 in step S3, when step S4 is executed, the plurality of Each of the second multi-axis drivers 41 can also drive a plurality of the detectors 42 to move three micro-moves again, to search for the real positions of the plurality of frame corners 120 of the second object 12, and instruct the third multi-axis driver 51 The second object 12 and the first object 11 can be aligned with each other by finely moving the second object 12, and they are relatively attached after the alignment.

在上述步驟中，所述多維、多軸、空間，可由圖式中標示的X軸、Y軸、Z軸座標線獲得詮釋；換言之，該第一物件11的移動、該第二物件12的移動及多個所述檢知器42的移動，可分別在多維空間內單獨進行。In the above steps, the multi-dimensional, multi-axis, and space can be interpreted from the X-axis, Y-axis, and Z-axis coordinate lines indicated in the drawings; in other words, the movement of the first object 11 and the movement of the second object 12 And the movement of the plurality of detectors 42 can be carried out independently in the multi-dimensional space.

此外，由於上述步驟S2中憑藉的第一多軸驅動器31是將遠方的第一物件11移動至該空間面域10內，上述步驟S3中憑藉的第二多軸驅動器31只在空間面域10周邊執行檢知器42的微調移動動作，且上述步驟S4中憑藉的第三多軸驅動器51只在空間面域10的底層執行第二物件的微調移動對位動，因此所述第一物件11、第二物件12及檢知器42三者需求的移動距離為：第一物件11的移動距離＞第二物件12的移動距離＞檢知器42的移動距離。由此可知，第一多軸驅動器31在移動第一物件11過程會生成的累積公差＞第三多軸驅動器51在移動第二物件12過程會生成的累積公差＞第二多軸驅動器41在移動檢知器42過程會生成的累積公差。然而，本新型上述方法通過檢知器42來檢知已生成較大累積公差的第一物件11的真實位置，很顯然的，確實有助於提升兩物件在對位及結合時的精確性。In addition, since the first multi-axis driver 31 used in the above step S2 is to move the distant first object 11 into the spatial area 10 , the second multi-axis driver 31 used in the above step S3 is only used in the spatial area 10 . The fine-tuning movement of the detector 42 is performed at the periphery, and the third multi-axis driver 51 used in the above step S4 only performs the fine-tuning movement and positioning of the second object at the bottom layer of the spatial area 10, so the first object 11 The required moving distances of the second object 12 and the detector 42 are: 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 from this that the cumulative tolerance generated by the first multi-axis driver 31 during the process of moving the first object 11 > the cumulative tolerance generated by the third multi-axis driver 51 during the process of moving the second object 12 > the second multi-axis driver 41 when moving The cumulative tolerance that the detector 42 process would generate. However, the above-mentioned method of the present invention uses the detector 42 to detect the real position of the first object 11 with a large accumulated tolerance, which obviously helps to improve the accuracy of the alignment and combination of the two objects.

再者，上述步驟中，該第一物件11可視為是圖1所示產品的玻璃面板92，該第二物件12可視為是圖1所示產品的後殼91。Furthermore, in the above steps, the first object 11 can be regarded as the glass panel 92 of the product shown in FIG. 1 , and the second object 12 can be regarded as the rear case 91 of the product shown in FIG. 1 .

接著，請參閱圖5至圖9，揭露本新型另一較佳實施方式在於提供一種用於相對結合兩物件的校對裝置，本新型上述校對方法，可依本校對裝置所揭露的下述內容而獲得更具體的實施。Next, please refer to FIG. 5 to FIG. 9 , another preferred embodiment of the present invention is to provide a proofreading apparatus for relatively combining two objects. The above proofreading method of the present invention can be determined according to the following contents disclosed by the proofreading apparatus. Get a more specific implementation.

如圖5所示，該校對裝置包括有上述的組裝區站61、第一多軸驅動器31、多個第二多軸驅動器41及第三多軸驅動器51，上述方法所選定的空間面域10(如圖2所示)可坐落於該組裝區站61的上方，且該組裝區站61為提供該第二物件12先行擺放而後接受外來的第一物件11結合的處所。其中，所述外來的第一物件11，可意指在組裝區站61周邊適當位置配置的第一物件集放站62，並且使該第一物件11能事先集放在該第一物件集放站62上，等待第一多軸驅動器31前來擷取，而成為組裝區站61以外擷取而來的第一物件11。As shown in FIG. 5 , the calibration device includes the above-mentioned assembly area station 61 , the first multi-axis driver 31 , the plurality of second multi-axis drivers 41 and the third multi-axis driver 51 , and the spatial area 10 selected by the above method. (As shown in FIG. 2 ) can be located above the assembly area station 61 , and the assembly area station 61 provides a place for the second object 12 to be placed first and then to be combined with the first object 11 from outside. Wherein, the foreign first object 11 may refer to the first object collection station 62 arranged at an appropriate position around the assembly area station 61, and the first object 11 can be collected in the first object collection in advance On the station 62 , waiting for the first multi-axis drive 31 to come to capture, and become the first object 11 captured outside the assembly area station 61 .

在圖5中舉例揭示該第一多軸驅動器31為可多軸向傳動的機械手臂，使其能夠配置於組裝區站61的旁側，而坐落組裝區站61和第一物件集放站62之間，使得該第一多軸驅動器31能自該第一物件集放站62擷取第一物件11，隨後經由經由第一多軸驅動器31的多維傳動機能而載運第一物件11移動至該空間面域10中止動。請搭配圖6所示，說明該組裝區站61在一較佳的實施中可坐落於一產品組裝線60之中，且產品組裝線60上載運有多個工裝板台63，每一個工裝板台63能夠穩定承載一個第二物件12，使得產品組裝線60能傳遞各工裝板台63及其承載的第二物件12逐一進入該組裝區站61內，實施兩物件相對結合的組裝作。In FIG. 5 , it is shown that the first multi-axis drive 31 is a multi-axis transmission manipulator, so that it can be arranged on the side of the assembly area station 61 and located at the assembly area station 61 and the first object collection station 62 between, so that the first multi-axis driver 31 can retrieve the first object 11 from the first object collection station 62, and then carry the first object 11 to the first object 11 through the multi-dimensional transmission function of the first multi-axis driver 31. The space area 10 is stopped. Please refer to FIG. 6 to illustrate that the assembly area station 61 can be located in a product assembly line 60 in a preferred implementation, and the product assembly line 60 carries a plurality of tooling pallets 63, each tooling pallet The table 63 can stably carry a second object 12 , so that the product assembly line 60 can transfer each tooling pallet 63 and the second object 12 carried by it into the assembly station 61 one by one, and perform the assembly operation of the relative combination of the two objects.

請搭配圖5及圖7所示，其中圖5揭露多個第二多軸驅動器41間隔配置於該組裝區站61的上方，圖7揭露多個所述第二多軸驅動器41分別連結驅動一檢知器42，在本實施中，各該檢知器42可由電荷耦合元件製成，使多個所述檢知器42間隔坐落於2所示空間面域10上方的四周。其中，圖7進一步揭露多個所述第二多軸驅動器41實質上可由多組各具動力的X軸伺服滑台411、Y軸伺服滑台412及Z軸伺服滑台413相互傳動連接而成，用以傳動各該檢知器42進行多維的微量移動，以便於進行所述檢知第一物件11之真實位置的操作；此外，通過各該檢知器42的可視範圍，還可在第二物件12和第一物件11對位時提供監測和檢知的操作。Please refer to FIG. 5 and FIG. 7 , wherein FIG. 5 discloses that a plurality of second multi-axis drivers 41 are disposed above the assembly area station 61 at intervals, and FIG. 7 discloses that a plurality of the second multi-axis drivers 41 are respectively connected to drive a The detectors 42, in this embodiment, each of the detectors 42 can be made of charge-coupled elements, so that a plurality of the detectors 42 are located at intervals around the upper part of the space area 10 shown in 2 . 7 further discloses that a plurality of the second multi-axis drivers 41 can be substantially connected by a plurality of sets of X-axis servo slides 411 , Y-axis servo slides 412 and Z-axis servo slides 413 each having power. , is used 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, through the visual range of each detector 42, the The operation of monitoring and detection is provided when the two objects 12 and the first object 11 are aligned.

續請參閱圖8，揭露該第三多軸驅動器51配置於該組裝區站61內，用於驅動該第二物件12移動至該空間面域10內和圖2中所示的第一物件11相互對位及相對結合。該第三多軸驅動器51可由相互動力連結的X軸伺服滑動器511、Y軸伺服滑動器512及Z軸升降器513組成，其中該Z軸升降器513能抬升第二物件12至該空間面域10內，隨後通過X軸伺服滑動器511和Y軸伺服滑動器512載運空間面域10內的第二物件12進行多維的微量移動，以便第二物件12能第一物件11進行上述校對方法中所述的相互對位操作，當對位完成後，該Z軸升降器513能再次微量抬升第二物件12和第一物件11相對接合。Continuing to refer to FIG. 8 , it is disclosed that 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 the first object 11 shown in FIG. 2 Mutual alignment and relative bonding. The third multi-axis driver 51 can be composed of an X-axis servo slider 511 , a Y-axis servo slider 512 and a Z-axis lifter 513 that are dynamically connected to each other, wherein the Z-axis lifter 513 can lift the second object 12 to the space plane In the field 10, the second object 12 in the space area 10 is then carried by the X-axis servo slider 511 and the Y-axis servo slider 512 to perform multi-dimensional micro-movement, so that the second object 12 can perform the above-mentioned calibration method for the first object 11. In the mutual alignment operation described in , when the alignment is completed, the Z-axis lifter 513 can slightly lift the second object 12 and the first object 11 to engage relative to each other again.

請進一步合併參閱圖7及圖9，其中如圖7所示，由於檢知器42無需遠離空間面域10進行檢測，因此第二多軸驅動器41驅動檢知器42三維移動的距離L2遠小於圖9所示第一多軸驅動器31驅動及載運該第一物件11移動的距離L1。另外，再請合併參閱圖8及圖9，其中如圖8所示，由於第二物件12三維移動的距離L3僅需求或可被拘束於該空間面域10的周緣及底層，因此第三多軸驅動器51驅動第二物件12三維移動的距離L3遠小於圖9所示第一多軸驅動器31驅動及載運該第一物件11移動的距離L1。再者，依檢知器移動需求判定，也不難確知圖7中第二多軸驅動器41驅動檢知器42三維移動的距離L2亦可小於圖8所示第三多軸驅動器51驅動第二物件12三維移動的距離L3，併予敘明。Please further refer to FIG. 7 and FIG. 9 . 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 that the second multi-axis driver 41 drives the detector 42 to move three-dimensionally is much smaller than As shown in FIG. 9 , the first multi-axis driver 31 drives and carries the first object 11 to move the distance L1 . In addition, please refer to FIG. 8 and FIG. 9 together. As shown in FIG. 8 , since the distance L3 of the three-dimensional movement of the second object 12 is only required or can be restricted to the periphery and the bottom layer of the spatial area 10 , the third most The distance L3 that the axis driver 51 drives the second object 12 to move three-dimensionally is much smaller than the distance L1 that the first multi-axis driver 31 drives and carries the first object 11 as shown in FIG. 9 . Furthermore, according to the movement requirement of the detector, it is not difficult to know that the distance L2 that the second multi-axis driver 41 drives the detector 42 to move three-dimensionally in FIG. 7 can also be smaller than the third multi-axis driver 51 shown in FIG. The distance L3 that the object 12 moves three-dimensionally will be described.

上述裝置之配置，可據以實現上述方法之操作，其中特別是通過檢知器42的微量移動來檢知已生成較大累積公差的第一物件11的真實位置，很顯然的，確實有助於提升兩物件在對位及結合時的精確性。The configuration of the above-mentioned device can be used to realize the operation of the above-mentioned method, in which, in particular, the real position of the first object 11 that has generated a large cumulative tolerance is detected by the slight movement of the detector 42. Obviously, it is indeed helpful to Improve the accuracy of alignment and combination of two objects.

以上實施例僅為表達了本新型的較佳實施方式，但並不能因此而理解為對本新型專利範圍的限制。因此，本新型應以申請專利範圍中限定的請求項內容為準。The above examples only represent the preferred embodiments of the present invention, but should not be construed as limiting the scope of the present invention. Therefore, the present invention shall be subject to the content of the claims defined in the scope of the patent application.

10:空間面域 11:第一物件 110:端角 12:第二物件 120:框角 31:第一多軸驅動器 32:擷取器 41:第二多軸驅動器 411:X軸伺服滑台 412:Y軸伺服滑台 413:Z軸伺服滑台 42:檢知器 51:第三多軸驅動器 511:X軸伺服滑動器 512:Y軸伺服滑動器 513:Z軸升降器 61:組裝區站 62:第一物件集放站 63:工裝板台 L1、L2、L3:距離 S1至S4:步驟說明 10: Spatial area 11: The first object 110: End Angle 12: Second Object 120: frame corner 31: The first multi-axis drive 32: Fetcher 41: Second multi-axis drive 411: X-axis servo slide 412: Y-axis servo slide 413: Z-axis servo slide 42: Detector 51: Third multi-axis drive 511: X-axis servo slider 512: Y-axis servo slider 513: Z-axis lifter 61: Assembly Area Station 62: The first object collection station 63: Tooling pallet L1, L2, L3: Distance S1 to S4: Step Description

圖1為傳統兩物件結合的動作解說圖。圖2為本新型實施教對步驟的解說圖。圖3為圖2所示步驟S1至步驟S4的動作方塊示意圖。圖4a為圖2所示步驟S3，檢知第一物件四周端角的示意圖。圖4b為圖2所示步驟S4，檢知第二物件四周框角而和第一物件對位的示意圖。圖5為本新型裝置一較佳實施例的立體配置示意圖。圖6為圖5中組裝區站的另一較佳實施例的立體配置示意圖。圖7為自圖5中擷取之第三多軸驅動器的立體配置示意圖。圖8為圖5的側視剖示圖。圖9為圖5的俯側示意圖。 FIG. 1 is an explanatory diagram of the traditional combination of two objects. FIG. 2 is an explanatory diagram of the steps of implementing the new teaching method. FIG. 3 is a schematic diagram of the action blocks of steps S1 to S4 shown in FIG. 2 . FIG. 4a is a schematic diagram of detecting the end angles around the first object in step S3 shown in FIG. 2 . FIG. 4b is a schematic diagram of the step S4 shown in FIG. 2, in which the frame corners around the second object are detected and aligned with the first object. FIG. 5 is a schematic three-dimensional configuration diagram of a preferred embodiment of the novel device. FIG. 6 is a schematic three-dimensional configuration diagram of another preferred embodiment of the assembly station in FIG. 5 . FIG. 7 is a schematic three-dimensional configuration diagram of the third multi-axis driver taken from FIG. 5 . FIG. 8 is a side cross-sectional view of FIG. 5 . FIG. 9 is a schematic plan view of FIG. 5 .

11:第一物件 11: The first object

12:第二物件 12: Second Object

31:第一多軸驅動器 31: The first multi-axis drive

32:擷取器 32: Fetcher

41:第二多軸驅動器 41: Second multi-axis drive

42:檢知器 42: Detector

51:第三多軸驅動器 51: Third multi-axis drive

61:組裝區站 61: Assembly Area Station

62:第一物件集放站 62: The first object collection station

Claims

一種用於相對結合兩物件的校對裝置，包括：一組裝區站，用於擺放一第二物件，且該組裝區站的上方具有一空間面域；一第一多軸驅動器，配置於該組裝區站的旁側，用於擷取該組裝區站外部的一第一物件，並且移動該第一物件至該空間面域；多個第二多軸驅動器，間隔配置於該組裝區站的上方，且多個所述第二多軸驅動器分別連結驅動一檢知器，使多個所述檢知器間隔坐落於該空間面域上方的四周；一第三多軸驅動器，配置於該組裝區站內，用於驅動該第二物件移動至該空間面域；其中，該第一物件接受該第一多軸驅動器的制動而於該空間面域中止動，多個所述檢知器分別接受各該第二多軸驅動器的驅動，而檢知該空間面域中止動的該第一物件的四周端邊的多個定位部的真實位置，該第三多軸驅動器根據多個所述定位部的真實位置而驅動該第二物件和止動的該第一物件相互對位並且相對結合。 A calibrating device for relatively combining two objects, comprising: an assembly area station for placing a second object, and a space area above the assembly area station; a first multi-axis driver, disposed in the assembly area The side of the assembly area station is used to capture a first object outside the assembly area station and move the first object to the space area; a plurality of second multi-axis drives are arranged at intervals on the assembly area station above, and a plurality of the second multi-axis drivers are respectively connected to drive a detector, so that the plurality of detectors are spaced around the upper part of the space area; a third multi-axis driver is arranged in the assembly In the zone station, it is used to drive the second object to move to the space area; wherein, the first object receives the braking of the first multi-axis drive and stops in the space area, and a plurality of the detectors respectively accept Each of the second multi-axis drivers is driven to detect the real positions of a plurality of positioning portions on the surrounding end edges of the first object stopped in the spatial area, and the third multi-axis driver is based on the plurality of positioning portions. The second object and the stopped first object are aligned with each other and combined relative to each other.

如請求項1所述用於相對結合兩物件的校對裝置，其中該組裝區站坐落於一產品組裝線之中。 The proofreading device for relatively combining two objects as claimed in claim 1, wherein the assembly area station is located in a product assembly line.

如請求項1所述用於相對結合兩物件的校對裝置，其中該組裝區站的周邊設有一第一物件集放站，該第一物件經由該第一多軸驅動器自該第一物件集放站擷取後移動至該空間面域中止動。 The calibrating device for relatively combining two objects as claimed in claim 1, wherein a first object collection station is arranged around the assembly area station, and the first object is collected from the first object via the first multi-axis drive After the station is captured, it moves to the space area and stops.

如請求項1或3所述用於相對結合兩物件的校對裝置，其中該第一多軸驅動器驅動該第一物件移動的距離，大於該第三多軸驅動器驅動該第二物件移動的距離。 The calibration device for relatively combining two objects according to claim 1 or 3, wherein the distance that the first multi-axis driver drives the first object to move is greater than the distance that the third multi-axis driver drives the second object to move.

如請求項1所述用於相對結合兩物件的校對裝置，其中該第一物件為一多邊形面板，多個所述定位部為該多邊形面板四周的多個端角。 The proofreading device for relatively combining two objects according to claim 1, wherein the first object is a polygonal panel, and the plurality of positioning portions are a plurality of corners around the polygonal panel.

如請求項5所述用於相對結合兩物件的校對裝置，其中該第二物件具有結合該多邊形面板用的一多邊形邊框，且該多邊形邊框四周具有多個框角，該第二物件係以多個所述框角和該第一物件的多個所述端角進行對位。 The proofreading device for relatively combining two objects according to claim 5, wherein the second object has a polygonal frame for combining the polygonal panel, and the polygonal frame has a plurality of frame corners around it, and the second object is composed of multiple Each of the frame corners and a plurality of the end corners of the first object are aligned.

如請求項6所述用於相對結合兩物件的校對裝置，其中該第二物件為組裝該多邊形面板用的一後殼。 The proofreading device for relatively combining two objects according to claim 6, wherein the second object is a rear case for assembling the polygonal panel.