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1. 发明申请

WO2016098067A1 METHOD OF PRINTING OUT PRODUCT BY 3D-PRINTING SYSTEM 审中-公开
标题翻译： 3D打印系统打印产品的方法
公开(公告)号：WO2016098067A1
公开(公告)日：2016-06-23
申请号：PCT/IB2015/059774
申请日：2015-12-18
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TYCO ELECTRONICS CORPORATION , TYCO ELECTRONICS UK LTD
发明人： DENG, Yingcong , XIN, Liming , LIU, Yun , ZHANG, Dandan , LU, Roberto Francisco-Yi
IPC分类号： B29C67/00 , B33Y10/00 , B33Y50/02
CPC分类号： B33Y50/02 , B29C64/112 , B29C64/386 , B33Y10/00
摘要： A method of printing out a product by a 3D-printing system, comprises steps of: performing a fast speed print with a first print head having a first resolution, so as to print out a substrate of the product; scanning the substrate printed out in the fast speed print and constructing an actual 3D-digital model of the substrate printed out in the fast speed print; comparing the actual 3D-digital model of the substrate printed out in the fast speed print with a pre-constructed ideal 3D-digital model of the product; based on a comparing result in the step S300, determining whether an error between the actual 3D-digital model of the substrate printed out in the fast speed print and the pre-constructed ideal 3D-digital model of the product is less than or equal to a predetermined value, if the determining result is yes, then returning to the step S 100, if the determining result is no, then performing following step; and performing a low speed print of the product by a second print head having a second resolution higher than the first resolution.
摘要翻译：一种通过3D打印系统打印产品的方法，包括以下步骤：用具有第一分辨率的第一打印头执行快速打印，以打印产品的基底; 扫描以快速打印印刷的基板，并构建以快速打印印刷的基板的实际3D数字模型; 将快速打印印刷的基板的实际3D数字模型与产品的预构建理想3D数字模型进行比较; 基于步骤S300中的比较结果，确定快速打印输出的基板的实际3D数字模型与产品的预构建的理想3D数字模型之间的误差是否小于或等于预定值，如果确定结果为是，则返回到步骤S100，如果确定结果为否，则执行以下步骤; 以及通过具有高于第一分辨率的第二分辨率的第二打印头来执行产品的低速打印。

2. 发明申请

WO2016030782A1 3D PRINTING SYSTEM 审中-公开
标题翻译： 3D打印系统
公开(公告)号：WO2016030782A1
公开(公告)日：2016-03-03
申请号：PCT/IB2015/055707
申请日：2015-07-29
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD , TYCO ELECTRONICS UK LTD , TYCO ELECTRONICS CORPORATION
发明人： DENG, Yingcong , XIN, Liming , ZHANG, Dandan , LU, Roberto Francisco-YI , HU, Lvhai , LIU, Yun
IPC分类号： B29C67/00 , B33Y30/00 , B33Y40/00
CPC分类号： B29C67/0085 , B29C64/106 , B29C64/112 , B29C64/20 , B33Y30/00 , B33Y40/00
摘要： A 3D printing system including: a print head (200) for printing a product; and a positioning platform (300) for supporting and positioning the product to be printed thereon. The 3D printing system is constructed so that the positioning platform (300) is moved with respect to the print head (200) in a first direction (X), a second direction (Y) and a third direction (Z) perpendicular to each other, and rotated with respect to the print head (200) about at least two of the first, second and third directions (X, Y, Z). In the 3D printing system, both of the space position of the print head (200) with respect to the positioning platform (300) and the angle of the pint head (200) with respect to the positioning platform (300) may be adjusted. Thereby, the print head (200) may be moved over a 3-Dimension curved surface or a 3-Dimension curve with respect to the positioning platform (300), so as to print a complicated 3-Dimension curved surface or 3-Dimension curve.
摘要翻译：一种3D打印系统，包括：用于打印产品的打印头（200）; 以及用于支撑和定位待印刷产品的定位平台（300）。 3D打印系统被构造成使得定位平台（300）相对于打印头（200）沿彼此垂直的第一方向（X），第二方向（Y）和第三方向（Z）移动并且围绕第一，第二和第三方向（X，Y，Z）中的至少两个相对于打印头（200）旋转。在3D打印系统中，可以调节打印头（200）相对于定位平台（300）的空间位置和品脱头（200）相对于定位平台（300）的角度。因此，打印头（200）可以相对于定位平台（300）移动到三维曲面或三维曲线上，以便打印复杂的三维曲面或三维曲线。

3. 发明申请

WO2017033100A1 AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEM 审中-公开
标题翻译：机器人系统自动校准方法
公开(公告)号：WO2017033100A1
公开(公告)日：2017-03-02
申请号：PCT/IB2016/054946
申请日：2016-08-18
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD , TYCO ELECTRONICS CORPORATION , TYCO ELECTRONICS UK LTD
发明人： DENG, Yingcong , ZHANG, Dandan , LU, Roberto Francisco-Yi , LIU, Yun , HU, Lvhai , ZHOU, Lei
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39008 , G05B2219/39026 , G05B2219/39054 , G05B2219/39398 , G05B2219/40607
摘要： An automatic calibration method for a robot system, including steps of: providing a ball-rod member comprising a connection rod and a sphere connected to one end of the connection rod; fixing the other end of the connection rod to an end execution tool mounted on a flange of a robot; controlling the robot to move a center of the sphere to the same one target point in various different poses under the guidance of a vision sensor, and calculating a transformation matrix Ts of the center of the sphere with respect to a center of the flange based on pose data of the robot at the same target point; and calculating a transformation matrix Tt of a center of the end execution tool with respect to the center of the flange according to a following formula (1): Tt = Ts * Tc (1), wherein Tc is a transformation matrix of the center of the end execution tool with respect to the center of the sphere, and Tc is known and constant. It needs to identify only the center of the sphere of the ball-rod member by the vision sensor, without a need to identify the center of the end execution tool. Since the sphere has a regular geometry, it is easy to identify the center of the sphere, improving the calibration accuracy and efficiency of the robot system.
摘要翻译：一种用于机器人系统的自动校准方法，包括以下步骤：提供一种球杆构件，其包括连接杆和连接到所述连接杆的一端的球体; 将连接杆的另一端固定到安装在机器人的凸缘上的末端执行工具; 控制机器人在视觉传感器的引导下以各种不同的姿态将球体的中心移动到相同的一个目标点，并且基于相对于凸缘的中心来计算球体的中心的变换矩阵Ts 将机器人的姿态数据放在同一个目标点上; 根据以下公式（1）计算终端执行工具的中心相对于凸缘的中心的变换矩阵Tt：Tt = Ts * Tc（1）其中，Tc是中心的变换矩阵，结束执行工具相对于球的中心，Tc是已知的并且是常数。它只需要通过视觉传感器识别球杆构件的球体的中心，而不需要识别最终执行工具的中心。由于球体具有规则的几何形状，因此很容易识别球体的中心，提高了机器人系统的校准精度和效率。

4. 发明申请

WO2016097932A1 3D INK JET PRINTING SYSTEM AND METHOD 审中-公开
标题翻译： 3D喷墨打印系统和方法
公开(公告)号：WO2016097932A1
公开(公告)日：2016-06-23
申请号：PCT/IB2015/059442
申请日：2015-12-08
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TYCO ELECTRONICS CORPORATION , TYCO ELECTRONICS UK LTD
发明人： DENG, Yingcong , OAR, Michael A , RADZILOWSKI, Leonard Henry , XIN, Liming , LIU, Yun , ZHANG, Dandan , STECK, John Edward
IPC分类号： H05K3/12 , B41J3/407
CPC分类号： H05K3/125 , B41J3/4073 , H05K2203/013
摘要： Disclosed are 3D ink jet printing system and method. The 3D ink jet printing system comprises: a multi-freedom robot configured to grip and move a product to be printed; and an inkjet print head configured to eject a conductive ink onto a surface of the product to be printed. The surface of the product comprises a 3D surface region, and the 3D ink jet printing system is configured to print out a first conductive pattern on the 3D surface region of the product. The robot is configured to adjust a position and a posture of the product during printing, so that the produce moves along a predetermined space path relative to the inkjet print head in a state where the inkjet print head is always substantially perpendicular to a currently printed target surface region of the product.
摘要翻译：公开了3D喷墨打印系统和方法。 3D喷墨打印系统包括：多自由度机器人，其被配置为夹持和移动要打印的产品; 以及喷墨打印头，其被配置为将导电油墨喷射到要打印的产品的表面上。产品的表面包括3D表面区域，并且3D喷墨打印系统被配置为在产品的3D表面区域上印出第一导电图案。机器人被配置为在打印期间调整产品的位置和姿势，使得在喷墨打印头总是基本上垂直于当前打印的目标的状态下，产品相对于喷墨打印头沿着预定的空间路径移动产品的表面区域。

5. 发明申请

WO2015121767A1 AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEMS USING A VISION SENSOR 审中-公开
标题翻译：使用视觉传感器的机器人系统的自动校准方法
公开(公告)号：WO2015121767A1
公开(公告)日：2015-08-20
申请号：PCT/IB2015/050707
申请日：2015-01-30
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TYCO ELECTRONICS CORPORATION , TYCO ELECTRONICS UK LTD
发明人： DENG, Yingcong , ZHANG, Dandan , LU, Roberto Francisco-yi , HU, Lvhai
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39011 , G05B2219/39026 , G05B2219/40557
摘要： The present invention discloses an automatic calibration method for a robot system, comprising steps of: calibrating intrinsic parameters of a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system by means of a calibration plate; and controlling a robot under the guidance of the calibrated sensor to move an original point of a tool coordinate system of a tool mounted on the robot to reach the same target point with a plurality of different poses, and calculating a transfer matrix tcp T t of the tool coordinate system with respect to a tool center point coordinate system of the robot based on pose data of the robot at the same target point. The robot can accurately move to the same target point with the plurality of different poses, improving the calibration accuracy of the robot system. Furthermore, the calibration of the robot system is automatically performed by a control program, increasing the calibration efficiency, and simplifying the calibration operation.
摘要翻译：本发明公开了一种机器人系统的自动校准方法，包括以下步骤：通过校准板校准传感器的相对于世界坐标系的传感器和传感器坐标系的固有参数; 并且在校准传感器的引导下控制机器人，以使安装在机器人上的工具的工具坐标系的原点移动到具有多个不同姿势的同一目标点，并计算工具的传递矩阵tcpTt 基于相同目标点的机器人的姿态数据，相对于机器人的工具中心点坐标系的坐标系。机器人可以用多种不同的姿势精确地移动到同一目标点，提高机器人系统的校准精度。此外，通过控制程序自动执行机器人系统的校准，提高校准效率，并简化校准操作。

6. 发明申请

WO2018210884A2 WIRE AUTOMATIC SOLDERING SYSTEM 审中-公开
公开(公告)号：WO2018210884A2
公开(公告)日：2018-11-22
申请号：PCT/EP2018/062625
申请日：2018-05-15
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TE CONNECTIVITY CORPORATION , MEASUREMENT SPECIALTIES (CHENGDU) LTD. , SHENZHEN AMI TECHNOLOGY CO., LTD. , TYCO ELECTRONICS UK LTD
发明人： XIE, Fengchun , ZHANG, Dandan , LU, Roberto Francisco-Yi , HU, Lvhai , ZENG, Qinglong , GONG, Lan , YING, Qian , DENG, Yingcong , LIU, Yun
IPC分类号： B23K1/00 , B23K1/08
摘要： A wire automatic soldering system includes: a carrier adapted to load an electrical product to be soldered; a robot adapted to grip and move the carrier on which the electrical product is loaded; a solder paste container configured to contain a solder paste; and a heater configured to heat the solder paste contained in the solder paste container, so that the solder paste is melted into liquid. The robot is adapted to move wires of the electrical product into the solder paste container, so as to solder the wires together by the solder paste in the solder paste container. The wire automatic soldering system may automatically perform the task of soldering wires of the electrical product. Thereby, it may be suitable for automatic soldering of mass electrical products, and improve the soldering efficiency.

7. 发明申请

WO2018178348A1 AUTOMATIC PICK-UP EQUIPMENT 审中-公开
公开(公告)号：WO2018178348A1
公开(公告)日：2018-10-04
申请号：PCT/EP2018/058321
申请日：2018-03-30
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , SHENZHEN AMI TECHNOLOGY CO., LTD. , TYCO ELECTRONICS UK LTD
发明人： DAI, Zhiyong , HU, Lvhai , DENG, Yingcong , ZENG, Qinglong , KANG, Wei
IPC分类号： B25J15/00 , B25J15/02
摘要： An automatic pick-up equipment for picking up components with different shapes, comprises: a base (1) mounted on a manipulator of a robot; a first pick-up device (2) mounted on the base and comprising two first gripping mechanisms opposite to each other, which are configured to linearly reciprocate relative to each other to hold a first component (300); and a second pick-up device (3) mounted on the base. The second pick-up device comprises: two second gripping mechanisms (31) opposite to each other, which are configured to pivotally reciprocate relative to each other to grip a second component (400); and a rotation mechanism (32) configured to drive the two second gripping mechanisms to rotate relative to the baseto change a posture of the gripped second component. The automatic pick-up equipment is adapted to pick up components with different shapes and sizes by different gripping ways.

8. 发明申请

WO2017163184A1 ASSEMBLING APPARATUS 审中-公开
标题翻译：装配设备
公开(公告)号：WO2017163184A1
公开(公告)日：2017-09-28
申请号：PCT/IB2017/051635
申请日：2017-03-21
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TYCO ELECTRONICS (ZHUHAI) LTD. , TYCO ELECTRONICS UK LTD.
发明人： DENG, Yingcong , HU, Lvhai , DAI, Zhiyong , LIU, Yun , ZHANG, Dandan , YU, Qiang , CHEN, Wei , ZHANG, Ning
IPC分类号： G02B6/42 , H01R13/658 , H05K9/00 , H01R43/18
摘要： An assembling apparatus adapted to assembly a case made of thin plate is disclosed. The case comprises a bottom case and a top case, a latch is formed on each side wall of the bottom case, and a locking spring is formed on each side plate of the top case. When the side plates of the top case are located at a predetermined position with respect to the top wall of the top case, the lock springs are adapted to be fitted into the latches from inner sides of the latches, respectively. The assembling apparatus comprises: a base configured to position and support the bottom case; an operation mechanism adapted to hold and move the top case; and a guide device adapted to be disposed at the inner side of the latch and configured to guide the side plate to the predetermined position, so that the lock spring on the side plate of the top case is capable of being fitted into the latch. In the present invention, the guide device may automatically corrects the position deviation of the side plates of the top case by guiding the side plates offset from predetermined position to the predetermined position. As a result, the lock spring on the side plate of the top case is smoothly fitted into the latch, improving the assembly efficiency of the case made of thin plate.
摘要翻译：公开了一种适于组装由薄板制成的壳体的组装装置。壳体包括底壳和顶壳，底壳的每个侧壁上形成有卡锁，顶壳的每个侧板上形成有锁定弹簧。当顶部壳体的侧板相对于顶部壳体的顶壁位于预定位置时，锁定弹簧适于分别从闩锁的内侧装配到闩锁中。所述组装装置包括：基座，所述基座构造成定位和支撑所述底壳; 操作机构，其适于保持和移动顶部壳体; 以及引导装置，该引导装置适于设置在闩锁的内侧并且构造成将侧板引导到预定位置，使得顶壳的侧板上的锁定弹簧能够配合到闩锁中。在本发明中，引导装置可以通过引导偏离预定位置的侧板到预定位置来自动校正顶壳的侧板的位置偏差。其结果是，上壳体的侧板上的锁定弹簧顺利地装配到闩锁中，提高了由薄板制成的壳体的组装效率。

9. 发明申请

WO2018131001A1 SYSTEM AND METHOD FOR FEEDING DIAPHRAGM 审中-公开
公开(公告)号：WO2018131001A1
公开(公告)日：2018-07-19
申请号：PCT/IB2018/050240
申请日：2018-01-15
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , MEASUREMENT SPECIALTIES (CHINA) LTD. , INNOGETIC TECHNOLOGY CO., LTD. , TYCO ELECTRONICS UK LTD.
发明人： DENG, Yingcong , LIAO, Ziqing , NING, Ke , ZHANG, Dandan , HU, Lvhai , WONG, Kok Wai
IPC分类号： B65G59/02 , B65G61/00 , B65H3/02
摘要： Disclosed is a system and method for feeding diaphragm including: a diaphragm separating device (100) adapted to separate a single diaphragm (10) from at least one stack of diaphragms; and a visual device (200) adapted to identify the separated signal diaphragm (10) and the position thereof. The diaphragm separating device may separate a single diaphragm from a stack of diaphragms by sweeping a top of the stack of diaphragms, improving efficiency and quality for separating stacks of diaphragms.

10. 发明申请

WO2017163198A1 ROBOT ASSEMBLING SYSTEM AND METHOD FOR ASSEMBLING MULTI-LAYER CAGE 审中-公开
标题翻译：机器人装配系统和装配多层笼的方法
公开(公告)号：WO2017163198A1
公开(公告)日：2017-09-28
申请号：PCT/IB2017/051656
申请日：2017-03-22
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , INNOGETIC TECHNOLOGY CO., LTD , TYCO ELECTRONICS UK LTD.
发明人： DAI, Zhiyong , HU, Lvhai , DENG, Yingcong , LIU, Yun , WONG, Kok Wai
IPC分类号： B25J15/00 , B21D39/03 , B25J9/00 , B25J15/02 , B25J15/06 , G02B6/42
摘要： A robot assembling system for assembling a multi-layer cage is provided. The multi-layer cage comprises a bottom case, a top case, at least one partition plate and at least two partition assemblies. The robot assembling system comprises: a first assembling workstation configured to assemble the partition plate and the partition assembly to form a partition means; a second assembling workstation configured to assemble the partition means and the top case to form a top case assembly; a third assembling workstation configured to assemble the top case assembly and the bottom case to form a multi-layer cage; and at least one robot configured to transmit the bottom case, the top case, the partition plate, the partition assembly, the partition means or the top case assembly between respective assembling workstation, and assist an assembly process at each assembling workstation. The robot assembling system may realize the automatic assembly of the multi-layer cage, which greatly improves the efficiency of assembling the multi-layer cage.
摘要翻译：提供了一种用于组装多层保持架的机器人组装系统。该多层保持架包括底壳，顶壳，至少一个隔板和至少两个隔墙组件。所述机器人组装系统包括：第一组装工作台，所述第一组装工作台被构造为组装分隔板和分隔组件以形成分隔装置; 第二组装工作台，所述第二组装工作台被构造成组装所述分隔装置和所述顶壳以形成顶壳组件; 第三组装工作台，所述第三组装工作台被配置为组装顶部壳体组件和底部壳体以形成多层保持架; 以及至少一个机器人，其被构造成在相应的组装工作站之间传递底壳，顶壳，隔板，分隔组件，分隔装置或顶壳组件，并协助每个组装工作站的组装工序。机器人组装系统可实现多层保持架的自动组装，大大提高了多层保持架组装的效率。

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