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1. 发明授权

EP3105016B1 AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEMS USING A VISION SENSOR 有权转让
公开(公告)号：EP3105016B1
公开(公告)日：2020-03-25
申请号：EP15703109.7
申请日：2015-01-30
申请人： Tyco Electronics (Shanghai) Co. Ltd. , TE Connectivity Corporation
发明人： DENG, Yingcong , ZHAN, Dandan , LU, Roberto Francisco-yi , HU, Lvhai
IPC分类号： B25J9/16

2. 发明申请

WO2015121774A1 LASER SOLDERING SYSTEM 审中-公开
标题翻译：激光焊接系统
公开(公告)号：WO2015121774A1
公开(公告)日：2015-08-20
申请号：PCT/IB2015/050813
申请日：2015-02-03
申请人： TYCO ELECTRONICS (SHANGHAI) CO. LTD. , TYCO ELECTRONICS CORPORATION , TYCO ELECTRONICS (DONGGUAN) LTD , TYCO ELECTRONICS UK LTD
发明人： SHEN, Hongzhou , ZHANG, Dandan , LU, Roberto Francisco-yi , DUBNICZKI, George J , ZENG, Qinglong
IPC分类号： B23K1/005 , B23K26/00 , B23K26/08 , B21F15/10 , B23K20/00 , H01L23/00
CPC分类号： B23K1/0056 , B23K3/087 , B23K20/004 , B23K26/009 , B23K26/0884 , B23K2201/32 , B23K2201/42 , H01L2224/78 , H05K3/3421 , H05K3/3489 , H05K3/3494 , H05K2201/10287 , H05K2203/107
摘要： The present invention discloses a laser soldering system, comprising: a vision system; a moving system; a laser source for heating a soldering flux to solder an object onto a target location on a product to be soldered; a gripper mounted on the moving system and capable of gripping the object and placing the object accurately on the target location under the guidance of the vision system; and a presser mounted on the moving system and used to press the accurately positioned object against the product to hold the position of the object during soldering the object onto the product. The presser has a transparent member for directly pressing on the top of the object. A laser beam from the laser source transmits through the transparent member and heats the soldering flux. The wire can be tightly and reliably pressed on the pad and tightly contact the pad during soldering. Thereby, it can effectively prevent a pseudo solder joint from being occurred on the product, improving the soldering quality.
摘要翻译：本发明公开了一种激光焊接系统，包括：视觉系统; 移动系统用于加热焊剂以将物体焊接到要焊接的产品上的目标位置的激光源; 夹持器安装在移动系统上并且能够在视觉系统的引导下夹持物体并将物体准确地放置在目标位置上; 以及安装在移动系统上并用于将准确定位的物体压靠在产品上的压脚，以在将物体焊接到产品上时保持物体的位置。压脚具有用于直接按压物体顶部的透明构件。来自激光源的激光束透过透明部件并加热焊剂。电线可以紧密可靠地压在焊盘上，并在焊接过程中紧紧接触焊盘。从而能够有效地防止产品上发生伪焊点，提高焊接质量。

3. 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。

4. 发明公开

EP3105016A1 AUTOMATIC CALIBRATION METHOD FOR ROBOT SYSTEMS USING A VISION SENSOR 有权转让
标题翻译：方法自动校准机器人系统借助传感器概述
公开(公告)号：EP3105016A1
公开(公告)日：2016-12-21
申请号：EP15703109.7
申请日：2015-01-30
申请人： Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Corporation
发明人： DENG, Yingcong , ZHANG, Dandan , LU, Roberto Francisco-yi , HU, Lvhai
IPC分类号： B25J9/16
摘要： An automatic calibration method for a robot system is disclosed. The automatic calibration method for a robot system includes the steps of calibrating a sensor and a sensor coordinate system of the sensor with respect to a world coordinate system, controlling a robot under the guidance of the sensor to move a point of a tool mounted on the robot to reach a same target point with a plurality of different poses, the point of the tool in a tool coordinate system, and calculating a transformation matrix tcpTt of the tool coordinate system with respect to a tool center point coordinate system based on pose data of the robot at the same target point.

5. 发明公开

EP3104999A1 LASER SOLDERING SYSTEM 审中-实审转让
标题翻译：激光焊接系统
公开(公告)号：EP3104999A1
公开(公告)日：2016-12-21
申请号：EP15704854.7
申请日：2015-02-03
申请人： Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Corporation , Tyco Electronics (Dongguan) Ltd.
发明人： SHEN, Hongzhou , ZHANG, Dandan , LU, Roberto Francisco-yi , DUBNICZKI, George J , ZENG, Qinglong
IPC分类号： B23K1/005 , B23K26/00 , B23K26/08 , B21F15/10 , B23K20/00 , H01L23/00
CPC分类号： B23K1/0056 , B23K3/087 , B23K20/004 , B23K26/009 , B23K26/0884 , B23K2201/32 , B23K2201/42 , H01L2224/78 , H05K3/3421 , H05K3/3489 , H05K3/3494 , H05K2201/10287 , H05K2203/107
摘要： A laser soldering system is disclosed. The laser soldering system has a moving system, a gripper mounted on the moving system, a presser mounted on the moving system and having a transparent member, and a laser. The gripper grips an object and places the object at a target location on a product to be soldered. The transparent member presses the object against the product. The laser emits a laser beam through the transparent member to solder the object to the target location while the object is pressed against the product.
摘要翻译：本发明公开了一种激光焊接系统，包括：视觉系统; 一个移动系统; 激光源，用于加热助焊剂以将物体焊接到待焊接产品上的目标位置; 安装在移动系统上并且能够在视觉系统的引导下抓握物体并将物体准确地放置在目标位置上的夹具; 以及一个安装在移动系统上的压脚，用于将精确定位的物体压在产品上，以在物体焊接到产品上时保持物体的位置。压脚有一个透明构件，用于直接压在物体的顶部。来自激光源的激光束透过透明构件并加热助焊剂。在焊接过程中，电线可以紧密可靠地压在焊盘上并紧密接触焊盘。从而可以有效防止产品发生伪焊点，提高焊接质量。

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