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1. 发明授权

US10112301B2 Automatic calibration method for robot systems using a vision sensor 有权
公开(公告)号：US10112301B2
公开(公告)日：2018-10-30
申请号：US15233440
申请日：2016-08-10
申请人： Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Corporation
发明人： Yingcong Deng , Dandan Zhang , Roberto Francisco-yi Lu , Lvhai Hu
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.

2. 发明授权

US09626753B2 Programmable digital machine vision inspection system 有权
公开(公告)号：US09626753B2
公开(公告)日：2017-04-18
申请号：US14638652
申请日：2015-03-04
申请人： Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Corporation , Shenzhen AMI Technology Co. Ltd.
发明人： Yingcong Deng , Dandan Zhang , Roberto Francisco-Yi Lu , Lvhai Hu , Zinglong Zeng
IPC分类号： G05B15/00 , G05B19/00 , G06T7/00 , B25J9/16 , B07C5/342 , G01R31/28 , G01N21/95
CPC分类号： G06T7/0004 , B07C5/3422 , B07C2501/0063 , B25J9/1697 , G01N21/9515 , G01N2021/9518 , G01N2201/1035 , G01R31/2893 , G05B2219/39106 , G05B2219/45047 , G05B2219/45066 , Y10S901/44 , Y10S901/47
摘要： A programmable digital machine vision inspection system is disclosed having a programmable automatic feeding system that supplies elements to be inspected, a programmable robot system, a programmable inspection system, a qualified product receiving container, and an unqualified product receiving container. The programmable robot system has a first vision system with an inspection area, and a robot that grips the supplied element and moves the gripped element to and from the inspection area. The programmable inspection system has a second vision system that identifies features of the elements in the inspection area, and determines whether the element is a qualified product based on the identified features. The qualified product receiving container receives identified qualified products from the robot, and the unqualified product receiving container that receives identified unqualified products from the robot.

3. 发明授权

US09669432B2 Component feeding system 有权
公开(公告)号：US09669432B2
公开(公告)日：2017-06-06
申请号：US14011295
申请日：2013-08-27
申请人： Tyco Electronics Corporation , Tyco Electronics Technology (Kunshan) Co. Ltd. , Tyco Electronics (Shanghai) Co. Ltd.
发明人： Sean Patrick McCarthy , Steven Alan Jarrett , Bicheng Chen , Haiping Kang , Yingcong Deng
IPC分类号： G06F7/00 , B07C5/342
CPC分类号： B07C5/3422
摘要： A component feeding system includes a platform and a tray supported by the platform having a component support surface for supporting a plurality of components. An agitation unit is supported by the platform and is operatively coupled to the tray to agitate the tray to cause the components to move on the tray. A guidance system is supported by the platform and has a camera viewing the tray. A positioning system is supported by the platform and a component gripper is supported by the positioning system and moved by the positioning system relative to the tray. The component gripper is configured to pick and place components on the tray. A controller communicates with the agitation unit, the positioning system, the component gripper and the guidance system. The controller operates the agitation unit, the positioning system and the component gripper based on an image obtained by the camera.

4. 发明申请

US20160346932A1 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：US20160346932A1
公开(公告)日：2016-12-01
申请号：US15233440
申请日：2016-08-10
申请人： Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Corporation
发明人： Yingcong Deng , Dandan Zhang , Roberto Francisco-yi Lu , Lvhai Hu
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39011 , G05B2219/39026 , G05B2219/40557
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.
摘要翻译：公开了一种用于机器人系统的自动校准方法。机器人系统的自动校准方法包括以下步骤：相对于世界坐标系校准传感器的传感器坐标系和传感器坐标系，在传感器的引导下控制机器人，以移动安装在传感器上的工具的点机器人到达具有多个不同姿势的相同目标点，工具在工具坐标系中的点，并且基于姿态数据计算工具坐标系相对于工具中心点坐标系的变换矩阵tcpTt 机器人在同一个目标点。

5. 发明申请

US20150254833A1 Programmable Digital Machine Vision Inspection System 有权
标题翻译：可编程数字机器视觉检测系统
公开(公告)号：US20150254833A1
公开(公告)日：2015-09-10
申请号：US14638652
申请日：2015-03-04
申请人： Tyco Electronics (Shanghai) Co., Ltd. , Tyco Electronics Corporation , Shenzhen AMI Technology Co., Ltd.
发明人： Yingcong Deng , Dandan Zhang , Robert-Francisco-Yi Lu , Lvhai Hu , Zinglong Zeng
IPC分类号： G06T7/00 , B25J9/16
CPC分类号： G06T7/0004 , B07C5/3422 , B07C2501/0063 , B25J9/1697 , G01N21/9515 , G01N2021/9518 , G01N2201/1035 , G01R31/2893 , G05B2219/39106 , G05B2219/45047 , G05B2219/45066 , Y10S901/44 , Y10S901/47
摘要： A programmable digital machine vision inspection system is disclosed having a programmable automatic feeding system that supplies elements to be inspected, a programmable robot system, a programmable inspection system, a qualified product receiving container, and an unqualified product receiving container. The programmable robot system has a first vision system with an inspection area, and a robot that grips the supplied element and moves the gripped element to and from the inspection area. The programmable inspection system has a second vision system that identifies features of the elements in the inspection area, and determines whether the element is a qualified product based on the identified features. The qualified product receiving container receives identified qualified products from the robot, and the unqualified product receiving container that receives identified unqualified products from the robot.
摘要翻译：公开了一种可编程数字机器视觉检查系统，其具有可供选择的被检查元件的可编程自动进给系统，可编程机器人系统，可编程检查系统，合格产品接收容器和不合格产品接收容器。可编程机器人系统具有具有检查区域的第一视觉系统，以及握住所提供的元件并将夹持的元件移动到检查区域并从检测区域移动的机器人。可编程检查系统具有第二视觉系统，其识别检查区域中的元件的特征，并且基于所识别的特征来确定元件是否是合格的产品。合格产品接收容器从机器人接收识别的合格产品，以及从机器人接收识别的不合格产品的不合格产品接收容器。

6. 发明申请

US20150066200A1 COMPONENT FEEDING SYSTEM 有权
标题翻译：组件进料系统
公开(公告)号：US20150066200A1
公开(公告)日：2015-03-05
申请号：US14011295
申请日：2013-08-27
申请人： Tyco Electronics Corporation , Tyco Electronics (Shanghai) Co. Ltd. , Tyco Electronics Technology (Kunshan) Co., Ltd.
发明人： Sean Patrick McCarthy , Steven Alan Jarrett , Bicheng Chen , Haiping Kang , Yingcong Deng
IPC分类号： B07C5/342
CPC分类号： B07C5/3422
摘要： A component feeding system includes a platform and a tray supported by the platform having a component support surface for supporting a plurality of components. An agitation unit is supported by the platform and is operatively coupled to the tray to agitate the tray to cause the components to move on the tray. A guidance system is supported by the platform and has a camera viewing the tray. A positioning system is supported by the platform and a component gripper is supported by the positioning system and moved by the positioning system relative to the tray. The component gripper is configured to pick and place components on the tray. A controller communicates with the agitation unit, the positioning system, the component gripper and the guidance system. The controller operates the agitation unit, the positioning system and the component gripper based on an image obtained by the camera.
摘要翻译：部件供给系统包括平台和由平台支撑的托盘，具有用于支撑多个部件的部件支撑表面。搅拌单元由平台支撑并且可操作地联接到托盘以搅拌托盘以使部件在托盘上移动。平台支持引导系统，并有一台照相机查看托盘。定位系统由平台支撑，部件夹持器由定位系统支撑并由定位系统相对于托盘移动。组件夹持器配置为拾取和放置托盘上的组件。控制器与搅拌单元，定位系统，部件夹持器和引导系统进行通信。控制器基于由相机获得的图像来操作搅拌单元，定位系统和部件夹持器。

7. 发明授权

US11769978B2 Assembly system 有权
公开(公告)号：US11769978B2
公开(公告)日：2023-09-26
申请号：US16701648
申请日：2019-12-03
申请人： Tyco Electronics (Shanghai) Co. Ltd. , TE Connectivity Corporation , Kunshan League Automechanism Co., Ltd.
发明人： Yingcong Deng , Dandan Zhang , Lvhai Hu , An Yang , Jian Cao , Yun Liu , Roberto Franciso-Yi Lu , Yuting He , Haidong Wu , Hui Xiao
IPC分类号： H01R43/00 , H01R43/20 , B25J9/00 , H01R43/18 , H01R13/506
CPC分类号： H01R43/20 , B25J9/0084 , H01R43/18 , H01R13/506
摘要： An assembly system includes a robot, a first gripper mounted on the robot, the first gripper gripping a first housing, and a first clamping device clamping a cable and a contact connected to an end of the cable. The robot moves the first gripper and assembles the first housing gripped by the first gripper onto the contact held by the first clamping device.

8. 发明申请

US20210354297A1 Automatic Depalletizing System 有权
公开(公告)号：US20210354297A1
公开(公告)日：2021-11-18
申请号：US17320416
申请日：2021-05-14
申请人： Tyco Electronics (Shanghai) Co. Ltd. , TE Connectivity Services GmbH
发明人： Yingcong Deng , Dandan Zhang , Qing Zhou , Fengchun Xie , Roberto Francisco-Yi Lu , Lvhai Hu , Lei Yang , Ye Zhang , Ming Ni , Dong Xu
IPC分类号： B25J9/16 , B25J13/08 , B25J19/02
摘要： An automatic depalletizing system comprises a robot including a gripper adapted to grip a logistics box and to unload logistics boxes stacked on a pallet. The system further includes a three-dimensional camera adapted to identify a position and an orientation of the logistics boxes so as to guide the robot to unload the logistics boxes from the pallet in a sequential manner.

9. 发明授权

US11141807B2 Wire automatic soldering system 有权
公开(公告)号：US11141807B2
公开(公告)日：2021-10-12
申请号：US16685462
申请日：2019-11-15
申请人： Tyco Electronics (Shanghai) Co. Ltd. , TE Connectivity Services GmbH , Measurement Specialties (Chengdu) Ltd. , Shenzhen AMI Technology Co., Ltd.
发明人： Fengchun Xie , Dandan Zhang , Roberto-Francisco Yi Lu , Lvhai Hu , Qinglong Zeng , Lan Gong , Qian Ying , Yingcong Deng , Yun Liu
IPC分类号： B23K1/00 , B23K3/00 , B23K3/06 , B23K1/08 , B23K101/38
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 containing a solder paste, and a heater configured to heat the solder paste and melt the solder paste into a liquid. The robot moves a plurality of wires of the electrical product into the solder paste container to solder the wires together with the solder paste.

10. 发明授权

US11090774B2 Automatic assembling system and method 有权
公开(公告)号：US11090774B2
公开(公告)日：2021-08-17
申请号：US15248619
申请日：2016-08-26
申请人： Tyco Electronics (Shanghai) Co. Ltd.
发明人： Zhiyong Dai , Lvhai Hu , Yingcong Deng , Lei Zhou , Yun Liu
IPC分类号： B23P19/04
摘要： An automatic assembling system has a component tray, an assembly table, a mechanical arm and pressing tool. The mechanical arm includes a rotary disc and a plurality of gripping devices mounted on the rotary disc, wherein the rotary disc is configured to rotate about an axis such that one of the plurality of gripping devices is aligned with a corresponding component disposed on the component tray and grips the corresponding component. The pressing tool is also mounted on the rotary disc and is configured to press and/or adjust an assembled component on the assembly table.

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