公开(公告)号：US11338441B2

公开(公告)日：2022-05-24

申请号：US16810199

申请日：2020-03-05

Applicant: DELTA ELECTRONICS, INC.

Inventor： Yi-Jiun Shen ,  Yu-Ru Huang ,  Hung-Wen Chen

IPC: B25J9/16

Abstract: A calibration system for robot tool including a robot arm adopting a first coordinate system, a tool arranged on a flange of the robot arm, and an imaging device adopting a second coordinate system is disclosed, wherein an image sensing area is established by the image device. A calibration method is also disclosed and includes steps of: controlling the robot arm to move for leading a tool working point (TWP) of the tool enters the image sensing area; recording a current gesture of the robot arm as well as a specific coordinate of the TWP currently in the second coordinate system; obtaining a transformation matrix previously established for describing a relationship between the first and the second coordinate systems; and importing the specific coordinate and the current gesture to the transformation matrix for calculating an absolute position of the TWP in the first coordinate system.

公开(公告)号：US10952361B2

公开(公告)日：2021-03-16

申请号：US16539471

申请日：2019-08-13

Applicant: Delta Electronics, Inc.

Inventor： Yu-Ru Huang ,  Qi-Ming Huang ,  Hung-Wen Chen

IPC: G06K9/00 ,  H04N5/232 ,  A61B5/00 ,  H05K13/08 ,  H04N5/225 ,  G06T7/00

Abstract: A system for detecting electronic components includes a light-source device, a photography device, an adjustment device, and an image-processing device. The light-source device generates a light to illuminate at least one pin of a first electronic component at different rotation angles. The photography device senses the light and generates first and second images corresponding to the pin of the first electronic component at different rotation angles. The adjustment device adjusts the photography device and the light-source device to a first height and a second height, wherein the first images correspond to the first height and the second images correspond to the second height. The image-processing device calculates first feature information of the pin of the first electronic component according the first and second images, and analyzes the state of the pin of the first electronic component according to the first feature information.

公开(公告)号：US10709048B2

公开(公告)日：2020-07-07

申请号：US16000197

申请日：2018-06-05

Applicant: Delta Electronics, Inc.

Inventor： Yu-Ru Huang ,  Hung-Wen Chen

IPC: H05K13/04 ,  H05K13/08 ,  G06T7/70

Abstract: An electronic-component assembly system is provided in the invention. The electronic-component assembly system includes a gripping device, a light-source device, a photographing device, and an image-processing device. The gripping device grips an electronic component, wherein the electronic component includes at least one pin. The light-source device includes a light source and emits light of the light source. The photographing device senses the light and generates a plurality of first one-dimensional images corresponding to the pins at different rotation angles. The image-processing device is coupled to the photographing device to receive the plurality of first one-dimensional images. The image-processing device transforms the plurality of first one-dimensional images into a two-dimensional image, generates adjustment information according to the two-dimensional image, and provides adjustment information to the gripping device, wherein the gripping device adjusts the angle and position of the electronic component according to the adjustment information.