System and method for robotic assembly

Patent metadata

Field	Value
Publication number	US-11518027-B2
Application number	US-202016864804-A
Country	US
Kind code	B2
Filing date	May 1, 2020
Priority date	May 1, 2020
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

First claim

The invention claimed is:

1. A method for assembling parts, comprising:
moving an assembly base with a first part disposed thereon along an assembly line;
moving a robot base along the assembly line, a robot being disposed on the robot base and comprising a moveable arm, a second part being supported by the moveable arm;
measuring a motion of the assembly base, the robot base or the moveable arm; and
compensating movement of the robot base or moveable arm based on the measured motion to align the second part with the first part to assemble the second part to the first part while the assembly base and the robot base are moving.

2. The method according to claim 1 , wherein the motion is measured with an inertial measurement unit (IMU) sensor.

3. The method according to claim 1 , wherein the motion is measured with an IMU sensor connected to the assembly base to measure the motion of the assembly base.

4. The method according to claim 3 , further comprising communicating the motion of the assembly base to a robot controller, wherein the robot controller moves the robot base to match a speed of the assembly base to compensate movement of the robot base to align the second part with the first part to assemble the second part to the first part.

5. The method according to claim 3 , further comprising communicating the motion of the assembly base to a robot controller, wherein the robot controller moves the robot base in response to the motion of the assembly base before the first part enters a field of view of a camera disposed on the robot, the first part thereafter entering the field of view of the camera and the robot controller moving the moveable arm in response to information captured by the camera to align the second part with the first part to assemble the second part to the first part.

6. The method according to claim 3 , further comprising communicating the motion of the assembly base to a robot controller, and processing the measured motion to determine a vibration of the assembly base, wherein movement of the robot base or moveable arm is compensated based on the vibration to align the second part with the first part to assemble the second part to the first part.

7. The method according to claim 1 , wherein the motion is measured with an IMU sensor connected to the robot base to measure the motion of the robot base.

8. The method according to claim 7 , further comprising communicating the motion of the robot base to a robot controller, wherein the robot controller compensates movement of the moveable arm based on the motion of the robot base to align the second part with the first part to assemble the second part to the first part.

9. The method according to claim 8 , further comprising processing the measured motion to determine a vibration of the robot base, wherein movement of the moveable arm is compensated based on the vibration to align the second part with the first part to assemble the second part to the first part.

10. The method according to claim 1 , wherein the motion is measured with an IMU sensor connected to the moveable arm to measure the motion of the moveable arm.

11. The method according to claim 10 , further comprising communicating the motion of the moveable arm to a robot controller, and processing the measured motion to determine a vibration of the moveable arm, wherein the robot controller compensates movement of the moveable arm based on the vibration of the moveable arm to align the second part with the first part to assemble the second part to the first part.

12. The method according to claim 10 , further comprising processing the measured motion to determine a vibration of the moveable arm, comparing the vibration to a predetermined expected vibration, and determining that the assembly part, the moveable arm or the IMU sensor has failed when the vibration and the predetermined expected vibration varies by more than a threshold.

13. The method according to claim 1 , further comprising processing the measured motion in a determination of a position, speed or acceleration of the assembly base, the robot base or the moveable arm, wherein movement of the robot base or moveable arm is compensated based on the position, speed or acceleration to align the second part with the first part to assemble the second part to the first part.

14. The method according to claim 1 , further comprising processing the measured motion in a determination of a vibration of the assembly base, the robot base or the moveable arm, wherein movement of the robot base or moveable arm is compensated based on the vibration to align the second part with the first part to assemble the second part to the first part.

15. The method according to claim 1 , further comprising assigning a first time stamp to the measured motion, a robot controller receiving the measured motion and the first time stamp and receiving another measured motion of the assembly base, the robot base or the moveable arm from another sensor with a second time stamp assigned thereto, the robot controller matching the first time stamp and the second time stamp and compensating the measured motion based on the another measured motion.

16. The method according to claim 1 , wherein the motion is measured with an IMU sensor, the IMU sensor being an accelerometer, gyroscope or magnetometer.

17. The method according to claim 1 , wherein the motion is measured with an IMU sensor connected to the assembly base to measure the motion of the assembly base, and further comprising another IMU sensor connected to the robot base to measure a motion of the robot base.

18. The method according to claim 17 , further comprising processing the measured motion of the robot base to determine a vibration of the robot base, wherein movement of the moveable arm is compensated based on the vibration of the robot base to align the second part with the first part to assemble the second part to the first part.

19. The method according to claim 18 , further comprising processing the measured motion of the assembly base to determine a vibration of the assembly base, wherein movement of the moveable arm is compensated based on the vibrations of the assembly base and the robot base to align the second part with the first part to assemble the second part to the first part.

20. The method according to claim 19 , further comprising yet another IMU sensor connected to the moveable arm to measure the motion of the moveable arm.

21. The method according to claim 20 , further comprising processing the measured motion of the moveable arm to determine a vibration of the moveable arm, wherein movement of the moveable arm is compensated based on the vibrations of the assembly base, the robot base and the moveable arm to align the second part with the first part to assemble the second part to the first part.

Assignees

• Abb Schweiz Ag

Inventors

• Zhang Biao
• Sharma Saumya
• Liu Yixin
• Wang Jianjun
• EAKINS Will
• Salm Andrew M
• Su Yun Hsuan
• Vidal-Ribas Jorge
• Artigas Jordi
• Casanelles Ramon

Classifications

• B25J19/04

  Viewing devices · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• G05B2219/40582

  Force sensor in robot fixture, base · CPC title

• G05B2219/39102

  Manipulator cooperating with conveyor · CPC title