Apparatus and method for use with robot

A technology of robots and grippers, applied in the field of robot devices, can solve problems such as difficult precise positioning of grippers, and achieve fast and accurate calibration or teaching effects

Active Publication Date: 2020-06-26
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Especially for precise assembly, it will be difficult to achieve precise positioning of the gripper without skilled and patient engineers

Method used

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  • Apparatus and method for use with robot
  • Apparatus and method for use with robot
  • Apparatus and method for use with robot

Examples

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Embodiment Construction

[0039] The principles of the disclosure will now be described with reference to several example embodiments illustrated in the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the description of the embodiments is merely to help those skilled in the art better understand and thus implement the present disclosure, and not to limit the scope of the present disclosure in any way. .

[0040] figure 1A scanning motion of an apparatus 200 for a robot 100 over a target object 210 is schematically shown according to some example embodiments. As shown, the target object 210 is supplied onto and supported by the table 410 by the feeder 310 . The robot 100 includes a robot arm 110 and a gripper 120 connected to the robot arm 110 . The gripper 120 is driven by the robot arm 110 to move between different positions above the table 410 . Gripper 120 includes a gripping member 140 operable to grip and d...

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Abstract

An apparatus (200) for use with a robot (100) is disclosed. The apparatus (200) comprises a reflective photoelectric sensor (130) arranged on a gripper (120) of the robot (100) and a controller (300).The controller (300) is configured to: cause the reflective photoelectric sensor (130) to scan over a target object (210, 210'); monitor changes in an output signal from the reflective photoelectricsensor (130); for each detected change exceeding a threshold, determine a coordinate of a gripping component (140) on the gripper (120) in a robot coordinate system, to obtain a set of coordinates; determine a position of the target object (210,210') in the robot coordinate system based on the set of coordinates and a predefined offset value (PO) between the reflective photoelectric sensor (130) and the gripping component (140); and store the position of target object (210, 210') for future use in assembling objects. A method, a robot and a computer program product are also disclosed. The apparatus (200) and the method provide a new solution for calibrating or teaching the robot.

Description

technical field [0001] Embodiments of the present disclosure relate generally to the field of industrial robotics, and more particularly, to apparatus and methods for robotics. Background technique [0002] Industrial robots are widely used in various manufacturing applications, such as assembling objects such as home appliance components, automotive parts, etc. A robot for assembling objects is capable of repeatedly moving an object grasped by a gripper attached to the robot's robotic arm from one location to another. In order to perform this movement precisely, the robot must be calibrated beforehand. In other words, the robot must first be taught the above positions. [0003] Traditionally, robot teaching is done manually by an operator. An operator manually controls the robotic arm to position the robot's gripper or an object grasped by the gripper at a desired location. Once so positioned, the positions of the grippers are recorded so that the robot can return the g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
CPCB25J19/021G05B2219/37286G05B2219/40555G05B2219/37125G05B2219/40033B25J9/1694B25J9/1612G05B19/401G05B2219/36415G05B2219/37283G05B2219/39024
Inventor 顾颢李承
Owner ABB (SCHWEIZ) AG
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