Assembly device, assembly method, and computer-readable storage medium

Abstract

The present invention relates to an assembly device and an assembly method. The assembly device includes: an image sensor (40) arranged above an assembly station; a first robot (10) arranged near the assembly station and configured to hold a first part (31) of an object (30) to be assembled onto a target object (50) arranged on the assembly station; a second robot (20) arranged near the assembly station and configured to hold a second part (33) of the object (30) spaced apart from the first part (31); and a controller (60) configured to: enable the image sensor (40) to Capturing images (41A, 41B) of the object (30) and the target object (50); causing the first robot (10) to move the first part a first distance in a first direction (31) based on the captured images (41A, 41B); and causing the second robot (20) to move the second part (33) a second distance different from the first distance in the first direction, or to move the second part (33) in a direction opposite to the first direction, based on the captured images (41A, 41B), so that the object (30) is aligned with the target object (50). Exemplary embodiments of the present disclosure can effectively and accurately achieve assembly without increasing the accuracy requirements of a single robot.

Description

Technical Field

[0001] Embodiments of the present disclosure relate generally to the field of object assembly, and more particularly, to apparatus and methods for assembling objects using robots. Background Art

[0002] Robotic automated assembly is often used in factory production lines to automate operations and save manpower. In automated assembly, systems with robots, such as multi-jointed arms, can improve the efficiency and quality of assembled objects. If the robot's motion accuracy doesn't meet assembly requirements, a control or feedback system can be used to adjust the robot's motion to improve assembly accuracy. However, when assembling large objects, the robot's rotational errors can result in significantly greater errors at the object's farthest edges. Therefore, to improve assembly accuracy, the robot must have higher precision or be equipped with a more complex control / feedback system, which makes the system more expensive and reduces assembly efficiency.

[0003] Therefore, there remains a need for improved solutions for assembling objects. Summary of the Invention

[0004] In general, exemplary embodiments of the present disclosure provide an assembling apparatus and an assembling method for assembling an object onto a target object.

[0005] In a first aspect, an assembly apparatus is provided. The assembly apparatus includes: an image sensor disposed above an assembly station; a first robot disposed near the assembly station and configured to hold a first portion of an object to be assembled onto a target object disposed on the assembly station; a second robot disposed near the assembly station and configured to hold a second portion of the object spaced apart from the first portion; and a controller configured to: cause the image sensor to capture an image of the object and the target object; cause the first robot to move the first portion a first distance in a first direction based on the captured image; and cause the second robot to move the second portion in the first direction a second distance different from the first distance, or in a direction opposite to the first direction, based on the captured image, so that the object is aligned with the target object.

[0006] Through the above embodiments, objects, especially large-sized objects, can be assembled by the collaboration of robots without increasing the accuracy requirements of individual robots. In addition, the collaboration of robots improves assembly accuracy without the need for very complex adjustment / feedback systems.

[0007] In some embodiments, at least one of the first robot and the second robot includes an end effector configured to hold the object and comprising: a first element configured to hold the first or second part of the object; a second element adapted to be connected to a free end of an arm of the first or second robot; and a passive rotary joint comprising: an outer portion connected to one of the first and second elements; and an inner portion connected to the other of the first and second elements and rotatable relative to the outer portion about a rotation axis.

[0008] Through the above-described embodiment, the passive rotary joint can provide a passive rotational degree of freedom for the object to rotate relative to the second element of the end effector. This structure enables the object to rotate to align with the target object when the first and second robots move different distances in the first direction X or move away from each other in the first direction X.

[0009] In some embodiments, the axis of rotation of the passive rotary joint is perpendicular to the surface of the object.For these embodiments, the passive rotary joint can be arranged on the end effector in a simple manner.

[0010] In some embodiments, at least one of the first robot and the second robot includes an end effector configured to hold the object and includes a torque sensor configured to sense torque acting on the end effector; and the controller is further configured to cause the first robot or the second robot to move the object such that a measurement value of the torque sensor is within a predetermined range. With these embodiments, when the first and second robots move different distances in a first direction X or move away from each other in the first direction X, the rotary joints of the end effectors are actuated to rotate the object to align with the target object.

[0011] In some embodiments, the controller is further configured to cause the first and second robots to move the object in a second direction perpendicular to the first direction. With these embodiments, by moving the object in the second direction, the position of the object can be adjusted more accurately.

[0012] In some embodiments, the controller is further configured to move the first and second robots the same distance along the second direction.With these embodiments, the object can be prevented from being bent by the first and second robots.

[0013] In some embodiments, the second robot includes an end effector configured to hold the object and a force sensor configured to sense a force acting on the end effector; and the controller is further configured to cause the second robot to move the object in the second direction such that a measurement value of the force sensor is within a predetermined range. These embodiments can prevent the object from being bent by the first and second robots, and can appropriately control the movements of the first and second robots.

[0014] In a second aspect, an assembly method is provided. The method includes: causing a first robot disposed near an assembly station to hold a first portion of an object to be assembled onto a target object disposed on the assembly station; causing a second robot disposed near the assembly station to hold a second portion of the object spaced apart from the first portion; causing an image sensor disposed above the assembly station to capture images of the object and the target object; and causing the first robot to move the first portion in a first direction by a first distance based on the captured images, and causing the second robot to move the second portion in the first direction by a second distance different from the first distance, or in a direction opposite to the first direction, based on the captured images, so that the object is aligned with the target object.

[0015] Through the above embodiments, objects, especially large-sized objects, can be assembled by the collaboration of robots without increasing the accuracy requirements of individual robots. In addition, the collaboration of robots can improve assembly accuracy without the need for very complex adjustment / feedback systems.

[0016] In some embodiments, at least one of the first robot and the second robot includes an end effector configured to hold the object and comprising: a first element configured to hold the first or second part of the object; a second element adapted to be connected to a free end of an arm of the first or second robot; and a passive rotary joint comprising: an outer part connected to one of the first and second elements; and an inner part connected to the other of the first and second elements and rotatable relative to the outer part about a rotation axis.

[0017] In some embodiments, the axis of rotation of the passive rotary joint is perpendicular to the surface of the object.

[0018] In some embodiments, at least one of the first robot and the second robot includes an end effector configured to hold the object and includes a torque sensor configured to sense a torque acting on the end effector; and the method further includes causing the first robot or the second robot to move the object so that a measurement value of the torque sensor is within a predetermined range.

[0019] In some embodiments, the method further includes causing the first robot and the second robot to move the object in a second direction perpendicular to the first direction.

[0020] In some embodiments, causing the first robot and the second robot to move the object in the second direction includes causing the first robot and the second robot to move the same distance in the second direction.

[0021] In some embodiments, the second robot includes an end effector configured to hold the object and includes a force sensor configured to sense the force acting on the end effector; and the method further includes: causing the second robot to move the object in the second direction so that the measurement value of the force sensor is within a predetermined range.

[0022] In a third aspect, a computer-readable storage medium having instructions stored thereon is provided. When executed by at least one processor, the instructions cause the at least one processor to perform the assembly method according to the second aspect of the present disclosure.

[0023] It should be understood that the summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Some example embodiments will now be described with reference to the accompanying drawings, in which:

[0025] Figure 1 A conventional assembly apparatus is shown;

[0026] Figure 2 shows an assembly apparatus according to some exemplary embodiments of the present disclosure;

[0027] Figure 3 Shown Figure 2 a partial schematic diagram of the assembly apparatus shown, showing a top view of the subject and target object;

[0028] Figure 4 Schematic diagram showing a principle for assembling an object onto a target object by an assembling device according to some exemplary embodiments of the present disclosure;

[0029] Figure 5 An assembly apparatus according to some exemplary embodiments of the present disclosure is shown, wherein a first robot and a second robot are partially shown;

[0030] Figure 6 An exemplary computational process for controlling the motion of the first and second robots is shown; and

[0031] Figure 7 is a flow chart of an assembly method according to an embodiment of the present invention.

[0032] Throughout the drawings, the same or similar reference numerals denote the same or similar elements. DETAILED DESCRIPTION

[0033] The principles of the present disclosure will now be described with reference to some exemplary embodiments. It should be understood that these embodiments are described only for illustrative purposes and to help those skilled in the art understand and implement the present disclosure, and do not represent any limitation on the scope of the present disclosure. The disclosure described herein can be implemented in various ways different from the ways described below.

[0034] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0035] References in this disclosure to "one embodiment," "some example embodiments," "example embodiments," etc., indicate that the described embodiments may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Furthermore, these phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with some example embodiments, it is considered to be within the knowledge of those skilled in the art to effect such feature, structure, or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0036] It should be understood that although the terms "first" and "second" and the like may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, and similarly, a second element may be referred to as a first element. As used herein, the term "and / or" includes any and all combinations of one or more of the listed terms.

[0037] The terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the example embodiments. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprises," "includes," "has," "having," "includes," and / or "comprising" when used herein specify the presence of stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0038] Robots are often used to perform assembly tasks in production lines. Traditionally, Figure 1 FIG. 4 shows a conventional assembly apparatus in which a robot 10A is used to assemble an object 30A onto a target object 50A. To assemble the object 30A onto the target object 50A, the four corners of the object 30A must be aligned with the corresponding corners of the target object 50A. If the object 30A is large, such as a rectangular shape with long sides, the rotational error of the robot 10A will be significantly amplified by the length of the long sides, resulting in large errors between the corners of the object 30A and the target object 50A. This reduces the efficiency and accuracy of the assembly process.

[0039] According to an embodiment of the present invention, an improved assembly device and assembly method are provided. Figure 2 FIG. 1 shows an assembly device according to some exemplary embodiments of the present disclosure. Figure 2 As shown, the assembly apparatus includes an image sensor 40, a first robot 10, a second robot 20, and a controller 60. The image sensor 40 is arranged above an assembly station (not shown). The first robot 10 and the second robot 20 are arranged near the assembly station.

[0040] The target object 50 is placed on the assembly station. When the object 30 is assembled to the target object 50, the image sensor 40 may capture images of the object 30 and the target object 50.

[0041] In some embodiments, as Figure 2 As shown, the image sensor 40 includes two cameras 40A and 40B respectively arranged to capture images. Each of the cameras 40A and 40B can be arranged to capture different images to obtain information about the positional relationship between the object 30 and the target object 50. Figure 2 As shown, cameras 40A, 40B are arranged to capture different images 41A, 41B, respectively, each image containing a corner of object 30 and a corresponding corner of target object 50. In other embodiments, image sensor 40 may include more or fewer cameras. The scope of the present disclosure is not intended to be limited in this regard.

[0042] Furthermore, it should be understood that embodiments of the present invention are not intended to be limited to the type of image sensor, and any suitable type of image sensor may be applied.

[0043] The first robot 10 is configured to hold a first portion 31 of the object 30, and the second robot 20 is configured to hold a second portion 33 of the object 30 spaced apart from the first portion 31. In this way, the object 30 can be held by the first and second robots 10 and 20. Figure 3 Shown Figure 2 FIG2 is a partial schematic diagram of an assembly apparatus, which also shows a top view of object 30 and target object 50. By moving first robot 10 and second robot 20, the accuracy of aligning object 30 with target object 50 can be improved, that is, the error can be reduced. represents the error between one corner of object 30 and the corresponding corner of target object 50, and represents the error between another corner of object 30 and the corresponding corner of target object 50.

[0044] In some embodiments, as Figure 2 and Figure 3 As shown, the first robot 10 and the second robot 20 are multi-joint robots. However, it should be understood that the first robot 10 and the second robot 20 can be of suitable types other than the above examples. The present disclosure is not intended to limit the types of the first robot 10 and the second robot 20.

[0045] With the assembling apparatus according to the embodiment of the present disclosure, the object 30 is assembled onto the target 50 using two robots, thereby reducing the accuracy requirement of a single robot.

[0046] In some embodiments, as Figure 2-Figure 3 As shown, the first robot 10 and the second robot 20 may include end effectors 11 and 21. The end effectors 11 and 21 are configured to hold an object 30. In one embodiment, each of the end effectors 11 and 21 may be a gripper having two or more fingers for grasping the object 30. Alternatively, in another embodiment, each end effector 11 and 21 may be a bonding component, such as a vacuum chuck or an electromagnet.

[0047] It should be understood that the end effectors 11 , 21 may be of a suitable type other than the examples described above. The present disclosure is not intended to limit the type of the end effectors 11 , 21 .

[0048] The controller 60 of the assembly apparatus may be implemented by any dedicated or general purpose processor, controller, circuit, etc. In some embodiments, the controller 60 may also be a controller for the first robot 10 and the second robot 20 .

[0049] The controller 60 is configured to control the movement of the first robot 10 and the second robot 20. Embodiments of the present disclosure are based on the following insight: In operation, the first robot 10 and the second robot 20 can adjust the orientation of the object 30 to align the object 30 with the target object 50. If the first robot 10 and the second robot 20 move different distances in the same direction or move in opposite directions, the object 30 can be rotated and then precisely aligned with the target 50 without requiring robots with high rotational accuracy.

[0050] It should be understood that the first robot 10 and the second robot 20 can move the object 30 in any direction different from the above examples. The present disclosure is not intended to limit the movement directions of the first robot 10 and the second robot 20. Figure 4 Example moving directions of the first robot 10 and the second robot 20 are described in detail.

[0051] Figure 4 FIG2 shows a principle of assembling an object 30 onto a target object 50 by an assembling device according to some exemplary embodiments of the present disclosure. Figure 2-Figure 4 During assembly, the controller 60 causes the image sensor 40 to capture images 41A and 41B of the object 30 and the target object 50. Then, based on the captured images 41A and 41B, the controller 60 causes the first robot 10 to move the first portion 31 a first distance D1 along the first direction X, and causes the second robot 20 to move the second portion 33 a second distance D2 along the first direction X. The second distance D2 is different from the first distance D1, so that the object 30 can be rotated to align with the target object 50.

[0052] Alternatively, in some embodiments, based on the captured images 41A, 41B, the controller 60 causes the second robot 20 to move the second portion 33 in a direction opposite to the first direction X. In this way, the object 30 may be rotated to align with the target object 50 .

[0053] Figure 5 FIG. 1 shows an assembly apparatus according to some exemplary embodiments of the present disclosure, wherein a first robot 10 and a second robot 20 are partially shown. In some embodiments, as Figure 5 As shown, each end effector 11, 21 may include a first element 111, 211, a second element 115, 215, and a passive rotary joint 113, 213. The first element 111, 211 is configured to hold the first or second part 31, 33 of the object 30. The second element 115, 215 is adapted to be connected to the free end of the arm of the first robot 10 or the second robot 20.

[0054] When the first robot 10 and the second robot 20 move different distances (D1 / D2) along the first direction X or move in opposite directions, the passive rotary joints 113 and 213 are used to enable the object 30 to rotate relative to the end effectors 11 and 21 so that the object 30 can be aligned with the target object 50. In this way, when the object 30 is moved by the first robot 10 and the second robot 20, the structure of the end effectors 11 and 21 can be simplified.

[0055] In some embodiments, the passive rotary joint 113, 213 includes an outer portion and an inner portion that is rotatable relative to the outer portion about an axis of rotation R. The outer portion is configured to be connected to one of the first element 111, 211 and the second element 115, 215. The inner portion is configured to be connected to the other of the first element 111, 211 and the second element 115, 215.

[0056] In this way, when the first robot 10 and the second robot 20 move different distances (D1 / D2) along the first direction X or move in opposite directions, the passive rotary joints 113, 213 can provide the object 30 with passive rotational freedom relative to the end effectors 11, 21.

[0057] In some embodiments, when the object 30 is a plate, the rotation axis R of the passive rotary joint 113 , 213 may be perpendicular to the surface of the object 30 .

[0058] Alternatively or additionally, each end effector 11, 21 may include a torque sensor (not shown) configured to sense a torque acting on the end effector 11, 21. In this case, the torque τ sensed by the torque sensor may be transmitted to the controller 60 to determine the motion of the first robot 10 and the second robot 20, as shown in FIG. Figure 6 Therefore, the controller 60 may be further configured to cause the first robot 10 or the second robot 20 to move the object 30 so that the measurement value of the torque sensor is within a first predetermined range. The first predetermined range may be pre-stored in any suitable memory accessible by the controller 60.

[0059] For example, when the measurement value of the torque sensor exceeds a first predetermined range, the controller 60 may rotate the rotary joints of the end effectors 11 and 21 to reduce the torque acting on the end effectors 11 and 21. This can prevent deformation of the object 30 caused by torques generated by the different modes of the first robot 10 and the second robot 20 (i.e., the first distance D1 and the second distance D2).

[0060] In some embodiments, the controller 60 is further configured to cause the first robot 10 and the second robot 20 to move the object 30 in a second direction Y that is perpendicular to the first direction X. This facilitates adjusting the position and orientation of the object 30. By moving the object 30 in the second direction Y, the position of the object 30 can be adjusted more precisely.

[0061] In some embodiments, the controller 60 is configured to move the first robot 10 and the second robot 20 by the same distance in the second direction Y. In this way, the object 30 may be prevented from being bent by the first robot 10 and the second robot 20 .

[0062] Alternatively or additionally, such as Figure 2 As shown, each end effector 11, 21 may include a force sensor 43 configured to sense the force acting on the end effector 11, 21. The forces FX, FY sensed by the force sensor 43 may be transmitted to the controller 60 to determine the motion of the first robot 10 and the second robot 20, as shown in FIG. Figure 6 shown.

[0063] The controller 60 may also be configured to cause the second robot 20 to move the object 30 in the second direction Y so that the measurement value of the force sensor 43 is within a second predetermined range. The second predetermined range may be pre-stored in any suitable memory accessible by the controller 60 .

[0064] For example, when the measured value of the force Fy exceeds the second predetermined range, the controller 60 may increase the moving distance of the second robot 20 along the second direction Y to reduce the force Fy acting on the end effector 21. In this way, the object 30 may be prevented from being bent by the first robot 10 and the second robot 20.

[0065] In other words, the first robot 10 moves as a master robot in the second direction Y, and the second robot 20 moves as a slave robot in the second direction Y. This can prevent the object 30 from being bent or twisted due to the asynchronous movements of the first robot 10 and the second robot 20 .

[0066] Alternatively, the movement of the second robot 20 in the second direction Y may be achieved by a mechanical unit having passive prismatic degrees of freedom. Of course, the first robot 10 may also include a mechanical unit having passive prismatic degrees of freedom.

[0067] It should be understood that the present disclosure is not intended to limit the computing process of the controller 60. Any suitable computing process for performing control of the first robot 10 and the second robot 20 may be used.

[0068] For example, based on the captured images 41A and 41B, the controller 60 can determine the current position and orientation of the object 30 relative to the target object 50. To align the object 30 with the target object 50, the position and orientation of the object 30 should be adjusted based on the target position and orientation of the object 30. Therefore, a first distance D1 is determined to adjust the position of the object 30, and a second distance D2, different from the first distance D1, is determined to adjust the orientation of the object 30. Alternatively, the controller 60 can move the second robot 20 in a direction opposite to the first direction X to adjust the orientation of the object 30.

[0069] In this way, the first robot 10 and the second robot 20 may adjust the position and orientation of the object 30 relative to the target object 50 so that the object 30 may be aligned with the target object 50 .

[0070] Figure 6 An example calculation process for controlling the motion of the first and second robots is shown. Taking the embodiment of the image sensor 40 having two cameras 40A and 40B as an example, the controller 60 can first cause the two cameras 40A and 40B to capture images of the object 30 and the target object 50. Image processing techniques can then be used to obtain the coordinates of the first corner of the object 30 (x1, y1) and the coordinates of the second corner of the object 30 (x2, y2), and the coordinates of the corresponding corners of the target object 50 can be obtained at the same time. Based on the obtained coordinates of the object 30 and the target object 50, the controller 60 can estimate the position and orientation (x, y, θ) of the object 30 relative to the target object 50. For example, the position and orientation (x, y, θ) of the object 30 can be determined by:

[0071]

[0072] L is the length of the object 30 in the direction from the first portion 31 to the second portion 33 .

[0073] Based on the calculated coordinates (x, y, θ) of the object 30, the controller 60 can determine the respective speeds of the first robot 10 and the second robot 20, i.e., θ. For example, the respective speeds of the first robot 10 and the second robot 20 can be determined as follows:

[0074]

[0075]

[0076] x1 and x2 represent the speeds of the first robot 10 and the second robot 20 in the first direction X. y1 and y2 represent the speeds of the first robot 10 and the second robot 20 in the second direction Y perpendicular to the first direction X. x ,Ky ,k θ ,orK F is the feedback gain of the controller 60. FX and FY represent the forces acting on the end effectors 11 and 21 along the first direction X and the second direction Y, respectively.

[0077] According to an embodiment of the present disclosure, an assembly method is also provided. Figure 7 is a flow chart of an assembly method according to an embodiment of the present invention. The method 700 may be performed by, for example Figure 2-6 The assembly device shown is performed.

[0078] The method includes, at block 702 , causing a first robot 10 disposed near an assembly station to hold a first portion 31 of an object 30 to be assembled onto a target object 50 disposed on the assembly station.

[0079] The method includes, at block 704 , causing a second robot 20 disposed adjacent the assembly station to hold the second portion 33 of the object 30 spaced apart from the first portion 31 .

[0080] The method includes, at block 706 , causing image sensors 40A, 40B disposed above the station to capture images 41 of the subject 30 and the target object 50 .

[0081] The method includes, at block 708 , causing the first robot 10 to move the first part 31 a first distance D1 in a first direction X based on the captured image 41 .

[0082] The method includes, at box 710, based on the captured image 41, causing the second robot 20 to move the second part 33 in the first direction X by a second distance D2 different from the first distance D1, or moving the second part 33 in a direction opposite to the first direction X, so that the object 30 is aligned with the target object 50.

[0083] In some embodiments, at least one of the first robot 10 and the second robot 20 includes an end effector 11, 21 configured to hold an object 30. The end effector 11, 21 includes a first element 111, 211 configured to hold a first or second portion 31, 33 of the object 30; a second element 115, 215 adapted to be connected to the free end of the arm of the first robot 10 or the second robot 20; and a passive rotary joint 113, 213. The passive rotary joint 113, 213 includes an outer portion connected to one of the first element 111, 211 and the second element 115, 215; and an inner portion connected to the other of the first element 111, 211 and the second element 115, 215. The inner portion is rotatable relative to the outer portion about a rotation axis R. In some embodiments, the rotation axis R of the passive rotary joint 113, 213 is perpendicular to the surface of the object 30.

[0084] In some embodiments, at least one of the first robot 10 and the second robot 20 includes an end effector 11 or 21 configured to hold an object 30. The end effector 11 or 21 includes a torque sensor, and the torque sensor is configured to sense torque acting on the end effector 11 or 21. The method 700 may further include causing the first robot 10 or the second robot 20 to move the object 30 so that a measurement value of the torque sensor is within a predetermined range.

[0085] In some embodiments, the method 700 further includes causing the first robot 10 and the second robot 20 to move the object 30 in a second direction Y that is perpendicular to the first direction X. In some embodiments, causing the first robot 10 and the second robot 20 to move the object 30 in the second direction Y includes causing the first robot 10 and the second robot 20 to move the same distance in the second direction Y.

[0086] In some embodiments, the second robot 20 includes an end effector 21 configured to hold an object 30. The end effector 21 may include a force sensor 43 configured to sense a force acting on the end effector 21. The method 700 further includes causing the second robot 20 to move the object 30 along the second direction Y so that a measurement value of the force sensor 43 is within a predetermined range.

[0087] In some embodiments of the present disclosure, a computer-readable medium is provided. The computer-readable medium has instructions stored thereon, and when the instructions are executed on at least one processor, the instructions may cause the at least one processor to perform method 700 as described in the previous paragraph, and the details will be omitted below.

[0088] In the context of the subject matter described herein, a memory may be any tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The memory may be a machine-readable signal medium or a machine-readable storage medium. The memory may include, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. More specific examples of memory would include an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0089] It should be understood that the above detailed embodiments of the present disclosure are only used to illustrate or explain the principles of the present disclosure, rather than to limit the present disclosure. Therefore, without departing from the spirit and scope of the present disclosure, any modifications, equivalent substitutions, and improvements should be included within the scope of protection of the present disclosure. At the same time, the appended claims of the present disclosure are intended to cover all variations and modifications that fall within the scope and limits of the claims or equivalents of the scope and limits.

[0090] In addition, although operations are described in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in sequence, or that all operations shown be performed, to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details have been included in the above discussion, these details should not be interpreted as limiting the scope of this disclosure, but rather as describing features specific to a particular embodiment. Certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. On the contrary, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination.

Claims

1. An assembly device comprising: an image sensor (40) disposed above the assembly station; a first robot (10) disposed near the assembly station and configured to hold a first portion (31) of an object (30) to be assembled onto a target object (50) disposed on the assembly station; a second robot (20) disposed adjacent the assembly station and configured to hold a second portion (33) of the object (30) spaced apart from the first portion (31); as well as The controller (60) is configured to: causing the image sensor (40) to capture an image (41) of the object (30) and the target object (50); Based on the captured image (41), causing the first robot (10) to move the first part (31) a first distance (D1) in a first direction (X); and Based on the captured image (41), the second robot (20) moves the second part (33) in the first direction (X) by a second distance (D2) different from the first distance (D1), or moves the second part (33) in a direction opposite to the first direction (X), so that the object (30) is aligned with the target object (50).

2. The assembly apparatus according to claim 1, wherein the first robot (10) and the second robot (20) each include an end effector (11, 21), each end effector (11, 21) being configured to hold the object (30) and comprising: a first element (111, 211) configured to hold the first portion (31) or the second portion (33) of the object (30); a second element (115, 215) adapted to be connected to a free end of an arm of the first robot (10) or the second robot (20); as well as Passive rotary joint (113, 213), comprising: an external portion connected to one of the first element (111, 211) and the second element (115, 215); and An inner portion is connected to the other of the first element (111, 211) and the second element (115, 215) and is rotatable relative to the outer portion about an axis of rotation (R).

3. The assembly device according to claim 2, wherein the rotation axis (R) of the passive rotary joint (113, 213) is perpendicular to the surface of the object (30).

4. The assembly apparatus according to claim 1, wherein the first robot (10) and the second robot (20) each include an end effector (11, 21), each end effector (11, 21) being configured to hold the object (30) and including a torque sensor configured to sense a torque acting on the end effector (11, 21); and The controller (60) is further configured to cause the first robot (10) or the second robot (20) to move the object (30) so that the measurement value of the torque sensor is within a predetermined range.

5. The assembly apparatus according to claim 1, wherein the controller (60) is further configured to cause the first robot (10) and the second robot (20) to move the object (30) in a second direction (Y) perpendicular to the first direction (X).

6. The assembly device according to claim 5, wherein the controller (60) is further configured to move the first robot (10) and the second robot (20) the same distance in the second direction (Y).

7. The assembly apparatus according to claim 5, wherein the second robot (20) includes an end effector (21) configured to hold the object (30), and includes a force sensor (43) configured to sense a force acting on the end effector (21); and The controller (60) is further configured to cause the second robot (20) to move the object (30) along the second direction (Y) so that the measurement value of the force sensor (43) is within a predetermined range.

8. An assembly method comprising: causing a first robot (10) disposed near an assembly station to hold a first portion (31) of an object (30) to be assembled onto a target object (50) disposed on the assembly station; causing a second robot (20) disposed near the assembly station to hold a second portion (33) of the object (30) spaced apart from the first portion (31); causing an image sensor (40) disposed above the assembly station to capture an image (41) of the object (30) and a target object (50); Based on the captured image (41), causing the first robot (10) to move the first part (31) a first distance (D1) in a first direction (X), and Based on the captured image (41), the second robot (20) moves the second part (33) in the first direction (X) by a second distance (D2) different from the first distance (D1), or moves the second part (33) in a direction opposite to the first direction (X), so that the object (30) is aligned with the target object (50).

9. The assembly method according to claim 8, wherein the first robot (10) and the second robot (20) each comprise an end effector (11, 21), each end effector (11, 21) being configured to hold the object (30) and comprising: a first element (111, 211) configured to hold the first portion (31) or the second portion (33) of the object (30); a second element (115, 215) adapted to be connected to a free end of an arm of the first robot (10) or the second robot (20); as well as Passive rotary joint (113, 213), comprising: an external portion connected to the exterior of one of the first element (111, 211) and the second element (115, 215); and An inner portion is connected to the other of the first element (111, 211) and the second element (115, 215) and is rotatable relative to the outer portion about an axis of rotation (R).

10. The assembly method according to claim 9, wherein the rotation axis (R) of the passive rotary joint (113, 213) is perpendicular to the surface of the object (30).

11. The assembly method according to claim 8, wherein the first robot (10) and the second robot (20) each include an end effector (11, 21), each end effector (11, 21) being configured to hold the object (30) and including a torque sensor configured to sense a torque acting on the end effector (11, 21); and The method further comprises: The first robot (10) or the second robot (20) is caused to move the object (30) so that the measurement value of the torque sensor is within a predetermined range.

12. The assembly method according to claim 8, further comprising: The first robot (10) and the second robot (20) are caused to move the object (30) in a second direction (Y) perpendicular to the first direction (X).

13. The assembly method according to claim 12, wherein causing the first robot (10) and the second robot (20) to move the object (30) in the second direction (Y) comprises: The first robot (10) and the second robot (20) are moved the same distance in the second direction (Y).

14. The assembly method according to claim 12, wherein the second robot (20) includes an end effector (21) configured to hold the object (30), and includes a force sensor (43) configured to sense a force acting on the end effector (21); and The method further comprises: The second robot (20) is caused to move the object (30) in the second direction (Y) so that the measurement value of the force sensor (43) is within a predetermined range. 15 . A computer-readable storage medium having instructions stored thereon, which, when executed by at least one processor, cause the at least one processor to perform the assembly method according to claim 8 .

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