Robot and method for sewing object

Abstract

A robot and a method for sewing an object (190) are provided. The robot comprises: a first robot arm (120) adapted to hold a needle (180), the needle (180) carrying a length of thread; a second robotic arm (130) adapted to hold a needle (180); and a controller (110) configured to move the first and second robotic arms (120, 130) to perform a plurality of sewing operations to form a plurality of stitches on the object (190), each sewing operation including: moving the first robotic arm (120) by a first distance to penetrate a portion of the object (190); and moving the second robotic arm (130) to hold the penetrating portion of the needle (180) and pulling the entire needle (180) out of the object (190) after the needle (180) is released by the first robotic arm (120).

Description

Technical Field

[0001] Embodiments of the present disclosure relate generally to the field of industrial robots, and more particularly to industrial robots for sewing objects. Background Art

[0002] In the automotive industry, more and more cars are being manufactured to be equipped with leather-covered steering wheels. Leather not only improves the appearance of the steering wheel, but also improves the comfort of the feel. This is because the leather covering resists the slippery feeling caused by sweat, which means safer driving.

[0003] Typically, leather coverings are manually attached to the raw steering wheel by hand using manual work. The worker first attaches the leather covering to the raw steering wheel by gluing and then sews the leather covering to the raw steering wheel by sewing stitch by stitch. This is labor-intensive and time-consuming. For a single steering wheel, to complete this assembly process, it takes one hour even for an experienced operator. There is an increasing need to automate the assembly process by means of industrial robots. Summary of the invention

[0004] Exemplary embodiments of the present disclosure provide a robot and method for sewing an object, which can achieve automatic sewing using a needle.

[0005] In a first aspect of the present disclosure, a robot for sewing an object is provided. The robot for sewing an object comprises: a first robot arm adapted to hold a needle carrying a length of thread, a second robot arm adapted to hold the needle, and a controller configured to move the first robot arm and the second robot arm to perform a plurality of sewing operations to form a plurality of stitches on the object, each sewing operation comprising: moving the first robot arm a first distance to allow the needle to penetrate a portion of the object; and moving the second robot arm to hold the penetrated portion of the needle and pull the entire needle out of the object after the needle is released by the first robot arm.

[0006] According to the present disclosure, through the cooperative operation of the first and second robot arms, the needle can be easily controlled to automatically penetrate the object. Therefore, the object can be automatically sewn, which significantly reduces the dependence on manpower.

[0007] In some embodiments, the object may include a flexible outer surface and pre-stitches formed on the outer surface, each of the pre-stitches including a thread segment including a top side and an opposite bottom side facing the outer surface, and the controller is configured to cause the needle to pass through the thread segment along a path defined between the bottom side of the thread segment and the outer surface of the object. Thus, by forming pre-stitches on the object, the sewing operation performed by the robot can be simplified.

[0008] In some embodiments, for each sewing operation, the controller may be configured to: determine a position to be sewn corresponding to the thread segment of the pre-sewn stitch; move the needle to a preparation position located at a first lateral side of the thread segment, the preparation position being offset from the position to be sewn by an offset distance; determine the posture of the needle so that the longitudinal axis of the needle is tangent to the outer surface where the path on the object is located; and when the needle is in the determined posture, move the needle from the first lateral side of the thread segment to the opposite second lateral side of the thread segment by a first distance so that the needle passes through the thread segment, the first distance being greater than the offset distance. With this arrangement, the needle can be precisely controlled and the object can be penetrated with reduced scraping.

[0009] In some embodiments, the controller may be configured to: at the preparation position, press the needle toward the outer surface in a direction perpendicular to the outer surface to deform the outer surface of the object; and while the needle is maintained in the pressed state, linearly move the needle from the first lateral side of the wire segment by the first distance to reach the second lateral side opposite to the wire segment. By deforming the outer surface of the object, the needle can penetrate the object without scratching.

[0010] In some embodiments, the robot may further include a camera configured to capture an image of the object, and the controller may be configured to identify a plurality of positions to be sewn based on the image from the camera.

[0011] In some embodiments, the controller may be configured to generate a sewing pattern that defines sequential locations to be sewn based on the identified plurality of locations to be sewn.

[0012] In some embodiments, the first robot arm and the second robot arm may be adapted to adjust the clamping length of the needle respectively so that the tip of the needle is located at the same position relative to the corresponding robot arm. With this arrangement, the movement path and control of the needle can be significantly simplified.

[0013] In some embodiments, the first robotic arm may be adapted to hold a base portion of the needle and the second robotic arm may be adapted to hold a tip portion of the needle.

[0014] In some embodiments, the controller may be further configured to: hand over the needle held by the second robot arm back to the first robot arm for each sewing operation, and perform a subsequent sewing operation by repeating each sewing operation.

[0015] In some embodiments, the object may include a cover pre-rolled around the steering wheel, the cover being made of leather, artificial leather or fabric, and the cover including two rows of multiple pre-sewn stitches adjacent to each other, the pre-sewn stitches defining a sewing area for the sewing operation.

[0016] In some embodiments, the robot may further include a second camera configured to capture an image of the object, and the controller is configured to visually inspect the object based on the image from the second camera and provide an inspection result indicating the suitability of the object for being sewn by the device before the sewing operation, or indicating the sewing quality after the sewing operation.

[0017] In some embodiments, the robot may further include a thread pulling device configured to pull the slack portion of the thread from the fixed end to the movable end at the fixed end, the thread including the fixed end fixed to the object and the movable end tied to the needle. Using the thread pulling device, the control and path planning of the robot for sewing can be greatly simplified.

[0018] In some embodiments, the wire pulling device may include: a drive assembly, the drive assembly including a drive wheel, the drive wheel including a working platform, the working platform being used to support the wire on the needle carried by the second robot arm; a pressing assembly, the pressing assembly may include a pressing member, the pressing member is configured to move between a first position and a second position, in which the pressing member engages the working platform to clamp the wire to be pulled between the pressing member and the working platform, and in the second position, the pressing member disengages from the working platform to release the wire to be pulled; and a motor, the motor being configured to: rotate the drive wheel when the pressing member is in the first position so as to pull the slack portion of the wire at the fixed end to the movable end.

[0019] In some embodiments, the robot may also include a device for adjusting the sewing line on the object, wherein the device for adjusting the sewing line includes an adjustment tool, wherein the adjustment tool is partially passed through the sewing line along a path defined between the bottom side of the sewing line and the outer surface of the object, and the adjustment tool is moved upward away from the outer surface to adjust the spacing between the stitches, wherein the sewing line includes a first end fixed to the object and a second end, and a plurality of stitches are formed between the first end and the second end across the sewing area on the object, and each stitch includes the line segment, and the line segment includes a top side and an opposite bottom side. Using the device for adjusting the sewing line on the object, the bonding strength of the seam joint formed by the stitches can be enhanced. In addition, the appearance of the sewn product is improved.

[0020] In a second aspect of the present disclosure, a method for sewing an object is provided. The method includes: moving a first robot arm a first distance so that a needle held by the first robot arm penetrates a portion of the object; moving the second robot arm to hold the penetrated portion of the needle and pull the entire needle out of the object after the needle is released by the first robot arm; placing a portion of the thread on a member of a thread pulling device by the second robot arm; and operating the thread pulling device to pull a slack portion of the thread from the fixed end to a second end at a fixed end, the thread including a fixed end fixed to the object and a second end tied to the needle.

[0021] In some embodiments, the method may further include handing the needle held by the second robotic arm back to the first robotic arm and performing a subsequent sewing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the exemplary embodiments disclosed herein will become more easily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several exemplary embodiments disclosed herein are shown by way of example and not limitation, in which:

[0023] Figure 1 is a schematic diagram of a robot for sewing an object according to an exemplary embodiment of the present disclosure;

[0024] Figure 2 is a schematic perspective view of stitches sewn by a robot for sewing an object according to an exemplary embodiment of the present disclosure;

[0025] Figure 3 is a schematic enlarged view of a portion of a robot for sewing an object according to another exemplary embodiment of the present disclosure, illustrating a positional relationship between a needle prepared for performing a sewing operation and an object;

[0026] Figure 4-Figure 9 is a schematic cross-sectional process view showing the principle of how to operate a needle to penetrate an object to perform sewing according to an exemplary embodiment of the present disclosure, showing different states of the needle relative to pre-sewn stitches;

[0027] Fig.10 is a schematic perspective view of a wire pulling device according to an exemplary embodiment of the present disclosure;

[0028] Fig.11 is a schematic cross-sectional view of a wire pulling device according to an exemplary embodiment of the present disclosure, wherein the pressing member is disengaged from the driving wheel;

[0029] Fig.12 is a schematic diagram showing an operation principle of pulling a wire using a wire pulling device according to an exemplary embodiment of the present disclosure;

[0030] Fig.13 is a schematic perspective view showing a sewing stitch adjusted by an adjustment tool according to an exemplary embodiment of the present disclosure;

[0031] Figure 14-18 is a schematic cross-sectional view showing the principle of how to operate an adjustment tool to adjust a sewing line according to an exemplary embodiment of the present disclosure, showing different states of the adjustment tool relative to the sewing line; and

[0032] Fig.19 is a flowchart of a method for sewing an object according to an exemplary embodiment of the present disclosure.

[0033] Throughout the drawings, the same or similar reference numbers are used to refer to the same or similar elements. DETAILED DESCRIPTION

[0034] The principles of the present disclosure will now be described with reference to several example embodiments shown in the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that these embodiments are described only to facilitate those skilled in the art to better understand and thereby implement the present disclosure, rather than to limit the scope of the present disclosure in any way.

[0035] The terms "including" or "comprising" and their variations should be interpreted as open-ended terms, which mean "including but not limited to". The term "or" should be interpreted as "and / or", unless the context clearly indicates otherwise. The term "based on" should be understood as "based at least in part on". The term "operably" refers to a function, action, movement or state that can be achieved through operation caused by a user or an external mechanism. The terms "one embodiment" and "embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below. Unless the context clearly indicates otherwise, the definitions of terms are consistent throughout the specification.

[0036] There is an increasing need to automate the assembly process of sewing a cover onto a steering wheel. The present invention proposes a novel robotic system for sewing, which can sew a cover onto a steering wheel. It should be understood that although the present disclosure uses a steering wheel with a cover as an example to illustrate the principles of the present invention, this is merely illustrative and the concept of the present invention can be applied to any other object that needs to be sewn.

[0037] Figure 1 A robotic system 100 for sewing an object is shown. Figure 1 As shown, the robot system 100 includes a support 140 for supporting an object to be sewn (in the example shown, a steering wheel 190), a first robot arm 120, and a second robot arm 130. The object can be a semi-finished product transferred from a previous process, and can include a covering and a blank steering wheel. The covering can be basically bonded to the blank steering wheel, and the covering should be further sewn according to a predetermined sewing pattern so as to tightly fix the covering to the blank steering wheel. The robot system 100 is configured to perform the above-mentioned sewing operation.

[0038] The robotic system 100 also includes a controller 110 that can communicate with the first robotic arm 120 and the second robotic arm 130 to control their movements to perform sewing operations.

[0039] The robot system 100 may also include one or more cameras 152, 154. The cameras 152 and 154 may be attached to different positions of the robot system so as to obtain images of the object from different perspectives. The image of the object may be sent to the controller 110. In some embodiments, the controller is configured to visually inspect the object based on the image from the camera, and provide an inspection result indicating whether the object can be sewn by the device before the sewing operation. In some embodiments, the sewing quality after the sewing operation may be provided. In some embodiments, the controller 110 is configured to identify multiple positions to be sewn based on the image from the camera and generate a sewing path. The sewing path determines the sewing pattern based on the input rules of the pattern preparation based on the identified multiple positions to be sewn, and the sewing pattern defines the positions to be sewn in sequence. According to the sewing path, the controller controls the first robot arm 120 and the second robot arm 130 to perform the sewing operation. Through multiple sewing operations, multiple stitches are automatically formed.

[0040] The first robot arm 120 and the second robot arm 130 are arranged adjacent to the support 140 and can therefore approach the steering wheel 190 to perform the sewing operation. The first robot arm 120 and the second robot arm 130 each include a fixture configured to hold the needle 180. The object 190 to be sewn, such as a leather covering, can be placed in an appropriate position accessible to the robot arm. The root of the needle 180 includes a hole. The thread 185 passes through the hole and is tied to the needle 180. The tip portion of the needle 180 is sharp and can penetrate the object. The support 140 may include a rotatable shaft so that the position of the steering wheel 190 can be adjusted according to the position of the steering wheel 190 to be sewn.

[0041] The sewing operation of the robot system 100 is as follows. The first robot arm 120 first holds the needle 180, and the needle 180 is tied with a length of thread. The second robot arm 130 is in a standby position. The controller 110 identifies the position to be sewn, and instructs the first robot arm 120 to move to the identified position to be sewn so that the needle 180 penetrates a portion of the steering wheel 190. Then, the controller 110 instructs the second robot arm 130 to hold the penetrated portion of the needle 180, and pull the entire needle 180 out of the steering wheel 190 after the needle 180 is released by the first robot arm 120.

[0042] Through the above process, the needle 180 is inserted into the object, and the robot system 100 further pulls the needle 180 out of the object. Therefore, a sewn stitch is formed on the object. The above process is repeated several times. A plurality of stitches are formed on the object.

[0043] According to an embodiment of the present invention, there are at least two robot arms 120 and 130, which operate in cooperation to perform a single stitch. Compared with a single robot arm, two robot arms 120 and 130 bring technical advantages. The reason is as follows. In order to achieve sewing a stitch on an object, the needle should first penetrate a part of the object using a certain force, and then push the needle out of the object.

[0044] In some embodiments, the first and second robot arms are adapted to adjust the clamping length of the needle, respectively, so that the tip of the needle is located at the same position relative to the respective robot arms. The first and second robot arms may include a self-adjusting mechanism to ensure that the tip of the needle is located at the same position relative to the respective robot arms. This is advantageous when different needles are used in the robotic system. The needles may have different lengths. Using the self-adjusting mechanism, the needle tip may be used as a tool center point (TCP) of the robotic system, and the motion position and posture of the needle may be precisely and easily controlled.

[0045] In some embodiments, the first robot arm is adapted to hold the root portion of the needle, and the second robot arm is adapted to hold the tip portion of the needle. This is advantageous during the collaboration of the two robots. This reduces the complex posture adjustment of the needle during the sewing operation, and thus increases the efficiency of automatic sewing.

[0046] The inventors of the present invention have found that it is technically challenging to achieve such movement of the needle by using one robot arm. Another problem is that the length of the thread changes after each sewing operation, which makes it technically challenging to pull the needle with one robot arm. Using the device of the present disclosure, the first robot arm moves a first distance to allow the needle to penetrate a portion of the object, and the second robot arm is configured to hold the penetrated portion of the needle and pull the entire needle out of the object after the needle is released by the first robot arm. This enables automatic sewing by a robot.

[0047] As a material for covering the steering wheel, the cover is generally soft and has a certain flexibility to improve the hand's steering feel. In some embodiments, the cover is made of leather, artificial leather, fabric, etc. On the other hand, the needle generally has a sharp tip, which means that there is a high possibility that the needle may scratch the outer surface of the cover. This means that once the sharp tip of the needle directly contacts the outer surface of the cover, the cover is likely to be pierced by the needle, which destroys the appearance of the cover and reduces product quality.

[0048] In some embodiments, Figure 2As shown, pre-sewn stitches 192, for example two rows of pre-sewn stitches, are formed on the outer surface of the object 190, and the pre-sewn stitches define a sewing area. Each pre-sewn stitch includes a thread segment. The thread segment has a top side facing the upward direction and an opposite bottom side facing the outer surface. In order to perform the sewing operation, the needle moves across the thread segment along a path defined between the bottom side of the thread segment and the outer surface of the object. Therefore, since the needle does not have to penetrate the body 196 of the object 190 (see also Figure 4-Figure 9 ), so the scratches caused by the needle can be reduced. It should be understood that the pre-sewn stitches are merely illustrative. In some embodiments, instead of pre-sewn stitches 192, other measures, such as holes or markings, can be pre-formed to facilitate sewing. Therefore, the inventive concepts shown here can be applied to other applications.

[0049] Through the cooperative operation of the first and second robot arms 120, 130, the needle 180 is moved and penetrates the object 190. After a plurality of sewing operations, a plurality of sewing stitches are automatically formed on the object 190, such as Figure 2 shown.

[0050] Return to reference Figure 1 , cameras 152, 154 can be attached to appropriate locations of the robotic system and configured to obtain images of the object. The images of the object can be sent to the controller 110. The controller 110 is configured to identify a plurality of positions to be sewn, i.e., a plurality of pre-sewn stitches, based on the images from the cameras. When the needle carrying the thread passes through each selected pre-sewn stitch, a sewing pattern is generated, such as Figure 2 It should be understood that Figure 2 The sewing patterns in are merely illustrative, and the sewing patterns may be in any other suitable form.

[0051] Figure 3 1 is a schematic enlarged perspective view of a portion of a robot for sewing an object, and shows the positional relationship between a needle 180 held by a robot arm and an object 190 to be sewn. Figure 3 As shown, also refer to Figure 4, the object 190 includes a flexible cover 194 and a body 196. In the present embodiment, when the object 190 is a steering wheel, the body 196 is a blank steering wheel. The flexible cover 194 can be substantially bonded to the body 196. The flexible cover 194 can be provided with two rows of pre-sewn stitches 192, and the area between the two rows of pre-sewn stitches 192 defines a sewing area. The needle 180 carries a certain length of thread 185 and can be moved from one lateral side of each pre-sewn stitch 192 to the other lateral side of each pre-sewn stitch portion 192. By this movement of the needle, the thread 185 is also moved from one lateral side of each pre-sewn stitch 192 to the other lateral side of each pre-sewn stitch 192. For each selected pre-sewn stitch 192, the needle repeats the above steps. Thus, a plurality of stitches are formed by the thread 185, i.e., thread segments 1-2, 2-3, 3-4, 4-5, 5-6, 6-7, 7-8-7, 7-8, etc. Thus, by fastening the cover 194 around the main body 196 , the cover 194 is sewn to the main body 196 .

[0052] like Figure 3 As shown, the needle 180 is held by a robot arm and can be moved by the robot arm. The object 190 has a plurality of pre-sewn stitches of the line section 192. The position of the needle is represented by the position P (x, y, z; β), which is acquired by the camera and the controller, for example. x, y, z represent coordinates in a coordinate system, the xy plane represents a horizontal plane at a position Q to be sewn on the object 190 (corresponding to a pre-sewn stitch of the line section), and the z axis represents a direction perpendicular to the xy plane. The angle β represents the angle formed by the needle tip relative to the xy plane.

[0053] It should be understood that P(x, y, z; β) is merely illustrative and the position of the needle tip may be represented by any other suitable coordinate system. Figure 3 In , the coordinates of the needle tip are (x, y, z; β) and are offset by Δx, Δy, Δz relative to the sewing position Q. The controller can use the information to control the robot arm to move the needle 180 (particularly the needle tip) to the appropriate position to perform sewing.

[0054] Figure 4-Figure 9 is a schematic cross-sectional process view illustrating a principle of how a needle is operated to penetrate an object to perform sewing according to an exemplary embodiment of the present disclosure, showing different states of the needle with respect to a pre-sewn stitch. Figure 4-Figure 9 A plan view of the yz plane is shown, where the relative position between the needle and the object can be better shown.

[0055] exist Figure 4 In the case of a needle, the needle is in a deflected position before penetrating the object. Figure 4 As shown, the object 190 includes a cover 194 having a flexible outer surface 197 and a plurality of pre-sewn stitches formed on the outer surface 197 (in Figure 4 Each pre-sewn stitch includes a thread segment 192 including a top side 193 and an opposite bottom side 195 facing an outer surface 197. To ensure that there are no scratches, the needle 180 is controlled to pass through the thread segment 192 along a path defined between the bottom side 195 of the thread segment 192 and the outer surface 197 of the object 190.

[0056] Assuming that the needle penetrates the line segment 192 (ie, the line segment on the left side of the line segment 192), Figure 4 The position Q is determined, for example, by the camera 152. The position P of the needle tip is also known to the robot. Therefore, the relative relationship between the needle tip and the position Q is known to the controller.

[0057] The posture of the needle 180 penetrating the object is determined by the controller so that the longitudinal axis of the needle 180 is tangent to the outer surface of the object where the path on the object is located. In other words, the longitudinal axis of the needle 180 should be in the xy plane. This means that when the needle 180 penetrates the object or passes through the line segment 192, the direction of the tip of the needle 180 is always tangent to the outer surface of the object at position Q. By these measures, the orientation of the tip of the needle 180 can be accurately controlled and scratches caused by the tip of the needle 180 can be reduced.

[0058] Once the above parameters are determined, the robot arm is lowered onto the object 190, and, with the needle 180 in the determined state, the needle 180 is moved a first distance from a first lateral side of the thread segment 192 to an opposite second lateral side of the thread segment so that the needle 180 passes through the thread segment. In this way, the needle 180 can penetrate the thread segment 192 with fewer or no scratches. In some embodiments, the first distance is greater than the offset distance. This ensures that the needle 180 actually penetrates the thread segment 192.

[0059] In some embodiments, in the preparation position, the needle 180 is pressed toward the outer surface in a direction perpendicular to the outer surface so as to deform the outer surface of the object. Figure 5 As shown, when the needle 180 is pressed toward the outer surface in a direction perpendicular to the outer surface, a gap 198 is formed between the bottom side 195 of the line segment 192 and the outer surface 197 of the object 190 (see also FIG. Figure 6 ). By deforming the outer surface of the object, scratches caused by the tip of the needle 180 can be completely avoided. It should be understood that this is merely illustrative and not restrictive. In some embodiments, the step of pressing the needle 180 can be omitted.

[0060] In some embodiments, the robot may further include a force sensor attached to the robot arm. The force sensor is configured to sense the contact force between the needle 180 and the object. In this way, the degree of compression is determined based on the sensed contact force. In some embodiments, the degree of compression is determined in association with the material properties of the object (e.g., the hardness of the covering). Using the force sensor, the force used to deform the outer surface of the object can be accurately controlled.

[0061] like Figure 5 and Figure 6 As shown, in a state where the needle 180 is kept pressed, the needle 180 is linearly moved a first distance from a first lateral side of the thread section to an opposite second lateral side of the thread section. The needle 180 passes through the thread needle 180 without any hindrance.

[0062] In some embodiments, Figure 7 As shown, the posture of needle 180 can be further adjusted so that the tip of needle 180 is tilted upward away from the outer surface after moving the first distance. For example, the posture of needle 180 can be adjusted by rotating needle 180 as shown by the rotation arrow. In some embodiments, the degree of inclination of the tip of needle 180 is determined so that further movement of the tip does not interfere with other pre-sewn stitches. Then, with the adjusted posture, needle 180 is moved a second distance.

[0063] In some embodiments, Figure 8 As shown, when enough of the needle 180 partially penetrates the object, the needle 180 can be clamped by the second robot arm 130. The needle 180 can then be released by the first robot arm 120. Thus, the entire needle can be pulled through the object. When the needle 180 is clamped by the second robot arm 130, the second robot arm 130 can move so as to pull the entire needle 180 through the object. In this way, a sewing operation of one stitch is achieved.

[0064] In some embodiments, Fig. 9 As shown, when the entire needle 180 penetrates the object, the needle held by the second robot arm can be handed back to the first robot arm. The subsequent sewing operation can be started by repeating the above-mentioned sewing operation. It should be understood that returning the needle 180 to the first robot arm 120 may be advantageous because there are strict position control requirements for the movement of each robot arm. The sewing path of each robot arm can be simplified. It should be understood that this is merely illustrative, and in some embodiments, the subsequent sewing operation can be started from the second robot arm, although this may include posture adjustment of the needle held by the robot arm.

[0065] Return to reference Figure 1In some embodiments, the robot system 100 may further include a thread pulling device 200 configured to pull the slack portion of the thread to penetrate the object. The thread pulling device 200 may be arranged at any suitable position that can be approached by a robot arm (e.g., the robot arm 130). By providing the thread pulling device 200, technical advantages may be achieved. As is well known, the thread used for sewing is usually very thin and cannot withstand large forces. Therefore, the force used to pull the slack portion of the thread should not be too large to ensure that the thread does not break after each thread pulling operation and functions well. In addition, the length of the slack portion of the thread is variable because its length decreases after each sewing operation. Therefore, the distance of the slack portion of the thread for pulling should be variable. If the second robot arm 130 carrying the needle now directly pulls the needle away to pull the loose portion of the thread to penetrate the object, the second robot arm should meet at least the above two requirements, which is very difficult. By the arrangement of the thread pulling device 200, the above technical problems may be eliminated, and the slack portion of the thread may be easily pulled through the object.

[0066] Figure 10-11 FIG. 2 shows a schematic diagram of a wire pulling device 200 according to an exemplary embodiment of the present disclosure. Figure 11-Figure 12 As shown, the wire pulling device 200 may include a drive assembly 270 and a pressing assembly 260. The drive assembly 270 includes a drive wheel 272 and a motor 274. The motor 274 may be controlled by the controller 10. For example, the motor may receive instructions from the controller 110 to rotate the drive assembly 270 or / and stop rotating the drive assembly 270. In some embodiments, a gear box 278 (or a speed reducer) may be arranged between the drive wheel 272 and the motor 274 so that the rotation of the drive wheel 272 may be appropriately designed. Figure 4 As shown, the output shaft 279 of the motor 274 is connected to the gear box 278 , which is further connected to the drive wheel 272 .

[0067] The driving wheel 272 may include a working platform 277 for supporting the wire 185. The pressing assembly 260 may include a pressing member 262 configured to move between a first position and a second position. In the first position, the pressing member 262 engages the working platform 277 to clamp the wire to be pulled between the pressing member 262 and the working platform 277. When the wire 185 is clamped between the pressing member 262 and the working platform 277, the motor 274 is driven to rotate the driving wheel 272, so that the wire 185 is pulled from the fixed end 1852 toward the movable end 1854. With this arrangement, the slack portion 1855 of the wire 185 can be conveniently pulled from the fixed end 1852 toward the movable end 1854.

[0068] In some embodiments, the wire 185 is moved from the fixed end 1852 to the movable end 1854 by the static friction force generated by the pressing force applied by the pressing member 262. Since the pulling force for moving the wire 185 is caused by the static friction force, the force acting on the wire 185 can be well controlled. In this way, the wire 185 can be well protected to avoid being broken by excessive force. In addition, the static friction force can be adjusted by adjusting the pressing force. In this way, the force acting on the wire 185 can be easily adjusted as needed.

[0069] In some embodiments, the wire 185 is configured to slide when the tension acting on the wire exceeds a threshold value, which indicates that the slack portion of the wire at the fixed end has been tightened. The threshold value can be determined in association with the material of the wire. Due to this arrangement, there is no need to provide an additional force control sensor to control the force acting on the wire.

[0070] In some embodiments, Fig.10 and Fig.11 As shown, an actuator 264 is provided for moving the pressing assembly 260. The actuator 264 may take any suitable form, as long as it can move the pressing assembly 260 between the first and second positions. For example, the actuator may be a pneumatic actuator, an electromagnetic actuator, or any other suitable actuator. In the example shown, a pneumatic actuator 264 is shown, which includes a cylinder and a piston 267 arranged therein. The piston 267 is coupled to the pressing assembly 260. The piston 267 may perform linear motion in response to the action of the actuator 264.

[0071] In some embodiments, Fig.11 and Fig.12 As shown, a frame 266 is provided for supporting the actuator 264, and the frame 266 defines a guide rail 259 for guiding the movement of the pressing assembly 260. Due to the guide rail 259, the movement of the pressing assembly 260 can be well guided.

[0072] In some embodiments, Fig.11 and Fig.12 As shown, the pressing assembly 260 includes a base 261 for supporting a pressing member 262 and a spring 268 arranged between the base 261 and the piston 267, and the spring 268 is used to elastically support the pressing member 262. During the action of the actuator 264, the piston 267 first presses the spring 268, and then the pressing member 262 is moved by the spring 268. Therefore, even if the moving distance of the piston 268 is not accurate, the pressing force of the pressing assembly 260 pressing the wire 185 can be well controlled. Since the tension of the wire depends on the elastic force of the spring. The elastic force of the spring can be adjusted by replacing different types of springs, such as changing the compression length of the spring, or adjusting the pressure of the compressed air of the cylinder.

[0073] In some embodiments, Fig.11 and Fig.12 As shown, the pressing assembly 260 also includes an adjustment plate 265 coupled to the piston 267 and a screw 263 fixed to the base 261. A spring 268 is disposed between the base 261 and the adjustment plate 265. By adjusting the position of the adjustment plate 265 relative to the base 261 along the screw 263, the elastic force of the spring can be adjusted. When the piston 267 moves, the adjustment plate 265 is first moved by the piston 267. The movement of the adjustment plate 265 compresses the spring 38, which in turn moves the pressing member 262. The adjustment plate 265 can be arranged on the screw 263, which further engages the nut 258. By rotating the nut 258 along the screw 263, the elastic force of the spring 268 can be easily adjusted without changing the compression length of the spring, or adjusting the pressure of the compressed air of the cylinder.

[0074] In some embodiments, the pressing member 262 can be fixedly attached to the base 261. In some embodiments, the pressing member 262 can rotate relative to the base 261. This can improve the smooth movement of the wire. Figure 4 As shown, the press member 262 can be supported on the shaft 269. The press member 262 includes a central hole through which the shaft 269 extends. In some embodiments, a bearing can be arranged between the press member 262 and the shaft 269.

[0075] In some embodiments, the pressing member 262 can be in the form of a roller rotatable relative to the base 261. The working platform 277 includes a circumferential groove for accommodating the wire 185. The wire 185 can be placed on the circumferential groove and retained in the circumferential groove. In some embodiments, the circumferential groove includes a V-shape with a first guide angle. It should be understood that the shape of the circumferential groove is merely illustrative. The circumferential groove can be any suitable shape as long as it can accommodate the wire 185.

[0076] In some embodiments, the pressing member 262 includes a convex shape. The convex shape can fit the circumferential groove. In this way, the pressing member 262 can be reliably fitted in the circumferential groove. In some embodiments, the convex shape has a second guide angle. The first guide angle is equal to or greater than the second guide angle, so that the pressing member 262 can fit the circumferential groove. In some embodiments, the tip of the convex shape of the pressing member 262 is rounded to define a gap for accommodating the wire. With this arrangement, there is always room to hold the wire 185 so that the wire 185 will not be over-pressed and destroyed or damaged. In some embodiments, the wire is made of chemical fiber, cotton or any other suitable material for sewing.

[0077] In some embodiments, some measures can be taken to further increase the static friction without affecting the smooth movement of the wire. In some embodiments, the surface material of the pressing member 262 is different from the surface material of the working platform 277. Experimental tests have shown that different materials of the contact surface can help increase the static friction.

[0078] Next, refer to Fig.12 The operating principle of the wire pulling device 200 according to an exemplary embodiment of the present disclosure is described. In the initial state, the pressing member 262 moves upward and disengages from the driving wheel 272, leaving a space for the needle to pass through. In the initial state, the wire 185 with one end tied to the needle 180 is placed on the working platform 277 of the driving wheel 272, for example, by the robot arm 130. The working platform 277 is shaped to hold the wire 185. One end of the wire, i.e., the fixed end 1852, is fixed to the object 90 supported on the support. The other end of the wire 185, i.e., the movable end 1854, is movable or free and can be moved by the robot arm. The slack portion 1855 of the wire is adjacent to the fixed end 1852, and this slack portion 1855 of the wire corresponds to the portion of the wire that needs to pass through the object to form a stitch. It should be understood that in the example shown, the motor 174 is configured to drive the driving wheel 172 by a belt arrangement, which is only illustrative and any other suitable drive device can be used.

[0079] Fig.12 2 shows an operating state of the wire pulling device 200. As shown by the arrow, the pressing member 262 moves downward and engages the driving wheel 272. In this state, the wire 85 is clamped between the pressing member 262 and the driving wheel 272, and receives pressure from the pressing member 262.

[0080] As shown by the arrow, the pressing member 262 keeps pressing and engages the driving wheel 272. Therefore, pressure is continuously applied to the wire. In this state, the motor 274 receives an instruction from the controller 10 and starts to pull the wire 185. When the motor 274 rotates, the driving wheel 272 also rotates. When the driving wheel 272 rotates, the wire 185 remains fixed on the driving wheel 272 due to static friction and thus also rotates. The slack portion 1855 of the wire 185 on the object 290 is gradually pulled toward the movable end 1854. When the motor 274 rotates, the entire slack portion 1855 of the wire 185 is tensioned, which means that the entire slack portion 1855 is completely removed.

[0081] In this state, when the motor 274 continues to rotate, there is a relative movement between the wire 185 and the drive wheel 272. Specifically, the wire 185 begins to slide between the pressing member 262 and the drive wheel 272. This generally means that the entire slack portion 1855 of the wire 185 has been tensioned. In response to the sliding movement of the wire 185, the motor 274 stops rotating. With this arrangement, the wire 185 can be tensioned in an easy manner.

[0082] When the entire slack portion of the thread 185 is pulled to the free side, the motor 274 can stop rotating at the appropriate time, and the pressing member 262 moves upward and disengages from the drive wheel 272, leaving space for the needle to pass through. The robot arm 130 can bring the needle to the appropriate position to perform the next sewing cycle.

[0083] By using the wire pulling device and wire pulling method of the present invention, the slack part of the wire on the object 290 can be easily tightened without relying on a complicated force control mechanism. Moreover, the wire can be well protected from damage caused by excessive tension.

[0084] Refer to Figure 1 , the robot system 100 may further include an adjustment tool 370, which is configured to adjust the spacing of the sewing stitches. The adjustment tool 370 may include a pick-up head, which is configured to pick up the line segment of the sewing stitches and then be moved by the robot arm to apply tension to the sewing stitches. Due to the tension on the sewn suture, adjacent stitches are close to each other, that is, the spacing of adjacent sewn stitches is adjusted. As a result, the bonding strength of the seam formed by the stitches can be improved. In addition, the appearance of the sewn product is improved.

[0085] In the exemplary embodiment shown, the adjustment tool 370 is placed near the robotic arm 120 and is interchangeable with the needle 180 carried by the robotic arm 120. When an adjustment operation is required, the needle 180 carried by the robotic arm 120 can be replaced by the adjustment tool 370 to perform the adjustment operation. This is merely illustrative. In some embodiments, a third robotic arm can be provided adjacent to the object and can perform the adjustment operation when necessary.

[0086] The adjustment tool 370 is configured to perform an adjustment operation. The adjustment tool 370 has a shape that can hold the thread. In some embodiments, the adjustment tool 370 includes a pick-up head. The pick-up head is shaped to pick up the thread. The pick-up head may include a fine needle. The fine needle is very sharp and thin and can easily penetrate the thread. This is advantageous when the adjustment tool 370 penetrates the sewing stitch.

[0087] In some embodiments, the adjustment tool 370 may include a concave curved portion adjacent to the fine needle. The concave curved portion may be formed as part of a pick-up head. The concave curved portion is configured to securely hold the thread. Once the pick-up head picks up the thread, the thread can move slightly along the curvature of the concave curved portion and can therefore be securely held at the concave curved portion. The pick-up head is provided with a fine needle that is so thin that the pick-up head can easily pick up and hold the sewing thread. In the example shown, the curved portion may be formed as a recessed portion for holding the thread. It should be understood that the shape of the adjustment tool 370 is merely illustrative, and the adjustment tool 370 may be formed to have any other suitable shape in accordance with the teachings of the present disclosure.

[0088] Fig.13 FIG. 1 is a schematic perspective view of a sewing stitch 185 of a robot system for sewing an object according to an exemplary embodiment of the present disclosure. Fig.13 As shown, two rows of pre-sewn stitches 192 are pre-formed on the outer surface of the object 190, and the two rows of pre-sewn stitches 192 form the sewing area of ​​the object. Each pre-sewn stitch includes a thread segment. The sewing stitch 185 is formed by moving the thread along the path defined between the thread segment and the outer surface of the object 190 to swing on the thread segment of the pre-sewn stitch 192. In the example shown, each sewing stitch 185 includes a portion passing through the pre-sewn stitch 192 in one row and a portion passing through the pre-sewn stitch 192 in another row. The sewing stitch 185 thus connects the two rows of pre-sewn stitches 192. In this way, the cover can be sewn on the black steering wheel.

[0089] Sewing line 285 can include a first end and a second end fixed to the object. The second end can be a free end or a movable end. In certain embodiments, the second end can also be a fixed end. A plurality of stitches are formed on the sewing area on the object between the first end and the second end, and each stitch includes a line segment, and the line segment has a top side and an opposite bottom side.

[0090] exist Fig.13In the example shown, two rows of pre-sewn stitches 192 are provided on the edge of the covering, and the two edges meet to form a joint. The sewing stitches 185 shown extend through the gap between the two rows of pre-sewn stitches 192. This is merely illustrative and not restrictive. The covering and the pre-sewn stitches 192 may be in any appropriate form. For example, in some embodiments, the pre-sewn stitches 192 are not formed on the covering, and a plurality of holes are formed on the covering. It should be understood that the sewing pattern shown is merely illustrative, and the sewing pattern may be in any other appropriate form, as long as the covering can be sewn on the black steering wheel. In the example shown, two rows of pre-sewn stitches 192 are pre-formed on the object, and the two rows of pre-sewn stitches 192 are used to penetrate the line 185 so that the covering is sewn to the black steering wheel. It should be understood that this is merely illustrative, and other measures such as holes may be formed instead of the pre-sewn stitches 192 to facilitate sewing.

[0091] Return to reference Figure 1 , the image of the object captured by the camera 152 can be sent to the controller 110. The controller 110 is configured to identify a plurality of stitches to be stretched, i.e., a plurality of line segments of the sewn line 185, based on the image from the camera. After the adjustment tool 370 passes through each stitch selected to be adjusted from the bottom side, the adjustment tool 370 can be pulled upward to apply tension to the sewing line 185. The sewing line 185, in particular the adjacent sewing lines, are tensioned with a tensile force. Through the tensioning operation, the sewing line 185 can be tightened, thereby forming a secure sewing joint.

[0092] Figure 14-18 is a schematic cross-sectional process view showing the principle of how to operate the adjustment tool 370 to perform the adjustment operation according to an exemplary embodiment of the present disclosure, showing different states of the adjustment tool 370 relative to the position Q to be adjusted. The adjustment tool 370 is held by a robot arm and can be moved by the robot arm. The object 190 has a plurality of line segments of the sewing line 185. The position of the adjustment tool 370 can be represented by P(x, y, z), where x, y, z represent coordinates in a coordinate system, the xy plane represents the horizontal plane where the position Q to be fastened on the object 190 (which corresponds to the line section of the sewing line 185) is located, and the z axis represents the direction perpendicular to the xy plane. It should be understood that P(x, y, z) is merely illustrative, and the position of the adjustment tool 370 can be represented by any other appropriate coordinate system. Figure 14-18 A plan view of the yz plane is shown, showing the relative positions of the adjustment tools 370 so that their positional relationship can be better illustrated.

[0093] exist Fig.14In the embodiment, the adjustment tool 370 may be in an offset position before the adjustment operation. The object 190 includes a flexible outer surface 195 and a plurality of suture line segments (such as Fig.14 Each sewing line segment includes a line segment 185, which includes a top side 187 and an opposite bottom side 188 facing the outer surface 195. To ensure that there are no scratches, the adjustment tool 370 is controlled to pass through the line segment 185 along a path defined between the bottom side 188 of the line segment 185 and the outer surface 195 of the object 190.

[0094] Assume that the adjustment tool 370 will be Fig.14 The position represented by position Q in the figure passes through the line segment 185. Position Q is first determined, for example, by camera 252. The robot also knows the position P of the adjustment tool 370. Therefore, the controller knows the relative relationship between the adjustment tool 370 and the position Q. Once the above parameters are determined, the robot arm 220 is lowered onto the object 190 and the adjustment tool 370 is moved from a first lateral side of the line segment 185 to an opposite second lateral side of the line segment by a first distance so that the adjustment tool 370 passes through the line segment. In this way, the adjustment tool 370 can pass through the line segment 185 from the bottom side with fewer or no scratches. In some embodiments, the first distance is greater than the offset distance. This ensures that the adjustment tool 370 does pass through the line segment 185 from the bottom side.

[0095] The adjustment tool 370 includes a pick-up head shaped to pick up the thread once the adjustment tool 370 passes through the thread section 185 from the bottom side. In some embodiments, the pick-up head is provided with a fine needle that is very fine so that the pick-up head can easily pick up and hold the sewing thread.

[0096] In some embodiments, Fig.15 As shown, in the preparation position, the adjustment tool 370 is further pressed toward the outer surface 195 in a direction perpendicular to the outer surface 195 to deform the outer surface 195 of the object. In some embodiments, the pick-up head may further include a straight portion adjacent to the fine needle. Through this straight portion, the contact force of the adjustment tool 370 on the outer surface 195 can be stabilized. It should be understood that this is merely illustrative.

[0097] In some embodiments, Fig.16As shown, when the adjustment tool 370 is pressed toward the outer surface 195 in a direction perpendicular to the outer surface 195, the adjustment tool 370, at least its pick-up head, can pass through the bottom side 188 of the line segment 185 and the outer surface 195 of the object 190 without obstruction. By deforming the outer surface 195 of the object, the scratches caused by the adjustment tool 370 can be completely eliminated. It should be understood that this is merely illustrative and not restrictive. In some embodiments, the step of pressing the adjustment tool 370 can be omitted. In some embodiments, the robot may further include a force sensor attached to the robot arm. The force sensor is configured to sense the contact force between the adjustment tool 370 and the object. In this way, the degree of pressing is determined based on the sensed contact force. In some embodiments, the degree of pressing is determined in association with the material properties of the object (e.g., the hardness of the covering). Using the force sensor, the force used to deform the outer surface 195 of the object can be accurately controlled.

[0098] In some embodiments, Fig.17 As shown, the posture of the adjustment tool 370 can be adjusted so that the adjustment tool 370 is tilted slightly upward away from the outer surface 195 after moving the first distance. For example, the posture of the adjustment tool 370 can be adjusted by rotating the adjustment tool 370, such as Fig.17 In this way, the wire 185 can be firmly held on the adjustment tool 370 to avoid accidental separation from the adjustment tool 370.

[0099] In some embodiments, Fig.18 As shown, in the adjusted posture, the adjustment tool 370 is moved a second distance in a direction away from the outer surface 195 of the object. Through the movement of the adjustment tool 370, the tensioning force is applied to the sewing line 185, and the sewing line 185 in turn tightens the sewing stitches, especially the adjacent stitches adjacent to the position Q. Therefore, the spacing of adjacent stitches can be appropriately adjusted. It should be understood that in the example shown, the pulling direction is perpendicular to the outer surface 195 of the object. This is merely illustrative, and the pulling direction or tensioning direction can be any other suitable direction, as long as the line 185 does not fall off from the adjustment tool 370.

[0100] In some embodiments, a force sensor can be attached to the robot arm 220 for sensing the force acting on the adjustment tool 370. In response to a force equal to a predetermined threshold, the pulling motion of the adjustment tool 370 is stopped. The predetermined threshold can be determined in association with the seam pattern of the sewing line. The seam pattern can determine the appearance of the finished seam and the tightness requirements of the seam. Using the force sensor, a fixed force is ensured to act on the adjustment tool 370, and the appearance of the finished seam is further improved. The predetermined threshold can be obtained from experience or trial testing.

[0101] In some embodiments, after adjusting or tensioning the wire 185 by the adjustment tool 370, the adjustment tool 370 can be retracted from the wire 185, for example, by rotating toward the outer surface 195 of the object. The adjustment tool 370 can then be moved to the initial standby position and ready for another adjustment cycle. For the entire seam, multiple tensioning operations are performed every several stitches, so the sewn seam of the entire joint can be evenly tightened to the desired tension appearance in an automated manner.

[0102] In the exemplary embodiment shown, the adjustment tool 370 includes a pick-up head 272, which is shaped to pick up the wire. In some embodiments, the adjustment tool does not include a pick-up head. In this case, before the adjustment tool passes through the wire, the posture of the adjustment tool can be adjusted so that the tip of the adjustment tool is tangent to the outer surface of the object. This means that when the adjustment tool 370 penetrates the object or passes through the wire segment 185 from its bottom side, the direction of the tip of the adjustment tool 370 is always tangent to the outer surface of the object at position Q. Through these measures, the orientation of the adjustment tool 370 can be accurately controlled, and the scratches caused by the adjustment tool 370 are reduced.

[0103] Fig.19 FIG. 4 is a flow chart of a method 400 for sewing an object according to an exemplary embodiment of the present disclosure. Fig.19 As shown, method 400 includes the following actions. At box 402, the first robot arm moves a first distance so that the needle held by the first robot arm penetrates a portion of the object. At box 404, the second robot arm is moved to hold the penetrated portion of the needle, and the entire needle is pulled out of the object after the needle is released by the first robot arm. At box 406, a portion of the thread is placed on a member of a thread pulling device by the second robot arm. At box 408, the thread pulling device is operated to pull the slack portion of the thread at the fixed end from the fixed end to the movable end. The operation of the thread pulling device is independent of the operation of the second robot arm. The thread includes a fixed end fixed to the object and a movable end tied to the needle. In this way, the article can be automatically sewn by the robot.

[0104] In some embodiments, the method may further include handing the needle held by the second robotic arm back to the first robotic arm and performing a subsequent sewing operation.

[0105] In some embodiments, the method may further include adjusting the sewing line on the object by an adjustment tool. The device for adjusting the sewing line includes an adjustment tool. Along a path defined between the bottom side of a sewing line and the outer surface of the object, the adjustment tool is partially passed through the sewing line and moved upward away from the outer surface to adjust the spacing between the sewing stitches. The sewing line includes a first end fixed to the object and a second end, and a plurality of stitches are formed between the first end and the second end on the sewing area of ​​the object, each stitch including a line segment, the line segment having a top side and an opposite bottom side line segment. In this way, the seam of the sewing seam can be strengthened and the appearance of the product can be further improved.

[0106] By the teaching provided in the above description and the related drawings, those skilled in the art to which the present disclosure belongs will understand many modifications and other embodiments of the present disclosure given herein. Therefore, it should be understood that the embodiments of the present disclosure are not limited to the specific embodiments of the present disclosure, and modifications and other embodiments are intended to fall within the scope of the present disclosure. In addition, although exemplary embodiments are described in the context of some illustrative combinations of components and / or functions in the above description and the related drawings, it should be appreciated that different combinations of components and / or functions can be provided in alternative embodiments without departing from the scope of the present disclosure. In this regard, for example, it is expected that other combinations of components and / or functions different from those explicitly described above will also fall within the scope of the present disclosure. Although specific terms are used here, they are only used in general and descriptive senses, rather than restrictive.

Claims

1. A robot for sewing an object (190), comprising: a first robotic arm (120) adapted to hold a needle (180) carrying a length of thread, a second robotic arm (130) adapted to hold the needle (180), and A controller (110) is configured to move the first robot arm and the second robot arm (130) to perform a plurality of sewing operations to form a plurality of stitches on the object (190), each sewing operation comprising: moving the first robotic arm (120) a first distance to cause the needle (180) to penetrate a portion of the object (190); and The second robot arm (130) is moved to hold the penetrating portion of the needle (180), and the entire needle (180) is pulled out of the object (190) after the needle (180) is released by the first robot arm (120).

2. The robot according to claim 1, wherein the object (190) includes a flexible outer surface and pre-sewn stitches (192) formed on the outer surface, each of the pre-sewn stitches includes a line segment, the line segment includes a top side and an opposite bottom side facing the outer surface, and the controller (110) is configured to cause the needle (180) to pass through the line segment along a path defined between the bottom side of the line segment and the outer surface of the object (190).

3. The robot according to claim 2, wherein for each sewing operation, the controller (110) is configured to: Determining a position to be sewn corresponding to a line segment of the pre-sewn stitch (192); moving the needle (180) to a preparation position at a first lateral side of the thread section, the preparation position being offset from the to-be-sewn position by an offset distance; determining a posture of the needle (180) such that a longitudinal axis of the needle (180) is tangent to an outer surface of the object (190) on which the path is located; and When the needle (180) is in the determined posture, the needle (180) is moved a first distance from the first lateral side of the thread segment to the opposite second lateral side of the thread segment so that the needle (180) passes through the thread segment, and the first distance is greater than the offset distance.

4. The robot according to claim 3, wherein the controller (110) is configured to: At the preparation position, pressing the needle (180) toward the outer surface in a direction perpendicular to the outer surface to deform the outer surface of the object (190); and While the needle (180) is maintained in the pressed state, the needle (180) is linearly moved from the first lateral side of the thread segment by the first distance to reach the opposite second lateral side of the thread segment.

5. The robot according to claim 3 further includes a camera (152, 154), wherein the camera (152, 154) is configured to capture an image of the object (190), and the controller (110) is configured to identify a plurality of positions to be sewn based on the image from the camera.

6. The robot according to claim 5, wherein the controller (110) is configured to generate a sewing pattern that defines positions to be sewn in sequence based on the identified plurality of positions to be sewn.

7. The robot according to any one of claims 1-6, wherein the first robot arm and the second robot arm (130) are suitable for respectively adjusting the clamping length of the needle (180) so that the tip of the needle (180) is located at the same position relative to the corresponding robot arm.

8. The robot according to claim 7, wherein the first robot arm (120) is adapted to hold a base portion of the needle (180), and the second robot arm (130) is adapted to hold a tip portion of the needle (180).

9. A robot according to any one of claims 1-6 and 8, wherein the controller (110) is further configured to: for each sewing operation, transfer the needle (180) held by the second robot arm (130) back to the first robot arm (120), and perform subsequent sewing operations by repeating each sewing operation.

10. A robot according to any one of claims 1-6 and 8, wherein the object (190) comprises a covering (194) pre-wound around a steering wheel, the covering (194) being made of leather, artificial leather or fabric, and the covering (194) comprising two rows of a plurality of pre-sewn stitches (192) adjacent to each other, the pre-sewn stitches defining a sewing area for the sewing operation.

11. The robot according to any one of claims 1-6 and 8, further comprising a second camera, the second camera being configured to capture an image of the object (190), the controller (110) being configured to visually inspect the object (190) based on the image from the second camera, and to provide an inspection result indicating the suitability of the object (190) to be sewn by the device before the sewing operation, or indicating the sewing quality after the sewing operation.

12. The robot according to any one of claims 1-6 and 8, further comprising a wire pulling device (200), wherein the wire pulling device (200) is configured to pull the slack portion of the wire from the fixed end to the movable end at the fixed end, wherein the wire comprises the fixed end fixed to the object (190) and the movable end tied to the needle (180).

13. The robot according to claim 12, wherein the wire pulling device comprises: a drive assembly, the drive assembly comprising a drive wheel (272), the drive wheel comprising a work platform, the work platform being used to support a thread on the needle (180) carried by the second robotic arm (130); a pressing assembly comprising a pressing member (262) configured to move between a first position in which the pressing member engages the working platform (277) to clamp the wire to be pulled between the pressing member and the working platform, and a second position in which the pressing member disengages from the working platform to release the wire to be pulled; and A motor (274) is configured to rotate the drive wheel when the press member is in the first position so as to draw the slack portion of the wire at the fixed end to the movable end.

14. The robot according to any one of claims 1-6, 8 and 13, further comprising a device for adjusting a sewing line on the object (190), wherein the device for adjusting the sewing line comprises an adjusting tool (370), wherein the adjusting tool is partially passed through the sewing line along a path defined between the bottom side of the sewing line and the outer surface of the object (190), and the adjusting tool is moved upward away from the outer surface so as to adjust the spacing between the stitches. The sewing line includes a first end and a second end fixed to the object (190), a plurality of stitches are formed between the first end and the second end across a sewing area on the object (190), and each stitch includes the line segment, the line segment including a top side and an opposite bottom side.

15. A method for sewing an object (190), comprising: moving a first robotic arm (120) a first distance so that a needle (180) held by the first robotic arm (120) penetrates a portion of the object (190); moving the second robotic arm (130) to hold the penetrating portion of the needle (180) and to pull the entire needle (180) out of the object (190) after the needle (180) is released by the first robotic arm (120); placing a portion of the wire on a component of a wire pulling device by the second robot arm (130); as well as The wire pulling device is operated to pull the slack portion of the wire at the fixed end from the fixed end to a second end, the wire including the fixed end fixed to the object (190) and the second end tied to the needle (180).

16. The method of claim 15, further comprising handing over the needle (180) held by the second robotic arm (130) back to the first robotic arm (120) and performing a subsequent sewing operation.

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