Title:
ASSEMBLING APPARATUS, ASSEMBLING METHOD AND COMPUTER READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/155882
Kind Code:
A1
Abstract:
The present disclosure discloses an assembling apparatus and an assembling method. The assembling apparatus comprises: an image sensor (40) arranged above an assembling station; a first robot (10) arranged near to the assembling station and configured to hold a first portion (31) of an object (30) to be assembled onto a target object (50) arranged on the assembling station; a second robot (20) arranged near to the assembling station and configured to hold a second portion (33) of the object (30) spaced apart from the first portion (31); and a controller (60) configured to: cause the image sensor (40) to capture images (41A, 41B) of the object (30) and the target object (50); based on the captured images (41A, 41B), cause the first robot (10) to move the first portion (31) by a first distance in a first direction; and based on the captured images (41A, 41B), cause the second robot (20) to move the second portion (33) by a second distance different from the first distance in the first direction or move the second portion (33) in a direction opposite to the first direction, such that the object (30) is aligned with the target object (50). The present disclosure can implement assembling efficiently and accurately without increasing accuracy requirement of the individual robot.
Inventors:
MAO YICHAO (CN)
Application Number:
PCT/CN2021/073245
Publication Date:
July 28, 2022
Filing Date:
January 22, 2021
Export Citation:
Assignee:
ABB SCHWEIZ AG (CH)
MAO YICHAO (CN)
MAO YICHAO (CN)
International Classes:
B25J13/08
Domestic Patent References:
| WO2018128355A1 | 2018-07-12 | |||
| WO2018236753A1 | 2018-12-27 | |||
| WO2019235555A1 | 2019-12-12 | |||
| WO2020045280A1 | 2020-03-05 |
Foreign References:
| US20200171665A1 | 2020-06-04 | |||
| US20180207755A1 | 2018-07-26 |
Attorney, Agent or Firm:
KING & WOOD MALLESONS (CN)
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