公开(公告)号：US20210339387A1

公开(公告)日：2021-11-04

申请号：US16864804

申请日：2020-05-01

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/04

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

公开(公告)号：US20220410397A1

公开(公告)日：2022-12-29

申请号：US17772370

申请日：2019-10-29

Applicant: Biao Zhang ,  ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  William J. Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC: B25J9/16

Abstract: A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.

公开(公告)号：US11518027B2

公开(公告)日：2022-12-06

申请号：US16864804

申请日：2020-05-01

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/04

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

公开(公告)号：US20220402136A1

公开(公告)日：2022-12-22

申请号：US17772365

申请日：2019-10-29

Applicant: Biao Zhang ,  ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Ramon Casanelles ,  Jordi Artigas

IPC: B25J9/16 ,  B25J13/08

Abstract: A system and method for determining performance of a robot. In one form the robot is constructed as you assembling automotive workpieces onto an automobile assembly. In one form the robot accomplishes the task of assembling an automotive workpiece onto the automotive assembly by using vision feedback and force feedback. The vision feedback can use any number of features perform its function. Such features can include an artificial feature such as but not limited to a QR code, as well as a natural feature such as a portion of the workpiece or automotive assembly. In one embodiment the robot is capable of detecting a collision event and assessing the severity of the collision event. In another embodiment the robot is capable of evaluating its performance by attracting a performance metric against a performance threshold, and comparing a sensor fusion output with a sensor fusion output reference.

公开(公告)号：US20210339397A1

公开(公告)日：2021-11-04

申请号：US16864798

申请日：2020-05-01

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC: B25J9/16

Abstract: A robotic assembly operation is provided for assembling a second part to a first part. During setup of the assembly operation, control parameters and a control scheme are set and changed by simulating the operation and testing whether performance requirements are met. A dry run may be performed thereafter, and test data may be collected after running the simulation to determine if the performance requirements are satisfied during the dry run. During production, production data may also be collected and control parameters may be tuned when changes occur during production in order to maintain stable assembly.