Robot parts assembly on a workpiece moving on an assembly line

• US 9,333,654 B2
• Filed: 03/30/2009
• Issued: 05/10/2016
• Est. Priority Date: 03/31/2008
• Status: Active Grant

• Current Assignee: ABB Research Ltd. (ABB Ltd.)
• Original Assignee: ABB Research Ltd. (ABB Ltd.)
• Inventors: Chen, Heping, Zhang, George, Fuhlbrigge, Thomas A.
• Primary Examiner(s): Holloway, Jason
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US12/934,850
• Publication Number:
  US 20110087360A1
• Time in Patent Office: 2,598 Days
• Field of Search: 700/114, 700/117, 700/245, 700/246, 700/253, 700/259, 700/264, 901/9, 901/31, 901/47, 901/50
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39387 Reflex control, follow movement, track face, work, hand, visual servoing
• CPC Class Codes: G05B 2219/40554 Object recognition to track object on conveyor
• CPC Class Codes: G05B 2219/45021 Wheel mounting

Abstract

An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.

Claims

1. An apparatus for controlling an industrial robot having an end arm to assemble a part to a predetermined location on a randomly moving workpiece, said robot comprising a force sensor mounted on said end arm and a tool mounted to said force sensor and a vision system mounted on said robot, said apparatus comprising:

a computational device configured to cause said robot to grip said part with said tool mounted to said force sensor and use signals from said vision system to compute a position and size of a predefined feature located on said workpiece at other than said predetermined location to establish a positioning relationship between said predetermined location and said predefined feature located on said workpiece and then using said positioning relationship and signals, at the same time, from both said force sensor mounted on said robot end arm and said vision system of said predetermined location to control movement of said robot gripping said part with said tool mounted to said force sensor to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece,

wherein said computational device uses said signals from said vision system to determine the orientation of said gripped part to the orientation of said predetermined location on said workpiece, and causes, in response to said determination of the orientation of said gripped part to the orientation of said workpiece predetermined location, said robot to reorient said gripped part to match said orientation of said workpiece predetermined location, and

wherein said tool with said gripped part has a velocity and said computational device for using said signals, at the same time, from both said vision system and said force sensor to control movement of said robot and calculating from said vision system signal a velocity error of said moving workpiece and from said force sensor signal a force velocity error and uses said calculated moving workpiece and force velocity errors and said gripper velocity to calculate a reference velocity for said controlled movement of said robot.

2. The apparatus of claim 1 wherein said computational device uses said signals from said vision system to determine the position and orientation of said part so that said robot can grip said part.

3. The apparatus of claim 1 wherein said workpiece is randomly moving on an assembly line and said robot moves to a first position related to a first trigger on said moving assembly line, said computational device using when said robot is at said first position said signals from said vision system to determine the position and orientation of said workpiece predetermined location to which said gripped part is to be assembled.

4. The apparatus of claim 3 wherein said robot moves to a second position related to a second trigger on said moving assembly line, said computational device using when said robot is at said second position said signals from said vision system to calculate a velocity error of said moving workpiece.

5. A method for using an industrial robot having an end arm to assemble a part gripped by said robot to a predetermined location on a randomly moving workpiece comprising:

using in a computational device signals from a vision system mounted on said robot to compute a position and size of a predefined feature located on said workpiece at other than said predetermined location to establish a positioning relationship between said predetermined location and said predefined feature located on said workpiece;

using said positioning relationship and signals, at the same time, from a force sensor mounted on said end arm and said vision system of said predetermined location to control movement of said robot gripping said part with a tool mounted to said force sensor to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece; and

using said signals from said vision system to determine the position and orientation of said part so that said robot can grip said part,

wherein said gripping tool has a velocity, and said computational device uses said signals, at said same time, from both said vision system and said force sensor to control movement of said robot and further comprises;

calculating from said vision system signals a velocity error of said moving workpiece and from said force sensor signals a force velocity error; and

uses said calculated moving workpiece and force velocity errors and said gripping tool velocity to calculate a reference velocity for said controlled movement of said robot.

6. The method of claim 5 further comprising:

using said signals from said vision system to determine the orientation of said gripped part to the orientation of said predetermined location on said workpiece; and

causing, in response to said determination of the orientation of said gripped part to the orientation of said workpiece predetermined location, said robot to reorient said gripped part to match said orientation of said workpiece predetermined location.

7. The method of claim 5 further comprising using said signals from said vision system and said force sensor to calculate a reference velocity for said controlled movement of said robot.

8. A system for controlling an industrial robot to assemble a part to a predetermined location on a randomly moving workpiece comprising:

an industrial robot comprising an end arm, a force sensor mounted on said end arm and a tool mounted to said force sensor and a vision system mounted on said robot; and

a computational device connected to said robot and configured to control said robot, said computational device responsive to signals from said vision system to compute a position and size of a predefined feature located on said workpiece at other than said predetermined location to establish a positioning relationship between said predetermined location and said predefined feature located on said workpiece and then use said positioning relationship and signals, at the same time, from both said force sensor and said vision system of said predetermined location to control movement of said robot after said robot has gripped said part with said tool mounted to said force sensor to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece,

wherein said computational device uses said signals from said vision system to determine the orientation of said gripped part to the orientation of said predetermined location on said workpiece and causes, in response to said determination of the orientation of said gripped part to the orientation of said workpiece predetermined location, said robot to reorient said gripped part to match said orientation of said workpiece predetermined location, and

wherein said tool with said gripped part has a velocity and said computational device for using said signals, at the same time, from both said vision system and said force sensor to control movement of said robot and calculating from said vision system signal a velocity error of said moving workpiece and from said force sensor signal a force velocity error and uses said calculated moving workpiece and force velocity errors and said gripper velocity to calculate a reference velocity for said controlled movement of said robot.

9. A system controlling an industrial robot having an end arm to assemble a part to a predetermined location on a randomly moving workpiece, a force sensor mounted on said end arm and a tool mounted to said force sensor said control system comprising:

a computing device having therein program code usable by said computing device, said program code comprising;

code configured to cause said robot to grip said part using said tool mounted to said force sensor; and

code configured to use signals from a vision system mounted on said robot to compute a position and size of a predefined feature on said workpiece at other than said predetermined location to establish a positioning relationship between said predetermined location and said predefined feature located on said workpiece and then use said positioning relationship and signals, at the same time, from both said force sensor mounted on said robot end arm and said vision system of said predetermined location to control movement of said robot to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece;

code configured to use said signals from said vision system to determine the orientation of said gripped part to the orientation of said predetermined location on said workpiece and to cause, in response to said determination of the orientation of said gripped part to the orientation of said workpiece predetermined location, said robot to reorient said gripped part to match said orientation of said workpiece predetermined location; and

code configured to use a velocity of said tool used with gripping said part, said signals, at the same time, from both said vision system and said force sensor to control movement of said robot and to calculate from said vision system signal a velocity error of said moving workpiece and from said force sensor signal a force velocity error and to use said calculated moving workpiece and force velocity errors and said gripper velocity to calculate a reference velocity for said controlled movement of said robot.

10. A computer program product on a tangible non-transient computer readable media for controlling an industrial robot having an end arm, a force sensor mounted on said end arm and a tool mounted to said force sensor to assemble a part gripped by said tool to a predetermined location on a randomly moving workpiece, said computer program product comprising:

computer usable program code configured to cause said robot to grip said part with said tool; and

computer usable program code configured to use signals from a vision system mounted on said robot to compute a position and size of a predefined feature on said workpiece at other than said predetermined location to establish a positioning relationship between said predetermined location and said predefined feature located on said workpiece and then use said positioning relationship and signals, at the same time, from both said force sensor mounted on said robot end arm and said vision system of said predetermined location to control movement of said robot to a position where said part gripped by said tool can be assembled by said robot to said predetermined location on said randomly moving workpiece;

computer usable program code configured to use said signals from said vision system to determine the orientation of said gripped part to the orientation of said predetermined location on said workpiece and to cause, in response to said determination of the orientation of said gripped part to the orientation of said workpiece predetermined location, said robot to reorient said gripped part to match said orientation of said workpiece predetermined location; and

computer usable program code configured to use a velocity of the gripping tool and said signals, at the same time, from both said vision system and said force sensor to control movement of said robot and calculating from said vision system signal a velocity error of said moving workpiece and from said force sensor signal a force velocity error and uses said calculated moving workpiece and force velocity errors and said gripper velocity to calculate a reference velocity for said controlled movement of said robot.