Robot and method for sewing an object
AssigneeABB Schweiz AG
InventorYiming Dong
Life of this patent
Estimating the term…
Abstract
A robot and a method for sewing an object. The robot includes a robotic arm configured to hold a needle. The needle is tied with a thread. The robot includes a controller configured to move the needle, wherein the object includes a flexible outer surface and pre-stitches formed on the outer surface. Each of the pre-stitches includes a thread section including a top side and an opposite bottom side facing the outer surface. The controller is configured to perform a sewing operation by causing the needle to go across the thread section along a path defined between the bottom side of the thread section and the outer surface of the object.
Claims18
A robot for sewing an object, comprising;
- a robotic arm configured to hold a needle, the needle tied with a thread in advance;
- and
- a controller configured to:
- move the needle,
- wherein the object includes a flexible outer surface and pre-stitches formed on the outer surface, each of the pre-stitches includes a thread section including a top side and an opposite bottom side facing the outer surface;
- perform a sewing operation by causing the needle to go across the thread section along a path defined between the bottom side of the thread section and the outer surface of the object;
- determine a position to be sewed which corresponds to a thread section of the pre-stitches;
- move the needle to a ready position at a first lateral side of the thread section which is offset from the position to be sewed by an offset distance;
- determine a posture of the needle such that a longitudinal axis of the needle is tangent to the outer surface of the object at which the path is located;
- and
- move the needle a first distance from the first lateral side of the thread section to a second opposite lateral side of the thread section with the needle in the determined posture to cause the needle to go across the thread section, the first distance being larger than the offset distance.
A method for sewing an object, comprising:
- holding a needle by a robotic arm, the needle tied with a thread in advance;
- performing, by a controller, a sewing operation by causing the needle to go across a thread section from a bottom side of the thread section,
- wherein the object includes a flexible outer surface and pre-stitches formed on the outer surface, each of the pre-stitches includes the thread section including a top side and an opposite bottom side facing the outer surface;
- determining, by the controller, a position to be sewed which corresponds to a thread section of the pre-stitches;
- moving, by the controller, the needle to a ready position at a first lateral side of the thread section which is offset from the position to be sewed by an offset distance;
- determining, by the controller, a posture of the needle such that a longitudinal axis of the needle is tangent to the outer surface of the object at which the thread section that the needle goes across is located;
- and
- moving, by the controller, the needle a first distance from the first lateral side of the thread section to a second opposite lateral side of the thread section with the needle in the determined posture to cause the needle to go across the thread section, the first distance being larger than the offset distance.
Dependencies are inferred from the claim text.