Robot and method for sewing an object
AssigneeABB Schweiz AG
InventorsYiming Dong, Haiyang He, Jibo Yang, Qi Lu
Life of this patent
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Abstract
Embodiments of present disclosure relates to a robot and method for sewing an object. The robot includes a first robotic arm adapted to hold a needle, the needle carrying a length of a thread, a second robotic arm adapted to hold the needle, and a controller configured to move the first and second robotic arms to perform a plural of sewing operations so as to form a plural of stitches on the object A sewing operation includes moving the first robotic arm a first distance to cause the needle to penetrate a part of the object; and moving the second robotic arm to hold a penetration portion of the needle and pull the whole needle out of the object after the needle being released by the first robotic arm.
Claims20
A robot for sewing an object, comprising:
- a first robotic arm adapted to hold a needle, the needle, carrying a length of a thread,
- a second robotic arm adapted to hold the needle, and
- a controller configured to move the first and second robotic arm to perform a plural of sewing operations so as to form a plural of stitches on the object, each sewing operation comprising:
- moving the first robotic arm a first distance to cause the needle to penetrate a part of the object;
- and
- moving the second robotic arm to hold a penetration portion of the needle and pull the whole needle out of the object after the needle being released by the first robotic arm;
- wherein the object includes a flexible outer surface and pre-stitches formed on the outer surface, each of the pre-stitch includes a thread section including a top side and an opposite bottom side facing the outer surface, and the controller is configured to cause 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;
- wherein for the each sewing operation the controller is configured to:
- 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 the 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
- moving a first robotic arm a first distance to cause a needle held by the first robotic arm to penetrate a part of the object;
- moving a second robotic arm to hold a penetration portion of the needle and pull the whole needle out of the object after the needle being released by the first robotic arm;
- placing a part of a thread by the second robotic arm on a member of a thread drawing device;
- and
- operate the thread drawing device to draw a loose part of the thread at a fixed end from the fixed end to a second end, the thread comprising the fixed end fixed on the object and a second end tied to the needle.
A robot for sewing an object, comprising:
- a first robotic arm adapted to hold a needle, the needle, carrying a length of a thread,
- a second robotic arm adapted to hold the needle, and
- a controller configured to move the first and second robotic arm to perform a plural of sewing operations so as to form a plural of stitches on the object, each sewing operation comprising:
- moving the first robotic arm a first distance to cause the needle to penetrate a part of the object;
- and
- moving the second robotic arm to hold a penetration portion of the needle and pull the whole needle out of the object after the needle being released by the first robotic arm;
- wherein the object comprises a cover pre-wrapped around a steering wheel, the cover being made of leather, leatherette, or fabric, and the cover comprises two rows of plural of pre-stitches adjacent to each other which define a sewing region for the sewing operations.
Dependencies are inferred from the claim text.