WO2017182937A1 - Robot automatic assembling system and method - Google Patents

Robot automatic assembling system and method Download PDF

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Publication number
WO2017182937A1
WO2017182937A1 PCT/IB2017/052200 IB2017052200W WO2017182937A1 WO 2017182937 A1 WO2017182937 A1 WO 2017182937A1 IB 2017052200 W IB2017052200 W IB 2017052200W WO 2017182937 A1 WO2017182937 A1 WO 2017182937A1
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WO
WIPO (PCT)
Prior art keywords
assembling
component
robot
thin plate
metal thin
Prior art date
Application number
PCT/IB2017/052200
Other languages
French (fr)
Inventor
Yingcong Deng
Lvhai Hu
Zhiyong Dai
Yun Liu
Dandan Zhang
Qiang Yu
Wei Chen
Ning Zhang
Original Assignee
Tyco Electronics (Shanghai) Co. Ltd.
Tyco Electronics (Zhuhai) Ltd
Tyco Electronics Uk Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tyco Electronics (Shanghai) Co. Ltd., Tyco Electronics (Zhuhai) Ltd, Tyco Electronics Uk Ltd filed Critical Tyco Electronics (Shanghai) Co. Ltd.
Publication of WO2017182937A1 publication Critical patent/WO2017182937A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40033—Assembly, microassembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40111—For assembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40487—Sensing to task planning to assembly execution, integration, automatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Definitions

  • the present invention relates to a robot automatic assembling system and a robot automatic assembling method, more particularly, relates to a robot automatic assembling system and a robot automatic assembling method for assembling metal thin plate components.
  • Metal thin plate components are usually very thin, and very easy to deform. Also, surfaces of the metal thin plate components are easy to be scratched or scraped. Therefore, the operation of assembling the metal thin plate components is a very challenging task.
  • the metal thin plate components are usually assembled by manual, so the assembling efficiency is very low. Also, in order to ensure the assembling work productivity, it needs to take great efforts to train operators, increasing the production cost. Moreover, the assembling precision mainly depends on manual experience, and it cannot guarantee the strict consistency of assembling accuracy.
  • the present invention has been made to overcome or alleviate at least one aspect of the above mentioned disadvantages.
  • a robot automatic assembling system comprising: a robot having a manipulator constructed to hold a component to be assembled; a positioning system configured to roughly position the component to be assembled; a vision system configured to accurately identifying position and direction of the component held by the manipulator; and an assembling station where the robot performs operations of assembling the component,.
  • the robot automatic assembling system is capable of adaptively selecting different assembling paths for the component according to assembling accuracy required by the component.
  • the different assembling paths at least comprise a first assembling path from the positioning system directly to the assembling station and a second assembling path from the positioning system through the vision system to the assembling station.
  • the robot is configured to determine whether the assembling accuracy of the component to be assembled satisfies a first assembling accuracy level or a second assembling accuracy level higher than the first assembling accuracy level by comparing the assembling accuracy of the component with a plurality of predetermined assembling accuracy levels.
  • the robot automatic assembling system adaptively selects the first assembling path for the component; and when the assembling accuracy of the component satisfies the second assembling accuracy level, the robot automatic assembling system adaptively selects the second assembling path for the component.
  • the robot comprises a six-axis robot.
  • the six-axis robot is configured to adaptively adjust the assembling path of the component according to position and direction, accurately identified by the vision system, of the component held by the manipulator.
  • the robot is provided with a quick switching device through which the manipulator is connected to the robot body.
  • the robot has two manipulators, one of which is a pneumatic claw, and the other of which is a pneumatic sucker.
  • the assembling station further comprises an additional positioning mechanism which is configured to position and fix the component in the assembling station during assembling the component in the assembling station.
  • the assembling station comprises a first assembling station where a subassembly is assembled and a second assembling station where the subassembly and remaining components are assembled to form a final product.
  • the robot automatic assembling system further comprises an automatic feeding system to which the positioning system is connected.
  • a robot automatic assembling method comprising steps of:
  • selecting a first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a first assembling accuracy level; selecting a second assembling path different from the first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a second assembling accuracy level.
  • the step of "selecting a first assembling path to assemble the component by the robot” comprising steps of:
  • the first assembling accuracy level is lower than the second assembling accuracy level.
  • the robot is a six-axis robot, and the method further comprises a step of:
  • the step of "adaptively adjusting the assembling path of the component by the six-axis robot” comprising a step of:
  • the step of "assembling the component in the assembling station” comprising steps of:
  • a method of automatically assembling a component at least comprising a first metal thin plate component, a second metal thin plate component and a third metal thin plate component comprising steps of:
  • the first metal thin plate component, the second metal thin plate component and the third metal thin plate component comprise a bottom cage, a partition plate, and a top cage of a cage of a fiber optic connector, respectively.
  • the first metal thin plate component, the second metal thin plate component and the third metal thin plate component each may have a thickness less than 0.25mm.
  • the first metal thin plate component, the second metal thin plate component and the third metal thin plate component each may have a thickness equal to or larger than 0.25mm.
  • the automatic assembling system based on robot is a flexible automatic assembling system
  • the automatic assembling method based on robot may make full use of the flexibility and programmability of the robot, so that the robot may assemble different components by following different customized assembling paths.
  • the automatic assembling system also includes a visual system, which is configured to guide the robot to perform the assembling operation with high accuracy. Furthermore, by selecting different assembling paths, it may improve the assembling accuracy while ensuring the optimal assembling process, thereby saving the assembling time, and improving the assembling efficiency.
  • Fig. l is an illustrative view of a robot automatic assembling system according to an exemplary embodiment of the present invention.
  • Fig.2 is an illustrative perspective view of a robot of the robot automatic assembling system of Fig. l;
  • Fig.3 is an illustrative perspective view of a mechanical claw of the robot of Fig.2 according to an exemplary embodiment of the present invention
  • Fig.4 is an illustrative perspective view of a cage, which includes metal thin plate components to be assembled, viewed from lower side according to an exemplary embodiment of the present invention
  • Fig.5 is an illustrative perspective view of a cage, which includes metal thin plate components to be assembled, viewed from upper side according to an exemplary embodiment of the present invention.
  • Fig.6 is a flow chart of a robot automatic assembling method according to an exemplary embodiment of the present invention.
  • Fig. l is an illustrative view of a robot automatic assembling system according to an exemplary embodiment of the present invention.
  • the robot automatic assembling system mainly comprises: a robot 1 having a manipulator 2 for holding a component (not shown in Fig. l) to be assembled; a positioning system 3 configured to roughly position the component to be assembled; a vision system 4 configured to accurately identifying position and direction of the component held by the manipulator; and an assembling station 5, 6 where the robot performs operation of assembling the component.
  • the robot automatic assembling system is constructed to adaptively select different assembling paths for the component to be assembled according to assembling feature required by the component to be assembled.
  • assembling feature required by the component to be assembled assembling feature required by the component to be assembled.
  • the different assembling paths at least comprise a first assembling path from the positioning system 3 directly to the assembling station 5, 6, and a second assembling path from the positioning system 3 through the vision system 4 to the assembling station 5, 6.
  • the assembling feature of the component to be assembled comprises assembling accuracy P required by the component.
  • the robot is configured to determine whether the assembling accuracy P of the component to be assembled satisfies a first assembling accuracy level LI or a second assembling accuracy level L2 by comparing the assembling accuracy of the component to be assembled with a plurality of predetermined assembling accuracy levels LI, L2.
  • the robot automatic assembling system adaptively selects the first assembling path for the component.
  • the robot automatic assembling system adaptively selects the second assembling path for the component.
  • the first assembling accuracy level LI may be set lower than the second assembling accuracy level L2.
  • the terms of "the assembling accuracy P of the component to be assembled satisfies the first assembling accuracy level LI” means that the assembling accuracy P of the component to be assembled is equal to or lower than the first assembling accuracy level LI .
  • the terms of "the assembling accuracy P of the component to be assembled satisfies the second assembling accuracy level L2" means that the assembling accuracy P of the component to be assembled is equal to or higher than the second assembling accuracy level L2.
  • the robot 1 may directly transmit and load the component to the assembling station 5, 6 without having to stay in the vision system 4. In this way, it may save the assembling time.
  • the robot 1 may transmit the component to the vision system 4, and then load and position the component in the assembling station 5, 6 under the guidance of the vision system 4.
  • the robot automatic assembling system is capable of adaptively selecting different assembling paths for the component to be assembled according to the assembling feature (for example, the assembling accuracy) required by the component to be assembled, and it does not need to use the vision system 4 in the process of loading and assembling all components. As a result, it ensures the assembling accuracy while optimizing the assembling process, saving the assembling time.
  • the robot 1 is a six-axis robot as shown in Fig.2.
  • the six-axis robot is configured to adaptively adjust the assembling path of the component according to position and direction, accurately identified by the vision system 4, of the component held by the manipulator. This operation of adjusting the assembling path will be described in detail below.
  • Fig.3 is an illustrative perspective view of a mechanical claw of the robot of Fig.2 according to an exemplary embodiment of the present invention.
  • the manipulator is a mechanical claw.
  • the manipulator in the present invention is not limited to a hand-typed gripper, the manipulator may be any suitable device which may clamp or hold the component to be assembled, and for example, the manipulator may be an electric device, a pneumatic device or any other type of device.
  • the robot in order to clamp or hold different shapes and types of components, the robot has two manipulators 2, one of which is a pneumatic claw, and the other of which is a pneumatic sucker.
  • the robot 1 is provided with a quick switching device through which the manipulator 2 is connected to the robot body.
  • the robot 1 may be mounted with different manipulators 2 through the quick switching device according to different components to be assembled. In this way, in order to hold different components, the robot may quickly replace or switch the manipulator among different kinds of manipulators 2.
  • the assembling station 5, 6 comprises a first assembling station 5 where, for example, a subassembly is assembled and a second assembling station 6 where, for example, the subassembly and remaining components are assembled to form a final product.
  • the robot automatic assembling system may comprise one, three, four or more assembling stations.
  • the first assembling station 5 and/or the second assembling station 6 may further comprise an additional positioning mechanism (not shown) which is configured to position and fix the component in the assembling station 5, 6 during assembling the component in the assembling station 5, 6.
  • an additional positioning mechanism (not shown) which is configured to position and fix the component in the assembling station 5, 6 during assembling the component in the assembling station 5, 6.
  • the component to be assembled may be directly loaded to the positioning system 3 by manual.
  • the robot automatic assembling system may further comprise an automatic feeding system (not shown) to which the positioning system 3 is connected. In this way, the component to be assembled may be loaded to the positioning system 3 by the automatic feeding system, so as to realize the automatic assembling process.
  • the method mainly comprises steps of:
  • S50 selecting a first assembling path to assemble the component by the robot if the assembling feature of the component satisfies a first assembling level; or selecting a second assembling path different from the first assembling path to assemble the component by the robot if the assembling feature of the component satisfies a second assembling level.
  • the step of "selecting a first assembling path to assemble the component by the robot” comprises steps of: directly transmitting and loading the roughly positioned component into the assembling station 5, 6 by the robot 1, and then assembling the component in the assembling station 5, 6 by the robot 1.
  • the step of "selecting a second assembling path different from the first assembling path to assemble the component by the robot” comprises steps of: transmitting the roughly positioned component to the vision system 4 by the robot 1 ; accurately identifying position and direction of the component held by the robot 1; transmitting the component to the assembling station 5, 6 and accurately positioning the component in the assembling station 5, 6 under the guidance of the vision system 4; and assembling the component in the assembling station 5, 6.
  • the robot 1 comprises a six-axis robot (as shown in Fig.2)
  • the robot automatic assembling method further comprises a step of: adaptively adjusting the assembling path of the component by the six-axis robot according to position and direction, accurately identified by the vision system 4, of the component held by the robot 1.
  • the step of "adaptively adjusting the assembling path of the component by the six-axis robot” comprises: adjusting the direction of the component with respect to a horizontal plane or a vertical plane by the six-axis robot 1, so as to assemble the component, in a predetermined inclination angle with respect to the horizontal plane or the vertical plane, on another component which is pre-positioned in the assembling station 5, 6.
  • the above predetermined inclination angle may be equal to 15 degrees.
  • Figs.4 and 5 show an illustrative perspective view of a cage of a fiber optic connector.
  • the cage comprises a bottom cage 31, a partition plate 32, a top cage 33 and a kick-out spring 34.
  • the bottom cage 31, the partition plate 32 and the top cage 33 are all made of metal thin plates.
  • the thickness of the bottom cage 31, the partition plate 32 and the top cage 33 is less than 0.25mm.
  • the thickness of the bottom cage 31, the partition plate 32 and the top cage 33 may be larger than or equal to 0.25mm.
  • the process of assembling the cage is as follows: assembling the partition plates 32 on the bottom cage 31 to form a subassembly; and assembling the kick-out spring 34 and the top cage 33 on the subassembly to form the final cage.
  • the automatic feeding module loads the bottom cage 31 to the positioning system 3, so as to roughly position the bottom cage 31.
  • the robot 1 picks up the bottom cage 31 from the positioning system 3 by a pneumatic sucker. Since the assembling accuracy required by the bottom cage 31 is relative higher, the robot 1 adaptively loads the bottom cage 31 to the first assembling station 5 and positions the bottom cage 31 in the first assembling station 5 under the accurate guidance of the vision system 4.
  • the robot 1 grips the partition plate 32 from the positioning system 3 by a pneumatic claw.
  • the robot 1 adaptively transmits the partition plate 32 to the first assembling station 5 under the accurate guidance of the vision system 4, and assembles the partition plate 32 on the bottom cage 31 under the accurate guidance of the vision system 4, so as to form a subassembly in the first assembling station 5.
  • the second assembling station 6 comprises an additional positioning mechanism.
  • the subassembly loaded in the second assembling station 6 is well positioned and limited in the second assembling station 6 by the additional positioning mechanism.
  • the robot grips the kick-out spring 34 from the positioning system 3 by the pneumatic claw.
  • the robot 1 adaptively transmits the kick-out spring 34 to the second assembling station 6 under the accurate guidance of the vision system 4, and assembles the kick-out spring 34 on the subassembly under the accurate guidance of the vision system 4.
  • the robot picks up the top cage 33 from the positioning system 3 by the pneumatic sucker.
  • the robot 1 adaptively transmits the top cage 33 to the second assembling station 6 under the accurate guidance of the vision system 4, and assembles the top cage 33 on the subassembly under the accurate guidance of the vision system 4, so as to form a final cage.
  • the robot automatic assembling system and method may adaptively adjust the assembling path according to different types and different assembling requirements of components. That is, the robot automatic assembling system is a flexible assembling system which may be adapted to a large number of customized metal thin plate products.
  • the robot automatic assembling system and method may be used to assemble various cages, for example, with ports arranged in an array of l(row)x2(columns), l(row)x4(columns) or l(row)x6(columns).
  • the above robot automatic assembling system and method is not only adapted to assemble the cage described in the above embodiments, but also adapted to assemble other types of products.
  • the robot 1 when the robot 1 performs the automatic assembling operations in the first assembling station 5 or the second assembling station 6, the robot 1 may be able to be interacted with positioning mechanisms in the assembling stations 5, 6, if necessary, so as to facilitate the robot to assemble the components. Furthermore, the robot 1 may be cooperated with the positioning mechanisms to facilitate the assembling of the components.
  • the robot automatic assembling system may be used to perform very complex assembling processes, for example, it may control the robot to follow the complex assembling path by imitating manual assembling operations, and it may even control the robot to follow some robot assembling paths to perform some assembling operations that cannot be performed by an operator.
  • the automatic assembling system based on robot will lead to fewer components to be deformed and/or scratched, scraped, or even not any component to be deformed and/or scratched, scraped.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

A robot automatic assembling system, comprising: a robot having a manipulator for holding a component to be assembled; a positioning system configured to roughly position the component; a vision system configured to accurately identifying position and direction of the component held by the manipulator; and an assembling station where the robot performs the assembling operation of the component. The robot automatic assembling system is configured adaptively select different assembling paths for the component according to assembling accuracy required by the component to be assembled. The different assembling paths at least comprise a first assembling path from the positioning system directly to the assembling station and a second assembling path from the positioning system through the vision system to the assembling station. The automatic assembling system may assemble different components by following different customized assembling paths.

Description

ROBOT AUTOMATIC ASSEMBLING SYSTEM AND METHOD
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of Chinese Patent Application No.CN201610243845.2 filed on April 19, 2016 in the State Intellectual Property Office of China, the whole disclosure of which is incorporated herein by reference. BACKGROUND OF THE INVENTION
Field of the Invention
The present invention relates to a robot automatic assembling system and a robot automatic assembling method, more particularly, relates to a robot automatic assembling system and a robot automatic assembling method for assembling metal thin plate components.
Description of the Related Art
Metal thin plate components are usually very thin, and very easy to deform. Also, surfaces of the metal thin plate components are easy to be scratched or scraped. Therefore, the operation of assembling the metal thin plate components is a very challenging task.
At present, the metal thin plate components are usually assembled by manual, so the assembling efficiency is very low. Also, in order to ensure the assembling work productivity, it needs to take great efforts to train operators, increasing the production cost. Moreover, the assembling precision mainly depends on manual experience, and it cannot guarantee the strict consistency of assembling accuracy.
In future, updating and replacing of products will become faster and faster, and the traditional manual assembling method cannot meet the quick updating and replacing requirements of products. Thereby, it needs to develop a novel flexible, quickly adaptive, and highly automatic assembling system and method.
SUMMARY OF THE INVENTION
The present invention has been made to overcome or alleviate at least one aspect of the above mentioned disadvantages.
According to an aspect of the present invention, there is provided a robot automatic assembling system, comprising: a robot having a manipulator constructed to hold a component to be assembled; a positioning system configured to roughly position the component to be assembled; a vision system configured to accurately identifying position and direction of the component held by the manipulator; and an assembling station where the robot performs operations of assembling the component,. The robot automatic assembling system is capable of adaptively selecting different assembling paths for the component according to assembling accuracy required by the component. The different assembling paths at least comprise a first assembling path from the positioning system directly to the assembling station and a second assembling path from the positioning system through the vision system to the assembling station.
According to an exemplary embodiment of the present invention, the robot is configured to determine whether the assembling accuracy of the component to be assembled satisfies a first assembling accuracy level or a second assembling accuracy level higher than the first assembling accuracy level by comparing the assembling accuracy of the component with a plurality of predetermined assembling accuracy levels. When the assembling accuracy of the component satisfies the first assembling accuracy level, the robot automatic assembling system adaptively selects the first assembling path for the component; and when the assembling accuracy of the component satisfies the second assembling accuracy level, the robot automatic assembling system adaptively selects the second assembling path for the component.
According to another exemplary embodiment of the present invention, the robot comprises a six-axis robot.
According to another exemplary embodiment of the present invention, the six-axis robot is configured to adaptively adjust the assembling path of the component according to position and direction, accurately identified by the vision system, of the component held by the manipulator.
According to another exemplary embodiment of the present invention, the robot is provided with a quick switching device through which the manipulator is connected to the robot body.
According to another exemplary embodiment of the present invention, the robot has two manipulators, one of which is a pneumatic claw, and the other of which is a pneumatic sucker.
According to another exemplary embodiment of the present invention, the assembling station further comprises an additional positioning mechanism which is configured to position and fix the component in the assembling station during assembling the component in the assembling station.
According to another exemplary embodiment of the present invention, the assembling station comprises a first assembling station where a subassembly is assembled and a second assembling station where the subassembly and remaining components are assembled to form a final product.
According to another exemplary embodiment of the present invention, the robot automatic assembling system further comprises an automatic feeding system to which the positioning system is connected.
According to another aspect of the present invention, there is provided a robot automatic assembling method, comprising steps of:
loading a component to be assembled into a positioning system, so as to roughly position the component;
grabbing or picking up the roughly positioned component from the positioning system by a robot;
determining an assembling accuracy required by the component to be assembled, and comparing the determined assembling accuracy with a plurality of predetermined assembling accuracy levels;
selecting a first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a first assembling accuracy level; selecting a second assembling path different from the first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a second assembling accuracy level.
According to an exemplary embodiment of the present invention, the step of "selecting a first assembling path to assemble the component by the robot" comprising steps of:
directly transmitting and loading the roughly positioned component into the assembling station by the robot, and then assembling the component in the assembling station by the robot.
According to another exemplary embodiment of the present invention, the step of
"selecting a second assembling path different from the first assembling path to assemble the component by the robot" comprising steps of:
transmitting the roughly positioned component to the vision system by the robot;
accurately identifying position and direction of the component held by the robot;
transmitting the component to the assembling station and accurately positioning the component in the assembling station under the guidance of the vision system; and
assembling the component in the assembling station.
According to another exemplary embodiment of the present invention, the first assembling accuracy level is lower than the second assembling accuracy level.
According to another exemplary embodiment of the present invention, the robot is a six-axis robot, and the method further comprises a step of:
adaptively adjusting the assembling path of the component by the six-axis robot according to position and direction, accurately identified by the vision system, of the component held by the robot.
According to another exemplary embodiment of the present invention, the step of "adaptively adjusting the assembling path of the component by the six-axis robot" comprising a step of:
adjusting the direction of the component with respect to a horizontal plane or a vertical plane by the six-axis robot, so as to assemble the component, in a predetermined inclination angle with respect to the horizontal plane or the vertical plane, on another component which is pre-positioned in the assembling station.
According to another exemplary embodiment of the present invention, the step of "assembling the component in the assembling station" comprising steps of:
assembling the component in the first assembling station to form a subassembly; and assembling the subassembly and remaining components in the second assembling station to form a final product.
According to another aspect of the present invention, there is provided a method of automatically assembling a component at least comprising a first metal thin plate component, a second metal thin plate component and a third metal thin plate component, the method comprising steps of:
loading the first metal thin plate component to a positioning system, so as to roughly position the first metal thin plate component;
identifying a first assembling feature of the first metal thin plate component, and comparing the identified first assembling feature with predetermined assembling accuracy levels;
directly loading and positioning the first metal thin plate component in a first assembling station by a robot when the first assembling feature meets a first assembling accuracy level; or loading and accurately positioning the first metal thin plate component in a first assembling station by a robot under the guidance of a vision system when the first assembling feature meets a second assembling accuracy level;
loading the second metal thin plate component to the positioning system, so as to roughly position the second metal thin plate component;
identifying a second assembling feature of the second metal thin plate component, and comparing the identified second assembling feature with predetermined assembling accuracy levels;
directly transmitting the second metal thin plate component to the first assembling station by the robot, and assembling the second metal thin plate component and the first metal thin plate component to form a first subassembly when the second assembling feature meets the first assembling accuracy level; or transmitting the second metal thin plate component to the first assembling station by the robot under the guidance of the vision system, and accurately assembling the second metal thin plate component and the first metal thin plate component to form a first subassembly when the second assembling feature meets the second assembling accuracy level;
transmitting and loading the first subassembly to a second assembling station;
positioning the first subassembly in the second assembling station by an additional positioning mechanism;
loading the third metal thin plate component to the positioning system, so as to roughly position the third metal thin plate component;
identifying a third assembling feature of the third metal thin plate component, and comparing the identified third assembling feature with predetermined assembling accuracy levels; and
directly transmitting the third metal thin plate component to the second assembling station by the robot, and assembling the third metal thin plate component and the subassembly when the third assembling feature meets the first assembling accuracy level; or transmitting the third metal thin plate component to the second assembling station by the robot under the guidance of the vision system, and accurately assembling the third metal thin plate component and the first subassembly when the third assembling feature meets the second assembling accuracy level.
According to an exemplary embodiment of the present invention, the first metal thin plate component, the second metal thin plate component and the third metal thin plate component comprise a bottom cage, a partition plate, and a top cage of a cage of a fiber optic connector, respectively.
According to an exemplary embodiment, the first metal thin plate component, the second metal thin plate component and the third metal thin plate component each may have a thickness less than 0.25mm. In another exemplary embodiment, the first metal thin plate component, the second metal thin plate component and the third metal thin plate component each may have a thickness equal to or larger than 0.25mm.
In embodiments of the present invention, the automatic assembling system based on robot is a flexible automatic assembling system, and the automatic assembling method based on robot may make full use of the flexibility and programmability of the robot, so that the robot may assemble different components by following different customized assembling paths. At the same time, the automatic assembling system also includes a visual system, which is configured to guide the robot to perform the assembling operation with high accuracy. Furthermore, by selecting different assembling paths, it may improve the assembling accuracy while ensuring the optimal assembling process, thereby saving the assembling time, and improving the assembling efficiency. In addition, during the assembling process, the automatic assembling system based on robot will lead to fewer components to be deformed and/or scratched, scraped, or even not any component to be deformed and/or scratched, scraped. BRIEF DESCRIPTION OF THE DRAWINGS
The above and other features of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the accompanying drawings, in which:
Fig. l is an illustrative view of a robot automatic assembling system according to an exemplary embodiment of the present invention;
Fig.2 is an illustrative perspective view of a robot of the robot automatic assembling system of Fig. l;
Fig.3 is an illustrative perspective view of a mechanical claw of the robot of Fig.2 according to an exemplary embodiment of the present invention;
Fig.4 is an illustrative perspective view of a cage, which includes metal thin plate components to be assembled, viewed from lower side according to an exemplary embodiment of the present invention;
Fig.5 is an illustrative perspective view of a cage, which includes metal thin plate components to be assembled, viewed from upper side according to an exemplary embodiment of the present invention; and
Fig.6 is a flow chart of a robot automatic assembling method according to an exemplary embodiment of the present invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE IVENTION
Exemplary embodiments of the present disclosure will be described hereinafter in detail with reference to the attached drawings, wherein the like reference numerals refer to the like elements. The present disclosure may, however, be embodied in many different forms and should not be construed as being limited to the embodiment set forth herein; rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the concept of the disclosure to those skilled in the art.
In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the disclosed
embodiments. It will be apparent, however, that one or more embodiments may be practiced without these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing.
Fig. l is an illustrative view of a robot automatic assembling system according to an exemplary embodiment of the present invention. As shown in Fig.l, the robot automatic assembling system mainly comprises: a robot 1 having a manipulator 2 for holding a component (not shown in Fig. l) to be assembled; a positioning system 3 configured to roughly position the component to be assembled; a vision system 4 configured to accurately identifying position and direction of the component held by the manipulator; and an assembling station 5, 6 where the robot performs operation of assembling the component.
In an embodiment, the robot automatic assembling system is constructed to adaptively select different assembling paths for the component to be assembled according to assembling feature required by the component to be assembled. Hereafter, it will describe in detail the adaptive operation of assembling the component with reference to Fig. l.
In an embodiment, the different assembling paths at least comprise a first assembling path from the positioning system 3 directly to the assembling station 5, 6, and a second assembling path from the positioning system 3 through the vision system 4 to the assembling station 5, 6.
In an embodiment, the assembling feature of the component to be assembled comprises assembling accuracy P required by the component. Thereby, the robot is configured to determine whether the assembling accuracy P of the component to be assembled satisfies a first assembling accuracy level LI or a second assembling accuracy level L2 by comparing the assembling accuracy of the component to be assembled with a plurality of predetermined assembling accuracy levels LI, L2. When the assembling accuracy P of the component to be assembled satisfies the first assembling accuracy level LI, the robot automatic assembling system adaptively selects the first assembling path for the component. When the assembling accuracy P of the component to be assembled satisfies the second assembling accuracy level L2, the robot automatic assembling system adaptively selects the second assembling path for the component. For example, the first assembling accuracy level LI may be set lower than the second assembling accuracy level L2. The terms of "the assembling accuracy P of the component to be assembled satisfies the first assembling accuracy level LI" means that the assembling accuracy P of the component to be assembled is equal to or lower than the first assembling accuracy level LI . The terms of "the assembling accuracy P of the component to be assembled satisfies the second assembling accuracy level L2" means that the assembling accuracy P of the component to be assembled is equal to or higher than the second assembling accuracy level L2.
In an embodiment, as shown in Fig.l, when the positioning system 3 is sufficient to locate or limit the component to be assembled within a first predetermined assembling accuracy level, the robot 1 may directly transmit and load the component to the assembling station 5, 6 without having to stay in the vision system 4. In this way, it may save the assembling time. When the positioning system 3 is insufficient to locate or limit the component to be assembled within a second predetermined assembling accuracy level higher than the first assembling accuracy level, the robot 1 may transmit the component to the vision system 4, and then load and position the component in the assembling station 5, 6 under the guidance of the vision system 4. In this way, it may improve the loading and assembling accuracy That is, in the embodiments of the present invention, the robot automatic assembling system is capable of adaptively selecting different assembling paths for the component to be assembled according to the assembling feature (for example, the assembling accuracy) required by the component to be assembled, and it does not need to use the vision system 4 in the process of loading and assembling all components. As a result, it ensures the assembling accuracy while optimizing the assembling process, saving the assembling time.
In an embodiment, the robot 1 is a six-axis robot as shown in Fig.2. The six-axis robot is configured to adaptively adjust the assembling path of the component according to position and direction, accurately identified by the vision system 4, of the component held by the manipulator. This operation of adjusting the assembling path will be described in detail below.
In an embodiment, Fig.3 is an illustrative perspective view of a mechanical claw of the robot of Fig.2 according to an exemplary embodiment of the present invention. In the illustrated embodiment, the manipulator is a mechanical claw. Please be noted that the manipulator in the present invention is not limited to a hand-typed gripper, the manipulator may be any suitable device which may clamp or hold the component to be assembled, and for example, the manipulator may be an electric device, a pneumatic device or any other type of device. In an embodiment, in order to clamp or hold different shapes and types of components, the robot has two manipulators 2, one of which is a pneumatic claw, and the other of which is a pneumatic sucker.
In an embodiment, the robot 1 is provided with a quick switching device through which the manipulator 2 is connected to the robot body. Thereby, the robot 1 may be mounted with different manipulators 2 through the quick switching device according to different components to be assembled. In this way, in order to hold different components, the robot may quickly replace or switch the manipulator among different kinds of manipulators 2.
Referring to Fig. l again, in an embodiment, the assembling station 5, 6 comprises a first assembling station 5 where, for example, a subassembly is assembled and a second assembling station 6 where, for example, the subassembly and remaining components are assembled to form a final product. But the present invention is not limited to this, for example, in other embodiments, the robot automatic assembling system may comprise one, three, four or more assembling stations.
In an embodiment, the first assembling station 5 and/or the second assembling station 6 may further comprise an additional positioning mechanism (not shown) which is configured to position and fix the component in the assembling station 5, 6 during assembling the component in the assembling station 5, 6. Thus, the assembling operation may be better performed to further ensure the assembling accuracy.
In an embodiment, the component to be assembled may be directly loaded to the positioning system 3 by manual. In another embodiment, the robot automatic assembling system may further comprise an automatic feeding system (not shown) to which the positioning system 3 is connected. In this way, the component to be assembled may be loaded to the positioning system 3 by the automatic feeding system, so as to realize the automatic assembling process.
Hereafter, it will describe a method of automatically assembling components by the above robot automatic assembling system with reference to the flow chart of Fig.6. The method mainly comprises steps of:
S 10: loading a component to be assembled into a positioning system 3, so as to roughly position the component to be assembled;
S20: grabbing or picking up the roughly positioned component from the positioning system 3 by a robot;
S30: determining an assembling feature of the component to be assembled;
S40: comparing the determined assembling feature with a plurality of predetermined assembling levels;
S50: selecting a first assembling path to assemble the component by the robot if the assembling feature of the component satisfies a first assembling level; or selecting a second assembling path different from the first assembling path to assemble the component by the robot if the assembling feature of the component satisfies a second assembling level.
In an embodiment, in the above step S50, the step of "selecting a first assembling path to assemble the component by the robot" comprises steps of: directly transmitting and loading the roughly positioned component into the assembling station 5, 6 by the robot 1, and then assembling the component in the assembling station 5, 6 by the robot 1. The step of "selecting a second assembling path different from the first assembling path to assemble the component by the robot" comprises steps of: transmitting the roughly positioned component to the vision system 4 by the robot 1 ; accurately identifying position and direction of the component held by the robot 1; transmitting the component to the assembling station 5, 6 and accurately positioning the component in the assembling station 5, 6 under the guidance of the vision system 4; and assembling the component in the assembling station 5, 6.
In an embodiment, the robot 1 comprises a six-axis robot (as shown in Fig.2), and the robot automatic assembling method further comprises a step of: adaptively adjusting the assembling path of the component by the six-axis robot according to position and direction, accurately identified by the vision system 4, of the component held by the robot 1.
In an embodiment, the step of "adaptively adjusting the assembling path of the component by the six-axis robot" comprises: adjusting the direction of the component with respect to a horizontal plane or a vertical plane by the six-axis robot 1, so as to assemble the component, in a predetermined inclination angle with respect to the horizontal plane or the vertical plane, on another component which is pre-positioned in the assembling station 5, 6. In an embodiment, the above predetermined inclination angle may be equal to 15 degrees.
Hereafter, it will describe the above automatic assembling method by taking a cage of a fiber optic connector as an example.
Figs.4 and 5 show an illustrative perspective view of a cage of a fiber optic connector. As shown in Figs.4-5, the cage comprises a bottom cage 31, a partition plate 32, a top cage 33 and a kick-out spring 34. The bottom cage 31, the partition plate 32 and the top cage 33 are all made of metal thin plates. In an embodiment, the thickness of the bottom cage 31, the partition plate 32 and the top cage 33 is less than 0.25mm. However, it should be appreciated for those skilled in this art that the present invention is not limited to a particular thickness. For example, in other embodiments, the thickness of the bottom cage 31, the partition plate 32 and the top cage 33 may be larger than or equal to 0.25mm.
The process of assembling the cage is as follows: assembling the partition plates 32 on the bottom cage 31 to form a subassembly; and assembling the kick-out spring 34 and the top cage 33 on the subassembly to form the final cage.
Firstly, the automatic feeding module loads the bottom cage 31 to the positioning system 3, so as to roughly position the bottom cage 31.
Then, the robot 1 picks up the bottom cage 31 from the positioning system 3 by a pneumatic sucker. Since the assembling accuracy required by the bottom cage 31 is relative higher, the robot 1 adaptively loads the bottom cage 31 to the first assembling station 5 and positions the bottom cage 31 in the first assembling station 5 under the accurate guidance of the vision system 4.
Then, the robot 1 grips the partition plate 32 from the positioning system 3 by a pneumatic claw. In a condition where the bottom cage 31 is well positioned and limited in the first assembling station 5, the robot 1 adaptively transmits the partition plate 32 to the first assembling station 5 under the accurate guidance of the vision system 4, and assembles the partition plate 32 on the bottom cage 31 under the accurate guidance of the vision system 4, so as to form a subassembly in the first assembling station 5.
Then, the subassembly is transmitted and loaded to the second assembling station 6. The second assembling station 6 comprises an additional positioning mechanism. The subassembly loaded in the second assembling station 6 is well positioned and limited in the second assembling station 6 by the additional positioning mechanism.
Then, the robot grips the kick-out spring 34 from the positioning system 3 by the pneumatic claw. In a condition where the subassembly is well positioned and limited in the second assembling station 6, the robot 1 adaptively transmits the kick-out spring 34 to the second assembling station 6 under the accurate guidance of the vision system 4, and assembles the kick-out spring 34 on the subassembly under the accurate guidance of the vision system 4.
Then, the robot picks up the top cage 33 from the positioning system 3 by the pneumatic sucker. In a condition where the subassembly is well positioned and limited in the second assembling station 6, the robot 1 adaptively transmits the top cage 33 to the second assembling station 6 under the accurate guidance of the vision system 4, and assembles the top cage 33 on the subassembly under the accurate guidance of the vision system 4, so as to form a final cage.
In the above embodiment shown in Figs.2-3, it describes the automatic assembling method by taking the cage as an example. As described above, the robot automatic assembling system and method may adaptively adjust the assembling path according to different types and different assembling requirements of components. That is, the robot automatic assembling system is a flexible assembling system which may be adapted to a large number of customized metal thin plate products. For example, the robot automatic assembling system and method may be used to assemble various cages, for example, with ports arranged in an array of l(row)x2(columns), l(row)x4(columns) or l(row)x6(columns). Please be noted that the above robot automatic assembling system and method is not only adapted to assemble the cage described in the above embodiments, but also adapted to assemble other types of products.
In an embodiment, when the robot 1 performs the automatic assembling operations in the first assembling station 5 or the second assembling station 6, the robot 1 may be able to be interacted with positioning mechanisms in the assembling stations 5, 6, if necessary, so as to facilitate the robot to assemble the components. Furthermore, the robot 1 may be cooperated with the positioning mechanisms to facilitate the assembling of the components.
Since the robot automatic assembling system has high flexibility and wide versatility, the robot automatic assembling system may be used to perform very complex assembling processes, for example, it may control the robot to follow the complex assembling path by imitating manual assembling operations, and it may even control the robot to follow some robot assembling paths to perform some assembling operations that cannot be performed by an operator.
In addition, during the assembling process, the automatic assembling system based on robot will lead to fewer components to be deformed and/or scratched, scraped, or even not any component to be deformed and/or scratched, scraped.
It should be appreciated for those skilled in this art that the above embodiments are intended to be illustrated, and not restrictive. For example, many modifications may be made to the above embodiments by those skilled in this art, and various features described in different embodiments may be freely combined with each other without conflicting in configuration or principle.
Although several exemplary embodiments have been shown and described, it would be appreciated by those skilled in the art that various changes or modifications may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.
As used herein, an element recited in the singular and proceeded with the word "a" or "an" should be understood as not excluding plural of said elements or steps, unless such exclusion is explicitly stated. Furthermore, references to "one embodiment" of the present invention are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, embodiments "comprising" or "having" an element or a plurality of elements having a particular property may include additional such elements not having that property.

Claims

What is claimed is,
1. A robot automatic assembling system, comprising:
a robot (1) having a manipulator (2) constructed to hold a component to be assembled; a positioning system (3) configured to roughly position the component;
a vision system (4) configured to accurately identifying position and direction of the component held by the manipulator; and
an assembling station (5, 6) where the robot performs operations of assembling the component,
wherein the robot automatic assembling system is configured to adaptively select different assembling paths for the component according to assembling accuracy required by the component; and
wherein the different assembling paths at least comprise a first assembling path from the positioning system (3) directly to the assembling station (5, 6), and a second assembling path from the positioning system (3) through the vision system (4) to the assembling station (5, 6).
2. The robot automatic assembling system according to claim 1,
wherein the robot is configured to determine whether the assembling accuracy of the component to be assembled satisfies a first assembling accuracy level or a second assembling accuracy level higher than the first assembling accuracy level by comparing the assembling accuracy of the component with a plurality of predetermined assembling accuracy levels,
when the assembling accuracy of the component satisfies the first assembling accuracy level, the robot automatic assembling system adaptively selects the first assembling path for the component; and
when the assembling accuracy of the component satisfies the second assembling accuracy level, the robot automatic assembling system adaptively selects the second assembling path for the component.
3. The robot automatic assembling system according to claim 1, wherein the robot comprises a six-axis robot.
4. The robot automatic assembling system according to claim 3,
wherein the six-axis robot is configured to adaptively adjust the assembling path of the component according to position and direction, accurately identified by the vision system (4), of the component held by the manipulator.
5. The robot automatic assembling system according to claim 1,
wherein the robot is provided with a quick switching device through which the manipulator is connected to the robot body
6. The robot automatic assembling system according to claim 1,
wherein the robot has two manipulators, one of which is a pneumatic claw, and the other of which is a pneumatic sucker.
7. The robot automatic assembling system according to claim 1,
wherein the assembling station (5, 6) further comprises an additional positioning mechanism which is configured to position and fix the component in the assembling station during assembling the component in the assembling station.
8. The robot automatic assembling system according to claim 1,
wherein the assembling station (5, 6) comprises a first assembling station (5) where a subassembly is assembled, and a second assembling station (6) where the subassembly and remaining components are assembled to form a final product.
9. The robot automatic assembling system according to claim 1, further comprising an automatic feeding system to which the positioning system is connected.
10. A robot automatic assembling method, comprising steps of:
loading a component to be assembled into a positioning system, so as to roughly position the component to be assembled;
grabbing or picking up the roughly positioned component from the positioning system by a robot;
determining an assembling accuracy required by the component, and comparing the determined assembling accuracy with a plurality of predetermined assembling accuracy levels;
selecting a first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a first assembling accuracy level; selecting a second assembling path different from the first assembling path to assemble the component by the robot if the assembling accuracy required by the component satisfies a second assembling accuracy level.
11. The method according to claim 10, wherein the step of "selecting a first assembling path to assemble the component by the robot" comprising steps of:
directly transmitting and loading the roughly positioned component into the assembling station by the robot, and assembling the component in the assembling station by the robot.
12. The method according to claim 10, wherein the step of "selecting a second assembling path different from the first assembling path to assemble the component by the robot" comprising steps of:
transmitting the roughly positioned component to the vision system by the robot;
accurately identifying position and direction of the component held by the robot;
transmitting the component to the assembling station and accurately positioning the component in the assembling station under the guidance of the vision system; and
assembling the component in the assembling station.
13. The method according to claim 10, wherein the first assembling accuracy level is lower than the second assembling accuracy level.
14. The method according to claim 10, wherein the robot is a six-axis robot, and the method further comprises a step of:
adaptively adjusting the assembling path of the component by the six-axis robot according to position and direction, accurately identified by the vision system, of the component held by the robot.
15. The method according to claim 14, wherein the step of "adaptively adjusting the assembling path of the component by the six-axis robot" comprising a step of:
adjusting the direction of the component with respect to a horizontal plane or a vertical plane by the six-axis robot, so as to assemble the component, in a predetermined inclination angle with respect to the horizontal plane or the vertical plane, on another component which is pre-positioned in the assembling station.
16. The method according to claim 10, wherein the step of "assembling the component in the assembling station" comprising steps of:
assembling the component in the first assembling station to form a subassembly; and assembling the subassembly and remaining components in the second assembling station to form a final product.
17. A method of automatically assembling a component at least comprising a first metal thin plate component, a second metal thin plate component and a third metal thin plate component, the method comprising steps of:
loading the first metal thin plate component to a positioning system, so as to roughly position the first metal thin plate component; identifying a first assembling feature of the first metal thin plate component, and comparing the identified first assembling feature with predetermined assembling accuracy levels;
directly loading and positioning the first metal thin plate component in a first assembling station by a robot when the first assembling feature meets a first assembling accuracy level; or loading and accurately positioning the first metal thin plate component in a first assembling station by a robot under the guidance of a vision system when the first assembling feature meets a second assembling accuracy level;
loading the second metal thin plate component to the positioning system, so as to roughly position the second metal thin plate component;
identifying a second assembling feature of the second metal thin plate component, and comparing the identified second assembling feature with predetermined assembling accuracy levels;
directly transmitting the second metal thin plate component to the first assembling station by the robot, and assembling the second metal thin plate component and the first metal thin plate component to form a first subassembly when the second assembling feature meets the first assembling accuracy level; or transmitting the second metal thin plate component to the first assembling station by the robot under the guidance of the vision system, and accurately assembling the second metal thin plate component and the first metal thin plate component to form a first subassembly when the second assembling feature meets the second assembling accuracy level;
transmitting and loading the first subassembly to a second assembling station;
positioning the first subassembly in the second assembling station by an additional positioning mechanism;
loading the third metal thin plate component to the positioning system, so as to roughly position the third metal thin plate component;
identifying a third assembling feature of the third metal thin plate component, and comparing the identified third assembling feature with predetermined assembling accuracy levels; and
directly transmitting the third metal thin plate component to the second assembling station by the robot, and assembling the third metal thin plate component and the subassembly when the third assembling feature meets the first assembling accuracy level; or transmitting the third metal thin plate component to the second assembling station by the robot under the guidance of the vision system, and accurately assembling the third metal thin plate component and the first subassembly when the third assembling feature meets the second assembling accuracy level.
18. The method according to claim 17, wherein the first metal thin plate component, the second metal thin plate component and the third metal thin plate component comprise a bottom cage, a partition plate, and a top cage of a cage of a fiber optic connector, respectively.
PCT/IB2017/052200 2016-04-19 2017-04-18 Robot automatic assembling system and method WO2017182937A1 (en)

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