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公开(公告)号：EP3981561A1
公开(公告)日：2022-04-13
申请号：EP19932180.3
申请日：2019-06-06
申请人： OMRON Corporation
发明人： NABETO, Misato , DOI, Sayaka , KOGA, Hiroki
摘要： A tactile sensor pertaining to the present disclosure includes a cover that is provided so as to cover at least part of a base portion, a detection unit that is disposed between the cover and the base portion and detects force applied to the cover, and a limiting structure that limits inclination of the cover with respect to the base portion.
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2.发明公开
公开(公告)号：EP4049811A1
公开(公告)日：2022-08-31
申请号：EP20878163.3
申请日：2020-10-07
申请人： OMRON Corporation
发明人： DOI, Sayaka , KOGA, Hiroki
摘要： Provided is a suction apparatus capable of easily determining whether or not a suction portion has deteriorated. A deterioration determination apparatus (11) includes: an information obtainment unit (113) configured to obtain information on deformation of a suction portion (112) that is configured to hold an object by suction with negative pressure and elastically deforms by the negative pressure; and a deterioration determination unit (115) configured to determine whether or not the suction portion has deteriorated, depending on the deformation of the suction portion occurring when the suction portion holds the object by suction.
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公开(公告)号：EP3835714A1
公开(公告)日：2021-06-16
申请号：EP19884239.5
申请日：2019-03-11
申请人： OMRON Corporation
发明人： DOI, Sayaka , KOGA, Hiroki , YOSHITAKE, Naoki
IPC分类号： G01B7/00
摘要： A proximity sensor unit includes a proximity sensor section including a sensor electrode capable of detecting a capacitance value according to a distance to an object to be detected in a detection direction and a moving device capable of moving the sensor electrode of the proximity sensor section or the object to be detected in the detection direction.
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4.发明公开
公开(公告)号：EP4049812A1
公开(公告)日：2022-08-31
申请号：EP20878870.3
申请日：2020-09-25
申请人： OMRON Corporation
发明人： DOI, Sayaka , KOGA, Hiroki
摘要： Provided is a suction apparatus capable of easily determining whether a suction portion has deteriorated. A deterioration determination apparatus according to an aspect of the present disclosure includes: an information obtainment unit (113) configured to obtain information on deformation of one or more regions of a suction portion configured to hold an object by suction with negative pressure; and a deterioration determination unit (115) configured to determine whether or not the suction portion has deteriorated, depending on the deformation of the one or more regions of the suction portion in a state in which the suction portion does not hold an object by suction.
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公开(公告)号：EP3831552A1
公开(公告)日：2021-06-09
申请号：EP19867875.7
申请日：2019-03-11
申请人： OMRON Corporation
发明人： NABETO, Misato , DOI, Sayaka , KOGA, Hiroki
IPC分类号： B25J15/08
摘要： The end effector includes a palm, a plurality of fingers capable of grasping operation of in which each of the plurality of fingers grasps an object being grasped, a tactile sensor unit capable of detecting an external force from the object being grasped, the tactile sensor being provided with each of the plurality of fingers, and a force receiving portion that receives a force from the object being grasped when the object being grasped is grasped by the plurality of fingers, the force receiving portion being connected to each of the plurality of fingers via the tactile sensor unit. The force receiving portion includes a grasping surface that receives a force from the object being grasped, the grasping surface being placed facing the object being grasped to be able to grasp the object being grasped, and a pressing surface that is placed further away from the palm than the second end portion of each of the plurality of fingers and extends in a direction intersecting the grasping surface.
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公开(公告)号：EP3981560A1
公开(公告)日：2022-04-13
申请号：EP19932126.6
申请日：2019-06-06
申请人： OMRON Corporation
发明人： NABETO, Misato , DOI, Sayaka , KOGA, Hiroki
摘要： A tactile sensor, comprising: a cover provided so as to cover at least a portion of a base; a first force detection section configured to detect a force acting on the cover in a direction toward the base from the cover; and a second force detection section configured to detect the force acting on the cover in a case in which the cover is further displaced in the direction toward the base after the first force detection section has detected the force acting on the cover.
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公开(公告)号：EP3981559A1
公开(公告)日：2022-04-13
申请号：EP19931593.8
申请日：2019-06-06
申请人： OMRON Corporation
发明人： NABETO, Misato , DOI, Sayaka , KOGA, Hiroki
摘要： A tactile sensor pertaining to the present disclosure includes: a cover that is disposed so as to sandwich a base portion and covers at least part of the base portion; and a detection unit that is disposed between the base portion and the cover in a state in which it is pressed in the direction of the base portion by the cover, and detects force applied to the cover.
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公开(公告)号：EP3970926A1
公开(公告)日：2022-03-23
申请号：EP19928418.3
申请日：2019-05-13
申请人： OMRON Corporation
发明人： DOI, Sayaka , KOGA, Hiroki , KAWAKAMI, Shinji , KARAKO, Yukihisa
IPC分类号： B25J13/08
摘要： A controller 5 includes: a deformation information obtaining unit 113 configured to obtain information on deformation of a suction portion that sucks an object W with negative pressure, and that is deformed by the negative pressure; and an operation control unit 13 configured to control movement of the suction portion 112 in accordance with deformation of the suction portion 112.
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公开(公告)号：EP4202390A1
公开(公告)日：2023-06-28
申请号：EP21858086.8
申请日：2021-07-15
申请人： OMRON Corporation
发明人： NABETO, Misato , KITAJIMA, Hiroshi , KOGA, Hiroki , DOI, Sayaka
摘要： A tactile sensor has an electrostatic capacitance-type sensor portion having a layered structure in which a first electrode layer, an elastic layer, and a second electrode layer are layered.
The first electrode layer has plural first electrodes, and the second electrode layer is configured by one or plural second electrodes in a single layer. Two or more of the plural first electrodes are partially-overlapping electrodes that partially overlap with the second electrode as viewed in a normal direction of a contacting surface of the sensor portion. A number of one or plural openings formed in one of the second electrodes, or a number of one or plural island portions formed by one or plural second electrodes, is less than a number of the plural first electrodes.-
公开(公告)号：EP4201611A1
公开(公告)日：2023-06-28
申请号：EP21858087.6
申请日：2021-07-15
申请人： OMRON Corporation
发明人： NABETO, Misato , KITAJIMA, Hiroshi , KOGA, Hiroki , DOI, Sayaka
摘要： In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.
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