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公开(公告)号：EP4241932A1
公开(公告)日：2023-09-13
申请号：EP23156603.5
申请日：2023-02-14
申请人： OMRON Corporation
摘要： In a seal affixing system (1), adsorption pores (20h) are arranged plurally along a first direction (X) and a second direction (Y) on an adsorption face (20e), and the plurality of adsorption pores (20h) are sectioned into a first suction region (A1), a second suction region (A2), and a third suction region (A3) containing a plurality of adsorption pores (20h) from a downstream side to an upstream side along a movement direction (X1), and a controller (70) controls a suction power generator (80) to individually suck the first suction region (A1), the second suction region (A2), and the third suction region (A3). According to the seal affixing system (1), a turbulent spot will not be generated in the affixed seal.
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公开(公告)号：EP4219325A1
公开(公告)日：2023-08-02
申请号：EP22215998.0
申请日：2022-12-22
申请人： OMRON Corporation
摘要： A multi-hole absorption tool (110) includes an absorption surface (111) including a plurality of absorption holes (h1) to which a seal (S) is absorbed. Each of the plurality of absorption holes (h1) is classified so as to belong to at least one of a first region (SE1) and a second region (SE2), and absorption holes (h1) belonging to the first region (SE1) and absorption holes (h1) belonging to the second region (SE2) are connected to different suction devices (600). The multi-hole absorption tool (110) having this configuration can peel off the seal from a mount with no wrinkle in the seal, prevent positional displacement of the seal with respect to an object to which the seal is affixed, and affix the seal to the object.
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公开(公告)号：EP4183532A1
公开(公告)日：2023-05-24
申请号：EP22203257.5
申请日：2022-10-24
申请人： OMRON Corporation
发明人： MURAI, Masahiro
摘要： This robot system (1) includes a robot (10) on which a driver bit (20) for rotating a screw (50) is mountable, and a robot controller (100) that controls the robot. The robot controller gives a command to the robot to insert a teaching jig (60) into a screw hole (72) which is to be threaded with the screw in a state where the teaching jig is mounted instead of the driver bit (S6), and determines a direction in which the driver bit is inserted by adjusting a direction in which the teaching jig is inserted so as not to cause a load due to interference between the teaching jig and the screw hole (S8-S18).
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4.发明公开CONTROL APPARATUS, CONTROL METHOD FOR CONTROL APPARATUS, CONTROL PROGRAM, AND STORAGE MEDIUM 审中-公开控制装置，控制装置的控制方法，控制程序和存储介质
公开(公告)号：EP3316060A1
公开(公告)日：2018-05-02
申请号：EP17190241.4
申请日：2017-09-08
申请人： Omron Corporation
发明人： KOGA, Tatsuya , MURAI, Masahiro
IPC分类号： G05B19/416
CPC分类号： G05B19/0415 , G05B19/066 , G05B19/291 , G05B19/416 , G05B19/41865 , G05B2219/43034 , G05B2219/43045 , G05B2219/43092
摘要： A control apparatus and the like that can perform optimal control in all steps are realized. Included are a time allocation setting unit (201) that sets a time allocation for steps in the total driving time, and an operation value calculation unit (202) that calculates minimum operation values for the times set by the time allocation setting unit (201), and the time allocation setting unit (201) sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.
摘要翻译： 实现了可以在所有步骤中执行最佳控制的控制装置等。 包括时间分配设置单元（201）和操作值计算单元（202），该时间分配设置单元设置总驱动时间中的步骤的时间分配，该时间分配设置单元计算由时间分配设置单元（201）设置的时间的最小操作值， ，并且时间分配设置单元（201）在总驱动时间中设置步骤的时间分配，使得这些步骤的最小操作值之间的差落入预定范围内。
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公开(公告)号：EP4246259A3
公开(公告)日：2023-12-06
申请号：EP23156672.0
申请日：2023-02-15
申请人： OMRON Corporation
IPC分类号： G05B19/425 , G05B19/401
摘要： A reception section 102 receives a classification of a shape of a target object for a case in which a robot is to perform an action along the target object. An instruction section 104 instructs a user with a number of training points identified for each classification of the shape as training points for training positions of a specific location of the robot to perform the action. An acquisition section 106 acquires positional information of the specific location of the robot as trained by manipulation by the user according to the instruction. A estimation section 108 estimates a shape of the target object based on the acquired positional information. A generation section 110 generates a path for the robot to perform the action along the target object based on the estimated shape of the target object.
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公开(公告)号：EP3361327A1
公开(公告)日：2018-08-15
申请号：EP17201784.0
申请日：2017-11-15
申请人： Omron Corporation
发明人： MURAI, Masahiro , INAME, Yukio
CPC分类号： G05B19/401 , G05B13/044 , G05B17/02 , G05B19/19 , G05B19/4083 , G05B19/416 , G05B2219/33131 , G05B2219/35303
摘要： A control parameter is adjusted without the need to operate a driver of a control target. A control device (10) includes a model identification unit (12), a parameter determination unit (132), a data evaluation unit (131) and an operation data calculation unit (133). The model identification unit (12) identifies a physical model of an operation of the control target. The operation data calculation unit (133) calculates operation data by using the physical model and the control parameter. The data evaluation unit (131) calculates an evaluation value by using normative data of the operation of the control target and the operation data. The parameter determination unit (132) determines the control parameter by using the evaluation value.
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公开(公告)号：EP3299916A1
公开(公告)日：2018-03-28
申请号：EP17157092.2
申请日：2017-02-21
申请人： Omron Corporation
发明人： KOGA, Tatsuya , MURAI, Masahiro
IPC分类号： G05B19/4065 , B23Q17/09
CPC分类号： G05B19/404 , B23Q17/0961 , G05B2219/37256 , G05B2219/39355 , G05B2219/41161 , G05B2219/41371 , G05B2219/41376 , G05B2219/41379 , G05B2219/42025 , G05B2219/42338 , Y02P90/265
摘要： The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.
摘要翻译： 本发明提供了一种控制装置，包括：实际值获取部件，获取转矩实际值和速度实际值，其中，转矩实际值代表驱动源产生的转矩，速度实际值代表运动体的速度 ; 推定部，其基于所述转矩实际值，通过使用表示所述运动体的驱动的预定模型的运算公式，计算每隔一个运算周期的外力推断值和速度推断值，其中，所述外力推定值表示 由控制系统产生的外力; 以及输出部分，如果推断部分计算外部推断值，则基于一起计算出的速度推断值来评估外力推断值的可靠性，并且当判断出存在指定的可靠性时有效地输出外力推断值 。
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公开(公告)号：EP4246259A2
公开(公告)日：2023-09-20
申请号：EP23156672.0
申请日：2023-02-15
申请人： OMRON Corporation
IPC分类号： G05B19/425 , G05B19/401
摘要： A reception section 102 receives a classification of a shape of a target object for a case in which a robot is to perform an action along the target object. An instruction section 104 instructs a user with a number of training points identified for each classification of the shape as training points for training positions of a specific location of the robot to perform the action. An acquisition section 106 acquires positional information of the specific location of the robot as trained by manipulation by the user according to the instruction. A estimation section 108 estimates a shape of the target object based on the acquired positional information. A generation section 110 generates a path for the robot to perform the action along the target object based on the estimated shape of the target object.
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公开(公告)号：EP4215447A1
公开(公告)日：2023-07-26
申请号：EP22217045.8
申请日：2022-12-28
申请人： OMRON Corporation
IPC分类号： B65C9/18
摘要： Generation of a wrinkle is prevented when a sticker (150) is affixed to an object (130). A sticker affixing system (10) includes an articulated robot (100), a controller (200) configured to control the articulated robot (100), and a suction tool (110) attached to a distal end of the articulated robot (100). The suction tool (110) includes a suction portion (501) configured to hold a sticker (150) and a pressing portion (502) configured to affix the sticker (150) to an object (130) to which the sticker (150) is affixed. The controller (200) causes the articulated robot (100) to execute an operation of inclining a suction surface of the suction portion (501) with respect to a surface of the object (130) and an operation of moving the suction tool (110) along the surface of the object (130). The pressing portion (502) presses the sticker (150) against the surface of the object (130) while the suction tool (110) moves along the surface of object (130).
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公开(公告)号：EP3566825A1
公开(公告)日：2019-11-13
申请号：EP18212669.8
申请日：2018-12-14
申请人： OMRON Corporation
发明人： IWAI, Yosuke , MURAI, Masahiro
IPC分类号： B25J9/16
摘要： A pair of claws (102A) and (102B) included in a gripper have specific shapes (102p) and (102q) for bending or flexing a specific part (90e) of a workpiece (90) in a thickness direction (E) when approaching each other to clamp the workpiece (90). The pair of claws (102A) and (102B) are made to approach each other and clamp the workpiece (90) in a state where the specific part (90e) is protruded to outside while making the workpiece (90) and also the specific part (90e) undergo an elastic deformation so as to bend or flex in the thickness direction (E) within a range of a transverse-direction dimension (SL2) of the slot (602s). The specific part (90e) of the workpiece (90) is inserted into the slot (602s) along an insertion direction (P4) perpendicular to a tip end surface (90p) by a compliance control based on an output of a force sensor (103).
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