公开(公告)号：US20240367328A1

公开(公告)日：2024-11-07

申请号：US18686992

申请日：2022-03-28

Applicant: OMRON Corporation

Inventor： Masayoshi ABE ,  Shinji KAWAKAMI ,  Akinobu KANAI ,  Yumi SAITOH

IPC: B25J15/04 ,  B25J9/16

Abstract: A robot (10) including a robot arm (12), a robot hand (14) provided to a distal end of the robot arm (12), a finger part (15) provided to the robot hand (14), and a claw part (18). The finger part (15) includes a first mounting/demounting part (16) provided to a distal end of the finger part (15) and capable of mounting and demounting a claw part (18) so that the claw part (18) has a moveable range in a mounted state of the claw part (18). The claw part (18) includes a second mounting/demounting part (20) corresponding to the first mounting/demounting part (16) and capable of mounting and demounting to the distal end of the finger part (15), with the claw part (18) able to grip a workpiece (90) by an opening/closing action of the finger part (15) in a mounted state to the distal end of the finger part (15).

公开(公告)号：US20220212884A1

公开(公告)日：2022-07-07

申请号：US17604799

申请日：2019-05-13

Applicant: OMRON Corporation

Inventor： Sayaka DOI ,  Hiroki KOGA ,  Shinji KAWAKAMI ,  Yukihisa KARAKO

IPC: B65G47/91 ,  B25J15/06

Abstract: A controller includes: a deformation information obtaining unit configured to obtain information on deformation of a suction portion that suctions an object with negative pressure, and that is deformed by the negative pressure; and an operation control unit configured to control movement of the suction portion in accordance with deformation of the suction portion.

公开(公告)号：US20250086341A1

公开(公告)日：2025-03-13

申请号：US18724598

申请日：2022-12-20

Applicant: OMRON CORPORATION

Inventor： Masayoshi ABE ,  Shinji KAWAKAMI ,  Akinobu KANAI ,  Yumi SAITOH

IPC: G06F30/17

Abstract: The present invention generates, from among paths that exist for a task to assemble target objects together, an operation path that can be executed at high speed without a probing operation.
An acquisition section 32, for an operation to assemble a main target object 90A gripped by a gripping section of a robot 42 together with an auxiliary target object 90B that is an assembly target, acquires a start position and orientation, and an end position and orientation, of the gripping section relative to the main target object 90A, and acquires environment information. Based on the acquired information, a simulation section 34 performs a simulation of a transition of contact states between the main target object 90A and the auxiliary target object 90B, from a contact state until there is a non-contact state. Based on the acquired information and on the simulated transition of contact states, a generation section 36 generates an operation path of the robot to reach a goal state from an initial state until reaching one or another contact state included in the transition of contact states, along a transition of contact states including the one or the other of the contact states.

公开(公告)号：US20240351205A1

公开(公告)日：2024-10-24

申请号：US18687674

申请日：2022-03-28

Applicant: OMRON Corporation

Inventor： Masayoshi ABE ,  Shinji KAWAKAMI ,  Akinobu KANAI ,  Yumi SAITOH

IPC: B25J9/16

CPC classification number: B25J9/1661 ,  B25J9/163

Abstract: An acquisition section (31) acquires command values to execute a task on a target object with a robot (40) and acquires state data representing a state of the robot (40) in a case in which an action of the robot (40) during the task is taught manually, which is state data of plural types including at least action data representing an action of the robot (40), position/orientation data representing a relative position and relative orientation between the robot (40) and the target object, and external force data representing external force received by the target object during the task. A generation section (33) generates a generator for, based on the command values and the state data acquired for corresponding times by the acquisition section (31), generating command values to execute an action with the robot (40) corresponding to the state data that has been input.

公开(公告)号：US20220203549A1

公开(公告)日：2022-06-30

申请号：US17604777

申请日：2019-05-13

Applicant: OMRON Corporation

Inventor： Yukihisa KARAKO ,  Shinji KAWAKAMI

IPC: B25J9/16 ,  B25J15/06 ,  B25J13/08 ,  G01B11/16

Abstract: A suction pad suctions an object under a negative pressure, and includes a stationary section fixable on a support, and a deformable section deformable under the negative pressure. The deformable section includes a plurality of marks at a plurality of positions spaced from one another and displaceable with respect to the stationary section in response to deformation of the deformable section. The plurality of marks are optically identifiable. The plurality of marks are continuous across the plurality of positions or are separate at the plurality of positions.