公开(公告)号：US20230257154A1

公开(公告)日：2023-08-17

申请号：US18148675

申请日：2022-12-30

Applicant: OMRON CORPORATION

Inventor： Yuki TSUCHIHASHI ,  Shu BIWAKI ,  Yoko YOSHIDA ,  Takayuki KANZAWA ,  Xiaoguang NING

IPC: B65C9/18 ,  B65C9/26 ,  B65C9/40

CPC classification number: B65C9/1884 ,  B65C9/26 ,  B65C9/40

Abstract: Generation of a wrinkle is prevented in a sticker when the sticker is peeled off from a release paper. A sticker affixing system includes an articulated robot, a controller that controls the articulated robot, a suction tool attached to a distal end of the articulated robot, and a sticker feeder that conveys a release paper. The suction tool is sucked to the sticker on the release paper. The controller causes the articulated robot to execute an operation of moving the suction tool in parallel with the release paper at a constant speed of the release paper in synchronization with the sticker feeder, an operation of peeling off the sticker at an edge A of a peeling base of the release paper, and an operation of affixing the sticker to the object to which the sticker is affixed.

公开(公告)号：US20230234744A1

公开(公告)日：2023-07-27

申请号：US18091677

申请日：2022-12-30

Applicant: OMRON Corporation

Inventor： Yuki TSUCHIHASHI ,  Hiromi SASAKI ,  Yoko YOSHIDA

IPC: B65C9/40 ,  B25J9/16 ,  B65C9/18

CPC classification number: B65C9/40 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1612 ,  B65C9/1884 ,  B25J15/0616

Abstract: Teaching including adjustment of an inclination of a suction tool with respect to an object is performed in teaching of a suction position of the suction tool. A sticker affixing system includes an articulated robot, a controller, a suction tool attached to a distal end of the articulated robot, a force sensor, and a storage. The controller causes the articulated robot to execute an operation of bringing the suction tool close to a sticker on a release paper in a teaching mode, an operation of adjusting a suction position of the suction tool and an inclination in a traveling direction (roll axis X) of the suction tool in peeling off the sticker based on a signal from the force sensor, and an operation of storing the teaching data including information about the adjusted suction position and the inclination of the suction tool in the storage.