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：US20190311079A1

公开(公告)日：2019-10-10

申请号：US16340420

申请日：2017-03-09

Applicant: OMRON Corporation

Inventor： Toshihiro MORIYA ,  Yukihisa KARAKO ,  Masayoshi ABE ,  Yumi TSUTSUMI

IPC: G06F17/50 ,  G06T11/00 ,  G06T1/00 ,  G06T11/60 ,  B25J9/16

Abstract: A motion instruction value calculation unit is configured to calculate operation instruction values of a pick-and-place apparatus to be simulated. A dynamics calculation unit is configured to read the operation instruction values that are output from the motion instruction value calculation unit, and to calculate an apparatus operation considering the dynamics. Based on the apparatus operation considering the dynamics, the suction success/failure calculation unit is configured to determine whether a workpiece is successfully sucked by a suction pad. A 3D display unit is configured to display a 3D image of the apparatus operation considering the dynamics in a display unit such as a liquid crystal display.

公开(公告)号：US20170136627A1

公开(公告)日：2017-05-18

申请号：US15319802

申请日：2015-06-19

Applicant: OMRON Corporation

Inventor： Ryuichiro TAKAICHI ,  Yasushi KAWASHIMA ,  Masayoshi ABE ,  Takayuki EDA

IPC: B25J13/00 ,  B25J19/04 ,  B25J9/00

CPC classification number: B25J13/00 ,  B25J9/0084 ,  B25J9/0096 ,  B25J9/1694 ,  B25J13/06 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04 ,  B25J19/06 ,  G05B2219/39014 ,  G06F3/01

Abstract: A worker terminal that sends an operation commands to robots used in work includes: a first sensor that detects a muscle potential of a worker; a second sensor that detects a head movement of the worker; a processing unit that determines whether or not operation instructions, defined by a combination of the head movement and change in the muscle potential, have been input by the worker, on the basis of the detection results of the first sensor and the second sensor; and a communications unit that sends an operation command to the robot is a determination has been made that an operation instruction has been input by the worker.

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：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：US20190315578A1

公开(公告)日：2019-10-17

申请号：US16347846

申请日：2017-03-09

Applicant: OMRON CORPORATION

Inventor： Toshihiro MORIYA ,  Yumi TSUTSUMI ,  Masayoshi ABE ,  Haruna SHIMAKAWA ,  Chisato SAITO ,  Yukihisa KARAKO

IPC: B65G47/91 ,  B25J15/06

Abstract: The purpose of the present invention is to provide a device for outputting holding detection results by a highly accurate simulation in consideration of parameters related to a holding member. A user enters workpiece information through an input UI unit. A selection control unit executes an automatic selection process of a suction pad based on the workpiece information input through the input UI unit, an automatic selection process of a workpiece physical model, an automatic selection process of a robot, and a confirmation process of a vibration tolerance, and then displays the selection results. The selection control unit determines whether there is a problem with the selection results based on an input instruction from the user.