公开(公告)号：US20230271282A1

公开(公告)日：2023-08-31

申请号：US18163395

申请日：2023-02-02

Applicant: OMRON Corporation

Inventor： Shu BIWAKI ,  Zhiqiang LIU ,  Masahiro MURAI ,  Yuki TSUCHIHASHI

IPC: B23P19/06

CPC classification number: B23P19/066

Abstract: A screw tightening system includes an actuator including a driver bit that rotationally drives a screw and a motor coupled with driver bit, and a controller that controls actuator. Controller includes an acquirer that acquires torque values of a torque generated in a motor, a calculator that calculates a standard deviation of the torque values in a temporary tightening period, and a determiner that determines that there is an abnormality when a ratio of the standard deviation to a reference standard deviation exceeds a first threshold value.

公开(公告)号：US20230286145A1

公开(公告)日：2023-09-14

申请号：US18173137

申请日：2023-02-23

Applicant: OMRON Corporation

Inventor： Zhiqiang LIU ,  Yuki TSUCHIHASHI ,  Masahiro MURAI

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J13/082 ,  B25J9/1687

Abstract: A technique automates robotic assembly of two parts with a fastener structure including an engaging portion and a receiving portion. A robot system includes a robot that grips a workpiece, a force sensor located on the robot to measure a force and a moment acting on the workpiece, and a controller that controls the robot. The controller monitors, while moving the workpiece in a direction along a first axis and inserting the workpiece into a part, a change in a force F in the direction along the first axis and a change in a moment M about a second axis perpendicular to the first axis measured by the force sensor to determine a state of assembly of the workpiece with the part.