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1. 发明授权

US11331793B2 Device for outputting holding detection results 有权
公开(公告)号：US11331793B2
公开(公告)日：2022-05-17
申请号：US16347846
申请日：2017-03-09
申请人： OMRON CORPORATION
发明人： Toshihiro Moriya , Yumi Tsutsumi , Masayoshi Abe , Haruna Shimakawa , Chisato Saito , Yukihisa Karako
IPC分类号： B25J9/16 , B25J15/06 , G05B19/19 , G05B19/425 , G05B19/402 , H04N13/167 , G06T7/70 , G06T7/73 , G06V10/40 , B65G47/91
摘要： 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.

2. 发明申请

US20220032462A1 Robot Hand, Robot Hand Control Method, and Program 有权
公开(公告)号：US20220032462A1
公开(公告)日：2022-02-03
申请号：US17275304
申请日：2019-03-22
申请人： OMRON Corporation
发明人： Shinji Kawakami , Yukihisa Karako
IPC分类号： B25J9/16 , B25J15/06 , B25J15/08 , B25J13/08 , B25J15/00
摘要： A robot hand, and a robot hand control method and program are provided that are capable of performing an assembly task at high speed while alleviating shock between a gripped object (20) and an assembly target object (22). A robot hand (100) includes a hand (12), a displacement sensor (14), an estimation section, and a controller (16). The hand (12) includes an anti-slip mechanism at a contact portion with the gripped object (20) and a mechanism capable of anisotropic movement in three degrees of freedom under external force. The displacement sensor (14) is configured to detect a displacement amount of the hand (12) when an external force has been applied to the hand (12) from a state of mechanical equilibrium existing prior to application of the external force. Based on the displacement amount detected by the sensor, the estimation section is configured to estimate position-orientation-displacement amounts of the gripped object (20) when the gripped object (20) is being assembled to an assembly target object (22). The controller (16) includes a control section configured to control the hand (12) based on the position/orientation-displacement amounts of the gripped object as estimated by the estimation section so as to assemble the gripped object (20) to the assembly target object (22).

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