US 12,269,640 B2
Sticker affixing system, method to be executed by sticker affixing system, and non-transitory computer-readable medium storing program to be executed by sticker affixing system
Yuki Tsuchihashi, Kyoto (JP); Hiromi Sasaki, Kyoto (JP); and Yoko Yoshida, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Filed by OMRON Corporation, Kyoto (JP)
Filed on Dec. 30, 2022, as Appl. No. 18/091,677.
Claims priority of application No. 2022-008069 (JP), filed on Jan. 21, 2022.
Prior Publication US 2023/0234744 A1, Jul. 27, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 15/06 (2006.01); B65C 9/18 (2006.01); B65C 9/40 (2006.01)
CPC B65C 9/40 (2013.01) [B25J 9/1612 (2013.01); B25J 9/163 (2013.01); B25J 9/1633 (2013.01); B65C 9/1884 (2013.01); B25J 15/0616 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A sticker affixing system comprising:
an articulated robot;
a controller configured to control the articulated robot;
a suction tool attached to a distal end of the articulated robot;
a force sensor configured to detect force applied to the suction tool; and
a storage configured to store teaching data of the articulated robot,
wherein 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 of a roll axis with respect to a traveling direction 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 inclination of the suction tool in the storage.