SELECT 
  cscart_seo_names.object_id AS product_id, 
  cscart_seo_names.name AS seo_name, 
  cscart_seo_names.path AS seo_path 
FROM 
  cscart_seo_names 
WHERE 
  cscart_seo_names.object_id IN (
    9784, 9785, 9786, 9787, 9788, 9790, 9791, 
    9792, 9795, 12561, 12560, 9683, 9685, 
    9686, 9687, 9688, 9689, 9690, 12544, 
    12546, 12547, 12548, 12549, 12550, 
    12555, 12556, 12557, 12558, 12559, 
    12576, 12577, 12578
  ) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'ru' 
  AND (
    cscart_seo_names.company_id = 1 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00127

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_seo_names",
      "access_type": "range",
      "possible_keys": ["PRIMARY", "dispatch"],
      "key": "PRIMARY",
      "key_length": "210",
      "used_key_parts": [
        "object_id",
        "type",
        "dispatch",
        "lang_code",
        "company_id"
      ],
      "rows": 64,
      "filtered": 100,
      "index_condition": "cscart_seo_names.object_id in (9784,9785,9786,9787,9788,9790,9791,9792,9795,12561,12560,9683,9685,9686,9687,9688,9689,9690,12544,12546,12547,12548,12549,12550,12555,12556,12557,12558,12559,12576,12577,12578) and cscart_seo_names.`type` = 'p' and cscart_seo_names.dispatch = '' and cscart_seo_names.lang_code = 'ru' and (cscart_seo_names.company_id = 1 or cscart_seo_names.company_id = 0)"
    }
  }
}