公开(公告)号：US20240033934A1

公开(公告)日：2024-02-01

申请号：US18265739

申请日：2021-12-10

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Junta HIRAYAMA ,  Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA

IPC: B25J9/16 ,  B25J15/00

CPC classification number: B25J9/1697 ,  B25J15/0066

Abstract: A tool checking device for a robot arm includes: a tool movement control unit configured to control the robot arm so as to move a tool attached to the robot arm to a defined position; an imaging control unit configured to control an imaging device so as to capture an image of the tool moved to the defined position; and a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.

公开(公告)号：US20240238973A1

公开(公告)日：2024-07-18

申请号：US18559815

申请日：2022-10-06

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA ,  Junta HIRAYAMA

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1664 ,  B25J9/1661 ,  B25J9/1674 ,  B25J19/023

Abstract: A tool check device for robot arm, includes: a movement control unit configured to control a robot arm such that a tool to be attached to the robot arm is arranged at a first axis coordinate, of a three-dimensional coordinate system, according to a tool condition concerning at least either of a type or a state of the tool in an inspection space defined as the three-dimensional coordinate system; a distribution data acquisition unit configured to acquire distribution data, of an object in the inspection space, indicated by a combination of a second axis coordinate and a third axis coordinate of the three-dimensional coordinate system, after the control by the movement control unit; and a determination unit configured to determine whether the tool condition is satisfied, based on the distribution data.

公开(公告)号：US20240033933A1

公开(公告)日：2024-02-01

申请号：US18265718

申请日：2021-12-10

Applicant: MAYEKAWA MFG. CO., LTD.

Inventor： Junta HIRAYAMA ,  Masaru TOKUMOTO ,  Tomoki YAMASHITA ,  Kenichiro KIMURA

IPC: B25J9/16 ,  B25J15/00

CPC classification number: B25J9/1697 ,  B25J15/0066

Abstract: A tool checking device for a robot arm includes: an image processing unit configured to perform, on a captured image of a tool attached to the robot arm, image processing associated with a tool condition regarding a tool type or tool state that needs to be satisfied by the tool, and generate a processed image in which a related area associated with the tool condition is extracted; and a determination unit configured to determine whether the tool attached to the robot arm satisfies the tool condition, on the basis of the processed image.