MASS MEASURING DEVICE

• Main Authors: SHIRAISHI MOTOHIKO, KANAI YASUHIKO, NAKATANI MAKOTO, SUZUKI AKITAMI, TANIGUCHI TOMOATSU
• Format: Patent
• Language: English; Japanese
• Published: 25.04.2016
• Subjects: MEASURING; PHYSICS; TESTING; WEIGHING

PROBLEM TO BE SOLVED: To provide a mass measuring device that solves problems characteristic of a mass measuring device built in a robot hand and that can minimize a measurement error even when there is a difference of a gripping mechanism of the robot hand and its operation, or a kinds of an article.SOLUTION: First output (Fmz, Faz) of respective sensors when a gripping mechanism for griping an article grips and moves a first article of mass m1 and the mass m1, and second output (Fms, Fas) of respective sensors when the gripping mechanism grips and moves a different kind of second article of known mass m2 and the known mass m2 are stored in association with the kind of the second article. Once the kind of the second article is specified, the known mass m2 of the second article of the specified kind and its second output (Fms, Fas), and the mass m1 of the first article and its first output (Fmz, Faz) are read out so as to calculate a mass of an article of unknown mass.SELECTED DRAWING: Figure 6 【課題】ロボットハンドに組み込まれた質量測定装置に特有な問題を解決するもので、ロボットハンドの把持機構やその動作モード、あるいは、物品の種類に違いがあっても、測定誤差を最小限に抑えることのできる質量測定装置を提供する。【解決手段】物品を把持する把持機構が質量ｍ１の第１物品を把持して移動させたときの各センサの第１出力（Ｆｍｚ，Ｆａｚ）と質量ｍ１並びに把持機構が種類の異なる既知質量ｍ２の第２物品を把持して移動させたときの各センサの第２出力（Ｆｍｓ，Ｆａｓ）とその既知質量ｍ２を第２物品の種類に対応させて記憶する。第２物品の種類が指定されると、指定された種類の第２物品の既知質量ｍ２とその第２出力（Ｆｍｓ、Ｆａｓ）並びに第１物品の質量ｍ１とその第１出力（Ｆｍｚ，Ｆａｚ）を読み出して未知質量の物品の質量を算出する。【選択図】図６