基本信息:
- 专利标题： 具备工件质量测定功能的机器人
- 专利标题（英）：Robot having workpiece mass measurement function
- 申请号：CN201210328610.5 申请日：2012-09-06
- 公开(公告)号：CN102990642A 公开(公告)日：2013-03-27
- 发明人： 佐藤贵之
- 申请人： 发那科株式会社
- 申请人地址： 日本山梨县
- 专利权人： 发那科株式会社
- 当前专利权人： 发那科株式会社
- 当前专利权人地址： 日本山梨县
- 代理机构： 北京银龙知识产权代理有限公司
- 代理人： 张敬强; 严星铁
- 优先权： 2011-197072 2011.09.09 JP
- 主分类号： B25J9/00
- IPC分类号： B25J9/00 ; G01G19/52
The invention provides a robot having workpiece mass measurement function. Workpiece mass can be correctly obtained, even during operating. A robot (1) having a workpiece mass measurement function for measuring the mass of a workpiece that is held, includes a force measurement unit (5) that measures the force that is applied to the tip part (2) of the mechanism part of the robot (1), and a mass estimation unit (11) that estimates the mass of the workpiece that is held by the robot (1), based on information about the force acquired by the force measurement unit (5) while the robot (1) is moving. Workpiece mass can be correctly obtained, even during operating. Preferably, force measurement unit (5) estimates the mass of the workpiece according to a force measured value measured when the workpiece is held and a force measured value measured when the workpiece is not held.
公开/授权文献:
- CN102990642B 具备工件质量测定功能的机器人 公开/授权日：2015-06-03
IPC结构图谱:
| B | 作业；运输 |
| --B25 | 手动工具；轻便机动工具；手动器械的手柄；车间设备；机械手 |
| ----B25J | 机械手；装有操纵装置的容器 |
| ------B25J9/00 | 程序控制机械手 |