WO2016043227A1 - Dispositif de mesure de masse - Google Patents

Dispositif de mesure de masse Download PDF

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Publication number
WO2016043227A1
WO2016043227A1 PCT/JP2015/076327 JP2015076327W WO2016043227A1 WO 2016043227 A1 WO2016043227 A1 WO 2016043227A1 JP 2015076327 W JP2015076327 W JP 2015076327W WO 2016043227 A1 WO2016043227 A1 WO 2016043227A1
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WO
WIPO (PCT)
Prior art keywords
article
mass
output
faz
fmz
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PCT/JP2015/076327
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English (en)
Japanese (ja)
Inventor
亮民 鈴木
誠 中谷
白石　元彦
泰彦 金井
友厚 谷口
Original Assignee
株式会社イシダ
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Application filed by 株式会社イシダ filed Critical 株式会社イシダ
Publication of WO2016043227A1 publication Critical patent/WO2016043227A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G9/00—Methods of, or apparatus for, the determination of weight, not provided for in groups G01G1/00 - G01G7/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
    • G01G23/36—Indicating the weight by electrical means, e.g. using photoelectric cells
    • G01G23/37—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting

Definitions

  • the present invention relates to a mass measuring device that detects the mass of an article while the speed of the article is changing.
  • This mass measuring device is intended to measure the mass of an article from the force and acceleration acting on the article while the speed of the article changes.
  • the basic configuration of the mass measuring apparatus 10 includes a force sensor 1 that detects a force acting on the article Q, a robot hand 2 that holds the article Q, and a robot that moves the article Q while accelerating it.
  • An arm 3 and an acceleration sensor 4 that detects acceleration acting on the article Q are provided.
  • the force sensor 1 is provided between the robot hand 2 and the robot arm 3, and the acceleration sensor 4 is provided adjacent to the robot hand 2.
  • the mass measuring device 10 having such a configuration is represented by a spring-mass system, it can be represented by a two-degree-of-freedom model as shown in FIG.
  • m is the mass of the article Q
  • M 1 is the mass of the force sensor 1
  • M 2 is the mass of the acceleration sensor 4.
  • K 1 is the spring constant of the force sensor 1
  • k 2 is the spring constant of the acceleration sensor 4.
  • x 1 is the displacement amount of the force sensor 1
  • x 2 is the displacement amount of the acceleration sensor 4.
  • ⁇ k 1 (x 1 ⁇ y) is the output of the force sensor 1
  • ⁇ k 2 (x 2 ⁇ x 1 ) is the output of the acceleration sensor 4.
  • FIG. 3 is a graph showing changes in output data of the force sensor 1 and the acceleration sensor 4 when the robot hand 2 is accelerated up and down in a no-load state in order to obtain a zero point.
  • the peak value of the output data of the force sensor 1 is Fmz
  • the peak value of the output data of the acceleration sensor 4 is Faz
  • 0 M 2 ⁇ C ⁇ (Fmz / Faz) + M 2 ⁇ M 1 (8) It becomes.
  • C is a conversion factor.
  • FIG. 4 is a graph showing changes in output data of the force sensor 1 and the acceleration sensor 4 when a mass ms of mass is held in the robot hand 2 and accelerated up and down.
  • FIG. 5 is a graph showing changes in output data of the force sensor 1 and the acceleration sensor 4 when the article Q having the mass m is held in the robot hand 2 and accelerated up and down.
  • m S ⁇ (Fm / Fa)-(Fmz / Faz) ⁇ (12) It becomes. Accordingly, the output of the force sensor 1 when the robot hand 2 is accelerating the article Q by obtaining the span coefficient S, the output (Fmz) of the force sensor 1 at no load, and the output (Faz) of the acceleration sensor 4. If (Fm) and the output (Fa) of the acceleration sensor 4 are detected, the mass m of the article Q can be measured.
  • the peak value of the output data of each sensor is adopted because there is a difference in the frequency characteristics of the force sensor and the acceleration sensor, resulting in a phase shift in each output data. This is a measure to minimize it.
  • the mass of the article can be obtained even during acceleration.
  • the equation (12) is derived based on the two-degree-of-freedom model
  • when vibration is applied to the robot hand for example, when carrying a bag-packed product or a bottled product with the robot hand, the contents are In order to move, a new vibration is added, which causes an error in the measured value.
  • an error occurs in the measured value depending on the type of the gripping mechanism of the robot hand. For example, when an article is gripped by a bellows-like suction pad to which negative pressure is applied, the suction pad expands and contracts during acceleration, and an error occurs in the measurement value due to the influence.
  • errors in the measured values may occur depending on the operation mode of the robot hand. For example, an error occurs in the measured value even when moving linearly between two points and when moving in a circular arc shape (using a centrifugal force).
  • the present invention is intended to solve the problems peculiar to the mass measuring device incorporated in such a robot arm, and even if there is a difference in the article gripping mechanism and operation mode of the robot arm, or there is a difference in the kind of article. Even if it exists, it aims at providing the new mass measuring device which can suppress a measurement error to the minimum.
  • the mass measuring device is a mass measuring device for measuring the mass of the article from the force and acceleration acting on the article while the speed of the article is changing, A gripping mechanism for gripping the article; A moving mechanism for moving the gripping mechanism; A force sensor provided between the gripping mechanism and the moving mechanism for detecting a force acting on the article while the speed is changing; An acceleration sensor that detects acceleration acting on the article while the speed is also changing; The first output (Fmz, Faz) of each sensor and the reference mass when the first article having the reference mass including zero mass is moved while changing the speed, and the type of the gripping mechanism The second output (Fms, Fas) of each sensor and the known mass when the second article having a different known mass is moved while changing its speed are stored in correspondence with the type of the second article.
  • the first table Article designating means for designating the type of the second article; The known mass corresponding to the second article of the specified type and its second output (Fms, Fas), and the reference mass of the first article and its first output (Fmz, Faz) from the first table.
  • First reading means for reading;
  • a span coefficient calculating means for calculating a span coefficient based on each read output (Fmz, Faz, Fms, Fas) and the known mass and the reference mass;
  • the article of unknown mass based on the calculated span coefficient, the read first output (Fmz, Faz), and the output of each sensor when the specified kind of article is gripped and moved
  • Computing means for calculating the mass of It is provided with.
  • the article that is gripped by the gripping mechanism vibrates during movement and causes an error in the output of each sensor, such as a bag-packed product or a bottled product.
  • an article of the same type it is not necessary to use the same kind of article.
  • an article with zero mass may be used. An article with zero mass corresponds to a case where the article is not gripped, and “when the first article with zero mass is gripped” means that the gripping mechanism does not grip the article and holds the gripping mechanism in an unloaded state. Is moved to output a first output from each sensor.
  • the first output (Fmz, Faz) of each sensor when the grasping mechanism grips the first article having the reference mass m1 and accelerates it is stored.
  • the span coefficient S is obtained from the equation (11).
  • two articles of the same type to be measured are prepared, and their masses are measured in advance with a precision balance.
  • one article whose mass is known is a first article, and a combination of both articles is a second article.
  • the first article is gripped by the gripping mechanism to determine the first output, and then both the articles are gripped by the gripping mechanism to determine the second output. Since the difference ms between the first load mass and the second load mass obtained is the mass of the other article, the span coefficient S is obtained from the above equation (11) with the mass of the other article.
  • each time a type of an article is specified basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) of the article corresponding to the type is read from each storage means, and a span coefficient is obtained.
  • the span coefficient corresponding to the type of article is stored in advance, and when the type of article is specified, the span coefficient corresponding to that type is read out. Also good.
  • the ratio (Fmz / Faz) of the first output when the first article is measured from the equation (12) is required. It may be stored together with the coefficient and read out together with the span coefficient.
  • the second invention stores the span coefficient and the ratio of the first output in advance.
  • the gripping mechanism for gripping an article the moving mechanism for moving the gripping mechanism, the gripping mechanism, and the movement according to the first invention.
  • a force sensor that detects a force acting on the article while the speed is changing
  • an acceleration sensor that detects an acceleration acting on the article while the speed is changing.
  • the span coefficient is obtained by using the same kind of article as the first article and the second article. Otherwise, the span coefficient may be obtained using a reference weight.
  • an article having a mass of zero means that the gripping mechanism is moved in an unloaded state without causing the gripping mechanism to grip any article as described above, and the first output is output from each sensor.
  • the span coefficient and the first output ratio (Fmz / Faz) for each type are obtained from the basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) corresponding to the type of article.
  • the span coefficient and the first output ratio (Fmz / Faz) are stored in the span coefficient table in association with the type of article. If the article is designated, the span coefficient corresponding to the designated article and the first output (Fmz, Faz) or its output ratio (Fmz / Faz) are read from the span coefficient table to calculate the mass of the article. Use it. Thereby, the mass of the article can be calculated in a short time.
  • the first and second inventions described above handle a plurality of types of articles with a single type of gripping mechanism.
  • the vibration characteristics received by each sensor may change.
  • the gripping mechanism includes a type that grips an article with a plurality of fingers, and a type that grips an article with an accordion-shaped suction pad on which negative pressure is applied.
  • the vibration of the gripping mechanism itself is not considered, but when gripping an article with the latter suction pad, the suction pad expands and contracts during acceleration. May cause an error in the output of each sensor.
  • the vibration also changes depending on the suction force and suction position of the suction pad, the mass of the article to be sucked, and the like.
  • a mass measuring apparatus that handles a single type of article with a plurality of types of gripping mechanisms, the gripping mechanism for gripping an article of the first invention, and a movement for moving the gripping mechanism.
  • a mechanism, a force sensor provided between the gripping mechanism and the moving mechanism for detecting a force acting on the article while the speed is changing, and the article while the speed is changing In addition to an acceleration sensor that detects acceleration acting on The first output (Fmz, Faz) of each sensor and its reference mass when the first article having a reference mass including zero mass is moved while changing the speed thereof, and the gripping mechanism are known.
  • Computing means It is provided with.
  • the third invention selects one gripping mechanism from a plurality of gripping mechanisms of different types and grips one type of article, in the case of a bag-packed product whose contents move, the same as described above. , Prepare two articles of known mass of the same type, one as the first article and the combination of both as the second article, and the first output (Fmz, Faz) and the second output ( Fms, Fas) are obtained and stored. Then, when the gripping mechanism is replaced with a different type, the basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) corresponding to the newly mounted gripping mechanism is read and the span coefficient is calculated. The mass of the article of unknown mass is calculated using the coefficient.
  • the types of gripping mechanisms include, for example, a finger type and an air adsorption type, and the “grip mechanisms of different types” here mean gripping mechanisms in which the output of each sensor changes. Therefore, for example, a mechanism in which the output of each sensor changes depending on the number of suction pads or the suction force is included in the “different types of gripping mechanisms” herein.
  • the gripping mechanism when the gripping mechanism is replaced with a different type, the basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) corresponding to the newly mounted gripping mechanism is read and the span coefficient is read.
  • the span coefficient corresponding to the type of the gripping mechanism and the first output (Fmz, Faz) or its output ratio (Fmz / Faz) are stored in advance, and the gripping mechanism
  • the span coefficient corresponding to the type and the first output (Fmz, Faz) or the output ratio (Fmz / Faz) may be read out.
  • the next fourth invention stores such a span coefficient in advance, and includes a gripping mechanism for gripping an article, a moving mechanism for moving the gripping mechanism, and a gripping mechanism and the moving mechanism according to the first invention.
  • a gripping mechanism for gripping an article
  • a moving mechanism for moving the gripping mechanism
  • a gripping mechanism and the moving mechanism according to the first invention In addition to a force sensor for detecting a force acting on the article while the speed is changing, and an acceleration sensor for detecting an acceleration acting on the article while the speed is changing
  • the first output (Fmz, Faz) of each sensor and its reference mass when the first article having a reference mass including zero mass is moved while changing the speed thereof, and the gripping mechanism are known.
  • the span coefficient calculated based on the second output (Fms, Fas) of each sensor when the second article of mass is moved while changing its speed and the known mass is used as the first output (Fmz, Faz) or its output ratio (Fmz / Faz), and a second span coefficient table stored corresponding to different types of gripping mechanisms; Gripping mechanism designating means for designating the type of gripping mechanism to be used; A fourth reading means for reading out a span coefficient corresponding to a specified type of gripping mechanism and the first output or its output ratio from the second span coefficient table; An arithmetic means for calculating the mass of the article of unknown mass based on the read span coefficient, the first output or its output ratio, and the output of each sensor when the article is gripped and moved, It is provided with.
  • a fifth invention is a mass measuring apparatus in which a plurality of different types of gripping mechanisms are handled, and a plurality of different types of articles are handled by one of the gripping mechanisms, and the gripping mechanism for gripping an article according to the first invention is provided.
  • a mechanism a moving mechanism that moves the gripping mechanism, a force sensor that is provided between the gripping mechanism and the moving mechanism, and detects a force acting on the article while the speed is changing, An acceleration sensor that detects acceleration acting on the article while the speed is changing;
  • the second output (Fms, Fas) of each sensor and the known mass when the second article having a different known mass is moved while changing the speed thereof correspond to the type of the second article.
  • the fifth aspect of the present invention provides basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) corresponding to the newly installed gripping mechanism and the type of the article each time the mounted gripping mechanism and the type of the article are changed. ) To calculate the span coefficient, but instead, the span coefficient corresponding to the type of the gripping mechanism and the type of article and the first output (Fmz, Faz) or its output ratio (Fmz / Faz) ) In advance, and when the gripping mechanism and the type of article are specified, the span coefficient and the first output (Fmz, Faz) or the output ratio (Fmz / Faz) corresponding to the type are read out. May be.
  • the next sixth invention stores such a span coefficient in advance, and includes a gripping mechanism for gripping an article, a moving mechanism for moving the gripping mechanism, a gripping mechanism, and the moving mechanism of the first invention.
  • a force sensor for detecting a force acting on the article while the speed is changing
  • an acceleration sensor for detecting an acceleration acting on the article while the speed is changing
  • the first output (Fmz, Faz) of each sensor and the reference mass when the first article having the reference mass including zero mass is moved while changing the speed, and the type of the gripping mechanism
  • the second article having a different known mass is calculated based on the second output (Fms, Fas) of each sensor when the second article is moved while changing its speed and the known mass, and classified by type of the second article.
  • a first span (Fmz, Faz) or its output ratio (Fmz / Faz) together with a third span coefficient table stored corresponding to different types of gripping mechanisms, Gripping mechanism designating means for designating the type of gripping mechanism to be used; Article designating means for designating the type of the second article to be gripped by the designated type of gripping mechanism; A sixth reading means for reading out the span coefficient corresponding to the gripping mechanism and the second article designated by each designation means and the first output or its output ratio from the third span coefficient table; Based on the read span coefficient, the first output (Fmz, Faz) or its output ratio (Fmz / Faz), and the output of each sensor when a specified type of article is held and accelerated. Calculating means for calculating the mass of the article of unknown mass; It is provided with.
  • the seventh invention is a mass measuring apparatus capable of meeting such a demand, and in addition to the configurations of the first to sixth inventions, the first output (Fmz, Faz) and the second from each of the sensors.
  • the basic data Fmz, Faz, Fms) , Fas, reference mass, known mass
  • basic data (Fmz, Faz, Fms, Fas, reference mass, known mass) is acquired and then the normal operation is started.
  • the operation mode when the basic data is acquired is switched.
  • the warning means displays a warning message that prompts the user to retake basic data.
  • basic data is acquired under a new operation mode, if the basic data and the new operation mode are stored in association with each other, the basic data is stored even if the operation mode is switched to the new operation mode. There is no need to retake.
  • the eighth invention is a mass measuring apparatus capable of such correspondence, and in addition to the configuration of the seventh invention, the operation mode set in the moving mechanism is associated with each table created under the operation mode. And a fourth table stored therein.
  • FIG. 2 is a diagram illustrating a two-degree-of-freedom model in which the mass measuring device of FIG. 1 is represented by a spring-mass system.
  • the graph which shows the output of each sensor when not making a gripping mechanism hold
  • the graph which shows the output of each sensor when a grasping mechanism is made to grasp a known weight.
  • the graph which shows the output of each sensor when an article of mass m is made to grasp by a grasping mechanism.
  • 1 is a schematic configuration diagram of a mass measuring device according to an embodiment of the present invention.
  • the schematic block diagram which shows another example of the holding
  • the schematic block diagram of the signal processing circuit which processes the output signal of each sensor. 1 is a configuration block diagram of a first embodiment.
  • FIG. 6 is a schematic configuration diagram of a mass measuring device 100 according to an embodiment of the present invention.
  • a mass measuring apparatus 100 includes a moving mechanism 11 as a robot arm, a force sensor 21 for detecting a force acting on a moving article Q, an acceleration sensor 22 for detecting an acceleration acting on the article Q, And a gripping mechanism 23 for gripping the article Q.
  • the moving mechanism 11 is a robot arm that three-dimensionally moves the gripping mechanism 23, and one end of the force sensor 21 is fixed to the tip base portion 12.
  • the moving mechanism 11 for example, a horizontal articulated robot, a vertical articulated robot, a parallel link robot, or the like is appropriate.
  • a strain gauge type load cell For the force sensor 21, for example, a strain gauge type load cell is employed.
  • the strain gauge type load cell detects a force applied to the free end side by the displacement of the free end side relative to the fixed end side due to the load of the article Q.
  • An acceleration sensor 22 and a gripping mechanism 23 are provided on the free end side of the force sensor 21.
  • acceleration sensor 22 for example, any of a strain gauge type load cell, a MEMS type small acceleration sensor, and a general commercially available acceleration sensor is appropriately employed.
  • the gripping mechanism 23 is a robot hand that grips the article Q.
  • the gripping mechanism 23 of FIG. 6 shows an example of a finger type, but instead of this, an air adsorption type that adsorbs and holds the article Q with a negative pressure as shown in FIG. 7 can be used.
  • the finger type of FIG. 6 is suitable when the article Q is a solid material, and the air adsorption type of FIG. 7 is suitable when the shape is not constant, such as a bag-packed product.
  • FIG. 7 shows a schematic configuration diagram of an air adsorption type.
  • a bellows-like suction pad P made of silicon rubber is attached to an aluminum box B so that the suction pad P communicates with the inside of the box B.
  • the suction pad P communicates with the inside of the box B.
  • the suction pads P By holding the inside of the aluminum box B at a negative pressure, the articles Q are sucked and held by the suction pads P.
  • the number, shape, arrangement, etc. of the suction pads are appropriately changed according to the type of the articles Q. Accordingly, a plurality of types of gripping mechanisms 23 are prepared according to the type of the article Q, and these are used properly according to the type of the article Q.
  • FIG. 8 is a block diagram of the control system of the mass measuring apparatus 100.
  • a moving mechanism 11, a gripping mechanism 23, a force sensor 21, an acceleration sensor 22, an input unit 24, and a display unit 25 are electrically connected to a control board 50 having a control unit 40 and a storage unit 30. .
  • the input unit 24 is a device for the operator to set the basic data (Fmz, Faz, Fms, Fas, reference mass, known mass) in the operation mode of the moving mechanism 11 and the mass measuring device 100 before starting operation. is there. Furthermore, it becomes an apparatus which designates the type of the article Q to be measured and the type of the gripping mechanism 23 that grips it. Specifically, it is composed of a keyboard and a touch panel.
  • the display unit 25 is a device that displays the operation status of the mass measuring apparatus 100 and an operation guide for setting the basic data.
  • an error display may be performed in order to eliminate the measurement error.
  • the storage unit 30 stores the above-described basic data and span coefficient as the mass measuring device 100 according to the type of the article Q and the gripping mechanism 23, and stores various tables described below.
  • the storage unit 30 also stores an operation mode of the moving mechanism 11 for how to move the gripping mechanism 23. For example, a series of “the article Q is sucked and held by the gripping mechanism 23, the article Q is moved from the suction position to the packing position by the moving mechanism 11, the mass is measured during that time, and then the article Q is placed in the packing container”.
  • an operation mode peculiar to the robot such as operation from the suction position to the packing position with 80% capacity of the specified value, and operation with 50% capacity in the process of storing in the packing container is stored. ing.
  • the control unit 40 moves the gripping mechanism 23 based on the stored operation mode. In synchronization with the movement, the controller 40 sequentially reads the outputs of the force sensor 21 and the acceleration sensor 22 and determines the maximum value of the outputs of the sensors 21 and 22. I will do it.
  • the control unit 40 is constituted by a DSP (digital signal processor), a microcomputer, and the like, and executes various programs stored in the storage unit 30 to thereby read out means, span coefficient calculation means, calculation means, etc., which will be described later. Perform the function.
  • DSP digital signal processor
  • FIG. 9 shows an example of a signal processing circuit diagram for processing the detection signals of the force sensor 21 and the acceleration sensor 22.
  • a / D converters 27a and 27b are connected to the force sensor 21 and the acceleration sensor 22 via amplifiers 26a and 26b, respectively.
  • the A / D converters 27 a and 27 b convert the input analog signal into a digital signal and input it to the control unit 40.
  • the control unit 40 performs a filtering process based on the input detection signal in a DSP (digital signal processor). For example, noise frequency components included in detection signals of the force sensor 21 and the acceleration sensor 22 are removed by a low-pass filter. Subsequently, the detection signal of the force sensor 21 from which the noise frequency component has been removed is divided by the detection signal of the acceleration sensor 4, and the tare mass is subtracted from the division result to calculate the mass m.
  • the tare mass is the sum of the tare mass loaded on the force sensor 21, the mass of the gripping mechanism 23, and the mass of the acceleration sensor 22.
  • FIG. 10 shows a configuration block diagram of the first embodiment.
  • a first table 31 as shown in FIG. 11 is stored.
  • the first table 31 includes a first output (Fmz, Faz) of each sensor 21 and 22 and its reference mass (when the gripping mechanism 23 grips and moves the first article of the reference mass m1 including zero mass). Zero or m1), and the second output (Fms, Fas) of each sensor 21 and 22 and its known mass (m2) when the gripping mechanism 23 grips and moves the second article of known mass (m2). Is stored in correspondence with the type of the second article.
  • the mass of the first article is zero, that is, the first output (Fmz, Faz) may be obtained without gripping the first article.
  • the product Q to be measured is used as the first product, and a plurality of products Q of the same type are used as the second product.
  • the second output (Fms, Fas) of the second product is obtained and stored for each type.
  • the mass measuring device 100 When storing these basic data (Fmz, Faz, Fms, Fas, known mass, reference mass), the mass measuring device 100 is switched to the setting mode, and in that state, first, the type of the article is input. For example, a product name or a product number is input from the input unit 24 and specified. Next, the reference mass m1 of the first article and the known mass m2 of the second article are input from the input unit 24, and the masses m1 and m2 are stored in the first table 31. These masses m1 and m2 are previously measured with a precision balance.
  • the gripping mechanism 23 grips and moves the first article having the reference mass (zero or m1), and stores the first outputs (Fmz, Faz) of the sensors 21 and 22 at that time. Subsequently, the second article obtained by collecting at least two first articles is gripped and moved, and the second output (Fms, Fas) of each sensor at that time is stored. As a result, the basic data is stored in the first table 31. Such a setting operation is performed according to an operation guide displayed on the display unit 25. Then, it is programmed so that data is automatically recorded in the first table 31.
  • the article designating means 28 designates the type of the second article, and is provided in the input unit 24. If the type of the second article is designated by operating the article designating means 28, the first reading means 41 of the designated type is designated.
  • the mass m2 of the second article and its second output (Fms, Fas), and the reference mass m1 of the first article and its first output (Fmz, Faz) are read from the first table 31.
  • the span coefficient calculation means 42 calculates the span coefficient S by substituting the read basic data (Fmz, Faz, Fms, Fas, reference mass m1, and known mass m2) into the equation (11).
  • the arithmetic means 43 calculates the span coefficient S, the first output (Fmz, Faz) read from the first table 31, and the sensors 21 and 22 inputted when the article Q is gripped and moved.
  • the mass m of the article Q is calculated based on the output (Fm, Fa).
  • the calculated mass m is displayed on the display unit 25 and used in a subsequent process. For example, if the measured mass m is less than the reference value, it is used to sort the article Q as a lightweight article.
  • FIG. 12 shows a configuration block diagram of the second embodiment.
  • the storage unit 30 in this figure stores a first span coefficient table 32 as shown in FIG.
  • the first span coefficient table 32 includes the first outputs (Fmz, Faz) of the sensors 21 and 22 when the gripping mechanism 23 grips and moves the first article having the reference mass m1 including the mass zero and the reference.
  • the mass (zero or m1), the second output (Fms, Fas) of each sensor 21 and 22 when the gripping mechanism 23 grips and moves the second article having the known mass (m2), and the known mass ( m2) and the first output (Fmz, Faz) and the output ratio (Fmz / Faz) are stored in association with the type of the second article.
  • the span coefficient S and the first output ratio (Fmz / Faz) are calculated.
  • the second embodiment There is a difference in that it was asked and memorized in advance. Therefore, when the type of the second article is designated by the article designation means 28, the second reading means 44 reads the span coefficient S of the designated type of the second article and the first output (Fmz, Faz) or its output ratio. (Fmz / Faz) is read from the first span coefficient table 32.
  • the calculation means 43 includes the read span coefficient S, the first output (Fmz, Faz) or its output ratio (Fmz / Faz), and each sensor input when the article Q is held and moved. Based on the outputs 21 and 22 (Fm, Fa), the mass m of the article Q is calculated. The calculated mass m is displayed on the display unit 25 and used in a subsequent process.
  • FIG. 14 shows a configuration block diagram of the third embodiment.
  • the storage unit 30 in this figure stores a second table 33 as shown in FIG.
  • the second table 33 includes the first output (Fmz, Faz) of each sensor 21 and 22 and the reference when the gripping mechanism 23 grips and moves the first article having the reference mass (m1) including zero.
  • the mass (zero or m1), the second output (Fms, Fas) of each sensor 21 and 22 when the gripping mechanism 23 grips and moves the second article having the known mass (m2), and the known mass ( m2) is stored in association with different types of gripping mechanisms 23.
  • the different types of gripping mechanisms 23 are not only the difference between the finger-type gripping mechanism and the air suction type gripping mechanism, but also the same air suction type, depending on the number of suction pads and the difference in suction force, etc. Since the output of each of the sensors 21 and 22 is affected, the gripping mechanisms that have such effects are different types of gripping mechanisms.
  • the type of the gripping mechanism 23 is set according to the type of article, for example, , Type A, type B, etc. Thereafter, as in the case of the first embodiment, if the basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) is stored, the second table 33 is completed.
  • the finger type is used as the gripping mechanism 23 and the mass is zero as the first article, that is, when nothing is gripped, the first article is used as the second article and the mass is input as the known mass. .
  • the gripping mechanism designating means 29 designates the type of the gripping mechanism 23 that is mounted.
  • the third reading unit 45 obtains each output (Fmz, Faz, Fms, Fas) corresponding to the designated type of the gripping mechanism 23, and the reference mass and the known mass. Read from the second table 33.
  • the span coefficient calculation means 42 calculates the span coefficient S by substituting the read basic data (Fmz, Faz, Fms, Fas, reference mass m1, and known mass m2) into the equation (11).
  • the calculation means 43 grips and moves the calculated span coefficient S, the first output (Fmz, Faz) or its output ratio (Fmz / Faz) read from the first table 31, and the article Q.
  • the mass m of the article Q is calculated based on the outputs (Fm, Fa) of the sensors 21 and 22 input during Others are the same as the first embodiment.
  • FIG. 16 shows a configuration block diagram of the fourth embodiment.
  • the storage unit 30 in this figure stores a second span coefficient table 34 as shown in FIG.
  • the second span coefficient table 34 includes a first output (Fmz,) of the sensors 21 and 22 when the gripping mechanism 23 grips and moves a first article having a reference mass (zero or m1) including zero. Faz), its reference mass (zero or m1), and the second output (Fms, Fas) of each sensor 21, 22 when the gripping mechanism 23 grips and moves the second article of known mass (m2).
  • the span coefficient S calculated based on the known mass (m2) and the first output (Fmz, Faz) or its output ratio (Fmz / Faz) in association with different types of gripping mechanisms 23. It is.
  • the span coefficient S is calculated every time basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) is read.
  • the span coefficient and the first output ratio ( There is a difference in that Fmz / Faz) is obtained and stored in advance. Therefore, when the type of the gripping mechanism 23 is specified by the gripping mechanism specifying means 29, the fourth reading means 46 outputs the span coefficient S corresponding to the specified gripping mechanism 23 and the first output (Fmz, Faz) or its output.
  • the ratio (Fmz / Faz) is read from the second span coefficient table 34.
  • the calculation means 43 grips and moves the read span coefficient S, the first output (Fmz, Faz) or its output ratio (Fmz / Faz), and the article Q in the same manner as described above.
  • the mass m of the article Q is calculated on the basis of the outputs (Fm, Fa) of the sensors 21 and 22 input to.
  • FIG. 18 shows a configuration block diagram of the fifth embodiment.
  • a third table 35 as shown in FIG. 19 is stored.
  • the third table 35 includes the first outputs (Fmz, Faz) of the sensors 21 and 22 and the reference when the gripping mechanism 23 grips and moves the first article having the reference mass (m1) including zero.
  • the known mass (m2) is stored corresponding to the type of the second article and also corresponding to the gripping mechanisms 23 of different types.
  • the type C gripping mechanism 23 is a finger type, and in this case, the first output (Fmz, Faz) is obtained without gripping the first article.
  • the fifth embodiment is a combination of the first embodiment and the third embodiment.
  • the basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) is made to correspond to the type of the second article.
  • the type of the second article is designated by the article designation means 28 and the type of the gripping mechanism 23 to be used by the gripping mechanism designation means 29 is designated.
  • the fifth reading means 47 reads basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) corresponding to the designated gripping mechanism and the second article from the third table 35.
  • the span coefficient calculation means 42 calculates the span coefficient S by substituting the read basic data (Fmz, Faz, Fms, Fas, reference mass m1 and known mass m2) into the above equation (11), as described above. To do.
  • the arithmetic means 43 calculates the span coefficient S, the first output (Fmz, Faz) read from the third table 35, and the sensors 21 input when the article Q is gripped and moved. , 22 based on the outputs (Fm, Fa), the mass m of the article Q is calculated.
  • FIG. 20 shows a configuration block diagram of the sixth embodiment.
  • the storage unit 30 in this figure stores a third span coefficient table 36 as shown in FIG.
  • the table 36 includes a first output (Fmz, Faz) of each of the sensors 21 and 22 and a reference mass (zero) when the gripping mechanism 23 grips and moves the first article having the reference mass m1 including the mass zero. Or m1), and the second output (Fms, Fas) of each sensor 21 and 22 and the known mass (m2) when the gripping mechanism 23 grips and moves the second article having the known mass m2.
  • the span coefficient S for each type of the second article calculated as described above is stored in association with the different types of gripping mechanisms 23 together with the first output (Fmz, Faz) and the output ratio (Fmz / Faz).
  • the type C gripping mechanism 23 is a finger type, and in this case as well, as in FIG. 19, the first output (Fmz, Faz) is obtained without gripping the first article.
  • the span coefficient S is calculated every time basic data (Fmz, Faz, Fms, Fas, known mass, reference mass) is read.
  • the span coefficient S and the first output ratio are calculated. There is a difference in that (Fmz / Faz) is obtained and stored in advance. Therefore, when the type of the article is designated by the article designation means 28 and the kind of the gripping mechanism 23 is designated by the gripping mechanism designation means 29, the sixth reading means 48 designates the designated type of article.
  • the span coefficient S and the first output ratio (Fmz / Faz) corresponding to the type of gripping mechanism 23 are read from the third span coefficient table 36. Others are the same as in the third embodiment.
  • FIG. 22 shows a configuration block diagram of the seventh embodiment.
  • This block diagram has the same basic configuration as that of FIG. 8, but is different in that a warning means 60 is newly provided in the display unit 25.
  • This warning means 60 is the operation mode of the moving mechanism 11 when acquiring the basic data (Fmz, Faz, Fms, Fas, reference mass, known mass), and when the article Q is actually gripped and moved. An alarm is issued when the operation mode is different from the operation mode, thereby preventing an error caused by the difference in the operation mode.
  • the basic data (Fmz, Faz, Fms, Fas, reference mass, known mass) is read again.
  • the warning means 60 displays a message. If the operation mode is changed without doing so, the warning means 60 issues a warning. Thereby, a measurement error can be suppressed.
  • FIG. 23 shows a configuration block diagram of the eighth embodiment.
  • This block diagram has the same basic configuration as that of FIG. 22, but differs from the seventh embodiment in that a fourth table 37 is provided in the storage unit 30.
  • the fourth table 37 stores the operation mode set in the moving mechanism 11 and the tables 31 to 36 acquired under the operation mode in association with each other, and an example is shown in FIG. In FIG. 24, for example, the first, second, and third tables are registered as tables acquired under the operation mode of mode 1. Therefore, the operation mode is switched to mode 2, and even if an attempt is made to measure the mass of an article having an unknown mass from the second table under mode 2, the second table is not registered under mode 2, so the warning means 60 warns that the basic data is re-taken.
  • the second table When the basic data of the second table is acquired under mode 2 based on the warning, the second table is registered in mode 2 in the fourth table. After that, since the second table can be accessed under mode 2, the operation can be continued even if the operation mode is switched.
  • the present invention since the mass of an article can be measured more accurately while the article is moved by a robot hand, the present invention can be used in a field where an industrial robot is used.

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  • General Physics & Mathematics (AREA)
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Abstract

La présente invention concerne un dispositif de mesure de masse qui est destiné à aborder un problème propre à des dispositifs de mesure de masse incorporés dans des mains de robot et pouvant réduire à un minimum une erreur de mesure y compris en cas de différences en termes de mécanismes de préhension de mains de robot, de modes de fonctionnement de mains de robot, ou de types d'articles. Le dispositif mémorise, en association avec le type d'un second article d'une masse connue (m2) et d'un type différent de celui d'un premier article d'une masse (m1), des premières sorties (Fmz, Faz) de chaque capteur lorsqu'un mécanisme de préhension permettant de saisir un article maintient et déplace le premier article, la masse (m1), des secondes sorties (Fms, Fas) de chaque capteur lorsque le mécanisme de préhension maintient et déplace le second article, et la masse connue (m2). Lorsqu'est spécifié le type du second article, la masse connue (m2) et les secondes sorties (Fms, Fas) pour le second article du type spécifié et la masse (m1) et les premières sorties (Fmz, Faz) pour le premier article sont lues, et la masse d'un article d'une masse non connue est calculée.
PCT/JP2015/076327 2014-09-20 2015-09-16 Dispositif de mesure de masse WO2016043227A1 (fr)

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JP2014-192057 2014-09-20
JP2014192057A JP6513357B2 (ja) 2014-09-20 2014-09-20 質量計測装置

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JPS59165102A (ja) * 1983-03-11 1984-09-18 Hitachi Ltd シ−ケンス制御装置
JPS6062496A (ja) * 1983-09-12 1985-04-10 沖電気工業株式会社 触覚センサ
JPH02190292A (ja) * 1989-01-18 1990-07-26 Fanuc Ltd ロボットのオーバライドによる安全対策方法
JPH06315881A (ja) * 1993-05-07 1994-11-15 Hitachi Constr Mach Co Ltd 力制御作業機械の力制御装置
JP2001219354A (ja) * 2000-02-04 2001-08-14 Kawasaki Heavy Ind Ltd 研磨システム
JP2004001226A (ja) * 2003-07-18 2004-01-08 Jfe Engineering Kk 溶接ロボット動作プログラムの自動生成システム
JP2008049459A (ja) * 2006-08-28 2008-03-06 Toshiba Corp マニピュレータ制御システム、マニピュレータ制御方法およびプログラム
JP2013174570A (ja) * 2012-02-27 2013-09-05 Ishida Co Ltd 質量測定装置

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US7514639B2 (en) * 2006-09-21 2009-04-07 Technical Weighing Services, Inc. Apparatus, system and method for weighing loads in motion

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59165102A (ja) * 1983-03-11 1984-09-18 Hitachi Ltd シ−ケンス制御装置
JPS6062496A (ja) * 1983-09-12 1985-04-10 沖電気工業株式会社 触覚センサ
JPH02190292A (ja) * 1989-01-18 1990-07-26 Fanuc Ltd ロボットのオーバライドによる安全対策方法
JPH06315881A (ja) * 1993-05-07 1994-11-15 Hitachi Constr Mach Co Ltd 力制御作業機械の力制御装置
JP2001219354A (ja) * 2000-02-04 2001-08-14 Kawasaki Heavy Ind Ltd 研磨システム
JP2004001226A (ja) * 2003-07-18 2004-01-08 Jfe Engineering Kk 溶接ロボット動作プログラムの自動生成システム
JP2008049459A (ja) * 2006-08-28 2008-03-06 Toshiba Corp マニピュレータ制御システム、マニピュレータ制御方法およびプログラム
JP2013174570A (ja) * 2012-02-27 2013-09-05 Ishida Co Ltd 質量測定装置

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