公开(公告)号：US09140598B2

公开(公告)日：2015-09-22

申请号：US14345723

申请日：2012-09-18

申请人： ISHIDA CO., LTD.

发明人： Makoto Nakatani ,  Akihito Suzuki ,  Satoshi Konishi

IPC分类号： G01G19/00 ,  B25J13/08 ,  B25J19/02 ,  G01G3/14 ,  G01G9/00

CPC分类号： G01G19/00 ,  B25J13/082 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  G01G3/14 ,  G01G9/00 ,  G01L5/009 ,  G05B2219/37261 ,  G05B2219/37357 ,  G05B2219/40549

摘要： A mass measurement device measures the mass of an article, even when the article is being moved. A mass measurement device includes a robot hand, a robot arm, a force sensor, an acceleration sensor, and a control unit. The robot hand holds an article (Q). The robot arm moves the robot hand. The force sensor is provided between the robot hand and the robot arm and measures force acting on the article (Q) during movement. The acceleration sensor measures acceleration acting on the article (Q) during the movement. The control unit runs and controls the robot hand and the robot arm, and calculates the mass of the article (Q) on the basis of the force and acceleration acting on the article (Q) during the movement.

摘要翻译： 质量测量装置测量物品的质量，即使物品被移动。 质量测量装置包括机器人手，机器人手臂，力传感器，加速度传感器和控制单元。 机器人手持有物品（Q）。 机器人手臂移动机器人手。 力传感器设置在机器人手和机器人手臂之间，并且在运动期间测量作用在物品（Q）上的力。 加速度传感器测量运动过程中作用在物品（Q）上的加速度。 控制单元运行和控制机器人手和机器人手臂，并且基于在移动期间作用在物品（Q）上的力和加速度来计算物品（Q）的质量。

公开(公告)号：US11261039B2

公开(公告)日：2022-03-01

申请号：US17014888

申请日：2020-09-08

申请人： ISHIDA CO., LTD.

发明人： Akihito Suzuki

IPC分类号： B65G47/96 ,  B65G47/82

摘要： An article transfer device is configured to transfer a plurality of articles from a placement component to a container. The placement component includes a placement surface on which the plural articles are placed. The article transfer device includes a placement component drive unit that relatively moves the container and the placement component and a control unit that controls the operation of the placement component drive unit. The control unit controls the operation of the placement component drive unit so that, when the articles on the placement component are above the container, the placement component is pulled out from between the container and the articles.

公开(公告)号：US10352756B2

公开(公告)日：2019-07-16

申请号：US15511008

申请日：2015-09-17

申请人： ISHIDA CO., LTD.

发明人： Akihito Suzuki ,  Makoto Nakatani ,  Shizuo Minamino

IPC分类号： G01G3/142 ,  G01G19/18 ,  B25J9/00 ,  B25J15/06 ,  B65B61/28 ,  B65G47/90 ,  B65G47/91 ,  G01L1/22 ,  G01G23/00 ,  G01G23/01

摘要： A mass measurement device comprises a force sensor, a hose, a base part, an article-holding part, and a computation unit. The force sensor has a fixed end and a free end, and outputs a sensing signal in accordance with the magnitude of a force in a sensitivity direction. The hose is configured to pass suctioned air through it. The fixed end is fixed to the base part. The article-holding part is fixed to the free end, one end of the hose is connected to the article-holding part, and the article-holding part holds an article by air suction. The computation unit computes the mass of the article based on the sensing signal.

公开(公告)号：US11912449B2

公开(公告)日：2024-02-27

申请号：US17791506

申请日：2021-03-16

申请人： ISHIDA CO., LTD.

发明人： Hiroshi Okano ,  Shuichi Maeda ,  Yuki Furukawa ,  Masaaki Hojo ,  Akihito Suzuki ,  Kousuke Watanabe

IPC分类号： B65B35/16 ,  B25J15/00 ,  B65B43/59 ,  B65G47/90

CPC分类号： B65B35/16 ,  B25J15/0028 ,  B25J15/0052 ,  B65B43/59 ,  B65G47/901

摘要： To provide an article gripping system that reduces the installation area of the apparatus and further shortens the amount of time from when it grips to when it feeds articles. An article gripping system (110) switches between a first positional relationship in which a container (50) obstructs discharge of articles gripped by a first gripping unit (15A) but does not obstruct discharge of articles by a second gripping unit (15B) and a second positional relationship in which the container (50) obstructs discharge of articles gripped by the second gripping unit (15B) but does not obstruct discharge of articles gripped by the first gripping unit (15A), so the gripping units do not move while they are holding the articles, and the articles can be prevented from falling out of the gripping units (15).

公开(公告)号：US20140230581A1

公开(公告)日：2014-08-21

申请号：US14345723

申请日：2012-09-18

申请人： ISHIDA CO. LTD.

发明人： Makoto Nakatani ,  Akihito Suzuki ,  Satoshi Konishi

IPC分类号： G01G19/00

CPC分类号： G01G19/00 ,  B25J13/082 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  G01G3/14 ,  G01G9/00 ,  G01L5/009 ,  G05B2219/37261 ,  G05B2219/37357 ,  G05B2219/40549

摘要： Amass measurement device measures the mass of an article, even when the article is being moved. A mass measurement device includes a robot hand, a robot arm, a force sensor, an acceleration sensor, and a control unit. The robot hand holds an article (Q). The robot arm moves the robot hand. The force sensor is provided between the robot hand and the robot arm and measures force acting on the article (Q) during movement. The acceleration sensor measures acceleration acting on the article (Q) during the movement. The control unit runs and controls the robot hand and the robot arm, and calculates the mass of the article (Q) on the basis of the force and acceleration acting on the article (Q) during the movement.

摘要翻译： 淀粉测量装置测量物品的质量，即使物品被移动。 质量测量装置包括机器人手，机器人手臂，力传感器，加速度传感器和控制单元。 机器人手持有物品（Q）。 机器人手臂移动机器人手。 力传感器设置在机器人手和机器人手臂之间，并且在运动期间测量作用在物品（Q）上的力。 加速度传感器测量运动过程中作用在物品（Q）上的加速度。 控制单元运行和控制机器人手和机器人手臂，并且基于在运动期间作用在物品（Q）上的力和加速度来计算物品（Q）的质量。