MASS MEASUREMENT DEVICE
First Claim
1. A mass measurement device for measuring a mass of an article while the article is being moved, the mass measurement device comprising:
- a holding mechanism configured to hold the article;
a movement mechanism coupled to the holding mechanism and configured to move the holding mechanism;
a force measurement unit fixedly coupled between the holding mechanism and the movement mechanism and configured to measure a force acting on the article during movement and configured to output corresponding force measurement data;
an acceleration measurement unit configured to measure acceleration acting on the article during movement and configured to output acceleration data; and
a control unit configured to operatively control the holding mechanism and the movement mechanism, and calculate the mass of the article on the basis of the force and the acceleration acting on the article during movement.
1 Assignment
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Accused Products
Abstract
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.
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Citations
29 Claims
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1. A mass measurement device for measuring a mass of an article while the article is being moved, the mass measurement device comprising:
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a holding mechanism configured to hold the article; a movement mechanism coupled to the holding mechanism and configured to move the holding mechanism; a force measurement unit fixedly coupled between the holding mechanism and the movement mechanism and configured to measure a force acting on the article during movement and configured to output corresponding force measurement data; an acceleration measurement unit configured to measure acceleration acting on the article during movement and configured to output acceleration data; and a control unit configured to operatively control the holding mechanism and the movement mechanism, and calculate the mass of the article on the basis of the force and the acceleration acting on the article during movement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification