| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot capable of measuring mass, sorting and boxing, in a series of operations.SOLUTION: An industrial robot 100 includes a force sensor 1, a robot hand 2 holding an article Q (workpiece), a robot arm 3 moving the robot hand 2, an acceleration measuring section 4, and a controller 40. The controller 40 calculates mass of the article Q on the basis of a force and acceleration applied on the moving article Q, and determines whether the calculated mass is within an appropriate range set in advance, to determine the quality of the article Q. The industrial robot 100 is capable of measuring the mass of the article Q and determining the quality of the article Q, thereby omitting at least a conventional weight checker from a production process. |
