A control method of a robot is a method of controlling a movable robot. The method includes causing two robot arms provided in the robot to arrange two end effectors of the two robot arms at a first interval on a laterally extending gripping portion of a cart; causing the two robot arms to move the two end effectors along the gripping portion so as to increase an interval between the two end effectors to a second interval larger than the first interval; and moving the robot together with the cart in a state where the interval between the two end effectors is the second interval. The cart includes obstacles impeding movement of the end effectors exceeding the second interval on the gripping portion.
A robot includes: a main body on which a person is carried; a handle to be gripped by the person on the main body; a moving device configured to move the main body; an operation terminal attachable to and detachable from the robot and configured to receive an input of a command related to an operation of the robot; and a control device configured to control the robot in accordance with the command received from the operation terminal. In a state where the operation terminal is attached to the robot, the operation terminal is disposed at a position where the operation terminal is operated while the handle is gripped by the person.
G05D 1/223 - Dispositions d’entrée de commande sur les dispositifs de commande à distance, p. ex. manches à balai ou écrans tactiles
B62D 57/028 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques ayant des roues et des jambes mécaniques
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec une base de support et des jambes soulevées alternativement ou dans un ordre déterminéVéhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
G05D 1/224 - Dispositions de sortie sur les dispositifs de commande à distance, p. ex. écrans, dispositifs haptiques ou haut-parleurs
An intermediation device (2) receives, from a plurality of robots (5), recruitments of remote workers who operate the plurality of robots (5) and perform a plurality of works. The intermediation device (2) posts the recruitments of the remote workers who perform the plurality of works on a site on a network (4) of an intermediary who holds the intermediation device (2). When the plurality of remote workers access the site from a plurality of manipulation terminals (3) and send a plurality of applications for the recruitments of the remote workers who perform the plurality of works, the intermediation device (2) selects, based on the plurality of applications, one or more robots (5) and one or more manipulation terminals (3) as one or more selected robots (5) and one or more selected manipulation terminals (3). The intermediation device (2) connects the one or more selected manipulation terminals (3) to the one or more selected robots (5) so that the one or more selected robots (5) are manipulatable by the one or more selected manipulation terminals (3).
A hand includes: a base; a first holder that is supported to be movable in a predetermined first direction with respect to the base and holds an article; a first driver that moves the first holder in the first direction; and a second holder that is aligned with the first holder in a second direction intersecting with the first direction, is supported to be movable in the first direction with respect to the base, and holds the article. The article held by the first holder and the second holder is placed on the base. The second holder is capable of adjusting a distance from the first holder in the second direction.
A hydrogen storage tank for a hydrogen aircraft includes an outer tank, an inner tank, a first strap, and a second strap. The inner tank is disposed inside the outer tank with a space therebetween, and has a shape having a longitudinal direction. The first strap includes a first end connected to an inner surface of the outer tank and a second end connected to an outer surface of the inner tank. The second strap includes a third end connected to the inner surface of the outer tank and a fourth end connected to the outer surface of the inner tank. The first strap and the second strap extend along the longitudinal direction of the inner tank, and in the longitudinal direction, a distance between the second end and the fourth end is shorter than a distance between the first end and the third end.
A substrate-conveying robot (100) includes a wrist joint (JT3) including a first bearing(s) (42) rotatably supporting a first rotation shaft (41) for rotating a first substrate-holding hand (21), and a second bearing(s) (44) rotatably supporting a second rotation shaft (43) for rotating the second substrate-holding hand (22). The first and second bearings are ball bearings.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
A surgical robot includes: a surgical instrument including a base disposed at a proximal end of the surgical instrument, a tool disposed at a distal end of the surgical instrument, and a shaft extending in an axial direction between the base and the tool; a manipulator configured to support the surgical instrument, the manipulator including an instrument interface to which the base of the surgical instrument is attached, an arm including rotational joints, and a prismatic joint coupling the instrument interface to a distal end of the arm; and a controller. including a memory that stores a remote center that is a center of motion of the surgical instrument. The controller is configured to control the motion of the manipulator such that with the shaft inserted through a trocar retained at a body wall of a patient and the tool located in a body cavity of the patient, a relationship (L−β)≥T1≥(L+α) is established in a case of L≤T0, wherein: L represents an intra-body cavity length of the surgical instrument, the intra-body cavity length L being a length from the remote center to the distal end of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint, the maximum possible linear movement amount T0 being an amount of movement from an origin position to an end point position; T1 represents a first linear movement amount of the prismatic joint, the first linear movement amount T1 being an amount of movement from the origin position to a current position; α represents a distance from the remote center to an inlet of the trocar; and β represents a distance from the remote center to an outlet of the trocar.
A quadrupedal walking robot includes: a main body; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of joint actuators configured to drive a plurality of the joints; a traveling device configured to protrude from the main body in a down direction of the main body and configured to operate so as to come into contact with a support surface supporting the quadrupedal walking robot and to move the quadrupedal walking robot in a state of being in contact with the support surface; and a controller configured to control operations of the plurality of joint actuators and the traveling device.
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec une base de support et des jambes soulevées alternativement ou dans un ordre déterminéVéhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
A friction-stir spot welding device includes a friction-stir spot welding tool including a pin, a shoulder having a hollow part into which the pin is inserted, and an oil agent interposed in an interlayer between an outer peripheral surface of the pin and an inner peripheral surface of the shoulder; and a control unit of the tool. The control unit executes first operation control of relatively moving the pin with respect to the shoulder in a state where the oil agent is held in the interlayer, and second operation control of relatively moving the pin with respect to the shoulder so that the oil agent is discharged from the interlayer to outside through a tip opening of the hollow part.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
10.
MEDICAL MANIPULATOR AND METHOD OF CONTROLLING THE SAME
A surgery system that includes a multiple-degree freedom arm that includes a plurality of motorized rotational axes and a mounting portion configured for detachably mounting of a surgical instrument, a touch panel configured to provide a graphical user interface to allow a user to provide a first input to move the multiple-degree freedom arm to a first pre-set position; an input device configured to receive a second input to control the multiple-degree freedom arm to move the surgical instrument; a memory configured to store first position information of the first pre-set position; and a controller configured to move the multiple-degree freedom arm to the first pre-set position based on the first input received by the graphical user interface and the first position information.
A quadrupedal walking robot includes: a main body including a seat portion on which a person is to sit astride; a handle to be gripped by the person seated on the seat portion; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of actuators configured to drive the plurality of joints; an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot; and a controller configured to control the plurality of actuators in accordance with the command received from the operation device.
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec une base de support et des jambes soulevées alternativement ou dans un ordre déterminéVéhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
In an information processing device, a processor is configured to access a control program of a coating robot before the coating robot performs coating, acquire first information that is related to a coating operation of the coating robot and is set in the control program from the control program, and calculate a required coating material amount, which is a coating material amount required for coating by the coating robot, with the first information.
A gas turbine system includes: a gas turbine engine including a compressor, a combustor, and a turbine; a fuel gas pressure regulator which regulates the pressure of fuel gas being introduced to the combustor; and a controller configured to: directly derive a designated value for the pressure of the fuel gas being introduced from the fuel gas pressure regulator to the combustor, on the basis of the state of the operation environment for the gas turbine engine; and use the derived designated value for the pressure or the derived designated pressure value to control the fuel gas pressure regulator.
A valve device (100) includes an operation shaft (50) operable to be moved along a rotation axis A1 of an operation pin (40) to be switched between a coupled state in which the operation shaft (50) is coupled to the operation pin (40) and rotates together with the operation pin (40), and an uncoupled state in which the operation shaft (50) is not coupled to the operation pin (40) and supports the operation pin (40) such that the operation pin (40) is rotatable. The operation pin (40) is operable to be rotated about the rotation axis A1 such that a spool (20) is moved when the operation shaft (50) is rotated about the rotation axis A1 in the coupled state.
F16K 11/07 - Soupapes ou clapets à voies multiples, p. ex. clapets mélangeursRaccords de tuyauteries comportant de tels clapets ou soupapesAménagement d'obturateurs et de voies d'écoulement spécialement conçu pour mélanger les fluides dont toutes les faces d'obturation se déplacent comme un tout comportant uniquement des tiroirs à éléments de fermeture glissant linéairement à glissières cylindriques
F16K 31/42 - Moyens de fonctionnementDispositifs de retour à la position de repos actionnés par un fluide et au moyen d'organes actionnés électriquement dans les canalisations d'entrée ou de refoulement du moteur à fluide
15.
ROBOTIC SURGICAL SYSTEM AND CONTROL METHOD FOR ROBOTIC SURGICAL SYSTEM
A robotic surgical system includes a surgical apparatus including a first robot arm to move a medical instrument, an arm base to support a proximal end of the first robot arm, and a second robot arm to move the arm base, and a monitoring controller configured or programmed to monitor whether or not a monitoring point set with respect to the arm base or the second robot arm is within a monitoring area, and change the monitoring area based on a posture of the second robot arm.
A processor of a mobile terminal according to one embodiment, when a camera has captured an image of a code that is displayed on a surface of hydraulic pump equipment and that stores characteristic data of at least one pump included in the hydraulic pump equipment, stores the characteristic data in a memory. Further, the processor displays a virtual characteristic data transmission button on a touchscreen, and when the characteristic data transmission button is tap-operated, causes a wireless communicator to transmit the characteristic data stored in the memory to control circuitry for the hydraulic pump equipment or to a wireless LAN router connected to the control circuitry.
H04N 23/61 - Commande des caméras ou des modules de caméras en fonction des objets reconnus
G06F 3/04817 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] fondées sur des propriétés spécifiques de l’objet d’interaction affiché ou sur un environnement basé sur les métaphores, p. ex. interaction avec des éléments du bureau telles les fenêtres ou les icônes, ou avec l’aide d’un curseur changeant de comportement ou d’aspect utilisant des icônes
H04N 23/63 - Commande des caméras ou des modules de caméras en utilisant des viseurs électroniques
H04N 23/661 - Transmission des signaux de commande de la caméra par le biais de réseaux, p. ex. la commande via Internet
A robot system according to the present disclosure includes a paint supply source (10), a sending-out device (20), a painting robot (30), a channel (40) connecting the paint supply source (10) to the painting robot (30) through the sending-out device (20), and disposed so that a part thereof is located in a non-explosion-proof area (103), and a noncontact flowmeter (50) disposed in the channel (40) and configured to detect a flow rate of paint flowing through the channel (40). The painting robot (30) and the sending-out device (20) are disposed in an explosion-proof area (102), and the paint supply source (10) and the noncontact flowmeter (50) are disposed in the non-explosion-proof area (103).
B05B 12/08 - Aménagements de commande de la distributionAménagements de réglage de l’aire de pulvérisation sensibles à l'état du liquide ou d'un autre matériau fluide expulsé, du milieu ambiant ou de la cible
B05B 13/04 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces les têtes de pulvérisation étant déplacées au cours de l'opération
B05C 11/10 - Stockage, débit ou réglage du liquide ou d'un autre matériau fluideRécupération de l'excès de liquide ou d'un autre matériau fluide
A liquefied gas monitoring system includes: a container containing liquefied gas, which is obtained by liquefaction of single-component gas; a liquid level sensor, which detects liquid level height in the container; and control circuitry, which receives, each time the liquefied gas is fed into the container, an input of an environmental value of the gas. Before the liquefied gas is fed into the container, the control circuitry determines an amount of the liquefied gas previously fed into and still remaining in the container based on the height detected by the liquid level sensor, and stores the determined amount together with the environmental value. After the liquefied gas is fed into the container, the control circuitry determines an amount of the liquefied gas fed at this time based on the height detected by the liquid level sensor, and stores the determined amount of the liquefied gas together with the environmental value.
F17C 13/02 - Adaptations spéciales des dispositifs indicateurs, de mesure ou de contrôle
F17C 5/02 - Procédés ou appareils pour remplir des récipients sous pression de gaz liquéfiés, solidifiés ou comprimés pour le remplissage avec des gaz liquéfiés
A housing includes a spool hole that receives a separated-type spool including a first and a second spool separated from each other in an axial direction of the separated-type spool. The first spool allows a first supply/discharge passage to communicate with either a pump passage or a tank passage. The second spool allows a second supply/discharge passage to communicate with the other pump passage or the tank passage. The housing includes: a first pilot chamber faced by an end surface of an opposite side of the first spool from the second spool; and a second pilot chamber faced by an end surface of an opposite side of the second spool from the first spool. A portion of the spool hole between the first spool and the second spool forms a third pilot chamber. The housing includes a pilot passage that communicates with the third pilot chamber.
F15B 13/04 - Dispositifs de distribution ou d'alimentation du fluide caractérisés par leur adaptation à la commande de servomoteurs pour utilisation avec un servomoteur unique
A robot (100) according to this disclosure includes a robot arm (10), and a hand (20). The hand (20) includes a first hand (21), and a second hand (22) arranged on or above the first hand (21). At least one of the first hand (21) and the second hand (22) has an airtight hollow hand space (S).
This hydraulic drive system includes: a hydraulic pump that supplies a working fluid to a hydraulic actuator; a meter-in control valve that controls a flow rate of the working fluid flowing from the hydraulic pump to the hydraulic actuator; a meter-out control valve that controls a flow rate of the working fluid being drained from the hydraulic actuator into a tank; and a regeneration valve that supplies, to the hydraulic actuator, the working fluid drained from the hydraulic actuator. The meter-out control valve is connected to the hydraulic actuator in parallel with the regeneration valve.
F15B 13/04 - Dispositifs de distribution ou d'alimentation du fluide caractérisés par leur adaptation à la commande de servomoteurs pour utilisation avec un servomoteur unique
F15B 11/08 - Systèmes de servomoteurs dépourvus d'asservissement avec un seul servomoteur
A robot includes a robot arm; a drive mechanism for driving the robot arm, the drive mechanism including a gear(s) and a shaft; a temperature sensor for detecting a temperature in the robot arm; and a controller for compensating for influences of thermal expansions of the robot arm, and at least one of the gear(s) and the shaft based on a detection result of the temperature sensor.
A cryogenic liquefied gas storage tank is a tank having a flat bottom cylindrical triple shell structure, and includes: an inner tank that stores cryogenic liquefied gas; an intermediate tank that encloses the inner tank with an inner insulation layer therebetween; and an outer tank that encloses the intermediate tank with an outer insulation layer therebetween. The intermediate tank is formed using steel for low temperature use,
A combustor of a gas turbine according to one aspect of the present disclosure includes: an outer wall surrounding a combustion chamber; a liner located inside the outer wall and facing the combustion chamber; and a fixture that attaches the liner to the outer wall in a state where there is a gap between the outer wall and the liner. The fixture includes: a shaft portion penetrating the outer wall; a head supporting the liner; and an air passage that is in the fixture, is connected to the combustion chamber, and has a shape corresponding to a shape of the head.
This liquid hydrogen storage tank includes a tank body, a dike, a pump, and a housing chamber. The tank body includes an inner tank that forms a storage space for storing liquid hydrogen therein, and an outer tank that is formed by interposing a thermal insulation layer between the outer tank and the inner tank. The dike includes an outer peripheral surface and an inner peripheral surface that is in contact with the side plate of the outer tank. The dike is formed upwardly so as to surround the outer periphery of the tank body. The pump discharges liquid hydrogen inside the inner tank through the side plate of the inner tank to the outside. The housing chamber is disposed between the outer peripheral surface of the dike and the storage space, and houses the pump.
A system for detecting an abnormality in hydraulic rotating equipment according to one embodiment includes: a sensor that measures a drain pressure of the hydraulic rotating equipment; and processing circuitry. The hydraulic rotating equipment is of an axial piston type and includes M pistons. The processing circuitry performs frequency analysis on a pressure waveform that is a result of measurement by the sensor to generate a frequency spectrum, and if a pressure amplitude of a rotational Mth-degree component in the frequency spectrum is less than a predetermined percentage of a pressure amplitude of a rotational first-degree component in the frequency spectrum, determines that the hydraulic rotating equipment is in a normal condition, whereas if the pressure amplitude of the rotational Mth-degree component is greater than the predetermined percentage of the pressure amplitude of the rotational first-degree component, determines that there is an abnormality in the hydraulic rotating equipment.
A friction stir spot welding apparatus includes a pin member formed in a solid cylindrical shape, a shoulder member formed in a hollow cylindrical shape, the pin member being inserted in the shoulder member, a rotary actuator that rotates the pin member and the shoulder member on an axis that is in agreement with an axial center of the pin member, and a linear actuator that linearly moves each of the pin member and the shoulder member along the axis.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
28.
PANEL CONVEYANCE APPARATUS AND PANEL CONVEYANCE METHOD
A panel transfer device according to one or more embodiment may include a base; an arm rotatably connected to the base, which includes a first detector; an end effector connected to the arm, including: a connector rotatably connected to the arm; a wrist connected to the connector, including a second detector; and a pair of forks connected to the wrist, including sensor. In response to the end effector gripping the panel, the sensor detects displacement of the panel in a first direction, the end effector rotates to a position where the first and second detectors face each other, the first and second detectors communicate to detect displacement of the panel in a second direction, and the panel transfer device calculates a correction amount based on the detected displacement of the panel in the first direction and in the second direction, and places the panel based on the correction amount.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
H01L 21/677 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le transport, p. ex. entre différents postes de travail
29.
PANEL CONVEYANCE APPARATUS AND PANEL CONVEYANCE METHOD
A panel transfer device according to one or more embodiment may include a base; an arm rotatably connected to the base, which includes a first detector; an end effector connected to the arm, including: a connector rotatably connected to the arm; a wrist connected to the connector, including a second detector; and a pair of forks connected to the wrist, including sensor. In response to the end effector gripping the panel, the sensor detects displacement of the panel in a first direction, the end effector rotates to a position where the first and second detectors face each other, the first and second detectors communicate to detect displacement of the panel in a second direction, and the panel transfer device calculates a correction amount based on the detected displacement of the panel in the first direction and in the second direction, and places the panel based on the correction amount.
A robot system includes a robot, an attraction pad, a sensor, and a controller. The robot includes a hand whose orientation is changeable. The attraction pad is attached to the hand, attracts a workpiece, and holds the workpiece. The sensor is attached to the hand, includes a detection surface, and detects contact between the detection surface and the workpiece. The controller can determine whether the workpiece has been brought into surface contact with the detection surface based on a result of detection made by the sensor and changes the orientation of the hand, until the workpiece makes surface contact with the detection surface, and then makes the attraction pad hold the workpiece.
A controller includes: a first detector that detects a target Wt from an image P including objects W, by using a detection model trained by machine learning; a setter that sets, as a search area A, an area that includes the target Wt detected by the first detector from the image P and is larger than the target Wt; and a second detector that detects the target Wt by performing a matching process based on the search area A of the image P.
G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires
Control circuitry outputs a pump command current corresponding to an actuator operation signal to pump equipment including at least one pump whose displacement increases in accordance with increase in the pump command current. The control circuitry: stores calibration data generated based on actual measurement data of the at least one pump, the actual measurement data indicating an actual relationship between the pump command current and the displacement of the at least one pump, the calibration data being data to correct the pump command current such that the displacement of the at least one pump transitions on a performance line that is preset for the actuator operation signal. The control circuitry: determines the pump command current based on the actuator operation signal; and corrects the determined pump command current by using the calibration data, and outputs the corrected pump command current to the pump equipment.
A robot according to this disclosure includes a vertical multi-joint robot arm including a plurality of joints each of which rotates about a rotation axis; and a tube including at least one of an electric cable and a fluid hose. The tube overlaps a circular area(s) that centers/center the rotation axis/axes of the predetermined joint(s) and has/have a radius(radii) of a distance(s) between the rotation axis/axes of the predetermined joint(s) and an exterior surface(s) of the predetermined joint(s) as viewed in an extension direction(s) of the rotation axis/axes, arranged inside an exterior shape(s) of the predetermined joint(s) as viewed in a direction orthogonal to the rotation axis/axes of the predetermined joint(s).
B05B 13/04 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces les têtes de pulvérisation étant déplacées au cours de l'opération
34.
SUBSTRATE HOLDING HAND AND SUBSTRATE CONVEYOR ROBOT
A substrate-holding hand includes a plurality of blades for supporting substrates and stacked with the plurality of blades being spaced away from each other; and a support mechanism for supporting the plurality of blades. Each of the plurality of blades is connected to the support mechanism by an eccentric element.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
An equipment maintenance method that allows prevention of nitrogen gas from solidifying is provided when separating the equipment from a flow path for liquefied hydrogen. In the equipment maintenance method, an operator allows hydrogen gas to flow into a first section (LSI), a second section (LS2), a third section (LS3), and a fourth section (LS4). and discharges liquefied hydrogen. Thereafter, the operator allows the nitrogen gas to flow into the second section (LS2) and the third section (LS3). and discharges the hydrogen gas. With the second section (LS2) and the third section (LS3) filled with the nitrogen gas, the operator decouples the flow path (LS) at a first joint part (LT1) and a second joint part (LT2), and detaches the pump (50).
A method for constructing a triple shell tank including an inner tank, an intermediate tank, and an outer tank each having a roof and a side plate. According to the construction method, an intermediate tank roof is temporarily fixed onto an inner tank roof to form a connected roof body, a guide side plate having a predetermined height is installed around the connected roof body, a sealing process is performed between an outer peripheral edge of the connected roof body and an inner face of the guide side plate to form a sealed space, air is supplied to the sealed space to air-raise the connected roof body, at least a part of an outer tank roof is formed on the intermediate tank roof of the air-raised connected roof body, and an outer tank side plate is installed around the guide side plate.
B65D 81/38 - Réceptacles, éléments d'emballage ou paquets pour contenus présentant des problèmes particuliers de stockage ou de transport ou adaptés pour servir à d'autres fins que l'emballage après avoir été vidés de leur contenu avec isolation thermique
B65D 88/08 - Grands réceptacles rigides cylindriques à axe vertical
37.
SUBSTRATE HOLDING HAND AND SUBSTRATE CONVEYOR ROBOT
A substrate-holding hand includes a plurality of blades, a linkage for supporting the plurality of blades, and a force applier arranged for applying a force to the linkage in a direction that increases a pitch between the blades.
A processor of a mobile terminal according to one embodiment obtains and stores actual measurement data of a hydraulic pump in a memory when a camera has captured an image of a symbol displayed on a surface of the hydraulic pump. The processor also stores, in the memory, a minimum-use delivery flow rate and a reference rotation speed that have been inputted with an input screen on a touchscreen. Further, the processor causes a wireless communicator to transmit the actual measurement data, the minimum-use delivery flow rate, and the reference rotation speed, which are stored in the memory, to control circuitry for the hydraulic pump or to a wireless LAN router connected to the control circuitry when a data transmission button on the touchscreen is tap-operated.
G06F 3/04886 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels par partition en zones à commande indépendante de la surface d’affichage de l’écran tactile ou de la tablette numérique, p. ex. claviers virtuels ou menus
G06F 3/0484 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] pour la commande de fonctions ou d’opérations spécifiques, p. ex. sélection ou transformation d’un objet, d’une image ou d’un élément de texte affiché, détermination d’une valeur de paramètre ou sélection d’une plage de valeurs
G06K 19/06 - Supports d'enregistrement pour utilisation avec des machines et avec au moins une partie prévue pour supporter des marques numériques caractérisés par le genre de marque numérique, p. ex. forme, nature, code
G06K 19/07 - Supports d'enregistrement avec des marques conductrices, des circuits imprimés ou des éléments de circuit à semi-conducteurs, p. ex. cartes d'identité ou cartes de crédit avec des puces à circuit intégré
A relief valve includes a piston including a first piston member to press an urging member using a pressure of pilot oil in a pilot chamber to change an amount of deflection of the urging member. The first piston member includes a first pressure receiving surface to receive a pressure in a first axial direction of an axial direction from hydraulic oil in a first oil chamber, and a second pressure receiving surface to receive a pressure in a second axial direction of the axial direction from the hydraulic oil in a second oil chamber.
F16K 17/06 - Soupapes ou clapets de sûretéSoupapes ou clapets d'équilibrage ouvrant sur excès de pression d'un côtéSoupapes ou clapets de sûretéSoupapes ou clapets d'équilibrage fermant sur insuffisance de pression d'un côté actionnés par ressort avec dispositions particulières pour régler la pression d'ouverture
F15B 13/02 - Dispositifs de distribution ou d'alimentation du fluide caractérisés par leur adaptation à la commande de servomoteurs
A planetary carrier includes: a first plate and a second plate which pivotally support planetary gears between opposing plate surfaces of the first and second plates such that the planetary gears are located on a circular path so as to be spaced apart from each other, the circular path being a path of rotational centers of the planetary gears; and coupling plates which are located between the opposing plate surfaces, are spaced apart from each other in a circumferential direction of the circular path, couple the first plate and the second plate, and are coupled to external members at positions away from the planetary gears in the circumferential direction. The coupling plates are coupled to the external members at an outside of the circular path in a radial direction. Each of the coupling plates is coupled to the first plate and the second plate only at a first side in the circumferential direction.
A rotor includes a rotor body rotatable about a rotation axis and magnetic pole portions arranged in the rotor body. Each magnetic pole portion includes first and second magnets, the second being inside the first in a radial direction centered on the rotation axis. The rotor body includes first and second mount holes in each of which the first and second magnets is to be respectively located. The rotor body has division walls each of which divides the second mount hole. The first mount hole is one undivided hole. When the intersection of the outer peripheral surface of the rotor body with the d-axis of each magnetic pole portion is taken as a reference point, the dimension of a portion of the first magnet positioned between the reference point and the division wall in a magnetization direction is greater than the dimension of other portions of the first magnet.
A robot controller includes: a movement controller moving a robot arm including a hand; and an opening/closing controller opening and closing at least one of fingers included in hand in a predetermined direction. The movement controller causes the robot arm to bring at least one of the fingers into contact with a workpiece in a pressing direction. The opening/closing controller causes the at least one of the fingers to perform an opening action after the contact action. After the at least one of the fingers separates from the workpiece through the opening action, the movement controller causes the robot arm to perform an approaching action of moving the hand in the pressing direction to a holding position. The opening/closing controller causes the fingers to hold the workpiece by causing at least one of the fingers to close in a state where the hand is located at the holding position.
A combustor of a gas turbine includes: a shell made of metal; a liner located inside the shell and made of a ceramic matrix composite, the liner including an inner surface defining a combustion chamber, an outer surface facing a side opposite to a side where the combustion chamber is located, and at least one cooling hole that is open toward the combustion chamber, and a cooling chamber defined between the shell and the liner. The shell includes a tubular shell main body and a seal wall structure projecting from an inner surface of the shell main body toward the liner.
A robotic surgical system includes a surgical instrument operation unit including a first substrate to which a signal received by the surgical instrument operation unit is input, and a controller connected to the first substrate by serial communication via a first wire line.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A method for constructing a triple shell tank including an inner tank, an intermediate tank, and an outer tank each having a roof and a side plate includes the following procedure. As construction entrances, a first construction opening is opened in an outer tank side plate, a second construction opening is opened in an inner tank side plate, and a third construction opening is opened in an intermediate tank side plate, each during the installation of the corresponding side plate. The construction openings are opened so as to partially overlap with one another in a circumferential direction and a height direction of the triple shell tank. The first construction opening and the second construction opening are opened so as to satisfy a relationship AR1≥AR2, where AR1 is an opening area of the first construction opening and AR2 is an opening area of the second construction opening.
A controller includes: a label assigner that assigns a label indicating predetermined information to an image object in response to input operation of a user; a generator that generates a group of an image and a label assigned to the image as training data; and a storage that stores a second image on which detection by a detection model was performed and failed for an object, in association with a detection result by a detection model. In the second image, the label assigner assigns the label indicating the predetermined information to a detection failed object in response to input operation of the user and substitutes the label indicating the predetermined information of a detection successful object by the detection result. The generator generates a group of the second image, and the label assigned to the detection failed object and the detection result of the detection successful object as training data.
G06F 3/14 - Sortie numérique vers un dispositif de visualisation
G06V 10/774 - Génération d'ensembles de motifs de formationTraitement des caractéristiques d’images ou de vidéos dans les espaces de caractéristiquesDispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p. ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]Séparation aveugle de source méthodes de Bootstrap, p. ex. "bagging” ou “boosting”
G06V 20/70 - Étiquetage du contenu de scène, p. ex. en tirant des représentations syntaxiques ou sémantiques
A piping plug includes a housing including a through-hole, and a filter device that is inserted into the through-hole and provided in the housing, the filter device includes a holder including a holder passage having a first opening and a second opening, and a filter provided in the holder so as to cover the first opening, the first opening is located on an outer circumferential face of the holder, the second opening is located at one end of the holder, and the holder is cantilever-supported by the housing in one end side part of the holder such that a clearance is left around the outer circumferential face.
F16K 1/30 - Soupapes ou clapets, c.-à-d. dispositifs obturateurs dont l'élément de fermeture possède au moins une composante du mouvement d'ouverture ou de fermeture perpendiculaire à la surface d'obturation spécialement adaptées pour réceptacles sous pression
Provided is a friction stir spot welded joint having high cross tensile strength even in the case where a steel sheet having a soft surface layer is used as a material to be welded. An annular groove is formed on an upper surface of an upper sheet out of overlapping steel sheets, and a shape and hardness of a welded portion are appropriately controlled simultaneously.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
A robotic surgical system includes a control device configured or programmed to detect a position and orientation of a trocar based on a detection result of a detector, and move a surgical instrument mount toward the trocar based on the detected position and orientation of the trocar.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A robotic surgical system includes a substrate in a robot arm or an arm operation unit, to which a signal received by the arm operation unit is input, and a controller. The controller is connected to the substrate by serial communication via a first wire line.
A combustor of a gas turbine according to one aspect of the present disclosure includes: an outer wall surrounding a combustion chamber; a liner located inside the outer wall and facing the combustion chamber; and a fixture that attaches the liner to the outer wall in a state where there is a gap between the outer wall and the liner. The fixture includes: a shaft portion penetrating the outer wall; a head supporting the liner; and a head groove that is located on an outer peripheral surface of the head and includes a first end portion connected to the gap and a second end portion connected to the combustion chamber.
A method for constructing a triple shell tank including an inner tank, an intermediate tank, and an outer tank each having a roof and a side plate includes the following procedure. An intermediate tank roof is temporarily fixed onto an inner tank roof, and further an outer tank roof is temporarily fixed onto the intermediate tank roof to form a connected roof body. An outer tank side plate having a predetermined height is installed around the connected roof body. A sealing process is performed between an outer peripheral edge of the outer tank roof and an inner face of the outer tank side plate to form a sealed space, and air is supplied to the sealed space to air-raise the connected roof body. The outer tank roof and the outer tank side plate are fixed. An inner tank side plate and an intermediate tank side plate are installed and the temporary fixing of the connected roof body is released to fix the inner tank roof and the inner tank side plate and fix the intermediate tank roof and the intermediate tank side plate.
A triple shell tank includes an inner tank, an intermediate tank covering the inner tank, and an outer tank covering the intermediate tank. The inner tank includes an inner tank side plate, an inner tank roof, and an inner tank bottom plate. The intermediate tank includes an intermediate tank side plate, an intermediate tank roof, and an intermediate tank bottom plate. The circular steps of the intermediate tank side plate include a lowermost step formed of an intermediate tank side plate piece for height adjustment having a height corresponding to a height difference between the inner tank bottom plate and the intermediate tank bottom plate, and a second step on the lowermost step formed of an intermediate tank side plate piece arranged at a same height position as an inner tank side plate piece of a lowermost step in the circular steps of the inner tank side plate.
A panel of a combustor includes: an outer surface that is opposed to an inner peripheral surface of a shell so as to be spaced apart from the inner peripheral surface; and an inner surface that defines a combustion chamber extending in a flow direction from an upstream side of the combustor to a downstream side of the combustor. At least part of a neutral plane between the outer surface and the inner surface has a planar shape or a curved surface shape which extends in a circumferential direction and whose curvature is smaller than a curvature of a virtual circular arc that is concentric with the inner peripheral surface of the shell.
A friction stir joining device includes a tool, a rotary driver, a linear-movement driver, and a control device. The control device is adapted to (A) dispose so that a first member opposes to the tool, and the first member, a second member and a third member are located in this order, (B) control the linear-movement driver and the rotary driver so that a tip-end part of the tool presses a joined part of a to-be-joined object while the tool is rotated, (C) control the linear-movement driver and the rotary driver so that the third member softened extends above an upper surface of the second member, and the tip-end part of the tool reaches a first position, and (D) control the linear-movement driver and the rotary driver so that the tool is drawn out from the joined part while the tool is rotated.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
Each permanent magnet of a rotor includes: a first and a second linear portion arranged in a circumferential direction and extending from an outer periphery side of a rotor core toward a rotation axis; a third linear portion located between the first and the second linear portion in the circumferential direction and extending obliquely with respect to a radial direction and separately from the rotation axis from an end of the first linear portion closer to the rotation axis; and a fourth linear portion located between the second and the third linear portion in the circumferential direction and extending obliquely with respect to the radial direction and separately from the rotation axis from an end of the second linear portion closer to the rotation axis. Thicknesses of the third linear portion and the fourth linear portion are smaller than thicknesses of the first linear portion and the second linear portion.
H02K 1/276 - Aimants encastrés dans le noyau magnétique, p. ex. aimants permanents internes [IPM]
H01F 13/00 - Appareils ou procédés pour l'aimantation ou pour la désaimantation
H02K 15/03 - Procédés ou appareils spécialement adaptés à la fabrication, l'assemblage, l'entretien ou la réparation des machines dynamo-électriques des corps statoriques ou rotoriques comportant des aimants permanents
H02K 15/12 - Imprégnation, chauffage ou séchage des bobinages, des stators, des rotors ou des machines
A burner includes a multiple pipe including an inner pipe and outer pipes. The inner pipe and the outer pipes are located coaxially about a burner axis. The multiple pipe includes: a fuel discharge port located at a downstream end of the inner pipe and discharges a fuel-air mixture containing main fuel and primary combustion air which have been supplied to the inner pipe; a secondary air outlet which is located at an outer peripheral side of the fuel discharge port and emits secondary combustion air which has been supplied to between the outer pipes; and an annular gas fuel outlet which is located between the fuel discharge port and the secondary air outlet and emits gas fuel as auxiliary fuel which has been supplied to between the inner pipe and the outer pipes, toward a boundary between flow of the fuel-air mixture and flow of the secondary combustion air.
F23D 17/00 - Brûleurs pour la combustion simultanée ou alternative de combustibles gazeux, liquides ou pulvérulents
F23D 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
F23L 9/02 - Passages ou ouvertures pour introduire l'air secondaire nécessaire à la combustion complète du combustible l'air étant introduit au-dessus du foyer
A burner includes: a first nozzle including a main fuel outlet that discharges a fuel-air mixture containing main fuel and primary combustion air and a flame holding plate around the outlet; and a second nozzle located coaxially with the first and including a secondary air outlet that emits secondary combustion air at an outer peripheral side of the main fuel outlet; and auxiliary fuel injection nozzles extending along an outer surface of the first nozzle in parallel with a burner axis. The auxiliary fuel injection nozzles include: auxiliary fuel outlets along an outer peripheral edge of the flame holding plate; or auxiliary fuel outlets inside the outer peripheral edge of the flame holding plate and outside an inner peripheral edge of the flame holding plate. The auxiliary fuel outlets discharge gas fuel as auxiliary fuel toward a boundary between flows of the fuel-air mixture and the secondary combustion air.
F23D 17/00 - Brûleurs pour la combustion simultanée ou alternative de combustibles gazeux, liquides ou pulvérulents
F23D 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
F23L 9/02 - Passages ou ouvertures pour introduire l'air secondaire nécessaire à la combustion complète du combustible l'air étant introduit au-dessus du foyer
A construction method of a trained model includes six processes. In a first process, data for performing machine learning of an operation of a controlled machine by a human is collected. In a second process, collected data that is the data collected is evaluated and, when it does not satisfy a predetermined evaluation criterion, the data is collected again. In a third process, training data is selected from the collected data that satisfies the evaluation criterion. In a fourth process, the training data is evaluated and, when it does not satisfy a predetermined evaluation criterion, the training data is selected again. In a fifth process, a trained model is constructed by machine learning using the training data that satisfies the evaluation criterion. In a sixth process, the trained model is evaluated and, when it does not satisfy a predetermined evaluation criterion, the trained model is trained again.
A teaching system includes a teaching point generator that generates a teaching point of a robot; an operator that is operated by a user; an image generator that generates a VR image in which a virtual robot corresponding to the robot is placed in a VR space; and a display that displays the VR image. The image generator generates the VR image in which the virtual robot moves in accordance with operation to the operator. The teaching point generator generates a teaching point corresponding to a position of the virtual robot in the VR space generated by the image generator.
A programming assistance apparatus assists programming with respect to a program that operates two or more devices including at least a robot in parallel. The programming assistance apparatus includes a device extractor, a determiner, and an alerter. The device extractor extracts an identification name of a device to which an operation command is issued per unit of parallel operation based on a description content of the program. The determiner determines whether there is a shared target device, to which operation commands targeting a same device in two or more parallel operations are issued. The alerter outputs an alert when it is determined that there is the shared target device.
A surgical robot (10) includes robot arms (130), an arm base (120), and a control device (30). Each of the robot arms includes a base portion (138), a tip portion (137) that can hold a medical instrument (150), and links (131 to 136). The link (131) adjacent to the base portion is connected to the base portion through a rotational joint (JA1). The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion (134aa) of a first link (134) is located between a second portion (138a) of the base portion and a third portion (JA7a) of the tip portion.
In a robotic surgical system, a controller is configured or programmed to change at least one of a level of an operation start assisting force, a level of an in-operation assisting force, or a level of a braking force based on a level change operation of an operator received by a level change receiver.
A failure diagnosis device for a reduction gear of the present disclosure is a failure diagnosis device (1) for a reduction gear (13) provided to a mechanical apparatus (11) driven by a motor (14) so that the reduction gear slows down rotation power of the motor and transmits the power to an operating part (12) of the mechanical apparatus. The device identifies an acceleration/deceleration period during which operation of the mechanical apparatus accelerates and/or decelerates, and determines whether the reduction gear indicates a sign of failure based on a change in frequency spectrum of motor current with respect to a change in a rotation speed of the motor during the acceleration/deceleration period.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
65.
DEVICE FOR PERFORMING AT LEAST ONE TASK ON A STRUCTURE TO BE WORKED ON, SAID DEVICE COMPRISING A TELESCOPIC PRESSER ELEMENT
A device for performing at least one task on a structure to be worked on. The device includes: a frame; a fastener for fastening the frame to a motor-driven handling element capable of moving the device in space relative to a structure to be worked on; a spindle rotatably and/or translationally driven along a same axis to perform the at least one task; a presser element, coaxial with the spindle, capable of exerting a compressive force against the surface of the structure to be worked on. The presser element has a first and a second element connected by a ball-and-socket joint, the second element including a free end adapted to contact the surface and the first element being translationally movable along the axis of the spindle such that the second element is oriented orthogonally to the surface when compressed against the surface.
A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate is provided. The substrate becomes in a first state where an end effector holds the substrate and the substrate is not placed at an installation position, when the end effector positions at a first teaching point above the installation position. The substrate becomes in a second state where the end effector does not hold the substrate and the substrate is placed at the installation position, when the end effector positions at a second teaching point below the installation position. The first and second states can be switched by causing the robot to perform a first operation to move the end effector from either one of the first teaching point and the second teaching point to the other one of the first teaching point and the second teaching point.
A robotic surgical system includes a control device configured or programmed to cause a storage to store, as a second pivot position, a pivot position after a surgical instrument is moved, when a pivot position setter is operated after the surgical instrument is moved by an operation unit in a pivot position change mode.
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
68.
CONTROL DEVICE FOR SUBSTRATE TRANSFER ROBOT AND CONTROL METHOD FOR JOINT MOTOR
A control device controls a substrate transfer robot including a hand, a joint, and a joint motor. The control device modifies a target position of the hand when it places substrate at transfer destination, based on positional misalignment information indicating misalignment of substrate. To change a position at which the hand places the substrate to target position after modification, the control device performs first velocity control and second velocity control. In first velocity control, velocity of hand that is approaching target position before modification with the velocity decreasing is made constant by correcting. In second velocity control, velocity of hand decreases by slope equal to the slope of velocity of the hand immediately before first velocity control and hand is stopped at target position after modification. Time during which the first velocity control is performed increases as a magnitude of change in the target position due to the modification increases.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
69.
TEACHING SYSTEM, ROBOT SYSTEM, TEACHING METHOD FOR ROBOT, AND TEACHING PROGRAM FOR ROBOT
A teaching system includes: a teaching point generator that generates a teaching point of a robot including an end effector that performs a treatment on a workpiece in a non-contact manner; an operator that is operated by a user; an image generator that generates a VR image in which a virtual end effector corresponding to the end effector and a first virtual workpiece corresponding to the workpiece are placed in a space; and a display that displays the VR image. The image generator generates the VR image in which the virtual end effector moves in accordance with an operation to the operator and performs a treatment on the first virtual workpiece. The teaching point generator generates a teaching point based on a position of the virtual end effector generated by the image generator in the VR space.
To reduce a leakage flux of a permanent magnet and suppress a decrease in magnet torque. A rotor includes a rotor body rotatable about a rotation axis and permanent magnets arranged in a circumferential direction centered on the rotation axis in the rotor body and having different magnetic poles alternately in the circumferential direction. The sectional shape of the permanent magnet perpendicular to the rotation axis is a shape extending along a predetermined reference line. The permanent magnet is magnetized in a direction crossing the reference line in a section perpendicular to the rotation axis. At least one end portion of the permanent magnet in the direction of the reference line is exposed through the outer peripheral surface of the rotor body.
A robot system includes a multi-joint robot arm including a plurality of joints; a robot controller configured or programmed to control movement of the multi-joint robot arm; an interactor configured to interact with a workpiece; a signal output configured to output a moving amount signal based on a moving amount of the interactor arranged on a distal end part of the multi-joint robot arm at a fixed time period; and an interaction controller configured or programmed to control interaction of the interactor with the workpiece based on the moving signal output by the signal output.
A surgical medical instrument (100) includes a first jaw (11) and a second jaw (12) operable to be rotated about a jaw rotation axis (A1) and about a wrist rotation axis (A2) by a first piston (31), a second piston (32), a third piston (33), and a fourth piston (34).
A service life determining system for determining a service life of a hydraulic pump driven by a prime mover includes pump control circuitry. The pump control circuitry calculates, each time a predetermined period has elapsed, an equivalent operating time of the hydraulic pump in the predetermined period based on an actual operating time of the prime mover in the predetermined period, a change in a rotation speed of the prime mover in the predetermined period, a change in a delivery pressure of the hydraulic pump in the predetermined period, and a change in a temperature of a hydraulic liquid in the predetermined period.
A work assistance system includes a first system used by a first user, and a second system used by a second user who gives an instruction about work in a space where the first user is present. The second system includes: a second display unit that displays an image in the space captured by the first system; a data generation unit that generates instruction reference position data indicating an instruction reference position corresponding to image capturing position data and instruction position data indicating an instruction position based on an operation of designating the instruction position on the image; and a second communication unit that outputs the instruction reference position data and the instruction position data. The virtual object generation unit generates a work assistance virtual object based on the instruction reference position data and the instruction position data.
A server includes a communication device and a storage device. The communication device receives the interference data from the client device connected via the wide area network. The interference data is data which associates teaching point candidates indicating candidates for the teaching points of the industrial robot with interference results indicating whether or not the robot interferes with surrounding objects when the position and posture of the robot is aligned with the teaching point candidate. The storage device stores the interference data received by the communication device.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
A horizontal articulated robot is provided, which includes a first connecting part disposed between two of the arms and rotatably connecting the other arm to one arm, a second connecting part disposed between a pedestal and the arm and rotatably connecting the arm to the pedestal, and a ring member disposed between the first connecting part and the arm and formed so that, as compared with one of end part sides in an extending direction of the arms, a height dimension thereof becomes larger at the other end part side.
An operator-side apparatus includes a first lever member attached to a support member so as to rotate with respect to the support member, and a first switch attached to the first lever member to perform a predetermined function.
A robot system (100) includes a multi-joint robot arm (10), a robot controller (21), a working unit (30), a signal output (22) to output a signal based on a relative moving amount of the working unit by each relative moving amount of the working unit relative to the workpiece, and a work controller (40) configured or programmed to control working of the working unit with the workpiece based on the signal output by the signal output.
This cylinder block includes: a cylinder block body in which a plurality of cylinder chambers are formed around a rotating shaft; a plurality of first detected portions formed on the outer peripheral surface of the cylinder block body and circumferentially spaced apart from each other at a predetermined first distance; and one or more second detected portions formed on the outer peripheral surface of the cylinder block body and each circumferentially spaced apart from an adjacent one of the plurality of first detected portions at a second distance different from the first distance.
F04B 1/24 - "Machines" ou pompes multicylindres caractérisées par le nombre ou la disposition des cylindres ayant des cylindres coaxiaux, parallèles ou inclinés par rapport à l'arbre principal le bloc-cylindres étant rotatif ayant plusieurs ensembles de cylindres ou de pistons inclinés par rapport à l'arbre principal
In a surgical robot, an operation unit includes an enable switch and an operation tool configured to control a moving direction of an arm, and the enable switch and the operation tool are arranged apart from each other within a range operable by fingers of one hand of an operator in the operation unit.
A laser scanning device includes a first light guide part, a polygon mirror, and a second light guide part. The first light guide part reflects and guides a laser generated by a laser generator. The polygon mirror has reflective surfaces arranged in a polygonal shape and reflects the laser guided by the first light guide part on the reflective surface while rotating. The second light guide part reflects the laser reflected by the reflective surface of the polygon mirror and guides the laser so that the laser is irradiated to a workpiece. The first light guide part includes a first cylindrical lens for condensing the laser so that the beam diameter in the first direction of the laser becomes smaller. The second light guide part includes a second cylindrical lens (43) for condensing the laser so that the beam diameter in the second direction perpendicular to the first direction of the laser becomes smaller.
A hydrogen aircraft includes: an engine that uses hydrogen as a fuel; a fuel tank; and a fuel supply line from the fuel tank to the engine. The fuel tank or the fuel supply line includes a cooling medium supply port. The fuel supply line includes a cooling medium recovery port that is located downstream of the cooling medium supply port. A precooling system for the fuel supply line of the hydrogen aircraft includes: a cooling medium supply line to supply a cooling medium to the cooling medium supply port; and a cooling medium recovery line to recover the cooling medium from the cooling medium recovery port. The precooling system supplies the cooling medium from the cooling medium supply line to the fuel supply line through the cooling medium supply port and recovers the supplied cooling medium through the cooling medium recovery port to precool the fuel supply line.
A robot data processing server includes a storage device, a communication device, and a processing unit. The storage device stores operation result data including plural sets of data, each set of which includes an operation program for an industrial robot and operations of the robot responding to the operation program from one time to another. The communication device receives an operation verification program by communicating with a client device via a wide area network, the operation verification program being an operation program created in the client device. The processing unit creates trajectory data based on the operation verification program received by the communication device and the operation result data stored in the storage device, the trajectory data indicating operations of the robot for the operation verification program from one time to another.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
A controller 3 includes: a force controller 36 that performs force control of moving a robot 1 in accordance with an operation force exerted on an operator 2 from a user U to apply a treatment to an object W and of moving the operator 2 in accordance with a reaction force exerted on the robot 1 from the object W; an estimator 37 that estimates a dynamic characteristic of the user U; and an adjuster 310 that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that a frequency characteristic of the force control approaches a target frequency characteristic.
A server includes a communication device, a storage device, and a processing unit. The communication device receives teaching points of an industrial robot from a client device by communicating with the client device via the wide area network. The storage device stores correction method data including a plurality of types of correction methods for correcting the teaching points according to a positional relationship between the robot and a workpiece during the work. The processing unit creates a correction program by applying the correction method described in the correction method data to the teaching points received by the communication device, and instructs the communication device to transmit the correction program to the client device.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
86.
Surgical Robot and Method for Displaying Image of Patient Placed on Surgical Table
A surgical robot includes an arm base mover configured to move an arm base configured to support a plurality of arms, an imaging device provided on the arm base, the imaging device being configured to image a patient placed on a surgical table, and a display configured to display, in real time, the patient imaged by the imaging device.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
A laser processing method includes a preparation step and a processing step. In the preparation step, a workpiece (100), which is a processing object, is set at a processing position. In the processing step, the workpiece (100) set at the processing position is irradiated with pulse laser that has been emitted from a processing head (13) and has passed through an optical scanning device, to form plural holes in the workpiece (100). The optical scanning device scans with the pulse laser, so that a phenomenon in which a position of irradiation with the pulse laser sequentially changes from an initial position to a terminal position at a scanning speed and then returns to the initial position is periodically repeated. In the processing step, a position of irradiating the workpiece with the pulse laser is changed in a direction opposite to scanning with the pulse laser by the optical scanning device and at a speed substantially equal to a speed of the scanning with the pulse laser by the optical scanning device, whereby substantially the same portion of the workpiece (100) is irradiated with the pulse laser corresponding to one period.
A robotic surgical system according to an embodiment may include: a surgical instrument including a pair of jaw members configured to be opened and closed by an elongate element; a robotic arm which includes a motor configured to drive the elongate element and to which the surgical instrument is attached; a first storage that stores in advance a first value corresponding to a rotation angle of the motor for a predetermined current value; and a controller configured to acquire a second value corresponding to the rotation angle of the motor when the predetermined current value is reached, and perform calibration to change, based on the acquired second value and the first value stored in the first storage, a command angle for a tightening operation of the jaw members.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
89.
Substrate transfer robot and method of controlling the same
A substrate transfer robot includes a robot body including a first hand having a first substrate placing part on which a substrate is placed and a first substrate holding mechanism configured to hold and release the substrate, and a robot controller. The robot controller controls a speed of the first hand such that an absolute value of a first maximum speed or an absolute value of a first maximum acceleration during a first period after the first hand starts retreating until the substrate is held by the first substrate holding mechanism is lower than an absolute value of a second maximum speed or an absolute value of a second acceleration during a second period after the substrate is held until the first hand ends retreating.
A robotic surgical system according to this disclosure includes a controller configured to control a driver(s) to apply a force in a direction opposite to a direction of operation of an operation unit in a three-axis Cartesian coordinate system having three axes orthogonal to each other.
Provided is a friction stir spot welded joint having high joint strength even in the case where a high strength steel sheet, particularly a steel sheet with a tensile strength (TS) of 980 MPa or more, is used as a material to be welded. An annular groove is formed on an upper surface of an upper sheet out of overlapping steel sheets, and a shape, microstructure, and hardness of a welded portion are appropriately controlled simultaneously.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
A valve device includes a first member having a recess section where a first opening of a first flow channel opens; a second member having a protruding section having an end part formed with a second opening of a second flow channel, the protruding section being inserted into the recess section such that the first opening is opposed to the second opening; a filter having a thickness in a predetermined direction, located between the first opening and the second opening; and a retainer having a body part retaining the filter inside, and at least two attachment parts formed on one side of a predetermined direction of the body part and attached to the protruding section.
B01D 46/42 - Équipement auxiliaire ou son utilisation
B01D 46/00 - Filtres ou procédés spécialement modifiés pour la séparation de particules dispersées dans des gaz ou des vapeurs
B01D 46/10 - Séparateurs de particules utilisant des plaques, des feuilles ou des tampons filtrants à surface plane, p. ex. appareils de précipitation de poussières
F16K 51/00 - Autres détails non particuliers aux types de soupapes ou clapets ou autres appareils d'obturation
A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).
Control circuitry feeds a command current to a hydraulic pump whose displacement increases in accordance with increase in the command current. The displacement of the hydraulic pump is a delivery amount per rotation of the hydraulic pump. The control circuitry receives an input of actual measurement data, the data either indicating an actual relationship between the command current and the displacement of the hydraulic pump or indicating a predetermined rotation speed and an actual relationship between the command current and a delivery flow rate of the hydraulic pump at the predetermined rotation speed; and receives an input of a minimum-use displacement of the hydraulic pump or a minimum-use delivery flow rate of the hydraulic pump at a reference rotation speed. The control circuitry determines a minimum-use electric current by using the actual measurement data, the minimum-use electric current corresponding to the minimum-use displacement or the minimum-use delivery flow rate.
A simulation control apparatus includes a control stick that rotates about an axis X1 in both directions, and a reaction force generator including a tension spring that is deformed by rotation of the control stick and generates an operating reaction force of the control stick. The reaction force generator includes a transferer that is connected to the control stick and rotates together with the control stick, a first arm that rotates about an axis X2 and deforms the tension spring when rotation of the control stick in one direction is transferred to the first arm through the transferer, and a second arm that rotates about an axis X2 and deforms the tension spring when rotation of the control stick in another direction is transferred to the second arm through the transferer.
A robot system 100 includes a robot 1 that removes a processing portion B of an object W by a griding device 11a and a controller 3 that controls the robot 1. The controller 3 has a trajectory generator 610 that generates a target trajectory of the griding device 11a tracing the processing portion B and a movement commander 60 that executes position control for moving the robot 1 such that the griding device 11a moves along the target trajectory while executing elasticity control for moving the robot 1 such that the griding device 11a moves so as to deviate from the target trajectory according to reactive force from the object W and the pressing force of the griding device 11a on the object W increases according to the distance from the target trajectory.
A video confirmation computer for confirming video related to robot operation includes a storage unit and a processor. The storage unit stores information on the position of the electric motor that drives a link body of the robot received from the controller of the robot and information on the video obtained by a camera attached to the robot. The processor makes at least one of the video confirmation computer itself and a computer connected to the video confirmation computer display a model area and a video area side by side. In the model area, a two-dimensional or three-dimensional model reproducing the posture of the robot is displayed by computer graphics. In the video area, the video is displayed.
An inner rotor includes a rotor body, a polar anisotropic magnet, and magnetic bodies. The rotor body rotates about a rotation axis. The polar anisotropic magnet is located at an outer peripheral surface of the rotor body and has magnetic poles arranged in a circumferential direction centered on the rotation axis. The magnetic bodies are arranged on an outer peripheral surface of the polar anisotropic magnet at positions corresponding to the magnetic poles.
A gas turbine engine includes a cooling air supply passage that feeds air from a compressor, as a cooling medium, to a turbine by swirling the air in a circumferential direction. The cooling air supply passage includes an entry zone to which the air enters, and a swirl zone in which the air flowing past the entry zone is circumferentially redirected. The gas turbine engine also includes a chamber branching from the swirl zone to capture foreign particles in the air. The chamber is formed to meet the relation: α≥β where, when viewed in a radial direction, α is an angle defined by the swirl zone relative to a horizontal direction and β is an angle defined between the chamber and the swirl zone.
A purge container (1) has a container body (21) having an interior space (20) for accommodating a submersible pump (2), an upper lid (23) configured to cover an upper opening of the container body (21), a lower lid (24) configured to cover a lower opening of the container body (21), and a purge-gas inlet port (27) and a purge-gas outlet port (28) communicating with the interior space (20) of the container main body (21). The container body (21) is secured to an upper portion of a pump column (3) in which the submersible pump (2) is to be installed.
