Abstract: A forklift includes a vehicle including a pair of straddle legs extending forward from a lower part of a vehicle body and provided at an interval in a vehicle width direction, a cargo handling device including a mast provided between the pair of straddle legs and extending in an up-down direction, a lift bracket provided at the mast such that the lift bracket is capable of being raised and lowered, and a pair of forks extending forward from the lift bracket, a reach mechanism including an advance/retract drive unit capable of performing advance/retract drive in a front-back direction on each of the pair of straddle legs, and a coupling portion coupling the mast and the advance/retract drive unit, in which the coupling portion includes a protrusion provided at one of the advance/retract drive unit and the mast and extending in the up-down direction toward the other of the advance/retract drive unit and the mast, and an accommodating portion provided at the other of the advance/retract drive unit and the mast a

Abstract: A forklift includes a vehicle and a cargo handling device. The cargo handling device includes a mast, a lift bracket, and a pair of forks that includes claw portions, the forks being separated from each other in a vehicle width direction. The vehicle includes a vehicle main body, and a pair of straddle legs that is provided such that the straddle legs extend to the front side from a lower portion of the vehicle main body and the cargo handling device is interposed between the straddle legs in the vehicle width direction and that supports the mast such that the cargo handling device is movable forward and backward between an advance position and a retreat position, and front ends of the claw portions are positioned behind front ends of the straddle legs when the cargo handling device is at the retreat position.

Abstract: An initial setting method of an unmanned forklift is an initial setting method when the unmanned forklift is introduced in a facility including a rack structure, which includes placing a palette for adjustment on a palette placing part of the rack structure using the unmanned forklift on the basis of a preset operation program, acquiring relative position information between the palette for adjustment and the rack structure using a position information acquisition part included in the palette for adjustment, and calculating the shift amount of the palette for adjustment placed on the rack structure with respect to the palette placing part on the basis of the relative position information.

Abstract: The initial setting method for the unmanned forklift includes a step of acquiring a measurement value of floor surface inclination of a stop position where the unmanned forklift stops when the unmanned forklift unloads a palette on a rack, a step of setting the stop position where a predetermined inclination pattern is detected, as a precise adjustment position, from the acquired measurement value, a step of causing the unmanned forklift to unload the palette in accordance with an operation program, and measuring a deviation amount of the palette unloaded by the unmanned forklift, at the precise adjustment position, and a step of correcting a command value of the unmanned forklift at the stop position, based on the measured deviation amount.

Abstract: A coupling portion that is coupled to a mast that supports a fork and has a mechanism that moves the fork in a vertical direction, the coupling portion disposed on each of both ends in a width direction of the mast, a rail that is disposed on a straddle leg disposed on an outside in the width direction of the mast and extending in a direction where the fork extends, the rail moving the coupling portion in the direction where the fork extends, and a drive unit that is disposed on the straddle leg and moves the mast along the straddle leg are included.

Abstract: A forklift apparatus includes: an error prediction unit configured to predict a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet; a travel route correction unit configured to correct a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked; and a conveyance travel control unit configured to perform travel control such that the pallet is conveyed along the corrected travel route.

Abstract: A position calculation system includes a managing unit managing a current position of a plurality of automated guided vehicles; and a position calculating unit calculating a position of the target automated guided vehicle based on a detection result, detected by the laser measuring device mounted on the target automated guided vehicle, of detecting each reflection light reflected from a specific number being two or more of reflection sources, position information of which is obtainable, existing at positions on mutually different directions viewing from the target automated guided vehicle.

Abstract: A computation device includes a first specifying unit configured to, based on a distance between a vehicle configured to autonomously travel and a pallet to be handled at a position on a first route on which the vehicle travels, specify a second route on which at least one of the vehicle and another vehicle different from the vehicle travels during material handling work that is related to the pallet and performed after the vehicle has traveled on the first route.

Abstract: A position calculation system includes a managing unit managing a current position of a plurality of automated guided vehicles; and a position calculating unit calculating a position of the target automated guided vehicle based on a detection result, detected by the laser measuring device mounted on the target automated guided vehicle, of detecting each reflection light reflected from a specific number being two or more of reflection sources, position information of which is obtainable, existing at positions on mutually different directions viewing from the target automated guided vehicle.

Abstract: An unmanned carrier vehicle includes a vehicle body; a plurality of wheels attached to the vehicle body; a steering actuator for adjusting a steering angle of each of the wheels; a cargo section arranged movably on the vehicle body in planar view; and a control unit configured to output an instruction for moving the cargo section, when adjustment of the steering angle is performed at least in a state that the vehicle body remains stopped, to reduce a load acting on one or more target wheels each being an adjustment target for the steering angle with the steering actuator among the plurality of wheels.

Abstract: A forklift apparatus includes: an error prediction unit configured to predict a first positional error which is a positional error after picking-up between a standard position of a fork and a central position of a pallet on the fork after the pallet is picked up and a first angle error which is an angle error after picking-up with respect to the fork in the pallet; a travel route correction unit configured to correct a travel route from a picking-up position of the pallet to a stacking position of the pallet to offset the first positional error and the first angle error when the pallet is stacked; and a conveyance travel control unit configured to perform travel control such that the pallet is conveyed along the corrected travel route.

Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and at least one bellows container. The arm includes a plurality of joints and links. The plurality of the servo motors are disposed in a first space in the arm and capable of driving each of the plurality of the joints. The plurality of the servo amplifiers are disposed in the first space and each of the plurality of the servo amplifiers controls each of the plurality of the servo motors. The at least one bellows container with one closed end which is positioned away from the arm and another open end includes a second space which is connected to the first space at the open end. In the manipulator, each of the first space and the second space is filled with oil, and each of the plurality of the servo amplifiers is connected with a cable for serial communication or power-line carrier communication.

Abstract: A movable range of angle of each of the plurality of joints and a safety region defined within the movable range are set. An angle command value is generated to each of the plurality of joints, based on current angle data and a distal end position command value. A fault avoidance control is carried out to make a change rate of the angle command value small, when the angle command value is generated to either of the plurality of joints, and the angle command value of the joint exceeds the safety region.

Abstract: An optional position is set as a specification point (10) to a multi-joint manipulator (101). A restrained control command value is calculated to control the multi-joint manipulator in a restrained condition that at least one of degrees of freedom of movement of the multi-joint manipulator is restrained in the specification point, when a control command value to control the multi-joint manipulator is given.

Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and a bellows container. The arm includes a plurality of joints and links. The plurality of servo motors is disposed in a first space in the arm and capable of driving each of the joints. The plurality of servo amplifiers is disposed in the first space and controls each of the servo motors. The bellows container includes a second space which is connected to the first space. In the manipulator, each of the first space and the second space is filled with oil, and the plurality of servo amplifiers are connected with a cable for serial communication or power-line carrier communication.

Abstract: An autonomous search system includes an operation terminal 10 and a mobile search device 11. The operation terminal 10 includes an input unit 21 to which a search object and a predetermined action can be separately input, a terminal-side communication unit 24 that transmits, to the mobile search device 11, object data for the input search object and action data for the input predetermined action, and a terminal-side controller 25 connected to the input unit 21 and the terminal-side communication unit 24. The mobile search device 11 autonomously searches for the search object based on the object data transmitted from the operation terminal 10 and carries out the predetermined action relative to the search object based on the action data transmitted from the operation terminal 10.

Abstract: A maintenance apparatus maintains a pipe under the sea. The maintenance apparatus includes: a first grip device that has a plurality of joints and includes a first grip portion holding releasably a first portion of the pipe; a second grip device that has a plurality of joints, includes a second grip portion holding releasably a second portion of the pipe, and is movable relative to the first grip device; a maintenance device that is mounted on at least one of the first grip device and the second grip device and is used for maintenance of the pipe; and a drive device that drives the first grip device and the second grip device such that the first grip device and at least portion of the second grip device move relative to each other.

Abstract: A terminal connecting-and-fixing structure capable of ensuring the connection between the terminal and the bus bar even in the case of loose of the bolt and suppressing increase in the contact resistance, thereby preventing poorness of the conduction, is provided. A terminal connecting-and-fixing structure comprises a bus bar 10 having a plate-like shape, a bolt 30 penetrating the bus bar 10, and a nut 40 tightened by the bolt 30, and a terminal 20 mounted on the bolt 30, wherein the terminal 20 and the bus bar 10 is connected and fixed by fastening the nut 40 to the bolt 30, and wherein the bus bar 10 has a concave portion 12, and the terminal 20 and the bus bar 10 is connected and fixed by fastening the nut 40 to the bolt 30 while an end portion of the terminal 20 is press-fitted in the concave portion 12.

Abstract: A terminal connecting-and-fixing structure capable of ensuring the connection between the terminal and the bus bar even in the case of loose of the bolt and suppressing increase in the contact resistance, thereby preventing poorness of the conduction, is provided. A terminal connecting-and-fixing structure comprises a bus bar 10 having a plate-like shape, a bolt 30 penetrating the bus bar 10, and a nut 40 tightened by the bolt 30, and a terminal 20 mounted on the bolt 30, wherein the terminal 20 and the bus bar 10 is connected and fixed by fastening the nut 40 to the bolt 30, and wherein the bus bar 10 has a concave portion 12, and the terminal 20 and the bus bar 10 is connected and fixed by fastening the nut 40 to the bolt 30 while an end portion of the terminal 20 is press-fitted in the concave portion 12.

Abstract: A workpiece measuring device, a collision preventing device, and a machine tool acquires 3D data of the shape of a workpiece used to prevent a collision between the workpiece and part of the machine tool. A measuring section measures the distance to the workpiece through scanning in a non-contact manner; and a shape recognition section generates a 3D mesh structure. The coordinates of a measurement point on the workpiece based on distance information about the measured distance to the workpiece, and that generates a measurement geometry map such that, when the ratio of the number of times the calculated measurement point is included in one unit of the 3D mesh structure to the number of times a position of the workpiece corresponding to the one unit is scanned is equal to or larger than a predetermined threshold, the one unit is regarded as part of the workpiece are included.