Abstract: Provided are: a composition that can impart a thermoplastic resin with excellent transparency and physical properties; a thermoplastic resin composition containing the same; and a molded article thereof. The composition contains: (A) a cyclic organophosphate aluminum salt represented by Formula (1) below, wherein R1 to R4 each independently represent a hydrogen atom or a linear or branched alkyl group having 1 to 9 carbon atoms and R5 represents an alkylidene group having 1 to 4 carbon atoms; (B) a sodium carboxylate; and (C) a fatty acid metal salt represented by Formula (2) below, wherein R6 represents a group which is introduced to an aliphatic organic acid having 10 to 30 carbon atoms and M1 represents lithium or potassium, wherein the following ranges are satisfied in terms of molar ratio: (C)/(B)=0.30 to 5.00, and (A)/{(B)+(C)}=0.15 to 0.70.

Abstract: A particulate nucleating agent of the present invention is a particulate nucleating agent containing an aromatic phosphoric acid ester metallic salt represented by a predetermined expression, in which a range WA of a particle size distribution before packed treatment and a range WB of the particle size distribution after packed treatment satisfy an expression: 0.3?WA/WB?13.5.

Abstract: A particulate nucleating agent of the present invention is a particulate nucleating agent including a predetermined aromatic phosphate metal salt, in which a content of aliphatic amine is equal to or more than 3 ppm and equal to or less than 190 ppm based on a mass of the entirety of the particulate nucleating agent.

Abstract: A method of performing friction stir spot welding of a plurality of steel plates, includes the steps of: friction stirring a spot welding portion of the plurality of steel plates by pressing a tool against the spot welding portion while rotating the tool, to plasticize the spot welding portion by friction heat; cooling the spot welding portion to cause martensitic transformation to occur in the spot welding portion, after the step of friction stirring the spot welding portion; and tempering the spot welding portion by the friction heat by re-pressing the tool against the spot welding portion while rotating the tool, after the step of cooling the spot welding portion.

Abstract: During friction stir spot welding, a controller executes a temperature holding control in which the controller controls a rotation driving unit so that a rotational speed of a tool is set to a value which is equal to or lower than a predetermined rotational speed at which a temperature of the tool is regarded as being equal to a welding temperature of lapped portions, and in which the controller controls a displacement driving unit to increase and reduce a welding pressure or plunge depth of the tool so that the temperature of the tool is held in a predetermined set range.

Abstract: A programming assistance apparatus includes circuitry. The circuitry generates a first display data to be displayed in a first input area in which to input, for each of a plurality of task groups including a plurality of tasks, a first condition under which at least one robot executes the tasks. The circuitry generates a second display data to be displayed in a second input area in which to input a second condition for an execution order of the plurality of task groups. The circuitry sets the first condition based on an input into the first input area. The circuitry sets the second condition based on an input into the second input area. The circuitry generates, based on the first condition and the second condition, a motion program for causing the at least one robot to execute the plurality of task groups.

Abstract: A spot welding apparatus which performs spot welding of a plurality of plate materials which are lapped to each other, comprises a displacement driving unit which displaces lapped portions of the plurality of plate materials and a tool relatively to each other; a rotation driving unit which rotates the tool; and a controller which controls the displacement driving unit and the rotation driving unit so that the tool is plunged into the lapped portions in a state in which the tool is rotated to perform friction stir spot welding. The controller controls the displacement driving unit so that at least one friction stir spot weld is formed in a region of the lapped portions which is between a plurality of resistance spot welds formed by resistance spot welding.

Abstract: A friction spot joining device configured to carry out friction spot joining of a pair of plates includes an advance-retreat drive configured to advance and retreat a tool to/from the plates a rotation drive configured to rotate the tool, and a controller configured to control the advance-retreat drive and the rotation drive. The controller executes a joining control in which the tool is caused to give pressure to the plates while the tool is rotated so that the tool is pushed into the plates, and a separating control in which the tool is separated from the plates when an integrated value (P=ID×?T) calculated using a current value (ID) of the rotation drive during the joining control and a driving period of time (?T) during the joining control is determined to be reached a target value.

Abstract: A friction stir spot joining apparatus for spot-joining a pair of plate members by friction stirring with a tool's pin portion includes an advancing and retracting driving device configured to advance and retract the tool to and from plate members, a rotationally driving device configured to rotate the tool, and control device configured to control advancing and retracting driving device and rotationally driving device. The control device executes joining control of pushing pin portion into plate members while the tool is rotated and causing pin portion to pressurize plate members, and executes heat dissipation control of reducing at least one of a rotation speed and a tool's pressurization force more than in the joining control while tool is rotated and pin portion is kept pushed into plate members after joining control and separating tool from plate members after the pin portion's surface temperature becomes less than an oxidation onset temperature.

Abstract: A friction stir spot joining apparatus includes a tool configured to be brought into contact with or separated from a surface of a second plate member on the opposite side to a first plate member of the first and second plate members that are overlaid on each other, a driving unit configured to rotationally drive the tool around its axis, a position adjusting unit configured to adjust a relative position between the tool and the second plate member, a control unit configured to control the driving unit and the position adjusting unit, and a breakage detection unit configured to detect breakage of the tool by controlling the control unit to dispose the tool at a contact position with the second plate member or a predetermined pushed position at one joining position.

Abstract: A robot system includes a robot, a robot work environment in which the robot works, and a robot controller including circuitry that stores position information indicating a position of each of measured robot postures in the robot work environment, obtains a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and corrects a movement position of the robot based on the measured position.

Abstract: A processing system includes a robot including at least one arm each including a hand at an end of the at least one arm; a first position measurement sensor, which is to be grasped by the hand and moved by the at least one arm, and is configured to measure a position of a device to be used when the robot processes a processing target; and a robot control device configured to: cause the hand to grasp the first position measurement sensor; and cause the first position measurement sensor to measure the position of the device.

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

Abstract: A substrate conveying system includes a substrate supply unit including a movable rack and an up-down unit which moves the movable rack down, a lift unit which has one or more ejection holes which eject a gas upward and is configured to lift-up the substrate supported on the movable rack by the pressure of the gas ejected through ejection holes when the up-down unit moves the movable rack down, and a conveying unit which includes a conveyor, and hook elements extending upward from the conveyor, and is configured to push in a conveying direction the substrate W being lifted-up by the pressure of the gas ejected through the ejection holes.

Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.

Abstract: In a system for transferring a plate-shaped member with interleaving paper thereon, a suction adhesion device included in a suction adhesion unit includes suction pads that adhere to a surface of a glass plate by suction with interleaving paper in between the surface and the suction pads; an air blowing device blows air between the adhered glass plate and a glass plate positioned below the adhered glass plate; a robot moves the suction adhesion unit; a clamping device includes a pair of pushing members that are arranged at both sides, respectively, of the glass plates and move toward the glass plates to come close to each other; and at least before the suction adhesion unit lifts the adhered glass plate, a controller causes the pair of pushing members to move to push protruding portions of pieces of interleaving paper, the protruding portions protruding from the sides of the glass plates.

Abstract: A substrate conveying system includes a substrate supply unit including a movable rack and an up-down unit which moves the movable rack down, a lift unit which has one or more ejection holes which eject a gas upward and is configured to lift-up the substrate supported on the movable rack by the pressure of the gas ejected through ejection holes when the up-down unit moves the movable rack down, and a conveying unit which includes a conveyor, and hook elements extending upward from the conveyor, and is configured to push in a conveying direction the substrate W being lifted-up by the pressure of the gas ejected through the ejection holes.

Abstract: A method for adjusting a control parameter of a robot comprising (A) inserting a part into a hole where a plurality of sections has been set in a depth direction by a robot, the robot having a force sensor that detects force applied from outside according to impedance control; and (B) setting one of the plurality of sections a target to be updated so as not to make the same section a target to be updated continuously, and lowering a viscosity parameter of the section, wherein the method adjusts the viscosity parameter of each section.

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

Abstract: A production system includes: a plurality of production robots configured to share and perform processing works on a workpiece; a controller configured to control the processing works by the plurality of production robots; and a conveying member configured to convey the workpiece between the plurality of production robots. The controller is configured to: acquire work-delay information on a first production robot in which a processing work is delayed compared with a predetermined processing time; acquire work-ready information on a second production robot that can substitutively perform the processing work being performed by the first production robot; and convey the workpiece from the first production robot to the second production robot using the conveying member based on a result of cross-checking the work-delay information and the work-ready information.