Abstract: 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).

Abstract: A directional and flow control valve includes: a housing with a pump port, a first supply/discharge port, a second supply/discharge port, and a tank port, the housing including therein a first pilot chamber, a second pilot chamber, and a third pilot chamber; and a first spool and a second spool, which are independent of each other. The first spool includes a first end surface facing the first pilot chamber and a second end surface facing the third pilot chamber. The second spool includes a first end surface facing the second pilot chamber and a second end surface facing the third pilot chamber. The first spool brings the first supply/discharge port into one of the pump port or the tank port, and the second spool brings the second supply/discharge port into the other one of the pump port or the tank port.

Abstract: A robot system of the present invention includes: a first hand including first holders, a first link structure, and a first engager; a second hand including second holders, a second link structure, and a second engagement receiver; a first arm to which the first hand is connected; a second arm to which the second hand is connected; and a controller configured to perform: (A) operating the first arm and/or the second arm to engage the first engager with the second engagement receiver; and (B) operating the first arm to change a distance between the first holders after performing (A).

Abstract: A gas turbine combustor includes: a tubular body; an air passage; and a resonator. The air passage includes: an upstream region that extends along an outer peripheral surface of the tubular body; a downstream region that extends along an inner peripheral surface of the tubular body and is located at a first side of the combustion chamber in the axial direction; and a direction change region that connects the upstream region to the downstream region in a radial direction of the tubular body and is adjacent to the upstream region such that an area of a section of the air passage which is orthogonal to the axial direction changes at a position between the upstream region and the direction change region. The opening is open toward a space of the air passage which is located downstream of the upstream region.

Abstract: An insulating structure disposed so as to intervene between a first member of a robotic arm and an end effector includes a second member fixed to the first member, the end effector being attachable to the second member, and an insulator that insulates the second member from the first member. The second member includes a second hole into which a first bolt that fixes the second member to the first member is inserted, and a third hole into which a second bolt that fixes the end effector to the second member is inserted. The second hole and the third hole are disposed so that, in a state where the second member is fixed to the first member, the position of the third hole matches with the position of a first hole for attachment of the end effector, the first hole being formed beforehand in the first member.

Abstract: A robot system includes robot bodies, operation devices each configured to accept operation and generate operational information for causing the robot body to operate, motion controllers configured to control operation of the corresponding robot body in response to the operational information, operation target selectors configured to receive an operation for selecting any of the robot bodies and request a permission to operate the selected robot body based on the operational information from the corresponding operation device, and an operation permitting device having a determinator configured to receive the permission request from the operation target selector and determine whether a permission is to be granted for the permission request. When the permission request is received, and the operation of the robot body selected by the operation target selector based on the operational information from a different operation device is permitted, the determinator prohibits the permission to the permission request.

Abstract: A substrate holding hand includes a supporting plate where a circular reference capture range is defined, a plurality of pads disposed within the reference capture range, at least one stationary stopper that is disposed along an outer circumferential circle of the reference capture range, at least one movable stopper having a part at the same height from the supporting plate as the stationary stopper, and a stopper actuator that moves the movable stopper from a retracted position outside the reference capture range to a deployed position closer to the stationary stopper than the retracted position. A circular reduced capture range is defined by the movable stopper at the deployed position, and the front stopper, and a diameter of the reduced capture range is larger than a diameter of the substrate and smaller than a diameter of the reference capture range.

Abstract: This hydraulic pump system includes: a hydraulic pump having a discharge flow rate that is changeable; a regulator device that adjusts the discharge flow rate of the hydraulic pump; an operation device including an operation tool; a lock switching input unit that unlocks the operation tool; an unloader valve that adjusts a discharge pressure of the hydraulic pump by changing the opening area of the unloader valve; and a control device that controls movement of the unloader valve. When a predetermined actuation condition is satisfied, the control device causes the unloader valve to reduce the opening area to increase the discharge pressure of the hydraulic pump. The regulator device increases the discharge flow rate after the control device causes an increase in the discharge pressure of the hydraulic pump. The actuation condition includes a condition that the lock switching input unit has unlocked the operation tool.

Abstract: This control device controls movement of a valve body of a valve device included in a hydraulic system and includes: a stroke command calculator that calculates a stroke command for the valve body on the basis of an opening command that is input to the stroke command calculator; an observer that estimates, on the basis of the stroke command, a dynamic deviation of a stroke of the valve body that corresponds to the stroke command; and a flow force estimator that estimates, on the basis of the stroke command and the dynamic deviation, a flow force acting on the valve body. The stroke command calculator calculates the stroke command on the basis of the flow force in addition to the opening command.

Abstract: 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.

Abstract: 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.

Abstract: A robot system includes a paint supply source, a sending-out device, a painting robot, a channel connecting the paint supply source to the painting robot through the sending-out device, and disposed so that a part thereof is located in a non-explosion-proof area, and a noncontact flowmeter disposed in the channel and configured to detect a flow rate of paint flowing through the channel. The painting robot and the sending-out device are disposed in an explosion-proof area, and the paint supply source and the noncontact flowmeter are disposed in the non-explosion-proof area.

Abstract: A light guide device includes a first light guide part, a polygon mirror, a second light guide part, and an adjustment part. The first part reflects and guides a laser light emitted from a laser generator. The polygon mirror has a reflective part which reflects the light guided by the first part while the reflective part rotates. The second part reflects the light reflected at the reflective part and directs the light so that the light is illuminated to the workpiece at each reflective part, respectively. The adjustment part adjusts the position of the light incident on the polygon mirror in the rotation axis direction of the optical axis, thereby changing the positions of light incident on the irradiation target in the line width direction. The irradiation target is irradiated with the light while the position of the light in a line width direction.

Abstract: A painting robot according to this disclosure includes a vertical multi-joint robot arm; a linear shaft configured to linearly move the robot arm along a mount surface for the robot arm; and a controller configured to interlock the joint of the robot arm and the linear shaft with each other in an operation of painting a workpiece.

Abstract: A damper includes: cylindrical damper body, damper body including inner ring and outer ring located concentrically, arc springs located side by side in circumferential direction between inner and outer rings, and slits that separate inner ring, outer ring, and arc springs; sealers on both sides of damper body in axial direction, sealers including sealing surfaces, sealing surfaces facing open ends of slits in axial direction, with gaps between sealing surfaces and open ends of slits; and viscous fluid that fills slits and gaps. Arc springs include first arc spring and second arc spring located side by side in circumferential direction. Each slit includes: inner slit portion that separates first arc spring and inner ring; outer slit portion that separates second arc spring and outer ring; connecting portion that connects inner slit and outer slit portions. Connecting portion includes restrictor that restricts viscous fluid movement between inner and outer slit portions.

Abstract: 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.

Abstract: 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.

Abstract: A patient-side apparatus of a surgical system according to an embodiment may include: manipulator arms with multi-degree of freedom, each of which includes a distal end portion provided with a tool holding part configured to hold an elongated surgical tool; an arm base to which base end portions of the manipulator arms are attached; a base; and a positioner that includes links and joints to connect the base and the arm base such that the positioner movably holds the arm base. The links include a first link that is connected to a central portion of the arm base in a longitudinal direction of the arm base with a first roll joint arranged between the first link and the arm base. The positioner holds the arm base such that a first rotation axis of the first roll joint is inclined with respect to both a vertical direction and a horizontal plane.

Abstract: A robot control device includes: a learned model created through learning work data composed of input and output data, the input data including states of a robot and the surroundings where humans operate the robot to perform a series of works, the output data including human operation corresponding to the case or movement of the robot caused thereby; a control data acquisition section that acquires control data by obtaining output data related to human operation or movement from the model, being presumed in response to and in accordance with the input data; a completion rate acquisition section acquiring a completion rate indicating to which progress level in the series of works the output data corresponds; and a certainty factor acquisition section that acquires a certainty factor indicating a probability of the presumption in a case where the model outputs the output data in response to the input data.

Abstract: 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.