Abstract: A friction stir welding apparatus is used at a butted portion where a second workpiece is butted against a first workpiece such that the second workpiece is upright on the first workpiece. The friction stir welding apparatus includes: a rotary tool that is plunged into one inner corner of a pair of inner corners that are positioned, at the butted portion, on both sides of the second workpiece, respectively; an inner corner presser that presses the other inner corner of the pair of inner corners; and a mover that moves the rotary tool and the inner corner presser along a direction in which the butted portion extends. The inner corner presser includes a pressing roller that presses the other inner corner while rolling in a state where the inner corner presser is being moved by the mover.

Abstract: A hydraulic system includes: a cylinder that moves a moving object in a vertical direction by extension and retraction of a rod; a first bidirectional pump connected to a head-side chamber of the cylinder by a first supply/discharge line; a second bidirectional pump connected to a rod-side chamber of the cylinder by a second supply/discharge line and coupled to the first bidirectional pump in a manner enabling torque to be transmitted between the first and second bidirectional pumps; a relay line connecting the first and second bidirectional pumps such that a hydraulic liquid discharged from one of the first and second bidirectional pumps is introduced into the other of the first and second bidirectional pumps; and a servomotor that drives the first or second bidirectional pump. At least one of the first and second bidirectional pumps is a variable displacement pump whose delivery capacity per rotation is freely variable.

Abstract: Each of a pair of couplers includes: a vacuum double-pipe structure main part; a valve seat forming an opening through which a fluid flows; and a valve body in the main part. The valve body is configured such that, when separating the couplers, in each coupler, the body is brought into contact with the seat by a spring to close the opening, and when coupling the couplers, the body of each coupler is pressed by the body of the other coupler to move away from the seat and open the opening. The valve body includes: a holding member holding a sealing material sealing between the body and the seat when the body is in contact with the seat; a resin block covering a distal end surface of the holding member; and a metal operating member accommodating the block and protruding from the holding member to pass through the opening.

Abstract: A holding device that holds a plate-shaped member having flexibility includes: a first suction structure that sucks the plate-shaped member; a second suction structure that sucks the plate-shaped member and is turnable and movable; a turning device that turns the second suction structure and a moving device that moves the second suction structure. When the first suction structure and the second suction structure suck and hold the plate-shaped member, the turning device twists the plate-shaped member by turning the second suction structure such that the second suction structure is directed in a direction different from the first suction structure, and the moving device bends the plate-shaped member by moving the second suction structure such that the second suction structure retreats relative to a direction along which the first suction structure and the second suction structure are located.

Abstract: A robot system includes an actuator which operates a pair of finger members so that tip-end parts of the pair of finger members approach or separate to/from each other, a control device, and a pair of claw members. A base-end part of the claw member is provided with an engaging part. The tip-end part of the finger member is provided with a to-be-engaged part which is capable of engaging with the engaging part. One of the engaging part and the to-be-engaged part has a concave shape extending in a direction from the tip-end part of one of the finger members to the tip-end part of the other finger member. The control device operates the finger members so that one of the pair of finger members and the pair of claw members are located between the other pair, and then operates the pair of finger members so that each of the pair of finger members is brought closer to the corresponding claw member to engage the to-be-engaged part with the engaging part.

Abstract: A holding device includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction, and the first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.

Abstract: A robot includes a first robot arm, a second robot arm that retains a slot at a predetermined position, and a controller that controls the first robot arm. The controller causes the first robot arm to perform installation operation of installing a CPU in the slot. In the installation operation, the first robot arm installs the CPU in the slot retained by the second robot arm.

Abstract: A raw material gas liquefying device includes a feed line which feeds a raw material gas, a refrigerant circulation line which circulates a refrigerant, the refrigerant circulation line including an expansion unit of a turbine type which expands the refrigerant to generate cryogenic energy, and an expansion unit entrance valve provided at an entrance side of the expansion unit, a heat exchanger which exchanges heat between the raw material gas and the refrigerant, a cooler which performs initial cooling of the raw material gas and the refrigerant by heat exchange with liquid nitrogen, and a controller which manipulates the opening rate of the expansion unit entrance value and performs a feedback control so that the rotation speed of the expansion unit reaches a predetermined target value, and outputs the opening rate command to the expansion unit entrance valve, at start-up and stop of the expansion unit.

Abstract: A robotic surgical system according to one or more embodiments may include: an endoscope; a manipulator configured to support a surgical instrument; a remote control apparatus including a display device and an operation handle configured to operate the surgical instrument; and a control device configured to display, on the display device, a graphical user interface on an image captured by the endoscope. The graphical user interface includes: a first area that displays a first graphical display indicating a movable range of the manipulator and an operable range of the operation handle in the movable range of the manipulator; and a second area that displays a second graphical display indicating a required operation of the operation handle to return the operation handle to an inside of the operable range of the operation handle and/or to return the manipulator to an inside of the movable range of the manipulator.

Abstract: A substrate transferring device is configured to transfer a substrate while holding it. The substrate transferring device includes a hand configured to hold the substrate, a manipulator to which the hand is attached, and a substrate detector provided to the hand and configured to detect a distance to a principal surface of the substrate. Preferably, the substrate detector is provided to a tip-end part of the hand. Preferably, the substrate detector is a capacitive sensor.

Abstract: There is provided a toroidal continuously variable transmission capable of ensuring processability and conveyability of a power roller inner ring while reducing oil leakage from an inner end surface of the power roller inner ring and a decrease in rigidity of the power roller inner ring. A power roller 40 of the toroidal continuously variable transmission includes a power roller inner ring 50 sandwiched between both disks 1 and 2, a power roller outer ring 60 that is provided in a trunnion 35 and rotatably supports the power roller inner ring 50, and an inner ring hole 52 provided in the power roller inner ring 50 so as to extend in an axial direction of the power roller inner ring 50, in which an end surface hole 58 communicating with an inner ring hole 52 is provided in an inner end surface 54 of the power roller inner ring 50, and the end surface hole 58 is closed by a closing member 80 separate from the power roller inner ring 50.

Abstract: A gas turbine engine includes: a casing that accommodates a compressor, a combustor, and a turbine; an electric power generator arranged inside the casing and driven by a rotating shaft; an electric power line through which electric power generated by the electric power generator is supplied to an outside of the outer shell; and an electrically-operated accessory that is arranged at an outside of the casing, is driven by the electric power supplied from the electric power line, and includes an electrically-operated fuel pump.

Abstract: An exhaust heat recovery boiler includes: a duct casing in which exhaust gas flows; a tubular extending portion extending upward from the duct casing; a heat exchanger tube located in the duct casing; a hammering rod connected to the heat exchanger tube in the duct casing and passing through an inside of the extending portion, the hammering rod including an upper part projecting to an outside of the extending portion; and an annular sleeve attached to the upper part of the hammering rod through a packing. The extending portion includes an upper flat surface which is located at an upper end of the extending portion, realizes a seal between the upper flat surface and a lower surface of the sleeve, and is annular and flat.

Abstract: A surgical system includes: a tool manipulator having a tool manipulator arm and a surgical tool; a console having a handling tool configured to receive a tool movement input of a surgeon for the surgical tool, the console being configured to transmit a tool movement command generated based on the tool movement input, the tool movement input including a translation amount and a rotation amount for the surgical tool; and a controller. The controller is configured to calculate an actual translation amount by multiplying the translation amount by a predetermined translation scale factor and move the surgical tool in accordance with the actual translation amount, and to calculate an actual rotation amount by multiplying the rotation amount by a predetermined rotation scale factor and move the surgical tool in accordance with the actual rotation amount. The translation scale factor and the rotation scale factor are different values.

Abstract: A conveying device includes a first link that includes a first connecting part, a second connecting part, and a first holder part located opposite the second connecting part with respect to the first connecting part, a second link that includes a third connecting part rotatably connected with the first connecting part, and operates to rotate the third connecting part about a first reference point, a third link that includes a fourth connecting part rotatably connected with the second connecting part and operates to rotate the fourth connecting part about a second reference point, and a first drive that operates the links. The links move the first holder part between a first point and a second point opposite each other with respect to the first reference point so that the first holder part approaches the first reference point in association with operation of the second link.

Abstract: In a robot system, a controller is configured to cause a robot to be self-propelled to approach a patient, and then operate an arm and/or a hand based on operation command information of the arm and/or the hand, which has been input from an operator.

Abstract: A dissimilar metal welding method includes a preparing step and a working step. In the preparing step, a pin member is moved to a second metal material while being rotated, and a tool body is driven such that the tool body is moved in a direction away from the second metal material while being rotated. In the working step, a through-hole is formed in the second metal material by the pin member, and then a distal end of the pin member is dug into the first metal material to a predetermined depth position in the first metal material.

Abstract: A hydraulic system of a construction machine includes: control valves interposed between a main pump and hydraulic actuators; and first solenoid proportional valves connected to pilot ports of the control valves. The hydraulic system further includes: a brake for a slewing motor; and a second solenoid proportional valve connected to a brake release port of the brake by a secondary pressure line and connected to an auxiliary pump by a primary pressure line. A switching valve including a pilot port connected to the secondary pressure line by a pilot line is interposed between the auxiliary pump and the first solenoid proportional valves.

Abstract: A processing method includes one or both of a first processing and a second processing for extracting a reference teaching point from teaching points. The first processing extracts a reference teaching point having a difference between a direction vector from a teaching point preceding the reference teaching point to the reference teaching point, and a direction vector from the reference teaching point to a teaching point succeeding the reference teaching point, being equal to or more than a threshold. The second processing extracts the reference teaching point having one of a difference between a posture at a teaching point preceding the reference teaching point and a posture at the reference teaching point, and a difference between the posture at the reference teaching point and a posture of a teaching point succeeding the reference teaching point, being equal to or more than a threshold.

Abstract: A hydraulic pump includes: a valve plate including a suction port and a delivery port; a valve cover to which the valve plate is mounted; and a cylinder block that slides on the valve plate. The valve cover includes a suction passage and a delivery passage. The valve cover includes: a first chamber that communicates with the delivery passage through a communication passage and functions as a Helmholtz resonator; and a second chamber that communicates with the delivery passage, or with the first chamber, through an introduction passage including a restrictor. In the valve cover and the valve plate, a supply passage extends from the second chamber to a bottom dead center-side sealing surface of the valve plate, the bottom dead center-side sealing surface being a surface located between the suction port and the delivery port. The supply passage includes a restrictor.