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.

Abstract: A substrate conveying robot includes a cable guide that is arranged inside a housing, in which a robot cable extending from an arm is arranged, and that deforms to follow the robot cable moved as the arm is moved up and down.

Abstract: A robot system includes a robot including an end effector, an operation unit, and a controller which moves the end effector based on operation of the operation unit and causes the end effector to perform processing to a to-be-processed surface of a workpiece in a contactless manner. When moving the end effector based on the operation of the operation unit, the controller performs at least either one of a first control in which a distance between the end effector and a control to-be-processed surface, which is the to-be-processed surface of the workpiece or an imaginary to-be-processed surface of the workpiece, is constant, or a second control in which an angle of the end effector with respect to the control to-be-processed surface is constant.

Abstract: A robot controller that controls an operation of a robot includes circuitry and memory equipment. The memory equipment stores target data indicating a target installation state of a transferrer that supports and moves at least one of the robot or a target object handled by the robot. The circuitry outputs to a display an input image showing a measurement position of an installation state of the transferrer together with an image of the transferrer. The circuitry receives measurement data of the installation state. The circuitry compares the measurement data with the target data to determine the presence or absence of the abnormality of the installation state.

Abstract: A friction stir welding tool and method, by which influence on durability of the tool is suppressed even when resistance force generated when the tool moves for joining acts on facing end portions of workpieces which are located close to an attachment side of the tool. The tool includes: a stirring shaft; a first shoulder portion provided to be unrotatable relative to the shaft and configured to rotate together with the shaft when it rotates; a second shoulder portion provided to be unrotatable relative to the shaft and configured to rotate together with the shaft when it rotates; and a third shoulder portion attached around the shaft located between the first and second shoulder portions, and includes an inclination preventing portion to prevent inclination of the shaft by contacting the workpieces to receive reaction force from the workpieces when the shaft is made to move along joining lines.

Abstract: An insertion quality determinator is a determinator 1 that determines a quality of insertion of an insertion component 5 inserted into a hole formed in a work object. The insertion component 5 at least includes a head having the size that is impossible to be inserted into the hole, and a pillar-shaped body that extends from the head and has the thickness that is possible to be inserted into the hole. The determinator is configured to determine the quality of insertion based on positions of given parts P1-P4 of the head of the insertion component 5 inserted into the hole, in a direction perpendicular to an extending direction of the hole.

Abstract: A remote control system includes: an operator that is operated by a user; a robot that applies a treatment to an object in accordance with an action of the operator; a contact force sensor that is disposed in the robot and detects an operating state of the robot; an imager that captures images of at least one of the robot or the object; a display that displays the captured images captured by the imager and presents the captured images to the user operating the operator; and a controller that performs action control of at least one of the robot or the operator in accordance with detection results of the contact force sensor. The controller delays the action control to reduce a lag between the action control and display timings of the captured images by the display.

Abstract: A robot includes a guide, a mover, a hand, a deformation acquirer, a orientation adjuster, and a controller. The mover is installed to the guide and movable in a direction that the guide guides along. The hand is installed to the mover and holds a substrate. The deformation acquirer acquires information on a deformation of the guide. The orientation adjuster adjusts an orientation of the hand according to the deformation of the guide acquired by the deformation acquirer. The controller controls operation of the orientation adjuster. The controller adjusts the orientation of the hand performing a holding operation on the substrate to be transferred by using the orientation adjuster based on the information on the deformation of the guide.

Abstract: A robot that transfers a substrate includes an arm, a hand, a substrate detector, and a substrate shape abnormality examiner. The hand is installed to the arm and holds and transfers the substrate. The substrate detector detects absence or presence of the substrate in a non-contact manner. The substrate shape abnormality examiner examines the substrate for a shape abnormality based on a height detected by the substrate detector at which the substrate is located when it is not held by the hand.

Abstract: A robot is for transferring a substrate. The robot includes an arm, a hand, and a tilter. The arm is movable. The hand is installed to the arm to project from it and holds and transfers the substrate. The tilter tilts an orientation of the hand. The hand includes a holder. The holder contacts the top surface and the bottom surface of the substrate. With the tilter, the holder holds the substrate keeping in contact with the top surface and the bottom surface of the substrate and applying forces to only one of two halves of the substrate bisected.

Abstract: A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.

Abstract: An oil supply device of an aircraft gas turbine includes: a lubrication extraction pipe including a first end and a second end, the first end communicating with a compressor of the gas turbine, an ejection port being provided at the second end and directed to a lubricated member; an oil tank configured to store oil; an oil pipe including a first end and a second end, the first end communicating with the oil tank, the second end communicating with the lubrication extraction pipe; and an electric pump interposed on a portion of the oil pipe and configured to suck the oil from the oil tank and supply the oil to an inside of the lubrication extraction pipe.

Abstract: A current limiting device includes a current limiter to limit a current to be carried to a drive within a range of a current limit value. The current limit value is set to change according to an acceleration of the drive.