Abstract: In a hard-film-coated drill having a cemented carbide drill body coated with a hard film, the drill body is provided with a smooth region at a boundary between a flank surface and a rake surface. The surface hardness of the hard film is within 2000 to 2500 HV in Vickers hardness. A radius r1 (?m) of curvature of the first ridgeline L1 where the smooth region and the flank surface intersect is represented by r1=0.45×D+a1 (10?a1?25), where D is the diameter (mm) of the body. A radius r2 (?m) of curvature the second ridgeline L2 where the flank surface and a margin intersect is represented by r2=0.65×D+a2 (39?a2?67). A thickness t1 (?m) of the hard film is represented by t1=0.8×ln(D)+a3 (0.7?a3?3.0).

Abstract: To provide an electronic device assembly apparatus enabling a fine displacement correction of a cable in a short time and a reliable cable connection work An electronic device assembly apparatus includes: a gripping device, a robot arm, and a robot control device. The gripping device is swingable in an arc or movable in a cable width direction The gripping device includes at least one of a suction device sucking the surface of the cable to hold the cable and gripping claws sandwiching to hold the cable; and further includes a first plate including at least one of the suction device and the gripping claws; a second plate supporting the first plate allowing the first plate to swing, and a base supporting the second plate allowing the second plate to move in the cable width direction.

Abstract: A robot welding system that performs friction stir welding of a workpiece includes: a multijoint robot; a pivot member provided at a leading end of an arm of the multijoint robot; and a control apparatus that controls an operation of the multijoint robot and an operation of the pivot member. The control apparatus includes: an estimator configuring to use the arm of the multijoint robot to estimate a flexure direction of the multijoint robot in a case the pivot member is pushed against the workpiece; and a setter configuring to set, based on the flexure direction, a rotational direction of the pivot member so that a friction force generated by the pivot member being in contact with the workpiece is generated in an opposite direction of the flexure direction.

Abstract: A collaborative robot system includes: an each-axis position calculator that calculates a position of each of axes in order from one of the axes closest to an installation surface of a multi-axis robot; and an external force estimation device. The external force estimation device decomposes torque at each of the axes detected by a torque sensor into axial rotation components in three dimensions, based on the position of each of the axes calculated by the each-axis position calculator and, by creating, for each of the axial rotation components, equations in which the position and the magnitude of the external force for each of the axes are assumed to be unknowns and solving the equations as simultaneous equations, estimates the position and the magnitude of the external force applied to the multi-axis robot.

Abstract: A rotary joint capable of measuring a rotation angle with high accuracy is provided.

Abstract: A vertical articulated robot has a base installed on a mounting surface, a first axis supported parallel to the mounting surface by the base, a pivot frame rotatable by the first axis, a second axis supported orthogonal to the first axis by the pivot frame, a lower arm rotatable by the second axis, a third axis supported parallel to the second axis by an end of the lower arm opposite to the second axis, a connecting arm rotatable by the third axis, a fourth axis supported orthogonal to the second axis and third axis by the connecting arm, and an upper arm including a holding arm rotatable by the fourth axis, and the first axis enables the second axis, the lower arm, the third axis, and the upper arm to make a substantially vertical circular motion relative to the mounting surface.

Abstract: It is an object of the present invention to provide a stopper structure that can be arranged even at a position where no sufficient space can be ensured, such as at an axis at which an arm has a large operation range, and can appropriately absorb a shear load, and an articulated robot including such a stopper structure.

Abstract: A collaborative robot system has a catching determination device. The catching determination device sets basic shapes, which encompasses a main body shape or a shape of an end effector, and calculates gaps or contacts between the basic shapes on the basis of the basic shapes, a posture of the robot, and a position of the end effector, thereby determining whether there is a possibility of a finger of an operator to be caught between arms of the robot or between the arm and the end effector.

Abstract: To provide an electronic device assembly apparatus and an electronic device assembly method enabling a reliable connection work for multiple types of cables having different widths. An electronic device assembly apparatus includes a robot control device controlling a gripping device that grips a flexible flat cable and a robot arm moving the gripping device. The robot control device: moves the gripping device to press a pressing surface against a cable surface to slide the pressing surface toward the cable leading end while gripping claws and a suction hole are not operating causes the gripping claws to hold the cable to correct cable displacement in the width direction, causes the suction hole to suck the cable surface, and moves the gripping device to insert the cable leading end into a circuit board connector.

Abstract: To provide an electronic device assembly method capable of positioning a cable in the height direction easily and precisely and connecting the cable to a connector easily and reliably. An electronic device assembly method of the present invention is such that a leading end of a flexible flat cable is inserted into a connector attached to a circuit board using a robot including a gripping device gripping the cable, the method including: disposing a guide member in front of an opening of the connector on the circuit board as the guide member facing the opening, the guide member restricting the leading end in a thickness direction of the cable toward the opening; gripping the cable using the gripping device; and inserting the leading end into the connector via the guide member.

Abstract: In an electronic device assembly apparatus that inserts a leading end of flat and flexible cables 162 and 166 into connectors 164 and 168 on a circuit board 160, a gripping device 200 includes a first gripping mechanism 210 and a second gripping mechanism 212, a rotational mechanism 260, and a width direction open/close mechanism 240, and the width direction open/close mechanism 240 includes a first cylinder 244 and a second cylinder 270 that causes the first and the second gripping mechanism to perform a width adjustment movement in the same direction as the first cylinder, and the second cylinder has a lock function for fixing the second cylinder at a predetermined position.

Abstract: A robot includes a first joint member, a second joint member connecting a second arm member and a third arm member, a third joint member connecting the third arm member and a flange, a first link having one end connected to the second joint member and another end connected to the third joint member, a second link having one end connected to the second joint member, a counter weight connected to another end of the second link and the first joint member, and including a motor rotating the third arm member, on a side opposite to the first joint member with the other end of the second link as a base point, and a transmission member transmitting rotating force generated by the motor to the third arm member through the first joint member, the second arm member, and the second joint member.

Abstract: A force detection device and a robot system. A control device serving as the force detection device includes: a measuring member measuring a force acting on an articulated axes using a force sensor; an estimator estimating the forces acting on the articulated axes and based on the state quantity indicative of the driving state of a servo motor; and a corrector correcting the estimated value obtained through the estimation by the estimator. For the articulated axis provided with the force sensor, the control device determines, as the detection value of the force, the measured value obtained through the measurement performed by the measuring member, whereas for the articulated axis not provided with the force sensor, it determines, as the detection value of the force, the estimated value corrected by the corrector.

Abstract: A robot controller that can accurately determine whether a collaborative robot is in either a collaborative state or a non-collaborative state. The robot controller includes: an acquisitor acquiring a prescribed detection range from a detection device detecting the human present in the detection range; a range determinator determining whether the detection range acquired by the acquisitor includes a set range set for a collaborative robot collaborating with the human so as to include a predetermined range regarding the robot; a speed determinator determining a magnitude relationship between an operating speed of the collaborative robot and a first speed; and a collaborative state determinator determining whether the collaborative robot is in either the collaborative state of being operable with the human or the non-collaborative state of not being operable therewith when the human enters the predetermined range, based on determination results of the range determinator and speed determinator.

Abstract: A robot includes a first joint member, a second joint member connecting a second arm member and a third arm member, a third joint member connecting the third arm member and a flange, a first link having one end connected to the second joint member and another end connected to the third joint member, a second link having one end connected to the second joint member, a counter weight connected to another end of the second link and the first joint member, and including a motor rotating the third arm member, on a side opposite to the first joint member with the other end of the second link as a base point, and a transmission member transmitting rotating force generated by the motor to the third arm member through the first joint member, the second arm member, and the second joint member.

Abstract: A robot control apparatus includes: a speed setter configured to control a collaborative robot that processes a workpiece flowing on a conveyor according to whether a human is or is not detected from a detection result from a detection device that detects a human present within a certain range from the collaborative robot, and sets an upper limit value on the operating speed of the conveyor such that the value is different depending on the detection result from the detection device; and a conveyor controller configured to control the operating speed of the conveyor to be an operating speed less than or equal to the upper limit value set by the speed setter.

Abstract: It is an object of the present invention to provide a stopper structure that can be arranged even at a position where no sufficient space can be ensured, such as at an axis at which an arm has a large operation range, and can appropriately absorb a shear load, and an articulated robot including such a stopper structure.

Abstract: Object: To provide a planetary gear mechanism with a free-wheel mechanism that can prevent seizing of a thrust plate and can increase the degree of freedom in setting of a gear ratio. Means to Solve the Problem: A planetary gear mechanism 100 is a planetary gear mechanism with a free-wheel mechanism for reducing the output of a hydraulic motor 104 and transmitting the reduced output.

Abstract: The disclosure provides a friction stir welding tool which can inhibit chipping even if an adhesion matter having high hardness adheres to a tip thereof during friction stir welding of an iron-base alloy and an aluminum alloy. In the tool for friction stir welding made of high-speed tool steel that includes a minor diameter portion and a major diameter portion formed adjacently to the minor diameter portion, hardness of the tool decreases from the minor diameter portion toward the major diameter portion. The hardness of the minor diameter portion may be 65 HRC or more by Rockwell hardness C-scale, and the hardness of the major diameter portion may be 60 HRC or less by Rockwell hardness C-scale.

Abstract: Provided is a robot system that can accurately sense contact between an arm of a robot or an instrument attached to the arm and another object.