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.

Abstract: Provided according to the present invention is a solenoid with a built-in permanent magnet, with which it is possible to suppress an increase in the amount of magnetic flux that passes through the chuck part, even when the magnetic flux generated by a coil is greater than the magnetic flux of the magnet, and to reliably reduce attraction force. In this solenoid, a permanent magnet and a coil are both built into a cylindrical case having an opening part; the permanent magnet and the coil are both separated and arranged inside the case; a ring member is arranged adjacent to the permanent magnet; a movable iron core is inserted inside the coil; and between the movable iron core and the coil, a metal coil cover is provided so as to cover the coil. The distance d between the case inner wall and the ring member can also be in the range of 0.1-0.3 mm.

Abstract: A double-row four-point contact ball bearing 100 according to the present invention includes an outer ring 102, an inner ring 104, and balls 106 and 108 that are arranged in two rows between the outer ring 102 and the inner ring 104 and each have four contact points. Inner side contact angles ? of the balls 106 and 108 arranged in the two rows are set such that lines of action L1 and L2 that extend respectively connecting center points of the balls 106 and 108 and contact points of the balls do not cross each other in the outer ring 102.

Abstract: A helical broach which eliminates the need for a fixing means for fixing a workpiece during gear machining is provided. The helical broach includes: a plurality of cutting edges; a spiral flute formed between adjacent cutting edges to extend in a spiral manner with a predetermined helix angle with respect to an axial direction of the helical broach; and a gullet formed between adjacent cutting edges to extend with a predetermined helix angle with respect to a circumferential direction of the helical broach. In the helical broach, the expression: 0.5?tan ?/tan(?+?)?0.7 is satisfied, wherein ? is the helix angle of the spiral flute, and (90°??) is the helix angle of the gullet with reference to a central axis of the helical broach. An internal gear machining method using the helical broach is also provided.

Abstract: An electromagnetic valve for a transmission-use oil pressure control device including an oil pump that supplies oil pressure to a transmission, and an accumulator that accumulates an oil pressure generated by the oil pump. The electromagnetic valve includes: an electromagnetic valve main body connected to the accumulator and includes an oil path opening/closing valve element opening/closing an oil path between the accumulator and the transmission; a seal member disposed in the electromagnetic valve main body sealing against oil leakage from a sliding portion of the oil path opening/closing valve element in the opening/closing operation of the oil path opening/closing valve element; and a pressure regulation mechanism disposed in the electromagnetic valve main body regulating to release an internal pressure in the accumulator when an accumulator-side oil pressure in the electromagnetic valve main body rises to a predetermined pressure or more.

Abstract: An electromagnetic valve for a transmission-use oil pressure control device including an oil pump that supplies oil pressure to a transmission, and an accumulator that accumulates an oil pressure generated by the oil pump. The electromagnetic valve includes: an electromagnetic valve main body connected to the accumulator and includes an oil path opening/closing valve element opening/closing an oil path between the accumulator and the transmission; a seal member disposed in the electromagnetic valve main body sealing against oil leakage from a sliding portion of the oil path opening/closing valve element in the opening/closing operation of the oil path opening/closing valve element; and a pressure regulation mechanism disposed in the electromagnetic valve main body regulating to release an internal pressure in the accumulator when an accumulator-side oil pressure in the electromagnetic valve main body rises to a predetermined pressure or more.

Abstract: A cable drawn from a lower arm of a robot into a first upper arm part of an upper arm is further drawn out to an exterior space of the robot through a first hole of a second upper arm part. The cable is drawn in contact with a sidewall part of the second upper arm part, and is disposed in a wrist arrangement portion through a second hole. A slack part is formed taking account of a length of the cable pulled by a wrist when the wrist pivots in the wrist arrangement portion, and the cable is drawn to a tool through a through hole of the wrist.

Abstract: The present invention provides a rolling bearing that reduces the weight of a holder, that meanwhile maintains the rigidity of the holder itself, and that makes it possible to minimize increases in rotational torque even when rotating at an extremely high speed. The rolling bearing comprises an inner ring, an outer ring, a plurality of rolling bodies, and a holder for holding the rolling bodies between the inner ring and the outer ring.

Abstract: In order to prevent deterioration of sliding performance of a piston and center core misalignment of the piston when the piston moves for its stroke, there is provided an air bypass valve including: a coil casing in which a coil is accommodated; a pilot valve section covered by the coil casing and having a movable iron core inserted in the coil; and a piston section fitted in the coil casing and having a piston with a hole. The air bypass valve further includes a protrusion provided at an edge of an opening portion of the piston casing which constitutes the piston section.