Abstract: When a main power supply is shut off and a robot control apparatus is unable to be involved, information on a state of each joint can be recorded at a robot arm alone. A robot arm includes: a plurality of links; a joint connecting the plurality of links to each other; and a sensor that detects a state of the joint. Further, the robot arm includes: a logging device that records output information of the sensor; and a powering unit that supplies power to the sensor and the logging device in a state where a drive power supply of the joint is shut off.

Abstract: A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.

Abstract: A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.

Abstract: In forming a fuel cell stack by stacking a plurality of fuel cell units, in order to provide a fuel cell in which the fuel cell stack can be stably bound, the supply of fuel and conduction of respective cells can be surely performed, and stable power generation is possible, the fuel cell includes a fuel cell stack 2 formed by stacking a plurality of fuel cell units 3 having a fuel electrode 33 and an oxidizer electrode 43. The oxidizer electrode has, in a plane orthogonal to a stacking direction of the fuel cell units, an elastic member (an oxidizer electrode diffusion layer) 41 that is arranged in parallel to a rigid supporting member 14 and has electrical conductivity.

Abstract: A gripping apparatus includes a palm and a plurality of fingers having joints to grip a tool with the palm and the plurality of fingers. A palm side contact surface is provided on the palm and brought into contact with a tool side contact surface of the tool, and holes are provided in the palm side contact surface into which projections provided on the tool side contact surface of the tool can be inserted. Engagement of the projections in the holes determines a position of the tool in a tangential direction of the palm side contact surface and a position of the tool in a rotational direction around a normal line of the palm side contact surface which is a rotary shaft center.

Abstract: A set pressure controller capable of easily controlling the pressure, releasing a load in an environment at a predetermined temperature or higher and allowing for the formation of a compact structure, a valve having the pressure controller, and a fuel cell equipped with the valve having the pressure controller are provided. The pressure controller includes a movable part to be driven by a differential pressure, wherein the pressure controller is attachable to the valve. The pressure controller attached to the valve provides the movable part with a predetermined displacement to control the set pressure.

Abstract: In a conventional technology, it has been difficult to precisely position a gripping object when gripping the gripping object. Therefore, in the present invention, a multifingered hand includes a palm and a plurality of fingers having joints, to grip a tool with the palm and the plurality of fingers. The palm has a palm side contact surface brought into contact with a gripping object side contact surface of the tool. The palm side contact surface is provided with holes into which projections provided on the gripping object side contact surface are inserted. Moreover, when the projections are inserted into the holes, the tool is positioned in a tangential direction of the palm side contact surface, and the tool is also positioned in a rotational direction around a normal line of the palm side contact surface which is a rotary shaft center.

Abstract: In a case of consuming a power generation reaction inducing gas, which causes lowering in performance and degradation of a fuel cell during suspension of operation thereof, and in a case of performing warm up at a time of activation at low temperatures, in order to automatically perform short circuiting control, there is provided a fuel cell having a structure including a switch which is switchable in accordance with a state of containing water generated in a power generation portion.

Abstract: A conductance at an oxidizer flow path forming member is defined as C1, a conductance at an opening portion of the oxidizer flow path forming member at which an oxidizer flow rate regulating portion is arranged is defined as C2, the conductances have a relationship of C1>C2. Further, the fuel cell stack has at least one inner fuel cell unit having a value of C1/C2 which is larger than values of C1/C2 of fuel cell units located at both ends of the fuel cell stack.

Abstract: There is provided a fuel cell including a fuel cell unit having a membrane electrode assembly having catalyst layers provided on both surfaces of a polymer electrolyte membrane, the membrane electrode assembly being sandwiched between an oxidizer electrode and a fuel electrode; the fuel cell unit further including a gas diffusion layer laminated on the catalyst layer on a oxidizer electrode side; a flow path forming member provided on the gas diffusion layer; and a support member surrounding a portion where the gas diffusion layer comes into contact with the membrane electrode assembly; the support member being disposed in a position between the flow path forming member and the polymer electrolyte membrane, the position being opposed, with respect to the polymer electrolyte membrane, to a sealing material disposed on a side of the fuel electrode, for sealing the fuel electrode.

Abstract: In forming a fuel cell stack by stacking a plurality of fuel cell units, in order to provide a fuel cell in which the fuel cell stack can be stably bound, the supply of fuel and conduction of respective cells can be surely performed, and stable power generation is possible, the fuel cell includes a fuel cell stack 2 formed by stacking a plurality of fuel cell units 3 having a fuel electrode 33 and an oxidizer electrode 43. The oxidizer electrode has, in a plane orthogonal to a stacking direction of the fuel cell units, an elastic member (an oxidizer electrode diffusion layer) 41 that is arranged in parallel to a rigid supporting member 14 and has electrical conductivity.

Abstract: A conductance at an oxidizer flow path forming member is defined as C1, a conductance at an opening portion of the oxidizer flow path forming member at which an oxidizer flow rate regulating portion is arranged is defined as C2, the conductances have a relationship of C1>C2. Further, the fuel cell stack has at least one inner fuel cell unit having a value of C1/C2 which is larger than values of C1/C2 of fuel cell units located at both ends of the fuel cell stack.

Abstract: There are provided a pressure control valve which has sealing characteristics and durability, functions also as a temperature-dependent cutoff valve, and can be reduced in size; a method of producing the pressure control valve; and a fuel cell system having the pressure control valve mounted thereon. The pressure control valve includes a movable part which operates by a differential pressure, a valve part, and a transmission mechanism for transmitting an action of the movable part to the valve part, wherein either one of the movable part and the valve part is separated from the transmission mechanism.

Abstract: In a case of consuming a power generation reaction inducing gas, which causes lowering in performance and degradation of a fuel cell during suspension of operation thereof, and in a case of performing warm up at a time of activation at low temperatures, in order to automatically perform short circuiting control, there is provided a fuel cell having a structure including a switch which is switchable in accordance with a state of containing water generated in a power generation portion.

Abstract: The invention can provide a membrane electrode assembly having a high degree of freedom in disposing electrodes, few assembly steps, and a small number of components, and reliably reducing leakage of hydrogen in a plane-configuration fuel cell. The invention can further provide a method of manufacturing the membrane electrode assembly and the fuel cell using the membrane electrode assembly. This is made possible by forming a structure in which, by deforming the membrane electrode assembly having the electrodes formed on both surfaces thereof, the electrodes on both surfaces are electrically connected to each other in series.

Abstract: There is provided a fuel cell including a fuel cell unit having a membrane electrode assembly having catalyst layers provided on both surfaces of a polymer electrolyte membrane, the membrane electrode assembly being sandwiched between an oxidizer electrode and a fuel electrode; the fuel cell unit further including a gas diffusion layer laminated on the catalyst layer on a oxidizer electrode side; a flow path forming member provided on the gas diffusion layer; and a support member surrounding a portion where the gas diffusion layer comes into contact with the membrane electrode assembly; the support member being disposed in a position between the flow path forming member and the polymer electrolyte membrane, the position being opposed, with respect to the polymer electrolyte membrane, to a sealing material disposed on a side of the fuel electrode, for sealing the fuel electrode.

Abstract: A fuel cell system is provided which can surely shut off fuel and stop power generation for system protection when the temperature of a fuel cell or surroundings thereof becomes higher than a predetermined temperature and can be reduced in size, and which includes a fuel cell having a power generation portion; a fuel supply portion having a fuel tank for storing fuel for supply to the power generation portion; a connecting portion configured such that a flow path provided between the power generation portion and the fuel supply portion, for supplying the fuel to the power generation portion is repetitively connectable/disconnectable; and a fuel shut-off actuator configured such that the flow path is disconnectable at the connecting portion when a temperature of at least a part of the fuel cell system becomes higher than a predetermined temperature.

Abstract: The present invention provides a power generation system including: a fuel supply device; a first power generation device and a second power generation device for performing power generation by using a fuel supplied by the fuel supply device; a fuel path connecting the fuel supply device to the first power generation device and the second power generation device, for supplying the fuel; and a fuel control device including a normally closed valve provided in the fuel flow path and opened by an output of the first power generation device, in which the fuel can be supplied from the fuel supply device to the second power generation device through the normally closed valve opened by the output of the first power generation device. According to the system, stable power generation can be performed and downsizing can be achieved.

Abstract: A disassembling tool pushes first and second coupling members out of a process cartridge that also has an electrophotographic photosensitive member, and first and second coupling members for rotatably coupling first and second frames of the cartridge together. The disassembling tool includes first and second base bodies, first and second engagement portions provided on the first and second base bodies respectively, and engageable with the cartridge to position the cartridge when the tool is mounted on the cartridge, and first and second pushing-out portions provided for movement relative to the first and second base bodies, respectively, for pushing out the first and second coupling members, respectively. The first and second engagement portions are provided at a location opposed to the first and second pushing-out portions, respectively, in a movement direction in which the first and second pushing-out portions are moved, respectively.

Abstract: An electrophotographic image forming apparatus to which a cartridge is detachably mountable for forming an image on a recording medium. The apparatus includes a main body electrical contact member having a main body electrical contact electrically connected to a cartridge electrical contact to supply electric power to an electric power supplied member of the cartridge when the cartridge is mounted on the apparatus main body. The main body electrical contact is movable relative to the apparatus main body. The apparatus also includes an electrical contact cover member having an exposed portion for exposing the main body electrical contact, and covering the main body electrical contact member, and attached to the main body electrical contact member so that the exposed portion is movable relative to the main body electrical contact member. The electrical contact cover member is moved so that the two contacts are electrically connected together in the exposed portion.