Abstract: A package-type fluid machine includes a compressor unit including a compression portion that compresses a fluid, a motor that drives the compression portion, and a cooling fan that is driven by the motor; a machine chamber in which the compressor unit is disposed; an inverter chamber which is adjacent to the machine chamber and in which an inverter is disposed; a partition wall that partitions off the machine chamber from the inverter chamber and has an opening; and an inverter intake port that is disposed in the inverter chamber to take in a cooling gas. The cooling fan is disposed on a side of the machine chamber, the opening being located on the side. The cooling fan is driven to cause the cooling gas to flow from the inverter intake port to the opening to cool the inverter.

Abstract: In a droplet ejector equipped with an ejection port for ejecting minute droplets of a liquid, the ejection port 61 or the ejector and a conductor 10 such as a vehicle body are made electrically conductive to increase the electrostatic capacity of the ejection port 61 or the ejector and to suppress enlargement of the potential difference between the ejection port 61 and the liquid caused by flow electrification of the liquid. When the potential difference is large, a coulomb force acts between the electrified droplets and the electrostatically-charged ejection port, causing problems such as delayed or insufficient droplet discharge, but such problems are solved by increasing the electrostatic capacity of the ejection port 61 or the ejector.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A picking trolley includes a storage shelf portion on which a storage portion is placed, an inspection table, an imaging unit, a reading unit, a storage unit, a processing unit that generates inspection result information indicating whether an inspection target article corresponds to a picking article, and a display unit. The inspection result information includes inspection number information obtained by counting, as the picking article, the inspection target article including article information matching article information of the picking article. The processing unit determines that picking is completed when there is no inspection failure article that is the inspection target article including article information that does not match the article information of the picking article, there is no undecipherable article that is the inspection target article including article information that is unable to be read normally, and the inspection number information and the instruction number information match.

Abstract: A fuel droplet micronizer serves to enhance and stabilize the power of the engines by effectively pulverizing fuel liquid to micro-droplets against flow electrification. The fuel droplet micronizer is composed of a micronization assistance part 30 formed from filaments, a mesh-like sheet or ribbon-like materials so forth made of metals, semiconductors, ceramics and glasses so on. The micronization assistance part 30 is installed between an ejection port 20 of an carburetor or the ejection apparatus and an intake valve 41 of the engine, whereby the fuel liquid ejected from the ejection port 20 of the carburetor or the ejection apparatus is smashed at the micronization assistance part 30, whereof impact facilitates micronization of fuel droplets by pulverizing and scattering.

Abstract: A force-sense visualization apparatus includes a data acquisition unit configured to acquire image data and force-sense data, image data being obtained by taking an image of a surrounding environment of a robot, the force-sense data relating to a force sense that the robot has received from the outside, a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data, and an image output unit configured to superimpose the text information on the image of the image data and output the resultant image data.

Abstract: In a droplet ejector equipped with an ejection port for ejecting minute droplets of a liquid, the ejection port 61 or the ejector and a conductor 10 such as a vehicle body are made electrically conductive to increase the electrostatic capacity of the ejection port 61 or the ejector and to suppress enlargement of the potential difference between the ejection port 61 and the liquid caused by flow electrification of the liquid. When the potential difference is large, a coulomb force acts between the electrified droplets and the electrostatically-charged ejection port, causing problems such as delayed or insufficient droplet discharge, but such problems are solved by increasing the electrostatic capacity of the ejection port 61 or the ejector.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into the arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of the conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot 1 constituting the safety cover, and the object being stored in the shelf. The distance sensor is disposed at a fixed height of the shelf in a horizontal direction and at a height of the shelf corresponding to a part to be measured.

Abstract: A conveyance robot system according to the present disclosure includes a conveyance robot, and a robot control unit configured to control an operation of picking up an object performed by the conveyance robot, wherein the robot control unit determines that a movable range area, which is an area outside a safety cover where a robot arm is operated, satisfies a safety ensuring condition that can regard safety of the movable range area as equivalent to the safety inside the safety cover and allow the robot arm to perform a work while projecting toward the shelf.

Abstract: A conveyance robot system according to the present disclosure includes an intrusion detection sensor that detects an intrusion of an object into an arm opening, and a distance sensor that measures a clearance distance indicating a distance between an arm entry/exit surface and a shelf, the arm entry/exit surface being a surface of a conveyance robot in which the arm opening is provided from among surfaces of the conveyance robot constituting a safety cover, and an object being stored in the shelf. The robot control unit disables the intrusion detection sensor to allow a robot arm to perform a work by protruding from the shelf when the clearance distance becomes less than or equal to a present high-speed work allowance threshold.

Abstract: An state determination system comprises an information acquiring portion that acquires an environment information, a movable body, an instruction portion that performs an action instruction to the movable body, and an estimation portion that estimates an abnormality of the object based on at least one of the information acquired by the information acquiring portion and the environment information acquired by the movable body. In case the estimation portion estimates the abnormality of the object, the instruction portion performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body. At least one of the information acquiring portion and the movable body acquires the response state of the object to the action of the movable body instructed by the instruction portion. The state determination system comprises a determination portion that the abnormality of the object based on the acquired response state.

Abstract: A force-sense visualization apparatus includes a data acquisition unit configured to acquire image data and force-sense data, image data being obtained by taking an image of a surrounding environment of a robot, the force-sense data relating to a force sense that the robot has received from the outside, a conversion unit configured to convert the force sense into text information composed of onomatopoeia based on the force-sense data, and an image output unit configured to superimpose the text information on the image of the image data and output the resultant image data.

Abstract: A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.

Abstract: A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.

Abstract: A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.

Abstract: An state determination system comprises an information acquiring portion that acquires an environment information, a movable body, an instruction portion that performs an action instruction to the movable body, and an estimation portion that estimates an abnormality of the object based on at least one of the information acquired by the information acquiring portion and the environment information acquired by the movable body. In case the estimation portion estimates the abnormality of the object, the instruction portion performs the action instruction for moving to the neighborhood of the object and requiring a response, to the movable body. At least one of the information acquiring portion and the movable body acquires the response state of the object to the action of the movable body instructed by the instruction portion. The state determination system comprises a determination portion that the abnormality of the object based on the acquired response state.

Abstract: A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.

Abstract: A signal processing circuit has two types of filters: an IIR filter 11 and an FIR filter 12 having an equivalent transfer function at all times. In an adjustment mode in which the signal processing circuit is adjusted to have an arbitrary transfer function, the signal processing circuit makes a configuration setting to use the IIR filter 11. When completing the adjustment or in a signal processing mode, the signal processing circuit makes a configuration setting change to switch to the FIR filter 12 having the equivalent transfer function.

Abstract: An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.