Abstract: A robot includes a base installed on an installation surface, a robot arm coupled to the base, a force detection section coupled to the base and detecting a force applied to the robot arm, a coupling member having a plurality of convex parts provided between the installation surface and the force detection section, projecting toward the force detection section side, and contacting the force detection section, and first fixing members provided in positions where the convex parts are provided and fixing the force detection section and the coupling member.

Abstract: A robot includes a base, a robot arm having a first arm coupled to the base and rotating about a first axis, and a force detection unit provided in the base and detecting a force acting on the base or the robot arm, wherein the first arm is coupled to the base in a position shifted from a first center line passing through a center of the base and being parallel to the first axis, and a second center line passing through a center of the force detection unit and being parallel to the first axis is closer to the first axis than the first center line.

Abstract: A robot includes a base installed on an installation surface, a robot arm coupled to the base, a force detection section coupled to the base and detecting a force applied to the robot arm, a coupling member having a plurality of convex parts provided between the installation surface and the force detection section, projecting toward the force detection section side, and contacting the force detection section, and first fixing members provided in positions where the convex parts are provided and fixing the force detection section and the coupling member.

Abstract: A robot includes a base, a robot arm having a first arm coupled to the base and rotating about a first axis, and a force detection unit provided in the base and detecting a force acting on the base or the robot arm, wherein the first arm is coupled to the base in a position shifted from a first center line passing through a center of the base and being parallel to the first axis, and a second center line passing through a center of the force detection unit and being parallel to the first axis is closer to the first axis than the first center line.

Abstract: A rotary-type fluid machine which enables practical and effective operation in an extremely low specific speed range. The rotary-type fluid machine (1, 1?) has an impeller (10, 10?) integrally connected to a rotating drive shaft (2). The impeller is accommodated in a casing (3). Fluid (a) of a suction fluid passage (4) to be pumped flows into a center part (11) of the impeller. The fluid (b) is discharged from a peripheral portion (12) of the impeller by the effect of the centrifugal force of the rotating impeller, so that the fluid is delivered through a delivery fluid passage (5) outside of the casing. Many grooves (15) extending toward a peripheral edge of the impeller from the center part of the impeller are formed on the impeller. The groove opens on an outer circumferential surface (18) of the impeller, and causes strong recirculation vortices (R) to be formed in the vicinity of the peripheral edge of the impeller when the impeller rotates.

Abstract: The present invention provides a rotary-type fluid machine which enables practical and effective operation in an extremely low specific speed range. The rotary-type fluid machine (1, 1?) has an impeller (10, 10?) integrally connected to a rotating drive shaft (2). The impeller is accommodated in a casing (3). Fluid (a) of a suction fluid passage (4) to be pumped flows into a center part (11) of the impeller. The fluid (b) is discharged from a peripheral portion (12) of the impeller by the effect of the centrifugal force of the rotating impeller, so that the fluid is delivered through a delivery fluid passage (5) outside of the casing. Many grooves (15) extending toward a peripheral edge of the impeller from the center part of the impeller are formed on the impeller. The groove opens on an outer circumferential surface (18) of the impeller, and causes strong recirculation vortices (R) to be formed in the vicinity of the peripheral edge of the impeller when the impeller rotates.

Abstract: In an axial flow hydraulic machine, a plural number of grooves 5 are formed on an inner surface of a casing, directed into a pressure gradient direction, for connecting between an inlet side of an impeller 1 and an inside of blade residing region on the casing inner surface. With movement of movable members 6 provided on the casing inner surface, the grooves appear within the blade residing region in an unstable operation region, while the grooves cause no interference with the blades of the impeller in a stable operation region.

Abstract: For improving characteristic uprising at the right-hand side of head-flow rate characteristic of a turbo machine, as well as for suppressing increase of vibration and/or noises thereof, a plurality of first grooves 24 in direction of gradient in pressure of fluid are formed on an inner flow surface of a casing, for connecting an inlet side of blades of an impeller and an area on the inner flow surface of the casing where the impeller blades reside in, over an inner circumference of the casing. Also, second grooves 25 in a circumferential direction are formed in an area on the inner flow surface of the casing where the impeller blades reside in, for communicating the first grooves in the circumferential direction of the casing.

Abstract: A turbo-type machine, comprising a casing 2 storing an impeller within an inside thereof, and a plural number of grooves formed on an inner surface of the casing in a direction of pressure gradient of fluid, wherein the grooves 124 are provided from 80 to 150 pieces around a periphery on the inner surface of the casing, and a total width of the grooves all around the inner surface of the casing is from 30% to 50% of a peripheral length on the inner surface of the casing. Also, the area on cross-section of the groove 124 within an area where the blades exist is made larger than that of the groove outside where the blades exist, or openings 127 are drilled on a bottom surface of the grooves, each penetrating through thickness of the casing, or the groove is made in a two-layer structure in the direction of pressure gradient of fluid.

Abstract: A turbo machine comprising: an impeller having a plurality of blades therewith; a casing having a flow surface defined therein and being positioned with the impeller therein; and a plurality of grooves being formed in the flow surface of the casing, for connecting between an inlet side of said impeller and an area on the flow surface of the casing in which the blades of said impeller reside. Each groove has a length of at least part of which is oriented in an axial direction of the casing, a width measured in a circumferential direction, and a depth. The width of each groove is equal to or greater than the depth thereof.

Abstract: A turbo-type machine, comprising a casing 2 storing an impeller within an inside thereof, and a plural number of grooves formed on an inner surface of the casing in a direction of pressure gradient of fluid, wherein the grooves 124 are provided from 80 to 150 pieces around a periphery on the inner surface of the casing, and a total width of the grooves all around the inner surface of the casing is from 30% to 50% of a peripheral length on the inner surface of the casing. Also, the area on cross-section of the groove 124 within an area where the blades exist is made larger than that of the groove outside where the blades exist, or openings 127 are drilled on a bottom surface of the grooves, each penetrating through thickness of the casing, or the groove is made in a two-layer structure in the direction of pressure gradient of fluid.

Abstract: In an axial flow hydraulic machine, a plural number of grooves 5 are formed on an inner surface of a casing, directed into a pressure gradient direction, for connecting between an inlet side of an impeller 1 and an inside of blade residing region on the casing inner surface. With movement of movable members 6 provided on the casing inner surface, the grooves appear within the blade residing region in an unstable operation region, while the grooves cause no interference with the blades of the impeller in a stable operation region.

Abstract: For improving characteristic uprising at the right-hand side of head-flow rate characteristic of a turbo machine, as well as for suppressing increase of vibration and/or noises thereof, a plurality of first grooves 24 in direction of gradient in pressure of fluid are formed on an inner flow surface of a casing, for connecting an inlet side of blades of an impeller and an area on the inner flow surface of the casing where the impeller blades reside in, over an inner circumference of the casing. Also, second grooves 25 in a circumferential direction are formed in an area on the inner flow surface of the casing where the impeller blades reside in, for communicating the first grooves in the circumferential direction of the casing.

Abstract: For improving characteristic uprising at the right-hand side of head-flow rate characteristic of a turbo machine, as well as for suppressing increase of vibration and/or noises thereof, a plurality of first grooves 24 in direction of gradient in pressure of fluid are formed on an inner flow surface of a casing, for connecting an inlet side of blades of an impeller and an area on the inner flow surface of the casing where the impeller blades reside in, over an inner circumference of the casing. Also, second grooves 25 in a circumferential direction are formed in an area on the inner flow surface of the casing where the impeller blades reside in, for communicating the first grooves in the circumferential direction of the casing.