Abstract: A holding device according to the present invention is a holding device that holds a workpiece having flexibility. A controller sets the workpiece to a reference state in such a manner that with first and second holding mechanisms holding the workpiece, a moving mechanism moves at least one of the first and second holding mechanisms in a length direction based on a length, detected by a detector, of the workpiece in a held state and a length, prestored in a storage, of the workpiece in a reference state.

Abstract: An image forming apparatus, to which a cartridge including a developer accommodating portion for accommodating a developer is detachably mountable, includes an image bearing member, an exposure unit configured to expose the image bearing member to light to form an electrostatic latent image on the image bearing member, a light receiving sensor provided in the cartridge and configured to receive the light emitted from the exposure unit, and a controller configured to detect vibration of the cartridge from a light reception value of the light received by the light receiving sensor. In a case in which the cartridge is removed from the image forming apparatus, the light receiving sensor is removed from the image forming apparatus together with the cartridge.

Abstract: A box unpacking device includes a robot, and a cutting device. A robot hand is attached to a wrist of the robot. The robot hand has a holding device configured to hold a packed box. The cutting device has a cutting blade of which the point is oriented downward or obliquely downward. The robot can move the box held by the holding device in a vertical plane, and change an angle of the box in the vertical plane.

Abstract: A transfer robot transfers workpieces while sucking upper surfaces of the workpieces. The transfer robot includes a first hand body attached to a first robotic arm, a second hand body attached to a second robotic arm, a first suction part attached to the first hand body, and a second suction part attached to the second hand body. The first suction part has a pair of suction bodies, the pair of suction bodies extending in a horizontal first direction and separated from each other in a horizontal second direction perpendicular to the first direction. The second suction part has at least one suction body extending in the first direction, and the one suction body is changeable in an entering amount into an area between the pair of suction parts of the first suction part according to a relative movement of the second hand body in the first direction.

Abstract: A holding device includes: a first suction structure that sucks a main member; and a first grasping structure that is arranged adjacent to the first suction structure in a direction intersecting with a first direction and grasps a first auxiliary member. The first suction structure is directed so as to suck the main member located in the first direction, and the first grasping structure is directed so as to grasp the first auxiliary member located in the first direction.

Abstract: A holding device that holds a plate-shaped member having flexibility includes: a first suction structure that sucks the plate-shaped member; a second suction structure that sucks the plate-shaped member and is turnable and movable; a turning device that turns the second suction structure and a moving device that moves the second suction structure. When the first suction structure and the second suction structure suck and hold the plate-shaped member, the turning device twists the plate-shaped member by turning the second suction structure such that the second suction structure is directed in a direction different from the first suction structure, and the moving device bends the plate-shaped member by moving the second suction structure such that the second suction structure retreats relative to a direction along which the first suction structure and the second suction structure are located.

Abstract: A robot includes a first robot arm, a second robot arm that retains a slot at a predetermined position, and a controller that controls the first robot arm. The controller causes the first robot arm to perform installation operation of installing a CPU in the slot. In the installation operation, the first robot arm installs the CPU in the slot retained by the second robot arm.

Abstract: A screw supply jig includes first and second members, the second being disposed lower than the first. Either member can be slidably moved relative to the other. In the first member, a first passage hole is formed in the vertical direction. In the second member, at least a part of a second passage hole is formed in the vertical direction. The second passage hole has a first and second recessed part which is penetration shape and having a larger than the first recessed part in planar view. The recessed parts are disposed side by side in the direction of relative sliding of the members, and are connected to each other. In conjunction with the relative sliding, a situation in which the first recessed part of the second passage hole faces the first passage hole, and a situation in which the second recessed part faces the first passage hole are switched.

Abstract: A controller of a robot turns over a workpiece into a second state by causing a first end effector to execute a holding operation of holding a first portion in a first state, causing the first robot arm to execute, after the holding operation, a lifting operation of lifting the first end effector such that a second sheet surface separates from a turnover station, causing the first robot arm to execute, after the lifting operation, a lowering operation of lowering the first end effector with a first sheet surface facing downward, and causing the first end effector to execute, before completion of the lowering operation and after the holding operation, a rotary operation of rotating about a first rotation axis in a direction of raising a first end portion.

Abstract: A workspace isolated from an exterior space by a partition, a glove provided to the partition so that an external surface thereof is exposed to the workspace and an internal surface thereof communicates with the exterior space, and a robot configured to insert an arm into the glove and perform a work in the workspace. The glove includes, at a tip-end part thereof, an operating part provided inside the glove, and a hand part provided so as to be exposed to the workspace.

Abstract: A holding device according to the present invention is a holding device that holds a workpiece having flexibility. A controller sets the workpiece to a reference state in such a manner that with first and second holding mechanisms holding the workpiece, a moving mechanism moves at least one of the first and second holding mechanisms in a length direction based on a length, detected by a detector, of the workpiece in a held state and a length, prestored in a storage, of the workpiece in a reference state.

Abstract: In a box assembly device, a holding mechanism causes one of bottom boards to contact a first jig and folds the bottom board inside, while the holding mechanism holding the box material in a state where the box material is developed in a cylindrical shape from a folded state. The folding mechanism folds the bottom flap inside so as to overlap with one of the bottom boards. The holding mechanism causes the other bottom board to contact the second jig while holding the box material and folds the other bottom board inside and upwardly so as to overlap with the bottom flap to engage the bottom boards with each other.

Abstract: A robot system of the present invention includes: a first hand including first holders, a first link structure, and a first engager; a second hand including second holders, a second link structure, and a second engagement receiver; a first arm to which the first hand is connected; a second arm to which the second hand is connected; and a controller configured to perform: (A) operating the first arm and/or the second arm to engage the first engager with the second engagement receiver; and (B) operating the first arm to change a distance between the first holders after performing (A).

Abstract: A box packing device includes a first arm, a first hand, and a controller. The first hand includes a hand base, a gripping mechanism at the hand base and including a gripper to grip an upper-end of a flap of a large box, and a holding mechanism at the hand base and including a holder to hold an inner box. The controller controls the operation of the first arm and the first hand so as to perform a developing operation in which the gripping part of the gripping mechanism moves in a horizontal plane so as to develop the large box while gripping the upper-end part of the flap part of the large box in a folded state, and an accommodating operation in which the holder of the holding mechanism accommodates the inner box into the developed large box while holding the inner box.

Abstract: A transfer robot transfers workpieces while sucking upper surfaces of the workpieces. The transfer robot includes a first hand body attached to a first robotic arm, a second hand body attached to a second robotic arm, a first suction part attached to the first hand body, and a second suction part attached to the second hand body. The first suction part has a pair of suction bodies, the pair of suction bodies extending in a horizontal first direction and separated from each other in a horizontal second direction perpendicular to the first direction. The second suction part has at least one suction body extending in the first direction, and the one suction body is changeable in an entering amount into an area between the pair of suction parts of the first suction part according to a relative movement of the second hand body in the first direction.

Abstract: A box unpacking device includes a robot, and a cutting device. A robot hand is attached to a wrist of the robot. The robot hand has a holding device configured to hold a packed box. The cutting device has a cutting blade of which the point is oriented downward or obliquely downward. The robot can move the box held by the holding device in a vertical plane, and change an angle of the box in the vertical plane.

Abstract: A belt cover for attaching to a horse The belt cover including at least (1) an electrode for detecting a bioelectric signal by contacting with the surface of a body of the horse, (2) an electric wiring, and (3) a connector for connecting with the electric wiring through a part for connecting with the connector and the electric wiring. Each of the electrode and the electric wiring includes a stretchable conductor having a conductive particle including a silver particle and a binder resin. The stretchable conductor of the electrode and the electric wiring has a sheet resistance of 0.1?? or less, an insulating layer is laminated on the electric wiring, and the electrode and the electric wiring are integrally formed without joints.

Abstract: An end effector is to be attached to a tip-end part of a robotic arm and unpacks a cardboard box of which one or more flaps provided to one end of a side wall are fixed mutually or to the side wall to constitute one of end walls. The end effector includes a body part to be attached to the tip-end part of the robotic arm, a box holding part provided to the body part and configured to hold the cardboard box by holding a part of the cardboard box other than the one end wall, and a punching part provided to the body part and configured to form a through-hole in a wall of the cardboard box other than the one end wall.

Abstract: A robot for transporting long and flexible food to a predetermined position, which includes: a base, a first and a second robot arm which are connected to the base, a robot hand provided to the first robot arm and configured to hold the food, an end effector provided to the second robot arm, and a control device configured to control an operation of the first robot arm and the second robot arm. The end effector is configured to support a longitudinal intermediate portion of the food in a state where the food is hung down from an end portion of the robot hand, and the control device controls the operation of the first robot arm and the second robot arm to transport the food in a state where the food is held by the robot hand and the longitudinal intermediate portion of the food is supported by the end effector.

Abstract: A box packing device includes a first arm, a first hand, and a controller. The first hand includes a hand base, a gripping mechanism at the hand base and including a gripper to grip an upper-end of a flap of a large box, and a holding mechanism at the hand base and including a holder to hold an inner box. The controller controls the operation of the first arm and the first hand so as to perform a developing operation in which the gripping part of the gripping mechanism moves in a horizontal plane so as to develop the large box while gripping the upper-end part of the flap part of the large box in a folded state, and an accommodating operation in which the holder of the holding mechanism accommodates the inner box into the developed large box while holding the inner box.