Abstract: A robot system includes a robot that includes one or more joints, and a determination unit that is connected to the robot. The joints each include a motor, a speed reduction mechanism that reduces a speed of revolution of the motor; and a torque sensor capable of measuring an output torque of the speed reduction mechanism. The speed reduction mechanism includes a plurality of speed-reduction elements each of which reduces the speed of revolution of the motor at a predetermined reduction ratio. The determination unit calculates time-series data about an input torque to the speed reduction mechanism, and determines the speed reduction mechanism that has a problem, on the basis of time-series data about the number of revolutions of the motor, the calculated time-series data about the input torque, time-series data about the output torque measured by the torque sensor, and the reduction ratio of each of the speed-reduction elements.

Abstract: A robot system includes: a robot where a hand for handling a workpiece is mounted; a movement mechanism to change the relative positions of the robot and workpiece; a workpiece sensor to detect the position of the workpiece; an obstacle sensor to detect the position of a surrounding obstacle; and a control device that controls the robot and the movement mechanism. The robot includes a load sensor to detect a load acting on an operating axis of the robot. The control device generates a first map of arrangements of the workpiece and the obstacle from the detected position of the workpiece and position of the obstacle, generates a second map of a degree of influence on the lifetime of the robot for each relative positioning by the movement mechanism, and determines the relative positioning by the movement mechanism on the basis of the generated first map and second map.

Abstract: A robot includes a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a positon closer to the base end than the distal end face of the wrist unit is.

Abstract: Provided is a robot including: a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a position closer to the base end than the distal end face of the wrist unit is.

Abstract: A robot system includes: a robot including drive shafts; and a control device configured to control the robot, in which each of the drive shafts includes a drive unit configured to cause a second member to operate with respect to a first member, the drive unit includes a motor, a deceleration mechanism configured to decelerate rotation of the motor and supply the rotation to the first member and the second member, and an input-side detector configured to detect a rotation angle position of the motor, at least one drive unit includes an output-side detector configured to detect an operation position of the second member with respect to the first member, and the control device controls the motor such that each of the drive shafts with high responsiveness is caused to operate with priority, on the basis of the detected rotation angle position of the motor and the detected operation position.

Abstract: A robot includes a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a positon closer to the base end than the distal end face of the wrist unit is.

Abstract: A robot system includes: a robot including drive shafts; and a control device configured to control the robot, in which each of the drive shafts includes a drive unit configured to cause a second member to operate with respect to a first member, the drive unit includes a motor, a deceleration mechanism configured to decelerate rotation of the motor and supply the rotation to the first member and the second member, and an input-side detector configured to detect a rotation angle position of the motor, at least one drive unit includes an output-side detector configured to detect an operation position of the second member with respect to the first member, and the control device controls the motor such that each of the drive shafts with high responsiveness is caused to operate with priority, on the basis of the detected rotation angle position of the motor and the detected operation position.

Abstract: Provided is a robot including: a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a position closer to the base end than the distal end face of the wrist unit is.

Abstract: [Technical Problem] In regard to an ear mold for a hearing aid, there are provided the ear mold which a metal bush is settled in a tube for joint of the hearing aid, said metal bush has been used on account of settlement of said tube for joint of the hearing aid, and which a tube is adhered by an adhesive, the adhesive has been used on account of settlement of said tube. However, said ear mold has disadvantages that said tube is easily moved for the reason of instability, said tube drops out from the ear mold, and the ear mold occurred the problem of a phenomenon of a howling by sound leak-out. [Technical Solution] The ear mold which is configured by embedding a connection and fixation member (A hub) 2 having a hole for connection to a hearing aid body and an introductory-hole of a forming material of said ear mold 2010 into the ear mold 1 on the basis of an ear impression. The connection and fixation member (the hub) 2 is embedded into the ear mold 1 when molding of the ear mold.

Abstract: In regard to an ear mold for a hearing aid, there are provided the ear mold which a metal bush is settled in a tube for joint of the hearing aid, the metal bush has been used on account of settlement of said tube for joint of the hearing aid, and which a tube is adhered by an adhesive, the adhesive has been used on account of settlement of said tube. However, said ear mold has disadvantages that said tube is easily moved for the reason of instability, said tube drops out from the ear mold, and the ear mold has the problem of a phenomenon of a howling by sound leak-out.

Abstract: [Technical Problem] In regard to an ear mold for a hearing aid, there are provided the ear mold which a metal bush is settled in a tube for joint of the hearing aid, said metal bush has been used on account of settlement of said tube for joint of the hearing aid, and which a tube is adhered by an adhesive, the adhesive has been used on account of settlement of said tube. However, said ear mold has disadvantages that said tube is easily moved for the reason of instability, said tube drops out from the ear mold, and the ear mold occurred the problem of a phenomenon of a howling by sound leak-out. [Technical Solution] The ear mold which is configured by embedding a connection and fixation member (A hub) 2 having a hole for connection to a hearing aid body and an introductory-hole of a forming material of said ear mold 2010 into the ear mold 1 on the basis of an ear impression. The connection and fixation member (the hub) 2 is embedded into the ear mold 1 when molding of the ear mold.

Abstract: [Technical Problem] In regard to an ear mold for a hearing aid, there are provided the ear mold which a metal bush is settled in a tube for joint of the hearing aid, the metal bush has been used on account of settlement of said tube for joint of the hearing aid, and which a tube is adhered by an adhesive, the adhesive has been used on account of settlement of said tube. However, said ear mold has disadvantages that said tube is easily moved for the reason of instability, said tube drops out from the ear mold, and the ear mold has the problem of a phenomenon of a howling by sound leak-out.