Abstract: A robot system includes: a plurality of robot arms having a motor; a plurality of controllers controlling the robot arms; and a teaching device designating the controller and transmitting an instruction signal thereto. The controller includes: a control unit controlling an operation of the robot arm; a motor operation control unit controlling whether to operate the motor or not; a first connector and a second connector for coupling a wiring electrically coupling to the teaching device; and a first enable valid/invalid switch setting whether to operate the motor or not. The motor operation control unit controls the operation of the motor, based on the setting by the first enable valid/valid switch about whether to operate the motor or not, regardless of the instruction signal.

Abstract: A robot controller controlling a robot arm driven by a motor is provided. The robot controller includes: a first processing unit having a first control unit, a first storage unit, and a first system bus that couples the first control unit and the first storage unit together, the first processing unit acquiring target position information designated in a program causing the robot arm to operate; and a second processing unit having a second control unit, a second storage unit, and a second system bus that couples the second control unit and the second storage unit together, the second processing unit receiving the target position information from the first processing unit and generating a trajectory of the robot arm, based on the target position information.

Abstract: A robot system includes: a plurality of robot arms having a motor; a plurality of controllers controlling the robot arms; and a teaching device designating the controller and transmitting an instruction signal thereto. The controller includes: a control unit controlling an operation of the robot arm; a motor operation control unit controlling whether to operate the motor or not; a first connector and a second connector for coupling a wiring electrically coupling to the teaching device; and a first enable valid/invalid switch setting whether to operate the motor or not. The motor operation control unit controls the operation of the motor, based on the setting by the first enable valid/valid switch about whether to operate the motor or not, regardless of the instruction signal.

Abstract: A variable valve mechanism includes a rocker arm including a first input arm, a second input arm, and an output arm, and a switch device that switches an operating state to a first state by coupling only the first input arm to the output arm, and switches the operating state to a second state by coupling only the second input arm to the output arm. The switch device includes two pins that are displaceably placed in the rocker arm and contact each other at their end faces, and a displacement device that switches the operating state to the first state by displacing a contact portion between the two pins to between the output arm and the second input arm, and switches the operating state to the second state by displacing the contact portion between the two pins to between the output arm and the first input arm.

Abstract: A robot controlled by a robot control apparatus comprising a base having conductivity; an arm provided on the base; an actuator that drives the arm; a connector connected to the robot control apparatus by a first wire having a power line; and a second wire that connects the actuator and the connector, wherein the base has a housing part having an opening portion, to which the connector is fixed, and a lid part covering at least a part of the opening portion, through which the first wire is inserted, the first wire has a shield in contact with the lid part, and the shield is in contact with a part having conductivity of the robot control apparatus.

Abstract: A variable valve mechanism of an internal combustion engine includes a cam, a transmission mechanism, a first variable device that controls the transmission mechanism to continuously change at least a maximum lift amount of a lift curve indicating a lift amount of a valve that corresponds to a rotation angle of the internal combustion engine, and a second variable device that controls the transmission mechanism to continuously change at least an operation angle of the lift curve. When the lift curve lies in any condition within a predetermined range that covers all or part of a variable range of the lift curve, an absolute value of a ratio of a maximum lift amount variation to an operation angle variation for a slight change from the condition caused by the first variable device is larger than that for a slight change from the condition caused by the second variable device.

Abstract: A variable valve mechanism includes an input arm that axially supports a roller pressed by a cam, via a roller pin, an output arm that drives a valve when swinging, a switch device that switches the variable valve mechanism between a coupled state where the both arms are coupled and an uncoupled state where the arms are uncoupled from each other, and a lost motion spring that biases the roller against the cam when in the uncoupled state. The lost motion spring includes an extended portion extending in an inter-arm clearance between the input arm and the output arm. An end of the roller pin projects from the input arm into the inter-arm clearance by such a length that the end is accommodated in the inter-arm clearance and that allows a spring retaining portion to be formed in the end. The spring retaining portion is formed in the end.

Abstract: A variable valve mechanism includes a variable arm including a first arm and a second arm. The second arm is pivotally supported so as to be swingable by a support shaft. A position of the support shaft is a position where, during a base circle phase, in side view, a second segment connecting an axis of a roller to an axis of the support shaft is longer than a first segment connecting the axis of the roller to an axis of a camshaft, and an angle of the second segment formed with respect to a third segment connecting the axis of the roller to a swing axis of a roller arm is 60° to 120° toward the camshaft. The second arm extends from the support shaft such that a distal end portion of the second arm protrudes in between a cam and the roller.

Abstract: In a variable valve mechanism of an internal combustion engine, when a slider is displaced relative to an input member and an output member in an axial direction, the output member turns relative to the input member in a swing direction, whereby a lift of a valve is increased or reduced. The variable valve mechanism is brought into a lift retaining state when the slider is placed in an idle running range located on a reducing direction side with respect to a boundary position. The lift retaining state is a state where when the slider is displaced in the axial direction, the input member and the output member are displaced together with the slider in the axial direction, so that the relative displacement of the slider and the relative turning of the output member do not occur and the lift of the valve is retained.

Abstract: The present invention provides a variable valve mechanism of an internal combustion engine, which includes an input member, an output member, a slider and a variable device. The output member has internal space formed therein and has a first cutout and a second cutout which are formed at two positions separated from each other in the swing direction so as to extend from an outer periphery of the output member to the internal space, and the input member is mounted in the internal space so as to extend through both inner sides of the first and second cutouts, and is brought into contact with inner side surfaces of the cutouts from both sides in the thrust direction, whereby relative displacement of the input member together with the slider in the thrust direction with respect to the output member is restricted at two positions by the first and second cutouts.

Abstract: A variable valve mechanism includes a rocker arm including a first input arm, a second input arm, and an output arm, and a switch device that switches an operating state to a first state by coupling only the first input arm to the output arm, and switches the operating state to a second state by coupling only the second input arm to the output arm. The switch device includes two pins that are displaceably placed in the rocker arm and contact each other at their end faces, and a displacement device that switches the operating state to the first state by displacing a contact portion between the two pins to between the output arm and the second input arm, and switches the operating state to the second state by displacing the contact portion between the two pins to between the output arm and the first input arm.

Abstract: A variable valve mechanism of an internal combustion engine includes a plurality of swing members and a variable device that displaces a control shaft to displace a plurality of slider gears of the swing members at a time, thereby changing valve lifts of the plurality of swing members at a time by meshing of helical splines. The swing members include a first swing member for a predetermined cylinder of a plurality of cylinders and a second swing member for a cylinder other than the predetermined cylinder, and a helix angle of the helical splines varies between the first and the second swing members. The variable device displaces the control shaft to a predetermined normal position to perform a normal operation, and displaces the control shaft to a predetermined cylinder cutoff position to perform a cylinder cutoff operation in which the second swing member does not drive a valve.

Abstract: A variable valve mechanism includes an input arm that axially supports a roller pressed by a cam, via a roller pin, an output arm that drives a valve when swinging, a switch device that switches the variable valve mechanism between a coupled state where the both arms are coupled and an uncoupled state where the arms are uncoupled from each other, and a lost motion spring that biases the roller against the cam when in the uncoupled state. The lost motion spring includes an extended portion extending in an inter-arm clearance between the input arm and the output arm. An end of the roller pin projects from the input arm into the inter-arm clearance by such a length that the end is accommodated in the inter-arm clearance and that allows a spring retaining portion to be formed in the end. The spring retaining portion is formed in the end.

Abstract: A variable valve mechanism includes a variable arm including a first arm and a second arm. The second arm is pivotally supported so as to be swingable by a support shaft. A position of the support shaft is a position where, during a base circle phase, in side view, a second segment connecting an axis of a roller to an axis of the support shaft is longer than a first segment connecting the axis of the roller to an axis of a camshaft, and an angle of the second segment formed with respect to a third segment connecting the axis of the roller to a swing axis of a roller arm is 60° to 120° toward the camshaft. The second arm extends from the support shaft such that a distal end portion of the second arm protrudes in between a cam and the roller.

Abstract: The present invention provides a variable valve mechanism of an internal combustion engine, which includes a rocker arm that includes a roller arm including a roller that rotatably abuts against a cam and a side arm provided at a side of the roller arm and that drives a valve, and a switching device that includes a switching pin and a hydraulic chamber provided inside the rocker arm and that switches a drive state of the valve by displacing the switching pin between a coupling position at which the switching pin extends between the roller arm and the side arm and a non-coupling position at which the switching pin does not extend between the roller arm and the side arm based on variations in hydraulic pressure in the hydraulic chamber. The switching pin is provided on an axis of the roller, and the hydraulic chamber is provided inside the roller arm.

Abstract: A variable valve mechanism of an internal combustion engine includes a cam, a transmission mechanism, a first variable device that controls the transmission mechanism to continuously change at least a maximum lift amount of a lift curve indicating a lift amount of a valve that corresponds to a rotation angle of the internal combustion engine, and a second variable device that controls the transmission mechanism to continuously change at least an operation angle of the lift curve. When the lift curve lies in any condition within a predetermined range that covers all or part of a variable range of the lift curve, an absolute value of a ratio of a maximum lift amount variation to an operation angle variation for a slight change from the condition caused by the first variable device is larger than that for a slight change from the condition caused by the second variable device.

Abstract: A method of manufacturing a pipe member includes arranging a pre-pipe member between first and second dies, moving one of the first and second dies to be closer to another one and holding the pre-pipe member with first and second recess portions, by the moving of the one of the first and second dies, and pressing an outer peripheral surface of the pre-pipe member with first and second inner surfaces in a closed state of the dies. By the pressing of the outer peripheral surface of the pre-pipe member, reducing a diameter of a portion of the pre-pipe member and forming a reduction portion having a polygonal shape so that the reduction portion has a same number of outer surfaces as a total number of the first inner surfaces and the second inner surfaces.

Abstract: The present invention provides a variable valve mechanism of an internal combustion engine, which includes a rocker arm that is swingably supported by a single pivot, and a switching device that operates the rocker arm to switch a drive state of the valve, in which the rocker arm is configured such that at least in a predetermined drive state, a pressing force of the cam is applied disproportionately to one side of the rocker arm in a width direction with respect to a center line when the cam presses a portion of the rocker arm located away from the center line in the width direction. The variable valve mechanism further includes a swing guide that abuts against the rocker arm so that the rocker arm is guided in a swing direction so as not to be tilted in the width direction.

Abstract: In a variable valve mechanism of an internal combustion engine, when a slider is displaced relative to an input member and an output member in an axial direction, the output member turns relative to the input member in a swing direction, whereby a lift of a valve is increased or reduced. The variable valve mechanism is brought into a lift retaining state when the slider is placed in an idle running range located on a reducing direction side with respect to a boundary position. The lift retaining state is a state where when the slider is displaced in the axial direction, the input member and the output member are displaced together with the slider in the axial direction, so that the relative displacement of the slider and the relative turning of the output member do not occur and the lift of the valve is retained.

Abstract: The present invention provides a variable valve mechanism, which includes a rocker arm including an input member and an output member; a switching device that switches a drive state of the valve by displacing the switching pin between a coupling position at which the switching pin extends between the first pinhole in the input member and the second pin hole in the output member and a non-coupling position at which the switching pin does not extend; and a lost motion spring. A displacement clearance is formed between an inner peripheral surface of the first or second pin hole and an outer peripheral surface of the switching pin to permit the relative displacement in a range of the displacement clearance at a coupled time so that a tappet clearance is not formed with the input member urged toward the cam by the lost motion spring.