Abstract: A teleoperation assist device includes: a motion acquiring unit configured to acquire information on a motion of an operator who operates an end effector; an intention estimating unit configured to estimate a target object which is a target operated by the end effector and a task which is an operation method of the target object using the information acquired by the motion acquiring unit; an environmental status determining unit configured to acquire environment information of an environment in which the end effector is operated; a parameter setting unit configured to acquire information from the intention estimating unit and the environmental status determining unit and to set parameters of an operation type of the end effector from the acquired information; and an end effector operation determining unit configured to determine an amount of operation of the end effector on the basis of taxonomy which is the set parameters and the information acquired by the motion acquiring unit.

Abstract: A robot teleoperation control device includes a first acquisition unit that acquires operator state information of a state of an operator who operates a robot, an intention estimation unit that estimates an intention of the operator to cause the robot to perform a motion on the basis of the operator state information, a second acquisition unit that acquires at least one of geometric information and dynamic information of the object, an operation method determination unit that determines a method of operating the object based on the estimated motion intention of the operator, and a control amount determination unit that determines a method of operating the robot and force during operation from the information acquired by the second acquisition unit and information determined by the operation method determination unit and reflects the result in a control instruction.

Abstract: Provided is a modular type operating device capable of controlling the operation after assembly regardless of the assembly order of multiple modules. A base of a robot transmits an ID change request signal to an active module on a downstream side of a ring network. When each module receives the ID change request signal, it rewrites HOP of the ID change request signal to a value incremented by 1 and transmits it to the module on the downstream side or the base, creates a new ID to indicate the connection order and type of each module based on the HOP before rewriting and the physical ID, and transmits a module information signal including the new ID and the like to the module on the downstream side or the base.

Abstract: Provided is a modular type operating device capable of controlling the operation after assembly regardless of the assembly order of multiple modules. A base of a robot transmits an ID change request signal to an active module on a downstream side of a ring network. When each module receives the ID change request signal, it rewrites HOP of the ID change request signal to a value incremented by 1 and transmits it to the module on the downstream side or the base, creates a new ID to indicate the connection order and type of each module based on the HOP before rewriting and the physical ID, and transmits a module information signal including the new ID and the like to the module on the downstream side or the base.

Abstract: An X-ray generator comprising a target for receiving electrons and generating X-rays, a separator for dividing an internal space of the target into a coolant inflow path and a coolant outflow path, a motor for rotating the target, and a coolant inflow path and a coolant outflow path for supplying a coolant to the coolant inflow path and recovering the coolant through the coolant outflow path, wherein the separator rotates in the same rotation direction as the target when the target rotates. In the X-ray generator in which a coolant inflow path and a coolant outflow path are provided by a separator inside a rotating target, reduced torque load and reduced vibration can be realized.

Abstract: Provided are an X-ray generator capable of easily measuring a beam size of an electron beam on an electron target, and an adjustment method therefor. The X-ray generator includes an electron target including a first metal, a second metal different from the first metal, and a third metal different from the second metal, which are sequentially arranged side by side along a first direction in a continuous manner.

Abstract: An X-ray generator comprising a target for receiving electrons and generating X-rays, a separator for dividing an internal space of the target into a coolant inflow path and a coolant outflow path, a motor for rotating the target, and a coolant inflow path and a coolant outflow path for supplying a coolant to the coolant inflow path and recovering the coolant through the coolant outflow path, wherein the separator rotates in the same rotation direction as the target when the target rotates. In the X-ray generator in which a coolant inflow path and a coolant outflow path are provided by a separator inside a rotating target, reduced torque load and reduced vibration can be realized.

Abstract: An X-ray generator including a cathode, an anode provided with two X-ray generation zones, a casing in which the cathode and anode are accommodated, two air cylinders for causing the anode to move, two linear guides for guiding the movement of the anode, and a bellows serving as a seal member. The air cylinders and the linear guides are provided at different positions on a surface orthogonal to a center axis of the bellows. The air cylinders and the linear guides are provided uniformly in relation to the center axis.

Abstract: Provided is an X-ray generator having: an anode that faces a cathode which generates electrons; a plurality of X-ray generation zones; a casing housing the cathode and the anode; an anode support body for supporting the anode; an air cylinder for producing advancing and retreating movement of the anode support body with respect to the casing; and a stopper device that halts the movement of the anode support body when the anode support body moves in a direction approaching the casing. The stopper device has a rotating plate equipped with a section that enters and exits from between the anode support body and the casing due to rotation, a motor for driving the same, and a plurality of stop members provided in a peripheral section of the rotating plate and having mutually different heights.

Abstract: An X-ray generator including a cathode, an anode provided with two X-ray generation zones, a casing in which the cathode and anode are accommodated, two air cylinders for causing the anode to move, two linear guides for guiding the movement of the anode, and a bellows serving as a seal member. The air cylinders and the linear guides are provided at different positions on a surface orthogonal to a center axis of the bellows. The air cylinders and the linear guides are provided uniformly in relation to the center axis.

Abstract: Provided is an X-ray generator having: an anode that faces a cathode which generates electrons; a plurality of X-ray generation zones; a casing housing the cathode and the anode; an anode support body for supporting the anode; an air cylinder for producing advancing and retreating movement of the anode support body with respect to the casing; and a stopper device that halts the movement of the anode support body when the anode support body moves in a direction approaching the casing. The stopper device has a rotating plate equipped with a section that enters and exits from between the anode support body and the casing due to rotation, a motor for driving the same, and a plurality of stop members provided in a peripheral section of the rotating plate and having mutually different heights.

Abstract: Provided are an X-ray generator capable of easily measuring a beam size of an electron beam on an electron target, and an adjustment method therefor. The X-ray generator includes an electron target including a first metal, a second metal different from the first metal, and a third metal different from the second metal, which are sequentially arranged side by side along a first direction in a continuous manner.

Abstract: Provided is an X-ray generator comprising a cathode for generating electrons; a rotating anode having a cylindrical electron impingement surface, an X-ray focal point being formed by a region in which the electrons impinge upon the electron impingement surface; and a Wehnelt electrode for imparting an electric field to the electrons emitted from the cathode. The Wehnelt electrode has a field formation surface for forming the electric field, and an electron passage aperture formed by the field formation surface. The field formation surface of the Wehnelt electrode is inclined with respect to a plane tangent to an outer circumferential surface of the rotating anode at the center of the X-ray focal point. The center of the cathode is in a plane orthogonal to the field formation surface and aligned with the center of the electron passage aperture.

Abstract: Provided is an X-ray generator for generating X-rays from an X-ray focal point that is a region in which electrons emitted from a filament impinge upon a rotating anode. The X-ray generator has a Wehnelt electrode for surrounding the filament, an attachment part formed integrally with the Wehnelt electrode, a pedestal to which the attachment part is attached, and a casing for housing the pedestal and the anticathode. The width of the space in which the anticathode is housed by the casing is less than the width of the space in which the pedestal is housed by the casing. The Wehnelt electrode extends into the space in which the anticathode is housed by the casing, in a state in which the attachment part is attached to the pedestal.

Abstract: Provided is an X-ray generator for generating X-rays from an X-ray focal point that is a region in which electrons emitted from a filament impinge upon a rotating anode. The X-ray generator has a Wehnelt electrode for surrounding the filament, an attachment part formed integrally with the Wehnelt electrode, a pedestal to which the attachment part is attached, and a casing for housing the pedestal and the anticathode. The width of the space in which the anticathode is housed by the casing is less than the width of the space in which the pedestal is housed by the casing. The Wehnelt electrode extends into the space in which the anticathode is housed by the casing, in a state in which the attachment part is attached to the pedestal.

Abstract: Provided is an X-ray generator comprising a cathode for generating electrons; a rotating anode having a cylindrical electron impingement surface, an X-ray focal point being formed by a region in which the electrons impinge upon the electron impingement surface; and a Wehnelt electrode for imparting an electric field to the electrons emitted from the cathode. The Wehnelt electrode has a field formation surface for forming the electric field, and an electron passage aperture formed by the field formation surface. The field formation surface of the Wehnelt electrode is inclined with respect to a plane tangent to an outer circumferential surface of the rotating anode at the center of the X-ray focal point. The center of the cathode is in a plane orthogonal to the field formation surface and aligned with the center of the electron passage aperture.

Abstract: A coolant passage is formed inside the rotary shaft while an air passage is formed inside the casing. A mechanical seal is arranged between the coolant passage and the air passage. Leakage cooling water, which has leaked in the form of vapor from the mechanical seal, is relegated radially outwardly along with air by the action of a rotary vane, which is disposed in the air passage, and finally flows out of an air outlet. A coolant sensor may be provided to early detect the leakage water.

Abstract: A rotary current-collecting device includes a rotary slip ring and brushes coming into sliding contact with the outer peripheral surface of the slip ring. The brush-holding ring has an inner surface to which three brush-holding springs are fixed by screws. Each of the brushes is fixed to the tip end of the brush-holding spring and is pushed against the outer surface of the slip ring under the resilient restoration force of the brush-holding spring. When the slip ring revolves, the brushes come into sliding contact with the outer peripheral surface of the slip ring. The brush is made of a metal-graphite compound consisting of 70 weight percent copper and 30 weight percent graphite. The slip ring is entirely made of glassy carbon, so that the brush abrasion can be reduced.

Abstract: A rotary current-collecting device includes a rotary slip ring and brushes coming into sliding contact with the outer peripheral surface of the slip ring. The brush-holding ring has an inner surface to which three brush-holding springs are fixed by screws. Each of the brushes is fixed to the tip end of the brush-holding spring and is pushed against the outer surface of the slip ring under the resilient restoration force of the brush-holding spring. When the slip ring revolves, the brushes come into sliding contact with the outer peripheral surface of the slip ring. The brush is made of a metal-graphite compound consisting of 70 weight percent copper and 30 weight percent graphite. The slip ring is entirely made of glassy carbon, so that the brush abrasion can be reduced.

Abstract: A coolant passage is formed inside the rotary shaft while an air passage is formed inside the casing. A mechanical seal is arranged between the coolant passage and the air passage. Leakage cooling water, which has leaked in the form of vapor from the mechanical seal, is relegated radially outwardly along with air by the action of a rotary vane, which is disposed in the air passage, and finally flows out of an air outlet. A coolant sensor may be provided to early detect the leakage water.