Abstract: In a picking mechanism for picking four or more columnar objects, when the plurality of objects have been picked, the objects are respectively held by holding member and supported by guide members while arranged on a base member in a plurality of rows, wherein a total sectional area of the guide members provided in regions of the base member that are each surrounded by circumferences of four circles serving as projections of four objects is smaller than a total sectional area of the guide members provided in regions of the base member that are each surrounded by one or two sides of a virtual rectangle, the virtual rectangle being formed so as to surround all of a plurality of circles serving as the projections of all of the plurality of objects while contacting the circumferences of the plurality of circles, and two or one of the projections.

Abstract: In a picking mechanism for picking four or more columnar objects, when the plurality of objects have been picked, the objects are respectively held by holding member and supported by guide members while arranged on a base member in a plurality of rows, wherein a total sectional area of the guide members provided in regions of the base member that are each surrounded by circumferences of four circles serving as projections of four objects is smaller than a total sectional area of the guide members provided in regions of the base member that are each surrounded by one or two sides of a virtual rectangle, the virtual rectangle being formed so as to surround all of a plurality of circles serving as the projections of all of the plurality of objects while contacting the circumferences of the plurality of circles, and two or one of the projections.

Abstract: A hand mechanism grips an object more favorably, regardless of the attitude and surrounding conditions of the object. When an object is to be gripped by a hand mechanism having three or more finger portions, at least one finger portion among the three or more finger portions functions as a state-altering finger portion for altering the attitude or the position of the object while contacting the object, and at least two finger portions among the finger portions other than the finger portion functioning as the state-altering finger portion function as gripping finger portions for gripping the object in a state where the attitude or the position has been altered by the state-altering finger portion.

Abstract: In a picking mechanism for picking four or more columnar objects, when the plurality of objects have been picked, the objects are respectively held by holding member and supported by guide members while arranged on a base member in a plurality of rows, wherein a total sectional area of the guide members provided in regions of the base member that are each surrounded by circumferences of four circles serving as projections of four objects is smaller than a total sectional area of the guide members provided in regions of the base member that are each surrounded by one or two sides of a virtual rectangle, the virtual rectangle being formed so as to surround all of a plurality of circles serving as the projections of all of the plurality of objects while contacting the circumferences of the plurality of circles, and two or one of the projections.

Abstract: A gripping system for gripping an object using a hand mechanism having at least two finger portions includes a specification unit that specifies a contactable portion and an unexposed portion, the contactable portion being a portion of the object that can be contacted by at least a first finger portion constituting one of the finger portions and the unexposed portion being a portion that is not exposed at the time of the determination, a first operation control unit that exposes the unexposed portion of the object, and a second operation control unit that grips the object in a state where the unexposed portion is exposed by bringing the first finger portion or the second finger portion into contact with the unexposed portion and bringing a finger portion other than the finger portion contacting the unexposed portion into contact with a predetermined surface of the object other than the unexposed portion.

Abstract: A control device for controlling a linear actuator having a linear motor and a brake device includes a magnetic pole position estimation means to estimate which of a plurality of sections obtained by dividing a magnetic pole position of 0° to 360°, the mover is located in on the basis of a direction of movement of the mover by pulse energization, a magnetic pole position setting means to perform direct current excitation at an estimated magnetic pole position estimated by the magnetic pole position estimation means and set the estimated magnetic pole position as a magnetic pole position of the mover, and a brake control means to turn on a brake device before pulse energization by the magnetic pole position estimation means is performed and turn off the brake device after the magnetic pole position estimation means estimates the section in which the mover is located.

Abstract: A control device for a linear motor is disclosed which is provided with a current limiter and a driver. The current limiter outputs either a target current value or a limiting current command value. When the target current value is output as the current command value, the driver applies a voltage to the linear motor based of the value obtained by multiplying a first proportional gain by the difference between the current value of the current flowing to the linear motor and the current command value. When the limiting current command value is output as the current command value, the driver applies a voltage to the linear motor based of the value obtained by multiplying a second proportional gain, which is greater than the first proportional gain, by the difference between the current value of the current flowing to the linear motor and the limiting current command value.

Abstract: A motor control apparatus includes an inverter comprising switching elements, current detection means for detecting a phase current value output from the inverter to each phase of a three-phase AC motor, conversion means for converting the phase current value into a digital AD conversion value, and modulation means for comparing a phase voltage command value based on the AD conversion value from the conversion means with a PWM counter value generated using a timer operating at predetermined cycles to generate a PWM signal and outputting the generated PWM signal to the inverter to thereby switch the switching elements of the inverter and control the three-phase AC motor. The conversion means outputs the AD conversion value acquired by converting the phase current value at a timing when a rectangular width of a rectangular wave of a phase voltage value corresponding to the PWM counter value is long.

Abstract: A motor control apparatus includes an inverter comprising switching elements, current detection means for detecting a phase current value, conversion means for converting the phase current value into a digital AD conversion value, and current control means for controlling a three-phase AC motor by switching the switching elements using a current command value based on the AD conversion value. When the conversion means determines that an amplitude of the current command value is greater than or equal to a threshold, it acquires the phase current value at timings of at least one of t=?/8, 3?/8 and t=5?/8, 7?/8 converts the acquired phase current value into the AD conversion value. When the conversion means determines that the amplitude of the current command value is smaller than the threshold, it acquires the phase current value at a timing of t=?/2, converts the acquired phase current value into the AD conversion value.

Abstract: A hand mechanism grips an object more favorably, regardless of the attitude and surrounding conditions of the object. When an object is to be gripped by a hand mechanism having three or more finger portions, at least one finger portion among the three or more finger portions functions as a state-altering finger portion for altering the attitude or the position of the object while contacting the object, and at least two finger portions among the finger portions other than the finger portion functioning as the state-altering finger portion function as gripping finger portions for gripping the object in a state where the attitude or the position has been altered by the state-altering finger portion.

Abstract: A gripping system for gripping an object using a hand mechanism having at least two finger portions includes a specification unit that specifies a contactable portion and an unexposed portion, the contactable portion being a portion of the object that can be contacted by at least a first finger portion constituting one of the finger portions and the unexposed portion being a portion that is not exposed at the time of the determination, a first operation control unit that exposes the unexposed portion of the object, and a second operation control unit that grips the object in a state where the unexposed portion is exposed by bringing the first finger portion or the second finger portion into contact with the unexposed portion and bringing a finger portion other than the finger portion contacting the unexposed portion into contact with a predetermined surface of the object other than the unexposed portion.

Abstract: A control device for controlling a linear actuator having a linear motor and a brake device includes a magnetic pole position estimation means to estimate which of a plurality of sections obtained by dividing a magnetic pole position of 0° to 360°, the mover is located in on the basis of a direction of movement of the mover by pulse energization, a magnetic pole position setting means to perform direct current excitation at an estimated magnetic pole position estimated by the magnetic pole position estimation means and set the estimated magnetic pole position as a magnetic pole position of the mover, and a brake control means to turn on a brake device before pulse energization by the magnetic pole position estimation means is performed and turn off the brake device after the magnetic pole position estimation means estimates the section in which the mover is located.

Abstract: A motor control apparatus includes an inverter comprising switching elements, current detection means for detecting a phase current value, conversion means for converting the phase current value into a digital AD conversion value, and current control means for controlling a three-phase AC motor by switching the switching elements using a current command value based on the AD conversion value. When the conversion means determines that an amplitude of the current command value is greater than or equal to a threshold, it acquires the phase current value at timings of at least one of t=?/8, 3?/8 and t=5?/8, 7?/8 converts the acquired phase current value into the AD conversion value. When the conversion means determines that the amplitude of the current command value is smaller than the threshold, it acquires the phase current value at a timing of t=?/2, converts the acquired phase current value into the AD conversion value.

Abstract: A motor control apparatus includes an inverter comprising switching elements, current detection means for detecting a phase current value output from the inverter to each phase of a three-phase AC motor, conversion means for converting the phase current value into a digital AD conversion value, and modulation means for comparing a phase voltage command value based on the AD conversion value from the conversion means with a PWM counter value generated using a timer operating at predetermined cycles to generate a PWM signal and outputting the generated PWM signal to the inverter to thereby switch the switching elements of the inverter and control the three-phase AC motor. The conversion means outputs the AD conversion value acquired by converting the phase current value at a timing when a rectangular width of a rectangular wave of a phase voltage value corresponding to the PWM counter value is long.

Abstract: A control device for a linear motor includes a speed controller that calculates a current command value by an integration operation using a first integral value of a difference between a moving speed of a movable element provided in the linear motor and a speed command value calculated on the basis of a position command value, a current controller that applies a voltage to the linear motor on the basis of the current command value, and a correction value storage unit that stores the first integral value of the speed controller when the movable element remains at a position indicated by the position command value. When resuming control of the linear motor, the speed controller sets the first integral value stored in the correction value storage unit as an initial value for the integration operation before the brake controller turns off the brake device.

Abstract: This pressing device includes an actuator, a pressing unit provided on a movable element of the actuator, a movement quantity detector for detecting a movement quantity of the movable element and outputting movement quantity information indicating the movement quantity, and a drive device that moves the pressing unit to press a pressed object by supplying a drive current to the actuator based on the movement quantity information. The drive device controls an operation of the pressing unit using position control processing based on current information indicating the drive current and the movement quantity information. When the speed of the pressing unit is decelerated down to a predetermined lower limit speed, the drive device controls the speed of the pressing unit to be constant based on the current information, and when the current reaches a predetermined current value, determines that the pressing operation is performed.

Abstract: A protector-equipped wire harness includes: an electrical wire; a protector that includes a pair of side walls that protrude from a bottom, a slide supporting portion that is formed so as to extend in a first direction X, and a receiver that is provided on a bottom side of the slide supporting portion, and in which the electrical wire can be disposed in a groove that is defined by the bottom and the pair of side walls; and an attachment member that includes a band that can be wound around the electrical wire, and a band lock portion that includes a slidable portion that is supported by the slide supporting portion so as to be slidable in the first direction, the band lock portion keeping the band in a state of being wound around the electrical wire.