Abstract: To provide a drive device for a self-propelled elevator which is capable of moving a car in a vertical direction and a horizontal direction with a simple configuration. The drive device for a self-propelled elevator includes: a rotating body which is rotatably coupled to a back face of a cab; and wheels which are provided on the rotating body so as to sandwich guide surfaces of a rail on a back face side of the cab, which generate, by friction between the wheels and the rail, a force that moves the cab in a vertical direction when a longitudinal direction of the rail is the vertical direction, and which generate, by a friction force between the wheels and the rail, a force that moves the cab in a horizontal direction when the longitudinal direction of the rail is the horizontal direction.

Abstract: There is provided a conveying device that can support a car weight with a mechanism lighter in weight. A driving device (6) of a conveying device that lifts and lowers a loading-weight support along a rail (3) includes a wheel unit (13) and a link (14). The wheel unit (13) drives to rotate a driving wheel (15) in contact with a guide surface (11) to lift and lower the loading-weight support. The link (14) includes a first joint (17) connected to the wheel unit (13) and a second joint (18) rotatably supported by the loading-weight support. The second joint (18) is arranged in a position further apart from the guide surface (11) than the first joint (17), and above the first joint (17). The link (14) is arranged such that a straight line connecting the first joint (17) and the second joint (18) is tilted smaller than 45 degrees.

Abstract: A device and method for easily detecting an abnormality of a joint part of a delta-type parallel link robot having a link ball structure, by estimating a friction torque of a ball joint of the robot. A controller of the robot has: a control section configured to control the motion of the robot; a torque measurement section configured to measure or calculate, during the robot is operated, an amount of change in a drive torque, based on a current value of the motor, before and after the robot represents a specified posture where a sign of a relative angular velocity between a ball and a housing of the ball joint is changed; and a judgment section configured to judge that, when the measured amount of change in the drive torque exceeds a predetermined threshold, a friction state of the ball joint corresponding to the motor is abnormal.

Abstract: A device and method for easily detecting an abnormality of a joint part of a delta-type parallel link robot having a link ball structure, by estimating a friction torque of a ball joint of the robot. A controller of the robot has: a control section configured to control the motion of the robot; a torque measurement section configured to measure or calculate, during the robot is operated, an amount of change in a drive torque, based on a current value of the motor, before and after the robot represents a specified posture where a sign of a relative angular velocity between a ball and a housing of the ball joint is changed; and a judgment section configured to judge that, when the measured amount of change in the drive torque exceeds a predetermined threshold, a friction state of the ball joint corresponding to the motor is abnormal.

Abstract: A work state measurement device comprises an observation timing notifying unit which notifies observation starting timing and observation finishing timing as observation timing to an observer in every preliminarily set time interval, an observation state input unit in which the work state which is observed is divided into a plurality of work state items and an observation state record unit which weights work state items which are inputted in the observation input unit while from observation starting timing to observation finishing timing by information of the work state items which are inputted and records the work state items as observation states.

Abstract: A process for producing a fluoroalkyl iodide as a telomer Rf(CF2CF2)nI (wherein Rf is a C1-10 fluoroalkyl group, and n is an integer of from 1 to 6) by telomerization from a fluoroalkyl iodide represented by the formula RfI (wherein Rf is as defined above) as a telogen and tetrafluoroethylene (CF2CF2) as a taxogen, which comprises a liquid phase telomerization step of supplying a homogeneous liquid mixture of the telogen and the taxogen from the lower portion of a tubular reactor, moving the mixture from the lower portion towards the upper portion of the reactor in the presence of a radical initiator over a retention time of at least 5 minutes while the reaction system is kept in a liquid phase state under conditions where no gas-liquid separation will take place, so that the taxogen supplied to the reactor is substantially consumed by the reaction in the reactor, and drawing the reaction product from the upper portion of the reactor.

Abstract: A process for producing a fluoroalkyl iodide as a telomer Rf(CF2CF2)nI (wherein Rf is a C1-10 fluoroalkyl group, and n is an integer of from 1 to 6) by telomerization from a fluoroalkyl iodide represented by the formula RfI (wherein Rf is as defined above) as a telogen and tetrafluoroethylene (CF2CF2) as a taxogen, which comprises a liquid phase telomerization step of supplying a homogeneous liquid mixture of the telogen and the taxogen from the lower portion of a tubular reactor, moving the mixture from the lower portion towards the upper portion of the reactor in the presence of a radical initiator over a retention time of at least 5 minutes while the reaction system is kept in a liquid phase state under conditions where no gas-liquid separation will take place, so that the taxogen supplied to the reactor is substantially consumed by the reaction in the reactor, and drawing the reaction product from the upper portion of the reactor.

Abstract: The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.

Abstract: The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.

Abstract: The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded.

Abstract: A process for producing a fluoroalkyl iodide as a telomer Rf(CF2CF2)nI (wherein Rf is a C1-10 fluoroalkyl group, and n is an integer of from 1 to 6) by telomerization from a fluoroalkyl iodide represented by the formula RfI (wherein Rf is as defined above) as a telogen and tetrafluoroethylene (CF2CF2) as a taxogen, which comprises a liquid phase telomerization step of supplying a homogeneous liquid mixture of the telogen and the taxogen from the lower portion of a tubular reactor, moving the mixture from the lower portion towards the upper portion of the reactor in the presence of a radical initiator over a retention time of at least 5 minutes while the reaction system is kept in a liquid phase state is under conditions where no gas-liquid separation will take place, so that the taxogen supplied to the reactor is substantially consumed by the reaction in the reactor, and drawing the reaction product from the upper portion of the reactor.