Abstract: There is provided a tool shape measuring apparatus that allows detection of shape abnormality in a tool having a plurality of cutting edges with a simple configuration. A light receiving section 6 includes a light receiving face 9 perpendicular to an optical axis 6b of a light receiving lens 6a. In the light receiving face 9, there are disposed a plurality of line sensors 8 arranged in different directions from each other, each line sensor having a plurality of sensor elements arranged in one direction. The line sensor 8 is disposed across a first area not reached by the irradiation light L as being completely blocked by the tool 4, a second area disposed adjacent the first area and reached by the irradiation light L with a portion thereof being blocked, and a third area disposed adjacent the second area and reached by the irradiation light L not blocked at all.

Abstract: An air tool monitoring apparatus includes a housing having a hollow chamber formed therein, and also having an inlet and an outlet formed therein, each of the inlet and an outlet in communication with the chamber. The apparatus also includes first and second sensors for sensing condition indicative of tool usage and wear, a battery disposed in the housing, a generator for recharging the battery, and a microprocessor operatively connected to the housing and including a timer, a memory storage module, and a unique identifier. The apparatus may include a baffle for guiding air past the generator. The apparatus further includes a switch for starting and stopping the timer, and a communication device for sending data from the microprocessor to a data collection device. Methods of using the apparatus, along with systems for monitoring and reporting on usage of multiple air tools equipped with the apparatus, are also described.

Abstract: Disclosed is a semiconductor wafer processing method wherein, a thin disc-like wafer is manufactured by slicing a semiconductor single crystal ingot (slicing step), a planarized coating layer is formed by applying a curable material to the whole first surface of the wafer (coating layer forming step), and the coating layer is cured (coating layer curing step). A wafer second surface on the reverse side of the first surface is flatly grind by means of a grinding apparatus, the coating layer is removed from the first surface of the wafer. Furthermore, the first surface of the wafer is flatly ground by means of the grinding apparatus. The surface height of the first surface of the wafer after the slicing step and before the coating layer forming step is subjected to frequency analysis, and the coating layer forming step and the coating layer curing step are repeated a plurality of times.

Abstract: Described are materials and methods for processing (polishing or planarizing) a substrate that contains pattern dielectric material using a polishing composition (aka “slurry”) and an abrasive pad, e.g., CMP processing.

Abstract: A chemical mechanical polishing apparatus including a conditioning head having a first pressure sensor and a controller configured to adjust at least one of a position or a rotation of the conditioning pad responsive to the first pressure data. The conditioning head is adjustable between a first position and a second position, the conditioning head and a polishing pad are in contact when the conditioning head is in the second position, and the first pressure sensor generates first pressure data when the conditioning head is in the second position.

Abstract: The present disclosure relates to a grinding apparatus. The grinding apparatus may comprise a grinding belt cleaning structure. The grinding belt cleaning structure may further comprise a cleaning section at a side of a grinding surface of a grinding belt and a support section at a side of a non-grinding surface of the grinding belt and at a position corresponding to the cleaning section. The grinding belt cleaning structure may be located in a non-grinding area of the grinding apparatus.

Abstract: A surface treatment device includes a vacuum blast head, an air curtain-forming unit and an auxiliary air injection unit. The vacuum blast head includes an injection nozzle and a suction hole. The injection nozzle injects a polishing agent used for blast treatment on a surface of a material to be treated. The suction hole sucks up the injected polishing agent with suction air. The air curtain-forming unit injects air toward the surface of the material to be treated to form an air curtain that surrounds the injected polishing agent. The auxiliary air injection unit injects auxiliary air between the air curtain and the suction air toward the material to be treated at a lower pressure than the air that forms the air curtain.

Abstract: One example provides a method. The method includes forming a substrate comprising a metal alloy comprising at least one of aluminium, magnesium, lithium, zinc, titanium, niobium, and copper. The method includes polishing a surface of the substrate using particles comprising chromium metal. The polished surface is electrically conductive.

Abstract: A method of fabricating a polishing layer of a polishing pad includes determining a desired distribution of particles to be embedded within a polymer matrix of the polishing layer. A plurality of layers of the polymer matrix is successively deposited with a 3D printer, each layer of the plurality of layers of polymer matrix being deposited by ejecting a polymer matrix precursor from a nozzle. A plurality of layers of the particles is successively deposited according to the desired distribution with the 3D printer. The polymer matrix precursor is solidified into a polymer matrix having the particles embedded in the desired distribution.

Abstract: A vise includes a base plate that receives a fixed jaw and a pusher jaw. The fixed jaw receiving portion of the base plate includes particular stations for receiving the fixed jaw, the particular stations defined by at least a latitudinal slot at each particular station, each latitudinal slot configured for receiving a latitudinal tab extending from the bottom of the fixed jaw. A longitudinal slot traversing a length of the fixed jaw receiving portion of the base plate may receive a longitudinal tab extending from the bottom of the fixed jaw. Double-threaded lock bolts secure the fixed jaw to the base plate once the tabs are engaged with the slots of the base plate. The pusher jaw portion of the base plate includes a worm shaft, a threaded portion of the worm shaft engaging a worm shaft mating portion milled from the bottom of the pusher jaw.

Abstract: A tool accessory includes a first portion defining a drive end and a second portion defining a working end. At least one flat or planar side surface is defined on the first portion, and a tipping point is disposed between the first portion and the second portion. The tool accessory has a center of mass that is defined closer to the drive end than to the working end such that, when the tool accessory is rested on a surface, the center of mass causes the tool accessory to rest on the planar side surface and the tipping point to prevent rolling.

Abstract: A reversible ratchet wrench without a switch knob has a handle portion and a head portion. The head portion has an accommodation trough, a detent trough, and a blind hole. A ratchet wheel is disposed in the accommodation trough and displaceable in the accommodation trough toward the handle portion to form a first position and a second position. A detent is disposed in the detent trough. Left and right sides of one surface of the detent are formed with push portions, respectively. An elastic member is disposed in the blind hole and pressed against one of the push portions. For a reverse switch, the ratchet wheel is displaced to the second position and then the ratchet wheel is turned, so that the elastic member is pressed against the other push portion.

Abstract: Methods and systems are provided of providing a valve wheel wrench comprising a jaw assembly at a first end comprising first and second jaws configured to securably engage at least a portion of a valve wheel, wherein the orientation of the first jaw is opposite to the orientation of the second jaw, and a handle at a second end, connected to the first end via a shaft, wherein a portion of the handle is surrounded by a guard configured to shield at least a portion of the hand of a user.

Abstract: A rotary impact tool in one aspect of the present disclosure includes a motor, an impact mechanism, an impact detector, and a controller. The controller executes constant duty ratio control from when the motor is started until an impact is detected by the impact detector. The controller executes constant rotation speed control in response to detection of an impact by the impact detector.

Abstract: Disclosed herein is a self starting driver and method of use. The self starting driver includes a housing capable of receiving a forward driving torque at the rear end and of transmitting the forward driving torque at the front end; a punch driving tip provided at the front end of the housing so as to receive the forward driving torque; and a punching mechanism capable of providing a self starting forward impulse The punching mechanism releases the self starting forward impulse when the punch driving tip recedes rearwards by a predetermined distance relative to the front end of the housing. The method of using the self starting driver allows to consistently self start and drive a threaded fastener at a start location of a surface, thereby solving the “fly off” problem.

Abstract: A torque wrench is disclosed for use in rotating a range of different sized fasteners. The torque wrench may include an input end configured to receive a torsional input, and a gear train operatively driven to rotate by the torsional input. The torque wrench may also include an adjustable adapter connected to the gear train at an output end and configured to adjustably engage the range of different sized fasteners, and a housing configured to enclose the gear train and the adjustable adapter.

Abstract: A torque wrench is disclosed for use in rotating a range of different sized fasteners. The torque wrench may include an input end configured to receive a torsional input, and a gear train operatively driven to rotate by the torsional input. The torque wrench may further include a driver connected to the gear train at an output end and having an axial end surface with a plurality of arcuate slots formed in the axial end surface, and a plurality of clamps each pinned to a corresponding one of the plurality of arcuate slots and moveable by rotation of the driver to radially engage a range of different sized fasteners. The torque wrench may additionally include a housing configured to enclose the gear train, the driver, and the plurality of clamps.

Abstract: A torque wrench is disclosed for use in rotating a range of different sized fasteners. The torque wrench may include an input end configured to receive a torsional input, and a gear train operatively driven to rotate by the torsional input. a driver connected to the gear train and a plurality of clamps disposed at least partially inside the driver. The clamps may be movable to radially engage a range of different sized fasteners by rotation of the driver in either of a clockwise direction or a counterclockwise direction. The torque wrench may further include a housing configured to enclose the gear train, the driver, and the clamps.

Abstract: A torque limiter assembly is provided and has a fixed torque member having a plurality of first retainers, a floating torque member having a plurality of second retainers, a plurality of torque transfer members between the first torque member and the floating torque member, and a shaft. A plurality of longitudinal transfer members are provided between the floating torque member and the shaft. The longitudinal transfer members rotationally fix the floating torque member to the shaft, but allow axial movement of the floating torque member. A spring member provides a force on the floating torque member to, at times, rotationally fix the floating torque member to the fixed torque member. A locking mechanism is used to adjust the force of the spring member on the floating torque member.

Abstract: A bit retention device has an upper support member having an inner surface and an outer surface. A lower support member fixed to the upper support member. A stationary plate is mounted to the inner surface of the upper support member. A clamp plate opposes the stationary plate and is spring biased toward the stationary plate and slidably moveable between the upper support member and the lower support member.

Abstract: An impact tool includes a motor, a driving mechanism, and a vibration sensor. The driving mechanism is configured to perform a hammering operation of linearly driving a tool accessory along an impact-axis by power of the motor. The impact-axis extends in a front-rear direction of the impact tool. The vibration sensor is configured to detect vibrations. The vibration sensor is disposed such that the vibration sensor is capable of detecting vibrations of a first frequency among vibrations caused in the impact tool, and such that transmission of vibrations of a second frequency to the vibration sensor is suppressed. The vibrations of the first frequency result from the hammering operation. The second frequency is different from the first frequency.

Abstract: The invention relates to a hydraulic percussion device intended to be fitted on a base vehicle, the device comprising: a housing comprising a closing plate; a power cell mounted in the housing; and a damper connecting the power cell and the closing plate, the damper comprising a body rigidly connected to the power cell opposite the closing plate; a chamber provided inside the body; and a closing piston which is movable inside the chamber and capable of abutting against the closing plate in order to seal the chamber, the chamber being intended to contain a compressible fluid for damping the movements of the power cell in relation to the housing.

Abstract: Techniques for providing a multi-use hatchet are described herein. In some examples, the multi-use hatchet may comprise a head and a handle, each comprising multiple uses or functionalities. In some examples, the head may include an anchor point and an attachment point or hole to allow a user to bail out of a hazardous environment. In various examples, the handle may comprise one or more holes to serve as a belaying device, and a sharpened distal end for plying or other functions.

Abstract: It is an object to provide a novel technique for releasing an intervening member of a driving member. A representative screwdriver is provided with a motor and a driving mechanism. The driving mechanism has a spindle, a lock sleeve, rollers, a driving gear, a retainer and a spring receiver. When driven with the rollers held between the lock sleeve and the driving gear, the spindle is rotated in a normal direction. The lock sleeve has an inclined part and the retainer has an inclined part. The lock sleeve and the retainer move with respect to each other in the axial direction and the circumferential direction by sliding contact between the inclined parts. This relative movement in the circumferential direction is utilized to release the holding of the rollers.

Abstract: Holder (1) for releasably connecting a handle to a tool (2), in which the holder (1) comprises a space (3) in which a handle end is introducible, in which this space (3) comprises a wall surface with one or more projecting cutting elements (5a, 5b) for cutting complementary screw thread by means of which the one or more cutting elements (5a, 5b) are releasably connectable, in which the holder (1) comprises a coupling portion (6) comprising the one or more cutting elements (5a, 5b) and a retaining portion (7), in which the coupling portion (6) is made of a first material comprising plastic and the retaining portion (7) is made of a second material, in which the hardness of the first material is greater than the hardness of the second material.

Abstract: An ergonomic and elevated work surface/top and a work bench having the same. The ergonomic work surface can be maintained in an elevated position by one or more legs, one or more supports (e.g., brackets) attached to a wall or other vertical support or one or more supports extending downwardly from a ceiling or other raised horizontal support. Preferably, the elevated and ergonomic work surface/top is sturdy, rigid and has little or no flex and brings object(s) supported thereby closer to the user's face eliminating or significantly reducing the user leaning over to a position not conducive to proper posture. The top includes contoured/curved/angled sections that provide comfortable and versatile resting surfaces allowing an individual to rest both of his or her arms on for prolong periods without experiencing soreness or other undesirable consequences. The work bench can be portable, collapsible and removably mounted on a primary work structure.

Abstract: A robot arm permitting a more sensitive and precise operation in the offline programming of a robot having a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n=1, 2, . . . , N.

Abstract: An automatic or semi-automatic preparation system process is provided for forming a medicament solution from a vial containing one of a liquid and a non-liquid material.

Abstract: A mechanical arm and an operation method thereof, a mechanical arm device and a manufacturing equipment of a display panel are disclosed. The mechanical arm includes an arm main body, a bearing section and a first driver. The bearing section is arranged at a first end of the arm main body, and is movably connected with the first end of the arm main body, the bearing section includes a first bearing surface; and the first driver is arranged at the first end of the arm main body, and is connected with the bearing section to drive the bearing section at least to rotate parallel to the first bearing surface.

Abstract: [Solving Means] A parallel link robot includes a movable portion, a base, a plurality of drive sources, a plurality of links, and a tension member. The plurality of drive sources are attached to the base. The plurality of links are respectively connected to the plurality of drive sources. The tension member is connected between the movable portion and at least one of the plurality of links such that a bending tension is generated.

Abstract: Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

Abstract: By repeating for each control axis, that an axis angle of each control axis of an arm is detected during a direct teaching of a robot, a current position of a standard point defined on the arm or a tool is obtained based on the axis angle, a position instruction value that uses a position obtained by projecting the current position on a given movement route (moving direction) is generated as a target position, and each control axis is driven based on the position instruction value, until a deviation of an instruction angle corresponding to the position instruction value and the detected axis angle, or a deviation of the position instruction value and the current position of the standard point corresponding to the detected axis angle reaches a given value or below, the robot is taught, after the deviation becomes the given value or below, positional information on the arm.

Abstract: Indicators are set on a marker positioned on a working stage in conformity with a target teaching point. A stereo camera images the indicator in a state of being positioned on a robot hand, and measures the three-dimensional position of the marker. In robot arm controlling, the robot hand is positioned at the correction teaching point for off-line that is offset from an off-line teaching point in the depth of field direction of the stereo camera. In imaging, while the robot hand is positioned at the correction teaching point for off-line, the indicators are imaged by the stereo camera. In correcting, based on an imaging result of the indicator, the on-line teaching point is corrected toward the target teaching point to obtain the on-line teaching point.

Abstract: A controller includes a machine learning device that learns an operating parameter for an operation of bonding a radiation plate by a robot. The machine learning device observes operating parameter data and heat conductor state data as state variables that express a current state of an environment. In addition, the machine learning device acquires determination data indicating a propriety determination result of the operation of bonding the radiation plate, and learns the operating parameter in association with the heat conductor state data, using the state variables and the determination data.

Abstract: A gripper includes: a base attached to a wrist tip of a robot, a first-surface suction unit provided on the base and capable of sucking a first surface of a box-shaped package in a first suction direction, and a second-surface support unit configured to contact and support a second surface of the package orthogonal to the first surface. The gripper further includes a moving mechanism configured to move the second-surface support unit along a plane parallel to the second surface between a position where the second-surface support unit is retracted toward a base end side of relative to a leading end of the first-surface suction unit in the first suction direction and a position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit while the first-surface suction unit is sucking the first surface.

Abstract: A drive control device activates at least one of a plurality of operation regions and restricts operations by a robot such that the robot operates within the activated operation region. With a plurality of operation regions such as an operation region 1 and an operation region 2 being activated, when the drive control device predicts that the robot will be included in a range of any of the operation region 1 and the operation region 2, the drive control device does not cut off supply of electric power to a servo amplifier, whereas when the drive control device predicts that the robot will be included in a range of neither of the operation region 1 and the operation region 2, the drive control device cuts off supply of electric power to the servo amplifier.

Abstract: A simulation apparatus that allows a virtual robot arm displayed on a display device to act, includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to receive drag operation on a distal end of the virtual robot arm from an input device, and change an attitude of the virtual robot arm based on the drag operation.

Abstract: A method for determining a response time of a brake of at least one assigned axis of a multi-axis machine includes actuating the axis, switching the brake, and determining a response time between a switching point in time and a response point in time at which a motion state of the axis changes. The method may further include opposing actuation of the axis while the brake is closed, and detecting a mechanical play between opposing maximum deflections of the axis. A method of operating or monitoring a multi-axis machine includes determining a response time and/or detecting mechanical play, and operating the machine or triggering a fault response based on the response time or mechanical play.

Abstract: A robot system includes a robot, a teach pendant having an operator interface, and a robot controller with a computer and associated hardware and software containing a virtual representation of the robot and the environment. The system employs a method for avoiding collisions including moving a manipulator arm along an actual path in an environment containing objects constituting collision geometry. Operator input is entered into the teach pendant, whereby the operator is able to directly control motion of the robot along the actual path. A recent history of the motion of the robot is recorded, and a predicted path of the robot is developed based on the input entered into the teach pendant and the recent history of the motion of the robot. Real-time collision checking between the predicted path and the collision geometry is performed while the operator manually controls the robot using the teach pendant.

Abstract: A system and method for a self-contained modular manufacturing device having self-contained modular tools configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, individual processors disposed in the housing may be configured to control the functional tools (e.g.

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

Abstract: The present invention discloses a visual positioning and navigation device, comprising: a motion module, configured to drive a robot accordingly, and acquire a current pose information of the robot in real time; a camera module, configured to capture an environmental image during the movement of the robot; an image processing module, configured to perform the feature extraction and the feature description for the environmental image; and a pose estimation module, configured to match the feature point description of the environmental image, build a feature database, calculate the pose correction of the robot, and obtain the corrected robot pose based on the robot current pose and the pose correction. The visual positioning and navigation device and method thereof can build the scene map by detecting and tracking the feature information of the ORB feature points of the indoor ceiling, so as to achieve the accurate positioning and navigation of the robot.

Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

Abstract: An example system includes a vehicle, a robot, and a controller. The vehicle may include an accelerator operator and a steering operator. The robot may include as accelerator actuator configured to operate the accelerator operator, and a steering actuator configured to operate-the steering operator. The controller is configured to: in response to an accelerator command, send a first signal to the accelerator actuator to operate the accelerator operator of the vehicle, and in response to a steering command, send a second, signal to the steering actuator to steer the vehicle.

Abstract: A method for remote operation of a robot, preferably including: recording a set of sensor streams; transmitting a transmission stream; selecting a received stream for display; and/or displaying the selected stream. A system, preferably including a robot and a remote operation system connected to the robot by one or more communication networks.

Abstract: A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.

Abstract: A robot teaching dvice allowing a user to operate an enable switch provided on the robot teaching device in a similar manner regardless of the user's dominant hand. A hand-held robot teaching device includes an enable switch built-in includes a main body including a holding portion that is configured to be held by one hand, and an enable switch operating section that is provided on the holding portion and is configured to be operated by a reference switching motion of a hand holding the holding portion in a reference position. The enable switch operating section includes a switching motion specifying mechanism that makes the reference switching motion in the reference position easier than another motion.

Abstract: A mirror replacement device includes a gripping mechanism to grip a segment mirror, a fine drive mechanism to change a position and a posture of the gripping mechanism, a lift mechanism for the segment mirror, a first detector to detect a relative position and a relative posture between a comparison object and a target object, a second detector to detect a bend of the fine drive mechanism, and a mirror replacement controller to replace the segment mirror based on detection signals output from the above-mentioned detectors. The controller determines whether the first detector can successfully perform a measurement. When it is determined that the measurement can be successfully performed, the control is performed based on the detection signal output from the first detector. When it is determined that the measurement cannot be successfully performed, the control is performed based on the detection signal output from the second detector.

Abstract: A soft robotic device with a variety of sensors and/or imaging areas is described. The sensor and/or imaging area may be embedded in the soft body or the strain limiting layer of the soft robotic device, attached to the soft body or the strain limiting layer of the soft robotic device, or other-wise linked to the soft body or the strain limiting layer of the soft robotic device.

Abstract: A robot includes a gripping member configured to move and pick up the object, a camera affixed to the gripping member such that movement of the gripping member causes movement of the camera, the camera configured to measure and store data related to intensity of light and direction of light rays within the environment, an image processing module configured to process the data to generate a probabilistic model defining a location of the object within the environment, and an operation module configured to move the gripping member to the location and pick up the object.