Abstract: A block piece (1) for blocking a lens (2), in particular an eyeglass lens, by means of a block material (3), wherein the block piece (1) has a bottom part (4) for holding the block piece (1) and an upper part (5) for a fastening of the lens (2) for processing and/or coating of an optically active surface of the lens (2). Additionally, the block piece (1) is used in a method for blocking a lens (2), in particular an eyeglass lens, and the bottom part (4) and multiple upper parts (5) for blocking a lens (2) provided as part of a kit.

Abstract: The present invention relates to a method and a tool for removing a partial region of a coating from a substrate, in which the partial region to be removed is removed by a machining process in such a way that an undercutting of the partial region of the coating that is to be removed takes place. For the undercutting of the partial region of the coating that is to be removed, at least one machining tool that is rotating relative to the substrate about an axis of rotation is moved relative to the substrate along a direction of advancement that runs parallel to a surface having the coating, wherein a layer of the substrate that is directly adjacent to the coating is also removed together with the coating. Considered in the direction of advancement, the tool thereby penetrates deeper into the substrate than into the coating to be removed.

Abstract: One object is to provide a polishing machine and a polishing method capable of improving a processing accuracy on the surface of an object. A method of polishing an object is provided. Such a method comprises a first step of polishing an object by moving the object and a first polishing pad having a smaller dimension than that of the object relative to each other while the first polishing pad is made to contact the object, a second step of polishing the object, after the first step of polishing, by moving the object and a second polishing pad having a larger dimension than that of the object relative to each other while the second polishing pad is made to contact the object, and a step of detecting the state of the surface of the object before the first step of polishing.

Abstract: An article includes a surface layer and a base layer coupled to at least a portion of the surface layer. The surface layer includes a top major surface defining a plane and a bottom major surface opposite the top major surface. A plurality of projections extends from the plane of the top major surface and a plurality of microstructures extend from the plurality of projections.

Abstract: A system for sanding a surface includes a sanding tool, a robotic manipulator to move the sanding tool relative to the surface, and a control unit operatively coupled with the sanding tool and the robotic manipulator. The control unit is operable to: (1) move the sanding tool to a sanding position relative to the surface in which an abrasive surface is in contact with the surface and a sanding force is approximately normal to the surface; (2) set one or more sanding parameters corresponding to a model material removal rate; (3) monitor one or more of the sanding parameters; (4) determine an actual material removal rate, based on one or more of the sanding parameters being monitored; and (5) modify one or more of the sanding parameters until the actual material removal rate is approximately equal to the model material removal rate.

Abstract: A polishing apparatus capable of increasing an added value is disclosed. The polishing apparatus includes a polishing table configured to support a polishing pad, a top ring configured to press a substrate against the polishing pad, and a liquid supply mechanism configured to supply a liquid onto the polishing pad. The liquid supply mechanism includes a nozzle arm configured to be movable in a radial direction of the polishing table, and a liquid ejection nozzle attached to the nozzle arm. The liquid ejection nozzle is a fan-shaped nozzle having a liquid throttle surface having a tapered shape.

Abstract: An apparatus for recirculating fluids in semiconductor systems. The apparatus including a base portion, an inlet portion coupled to a first end of the base portion, and a nozzle coupled to a second end of the base portion. The nozzle including a helical groove extending from a position near a nozzle base portion to a position near a tip of the nozzle portion. The helical groove extending from an exterior surface through the nozzle portion to an interior surface of the nozzle portion. Methods of using the apparatus in a semiconductor recirculation system are also disclosed.

Abstract: A wafer cleaning and polishing pad includes a pad having a polishing surface, wherein the polishing surface includes a first material having a Shore D hardness ranging from 50 to 80 and a static coefficient of friction ranging from 0.01 to 0.6. The first material is a fluoropolymer. The pad includes a middle layer and/or a base under the polishing surface. The base includes a second material and the middle layer includes a third material having a lower surface hardness and a higher coefficient of friction than the first material. The polishing surface includes a plurality of grooves with varying groove depth from center of the pad to an edge of the pad.

Abstract: A clamping device includes a first holder and a second holder. The first holder includes a first abutting member and a driving member. The driving member is coupled to the first abutting member. The second holder includes a second abutting member. The first abutting member and the second abutting member are oppositely disposed and spaced apart from each other to receive a workpiece. The driving member is coupled to the first abutting member to drive the first abutting member to move in a direction toward the second abutting member to clamp the workpiece between the first abutting member and the second abutting member.

Abstract: A push button pin for coupling together two halves of pliers. The pin can include one or more balls elastically biased in a radially-outward direction to couple the pin to a retainer. The balls are normally pushed outward by an engagement portion, but a push button head can be pressed axially downward and cause the balls to align with a receiving portion, which allows the balls to descend into the interior of the pin. The push button is also integral with the receiving and engagement portions to better facilitate the movement of the balls and the removability of the pin. A user can therefore quickly adjust the jaw width of a pair of pliers and better utilize the pliers in the process.

Abstract: A substrate treatment apparatus is provided. The substrate treatment apparatus includes a substrate support part provided with a seating surface and configured to support a substrate, a guide ring annularly disposed along an edge of the substrate support part to surround the substrate, and a centering part provided inside the guide ring and configured to center the substrate by moving in a direction parallel to the seating surface to pressurize the edge of the substrate.

Abstract: In one example embodiment, the present invention is an open-end wrench head that has an orifice and two jaws. Each jaw has an inner part, an outer part, and a terminal tip end. Each inner part is formed for contact and engagement with a work-piece such as a nut or bolt. Each outer part is viewable from a side view of the wrench head and has a predetermined length. The outer part of at least one jaw has at least one groove formed therein creating at least two adjacent ridges running at least partially along the length thereof.

Abstract: A tool for engaging with a backflow valve handle includes a body forming a channel extending from a first side to a second side, the channel extending upward from a bottom surface of the body; and an adapter extending from a top surface of the body, the adapter to receive a hand tool; the channel is to secure over the backflow valve handle; and the adapter is to receive torque from a user to loosen the backflow valve handle.

Abstract: Apparatus for use with a tool assembly in operations of tightening or loosening threaded fasteners about an axis are disclosed, and in one example includes: a lower clamp assembly; an upper clamp assembly; a reaction adaptor assembly; and a spring assembly formed between the upper clamp assembly and the reaction adaptor assembly. Advantageously an operator can tighten or loosen all fasteners without having to change the initial setup of the apparatus. The lower clamp assembly eliminates the need for extra operators and heavy and bulky equipment to hold the apparatus near the fasteners. The upper clamp allows the operator to rotate the apparatus around with ease. The spring assembly stabilizes and eases vertical height adjustment of the apparatus. The reaction adaptor substantially negates reaction turning forces of the tool assembly during the operations. Drive knobs provide easy alignment of and quick and safe mounting of the tool assembly on the fasteners.

Abstract: The proposed solution relates in particular to a method for assembling an engine assembly having a first engine component and a second engine component, wherein at least one fastening element is first of all arranged on an assembly aid, the at least one fastening element is arranged on the first engine component via the assembly aid and is held in an assembly position under the action of at least one magnetic element of the assembly aid, the at least one fastening element is fixed to the second engine component, and the assembly aid is removed again from the first engine component.

Abstract: An electric quick action wrench with settable torque, which is operated in an electric mode or a manual mode, includes: a main body, a controller, a motor, a driving device, and a clutch device. The driving device is driven by the motor and combined with a fastener. The controller sets a threshold torque value. In the electric mode, when the fastener confronts a resistance larger than a clutch torque of the clutch device, the user is notified to switch to the manual mode through the notification of the clutch device. In the manual mode, when a manually output torque reaches the threshold torque value, the user is notified that the screwing operation has been finished by the notification of the clutch device. Thus, the safety of usage is achieved.

Abstract: A power tool including a motor and an impact mechanism. The impact mechanism is coupled to the motor and includes a hammer driven by the motor, and an anvil positioned at a nose of the power tool, and configured to receive an impact from the hammer. The power tool also includes a sensor assembly positioned at the nose of the power tool, and an electronic processor. The sensor assembly includes an output position sensor configured to generate an output signal indicative of a position of the hammer or the anvil. The electronic processor is coupled to the output position sensor and to the motor, and is configured to operate the motor based on the output signal from the output position sensor.

Abstract: A device to extract a support yoke from a reheat stop valve of a steam turbine is provided. The device includes a hydraulic cylinder for applying a pushing force to the support yoke, an attaching means for attaching the hydraulic cylinder to the reheat stop valve casing, and a pushing means coupled to the hydraulic cylinder and configured to evenly impart the pushing force to the support yoke from within the reheat stop valve in order to separate the reheat stop valve from the support yoke. A method to extract a support yoke from a reheat stop valve of a steam turbine is also provided.

Abstract: A tool for use in combination with an air hammer for removing and/or installing an anchor pin bushing. The tool includes a drive shaft and an adaptor that is removably attachable to the drive shaft. A first end of the drive shaft is configured for removable attachment to an air hammer. A second end of the drive shaft is configured for removable attachment with the adaptor. The adaptor includes a flanged end and a notched end. Both the flanged end and notched end include a counterbore sized and configured to fit over an anchor pin. The notched end of the adaptor is used for removing an anchor pin bushing and the flanged end of the adaptor is used to install an anchor pin bushing.

Abstract: A hand tool for assembling and disassembling a work piece. The hand tool can be configured for assembling and disassembling a work piece having a plurality of linkable units. The hand tool can include a first work station where at least one assembling operation can be performed and a second work station where at least one disassembling operation can be performed.

Abstract: To provide a tensioning device capable of tensioning a bolt from a bolt head side while suppressing increase in the number of components. A tensioning device is configured to apply upward tension to a bolt fastened to a fastened member H. A first male thread portion is formed on an outer circumferential surface of a head of the bolt. The tensioning device includes a connection member having a first female thread portion to be threadly engaged with the first male thread portion, a tensioning mechanism for tensioning the bolt via the connection member in a state where the first male thread portion is threadly engaged with the first female thread portion, and a tension bearer which is disposed around an outer circumference of the connection member, and bears a reaction force applied from the fastened member H in tensioning performed by the tensioning mechanism.

Abstract: A tensioning device is configured to apply upward tension to a bolt-nut fastener including a bolt fitted with a fastened member H, and a nut to be fastened to a shaft of the bolt, which protrudes from the fastened member. A first male thread portion is formed on an outer circumferential surface of the nut. The tensioning device includes a connection member having a first female thread portion to be engaged with the first male thread portion, a tensioning mechanism for tensioning the nut via the connection member in a state where the first male thread portion is engaged with the first female thread portion, and a tension bearer which is disposed around an outer circumference of the connection member, and bears a reaction force applied from the fastened member H in tensioning performed by the tensioning mechanism.

Abstract: A mechanical timer mechanism can include a driven gear mounted to a rotary damper and a drive gear operably coupled to the driven gear. In bump mode, movement of a trigger to its firing position can initially move the drive gear into its wind-up position. Thereafter, a contact trip can move the drive gear to its wind-up position and an actuator of the trigger to its firing position each time the contact trip is activated, unless the timing mechanism has timed out between firings. In sequential mode, the drive gear can be moved into a timer lock-out position which holds the contact trip in a bypass position in which the contact trip will not engage the actuator of the trigger unless the trigger is moved to its firing position prior to activation of the contact trip.

Abstract: A finish carpentry nailing guard adapted for use in protecting workpiece surfaces from damage by hammers while driving nails and/or from nail pulling devices when removing nails, the guard including a unitary block having complementary top side and bottom side basins, each including concavities which define a tapered annulus with an aperture.

Abstract: A fastener driving apparatus featuring at least one gas spring and a drive mechanism, comprising a plurality of lifters, for selectively engaging and disengaging said at least one gas spring to energize the gas spring. The lifters the gas spring to energize the gas spring and thereafter release the gas spring, wherein the gas spring releases a portion of its potential energy and accelerates an anvil to engage a fastener. The lifters may engage the gas spring at the same time for a portion of the operational cycle of the apparatus, and the operational cycle may include an intermediate stopping point, which after resumption of a lifter on the gas spring after the stopping point, a relatively small increase of energy in the gas spring thereafter is required to generate a sufficient energy in the gas spring to effectively drive a fastener.

Abstract: A dead blow hammer head with end caps coupled to a central body through an interference fit. The ends of the body can be flared axially and radially outward and interference fit with the recesses to maximize the surface area overlap between the ends of the body and the recesses. By maximizing the surface area overlap, stress concentrations and failure are reduced. The hammer head can also include a shot or other mass that is unobstructed by screws or pins due to the interference fit of the hammer head components. The interference fit can become stronger during use with each impact further solidifying the surface area overlap between the ends and central portion of the hammer head.

Abstract: A multi-tool device is disclosed including a separable hinge architecture and an open-ended wrench mechanism. The open-ended wrench mechanism including a frame member with integrated or separate outer jaw, and a sliding and rotating inner jaw, and a spring to bias the jaws closed. Various means to arrest the motion on the stroke are presented. The hinge embodies two parallel rotational joints through positive or negative orifice allowing mechanical fastening of two multi-tool modules to be paired and locked rotationally through common means in selectable positions.

Abstract: A tool includes a switch and a controller. The switch is configured to cause an electric component to operate. The switch includes a switch manipulation part and a load sensor. The switch manipulation part is configured to manipulate the switch. The load sensor is configured to detect a load corresponding to a pressing force according to a manipulation of the switch manipulation part. The controller is configured to correct an output corresponding to the load detected by the load sensor. The switch is configured to cause the electric component to operate based on the output corrected by the controller.

Abstract: A handle is attachable to a shaft, for example, of a shovel. The shaft extends lengthwise along a shaft axis. The handle includes a collar defining an opening to receive the shaft, the collar rotatable about the shaft axis; a transverse arm extending along a transverse axis from a first end to a second end opposite the first end, the transverse arm rotatably connected to the collar at the first end; and a grip extending from the second end of the transverse arm. The grip is rotatable about the transverse axis and may be selectively axially movable along the transverse axis.

Abstract: A guide for a fastener hand tool is disclosed including a truck having slidable engagement with a track affixed to the fastener hand tool. The slidable engagement comprises mated interlocking geometries between the truck and the track. A clamping mechanism is disposed on the truck for temporarily clamping opposing sides of the truck to the track at a desired position along the track and a contact piece having a non-marring, wear resistant surface is affixed to the truck. The contact piece is disposed for referencing against a guiding edge for a workpiece relative to the fastener delivery point. The truck can comprise a symmetrical shape such that the truck can be alternately engaged to the track with the clamping mechanism on a left side of the fastener hand tool or with the clamping mechanism on a right side of the fastener hand tool.

Abstract: A tool cabinet includes a cabinet body, a plurality of storage members, an input device, and an output device. The cabinet body has first and second openings. The input device includes a cord winder and a power cord. The power cord has a plug portion exposed from the first opening, and a cord portion connected between the cord winder and the plug portion. At least a portion of the cord portion is pulled out of the first opening when the plug portion is moved to a non-retracted position. The cord winder includes a resilient member for biasing the plug portion toward a retracted position. The output device includes a power strip electrically connected to the power cord, and having a plurality of sockets that is exposed from the second opening.

Abstract: Asynchronous item delivery utilizes a system including a first depot and a first mobile robot at a first site and a second depot and a second mobile robot at a second site. A centralized control system manages asynchronous delivery of items through the first depot and the second depot such that the first mobile robot can retrieve an item from the first depot and deliver the item to a transportation systems for transition to the second site, such that the second depot at the second site can, in an asynchronous fashion, receive the item and deliver the item to the second mobile robot for transportation to the ultimate destination at the second site. Two or more sites can be coordinated by the centralized control system for management of movement of items through a supply chain using asynchronous item delivery and movement through each respective site to an ultimate destination.

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

Abstract: A collaborative robot operation apparatus includes an operation unit that is operated by an operator in direct teaching of a robot including a cylindrical outer surface at least in a part, a communication unit that communicates operation information to the operation unit, to a control apparatus of the robot, and an attachment portion that detachably attaches the operation unit on the outer surface of the robot. The operation unit includes a rotation stopping portion between the outer surface of the robot and the operation unit.

Abstract: A robotic manipulator system includes a first robotic manipulator and a second robotic manipulator configured to grasp an object. The first robotic manipulator grasps the object a first time and moves the object to the second robotic manipulator. The second robotic manipulator then grasps the object and the first robotic manipulator readjusts its position relative to the object before grasping the object a second time. One or both of the robotic manipulators then move the object a new location before releasing the object at the new location.

Abstract: A workpiece information recognition system includes a workpiece placing tool (20) capable of placing a workpiece, a reference block (31) detachably provided on workpiece placing tool (20), an information detector configured to detect information about reference block (31), and a control device configured to receive the information of reference block (31) from the information detector. The control device includes a storage configured to store data on a relationship between the information about reference block (31) and information about the workpiece and a controller configured to recognize the information about the workpiece placed on workpiece placing tool (20) by checking the information about reference block (31) detected by the information detector with the data stored in the storage. With this configuration, the workpiece information recognition system capable of easily cope with a change in a type of the workpiece is provided.

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 method includes receiving sensor data representative of surfaces in a physical environment containing an interaction point for a robotic device and determining, based on the sensor data, a height map of the surfaces in the physical environment. The method also includes determining, by inputting the height map and the interaction point into a pre-trained model, one or more candidate positions for a base of the robotic device to allow a manipulator of the robotic device to reach the interaction point. The method additionally includes determining a collision-free trajectory to be followed by the manipulator of the robotic device to reach the interaction point when the base of the robotic device is positioned at a selected candidate position of the one or more candidate positions and, based on determining the collision-free trajectory, causing the base of the robotic device to move to the selected candidate position within the physical environment.

Abstract: A robot system includes: a learning control unit configured to perform learning for calculating a learning correction amount for bringing a position of a control target portion toward a target position; a robot control unit configured to control the operation of the robot mechanism unit; a power spectrum calculating unit configured to calculate a power spectrum of a vibration data of the control target portion; a comparison unit configured to compare each power spectrum between at the time of the current learning and at the time of the immediately preceding learning; and a learning correction amount updating unit configured to adjust at least one of a phase and a gain of the learning correction amount used at the time of the current learning to set the adjusted learning correction amount as a new learning correction amount used at the time of next learning.

Abstract: An automatic control method and an automatic control device are provided. The automatic control device includes a processing unit, a memory unit and a camera unit. The memory unit records an object database and a behavior database. When the automatic control device is operated in an automatic learning mode, the camera unit obtains a continuous image, and the processing unit analyzes the continuous image to determine whether there is an object being moved and matching an object model recorded in the object database in a first placement area. When the continuous image displays the object is moved, the processing unit obtain control data corresponding to moving the object from the first placement area to a second placement area, and the processing unit records the control data to the behavior database. The control data includes trajectory data and motion posture data of the object.

Abstract: A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N?1 or N pieces of trajectory information respectively indicating N?1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N?1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

Abstract: A method for computing joint torques applied by actuators to perform a control of a movement of a robot arm having several degrees of freedom is provided. The method includes the act of providing, by a trajectory generator, trajectory vectors specifying a desired trajectory of the robot arm for each degree of freedom. The trajectory vectors are mapped to corresponding latent representation vectors that capture inherent properties of the robot arm using basis functions with trained parameters. The latent representation vectors are multiplied with trained core tensors to compute the joint torques for each degree of freedom.

Abstract: A method is provided for vibration suppression, which is useful in systems with configuration dependent dynamic parameters. The method is a general and practical solution for obtaining a set of inputs to a dynamic system, which will result in reduced vibrational behavior. A novel discrete time buffer implementation is employed, which yields reduced vibration due to a constant unity sum of applied impulses. The method includes shaping a position input with a continuously updated filter and using numerical differentiation to obtain consistent feedforward derivatives without phase shift.

Abstract: A mapping robot that includes a frame, two motorized wheels, for each motorized wheel, a motor which drives the wheel in rotation, a location system determining the position of the robot on a synthetic ground, a control unit arranged to collect position information delivered by the location system and information on electrical consumption of each motor, and to associate the electrical consumption information with the position information, and a friction element which has teeth which rub on the synthetic ground.

Abstract: Certain aspects relate to systems and techniques for surgical robotic arm setup. In one aspect, there is provided a system including a first robotic arm configured to manipulate a medical instrument, a processor, and a memory. The processor may be configured to: determine a minimum stroke length of the first robotic arm that allows advancing of the medical instrument by the first robotic arm to reach a target region from an access point via a path, determine a boundary for an initial pose of the first robotic arm based on the minimum stroke length and a mapping stored in the memory, and during an arm setup phase prior to performing a procedure, provide an indication of the boundary during movement of the first robotic arm.

Abstract: A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

Abstract: A monitor system for a robot that includes a base installed on an installation surface, and a movable part supported movably with respect to the base, the monitor system including: a sensor that monitors the presence or absence of an object around the robot; and a monitored region control part that controls a monitored region of the sensor based on a motion command signal for the robot. The sensor has the monitored region on each of both sides across a vertical plane that includes a central axis line of the movable parts, and the monitored region control part makes the monitored region at the rear in a moving direction of the movable part smaller than the monitored region at the front in the moving direction of the movable part.

Abstract: A method and device for controlling a robot, and a robot. The device detects whether there is an article being put into or taken out from a storage container of a robot, and if it is detected that an article is put into or taken out from the storage container, an information list is updated according to the article being put into or taken out, the information list recording relevant information about articles in the storage container.

Abstract: There is provided a robot capable of reducing vibration generated in an arm portion performing work. The robot includes: a first arm portion connected to a body portion and configured to perform work; and a second arm portion connected to the body portion and to be controlled to support the first arm portion, in which the first arm portion includes a first connecting portion connected to the body portion, a first end effector located at an end of the first arm portion opposite to an end where the first connecting portion is located, and a support target portion located between the first connecting portion and the first end effector, and the second arm portion is controlled to support the support target portion.

Abstract: To provide a robot control system and a robot control method capable of placing a component grasped by a robot hand at an accurate location on another member. A robot control system is provided with: a robot hand configured to grasp a clip; a camera configured to capture an image of the clip grasped by the robot hand, a calculation unit configured to calculate a position of the clip or an inclination of a component based on an imaging result of the clip captured by the camera, and a robot control unit configured to control the robot hand to adjust, based on the position of the clip or the inclination of the component calculated by the calculation unit, a position or an inclination of the robot hand and move the clip to a stringer.