Abstract: A grinding apparatus includes a chuck table that holds a wafer on a holding surface; a grinding unit that has a spindle unit in which a spindle with an annular grindstone mounted to a tip thereof is rotatably supported and that grinds the wafer by use of the grindstone; a grinding feeding mechanism that puts the grinding unit into grinding feeding in a grinding feeding direction perpendicular to the holding surface; a first height gauge that measures the height of the holding surface; a second height gauge that measures the height of an upper surface of the wafer; and a calculation section that calculates the difference between the height of the holding surface and the height of the upper surface of the wafer, as the thickness of the wafer. In the grinding apparatus, the first height gauge and the second height gauge are disposed in the grinding unit.

Abstract: The present invention relates to improvement of a surface plate to be used in a polishing apparatus, with a polishing pad to be attached on the surface plate. The surface plate of the present invention includes: a surface plate body; and a release layer including a release film or release paper formed on a surface of the surface plate body on which the polishing pad is to be attached. The release layer has a peel force of a surface thereof of 0.08 N/50 mm or more and 5.0 N/50 mm or less. The present invention can be suitably used in a polishing apparatus utilizing a general polishing pad including a pressure-sensitive adhesive. The present invention allows polishing pad fixing work and replacement work to be performed more easily than in a conventional technique.

Abstract: Disclosed herein is a processing machine including a processing unit and a workpiece holding unit. The processing unit has a processor wheel with a processor fixed on a lower surface of an annular base, and a mount fixed on a spindle, and processes a workpiece by the processor with the processor wheel mounted on the mount. The processor wheel has a plurality of flange portions arranged at equal angular intervals on an inner peripheral surface of the annular base and extending from the inner peripheral surface toward a center of the processor wheel. The mount has a plurality of clasp portions configured to clasp the flange portions, a plurality of springs biasing the clasp portions in an upward direction in an axial direction of the spindle, and a plurality of support portions configured to support the clasp portions movably in the axial direction.

Abstract: A power tool includes an output shaft, an installation apparatus and a retention mechanism. The installation apparatus has an operation state and an installation state. The retention mechanism is capable of providing a retaining force that keeps the installation apparatus in the installation state. The retention mechanism includes a movable piece. The output shaft is formed with a guide rail that guides the movable piece to move. The movable piece is capable of moving along the guide rail to a first retention position and a second retention position. When the installation apparatus is in the installation state and receives a rotation force applied by the operation accessory, the rotation force causes the movable piece to move from the second retention position to the first retention position so that the installation apparatus is switched from the installation state to the operation state.

Abstract: A spindle unit includes a spindle having a processing tool fitted to a distal end of the spindle; and a spindle housing having a thrust bearing and a radial bearing configured to support the spindle by air in a rotatable and noncontact manner, the thrust bearing including an air supply portion configured to supply air to a gap between an outer surface of the spindle, the outer surface being in a direction orthogonal to an axial direction of the spindle, and an inner surface of the spindle housing, and an adjusting unit capable of adjusting a distance of the gap in a direction perpendicular to the outer surface of the spindle.

Abstract: An eddy current sensor has an exciting coil and a detection coil. A holding circuit holds reference data indicating a characteristic of an output signal output from the detection coil at a reference state and outputs the reference data at a state other than the reference state. A pseudo signal generating circuit generates and outputs a balance coil pseudo signal corresponding to the output signal output from the detection coil at the reference state from the reference data output from the holding circuit. A bridge circuit, at the state other than the reference state, receives the output signal output from the detection coil and the balance coil pseudo signal and outputs a bridge output signal corresponding to a difference between the output signal and the balance coil pseudo signal as a bridge output signal.

Abstract: An air grinder vacuuming assembly includes a shield that is removably attachable to an air grinder such that the shield surrounds a grinding disk on the air grinder. In this way the shield can contain dust and debris produced by the grinding disk. A coupler is coupled to the shield such that the coupler surrounds the drive portion of the air grinder. The coupler is tightenable to engage the drive portion for retaining the shield on the air grinder. A tube is fluidly coupled to the shield such that the tube is in fluid communication with the grinding disk for having the dust and debris pass therethrough. Moreover, the tube is fluidly attachable to a vacuum source to facilitate the dust and debris to be sucked away from the air grinder.

Abstract: An apparatus capable of efficiently performing a metal surface processing. The abrasive peening apparatus includes a processing tank storing abrasive particles and peening liquid, and including a bottom portion in which a workpiece is immersed in the peening liquid; a dispensing chamber having a plurality of recesses on an upper surface, and disposed in the bottom portion to dispense the peening liquid; a stirring nozzle disposed at a center of the recess directing vertically upward and connected to the dispensing chamber to eject the peening liquid; a peening nozzle immersed inside the processing tank to eject the peening liquid toward the workpiece; and a moving device moving the peening nozzle relative to the workpiece.

Abstract: A grinding wheel includes an annular base having a free end portion and a plurality of segment grindstones fixed on the free end portion of the annular base in a state of being spaced from one another in a circumferential direction. The plurality of segment grindstones are divided into a plurality of grindstone groups each including a predetermined number of segment grindstones. Each of the segment grindstones included in each of the grindstone groups has a grinding surface formed into a rectangular shape having a long side and a short side. The segment grindstones of the grindstone group are sequentially fixed on the free end portion of the annular base from an outer circumferential side toward an inner circumferential side such that directions in which the long sides of the segment grindstones extend are changed from the circumferential direction to a diametric direction of the free end portion.

Abstract: The disclosure relates to, among other things, a method of making a coated abrasive article, the method comprising sequentially: locating a plurality of shaped abrasive particles in a tool comprising a plurality of cavities, wherein the plurality of shaped abrasive particles is held in the plurality of cavities, at least in part, electrostatically; and disposing the plurality of shaped abrasive particles onto a make layer precursor of a backing having first and second opposed major surfaces, wherein the make layer precursor is disposed on at least a portion of the first major surface.

Abstract: Abrasive articles and associated methods are shown that include one or more camouflaging layers that can be applied to a portion of the abrasive article. The one or more camouflaging layers can be applied over the size coat layer as a discontinuous colored layer covering a portion of the size coat layer. In an example, the camouflaging layer can be applied as a repeating pattern of one or more colors on the abrasive article. In an example, the camouflaging layer can be applied randomly to the abrasive article. The discontinuous layer can have a color markedly different than a color of the size coat layer and can be used to mask or minimize an appearance of particle imperfections or voids on the abrasive article. The discontinuous layer can be applicable to coated and non-woven abrasive articles in the form of sheets, discs, belts, pads, or rolls.

Abstract: A tool for retrieving magnetic objects. The tool comprising a flexible rod; a handle, connected to a first end of the flexible rod; and a magnetic head, connected to a second end of the flexible rod. Further, the magnetic head comprises a through-hole for retrieving the magnetic objects.

Abstract: A wrench includes a ratchet unit located in the head and includes a mount hole. A collar is connected to the head and located corresponding to the mount hole. The collar includes a slot and an aperture. A C-shaped engaging member includes a first end thereof inserted into the aperture. A second end of the engaging member protrudes beyond the collar. The engaging member includes a curved section which is resiliently inserted into the slot. A rotary member is mounted to outer periphery of the collar and includes a notch defined in the underside thereof. The second end of the engaging member is located in the notch and covered by the rotary member. When the rotary member is rotated, the engaging member is deformed to insert or remove the curved section relative to the mount hole via the slot to position a socket in the head of the wrench.

Abstract: A nut temporary tightening device has bearing parts, a first support plate, a second support plate, and socket assemblies. Each bearing part has a cylindrical sleeve extending in an up-down direction and a flange provided at an intermediate portion of the sleeve. The first support plate has a plurality of first support holes that each support a corresponding bearing part along the outer circumference, on an upper end side, of the bearing part. The second support plate has a plurality of second support holes that each support a corresponding bearing part along the outer circumference, on a lower end side, of the bearing part. Each socket assembly has a driving shaft, a driving part, and a socket.

Abstract: A method and device for rotational disconnection a nozzle from a valve body, to include transferring torque applied to an input adapter, through a gear system, to a rotational, self-centering chuck, with a plurality of jaws to secure a nozzle threadedly secured within a valve body, and an anchor tower extending from the base of the tool in the same direction as the tool that is positioned for nozzle release, so that the anchor tower may provide rotational fixation of the valve body while torque is applied to the nozzle, along with a manner to employ coordinatedly sized and positioned gears, which in combination multiply the leverage force or torque input into the tool for application to the rotational disconnection effort.

Abstract: A lockable adapter is configured to couple a drive socket to a tool. The lockable adapter includes a body defining a longitudinal axis. The body is configured to couple the lockable adapter to the tool. The lockable adapter includes a sleeve moveably coupled relative to the body along the longitudinal axis of the body between a first position and a second position. The sleeve is configured to interface with the drive socket to support the drive socket on the sleeve. The lockable adapter includes a collar moveable relative to the sleeve. The sleeve moves into the second position configured to lock the drive socket to the sleeve in response to inserting the drive socket onto the sleeve. The sleeve moves into the first position configured to allow removal of the drive socket from the sleeve in response to moving the collar relative to the sleeve.

Abstract: An apparatus providing a platform for installing screws can include a cart with wheels, an assembly rail system mounted to the cart, and a screw assembly mounted to the assembly rail system. The screw assembly can include a screw feeding device, a screw guide tube, and a screwing device such as a drill that rotates a drive shaft that engages a screw received from the screw guide tube. The screw feeding device can include a screw rack that holds screws, and a magnetic grip that moves a screw from the screw rack to a screw feeding tube that is connected to the screw guide tube. The screw guide tube can include bristles for centering a screw received from the screw feeding tube. The apparatus can include a computer control system that operates the screwing device and the screw feeding device.

Abstract: A smart torque system includes a fitting comprising a fitting body defining a fluid flow passage from a first end to a second end, and an electronically readable element that is configured to store information about the fitting including at least a torque requirement of the fitting; an electronic reading device that reads the torque requirement from the electronically readable element; and a torque tool that is programmable by the reading device to set a torque to be applied by the torque tool in accordance with the torque requirement. The electronically readable element may include an RFID or NFC storage device, or a patterned code element, that is read by a complementary reading device. The electronic reading device may be incorporated into the torque tool. In another aspect, a fitting includes a fitting body defining a fluid flow passage from a first end to a second end, and an integrated torque sensor.

Abstract: A cap removal device is adapted to remove end caps from water pump devices. The cap removal device has a cap remover that is adapted to be secured to the end caps of pressure vessels. The cap removal device further has a honed tube that is adapted to stabilize the cap removal device and the end cap during removal of the end cap thereby preventing cross-threading. The cap removal device also has a puller handle that is adapted to make removal of the end cap more efficient.

Abstract: The present invention relates to a tool for expediting the separation of different components of a wheel hub. The tool includes a base and a top that is rotatably connected to the base. The tool may also include a bearing that is connected to the base and to the top, where the bearing enables the rotation of the top relative to the base. A portion of a wheel hub may be located relative to the top, after which the wheel hub and top can be rotated. While this occurs, a heat source can be applied to a portion of the wheel hub to enable even heating. As a result of this heating and related expansion, a first wheel hub piece may be separated from a second wheel hub piece.

Abstract: A bushing displacing system comprising an engaging member and a brace member. The engaging member is configured to engage the brace assembly to displace the engaging member in the displacement direction and at least a portion of the bushing assembly to displace at least a portion of the bushing assembly in the displacement direction. The brace member is adapted to engage the brace assembly and the structural member. Operation of the actuator displaces at least one of the brace assembly and the engaging member in the displacement direction relative to the structural member such that the engaging member displaces at least a portion of the bushing assembly towards a desired position relative to the housing opening in the structural member.

Abstract: A system for retrieving a failed inner check valve that is part of an injection fitting includes a hollow isolation valve assembly that includes a first section and a second section that is detachable from the first section. The first section includes a first valve and the second section including a relief valve. The first valve moves between a closed position in which the first section is completely occluded and an open position and can be in the form of a ball valve. The system also includes an extraction tool that is configured to be coupled to and advanced along the isolation valve assembly. An elongated inner key is configured to be received into and pass through the hollow isolation valve assembly. A distal end of the inner key is configured to engage and unscrew the failed internal check valve for removal thereof.

Abstract: An apparatus for driving a fastening element into a base material, comprising a power unit and a driving element which is provided driven by the power unit in a driving direction from a starting position into a setting position to drive a fastening element into the base material; a braking element with a contact surface which defines the setting position of the driving element and against which the driving element lies in the setting position; a pressing element which has an end surface which can be pressed in the driving direction onto the base material, wherein, in the driving direction, the end surface and the contact surface are at a distance from each other which defines a driving depth of the fastening element into the base material; and, an adjustment device with which the distance between the end surface and the contact surface can be adjusted.

Abstract: A hand-held linear fastener driving tool such as a nailer includes a multi-piston gas spring driver mechanism that includes a piston assembly disposed in a gas cylinder. The piston assembly includes an accumulator piston, a striker piston disposed between the accumulator piston and an open end of the cylinder, and a blade that protrudes from the striker piston. The accumulator piston and the striker piston each form a fluid tight seal with the cylinder inner surface. The piston assembly includes a fluid column that extends between the accumulator piston and the striker piston. A gas storage chamber is disposed between the accumulator piston and the closed end. The piston assembly moves as a unit within the cylinder during tool operation.

Abstract: A fastener driving tool that forces air from its variable venting volume beneath the piston of the working cylinder and directs that forced air through passageways and toward an electronic controller and/or an electric motor before being vented to atmosphere, thereby drawing heat away from those components during an operational cycle of the movable piston. When the piston returns to its initial position, environmental air is drawn through the same passageways, again past the electronic controller and/or electric motor, thereby twice cooling these “hot” components during a single operational cycle.

Abstract: An apparatus, comprising a control element, which stops in a stopping position during a recurring sequence of movements, a control device, which is intended for controlling stopping of the control element in the stopping position by at least one control parameter, a detection device for detecting an actual stopping position of the control element at the time of a stopping of the control element, the control device being suitable for forming a difference between the actual stopping position and a desired stopping position of the control element and adapting the control parameter for a subsequent sequence of movements of the control element if the difference exceeds a predetermined desired value.

Abstract: A unitary tool that combines a ground rod to a self-hammering mechanism in a trapped configuration. The ground rod has a length ranging between forty-two and fifty-two inches for facilitating the self-hammering functionality. The ground rod is made from copper-bonded steel for more effectively grounding an electrical connection than the prior art.

Abstract: The portable power chiseling tool has a tool holder, an electric motor, a striking mechanism and an idle strike catcher. The tool holder can receive a tool and retain it movably on a working axis. The striking mechanism includes an exciter piston, a striker, an anvil and a guide for the anvil. The exciter piston is coupled to the electric motor. The guide guides the anvil on the working axis. The idle strike catcher for the anvil has a conical inner surface facing the anvil. The anvil has an associated end face facing in the striking direction. The end face rests against the conical inner surface when the anvil is in its forwardmost position in the striking direction. The end face of the anvil has a first segment and a second segment in the circumferential direction. The second segment is offset in the striking direction relative to the first segment.

Abstract: A portable power tool has a drive unit for rotationally driving a tool receptacle about an axis of rotation, the drive unit having at least one drive motor and a shiftable transmission, which is arranged in a transmission housing with an at least partially sleeve-like clutch housing and a transmission cover fastened thereto. The tool includes a shifting element for shifting the shiftable transmission between at least two different gears, and a locking sleeve for locking the shifting element in at least a first and a second shifting position is arranged in the clutch housing. The shiftable transmission forms, at least in the first shifting position, a cross-sectional plane perpendicular to the axis of rotation in which the locking sleeve is arranged at least regionally between the transmission cover and the shifting element and the shifting element is arranged at least regionally between the locking sleeve and the clutch housing.

Abstract: A power tool is provided including a housing including a motor case and a handle; an electric motor housed within the motor case and rotatably driving a motor spindle; a gear case mounted on the housing; and an output spindle rotatably coupled to the motor spindle. The output spindle, motor spindle, and the handle form the plane through the housing. A fan is coupled to the motor to generate an airflow through the housing. The housing includes a first air inlet on a first side of the plane and a second air inlet a second side of the plane opposite the first air inlet, both adjacent the motor. The first air inlet is larger than the second air inlet to allow a larger volume of air to enter the housing from the first side of the plane than from the second side of the plane.

Abstract: A power tool includes an illuminating portion as an indicator with improved viewability. A screwdriver includes a motor, an output unit driven by the motor, a housing accommodating the motor and including a grip and a battery mount below the grip, a switch held on the grip, a control circuit board accommodated in the battery mount, and a light emitter on an upper surface of the control circuit board. The batter mount has an upper surface with a first hole located in a left area or a right area of the upper surface. The light emitter emits light viewable through the first hole.

Abstract: An electric circular saw includes a base, a saw blade, a body and a shield. The shield includes a fixed shield, the fixed shield is provided with a window for a user's line of sight to view the saw blade. The body includes a main handle and an auxiliary handle, the auxiliary handle is disposed on a front side of the main handle, the window has an upper extreme position farther from the base, and a cutting point of the saw blade on a product is defined as a position of saw tip, a straight line passes through the upper extreme position of the window and the position of saw tip is defined as a visible line, and the auxiliary handle is configured to deviate from the visible line.

Abstract: A hand-held working apparatus has an apparatus housing, a working tool capable of being motor-driven, a drive motor for the working tool, and an operating data communication component connected to the apparatus housing and having a communication interface configured for wireless transmission of operating data. The operating data communication component has a mounting region by which it is mounted on an attachment region of the apparatus housing. The attachment region is located on an inside of an outer wall of the apparatus housing.

Abstract: A folding stand with a pivoting securing mechanism to secure an object to the stand is disclosed. The stand may include two rails in the same horizontal plane and a securing mechanism that pivots about an axis which is perpendicular to that horizontal plane. The securing mechanism may be positionable in a locked and an unlocked position. The securing mechanism may include one or more arms that extends over a portion of the object in the locked position.

Abstract: Autonomous or automated mobile robots can be configured for transport and logistics applications. Systems for docking of such robots with wheeled carts can be used in methods for operation of such robots.

Abstract: The disclosed systems for automated building construction may include upright supports, a support platform coupled to and vertically movable relative to the upright supports, and a bridge platform coupled to and horizontally movable along the support platform. A track may be mounted on the bridge platform, and a robotic arm may be coupled to and movable along the track. The robotic arm may be configured to retrieve structural insulated panels and to position the structural insulated panels to construct at least a portion of a building. Various other related systems and methods are also disclosed.

Abstract: A layered actuation structure includes one or more actuation platforms interleaved with one or more mounting platforms to form one or more actuation cavities between platform pairs, each platform pair having an individual mounting platform and an individual actuation platform. The layered actuation structure also includes a support arm coupled to the one or more mounting platforms, an actuation arm coupled to the one or more actuation platforms, and one or more artificial muscles disposed in each of the one or more actuation cavities. The one or more artificial muscles each include an electrode pair that is actuatable between a non-actuated state and an actuated state to direct a dielectric fluid into an expandable fluid region of a housing of the artificial muscle, expanding the expandable fluid region thereby applying pressure to the one or more actuation platforms, generating translational motion of the one or more actuation platforms.

Abstract: A series elastic actuator includes a first body, a motor, a pulley, a second body, a wire, a first adjuster, a second adjuster, a first spring, and a second spring. The wire is curved around a seat portion of the pulley, a first extending portion of the wire and the first adjuster are elastically supported with respect to the second body by the first spring, and the second extending portion of the wire and the second adjuster are elastically supported with respect to the second body by the second spring. When an external load is applied to the second body and relative rotation is generated between the pulley and the second body, a moment arm by the load is constant and the external load can be measured on the basis of the measured relative rotation angle and the spring constants of the first spring and the second spring.

Abstract: Some implementations of this specification are directed generally to deep machine learning methods and apparatus related to predicting motion(s) (if any) that will occur to object(s) in an environment of a robot in response to particular movement of the robot in the environment. Some implementations are directed to training a deep neural network model to predict at least one transformation (if any), of an image of a robot's environment, that will occur as a result of implementing at least a portion of a particular movement of the robot in the environment. The trained deep neural network model may predict the transformation based on input that includes the image and a group of robot movement parameters that define the portion of the particular movement.

Abstract: An adjustment method includes (a) causing a robot to execute an adjustment operation using candidate values of operation parameters and acquiring a measurement result of a sensor, (b) updating the candidate values of the operation parameters by executing optimization processing for the operation parameters using the measurement result, and (c) determining adjustment values of the operation parameters by repeating (a) and (b) until the optimization processing converges.

Abstract: A robot control device includes a modification work trained model building section. The modification work trained model building section builds a modification work trained model by training on modification work data when a user's modification operation is performed to intervene in a provisional operation of a robot arm to perform a series of operations. In the modification work data, input data is a state of the robot arm and its surroundings when the robot arm is operating and output data is data of the operation by a user for modifying the provisional operation or the modification operation of the robot arm by the user's operation for modifying the provisional operation.

Abstract: A control device provided with an interpolated attitude deriving section for deriving an interpolated attitude at a via-point of a machine element that moves in a trajectory reaching an end point from a starting point via the via-point, an optimum attitude deriving section for deriving an optimum attitude at the via-point of the machine element, and an attitude deriving section that derives an attitude that the machine element is controlled to have at the via-point on the basis of the interpolated attitude and the optimum attitude.

Abstract: Disclosed is a method and a system or assembling a collection of components, in particular a user-specific collection of components used in aviation and astronautics or in the automobile industry or other industries, wherein a collection of multiple components is assembled in a packaging unit or in a tray, and each of the individual components of the collection of components is assigned an identifier which allows the corresponding component to be tracked.

Abstract: The movement of a machine element of a machine that can be driven via a shaft with the aid of a motor can be guided by specifying a setpoint guidance variable describing a desired movement process of the machine element for the actuation of the motor and determining an actual pilot variable and/or an actual guidance variable from the setpoint guidance variable by subjecting the setpoint guidance variable to a digital path model which simulates the dynamic behavior of the machine element and the motor. The digital path model is parameterized by the total moment of inertia and the poles and zeros of the transfer function of the mechanical system consisting of motor, shaft and machine element.

Abstract: A robot system includes a slave unit including a slave arm having a working end, a slave arm actuator configured to drive the slave arm, and a slave-side controller configured to control the slave arm actuator based on a slave operating command for defining a target position of the working end, a master unit including a master arm having a manipulation end into which the content of manipulation is inputted by an operator, and a system controller configured to generate the slave operating command based on the content of manipulation inputted into the manipulation end. When a command corresponding to the content of manipulation is a command corresponding to a limit equivalent range corresponding to a limit of operation of at least one of the slave arm and the master arm, the system controller performs processing to give perception to the operator.

Abstract: Provided are a mobile robot and a method of driving the same. A method in which the mobile robot moves along with a user includes photographing surroundings of the mobile robot, detecting the user from an image captured by the photographing, tracking a location of the user within the image as the user moves, predicting a movement direction of the user, based on a last location of the user within the image, when the tracking of the location of the user is stopped, and determining a traveling path of the mobile robot, based on the predicted movement direction of the user.

Abstract: A system (1) for emulating remote control of a physical robot (5) via a wireless network (11) is disclosed. The system comprises a control module (2) for determining a trajectory for the physical robot and generating trajectory control data that comprises velocity data and positional data based on the determined trajectory. The system further comprises a first control loop (3), comprising a first feed forward controller (4). The first feed forward controller is configured to receive the trajectory control data, send, via the wireless network (11), and a first velocity command to a first control interface of the physical robot (5). The first velocity command is based on the trajectory data. The first feed forward controller (4) is further configured to receive, via the wireless network, a first set of sensor data from physical robot.

Abstract: This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.

Abstract: A robot motion planning technique using an external computer communicating with a robot controller. A camera or sensor system provides input scene information including start and goal points and obstacle data to the computer. The computer plans a robot tool motion based on the start and goal points and the obstacle environment, where the robot motion is planned using either a serial or parallel combination of sampling-based and optimization-based planning algorithms. In the serial combination, the sampling method first finds a feasible path, and the optimization method then improves the path quality. In the parallel combination, both sampling and optimization methods are used, and a path is selected based on computation time, path quality and other factors. The computer converts dense planned waypoints to sparse command points for transfer to the robot controller, and the controller computes robot kinematics and interpolation points and controls the movement of the robot.

Abstract: A control apparatus (20) includes a control device (21) and the control device (21) includes: a detector (214) that detects an entering person (P) entering a range (E1) of motion of an arm (11); and a limiter (215) that, upon detection of the entering person (P) entering the range (E1) of motion by the detector (214), sets a behavior prohibition range (E2) of the arm (11) where the arm (11) is kept from coming into contact with the entering person (P), thus limiting a behavior of the arm.