Abstract: A remote robot system and a method of controlling a remote robot system capable of responding appropriately according to a user are provided. A remote robot system includes: a robot configured to perform a predetermined operation including collection of local information near the robot; a guide terminal capable of remotely operating the operation of the robot; and a participant terminal capable of remotely communicating with the guide terminal, in which the participant terminal includes: a display panel configured to output the local information acquired from the robot to the user; and an interest detection unit configured to detect user's interest in the output local information.

Abstract: Methods, apparatuses, systems, and computer readable media for tuning a robot system. In a method, sensed positions of a target that is processed by the robot system are collected from a sensor of the robot system during a movement of the robot system at a predetermined velocity and a predetermined accuracy. Robot positions of the robot system are collected from a controller of the robot system during the movement. Robot position estimations are obtained based on the robot positions and the sensed positions, the robot position estimations being associated with a sensor delay of the robot system caused by the sensor. The sensor delay is determined based on the sensed positions and the robot position estimations. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system.

Abstract: A correction device includes: a measurement point generation unit configured to generate a plurality of candidate points corresponding to posture of a robot within a movable range of the robot based on robot mechanism model information representing a mechanism of the robot and end effector information concerning an end effector installed in the robot, and determine, among the generated plurality of candidate points, a candidate point at which joint torque ? of each joint of the robot in the posture corresponding to each candidate point is equal to or more than a predetermined threshold as a measurement point; and a parameter identification unit configured to calculate a position error between a calculated position and a measured position of the end effector in the posture corresponding to the measurement point and identify mechanism error parameters so that the calculated position error is minimized.

Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.

Abstract: A coating device has a coating head that dispenses coating material toward a vehicle body. The coating device also includes a supply device that has a circulation path for circulating the coating material between a reservoir storing the coating material and the coating head, and is capable of controlling the pressure of the coating material flowing through the circulation path. The coating device includes an arm having the coating head and the supply device, wherein the coating robot performs coating of the vehicle body while moving the coating head wherein the coating head moves at a first speed toward a coating start position to start coating the vehicle and moves at a second speed different from the first speed when it reaches a specific position in a movement path to the coating start position.

Abstract: A robot that transfers a substrate includes an arm, a hand, a substrate detector, and a substrate shape abnormality examiner. The hand is installed to the arm and holds and transfers the substrate. The substrate detector detects absence or presence of the substrate in a non-contact manner. The substrate shape abnormality examiner examines the substrate for a shape abnormality based on a height detected by the substrate detector at which the substrate is located when it is not held by the hand.

Abstract: A bending tool with a shoulder, a tool holder groove and a clamping groove on the tool body is described. The bending tool has an oval bore going through the tool body below the shoulder. The tool holder groove side of the tool body has an oval seat extending into the oval through-bore, at the end of which, the end going into the tool body, is a flange extending vertically beyond the oval through-bore.

Abstract: A robotic end effector is disclosed. The end effector is configured to grasp, move, and place one or more objects without assistance from another robot. The end effector includes a lateral member configured to be attached to a robotic arm at a central portion of the lateral member, a passive side member fixedly mounted to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped, and an active side member hinged to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped. The passive side member and the active side member each include a structure, and the structure on the passive side member and the active side member have different profiles.

Abstract: An autonomous solar module installation platform can be used for solar module installation onto a solar tracker. The autonomous solar module installation platform can include an autonomous ground vehicle and a robotic arm for the solar module installation onto the solar tracker. The autonomous ground vehicle can autonomously drive itself to the solar tracker using a global positioning system and align itself with the solar tracker using at least a vision system in order to place one or more solar modules onto the solar tracker.

Abstract: A pick-up chuck for handling a substrate has a chuck body defining a support surface, a gas relay aperture for transmitting a gas, a vacuum aperture portion configured in use to generate a vacuum force to pick up the substrate, and a flow of said gas through the gas relay aperture onto the said support surface towards the vacuum aperture portion. A gas bearing structure arranged on said support surface is shaped to provide a gas bearing between the substrate and said support surface by utilizing the flow of said gas between the gas relay aperture and the vacuum aperture portion.

Abstract: This disclosure presents a manipulator for lifting objects and an upwards open container within which the objects are at least partly arranged. The manipulator includes a first object engaging device for engaging a first object, a second object engaging device for engaging a second object. The manipulation is configured for forcing the first and second objects apart when engaged by the first and second object engaging devices, such that the objects exert an internal force on the container. The disclosure also presents a method for lifting objects and an upwards open container.

Abstract: A case opening apparatus is disclosed. In some implementations, the case opening apparatus may include a suction portion including a first suction portion configured to suction an upper portion of a case of a battery cell being in a folded state and a second suction portion configured to suction a lower portion of the case, and a rotation driving portion configured to open the inside of the case by rotating the first suction portion.

Abstract: Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a frame and an actuator system coupled to the frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component each coupled to the frame. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and/or third clamping components to move the first, second, and/or third clamping components along a transverse axis of the end-of-arm tool.

Abstract: The present invention will provide a suction device adapted to provide gripping and suction forces to pick up and move a wide variety of objects. This is accomplished through a suction compartment, a membrane compartment, deformable membrane sealing said membrane compartment, and at least one pressure mechanism. The at least one pressure mechanism is in fluid connection with the suction compartment and is configured to modify properties within the suction compartment to assist in providing gripping and attractive forces. The present invention will grasp an object by positioning the deformable membrane adjacent to said object, modifying the deformable membrane to conform to and create a seal with said object, and then depressurizing the suction compartment via the pressure mechanism, providing a suction force onto said object within that sealed area sufficient to grasp said object.

Abstract: A gripping assembly for gripping an object is provided. The gripping assembly includes a gripping member. The gripping member includes a mounting base and a plurality of fingers. The plurality of fingers include a central finger and a plurality of adjoining fingers. The central finger is slidably coupled to the mounting base such that the central finger is movable in a lateral direction. The plurality of adjoining fingers are positioned on opposing sides of the central finger in a longitudinal direction. Each of the plurality of adjoining fingers are pivotally coupled to the mounting base and coupled to the central finger such that a movement of the central finger in the lateral direction pivots the plurality of adjoining fingers with respect to the mounting base.

Abstract: A soft-robotic grasper includes a plurality of elongated, entangling filaments having a length-to-thickness ratio of at least 20. The grasper can comprise a manifold that includes an inlet port and a plurality of outlet ports in fluid communication with the outlet ports, wherein each elongated filament is coupled in fluidic communication with a respective outlet port of the manifold, wherein each elongated filament defines an interior hollow channel into which a pressurized fluid can be pumped through the respective outlet port with which it is coupled, wherein each elongated filament is mechanically programmed to undergo a curling displacement when pressurized fluid is pumped into its interior hollow channel, and wherein the elongated filaments are spaced and configured to entangle with one another when displaced via the pumping of the pressurized fluid into the interior hollow channels of the elongated filaments.

Abstract: A robot is for transferring a substrate. The robot includes an arm, a hand, and a tilter. The arm is movable. The hand is installed to the arm to project from it and holds and transfers the substrate. The tilter tilts an orientation of the hand. The hand includes a holder. The holder contacts the top surface and the bottom surface of the substrate. With the tilter, the holder holds the substrate keeping in contact with the top surface and the bottom surface of the substrate and applying forces to only one of two halves of the substrate bisected.

Abstract: The present invention relates to improvements in the field of tools, such as utility knives. The tool features a battery powered illumination element that allows the user to illuminate the working surface and working edge. This enhances working with a tool or utility knife in conditions where there is inadequate light. The user can press a button on the handle to activate or deactivate the light without deploying the blade, and the batteries that power the light may be replaced or recharged as needed.

Abstract: A safety razor has a blade unit with a housing and a razor blade, and an elongated handle having a uniform thickness and having a first end including an aperture extending into the thickness, and an opposed second end. The safety razor also has a connector to connect the blade unit to the handle. A body of the connector has a recess with an opening, and a user-operable latch including a protrusion extending into the recess. The first end of the handle is removably received in the recess and the protrusion is received in the aperture to secure the handle to the connector. The protrusion is releasable from the aperture by a user-applied force to a lever at an end of the latch opposite the protrusion end to release the first end of the handle from the recess.

Abstract: A safety razor handle with a chunky, non-elongate handle body comprising a core layer made of a plurality of sub-layers and an outer layer at least substantially covering the core layer.

Abstract: Disclosed here are shaving razor systems and methods including razor cartridges with a unitary frame having a length and width, a topside and an underside, wherein the unitary frame includes angled joints or bends connecting at least three guards running lengthwise on the unitary frame, the guards separated by at least three gaps in the frame, and at least three blades, affixed to the underside of the guards of the unitary frame, wherein the at least three blades include edges, and wherein the blade edges extend into the gaps in the frame when affixed to the underside of the guards of the unitary frame.

Abstract: A knife is provided for a cutting device for cutting continuous rods in a manufacturing process, the knife including: a knife body having a distal end and a proximal end opposite the distal end, the knife body configured to be attached to a cutting device; and a cutting edge located at the distal end of the knife body, the cutting edge including at least two cutting edge segments, each cutting edge segment including a profile, the profile including one maximum protrusion from the knife body, and at least a portion of a second cutting edge segment of the at least two cutting edge segments protruding, from the knife body, to a greater extent than the maximum protrusion of a first cutting edge segment of the at least two cutting edge segments, from the knife body. A cutting device, and a method of manufacturing a cutting device, are also provided.

Abstract: Insulated, load bearing wall panels are machined from a raw foam slab of foam material. The raw foam slab is loaded into a Turcotte sculptor. The Turcotte sculptor is an elegant 36-axis machine that machines the raw foam slab into one or more insulated foam wall panels. The Turcotte sculptor, in particular, may accept very large 18x4x2 feet slabs of foam material. The Turcotte sculptor then individually commands and actuates any of 36 linear actuators to produce the one or more insulated foam wall panels. The Turcotte sculptor, within minutes, simultaneously machines the raw 18x4x2 foam slab into two (2) 9-feet tall wall panels for 9-feet ceilings. The Turcotte sculptor may easily machine other wall sizes. The Turcotte sculptor thus efficiently and quickly volume produces entire one-piece, single-height insulated wall panels at reduced cost and with outstanding energy performance.

Abstract: “A system controls the quality of products in output from a cutting machine, for instance, a log saw that has at least one cutting disc and a sharpening wheel. The control system comprises a PLC controller suitable for controlling the cutting and sharpening process and an inspection system suitable for scanning at a specific time instant, a set of quality values of a roll in output from the cutting machine. A processing unit receives the set of quality values and sends to the PLC controller a command aimed at performing an action consisting of increasing or decreasing one of the following parameters: sharpening time, sharpening frequency, and differential speed between the wheel and the disc, based on the comparison between the set of quality values and a reference quality value, and the action carried out at the previous time instant”.

Abstract: A system (50) for controlling performance of a slitter-winder (25) and/or a fiber web production line (100) has an advisor unit (34, 36, 37) with a processor and a memory including computer program code, configured to cause the advisor unit (34, 36,37) to generate and transmit signals as first control data to the slitter-winder (25) and/or as second control data to the fiber web production line (100) based on information data received from the slitter-winder (25) and the fiber web production line (100) to control performance of the slitter-winder (25) and/or the fiber web production line (100). Performance of a slitter-winder (25) and/or a fiber web production line is controlled by receiving information data from the slitter-winder and the fiber web production line (100), processing the received information data according to a predetermined configuration, based on the processed data; generating signals according to the predetermined configuration to control the performance.

Abstract: A knife holder is provided. The knife holder includes: a base; a pressure plate pivotally arranged to the base and configured to releasably clamp a blade in a sectioning position together with the base; and a blade changing apparatus embedded in the base and configured to output an unused blade out of the base to change a used blade.

Abstract: In order to keep anticaking agent—related dead times of a slicing machine as low as possible, excess anticaking agent suspended in the air is sucked off by a suction unit so that as little as possible is deposited on parts of the machine which subsequently have to be cleaned frequently, and/or instead of a single reservoir, several different reservoirs are used, which are switchable in their connection to a spray opening to be supplied, whereby it is easy to switch from an empty to a full reservoir, while the change or refilling of the emptied reservoir can be carried out without dead time during a cutting operation.

Abstract: To minimize contamination by an anticaking agent of parts of a slicing machine located away from a slice to be produced or already produced by the slicing machine, only a corresponding main surface of the slice is coated with the anticaking agent, if possible. For which purpose, an actual anticaking agent image on the main surface is automatically determined and compared by a control with a predetermined target anticaking agent image and, depending on this, a spray direction and spray distance of the spray opening from an application point are automatically corrected by the control.

Abstract: A punching device, includes a die configured to support a paper sheet and a punch unit configured to perform a punch process, wherein the punch unit includes a pressing section, a punch that has a conical shaped tip end section and that is configured to move up and down, and a punch guide hole configured to accommodate the punch and to guide the punch in up and down movement and the die includes a hole section provided in a portion facing the punch and through which the punch is passable, a die blade provided at an upper end periphery of the hole section and configured to cut the sheet in cooperation with the punch, and after the sheet is pressed by the die and the pressing section, the punch process is performed by lowering the punch while bringing the tip end section into contact with the paper.

Abstract: A chainsaw, a lubrication system for a chainsaw, and a lubricant for a chainsaw are provided. The chainsaw includes a lubrication system and guide bar extending from a housing. The lubrication system includes a reservoir at which a lubricant is contained. The reservoir is releasably attachable to a machine drive device. The machine drive device includes a body at which a pump apparatus is positioned. The machine drive device forms an inlet opening in fluid communication with the reservoir. The machine drive device forms an outlet opening at which a conduit is fluidly coupled to receive the lubricant. The conduit forms a conduit outlet through which the lubricant is provided to the guide bar.

Abstract: An equipping device can accommodate a supply of coating material for a coating machine or a material storage system. The coating material can be kept available and/or evaluated by means of such an equipping device. Additionally, the present disclose also relates to workpieces in the field of furniture and components industry that can be coated with a coating material that can help the user identify the quantity of coating material being used or remaining.

Abstract: A method for forming grooves in a board element. An exemplary method includes arranging the board element in contact with a support member, and forming at least one groove in a rear side of the board element by removing material, such as chips, from the board element by rotating one or more cutting devices including a plurality of tooth elements configured to rotate around a rotational axis. A method further includes counteracting, such as preventing, a displacement of the board element away from the support member during forming of the at least one groove, wherein the counteracting, such as preventing, includes arranging at least a portion of the board element between an obstruction element and the support member.

Abstract: A multi-cavity forming mould system for forming a plurality of discrete three-dimensional cellulose products from an air-formed cellulose blank structure. The forming mould system includes a first mould part and a second mould part arranged for cooperating with each other during forming of the cellulose products. The first mould part includes a plurality of first forming elements and the second mould part comprises a plurality of corresponding second forming elements movably arranged in relation to a base structure of the second mould part. The forming mould system is configured for establishing a plurality of forming cavities for the cellulose blank structure between each first forming element and corresponding second forming element during formation of the cellulose products.

Abstract: A method of producing concrete blocks for creating a surface covering, wherein each concrete block comprises a multiple-layer concrete block body with at least one level concrete block underside and, opposite the at least one level concrete black underside, an essentially flat concrete block upper side, wherein the multi-layer concrete block body comprises a first concrete block layer designed as a facing concrete layer and forming the concrete block upper surface, at least one second concrete block layer designed as a core concrete layer, as well as at least one third concrete block layer forming the concrete block underside. In the method at least one formwork is provided.

Abstract: The present disclosure discloses a method for compression casting concrete to reduce the amount of cement, including: adopting any existing concrete mix proportion designed for concrete of given strength, mixing the concrete, pouring the concrete into a mould, and compressing the concrete at a given pressure, where 28-day strength of the compacted concrete is increased; gradually reducing the amount of cement while keeping the amounts of other materials unchanged, where 28-day strength of the concrete is gradually reduced until the concrete meets a design index; proportionally reducing amounts of water and cement in a last mix proportion while keeping the amounts of other materials unchanged, where during compression casting of the concrete, discharge of cement paste is gradually reduced until no cement paste is discharged; and compression casting a concrete member according to a final mix proportion.

Abstract: The present disclosure discloses a method for compression casting concrete by reducing an amount of cement, including: adopting any existing concrete mix proportion designed for concrete of given strength, mixing the concrete, pouring the concrete into a mould, and compressing the concrete at a given pressure, where 28-day strength of the compacted concrete is increased; gradually reducing an amount of cement while keeping amounts of other materials unchanged, where 28-day strength of the concrete is gradually reduced until the concrete meets a design index; proportionally reducing amounts of water and cement in a last mix proportion while keeping amounts of other materials unchanged, where during compression casting of the concrete, discharge of cement paste is gradually reduced until no cement paste is discharged; and compression casting a concrete member according to a final mix proportion.

Abstract: A cutting apparatus having adjustable direction, according to the present invention, can comprise: a cutting frame; a cutting shaft disposed at the front of the cutting frame and a cutting blade fitted into the cutting shaft, when the proceeding direction of the cutting apparatus is the front and the opposite direction thereof is the rear; a direction-adjusting unit positioned below the cutting frame at the rear of the cutting frame so as to be connected to the cutting frame and adjust the cutting shaft so that same can rotate; and an intermediate frame for supporting the direction-adjusting unit.

Abstract: A wafer manufacturing method includes a peeling start point forming step of applying, to an ingot, a laser beam of such a wavelength as to be transmitted through the ingot, with a focal point of the laser beam positioned at a depth corresponding to the thickness of a wafer to be manufactured, from an end face of the ingot, to form a peeling start point, and a peeling step of peeling off, from the peeling start point, the wafer to be manufactured from the ingot. In the peeling step, degassed water is supplied to the end face of the ingot to generate a degassed water layer, and an ultrasonic wave is applied to break the peeling start point.

Abstract: There is provided a rotor for use in an tangential internal batch mixer, the rotor comprising a main body configured to rotate about a rotor axis, a wing extending from the main body, and arranged helically about a portion of the main body, the wing comprising a wing tip surface, a first portion of the wing tip surface extending between a first edge and a second edge of the wing, wherein the first edge comprises a first helix angle and the second edge comprises a second helix angle, the first helix angle being different to the second helix angle.

Abstract: A method of filling a mold comprising filling a majority of a mold cavity with an extrudate from at least one extruder wherein the extrudate, which is conveyed to an inlet of the mold, is at a pressure of 1-500 psi, subsequently isolating the mold cavity from a conduit which conveys the extrudate to the mold cavity, and subsequently using a pressurization member to fill a remainder of the mold cavity with additional extrudate, wherein the pressurization member excepts a pressure above 500 psi on the additional extrudate.

Abstract: Device for mixing at least two chemically reactive plastics components under pressure, having a mixing chamber, into which the plastics components are injected in each case by way of a component-feeding opening, wherein a reversible control piston is provided for opening and closing the component-feeding openings and for discharging plastics mixture remaining within the mixing chamber, wherein the control piston is connected to an electric drive. Alternatively, in the case of a transfer mixing head, the cleaning piston may be coupled to an electric drive. A method for operating such a mixing head is also disclosed.

Abstract: Systems for manufacturing bulked continuous carpet filament from polymer, where the systems are configured for: (1) passing polymer flakes through a crystalliers; (2) melting the polymer to create a first single stream of polymer melt; (3) separating the first single stream of polymer melt into multiple streams of polymer melt; (4) exposing the multiple streams of polymer melt to a pressure of between about 0 millibars and about 25 millibars in a chamber; (5) recombining the multiple streams of polymer melt into a second single stream of polymer melt; and (6) providing the second single stream of polymer melt to one or more spinning machines that are configured to form the second single stream of polymer melt into bulked continuous carpet filament.

Abstract: An ejection device having a pushing device that can be moved in translation along a first axis, an ejection element is translatable along a second axis different from the first axis, and a transfer device connecting the pushing device and the ejection element. The transfer device includes a transmission chain having at least two transmission links which are translatable in a sliding direction. The ejection device further includes an adjustment wedge mounted on the pushing device, the adjustment wedge having an adjustment surface forming an adjustment angle, with the transmission chain being mounted on the adjustment surface.

Abstract: A casting mold for producing a casting having a front side and a rear side from a curable casting compound, including at least a first mold part shaping the front side and a second mold part shaping the rear side, the mold parts together delimiting a casting cavity. The first mold part has a first metal layer delimiting the casting cavity and the second mold part has a second metal layer delimiting the casting cavity. At least one metal layer is at least partially deformable for the purpose of changing the casting cavity volume. At least one mold part has an areal intermediate layer which is composed of an elastically deformable and compressible material and against which the metal layer of the mold part is movable with build-up of a restoring force on the part of the deforming intermediate layer.

Abstract: A method for producing a cellulose product from a multi-layer cellulose blank structure, wherein the method comprises the steps; forming the multi-layer cellulose blank structure from at least a first layer of dry-formed cellulose fibres and a second layer of a cellulose fibre web structure, through arranging the at least first layer and second layer in a superimposed relationship to each other and in the superimposed relationship arranging the at least first layer and second layer in contact with each other; arranging the multi-layer cellulose blank structure in a forming mould; heating the multi-layer cellulose blank structure to a forming temperature in the range of 100° C. to 300° C.

Abstract: The present disclosure relates to an injection mold, a process for using same and a product therefrom. The injection mold can be used for manufacturing an injection-molded product. The injection mold includes: a transfer mold, which is disposed in front of the injection-molded product and forms a pattern on a front surface of the injection-molded product; and a rear surface mold, which is disposed behind the injection-molded product, wherein an embossing pattern is formed on a rear surface part of the rear surface mold, which faces a rear surface of the injection-molded product.

Abstract: A hot runner system includes a manifold having a heater and a manifold channel network extending between a manifold inlet and a plurality of manifold outlets for distributing a molten plastic. A nozzle seated against the manifold and received in a respective manifold outlet has an extension portion received in the respective manifold outlet, a body portion projecting downstream from the extension portion, and a nozzle channel extending through the extension portion and the body portion. The hot runner system further includes a nozzle support seated against the nozzle, the nozzle support including an upstream nozzle support and a downstream nozzle support, the downstream nozzle support is discrete from and in slidable contact with the upstream nozzle support, and the downstream nozzle support having a looser fit with the body portion of the nozzle than that of the upstream nozzle support’s fit with the body portion of the nozzle.

Abstract: An actuator system for an injection molding system includes a double acting pressurized fluid actuator having a piston drive movable in a cylinder space, a flow control valve for regulating a flow rate of pressurized fluid to and/or from the cylinder space, a flow sensor for detecting the flow rate of pressurized fluid to and/or from the cylinder space, and an electronic controller for controlling the flow control valve to regulate the flow rate of pressurized fluid to and/or from the cylinder space depending on the flow rate detected by the flow sensor.

Abstract: A casting mold for producing a casting having a front side and a rear side from a curable casting compound, including at least a first mold part shaping the front side and a second mold part shaping the rear side, the mold parts together delimiting a casting cavity. The first mold part has a first metal layer delimiting the casting cavity and the second mold part has a second metal layer delimiting the casting cavity. The two metal layers overlap in the region of their peripheries and at least the first metal layer is heatable by way of an assigned heating device. An insulation element is arranged on the metal layer of the first or of the second mold part in a peripherally encircling manner. The insulation element in the closed position bears peripherally against the other metal layer and thermally separates the two metal layers, which do not come into contact with one another, from one another.

Abstract: A plasticizing device includes a flat screw including a groove forming surface in which a groove is formed, a barrel having a facing surface and a communication hole formed in the facing surface, the communication hole allowing a plasticized material to flow out, a heating unit, a flow path through which the plasticized material flows, a nozzle communicating with the flow path, a plurality of measurement units configured to measure pressures or temperatures in the flow path, an aspiration delivery unit, including a cylinder, having a branch flow path and a plunger configured to move in the cylinder so as to aspirate the plasticized material into the branch flow path or deliver the aspirated plasticized material to the nozzle, and a control unit configured to identify a state of the plasticized material in the flow path based on measurement values of the measurement units.