Abstract: A tool rack for a firehouse is configured to hold fireman's tools in a way that facilitates quick access to the tools when responding to a fire, but which also keeps the tools tidy and organized until need for them arises. A frame supports the tool rack on a support structure such as a wall. The tool rack has distinct compartments for holding tools of various lengths. The tool rack has a short tool hanger configured to hang a plurality of short-length tools such as Halligans from the tool rack. The tool rack defines a long tool stand compartment configured to hold a plurality of long-length tools stood up vertically in the long tool stand compartment. The tool rack has a medium tool shelf compartment with horizontal tool shelves that are configured for holding one or more medium-length tools laid horizontally.

Abstract: A slider limit tool placement plate, wherein the plate is provided with a slider to limit the tool strip in the Z-axis, the sliding piece includes a pressing plate part, two compression edge parts, an abutting edge and an inner side, wherein the pressing plate part is used to align the second end section of the tool strip and has the Z-axis limiting effect, and the compression edge part is embedded in the second end buckle part in a sliding manner along the X-axis. An anti disengaging stopper is formed at the bottom of the plate adjacent to the edge of the second end. The anti disengaging stopper includes a release control part and a clamping part with elastic swing reset characteristics, wherein the clamping part and the height of the slider inside in the Z-axis present a relative alignment relationship, and the release control part is used to release the abutting state of the clamping part.

Abstract: A system for deploying a magnetic robotic crawler onto a surface of an elevated asset, the crawler being of the type that is capable of magnetically attaching to and traversing the surface. The system comprises an extendable pole having a proximal end and a distal end. The system also comprises a docking station having a housing for receiving the crawler. The docking station is provided at the distal end of the pole. The docking station also includes magnetic feet mounted at a distal end of the housing and configured to magnetically couple with the surface. The system can also comprise an extendable pole having a proximal end and a distal end and an end effector attached to the distal end. Specifically, the end effector is configured to selectively attach to and detach from a complementary shaped receiver provided on the crawler.

Abstract: A workpiece supply system for supplying a workpiece to a target device includes: a robot mount carriage including a manually-moved carriage having a plurality of wheels, a robot mounted on the carriage, and a controller controlling the robot; and a manually-moved workpiece storage carriage having a plurality of wheels and including a workpiece storage storing the workpiece. One of the robot mount carriage and workpiece storage carriage includes one of a pair of associators for associating them with each other, and the other of the robot mount carriage and workpiece storage carriage includes the other of the pair of associators. The pair of associators consists of a camera provided on the robot and an identifier provided on the workpiece storage carriage or consists of an engaged body provided on one of the robot and workpiece storage carriage and an engaging body provided on the other of the robot and workpiece storage carriage.

Abstract: A control system includes one or more processors configured to perform system control for controlling a system including a mobile robot configured to move autonomously and transport a transport object. The mobile robot includes a contact portion which comes into contact with a transport box configured to store the transport object when loading and transporting the transport box, and a first light-emitting unit provided around the contact portion and configured to emit light in a predetermined light emission pattern associated with a state of the mobile robot. The transport box includes a box-side light-emitting unit which is a light-emitting unit provided on the transport box. The system control includes control on the box-side light-emitting unit to emit light in a light emission pattern corresponding to the predetermined light emission pattern of the first light-emitting unit when the transport box is loaded on the contact portion.

Abstract: An exoskeleton device including an exoskeleton with a base section, a support section movably coupled to the base section for supporting a body part of the human body, and an actuator device acting on the support section for providing a support force for the body part. The exoskeleton device further includes a sensor device for detecting a risk variable which includes a movement of the support section and/or a force and/or a pressure between the support section and the body part, and a control device for controlling the actuator device. The control device is configured to detect a risk state on the basis of the detected risk variable, in which risk state there is a risk of health impairment and/or damage, and to initiate a safety measure in response to the detection of the risk state, which comprises outputting a warning signal and/or counteracting the risk state.

Abstract: An exoskeleton device including an exoskeleton with a base section for attachment to a body section, in particular the torso, of the human body, a support section movably coupled to the base section for supporting a body part, preferably a limb, in particular an arm, of the human body, an actuator device, in particular a pneumatic actuator device, acting on the support section for providing a support force for the body part. The exoskeleton device further includes a light output device and a control device which is configured to control the light output device in order to adjust an orientation of a light beam provided by the light output device and/or a light intensity of the light output device and/or to project auxiliary information into an environment of the exoskeleton device.

Abstract: A method for toy robot programming, the toy robot including a set of sensors, the method including, at a user device remote from the toy robot: receiving sensor measurements from the toy robot during physical robot manipulation; in response to detecting a programming trigger event, automatically converting the sensor measurements into a series of puppeted programming inputs; and displaying graphical representations of the set of puppeted programming inputs on a programming interface application on the user device.

Abstract: An articulated work robot device includes: a lower body; a bridgehead coupled to a common axis at a first position of the lower body to be rotatable; first and second articulated arms configured to be overlapped with each other up and down, and having first ends respectively disposed at second and third positions opposite to each other with respect to the common axis on the bridgehead to be rotatable together through the common axis; first and second plurality of hands respectively coupled at second ends of the first and second articulated arms through scissor links; and first and second composite drive modules disposed in an internal space of the bridgehead and driving the first and second articulated arms and the first and second plurality of hands, respectively.

Abstract: A control system, method and computer program product cooperate to assist control for an autonomous robot. An interface receives recognition information from an autonomous robot, said recognition information including candidate target objects to interact with the autonomous robot. A display control unit causes a display image to be displayed on a display of candidate target objects, wherein at least two of the candidate target objects are displayed with an associated indication of a target object score.

Abstract: A robot control device includes a gripping posture generation section that calculates a gripping posture taken upon gripping an object with a hand of a robot; an observation position generation section that calculates an observation position where the object is observable by the robot on the basis of the gripping posture calculated by the gripping posture generation section; an observation posture generation section that calculates an observation posture of the robot at the observation position on the basis of the gripping posture calculated by the gripping posture generation section and the observation position calculated by the observation position generation section; and a robot control section that controls a posture of the robot to cause the robot to take the observation posture calculated by the observation posture generation section, causes the robot in the observation posture to observe the object, and then causes the robot to approach the object.

Abstract: A method (for handling objects arranged in a work area) comprising carrying out a plurality of handling cycles one after the other, each handling cycle comprising capturing at least one image of the work area, determining, on the basis of the at least one image, at least one grip point candidate at which a corresponding object can be gripped with the end effector, wherein the determined grip point candidates form a set Me of grip point candidates, selecting a grip point candidate as the target grip point for the end effector, and performing a handling task comprising moving the end effector to the target grip point, wherein at least one subset Mes of the set Me is stored in a grip point memory, and at least one subset Mtes of the grip point candidates Mes stored in the grip point memory remains stored at least until the next handling cycle.

Abstract: A robot teaching method and apparatus for high-level work are provided. The robot teaching method includes displaying templates corresponding to a plurality of tasks to be performed by a robot on a display, when any one template of the displayed templates is selected, providing unit tasks included in the selected template, receiving user teaching information for each of the provided unit tasks, and deriving a final teaching result of the robot so that the robot performs a task corresponding to the selected template, by correcting the received user teaching information according to a preset standard.

Abstract: A trained model includes a class inference model, a first holding mode inference model, and a second holding mode inference model. The class inference model is configured to infer, based on an inference image of a holding target object, a classification result obtained by classifying the holding target object into a predetermined holding category. The first holding mode inference model is configured to infer, based on the classification result and the inference image, a first holding mode for the holding target object. The second holding mode inference model is configured to infer, based on the first holding mode and the inference image, a second holding mode for the holding target object. A trained model generation method includes generating a trained model by performing learning using learning data including a learning image of a learning target object corresponding to a holding target object.

Abstract: A method for intelligently controlling a mechanical arm includes building a twin model of a mechanical arm, and extracting a state parameter and an action parameter corresponding to task characteristics from the twin model; determining a reward function corresponding to the task characteristics; training a twin delayed deep deterministic policy gradient (TD3) reinforcement learning model; simulating in the twin model based on a physical state parameter of the mechanical arm by using the TD3 reinforcement learning model, to obtain a controllable parameter; and controlling the mechanical arm to execute a corresponding task by using the controllable parameter. The TD3 reinforcement learning model is built based on the state parameter and the action parameter corresponding to the task characteristics and the reward function corresponding to the task characteristics, which can adapt to a dynamically changing environment and requirements for multiple tasks.

Abstract: An apparatus, including: an interface configured to receive a target end-effector pose of a cobot; processing circuitry configured to: generate in a generic robot model a joint trajectory based on the target end-effector pose; employ a trained neural network model to map the joint trajectory generated in the generic robot model into a cobot model; and generate a movement instruction to control a movement of the cobot based on the joint trajectory mapped to the cobot model, wherein the generic robot model has a number of degrees of freedom that is equal to or greater than that of the cobot model.

Abstract: A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).

Abstract: A method includes: accessing a coating thickness range for workpiece coating; triggering an optical sensor to capture scan data representing the workpiece; triggering a depth sensor to capture a first depth value; assembling the scan data into a first virtual model representing the workpiece; defining first spray parameters corresponding to a minimum coating thickness; defining a first toolpath; driving a coating applicator along the first toolpath to spray the coating onto the workpiece; triggering the depth sensor to capture a second depth value; calculating a first coating thickness based on the first depth value and the second depth value; in response to the first coating thickness falling below the target minimum coating thickness defining a second set of spray parameters and a second toolpath; and driving the coating applicator along the second toolpath to spray the coating onto the workpiece according to the second set of spray parameters.

Abstract: Various embodiments of the present technology generally relate to robotic devices, artificial intelligence, and computer vision. More specifically, some embodiments relate to an imaging process for detecting failure modes in a robotic motion environment. In one embodiment, a method of detecting failure modes in a robotic motion environment comprises collecting one or more images of a multiple scenes throughout a robotic motion cycle. Images may be collected by one or more cameras positioned at one or more locations for collecting images with various views. Images collected throughout the robotic motion cycle may be processed in real-time to determine if any failure modes are present in their respective scenes, report when failure modes are present, and may be used to direct a robotic device accordingly.

Abstract: A remote-controlled robot autonomously travels to a plurality of task execution places according to a patrol schedule and executes a plurality of tasks at each task execution place, and includes a setting acquisition unit, and a first switching unit. The setting acquisition unit acquires setting of whether to perform autonomous operation or to perform manual operation by an operation of an operator from a remote control terminal for each of a plurality of tasks to be executed at each task execution place. The first switching unit switches between task execution by autonomous operation and task execution by manual operation based on the acquired setting.

Abstract: An acquisition section (31) acquires command values to execute a task on a target object with a robot (40) and acquires state data representing a state of the robot (40) in a case in which an action of the robot (40) during the task is taught manually, which is state data of plural types including at least action data representing an action of the robot (40), position/orientation data representing a relative position and relative orientation between the robot (40) and the target object, and external force data representing external force received by the target object during the task. A generation section (33) generates a generator for, based on the command values and the state data acquired for corresponding times by the acquisition section (31), generating command values to execute an action with the robot (40) corresponding to the state data that has been input.

Abstract: A device includes: a weaving signal generation unit that generates a weaving signal for causing a robot to swing a tool; a chronological data acquisition unit for acquiring chronological data of the amplitude value of the tool when the robot is caused to execute a weaving motion according to the weaving signal; a frequency characteristic acquisition unit for acquiring a first frequency characteristic of chronological data; a resonance determination unit for determining, on the basis of the first frequency characteristic, whether or not the robot is resonating at the frequency of the weaving signal generated by the weaving signal generation unit; and a correction unit for correcting the weaving signal so as to change frequencies if the robot is determined to be resonating.

Abstract: An apparatus, including: an interface operable to receive sensor data and generate a map representation of an environment of a robot; processing circuitry operable to: plan a sequence of states to direct the robot to a task goal of the robot based on the map representation and a kinematic state of the robot for a plurality of degrees of freedom; determine a time-dependent trajectory of the robot to the task goal based on the sequence of states by dynamically enabling or disabling one or more of the plurality of degrees of freedom; and generate a movement instruction to control movement of the robot based on the time-dependent trajectory.

Abstract: This robot simulation device is provided with an operation simulation execution unit that executes an operation simulation of a robot in accordance with an operation program, and a driving sound generation unit that simulates and generates a driving sound according to an operation state of the robot in the operation simulation, on the basis of driving sound data obtained by recording the driving sound of an actual robot.

Abstract: The invention relates to a robot system for detection of an operation anomaly. The robot system comprises: an industrial robot; a robot controller configured to control operation of said industrial robot; a robot operation program which is executable by said robot controller to operate said industrial robot according to a robot operation cycle; respective program nodes integrated in said robot operation program, wherein each of said respective program nodes is associated with a separate operational element of said robot operation cycle; wherein said robot controller is configured to obtain reference data based on operation parameters associated with execution of said robot operation program; and an anomaly detection block which for at least one of said respective program nodes is configured to evaluate an operation anomaly of said robot operation parameters relative to a representation of said reference data.

Abstract: A method and monitoring system includes a first person detector that is configured to output a first position indicator relating to a person identified in a monitoring region via a first channel, a second person detector which is configured to output a second position indicator relating to the person identified in the monitoring region via a second channel, and a diagnostic unit having first input for receiving the first position indicator, a second input for receiving the second position indicator, and a first output for a checked position indicator relating to the identified person and a second output for an error signal.

Abstract: A robot has a controller and a sensor. The sensor is communicatively coupled to the controller. The controller includes a contact response system. A safety response of the contact response system is activated for the sensor. A method of operation of the robot includes detecting, by the sensor, a contact between the robot and a human, the contact resulting from a motion of the robot, and determining, by the controller, whether the contact between the robot and the human is an expected or unexpected contact. In response to determining the contact between the robot and the human is an expected contact, the safety response is deactivated for the sensor to allow the robot to proceed with its motion uninterrupted. In response to determining the contact between the robot and the human is an unexpected contact, the contact response system causes the robot to interrupt the motion of the robot.

Abstract: A robot has a controller and a sensor. The sensor is communicatively coupled to the controller. The controller includes a contact response system. A safety response of the contact response system is activated for the sensor. A method of operation of the robot includes detecting, by the sensor, a contact between the robot and a human, the contact resulting from a motion of the robot, and determining, by the controller, whether the contact between the robot and the human is an expected or unexpected contact. In response to determining the contact between the robot and the human is an expected contact, the safety response is deactivated for the sensor to allow the robot to proceed with its motion uninterrupted. In response to determining the contact between the robot and the human is an unexpected contact, the contact response system causes the robot to interrupt the motion of the robot.

Abstract: A collaborative-manipulation robotic arm for kitchen waste and a working method thereof are provided. The robotic arm includes: a base, including a transverse first mounting seat and a second mounting seat connected to the first mounting seat and extending downward; a driving mechanism, disposed at an end of the first mounting seat away from the second mounting seat; a front guide claw, an upper end of the front guide claw being connected to the driving mechanism; a fixed blade, disposed on a side of the second mounting seat facing the front guide claw; and a retractable finger, disposed at a lower end on the side of the second mounting seat facing the front guide claw. The fixed blade, the retractable finger, and the second mounting seat form a rear cutting claw.

Abstract: A computer-implemented method/product for controlling a handling system, comprising performing one or more control cycles, each control cycle comprising receiving image data that represents an image of at least one portion of an item to be gripped, which image is captured by a detection device, determining a target gripping point on the item for the end effector, comprising analyzing the image data, generating control signals which cause the at least one robot to grip the item at the target gripping point by means of the end effector, wherein determining the target gripping point comprises analyzing the image data by two or more mutually independent gripping point determination algorithms, wherein each of said gripping point determination algorithms determines at least one gripping point candidate, and wherein the gripping point candidates determined by the two or more gripping point determination algorithms form a set Me of gripping point candidates.

Abstract: An automatic car wash system and an automatic car wash method are disclosed. A washing path is created for each of common vehicles on the market. The washing path is generated by manually pulling a washing unit to move along the contour of a vehicle, without any dead spots. When the vehicle is to be washed, the washing path corresponding to the type of the vehicle is selected, and the washing unit is driven to wash the vehicle along the washing path. The automatic car wash system can wash different vehicles fully, without dead spots, improving the cleanliness of automatic car wash greatly.

Abstract: According to one embodiment of the present disclosure, a product transfer apparatus is provided. The product transfer apparatus includes a holder unit for holding a product, an arm unit for moving the holder unit to a stock shelf and a display shelf, a first image capture unit for capturing an image of the display shelf, a second image capture unit for capturing an image of the stock shelf, and a control unit for controlling operation of the arm unit, the holder unit, and the first and second image capture units.

Abstract: A method includes receiving sensor data for an environment about the robot. The sensor data is captured by one or more sensors of the robot. The method includes detecting one or more objects in the environment using the received sensor data. For each detected object, the method includes authoring an interaction behavior indicating a behavior that the robot is capable of performing with respect to the corresponding detected object. The method also includes augmenting a localization map of the environment to reflect the respective interaction behavior of each detected object.

Abstract: A method may include sending a query to one of a cobot or an LLM, where the query may be formed to trigger the cobot to perform a target objective, and where the LLM may be constrained to respond to requests to cause the cobot to perform a given objective with a set of human-readable discrete tasks to accomplish the given objective. The method may also include receiving a target set of human-readable discrete tasks from the LLM, where the target set of human-readable discrete tasks may correspond to target computer-readable code that is configured to cause the cobot to perform the target objective. The method may additionally include auditing the target set of human-readable discrete tasks, and, based on the target set of human-readable discrete tasks passing the audit, authorizing the cobot to implement the target computer-readable code to perform the target objective.

Abstract: A robot control device and a robot management method thereof are provided. The robot control device includes a detection module that recognizes an abnormal state generated in at least one external robot based on raw data received from the at least one external robot and provides an external user device with an alarm associated with the abnormal state based on a predetermined abnormal state response rule, a log module that stores the raw data and data associated with the abnormal state, and a robot management module that transmits a command to control at least one of an operation or a state of the at least one external robot to the at least one external robot, based on the abnormal state response rule.

Abstract: A gripper for gripping a target has a first support section, a second support section spaced apart from the first support section in a direction of a rotation center axis, and a plurality of elastic wires supported across the first support section and the second support section. A first grip area surrounded by the plurality of elastic wires is formed between the first support section and the second support section upon a relative rotation of the first support section and the second support section around the rotation center axis, and the first grip area becomes narrower until all the plurality of elastic wires come into contact with the target by the relative rotation of the first support section and the second support section, and the plurality of elastic wires is tightened to grip the target entering the first grip area.

Abstract: A simple interchange mechanism is provided for a robot arm to reliably, quickly and consistently change over from one end effector to another for the purpose of executing multiple tasks without the need to install different robots. The interchange mechanism incorporates mechanical and electromagnetic elements at three different areas that work synchronously, resulting in a flexible and scalable architecture that is simple yet stable, and adaptable to different configurations of the robot.

Abstract: A robotic gripper is capable of withstanding the high temperatures of processes such as metal additive manufacturing. One or more of the fingers of the gripper include a casted ceramic insulator with a steel finger backing. Industrial thermocouples may attach to a finger for active temperature monitoring. An exemplary robotic gripper is adaptive, usable on a collaborative robot, and temperature resistant to over 1000° C. without introducing costly augmentations such as liquid cooling.

Abstract: A robot hand and system are mounted with a plurality of actuators and reduced in size and weight while having both a gripping force required for heavy work and controllability required for light work. The robot hand includes a finger part and a driving unit. The driving unit includes: a plurality of driving actuators; and a driving force transmission part that transmits driving forces of the plurality of driving actuators to the finger part. The driving force transmission part includes: a disconnection mechanism that selectively switches between a coupling state in which some of the plurality of driving actuators and the finger part are coupled and a release state in which the coupling between the some of the driving actuators and the finger part is released to switch between transmission of a driving force of the some of the driving actuators to the finger part and cut-off thereof.

Abstract: A flexible structure includes a first member, a second member, a recess, and a wire. The first member is capable of flexing and extending. The second member covers an outer circumference of the first member and is capable of flexing and extending in conjunction with the first member. The recess is provided at an inner circumference of the second member. The wire is held between the first member and the second member in a state in which at least a part of the wire is inserted into the recess in the radial direction.

Abstract: Disclosed herein is a flexible robotic limb. The design may include a backbone with rolling-contact joints connected to one another by pulley structures and corresponding cord loops engaged with the pulley structures. One or more flexible actuators may be used to control a length between adjacent links of the rolling contact joints to control articulation of the flexible robotic limb while still permitting passive reconfiguration of the flexible robotic limb when it is not being actively articulated.

Abstract: An out-the-front (OTF) knife comprises a handle, a blade, a support frame, and a double-action actuation mechanism. The handle comprises a blade channel, an axel channel, and an actuation mechanism channel. The actuation mechanism includes actuation springs. The actuation mechanism is configured in the actuation mechanism channel so that the actuation springs facilitates the deployment and retraction of the blade. A user manipulates a toggle switch which initiates the actuation mechanism. The handle further comprises a double locking securement system with a set of back locks and a set of front locks.

Abstract: The present invention relates to a nose hair trimmer having an antibacterial function, more specifically to a nose hair trimmer having an antibacterial function that is capable of preventing the inside and outside of a body thereof from being contaminated with all types of bacteria in such a way as to allow a portion coming into contact with the inside of the nose to be kept at a clean state while nose hairs are being trimmed, thereby building and keeping more sanitary nose hair trimming environments.

Abstract: There is described a hair comb (200) for a hair cutting device (100) which seeks to provide consistent improved hair lifting and guidance. The hair comb (200) has a plurality of comb teeth (302), wherein at least one of the comb teeth has a depression on a guard-facing surface (214) opposite a skin-contact surface (216). The depression defines a space for receiving a guard tooth (116) of the cutting device (100). The hair comb (200) is configured to cooperate with the cutting head (102) such that, when the hair comb (200) is attached to the cutting head (102): at least a distal end (404) of a guard tooth (116) is received in the space defined by the depression (402) to engage the at least one comb tooth (302).

Abstract: The invention relates to a hair-cutting device (100) comprising: a housing; a blade assembly for cutting hair; a motor (130) for driving the blade assembly, which motor is located in the housing; a receiving space (140) for at least partially receiving a rechargeable battery, the receiving space (140) being located in the housing and having, in the longitudinal direction (170), at least one bottom and, on the periphery, one wall or multiple walls which delimit the receiving space (140); and a plug connection (160) for plugging in the rechargeable battery, the plug connection (160) being electrically connected to the motor (130).

Abstract: Electric shaver provided with at least one cutter unit, a drive unit for driving said at least one cutter unit and a display device for displaying information, wherein said drive unit, when being active, is operable in different operation modes, wherein a mode input element is provided for switching the drive unit into different operation modes.

Abstract: The present invention discloses an automatic potato-cutting machine, which includes a casing, a base and a push plate. The casing is arranged on the top of the base, a first installation groove is on one side of the casing, and a first buckle is arranged on one side of the first installation buckle. A shielding structure is arranged on the top of the side plate. In the present invention, a blade is movably connected inside the installation housing, and the blade and the installation housing form a snap-fit structure, so that the blade can be snapped into the inside of the installation housing, and then the first installation buckle can slide inside the first installation groove, the sliding of the first installation buckle can drive the first buckle to move, and the movement of the first buckle can be snapped into the slot on the blade.

Abstract: An electronic cutting machine for cutting preprogrammed shapes into paper. The electronic cutting machine utilizes a cutter assembly carrying a blade to move across the paper, making precise cuts in the paper. The electronic cutting machine utilizes a first motor connected to a set of rollers to maneuver the paper being cut relative to the cutter assembly. The electronic cutting machine utilizes a second motor to maneuver the cutting assembly across the paper. The electronic cutting machine is enclosed within an outer shell. The inner components of the electronic cutting machine are accessible through a front door.

Abstract: A rotary cutter unit includes: a cutter roll; an anvil roll parallel to the cutter roll; two pairs of rotatably-supporting portions, each pair disposed at respective opposite ends of each of the two rolls; a pair of air springs each installed to apply pressure to a respective one of the pair of rotatably-supporting portions of one roll; and a pair of spring elements each installed to apply pressure to a respective one of the pair of rotatably-supporting portions of the other roll, in a direction opposed to the pressure application of the air springs. The air springs and spring elements apply pressures to respective corresponding ones of the pairs of rotatably-supporting portions, in opposite directions sandwiching the two rolls. Each rotatably-supporting portion is slidable in directions which cause pressure applied from a corresponding one of the pair of air springs and the pair of spring elements to increase and decrease.

Abstract: The present invention improves workability. In a circular saw, a protrusion-amount-adjusting mechanism includes a lever-biasing spring, and the lever-biasing spring energizes a fixing nut and an operation lever toward a tip end side (i.e., the direction away from a link) of a fixing bolt. Thus, the state of the fixing nut configured at the non-fixed position may be retained well. That is, the separation state of the fixing nut and the operation lever from the link may be retained well. In this way, in the fixing release state of the circular saw body and the base, when the circular saw body is rotated relative to the base, the fixing nut and the operation lever may be prevented from sliding on the link. Thus, workability when adjusting the protrusion amount of the circular saw blade may be improved.