A control apparatus includes a first chamber into which air is configured to flow from an outside of the control apparatus and which has a cross-sectional area of flow, a second chamber which communicates with the first chamber such that the air flows from the first chamber to the second chamber and which has a cross-sectional area of flow smaller than the cross-sectional area of flow of the first chamber, and a third chamber which communicates with the second chamber such that the air flows from the second chamber to the third chamber and which has a cross-sectional area of flow smaller than the cross-sectional area of flow of the second chamber.
Provided is a production system comprising a plurality of controllers that respectively control a plurality of local apparatuses for performing production in cooperation with each other, and an information sharing device that can communicate with the plurality of controllers, the information sharing device including: a plurality of shared storage regions that respectively store data received from the plurality of controllers or data generated from said data; a plurality of output storage regions that respectively store data that can be transmitted to the plurality of controllers; and an update unit that, when providing data stored in one of the plurality of shared storage regions to two or more controllers among the plurality of controllers, uses said data to update the data that is stored in two or more output storage regions respectively allocated to the two or more controllers in the same cycle.
A robot system includes a robot having a tool configured to perform work on a target portion of a workpiece and an arm to which the tool is connected and which is configured to move the tool, vibration detection circuitry configured to detect vibration of the workpiece in a vibration direction, estimation circuitry configured to estimate an arrival timing at which the workpiece arrives at a return position in the vibration direction based on the vibration detected by the vibration detection circuitry, and control circuitry configured to control the arm based on the arrival timing such that the tool performs the work on the target portion.
A robot system 1 comprises a robot drive device 100 that drives a robot 10, and a computation device 200 that performs network communication with the robot drive device 100 and can execute an application 211 necessary for control of the robot 10 in the robot drive device 100. At least while the robot drive device 100 drives the robot 10, periodic communication for periodically communicating data and aperiodic communication for aperiodically communicating data are performed between the robot drive device 100 and the computation device 200.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
A robot system 1 comprises: a robot drive device 100 that drives a robot 10; and an arithmetic device 200 that performs network communication with the robot drive device 100, and that is capable of executing an application 211 in the robot drive device 100 and required to control the robot 10. The arithmetic device 200 has a robot service 213 that, when any of a plurality of arithmetic-side APIs 212 callable by the application 211 is called, executes a process corresponding to the called arithmetic-side API 212, and relays communication between the application 211 and the robot drive device 100 in accordance with the content of the process to be executed.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
6.
ROBOT, SYSTEM, CONTROL METHOD, AND COMPUTER-READABLE STORAGE MEDIUM
Provided is a robot arranged in a housing, the robot including: a first movable portion; a second movable portion having a hand holding a wafer; and a control unit which controls the first movable portion and the second movable portion so as to convey the wafer in a state where the wafer held by the hand is located inside an operation region defined in a space between a front wall and a back wall so as not to overlap an open/close region for a cassette opener, which is provided at a position corresponding to an opening of the front wall, to open and close a cassette, and to cause the hand to access the opening of the front wall in a state where the hand is parallel to a horizontal plane.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 21/00 - Enceintes à dispositifs de manipulation intégrés
H01L 21/677 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le transport, p. ex. entre différents postes de travail
Provided is a robot including: a first movable portion which has a first arm having a proximal end side connected to a first base and a second arm having a proximal end side connected to a distal end side of the first arm; a second movable portion which has a second base having a proximal end side connected to a distal end side of the second arm, a third arm having a proximal end side connected to a distal end side of the second base, and a hand having a proximal end side connected to a distal end side of the third arm and holding a wafer; and a control unit, and a width, in a direction perpendicular to the vertical plane, of a trajectory of the first movable portion falls within a width, in the direction perpendicular to the vertical plane, of a trajectory of the wafer.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
Provided is a system including: a housing having a front wall including a plurality of openings for access to a cassette storing a wafer and a back wall facing the front wall; and a robot arranged in the housing, in which the robot has a first base, a first movable portion, a second movable portion having a hand holding the wafer, and a control unit which controls the first movable portion and the second movable portion, and the plurality of openings are positioned in a maximum accessible region of the hand determined based on a position where the robot is arranged in the housing, a length of the first movable portion in a state where the first movable portion is maximally extended, and a length of the second movable portion in a state where the second movable portion is maximally extended.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
Provided is a robot arranged in a housing having a front wall having a plurality of openings and a back wall facing the front wall and having an opening, the robot including: a first movable portion; a second movable portion which has a third arm and a hand; an information storage unit which stores cooperative operation-related information; a cooperative operation selection unit selects, based on a position of an access target of access by the hand and the cooperative operation-related information stored in the information storage unit, whether to cause the hand to access the access target by an cooperative operation of the third arm and the hand or to cause the hand to access the access target by an cooperative operation of the third arm, the hand, and the first movable portion; and a control unit which controls the first movable portion and the second movable portion.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 21/00 - Enceintes à dispositifs de manipulation intégrés
H01L 21/677 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le transport, p. ex. entre différents postes de travail
10.
ROBOT CONTROL SYSTEM, ROBOT CONTROLLER, AND ROBOT CONTROL METHOD
A robot control system, comprising: one or more robots configured to perform work on a material including a content; and circuitry configured to: cause the one or more robots to move at least one of a cutter and the material so that a cut is made in the material with the cutter; and cause the one or more robots to rotate the material so that the cut faces downward.
This resource management system comprises: a storage unit that stores resource information which indicates a plurality of resources used by a plurality of tasks and which includes, for each of the plurality of resources, at least one tag indicating at least one attribute of the resource; a reception unit that receives, from a task control unit for controlling a target task, which is one of the plurality of tasks, search conditions for a resource to be used to execute the target task; a search unit that extracts a resource having one or more tags matching the search conditions from the resource information; and a notification unit that notifies the task control unit of a search result indicating the extracted resource. The task control unit executes the target task using the extracted resource on the basis of the search result.
[Problem] To improve the space factor of a stator coil. [Solution] The present invention is configured so as to have a stator core 5 provided with a plurality of protrusions 18, and a plurality of coils 7 mounted to the plurality of protrusions 18 by using a concentrated winding method, wherein: each coil 7 is formed by winding a conducting wire W into a plurality of layers by aligned winding, and includes a slot part 20 housed in a slot 19 of the stator core 5, and a coil end part 21 disposed outside the slot 19; the arrangement of the conducting wire W in a cross section perpendicular to the wiring direction of the conducting wire W in the slot part 20 and the arrangement of the conducting wire W in a cross section at the coil end part 21 are different; and the outer shape of the cross section at the slot part 20 differs from the outer shape of the cross section at the coil end part 21.
H02K 15/095 - Exécution des enroulements par pose des conducteurs dans ou autour des parties formant le noyau par pose des conducteurs autour de pôles saillants
A robot includes: an articulated arm and a plurality of actuators. The articulated arm includes a plurality of links connected by a plurality of joints. The plurality of links include: a hand; a base; and one or more arm links. The plurality of actuators are configured to drive the plurality of joints respectively around rotational axes. Each of the plurality of actuators includes: a main body fixed to one link at a corresponding joint; and an output shaft protruding from the main body along a rotational axis of the rotational axes, fixed to another link, and configured to rotate around the rotational axis. The articulated arm further includes, for each of the plurality of actuators, a seal member detachably attached to the one link separately from the main body, to seal between the one link and the output shaft.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
A robot includes a hand motor configured to independently rotate a first hand and a second hand around a hand axis along a vertical orientation. The hand motor includes: a first output shaft fixed to the first hand; a first stator configured to apply a rotating magnetic field on the first output shaft in the arm link; a second output shaft extending through the first output shaft and fixed to the second hand; a second stator configured to apply a rotating magnetic field on the second output shaft in the arm link; a first bearing held by the arm link and holding the first output shaft or the second output shaft; and a second bearing held by the second output shaft between an outer periphery of the second output shaft and an inner periphery of the first output shaft.
Provided is a simulation system for simulating the operation of a cell including a robot and a device, the simulation system comprising: a virtual device for simulating the output of the device; and a virtual robot controller for simulating, in accordance with the output of the virtual device, the operation of a robot controller which controls the robot. The virtual device performs output on the basis of a plurality of output histories of the device.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/22 - Systèmes d'enregistrement ou de reproduction
G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
G05B 19/4069 - Simulation du procédé d'usinage à l'écran
A robot includes: an articulated arm and a plurality of motors. The articulated arm includes a plurality of links connected by a plurality of joints. The plurality of links include: a hand configured to support the electronic substrate; a base; and one or more arm links connecting the hand to the base. The plurality of motors are configured to drive the plurality of joints respectively around rotational axes each of which is along a vertical orientation orthogonal to the electronic substrate supported by the hand, to change a position and a posture of the hand with respect to the base while the hand supporting the electronic substrate. Each of the plurality of motors is a direct drive motor and is disposed at a corresponding joint of the plurality of joints.
A robot include: an articulated arm including. The articulated arm include: a hand; a base; an arm; and a plurality of joints arranged along the arm. The plurality of joints are driven respectively around rotational axes. At least a part of the articulated arm is accommodated in a chamber having an opening. The robot further includes a flange extending between the base and the arm to cover the opening of the chamber. The flange has a longitudinal orientation. A rotational axis of the rotational axes proximate to the base is located between one end of the flange and a center of the flange in the longitudinal orientation. A distance from the rotational axis to the one end of the flange is less than a distance from the vertical axis to the center of the flange in the longitudinal orientation.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A robotic apparatus including an arm member configured to pivot about a first axis, a first end effector, a second end effector, a drive unit, and a control unit. The first and second end effectors are pivotably connected to the arm member about a second axis, and each have a surface to receive a workpiece. The drive unit drives the arm member to pivot about the first axis, and to drive the first and second end effectors to pivot about the second axis. The control unit controls the drive unit to move the arm member and the first and second end effectors to perform a swapping operation that includes the first and second end effectors swapping arc positions at opposite ends of an arc of constant radius of curvature such that the workpieces on the first and second end effectors each travel at equal and constant velocities along the arc.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
H01L 21/67 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants
H01L 21/677 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le transport, p. ex. entre différents postes de travail
A robot control system, comprising: a robot configured to hold a cutter; and circuitry configured to control the robot so that the robot cuts a packaging material with a blade of the cutter, and control the robot so that the blade is oriented more toward an outer side of the packaging material when the robot cuts a face of the packaging material with the blade than when the robot cuts a corner of the packaging material with the blade.
A robot control system, comprising: a first robot; a second robot; and circuitry configured to: control the first robot so that the first robot supports a first part of an indefinite-shape object placed at a predetermined location; and control the second robot so that the second robot supports a second part of the indefinite-shape object to convey the indefinite-shape object in cooperation with the first robot, the second part being different from the first part.
A robot control system comprising circuitry configured to acquire a designated area image showing a designated area, and execute image analysis on the designated area image to detect a current state of the designated area as a current area state. The circuitry is further configured to generate, based on the current area state, a state of the designated area which simulates one or more objects including an additional object as having been placed in the designated area, as a predicted area state. The circuitry is further configured to generate object information on the additional object which is simulated in the designated area, based on the predicted area state. The circuitry is further configured to control a robot so as to physically place the additional object in the designated area in accordance with the object information.
A generation device for generating an action program for a robot based on an operation of a user includes processing circuitry that generates skill information including skills each corresponding to a relative robot action, stores the skill information in a skill database, generates a task including skills each associating with action reference coordinates that serve as a reference for the relative robot action, stores the task in a task database, generates a master including tasks associating with the robot, and stores the master in a master database.
A simulation system 7 simulates a cell 2 that has a plurality of types of machines 5 and a plurality types of controllers 300 which cause the plurality of types of machines 5 to cooperate with each other, and comprises: a simulation environment 101 for causing a plurality of types of virtual controllers 120 respectively corresponding to the plurality of types of controllers 300 to simulate the cooperation; and a plurality of types of user interfaces 500 that are capable of respectively accessing the plurality of types of virtual controllers 120 in the simulation environment 101, that differ from each other depending on the types of the corresponding virtual controllers 120, and that are specialized for engineering of the respective corresponding virtual controllers 120.
A control system include: a robot controller configured to control a robot; and a computation circuitry configured to communicate with the robot controller, wherein the robot controller includes a first memory in which state information of the robot is stored, and wherein the computation circuitry includes: a second memory a content of which is synchronized with a content of the first memory; and a processor configured to execute an application that performs a computation related to control of the robot based on the content of the second memory.
A robot system according to the present invention comprises a skeleton estimation unit that estimates skeletal information that represents the skeleton of a workpiece in a real space on the basis of a workpiece image that includes the workpiece, a completion state determination unit that determines the completion state of work performed on the workpiece on the basis of the estimated skeletal information and constraint condition information that indicates constraint conditions related to work on the workpiece, and a robot control unit that makes a robot provided in the real space perform work that corresponds to the determined completion state.
An encoder includes a rotating body that is rotatable around a rotation axis; a disk that is fixed to the rotating body and has a scale formed in a ring shape; an optical module that is disposed to face the disk and detects the scale; a first magnet that is disposed on one side from the disk in a direction of the rotation axis and fixed to the rotating body; and a first magnetic detector that is disposed on a remaining side from the disk in the direction of the rotation axis and detects magnetism of the first magnet.
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
G01D 5/20 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension en faisant varier l'inductance, p. ex. une armature mobile
27.
PRODUCTION SYSTEM WITH COMPARISON BETWEEN REAL AND VIRTUAL SPACE
A production system includes: a production device configured to perform, to produce a product, processing on a workpiece in a real space in response to a production instruction transmitted based on a production plan; and simulation circuitry configured to: cause a virtual production device to perform, in a virtual space, virtual processing corresponding to the processing in response to the transmitted production instruction; and compare an execution result of the processing with an execution result of the virtual processing.
A control system 3 comprises: a plurality of local controllers 400 that respectively control a plurality of machines 5 including a robot 5B; a local simulator 418 that simulates an operation, which a local controller 400 corresponding to the robot 5B causes the robot 5B to execute, on the basis of a local model including a model of the robot 5B and a model of a peripheral environment of the robot 5B; and a system simulator 114 that simulates operations, which the plurality of local controllers 400 cause the plurality of machines 5 to execute, on the basis of a system model including a model of the plurality of machines 5 and a model of a peripheral environment of the plurality of machines 5.
A power conversion device includes: power conversion circuitry configured to supply drive power to an induction motor; and control circuitry configured to: generate a torque command; correct the torque command, in response to determining that a magnitude of a primary frequency of the induction motor is less than a lower limit level, so that the magnitude of the primary frequency approaches the lower limit level; and control the power conversion circuitry to supply the drive power so that the induction motor generates a torque corresponding to the torque command.
A motor control device that can use a sensor input circuit that has a low response speed. The motor control device comprises a first magnetic pole position detection unit, a second magnetic pole position detection unit, and a control unit. The first magnetic pole position detection unit detects the pre-rotation position of a magnetic pole of a rotor based on detection results from a magnetic pole sensor. The second magnetic pole position detection unit detects the position of the magnetic pole of the rotor based on the current flowing in a plurality of drive windings that drive the rotor. The control unit performs control that makes the rotor start rotating based on detection results from the first magnetic pole position detection unit and control that makes the rotating rotor rotate based on detection results from the second magnetic pole position detection unit.
H02K 29/08 - Moteurs ou génératrices à dispositifs de commutation non mécaniques, p. ex. tubes à décharge ou dispositifs à semi-conducteurs avec des dispositifs détecteurs de la position utilisant des dispositifs à effet magnétique, p. ex. dispositifs à effet Hall ou magnéto-résistances
H02P 6/16 - Dispositions de circuits pour détecter la position
31.
SUBSTRATE TRANSFER ROBOT, SUBSTRATE TRANSFER SYSTEM, AND SUBSTRATE TRANSFER METHOD
A substrate transfer robot includes: a hand that supports a substrate; and an arm that operates the hand. The hand includes an adsorption holder that holds a back surface of the substrate by adsorption, and is stretchable to lower a height position of an upper end thereof, a friction holder that holds the back surface by friction in a state where the adsorption holder supporting the substrate contracts, and a non-contact holder that holds the back surface in a non-contact manner, in a state where the adsorption holder and the friction holder hold the back surface.
A robot system includes: a first link that is a part of a robotic arm; a first motor that moves according to a rotation of the first link; a first sensor having a fixed location with respect to the first motor; and a memory configured to store first position information indicating a relative position of the first sensor with respect to a first reference position of the first motor.
A robot control system includes circuitry configured to acquire a plurality of disturbance torques and a plurality of axis positions for a plurality of axes of a robot. The plurality of disturbance torques corresponds to the plurality of axis positions, and the plurality of disturbance torques and the plurality of axis positions correspond to a particular motion of the robot. The circuitry is further configured to transmit input data to a learned model for external force. The input data includes the plurality of disturbance torques or the plurality of axis positions. The circuitry is further configured to receive output data from the learned model for external force, calculate an estimated external force having acted on an end effector of the robot based on the output data, and control the robot based on the estimated external force. The output data includes transmission torque data or external force data.
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
34.
ROBOT PROGRAM GENERATION SYSTEM, ROBOT PROGRAM GENERATION METHOD, PROTOCOL CONVERSION DETERMINATION DEVICE, ROBOT PROGRAM, PROTOCOL, AND MANUFACTURING SYSTEM
A robot program generation system and the like Provided are a first conversion unit configured to convert a protocol representing multiple pieces of work in the field of biological engineering into a first program executable by a first robot, a protocol modification information acquisition unit configured to acquire, to modify the protocol after the first robot performs the multiple pieces of work according to the first program, modification information for at least one of a basic operation for performing the pieces of work and is for an instrument used by the first robot for the pieces of work or a supplementary operation that supplements the basic operation, a protocol modification unit configured to modify the protocol according to the modification information acquired, and a second conversion unit configured to convert the protocol modified into a second program executable by a second robot, or different from the first robot.
This robot system comprises: a reception unit that receives input sequence data representing an operation of a robot disposed in a real space; a conversion unit that inputs the input sequence data into a conversion language model generated by machine learning, and converts the input sequence data into output sequence data; and a robot control unit that controls the robot so that the robot performs an operation on the basis of the output sequence data.
A power conversion system includes: a plurality of power modules; and a control module connected to the plurality of power modules, wherein the control module includes: a current source configured to supply a switch drive current; and a main switch configured to cut off the switch drive current supplied by the current source in response to an external abnormality detected outside the power conversion system, wherein each module of the plurality of power modules includes: power conversion circuitry configured to output electric power; a power-off switch configured to cut off the electric power from the power conversion circuitry in response to a disappearance of the switch drive current supplied by the current source; and an input cutoff switch configured to cut off the switch drive current to the power-off switch in response to an internal abnormality detected inside the module, and wherein the current source and the main switch are connected to the power-off switch and the input cutoff switch for each of the plurality of power modules to provide a series connection including the plurality of power modules.
H02P 27/06 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par le type de tension d'alimentation utilisant une tension d’alimentation à fréquence variable, p. ex. tension d’alimentation d’onduleurs ou de convertisseurs utilisant des convertisseurs de courant continu en courant alternatif ou des onduleurs
37.
AUTOMATIC TEACHING APPARATUS FOR SEMICONDUCTOR MANUFACTURING EQUIPMENT
An automatic teaching apparatus for semiconductor manufacturing equipment includes: an equipment front end module (EFEM); one or more load ports provided along an edge of one side of the EFEM to be connected to an inside of the EFEM; a transfer robot disposed in the inside of the EFEM and configured to transfer a wafer to the one or more load ports by an end effector to process the wafer, and a load port teaching unit configured to detect a fixed position of the end effector in a state of unloading the wafer such that the wafer is placed in the fixed position within the load port.
H01L 21/68 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le positionnement, l'orientation ou l'alignement
B65G 47/90 - Dispositifs pour saisir et déposer les articles ou les matériaux
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
38.
CONTROL SYSTEM, COMMUNICATION TERMINAL, AND COMMUNICATION METHOD
A control system 3 comprises: a time master 101 for periodically transmitting, via a network NW, a synchronization signal for performing time synchronization; and a local controller that is connected via the network NW to the time master 101 and controls a machine 2. The local controller comprises a local clock 311, and a first correction unit 321 that, in accordance with a synchronization signal received via the network NW, exchanges data with the time master 101, including transmission of a response signal to the synchronization signal, that obtains an offset quantity for the local clock 311 with respect to the time master 101, and that performs first correction processing to correct the local clock 311 in accordance with the offset quantity. The control system 3 is furthermore provided with a restriction unit 322, 412 for restricting the frequency of the first correction processing to be less than the frequency of transmission of the synchronization signal.
A robot control system comprising: a storage unit that stores a behavior tree, including a plurality of sub-trees that correspond to a plurality of tasks and parallel nodes that are parent nodes connecting to the plurality of sub-trees, and resource information, including the status of shared resources used in the plurality of tasks; a tree management unit that, in individual cycles, calls each of the plurality of sub-trees in sequence from the parallel nodes on the basis of the behavior tree; and a task control unit that causes tasks corresponding to the called sub-trees to be executed. The shared resources include a robot. The status includes at least an in-use state and a usage-possible state. With respect to each of the sub-trees, the task control unit refers to the resource information in cases where the sub-tree is called, and causes the task corresponding to the sub-tree to be executed using the shared resource in cases where the status of the shared resource used in the task is the usage-possible state.
A robot system includes a robot that supports and transfers a substrate W using a hand, a target capable of being placed instead of the substrate, a sensor provided on the hand to detect the target in a non-contact manner while facing the target a first detector that detects a position of the target in the first direction based on a detection result of the sensor facing the target long the first direction and a position of the sensor, and a second detector that controls the robot to move the sensor along a second direction perpendicular to the first direction, and detects a position of the target in the second direction based on a change in the detection result of the sensor due to movement along the second direction and the position of the sensor.
An encoder includes: an optical module that detects angular position information indicating an angular position of a rotating disk within one rotation thereof; a magnetic detecting unit that detects multi-rotation information indicating the number of rotations of the disk; a battery that supplies a power to the magnetic detecting unit when an external power is not supplied to the encoder; and a connector that connects connection terminals of the battery to a substrate to which at least one of the optical module and the magnetic detecting unit is connected, via solders in contact with the connection terminals.
G01B 7/30 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour tester l'alignement des axes
G01D 5/16 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension en faisant varier la résistance
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
H01M 10/0585 - Structure ou fabrication d'accumulateurs ayant uniquement des éléments de structure plats, c.-à-d. des électrodes positives plates, des électrodes négatives plates et des séparateurs plats
H01M 10/46 - Accumulateurs combinés par structure avec un appareil de charge
H02J 7/00 - Circuits pour la charge ou la dépolarisation des batteries ou pour alimenter des charges par des batteries
42.
MOTOR CONTROL SYSTEM, PERMANENT MAGNET MOTOR, AND METHOD FOR PRODUCING PERMANENT MAGNET MOTOR
[Problem] To suppress fluctuations that cause instability in motor control. [Solution] A motor control system 1 comprises a plurality of permanent magnet motors 3, and one inverter 5 for driving the plurality of permanent magnet motors 3. Each permanent magnet motor 3 comprises a rotatably supported rotor core 25, a plurality of permanent magnets 27 provided inside the rotor core 25, conductor insertion holes 37 formed radially outward from the permanent magnets 27 inside the rotor core 25, and conductors 29 inserted into the respective conductor insertion holes 37.
H02K 1/276 - Aimants encastrés dans le noyau magnétique, p. ex. aimants permanents internes [IPM]
H02P 5/74 - Dispositions spécialement adaptées à la régulation ou la commande de la vitesse ou du couple d’au moins deux moteurs électriques pour commander au moins deux moteurs dynamo-électriques à courant alternatif
43.
ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
This robot control system comprises: a setting unit that performs, for a robot that is disposed in a real workspace and executes a current task to process a workpiece, initial setting of the next operation amount in the current task; a simulation unit that executes, virtually by simulation, the current task in which the robot operates by the next operation amount to process the workpiece; an adjustment unit that adjusts the next operation amount on the basis of a predicted result obtained by the simulation; and a robot control unit that controls the robot in the real workspace on the basis of the adjusted next operation amount.
A wireless communication device configured to perform wireless communication with a counterpart wireless communication device by repeating a time division duplex pattern having sequential arrangement of communication slots including a first type of communication slot and a second type of communication slot, the wireless communication device including circuitry configured to: obtain transmission data; determine an attribute of the transmission data; transmit the transmission data to the counterpart wireless communication device by the first type of communication slot in response to determining that the transmission data has a first attribute; and transmit the transmission data to the counterpart wireless communication device by the second type of communication slot in response to determining that the transmission data has a second attribute.
H04L 5/14 - Fonctionnement à double voie utilisant le même type de signal, c.-à-d. duplex
H04W 72/0446 - Ressources du domaine temporel, p. ex. créneaux ou trames
H04W 72/543 - Critères d’affectation ou de planification des ressources sans fil sur la base de critères de qualité sur la base de la qualité demandée, p. ex. QdS [QoS]
H04W 72/566 - Critères d’affectation ou de planification des ressources sans fil sur la base de critères de priorité de l’information, de la source d’information ou du destinataire
This robot system 1 comprises: a sensor 3 that acquires three-dimensional data on an object disposed in a real space; a robot 2 that changes the position of the sensor 3; a recognition unit 111 that recognizes an empty region in which the object is not present in the real space on the basis of the three-dimensional data acquired by the sensor 3; a control unit 113 that controls the robot 2 so as to dispose the sensor 3 in the empty region; and a modeling unit 114 that performs modeling of the real space on the basis of the empty region in which the sensor 3 is disposed and a new empty region recognized by the recognition unit 111 on the basis of three-dimensional data newly acquired by the sensor 3 from the empty region.
A material separation system includes circuitry configured to acquire a composite image capturing a plurality of commingled pieces of material, and sets a number of candidate separation positions based on the composite image. The circuitry is further configured to identify, for each of the candidate separation positions, a subset of the plurality of commingled pieces of material, and calculate an estimated mass of each subset of the plurality of commingled pieces of material. The circuitry is further configured to determine a position for separating a predetermined mass of pieces of material from the plurality of commingled pieces of material, as a separation position, based on a comparison of the predetermined mass with the estimated mass corresponding to each of the candidate separation positions, and separate the predetermined mass of pieces of material from the plurality of commingled pieces of material at the separation position.
Provided is a production system, comprising circuitry configured to: associate a plurality of rungs included in a ladder program with one of a plurality of scan groups each having an execution cycle that is specifiable; allocate each of the plurality of scan groups to one of a plurality of processor cores of a controller so that each of the plurality of scan groups is distributed; and execute one or more rungs associated with one or more scan groups allocated to each of the plurality of processor cores in parallel in each of the execution cycles.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
A communication system configured to perform wireless communication by repeating a time division duplex pattern having sequential arrangement of communication slots, the communication system including a pair of devices configured to: perform cyclic communication with each other by repeating a communication cycle using the wireless communication; and control the cyclic communication so that a first part of one time division duplex pattern of the wireless communication is included in one communication cycle of the cyclic communication and a second part of the one time division duplex pattern is included in another communication cycle of the cyclic communication subsequent to the one communication cycle.
A communication system configured to perform wireless communication between a plurality of devices, the communication system including circuitry configured to: acquire configuration information indicating a configuration of the plurality of devices; set, based on the configuration information, a time division duplex pattern corresponding to the configuration of the plurality of devices, the time division duplex pattern having a sequential arrangement of one or more downlink slots and one or more uplink slots of time division duplex; and perform the wireless communication by repeating the time division duplex pattern.
A motor control system includes circuitry configured to control a control object including a motor with a position detector, set a control parameter for controlling the control object, generate a control model representing a transfer function based on an operation command for generating the control model and an actual detection value detected by the position detector, and determine whether or not the control model is available for automatic adjustment of the control parameter. The circuitry is configured to adjust automatically the control parameter by a first automatic adjustment operation using the control model when it is determined that the control model is available for automatic adjustment, and to adjust automatically the control parameter by a second automatic adjustment operation without using the control model when it is determined that the control model is not available for automatic adjustment.
A linear head module includes linear motors each of which includes a movable element and a stator. The movable element includes a shaft having a shaft axis, and magnets fixed to the shaft. The stator includes a coil and a back yoke having a back yoke axis. The movable element is inserted into the back yoke movably along the shaft axis such that the shaft axis substantially coincides with the back yoke axis. The back yoke includes a protruding portion protruding outwardly. The coil is fixed to the back yoke to face the magnets. The linear motors are arranged such that the protruding portion of a first linear motor among the linear motors protrudes along a first protruding direction different from a second protruding direction along which the protruding portion of a second linear motor among the linear motors protrudes.
H02K 9/18 - Dispositions de refroidissement ou de ventilation dans lesquels l'agent de refroidissement gazeux circule entre l'enveloppe de la machine et une chemise extérieure dans lesquels la partie extérieure du circuit fermé comprend un échangeur de chaleur associé structurellement à l'enveloppe de la machine
H02K 9/26 - Association structurelle de machines à des dispositifs de nettoyage ou d'assèchement de l'agent de refroidissement, p. ex. de filtres
H02K 11/21 - Dispositifs pour détecter la vitesse ou la position, ou actionnés par des valeurs de ces variables
H02K 41/03 - Moteurs synchronesMoteurs pas à pasMoteurs à réluctance
52.
SUBSTRATE TRANSFER APPARATUS AND SUBSTRATE TRANSFER METHOD
A substrate transfer apparatus includes a hand that transfers a substrate from a cassette that accommodates substrates in multiple stages in a vertical direction; a movement mechanism that moves the hand; a controller that controls the movement mechanism; and a first detection unit that detects the substrate. The controller includes an offset amount change unit that changes an offset amount by which the hand is moved up and down from a substrate support height of the cassette when the hand loads and unloads the substrate with respect to the cassette, according to a thickness or a deflection amount of the substrate detected by the first detection unit.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
H01L 21/68 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le positionnement, l'orientation ou l'alignement
53.
SUBSTRATE TRANSFER ROBOT SYSTEM AND TEACHING METHOD FOR SUBSTRATE TRANSFER ROBOT
A substrate transfer robot system teaches a transfer position of a substrate to a substrate transfer robot that transfers the substrate. The substrate transfer robot includes: a hand that transfers the substrate; a movement mechanism that moves the hand in horizontal and vertical directions; and first and second sensors that are provided on the hand and radiates a scanning line in the horizontal and vertical directions, respectively. The substrate transfer robot system includes: a controller that controls the hand and the movement mechanism; and a first portion to be detected and a second portion to be detected. The controller operates the hand to detect the first portion by the first and second sensors and detect the second portion by the second sensor, and calculates and stores the transfer position based on position information of the hand when the first and second portions are detected.
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p. ex. mandrins, pièces de serrage, pinces
H01L 21/68 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitementAppareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le positionnement, l'orientation ou l'alignement
54.
DECOMPRESSION SYSTEM, CONTROL DEVICE, AND CONTROL METHOD
A decompression system includes: an electric pump configured to decompress a primary-side space with respect to a secondary-side space; and a control device configured to control a motor of the electric pump, wherein the control device includes: a torque command generation unit configured to generate a torque command to operate the motor in accordance with an operation command; a limiter configured to limit the torque command to a limit value or less; a power conversion circuit configured to generate driving power corresponding to the torque command passed through the limiter and supply the driving power to the motor; and a limit changing unit configured to temporarily increase the limit value in response to opening of the decompressed primary-side space with respect to the secondary-side space.
A control system includes processing circuitry that calculates, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value, generates a command based on the feedforward compensation value, and outputs the command to cause the control target to operate.
G05B 19/404 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par des dispositions de commande pour la compensation, p. ex. pour le jeu, le dépassement, le décalage d'outil, l'usure d'outil, la température, les erreurs de construction de la machine, la charge, l'inertie
56.
ELECTRIC POWER CONVERSION DEVICE AND CONTROL METHOD FOR ELECTRIC POWER CONVERSION DEVICE
To provide an electric power conversion device that carries out high-speed transmission of current values of a plurality of inverters, and a control method for the electric power conversion device. The electric power conversion device includes a main controller, a plurality of subcontrollers, and a relay unit. The main controller generates and outputs a control command that is a target value for controlling electric power conversion carried out by a plurality of electric power conversion units that supply and receive power to and from a load based on state quantity information related to a state quantity of each of the plurality of electric power conversion units. The subcontrollers are provided for each of the electric power conversion units to control the electric power conversion units based on the control command and to acquire and output the state quantities. The relay unit compresses information of the state quantities output from of subcontrollers.
H02M 1/00 - Détails d'appareils pour transformation
H02P 21/22 - Commande du courant, p. ex. en utilisant une boucle de commande
H02P 27/08 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par le type de tension d'alimentation utilisant une tension d’alimentation à fréquence variable, p. ex. tension d’alimentation d’onduleurs ou de convertisseurs utilisant des convertisseurs de courant continu en courant alternatif ou des onduleurs avec modulation de largeur d'impulsions
57.
RAW MATERIAL CHARGING CONTROL DEVICE FOR BLAST FURNACE, METHOD FOR GENERATING OPENING DEGREE COMMAND VALUE, AND PROGRAM
A raw material charging control device 90 comprises: a data collection unit 118 that accumulates, in a data storage unit, training records that include an opening degree of a gate 40 for charging a raw material from a bunker 30 in which the raw material is accommodated above a blast furnace 2, a charging speed of the raw material from the bunker 30, and charging conditions including characteristics of the raw material; an offline learning unit 211 that generates a prediction model that expresses, by a multi-stage input/output relationship, the relationship between the opening degree, the charging speed, and the charging conditions, through machine learning based on the plurality of training records accumulated in the data storage unit; a command generation unit 220 that generates, on the basis of the prediction model and charging conditions and a charging target speed of a raw material to be newly inserted, an opening degree command value for the gate 40, the opening degree command value corresponding to the charging target speed; and a gate 40 controller that sets the opening degree so as to correspond to the opening degree command value.
A raw material charging control device 90 comprises: a data collection unit 118 that accumulates, in a data storage unit, records for learning including the opening degree of a gate 40 for charging raw materials from a bunker 30 containing raw materials at the top of a blast furnace 2, the charging speed of raw materials from the bunker 30, and charging conditions which include characteristics of the raw materials; an off-line learning unit 211 that generates a prediction model representing the relationship between the opening degree, the charging speed, and the charging conditions by means of a multi-stage input-output relationship through machine learning based on a plurality of the records for learning stored in the data storage unit; a command generation unit 220 that generates an opening degree command value for the gate 40 corresponding to a charging target speed on the basis of the charging conditions of newly fed raw material, the charging target speed therefor, and the prediction model; and a gate 40 controller that causes the opening degree to correspond to the opening degree command value.
An operation adjustment system includes estimation circuitry and generation circuitry. The estimation circuitry is configured to generate a calculation model based on a plurality of pairs of a parameter set and an evaluation index. The calculation model indicates a relationship between the parameter set and the evaluation index. The parameter set affects an operation of a motor control device. The evaluation index relates to a machine operated according to the parameter set by the motor control device. The generation circuitry is configured to generate a new parameter set based on the calculation model in order to update the calculation model with the new parameter set.
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
A robot control system includes circuitry to iteratively move a robot toward a task area in which the robot is to perform a task on a target object, by acquiring a first image of an observation area in a vicinity of the robot from an image sensor, calculating a probability that the observation area includes the task area based on the first image, extracting the task area from the first image based on the probability, controlling the robot to cause the robot to approach the task area, acquiring a second image of the observation area from the image sensor, after the robot approaches the task area, calculating a probability that the observation area includes the task area based on the second image, extracting the task area from the second image based on the probability, and controlling the robot to further approach the task area extracted from the second image.
A communication system include: a first communication device configured to: add order information to each of the plurality of data sets; and sequentially transmit the plurality of data sets to which the order information is added; and a second communication device configured to: receive the plurality of data sets from the first communication device; arrange the plurality of received data sets in a standby buffer as ordered data sets based on the order information; and sequentially read the ordered data sets.
Provided is a generation system including: one or more processors which acquire waveform data; specify an intention of a user; and generate pseudo waveform data from the waveform data acquired in such a manner that an intention of a user specified is reflected. Provided is a method for generating a waveform evaluation model executed by a computer, including: acquiring waveform data; specifying an intention of a user; generating pseudo waveform by generating pseudo waveform data from the waveform data acquired in the acquiring the waveform data in such a manner that the intention of the user specified in the specifying the intention is reflected; and executing learning by executing machine learning using the pseudo waveform data generated in the generating the pseudo waveform to generate a waveform evaluation model which outputs an evaluation result of input waveform data.
A transfer robot includes a first arm provided rotatably around a first axis which extends along a vertical direction, a second arm connected to the first arm rotatably around a second axis which extends along the vertical direction, an arm distal end portion which is configured to be connected to a workpiece holder to hold a workpiece and which is connected to the second arm rotatably around a third axis which extends along the vertical direction, and a posture adjuster configured to rotate the workpiece around a first posture adjustment axis which intersects both the third axis and a direction extending toward the arm distal end portion away from the third axis.
This data generation system comprises an acquisition unit that acquires an evaluation value corresponding to an evaluation of a target object, and a data generation unit that generates pseudo data representing a pseudo object corresponding to the acquired evaluation value on the basis of the acquired evaluation value and a trained model trained to receive input of an evaluation value to output pseudo data representing a target object.
A CNT production device comprising: a chamber that stores a first carbon compound including carbon and another element, and a catalyst for producing carbon nanotubes from the first carbon compound; a discharge unit that has a filter which allows passage of the other element or ions of the other element but does not allow passage of carbon or carbon ions, and discharges the other element or ions of the other element from the chamber; and a discharge control unit that controls the discharge ability of the discharge unit so as to control the concentration of a second carbon compound, including carbon and the other element at a ratio different from that of the first carbon compound, in the chamber.
A transfer system includes a robot that loads and unloads a substrate to and from a cassette that accommodates a plurality of substrates in multiple stages; and a controller configured to control an operation of the robot. The robot includes: a hand that transfers the substrate, a horizontal movement mechanism that moves the hand in a width direction of the cassette in a front side of the cassette, and a lift mechanism that moves up and down the hand in the front side of the cassette. The hand includes a reflective sensor on a distal end side thereof facing the cassette to detect an object in the cassette. The controller operates the horizontal movement mechanism causing the reflective sensor to perform a horizontal scanning such that the reflective sensor facing the substrate scans in the width direction of the substrate accommodated in the cassette.
A transfer system includes a robot and a controller that controls an operation of the robot. The robot includes a hand that transfers a substrate, and a lift mechanism that moves up and down the hand. The hand includes a sensor that detects a distance to a lower surface of the substrate. The controller includes a storage unit, a detection unit, and a calculation unit. The storage unit stores placement information including a placement height at a placement position of the substrate. The detection unit detects a separation height at which the substrate is separated from the hand when the hand is moved down from the placement height. The calculation unit calculates a deflection amount of the substrate based on a difference between the placement height and the separation height.
To provide a power conversion device that is effective for improving controllability of power in power conversion for multilevel voltage output. A power conversion device includes a switching circuit configured to supply a current to a motor by connecting and disconnecting a first point having a first potential, a second point having a second potential greater than the first potential, and a neutral point having a neutral potential between the first potential and the second potential to and from the motor, a neutral potential control unit configured to control the switching circuit in a manner to maintain the neutral potential within a target range, and a current control unit configured to increase a supply current to the motor without affecting a driving force generated by the motor at least when controlling the switching circuit 16 by the neutral potential control unit.
H02P 27/08 - Dispositions ou procédés pour la commande de moteurs à courant alternatif caractérisés par le type de tension d'alimentation utilisant une tension d’alimentation à fréquence variable, p. ex. tension d’alimentation d’onduleurs ou de convertisseurs utilisant des convertisseurs de courant continu en courant alternatif ou des onduleurs avec modulation de largeur d'impulsions
H02M 7/483 - Convertisseurs munis de sorties pouvant chacune avoir plus de deux niveaux de tension
A robot automation system includes circuitry configured to generate a plurality of task patterns that are candidates of a task flow for performing a job including a plurality of tasks by at least one robot. Each of the plurality of task patterns includes a corresponding relationship between the plurality of tasks and the at least one robot. The circuitry is further configured to calculate an estimated cycle time of the job based on a simulation in which the at least one robot performs the plurality of tasks, for each of the plurality of task patterns. The circuitry is further configured to generate, as an operation program, at least one task flow for performing the job by the at least one robot, in response to comparing a preset reference cycle time for the job with the estimated cycle time for each of the plurality of task patterns.
Object: To reduce the size of a device. Solution to Problem: A switching module according to one aspect of the present disclosure is a module used in a power conversion circuit. The switching module includes a case member formed to extend in a first direction and a second direction, one or more switching elements disposed to face the case member in a stacking direction orthogonal to the first direction and the second direction, and a pressing member configured to press at least part of the one or more switching elements toward one side in the stacking direction via the case member. The one or more switching elements are disposed closer one end portion of both end portions of the case member in the second direction.
A robot includes a speed reducer that increases a first torque output from a motor and outputs a second torque, a torque sensor including an output part that outputs the second torque output from the speed reducer, and a sensor part that detects at least a torque applied to the output part, and a damper that is positioned in a transmission path of the second torque from the speed reducer to the torque sensor and damps transmission of the second torque.
A robot includes a base, a pivot base, an upper arm, and a lower arm. The base is fixed to an installation surface. The pivot base has a pivot base proximal end which is connected to the base such that the pivot base is rotatable around a first axis along a vertical direction. The lower arm includes a first extending portion, a second extending portion, and a connecting portion. The connecting portion has a hollow structure and connects the first extending portion and the second extending portion such that the first arm proximal end faces the second arm proximal end and such that the first arm distal end faces the second arm distal end. The connecting portion includes a reinforcing portion in the hollow structure. The reinforcing portion includes ribs which connect opposed inner walls of the connecting portion and which cross each other.
A robot control system includes processing circuitry that generates an inquiry for a user while a robot is executing a task, identifies an action of the user in response to the inquiry using a sensor, complements at least part of the task based on the identified action, and controls the robot such that the robot executes the complemented at least part of the task.
A robot system includes circuitry and a robot. The circuitry is configured to set, based on a plurality of workpieces that move along a conveying surface, a window corresponding to n workpieces of the plurality of workpieces, according to an inflow order that is an order in which the plurality of workpieces have moved along the conveying surface, where n>1. The circuitry is further configured to determine a picking order by an optimization algorithm, based on a position of each of the n workpieces. The picking order is an order of picking one or more of the workpieces from the conveying surface and is different from the inflow order. The circuitry is further configured to select m workpieces from the window based on the picking order, where n>m. The robot is configured to pick the selected m workpieces from the conveying surface in the picking order.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; parts and accessories of industrial
robots; control mechanisms for industrial robots; tool
changers attached to industrial robots; grippers, capturing
devices and end-effectors for industrial robots; carriages
and stands for mounting industrial robots; conveying
machines for industrial robots; self-driving conveying
carriages for industrial robots; manipulator protection
covers for industrial robots; metalworking machines and
tools; electric arc welding apparatus; lap seam welding
apparatus; welding apparatus for friction stir welding;
welding machines, electric; electric welding apparatus;
welding apparatus, gas-operated; gas-operated blow torches;
screwdrivers, electric; screw feeders; painting machines and
apparatus; painting machines; spray guns for paint; powder
coating apparatus; wafer transfer robots for semiconductor
manufacturing machines; starter motors; AC motors and DC
motors [not including those for land vehicles but including
parts for any AC motors and DC motors]; alternators; direct
current generators. Photographic apparatus and instruments; cinematographic
machines and apparatus; optical machines and apparatus;
cameras; measuring or testing machines and instruments;
human detecting sensors; motion sensors; balances; digital
torque gauges; torque meters; laser measuring systems;
rotary encoders; optical profilers; acceleration sensors;
infrared sensors; coordinate measuring instruments; distance
measuring apparatus; power distribution or control machines
and apparatus; rotary converters; phase modifiers;
inverters; programmable logic controllers; amplifiers for
servo motors; electric wires and cables; protective covers
for electric wires and cables; junction sleeves for electric
cables; electrical communication machines and instruments;
image sensors; image processing apparatus; electronic
control apparatus; computers; computer programs; computer
software used as development tools for computer programs;
computer programs for robot operation; computer software
used as software development tools for robot motion
programs; electronic control apparatus for teaching tasks to
industrial robots; protective covers for electronic control
apparatus for teaching tasks to industrial robots; arc
sensors for welding robots; wire touch sensors for welding
robots; torch shock sensors for welding robots.
76.
POWER CONVERSION DEVICE, ESTIMATION DEVICE, AND ESTIMATION METHOD
A power conversion device includes a power conversion circuit that converts primary-side power to secondary-side power and supplies the secondary-side power to an electric motor, and circuitry including a voltage command generator that generates a voltage command in a rotating coordinate system that rotates in synchronization with a magnetic pole position of the electric motor, based on a current command in the rotating coordinate system and a mutual inductance between a first coordinate axis and a second coordinate axis of the rotating coordinate system, and a controller that controls the power conversion circuit to apply a secondary-side voltage corresponding to the voltage command to the electric motor.
H02P 21/14 - Estimation ou adaptation des paramètres des machines, p. ex. flux, courant ou tension
G01R 27/26 - Mesure de l'inductance ou de la capacitanceMesure du facteur de qualité, p. ex. en utilisant la méthode par résonanceMesure de facteur de pertesMesure des constantes diélectriques
A power conversion system comprises: a plurality of power conversion devices; and a master controller capable of communicating with the plurality of power conversion devices by a serial communication channel. The master controller transmits the same control command to the plurality of power conversion devices by serial communication via the serial communication channel, and the plurality of power conversion devices each perform power conversion from the primary side to the secondary side on the basis of the same control command.
A data analysis system comprises a memory configured to store a data analysis model trained in advance by using training data configured to output an output value indicating whether a target to be analyzed is in a specific state in response to the data analysis model receives input data on the target to be analyzed, the data analysis model including a parameter that includes a random variable; and circuitry configured to input the input data to the data analysis model repeatedly a plurality of times and calculate an estimate indicating a degree of being in the specific state based on a distribution of a plurality of the output values output from the data analysis model for the plurality of times.
G06N 3/063 - Réalisation physique, c.-à-d. mise en œuvre matérielle de réseaux neuronaux, de neurones ou de parties de neurone utilisant des moyens électroniques
A transport system include: a workpiece holder configured to hold a workpiece; a moving body facing the workpiece holder at least in a gravity direction and movable in a movement direction intersecting the gravity direction; a weight reducer configured to apply a static non-contact force to the workpiece holder to reduce a weight of the workpiece holder; a force generator disposed on the moving body to face the workpiece holder in the gravity direction, the force generator configured to apply a controllable non-contact force to the workpiece holder so as to follow a movement of the moving body while levitating the workpiece holder having the reduced weight; and circuitry configured to control the controllable non-contact force generated by the force generator to control a relative position of the workpiece holder with respect to the moving body.
F16C 32/04 - Paliers non prévus ailleurs faisant usage de moyens de support magnétiques ou électriques
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The simulation device include circuitry configured to: store a simulation model of a machine system including a robot, the simulation model generated to simulate a three-dimensional real shape of the machine system; receive measured data acquired by measuring the machine system in a real space; generate, based on the measured data, an actual shape model representing a three-dimensional real shape of the machine system; and correct the simulation model of the machine system based on a comparison between the simulation model and the actual shape model.
A transfer robot includes a plurality of hands, a plurality of hand drive motors, and an arm. The plurality of hands are capable of holding a transfer target object, and pivot individually around a pivoting axis. The plurality of hand drive motors are arranged in a direction following the pivoting axis, such that a motor axis to which the plurality of hands are each connected becomes concentric with the pivoting axis, and directly drive the plurality of hands, respectively. The arm includes therein the plurality of hand drive motors.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
82.
POWER CONVERSION DEVICE, POWER CONVERSION METHOD, AND POWER CONVERSION DEVICE MANUFACTURING METHOD
This power conversion device comprises: a power conversion circuit for converting primary side power to secondary side power; a program storage unit for storing a plurality of program modules and sequence data; an extension program acquiring unit for acquiring an extension program and storing the extension program into an extension program storage unit; and a control unit for sequentially calling and executing two or more modules to be executed from the plurality of program modules on the basis of the sequence data and controlling the power conversion circuit on the basis of an execution result. The plurality of program modules includes an extension module. When the called module to be executed is the extension module, the control unit executes the extension program by including the extension program in the extension program storage unit in the extension module.
G06F 9/451 - Dispositions d’exécution pour interfaces utilisateur
G06F 3/04847 - Techniques d’interaction pour la commande des valeurs des paramètres, p. ex. interaction avec des règles ou des cadrans
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p. ex. des menus
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
83.
IMAGE GENERATING METHOD, IMAGE GENERATING DEVICE, AND STORAGE MEDIUM
Provided is a training image generating method that facilitates preparation of training images for constructing an image recognition model and reduces a period of time required for collecting data on images of defective products to be used as the training images. The training image generating method includes creating a SinGAN model including a generator and a discriminator in each of a plurality of layers based on a first image having a portion of interest shown partially on a target object, generating an input image by compositing a target object image and a portion-of-interest image, and generating, based on the SinGAN model and the input image, a second image exhibiting a portion of interest different in mode from that of the first image.
A robot system includes a first conveyor conveying a workpiece to a first position in a conveying direction along a transport line, a second conveyor conveying the workpiece from a second position along a first line perpendicular to the transport line, and a robot conveying the workpiece from the first to second positions. The robot includes a base fixed to a fixed position apart from the first line in the conveying direction, and an arm base movably connected to the base. A first arm is connected to the arm base rotatably about a first axis perpendicular to the transport and first lines. A second arm is connected to the first arm rotatably about a second axis parallel to the first axis. An arm tip is connected to the second arm rotatably about a third axis parallel to the first axis. A workpiece holder is provided below the arm tip.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
A robot controller includes a Web API (Application Programming Interface) configured to receive a request from a Web client which is configured to execute a Single Page Application, response generation circuitry configured to generate a response to the request as updated data for the Single Page Application, and processing circuitry configured to execute a process with respect to a robot. The process corresponds to the request received by the Web API.
B25J 13/06 - Postes de commande, p. ex. pupitres, tableaux de contrôle
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
A painting robot includes a base, a swivel base, a lower arm, an upper arm, and a wrist unit. The upper arm includes a first upper arm on a base end side and a second upper arm on a tip end side. The second upper arm is supported, on a base end side, by a tip end side of the first upper arm, the first upper arm being supported by the lower arm on an inner surface that is a side surface of the first upper arm, and pivots about a fourth axis parallel to a third axis. The first upper arm is equipped with a pump for an end effector on an inner surface side.
B05B 13/04 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces les têtes de pulvérisation étant déplacées au cours de l'opération
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
87.
Coating system including coating robot and movable opener robot
A coating system including a coating robot and a movable opener robot. The coating robot has a fixed base fixedly mounted to a coating booth, and a first arm rotatably coupled to the fixed base about a first axis substantially parallel to a conveyance direction of a workpiece that includes a body and a first movable member. The body has a body inner surface and the first movable member has a first movable member inner surface. The movable opener robot has a movable base mounted such that the movable opener robot is movable in the coating booth in the conveyance direction. The movable base is mounted below the fixed base. The movable opener robot can open the first movable member of the workpiece. The coating robot can coat the body inner surface and the first movable member inner surface when the first movable member has been opened.
B05B 13/04 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces les têtes de pulvérisation étant déplacées au cours de l'opération
B05B 13/02 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces
B05C 9/04 - Appareillages ou installations pour appliquer des liquides ou d'autres matériaux fluides aux surfaces par des moyens non prévus dans l'un des groupes , ou dans lesquels le moyen pour déposer le liquide ou autre matériau fluide n'est pas important pour appliquer des liquides ou d'autres matériaux fluides aux côtés opposés de l'ouvrage
A substrate transport system comprises: a linear transport device configured to transport a substrate along a transport line; and a robot configured to receive the substrate from the linear transport device, load the substrate into a processing unit, unload the substrate from the processing unit, and deliver the substrate to the linear transport device, wherein the linear transport device comprises: a first moving body configured to move along the transport line; a second moving body configured to support the substrate; and a non-contact force generator configured to apply a non-contact force to the second moving body from the first moving body to cause the second moving body to follow movement of the first moving body while levitating, by the non-contact force, the second moving body with respect to the first moving body.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; structural parts and accessories of industrial robots; control mechanisms for industrial robots, namely, pneumatic controls and hydraulic controls; automatic tool changers attached to industrial robots; grippers, capturing devices and end-effectors for industrial robots; carriages and stands specially adapted for mounting industrial robots; conveyors being machines for industrial robots; self-driving conveying carriages for industrial robots; manipulator protection covers specially adapted for industrial robots; metalworking machines and tools, namely, broaching, bending, cutting, milling, drilling machines for metalworking; electric arc welding apparatus; lap seam welding apparatus; welding apparatus for friction stir welding; welding machines, electric; electric welding apparatus; welding apparatus, gas-operated; gas-operated blow torches; screwdrivers, electric; screw feeders; painting machines and apparatus; painting machines; spray guns for paint; powder coating spray gun apparatus; industrial robots, namely, wafer transfer robots for semiconductor manufacturing machines; starter motors; AC motors and DC motors, not including those for land vehicles, but including structural parts for any AC motors and DC motors; alternators; direct current generators Photographic apparatus and instruments, namely, cameras; cinematographic machines and apparatus; optical machines and apparatus, namely, optical reader; cameras; measuring or testing machines and instruments, namely, instruments for measuring length; human detecting sensors, namely, motion detectors, heat detectors, laser-type, infrared-type, ultrasonic-type, millimeter-wave radar-type, or image sensor-type motion sensors; motion sensors; balances; digital torque gauges; torque meters; laser measuring systems; rotary encoders; optical profilers; acceleration sensors; infrared sensors; coordinate measuring instruments; distance measuring apparatus; power distribution or control machines and apparatus, namely, electric power distribution machines, electronic servo motor controllers; rotary converters; phase modifiers; inverters; programmable logic controllers; amplifiers for use with servo motors; electric wires and cables; protective covers for electric wires and cables; junction sleeves for electric cables; electrical communication machines and instruments, namely, cellular telephones; image sensors; image processing apparatus; electronic control apparatus, namely, electronic key fobs being remote control apparatus; computers; downloadable and recorded computer software used as development tools for computer programs; downloadable and recorded computer programs for robot operation; downloadable and recorded computer software used as software development tools for robot motion programs; electronic control apparatus for teaching tasks to industrial robots; protective covers for electronic control apparatus for teaching tasks to industrial robots; arc sensors for welding robots; wire touch sensors for welding robots; torch shock sensors for welding robots
A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
A robot system includes a storage device configured to store a predefined work requirement that indicates a processing target region of a workpiece to be processed by a robot, and circuitry configured to recognize an environment of a working space in which the workpiece is placed, as a work environment. The work environment includes a position and a posture of the workpiece placed in the working space. The circuitry is further configured to identify the processing target region of the workpiece placed in the working space, based on the position and posture of the workpiece placed in the working space. The circuitry is further configured to generate, in real-time, a path of the robot to operate on the identified processing target region based on the work requirement and the identified processing target region; and control the robot based on the generated path.
A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.
G05B 19/425 - Apprentissage de positions successives par commande numérique, c.-à-d. des commandes étant introduites pour commander l'asservissement en position de la tête porte-outil ou de l'effecteur de bout de bras
93.
ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
This robot control system comprises: a region detection unit that detects, as the current region state, the current state of a designated region in which at least one object is arranged; a generation unit that generates, on the basis of the current region state, additional information about an additional object to be added in the designated region; and a robot control unit that controls, on the basis of the additional information, a robot so as to arrange the additional object in the designated region.
A control system 3 comprises: a robot controller 100 that controls a robot 2; and a computation module 200 that communicates with the robot controller 100, wherein the robot controller 100 has a first memory 110 in which state information pertaining to the robot 2 is stored, and the computation module 200 has a second memory 210 the content of which is synchronized with the first memory 110, and a processor 201 which is capable of executing an application 241 that performs computation relating to control of the robot 2 on the basis of the content of the second memory 210.
B25J 9/22 - Systèmes d'enregistrement ou de reproduction
G05B 19/414 - Structure du système de commande, p. ex. automate commun ou systèmes à multiprocesseur, interface vers le servo-contrôleur, contrôleur à interface programmable
95.
PROGRAM GENERATION DEVICE AND PROGRAM GENERATION METHOD
A program generation device 200 uses a user operation to generate an action program that actuates a robot 2, said device comprising: a skill generation unit 213 that generates skills respectively representing relative actions, and stores said skills in a skill database 222; a task generation unit 214 that generates tasks which include a plurality of skills and associate action reference coordinates, which serve as a basis for the relative actions, to each of the plurality of skills, and stores the the same in a task database 224; and a master generation unit 215 that generates a master, which includes a plurality of tasks and associates the robot 2 with the plurality of tasks, and stores the same in the master database 225.
B25J 9/22 - Systèmes d'enregistrement ou de reproduction
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
G05B 19/42 - Systèmes d'enregistrement et de reproduction, c.-à-d. dans lesquels le programme est enregistré à partir d'un cycle d'opérations, p. ex. le cycle d'opérations étant commandé à la main, après quoi cet enregistrement est reproduit sur la même machine
A production system 1 comprises: a simulator 214 with which, on the basis of transition information representing transition of a control signal collected from a controller 3 that controls a production apparatus 2 including a robot 5B and model information about the production apparatus 2, a virtual production apparatus V2 corresponding to the production apparatus 2 is operated in a virtual space VS; and a display part 216 for displaying, on a monitor, the virtual space VS in which the virtual production apparatus V2 is operated.
A painting system includes: a conveying apparatus that conveys a vehicle body having a door in a painting area; an operation robot that includes a base fixed in the painting area, a holding tool capable of holding the door, and a horizontal articulated arm that moves the holding tool, and opens the door of the vehicle body that is being conveyed by the conveying apparatus; and a painting robot that paints an inside of the vehicle body in a state where the door is opened by the operation robot. In the vertical direction, at least a portion of the horizontal articulated arm is disposed at a position lower than a height of a lower end of the door where the height of the lower end of the door is maintained by the conveying apparatus.
B05B 13/04 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces les têtes de pulvérisation étant déplacées au cours de l'opération
A door opening/closing robot includes: a base provided at a position different from a conveyance line on which a vehicle body is conveyed; a first arm attached to the base to rotate around a first axis and extending away from the first axis; a second arm attached to the first arm to rotate around a second axis and extending away from the second axis; a third arm attached to the second arm to rotate around a third axis and extending away from the third axis; and a fourth arm attached to the third arm to extend vertically and configured to vertically move a tool for holding a door of the vehicle body. At least a portion of a connection area including a distal end of the second arm and a proximal end of the third arm is positioned at a same height as at least a portion of the base.
B05B 13/02 - Moyens pour supporter l'ouvrageDisposition ou assemblage des têtes de pulvérisationAdaptation ou disposition des moyens pour entraîner des pièces
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY (Japon)
Inventeur(s)
Honda Tomokazu
Nishioka Masateru
Nakamura Takashi
Uemura Sei
Abrégé
[Problem] To provide a metal wire joining method and a metal wire joining system which are capable of joining metal wires regardless of the types of metal materials. [Solution] This metal wire joining system 1 has: a cavity resonator 3 in which a joining part W1a of a metal wire W1 and a joining part W2a of a metal wire W2 are disposed; a microwave generation/control device 11 and a microwave supplier 5 which supply microwaves to the cavity resonator 3; and a holding mechanism 9 which holds the metal wires W1, W2 so that the position of the center point CP between the joining parts W1a, W2a can move in the supply direction of the microwaves.
A communication system 10 comprises: an upper-level system 11 that includes a client device 20 and a server device 100 for executing inter-device communication with the client device 20; and a communication terminal 400 that is connected to the client device 20 and that executes mobile body wireless communication, which is for inter-device communication, with a base station 200 that is connected to the server device 100. The communication terminal 400 notifies the upper-level system 11 of information of the base station 200.
