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.
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.
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 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same 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.
NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY (Japan)
Inventor
Honda Tomokazu
Nishioka Masateru
Nakamura Takashi
Uemura Sei
Abstract
[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.
A robot control system according to an example comprises: an external force estimation unit that executes an estimation process based on a plurality of disturbance torques corresponding to a plurality of axes of a robot and a plurality of axis positions, and calculates an external force acting on an end effector of the robot as an estimated external force; and a robot control unit that controls the robot on the basis of the estimated external force. The external force estimation unit executes, as at least a part of the estimation process, a calculation using an external force trained model that receives the plurality of disturbance torques and/or the plurality of axis positions as an input.
A production system 1 comprises: a production device 4 that produces a product by executing a processing step on a workpiece in a real space, on the basis of a production instruction transmitted on the basis of a production plan; a simulator 200 having a virtual production device 212 that executes, in a virtual space, a virtual processing step corresponding to the processing step which is performed by the production device 4, on the basis of the production instruction; and a comparison unit 216 that compares the execution result of the processing step and the execution result of the virtual processing step.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
11.
ROBOT SYSTEM, ROBOT ADJUSTMENT DEVICE, PROGRAM, AND ROBOT MANUFACTURING METHOD
Provided is a robot system including: a multi-joint robot having a plurality of shafts; and a controller for controlling the robot. The controller comprises: a storage unit for storing a relational expression that indicates the relationship between the plurality of shafts and the fingers of the robot and that has elements which have been adjusted to the individual robot by using an optimization scheme; and a command generation unit that generates an operation command for the robot on the basis of the relational expression stored in the storage unit. Provided is a robot adjustment device comprising: a sensor value information acquisition unit that acquires sensor value information pertaining to the plurality of shafts or the fingers of the robot during operation of the multi-joint robot having the plurality of shafts; a shaft-related information acquisition unit that acquires shaft-related information related to the plurality of shafts during operation of the robot; and an adjustment unit that uses an optimization scheme to adjust the elements in the relational expression on the basis of the discrepancy between the sensor value information and calculation information, said calculation information having been calculated by using the axis-related information and the relational expression that indicates the relationship between the plurality of shafts and the fingers of the robot.
A communication system 1 is a system for performing wireless communication between a first application and a second application, and comprises a first communication device 200 that performs first wired communication with the first application, and a second communication device 400 that performs second wired communication with the second application and performs wireless communication with the first communication device 200. The first communication device 200 comprises a first time acquisition unit 215 that acquires a first time from the first application, and the second communication device 400 comprises a second time generation unit 416 that generates a second time synchronized with the first time, and an interruption output unit 417 that outputs an interruption signal synchronized with the second time to the second application periodically.
A robot system 1 comprises: a first link which is one part of a robot arm 10; a first motor 40 that moves by the rotation of the first link; a first sensor 60 the relative position of which, with respect to the first motor 40, is fixed; and a memory for storing first position information indicating the relative position of the first sensor 60 with respect to a reference position related to the first motor 40.
This electric power conversion system 1 comprises a plurality of power modules 100 and a control module. The control module has an electric current source 230 that supplies a switch-driving electric current, and a main switch 240 that cuts off the switch-driving electric current from the electric current source 230 in response to a detection of an external abnormality. Each of the plurality of power modules 100 has an electric power conversion circuit 110, a power-off switch 140 that resumes an output of the electric power conversion circuit 110 when an input from the switch-driving electric current is received and stops the output of the electric power conversion switch when the input from the switch-driving electric current has stopped, and an input cutoff switch 150 that cuts off the input of the switch-driving electric current to the power-off switch 140 in response to a detection of an internal abnormality. The electric current source 230, the main switch 240, and the power-off switches 140 and the input cutoff switches 150 of the plurality of power modules 100 are serially connected.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
15.
DATA GENERATION SYSTEM, MODEL GENERATION SYSTEM, ESTIMATION SYSTEM, TRAINED MODEL PRODUCTION METHOD, ROBOT CONTROL SYSTEM, DATA GENERATION METHOD, AND DATA GENERATION PROGRAM
A data generation system according to one example comprises: a detection unit that detects the presence or absence of a target object in an input image using a machine learning model that detects the presence or absence of a target object on the basis of an image; an identification unit that identifies, from the input image and as an area of interest, the area targeted by the machine learning model at the time of the detection; and an annotation unit that associates an annotation corresponding to the detected target object with the area of interest.
The present invention relates to an automatic wafer teaching apparatus for semiconductor manufacturing equipment. The disclosed automatic wafer teaching apparatus for semiconductor manufacturing equipment comprises: at least one load port provided along one side edge of an EFEM to be connected to an inner side of the EMEM; a transfer robot for transporting wafers to a plurality of load ports as an end effector while being provided inside the EFEM; and a load port teaching unit for detecting a correct position so that the end effector in a state of having unloaded a wafer can place the wafer at the correct position inside the load port.
H01L 21/68 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for positioning, orientation or alignment
H01L 21/677 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for conveying, e.g. between different work stations
H01L 21/687 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
B25J 11/00 - Manipulators not otherwise provided for
H01L 21/67 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components
17.
VACUUM PUMP, VACUUM PUMP CONTROL METHOD, POWER CONVERSION DEVICE FOR VACUUM PUMP, POWER CONVERSION DEVICE FOR COMPRESSOR, AND COMPRESSOR
[Problem] To provide a vacuum pump and a control method therefor with which it is possible to improve vacuum evacuation performance while protecting a motor from overheating. [Solution] A vacuum pump according to one embodiment of the present invention comprises a positive-displacement pump body, a motor, and a control unit. The pump body has a pump rotor. The motor rotates the pump rotor. When a load torque is equal to or lower than a first predetermined torque, the control unit executes a first control mode in which the motor is driven at a predetermined rotation speed or lower. When the load torque exceeds the first predetermined torque, the control unit executes a second control mode in which the motor is driven at the predetermined rotation speed or lower using a second predetermined torque or lower, the second predetermined torque being higher than the first predetermined torque, with a first predetermined power set as the upper limit of motor output.
This weighing system comprises: an amount estimation unit that calculates, for each of at least one candidate separation position, an estimation amount of a subset of material pieces obtained by separating, at the candidate separation position, a set of material pieces controlled by mass, the estimation amount being calculated on the basis of a set image captured of the set of material pieces; and a separation position determination unit that determines a position at which a predetermined amount of material pieces is separated from the set as a separation position on the basis of the at least one estimation amount.
G01G 9/00 - Methods of, or apparatus for, the determination of weight, not provided for in groups
G06Q 10/04 - Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
A communication system 1 performs radio communication in a device system 10 including multiple devices and includes a configuration information acquisition unit 113 that acquires configuration information indicating the configuration of the device system 10, a communication pattern setting unit 114 that sets a time division duplex pattern defining the arrangement of downlink slots 511 in time division duplex and uplink slots 512 in time division duplex according to the configuration of the device system 10, and a radio communication unit 213 or 413 that performs radio communication by repeating the time division duplex pattern.
A radio communication device 5 or 6 includes: a radio communication unit 213 or 413 that performs radio communication with a target radio communication unit 213 or 413 by repeating a time division duplex pattern in which multiple communication slots 510 including a first class communication slot 510 and a second class communication slot 510 are time-division-multiplexed; and a communication control unit 112 or 312 that causes the radio communication unit 213 or 413 to transmit transmission data generated by an application 3 to the target radio communication unit 213 or 413 by using the first class communication slot 510 when the transmission data has a first attribute and causes the radio communication unit 213 or 413 to transmit the transmission data to the target radio communication unit 213 or 413 by using the second class communication slot 510 when the transmission data has a second attribute.
This communication system 1 comprises: a wireless communication system 2 for performing wireless communication by repeating a time-division duplex pattern in which a plurality of communication slots 510 are arranged by being separated in time; an application 3 for performing cyclic communication utilizing the wireless communication system 2; and communication control units 112, 312 for controlling cyclic communication so that at least some of each of the two or more successive communication cycles of cyclic communication are performed in one time-division duplex pattern of wireless communication.
H04W 28/06 - Optimising, e.g. header compression, information sizing
22.
ROBOT PROGRAM GENERATION SYSTEM, ROBOT PROGRAM GENERATION METHOD, PROTOCOL CONVERSION DETERMINATION DEVICE, ROBOT PROGRAM, PROTOCOL, AND MANUFACTURING SYSTEM
Provided is a robot program generation system S or the like for improving productivity of manufacturing an object in the field of biological engineering. This robot program generation system S comprises: a first conversion unit (2) that converts a protocol representing a plurality of tasks in the field of biological engineering into a first program executable by a first robot 10; a protocol modification information acquisition unit that acquires, to modify the protocol after execution of the plurality of tasks by the first robot 10 according to the first program, information on modification of at least one operation among basic operations of equipment to be used for the tasks by the first robot 10 and supplementary operations for supplementing the basic operations, the basic operations serving as a basis for executing the tasks; a protocol modification unit that modifies the protocol according to the acquired modification information; and a second conversion unit (4) that converts the modified protocol into a second program executable by second robots 10B, 10C, 10D different from the first robot 10.
A control system according to one embodiment comprises: a feed-forward control unit that, on the basis of a control object model representing the relationship between an operation of a control object and the friction that acts on the operation of the control object, calculates, as a feed-forward compensation value, a continuous value for compensating for the friction; a command generation unit that generates a command that is based on the calculated feed-forward compensation value; and a command unit that outputs the command generated to operate the control object.
An operation adjustment system according to one example comprises: an inference unit that, on the basis of a plurality of pairs each constituted by a parameter set which affects the operation of a motor control device in response to a command and an evaluation index which relates to a machine that has been operated by the motor control device with the parameter set, generates a calculation model which indicates a relationship between the parameter sets and the evaluation indices; and a generation unit that generates a new parameter set on the basis of the calculation model.
H02P 29/00 - Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
Provided is a motor control device that can use a sensor input circuit that has a low response speed. According to the present invention, a 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 on the basis of detection results from a magnetic pole sensor. The second magnetic pole position detection unit detects the position of the magnetic pole of the rotor on the basis of the current flowing in a plurality of drive windings that drive the rotor. The control unit performs control that makes the rotor start rotating on the basis of detection results from the first magnetic pole position detection unit and control that makes the rotating rotor rotate on the basis of detection results from the second magnetic pole position detection unit.
A robot control system pertaining to an embodiment comprises: an extraction unit which extracts, from an observation area around a robot, a task area in which the robot can execute a task for processing an object; and a robot control unit which controls, in response to the extraction of the task area, the robot so that the robot accesses the object, wherein the extraction unit extracts the task area again after the robot accesses the object.
This communication system 1 comprises: an information addition unit 113 that adds order information to each of a plurality of data sets; a transmission unit 211 that sequentially transmits a plurality of data sets to which order information is added; a reception unit 411 that sequentially receives the plurality of data sets from the transmission unit 211; an arranging unit 312 that arranges the plurality of data sets received by the reception unit 411 in a standby buffer 313 in order based on the order information; and a reading unit 314 that sequentially reads, in the order of arrangement, the plurality of data sets stored in the standby buffer 313.
An association unit (108) of this production system associates each of a plurality of rungs included in a ladder program with one of plurality of scanning groups for which execution cycles can be designated. An assignment unit (110) assigns each of the plurality of scanning groups to one of a plurality of processor cores included in a controller such that the plurality of scanning groups are dispersed. An execution unit (201) executes one or more rungs, in parallel with each other in the respective execution cycles, associated with one or more scanning groups assigned to the plurality of respective processor cores.
A planning system according to one example of the present invention comprises: a cycle time estimation unit which calculates an estimated cycle time of a job on the basis of simulation; and a flow generation unit which generates, on the basis of the estimated cycle time and a preset reference cycle time for the job, at least one task flow for executing said job by at least one robot.
[Problem] To provide a robot, a drive mechanism, a reduction gear, a torque sensor, and a torque detection method, all of which make it possible to improve accuracy in detecting a torque. [Solution] This robot 1 has: a torque sensor 2 that comprises a reduction gear 4 for outputting a second torque obtained by increasing a first torque outputted from a motor 3, an outer peripheral part 5 for outputting the second torque outputted from the reduction gear 4, and a sensor part 8 for detecting a torque that has been applied at least to the outer peripheral part 5; and an attenuation part 6 that is positioned in a transmission path through which the second torque is transmitted to the torque sensor 2 from the reduction gear 4 and that attenuates the transmission of the second torque.
[Problem] To provide a robot, a cover for a robot, and a method for manufacturing a robot, which enable improvement of security. [Solution] A robot 1 comprises an arm 5 provided with a plurality of joint portions Jt1 to Jt6 and attached with a hand on a fore end portion thereof, and a stretchable cover 23 fixed on the arm 5 to cover at least a part of the arm 5. The cover 23 consists of a material containing rubber, and comprises a fixation portion 29 fixed to the arm and a covering portion 31 covering at least a part of the arm 5.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
32.
POWER CONVERSION DEVICE, ESTIMATOR, AND ESTIMATION METHOD
A power conversion device 1 comprises: a power conversion circuit 10 that converts primary side power to secondary side power and supplies the secondary side power to an electric motor 2; a voltage command generator 120 that, on the basis of a current command in a rotating coordinate system that rotates in synchronization with the position of a magnetic pole of the electric motor 2 and on the basis of the mutual inductance between a first coordinate axis and a second coordinate axis in the rotating coordinate system, generates a voltage command in the rotating coordinate system; and a PWM control unit 111 that controls the power conversion circuit 10 so as to apply a secondary side voltage corresponding to the voltage command to the electric motor 2.
A decompression system 3 comprises an electric pump 7 that decompresses a primary-side space with respect to a secondary-side space and a control device that controls the motor 7M of the electric pump 7, wherein the control device 8 comprises: a torque command generator 111 that generates a torque command so as to operate the motor 7M in accordance with an operation command; a limiter 116 that restricts the torque command to a limit value or lower; a power conversion circuit 10 that generates and supplies, to the motor 7M, drive power corresponding to the torque command processed by the limiter 116; and a limit modifying unit 117 that temporarily increases the limit value according to the decompressed primary-side space becoming opened to the secondary-side space.
Provided are: an electric power conversion device that rapidly transmits current values of a plurality of inverters; and a control method for the electric power conversion device. This electric power conversion device comprises 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 performed by a plurality of electric power conversion units on the basis of state quantity information relating to a state quantity of each of the plurality of electric power conversion units that receive electric power with respect to a load. The subcontrollers are provided, respectively, to the power conversion units to control the power conversion units on the basis of the control command, and to acquire and output the state quantities. The relay unit: generates the state quantity information by performing information compression on the state quantities output by the plurality of subcontrollers; and transmits the state quantity information to the main controller side.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02M 7/493 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode the static converters being arranged for operation in parallel
35.
MOTOR CONTROL SYSTEM, MOTOR CONTROL DEVICE, AND REMAINING LIFESPAN ESTIMATION METHOD
[Problem] To estimate remaining lifespan from the present time, said remaining lifespan being in accordance with an actual operating condition. [Solution] A motor control system 1 has a motor 7 that is provided with bearings 23, 25, and a motor control device 5 that controls the motor 7. The motor control device 5 has an operating time accumulation unit 59 that accumulates the operating time of the motor 7, a total lifespan time calculation unit 63 that, on the basis of a current operating parameter of the motor 7, calculates the total lifespan time of a load-side bearing 23 or grease from the start of operation of the motor 7, an accumulated operating time conversion unit 65 that converts an accumulated operating time ΣT1 accumulated by the operating time accumulation unit 59 into an accumulated operating time ΣT2 on the basis of the current operating parameter, and a remaining lifespan time calculation unit 67 that subtracts the accumulated operating time ΣT2 from the total lifespan time to calculate the remaining lifespan time RL2 of the load-side bearing 23 or grease.
A simulation device 100 is provided with: an actual shape model generation unit 112 for generating, on the basis of measurement data, an actual shape model indicating a three-dimensional actual shape of a machine system 2 that includes robots 4A, 4B; and a model correction unit 113 that corrects a simulation model 310 of the machine system 2 on the basis of a comparison between the simulation model 310 and an actual shape model 210.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
G06T 19/00 - Manipulating 3D models or images for computer graphics
37.
APPARATUS CONTROL SYSTEM, APPARATUS CONTROL METHOD, AND APPARATUS CONTROL PROGRAM
An apparatus control system according to an aspect of the present invention comprises: a local apparatus; an acquisition unit for acquiring communication data transmitted by non-fixed-cycle communication with a controller for controlling the local apparatus; a determination unit for determining whether a synchronization error which is an error relating to synchronization between the local apparatus and the controller has occurred, on the basis of the communication data; and an error processing unit for executing error processing relating to at least one of the local apparatus and the controller when a synchronization error has occurred.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
38.
POWER CONVERSION DEVICE AND METHOD FOR CONTROLLING POWER CONVERSION DEVICE
This power conversion device comprises one or more serial multistage power converters, and a control circuit which outputs a driving signal. The one or more serial multistage power converters each have a plurality of unit power converters, and the outputs of the plurality of unit power converters are connected to each other in series. Each of the plurality of unit power converters has a plurality of switching elements, and is configured to switch the driving of the plurality of switching elements and output an output voltage on the basis of a driving signal. The control circuit outputs a driving signal to each of the plurality of unit power converters such that, during a pause period, in which the plurality of switching elements of at least one unit power converter among the plurality of unit power converters output an output voltage without performing switching in a short time interval that is shorter than a predetermined time interval, the plurality of switching elements in the remaining unit power converters among the plurality of unit power converters perform switching in the short time interval and output an output voltage.
According to the present invention, training images for building an image recognition model are easily prepared, and the necessary time period for data collection of images of defective products to be used as training images is reduced. This training image generating method includes: creating a SinGAN model including a generator and a discriminator for each of a plurality of layers on the basis of a first image in which a portion of interest is represented partially in a target object; generating an input image by combining a target object image and a portion-of-interest image; and generating a second image in which the form of the portion of interest is different from the first image, on the basis of the SinGAN model and the input image.
An electrolysis system 1 comprises: an electrolysis device 2; and a converter 3 that converts primary side power to secondary side power and outputs the secondary side power to the electrolysis device 2. The converter 3 includes: a transformer 10 having a primary side coil 11, into which the primary side power is inputted, and a secondary side coil 15 which outputs secondary side power corresponding to a magnetic flux produced by the primary side coil 11; and a power input unit 30 which turns a switching element 31 on and off so as to intermittently input the primary side power into the primary side coil 11 while limiting the direction of an applied voltage to one direction.
H02M 3/28 - Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
C25B 1/04 - Hydrogen or oxygen by electrolysis of water
41.
SUBSTRATE TRANSPORT SYSTEM AND SUBSTRATE TRANSPORT DEVICE
A substrate transport system 1 is provided with: a linear transport device 2 that transports a substrate W along a transport line TL; and a robot that receives the substrate W from the linear transport device 2, carries the substrate W in a processing unit PU, carries the substrate W out of the processing unit PU, and delivers the substrate W to the linear transport device 2. The linear transport device 2 is provided with: a movement base 50 (first movement body) that moves along the transport line TL; a floating unit 10 (second movement body) that supports the substrate W; and a noncontact force generation part 70 that causes noncontact force to act on the floating unit 10 from the movement base 50 such that the floating unit 10 is caused to follow movement of the movement base 50 while floating the floating unit 10 with respect to the movement base 50.
B65G 54/02 - Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
H01L 21/677 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for conveying, e.g. between different work stations
A power conversion system 1 comprises: a plurality of power conversion devices 20; and a master controller 10 capable of communicating with the plurality of power conversion devices 20 by a serial communication channel CS01. The master controller 10 transmits the same control command to the plurality of power conversion devices 20 by serial communication via the serial communication channel CS01, and the plurality of power conversion devices 20 each perform power conversion from the primary side to the secondary side on the basis of the same control command.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
43.
DATA COLLECTION DEVICE, PROGRAM, AND DATA COLLECTION METHOD
A data collection device 300 comprises: a data collector 311 that collects RAW data; a primary data analyzer 321 that acquires data for analysis, extracts a record for analysis of a predetermined type from the data for analysis on the basis of the data sequence of the data for analysis, and executes predetermined analysis processing for the extracted record for analysis to generate result data; a database accessor 331 that converts data for registration into a predetermined database format on the basis of the data sequence of the data for registration, and registers the converted data into a database 332; and an application manager 334 that controls the flow of data among the data collector 311, the primary data analyzer 321, and the database accessor 331.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G06F 16/20 - Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
44.
POWER CONVERSION DEVICE, POWER CONVERSION METHOD, AND POWER CONVERSION DEVICE MANUFACTURING METHOD
This power conversion device 2 comprises: a power conversion circuit 20 for converting primary side power to secondary side power; a program storage unit 120 for storing a plurality of program modules and sequence data; an extension program acquiring unit 113 for acquiring an extension program and storing the extension program into an extension program storage unit 114; and a control unit 118 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 20 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 118 executes the extension program by including the extension program in the extension program storage unit 114 in the extension module.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
45.
CONTROL SYSTEM PRODUCTION EQUIPMENT, CONTROL SYSTEM PRODUCTION METHOD, AND PROGRAM
Control equipment 100 is provided with: a first model generation unit 114 which generates a first model representing at least a part of the response characteristics of a control target 2 in response to a command on the basis of a command profile that represents time variations in the command to the control target 2, and a response profile that represents time variations in the state of the control target 2 in accordance with the command profile; a second model generation unit 132 which generates a second model representing characteristics that are included in said response characteristics, but are not included in the first model, on the basis of the command profile, the response profile, and the first model; and a parameter generation unit 141 which, on the basis of the first model and the second model, generates a control parameter that determines the relationship between the command and a control amount for causing the control target 2 to follow the command.
G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
46.
POWER CONVERSION DEVICE, RAISING/LOWERING DEVICE, POWER CONVERSION METHOD
A power conversion device 3 comprises: a power conversion circuit 30 that switches on/off of a plurality of switching elements 35 at a carrier frequency so as to convert primary-side power to secondary-side power; a heat generation evaluation unit 115 that, after the secondary-side current value of the power conversion circuit 30 exceeds a prescribed current threshold value, evaluates the heat generation level of the plurality of switching elements 35 on the basis of the secondary-side current value and the carrier frequency; a frequency change unit 116 that gradually decreases the carrier frequency in accordance with elapsed time after the evaluation result of the heat generation level exceeds a prescribed level; a suppression evaluation unit 117 that evaluates the heat generation suppressing effect of the gradual decrease in the carrier frequency on the basis of the evaluation result of the heat generation level; and a gradual decrease termination unit 118 that, before the evaluation result of the heat generation level drops to the prescribed level, terminates the gradual decrease in the carrier frequency by the frequency change unit 116 on the basis of the evaluation result of the heat generation suppressing effect.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
47.
WORK SYSTEM, MACHINE LEARNING DEVICE, WORK METHOD, AND MACHINE LEARNING METHOD
A work system (2) is provided with: an object imaging unit (202) that captures an image of an object from a work direction D so as to acquire an object image; a work position acquisition unit (203) that acquires a work position on the basis of a presence region of the object obtained by a machine learning model; and a work unit (201) that executes work on the object, on the basis of the work position obtained by inputting the object image to the work position acquisition unit.
In the present invention, a command to a control target is adjusted appropriately. A control system (1) according to one aspect of the present disclosure comprises a controller (3) that outputs a command to a control target. The control system comprises: a storage unit (20) that stores a mathematical model for a standard response profile expressing the frequency characteristics of a standard state of the control target corresponding to a first command; an error acquisition unit (25) that acquires an error between the standard response profile and a first actual response profile expressing the frequency characteristics of the actual state of the control target which has responded to the first command; an instruction unit (26) that causes a second command based on a frequency at which the error is greater than a given threshold value to be output to the control target from the controller; and a model update unit (27) that updates the mathematical model on the basis of the standard response profile and a second actual response profile expressing the frequency characteristics of the actual state of the control target which has responded to the second command.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
49.
MACHINE LEARNING DATA GENERATION DEVICE, MACHINE LEARNING DEVICE, MACHINE LEARNING MODEL GENERATION METHOD, AND PROGRAM
The present invention identifies parameters representing the internal state of target equipment and uses interpolated values of these parameters to easily obtain appropriate machine learning data. A machine learning data generation device comprising: a real time series information acquisition unit which acquires and associates real time series information indicating the operating state of target equipment with prescribed labels; a physical simulation execution unit which generates a plurality of sets of virtual time series information on the basis of a plurality of parameters representing the internal state of the target equipment; a parameter identification unit which identifies parameters on the basis of the plurality of sets of virtual time series information and the real time series information, and associates the parameters with labels; a parameter generation unit which generates new parameters and labels on the basis of the identified parameters; a virtual time series information generation unit which performs a physical simulation using the new parameters, and generates virtual time series information corresponding to a new internal state; and a machine learning data generation unit which associates the new parameters and associated labels with the virtual time series information corresponding to the new internal state to generate new machine learning data.
A simulation device 100 comprises: a first simulator for simulating control by a first controller for a first machine; a second simulator for simulating control by a second controller for a second machine; and a simulation manager 110 for controlling progress of the simulation by the first simulator and progress of the simulation by the second simulator so as to correspond to relation between progress of the control by the first controller and progress of the control by the second controller.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G05B 19/4069 - Simulating machining process on screen
51.
PRODUCTION SYSTEM, CELL CONTROLLER, ROBOT CONTROLLER, AND CONTROL METHOD
A production system 1 is provided with: an instruction output unit 215 that outputs a performance instruction for a next task on the basis of a process including a plurality of tasks with respect to a workpiece 9 and progress information of the process; an environment information storage unit 221 that stores environment information; a local controller 100 that causes robots 2B, 2C, 10 to perform the next task on the basis of the performance instruction output from the instruction output unit 215 and the environment information in the environment information storage unit 221; and an environment update unit 222 that updates the environment information in the environment information storage unit 221 according to the operation of the robots 2B, 2C, 10.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
A control system 3 is provided with: a local controller 100 that causes robots 2B, 2C, 10 to perform a plurality of tasks included in a process with respect to a workpiece 9 in a real space; a virtual local controller 400 that causes a virtual robot to perform the plurality of tasks in a virtual space; a real information collection unit 312 that collects real performance status information representing a performance status of each of the plurality of tasks performed by the local controller 100; a virtual information collection unit 314 that collects virtual performance status information representing a performance status of each of the plurality of tasks performed by the virtual local controller 400; and a task comparison unit 316 that extracts from the plurality of tasks at least one divergent task of which the real performance status information and the virtual performance status information diverge from each other.
A transport device comprising a plurality of robots and a mobile buffer. The plurality of robots: are fixed inside a transport chamber that has a decompressed atmosphere and includes a side wall having a plurality of processing chambers provided therein that are lined up in the horizontal direction; and transport a substrate. The mobile buffer can hold the substrate and travels along a trajectory that follows the direction in which the processing chambers are lined up. The robots include a first robot and a second robot. The first robot is fixed at a position at which the substrate can be transferred between a load lock chamber and a first processing chamber, which is the processing chamber that is closest to the load lock chamber. The second robot is fixed at a position at which the substrate can be transferred between at least one second processing chamber that is different from the first processing chamber. In a bird's eye view, the mobile buffer moves between the side wall and the robots and passes through a position at which the substrate can be transferred by the first robot and a position at which the substrate can be transferred by the second robot.
H01L 21/677 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for conveying, e.g. between different work stations
54.
MACHINE CONTROL SYSTEM, PROGRAM, MACHINE, SYSTEM, AND DEVICE
A machine control system 1 is provided with one or more machines 4, each of which is constituted in a real space and realizes a motion in accordance with a machine directive, and one or more controllers 100, each of which is mounted in a virtual space that one or more servers communicating with the one or more machines 4 have. Each of the one or more controllers 100 has a motion module 113 for executing a motion program in a control cycle and generating a machine directive for the corresponding machine 4, an addition unit 125 for adding first cycle information to the machine directive, and a synchronous communication unit 114 for transmitting the machine directive to the corresponding machine 4. Each of the one or more machines 4 has a terminal communication unit 314 for receiving a machine directive from the one or more servers, and a machine-side timing adjustment unit 315 for invoking a machine directive in a machine-side control cycle that corresponds to the first cycle information added to the machine directive.
The robot control system according to one aspect of the present disclosure is provided with: a reception unit for receiving a frame image in which the imaging position is changed in accordance with operation of a robot operated on the basis of a command; a command generation unit that generates a command; and an operation image generation unit that generates an operation image by extracting, from the frame image, a partial region in accordance with the command such that a delay in operation of the robot with respect to the command is indicated.
A machine learning model determination system (1) comprising at least one server (2) and at least one client terminal (3) that are connected to an information communication network and that can communicate information with each other, said machine learning model determination system (1) including: an evaluation information database (202) which stores evaluation information relating to an evaluation of machine learning; an evaluation information update unit (203) which updates the evaluation information on the basis of an evaluation of machine learning that uses a specific value of a parameter and specific training data; a training data input unit (304) which inputs the specific training data; a verification data input unit (305) which inputs specific verification data; a parameter determination unit (307) which determines the specific value of the parameter on the basis of the evaluation information; and a machine learning engine (303) which includes a learning unit (301) that trains a machine learning model using the specific training data, and an evaluation unit (302) that evaluates machine learning results using the specific verification data.
The power conversion system according to one example of the present invention has a power conversion device for supplying power to a motor of a machine. The power conversion system is provided with: a current distribution generation unit for generating, on the basis of a current signal indicating the current operation of a machine, current distribution information relating to a current distribution that is the probability distribution of a frequency component of the current signal; and an estimation unit for estimating the current state of the machine on the basis of the difference between reference distribution information and the current distribution information, said reference distribution information relating to a reference distribution that is a probability distribution based on a frequency component of a past signal indicating the past operation of the machine.
A transport system in which a plurality of processing chambers for performing processing on a substrate in a reduced-pressure atmosphere are provided in a side wall, the transport system comprising a transport chamber that transports the substrate in the reduced-pressure atmosphere. The transport chamber is provided with a plurality of robots that are fixed to the inside of the transport chamber and that transport the substrate, and a movable buffer. The movable buffer holds the substrate and moves horizontally along the side wall between the side wall and the robots. The robots deliver the substrate between the movable buffer and the processing chamber by working together with the movement of the movable buffer.
H01L 21/677 - Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components for conveying, e.g. between different work stations
59.
ROBOT CONTROL SYSTEM, ROBOT SYSTEM, OPERATION SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
A robot control system according to one aspect of the present invention controls a robot in accordance with a user operation. A robot control system comprising: an inference unit that outputs a distribution degree, which is the degree of distribution of action of a robot across a state difference between a current state of the robot and a target state of the robot, on the basis of a learned model generated on the basis of a past operation, the learned model outputting at least the distribution degree in response to inputting of at least the state difference; a setting unit that, on the basis of the distribution degree outputted from the learned model, sets an assistance degree, which is the degree to which operation of the robot is assisted; and a generation unit that, on the basis of the assistance degree and an input command value inputted from an operation device due to a user operation, generates an output command value to be outputted to the robot.
A power conversion device 1 includes a plurality of switching elements, and comprises: a matrix converter circuit 10 that performs bidirectional power conversion between an alternating current power of a primary side and an alternating current power of a secondary side; a power conversion control unit 114 that switches the plurality of switching elements on/off in conjunction with a carrier wave, so as to cause the alternating current of the secondary side to follow a control command; and a carrier wave change unit 116 that changes the frequency of the carrier wave on the basis of proximity level between the frequency of the primary side and the frequency of the secondary side.
H02M 5/297 - Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal for conversion of frequency
A robot (10) is provided with: a base portion (11); a revolving portion (12) that revolves with respect to the base portion (11); a multijoint arm (20) that is connected to the revolving portion (12) and changes the position and attitude of a tool (30) for a work; and a camera (40) fixed to the revolving portion (12). A movable range (31) of the tool (30) due to the multijoint arm (20) overlaps a field of view (41) of the camera (40).
A robot according to the present invention is provided with a first horizontal arm, a second horizontal arm, and a raising and lowering arm. The first horizontal arm rotates about a first axis. The proximal-end side of the second horizontal arm is supported on the distal-end side of the first horizontal arm, and the second horizontal arm rotates about a second axis parallel to the first axis. The proximal-end side of the raising and lowering arm is supported on the distal-end side of the second horizontal arm, and the raising and lowering arm raises and lowers an end effector that can be attached to the distal-end side thereof. The second horizontal arm is curved in one of the rotation directions. The raising and lowering arm is arranged on the inner side of the curvature of the second horizontal arm in plan view.
A robot system 1 is provided with: a conveyor device 2 that conveys a workpiece 90; an environment identification device 200 that identifies a current position of the workpiece 90 and an occupied region of at least one object; and a robot controller 300 that controls robots 3A, 3B, 3C to carry out an operation with respect to the workpiece 90. The robot controller 300 comprises: an interlock region identification unit 315 that identifies, on the basis of the current position of the workpiece 90, an interlock region that moves together with the workpiece 90; an operation possibility determination unit 316 that determines operation possibility of the robots 3A, 3B, 3C with respect to the workpiece 90 on the basis of whether the interlock region overlaps the occupied region of an object other than the robots 3A, 3B, 3C; and a control execution unit 317 that, if the operation possibility determination unit 316 determines that the operation is possible, controls the robots 3A, 3B, 3C on the basis of the current position of the workpiece 90.
A power conversion device 3 is provided with: a power conversion circuit 10 for converting primary-side power to secondary-side power to be supplied to a motor 6; and a control circuit 100 for causing a secondary-side electric quantity to follow a control command, by the power conversion circuit 10. The control circuit 100 calculates a fluctuation level indicating the fluctuation range of a driving force of the motor 6 in a predetermined length of sampling period, and detects abnormalities of a conveyance device 2 that includes the motor 6 and a conveyance unit 5 driven by the motor 6, on the basis of the fluctuation level.
H02M 1/00 - APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF - Details of apparatus for conversion
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
[Problem] To reduce the weight of a hand equipped with a brake device. [Solution] A robot system 1 has: a hand 7 that has two fingers 23, 24 provided so as to be openable and closable; a robot 3 that moves the hand 7; and a controller 5 that controls the robot 3 and the hand 7. The hand 7 has: a motor 31 that opens and closes the fingers 23, 24; and a brake device 37 that holds the respective positions of the fingers 23, 24. The controller 5 has: a first control unit 79 that controls the motor 31 so that a workpiece W is gripped by the fingers 23, 24 with a predetermined gripping force; and a second control unit 81 that operates the brake device 37 while the workpiece W is gripped with a predetermined gripping force so as to hold the respective positions of the fingers 23, 24.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
66.
POWER CONVERSION DEVICE, DIAGONOSIS DEVICE, AND DIAGNOSIS METHOD
A power conversion device 1 is provided with: a motor 5; a power conversion circuit 10 for supplying drive power to the motor 5 of a device 2 having an object 4 to be driven by the motor 5; a generated torque calculation unit 114 for calculating a generated torque of the motor 5 on the basis of the drive current flowing between the power conversion circuit 10 and the motor 5; a speed estimation unit 115 for outputting a rotational speed estimated value of the motor 5; an inertia torque calculation unit 117 for calculating an inertia torque of the device 2 on the basis of the rotational speed estimated value; a load torque calculation unit 118 for calculating a load torque acting on the rotating shaft 6 of the motor 5 on the basis of the generated torque and the inertia torque; and an abnormality diagnosis unit 119 for diagnosing, on the basis of the load torque, whether or not there is an abnormality in the device.
H02P 29/024 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
67.
PRODUCTION SYSTEM INFORMATION COLLECTION DEVICE, INFORMATION COLLECTION METHOD, AND PROGRAM
An information collection device 200 for a production system 1 comprises: a data handling unit 211 which stores, in a database, control signals that are internal information obtained during the operation of local devices 2 including a motor, said operation including a plurality of processes; a control signal extraction unit 212 which extracts, from among the control signals stored in the database, a signal set that was stored during the execution of one of the plurality of processes; and a control signal evaluation unit 213 which evaluates the signal set extracted by the control signal extraction unit 212, and generates evaluation information representing the evaluation result.
A simulation system according to an embodiment of the present invention comprises: a placement-determining unit that determines the placement of a robot with respect to another object on the basis of placement restrictions for the robot; a path-generating unit that, on the basis of the relationship between the determined placement and the other object, generates a path representing a course between tasks to be performed by the robot; a simulation unit that virtually executes an operation program, including the generated path, in a virtual space in which the robot and the other object are placed; and an interference-checking unit that, on the basis of the results of the execution performed by the simulation unit, checks whether the robot will interfere with the other object.
G05B 19/4069 - Simulating machining process on screen
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
A grinding system (100) comprising a reaction force related information acquisition unit that acquires reaction force related information about the pressing reaction force of a grinding tool during grinding processing, a difference calculation unit that acquires the difference between two pieces of the reaction force related information acquired in different repetitive executions of repetitive processing on the same part of the workpiece, a correction amount estimation unit that estimates a correction amount in the pressing direction of the grinding tool on the basis of the difference, and a processing control unit that controls the position of the grinding tool during processing on the basis of a target position and the correction amount.
B24B 49/16 - Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
70.
ROTARY ELECTRIC MACHINE, ROTOR, AND ELECTROMAGNETIC STEEL PLATE
[Problem] To improve a salient pole ratio. [Solution] A rotary electric machine 1 has a slit 200 that is provided between one permanent magnet 21 and another permanent magnet 21 of a pair of permanent magnets 21, 21 of a rotor iron core 20, the slit 200 penetrating through the rotor iron core 20 in an axial direction and having, in a cross section, a cross-sectional shape that is approximately parallel to a circumferential direction. When the axis extending in a center direction of a magnetic pole section 55 from an axial center of the rotor iron core 20 is the d-axis, and the axis extending in a direction shifted 90º in terms of an electric angle from the center direction is the q-axis, the pair of permanent magnets 21 and the slit 200 are configured such that a q-axis magnetic flux due to a torque current of the rotary electric machine 1 passes through a region between the one permanent magnet 21 and the other permanent magnet 21 in the cross section.
H02K 1/22 - Rotating parts of the magnetic circuit
H02K 21/14 - Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
71.
ELECTRIC POWER CONVERTING DEVICE, CONTROL DEVICE, DATA ACCUMULATING DEVICE, AND DATA ACCUMULATING METHOD
An electric power converting device 1 is provided with: an electric power converting circuit 10 which performs electric power conversion between primary-side electric power and secondary-side electric power; a buffer data accumulating unit 114 which, with a prescribed buffer period, repeatedly acquires and stores in a ring buffer 112 a dataset relating to the state of the electric power converting circuit 10; a state monitoring unit 121 which generates a trigger signal if the state of a prescribed monitored target satisfies a prescribed condition; and a data replicating unit 115 which, if the trigger signal has been generated, stores, in a data storage unit 113, a plurality of datasets accumulated in the ring buffer 112 during a save target period including a time point prior to the time point at which the trigger signal was generated.
G06F 11/34 - Recording or statistical evaluation of computer activity, e.g. of down time, of input/output operation
H02M 7/06 - Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode
H02M 7/12 - Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
72.
BATTERY INSTALLATION SYSTEM AND BATTERY INSTALLATION METHOD
Provided is a battery installation system 1 including: a vehicle-body support 10 that supports a vehicle body 91 of an electric vehicle 90 such that a workspace 13 is formed under the vehicle body 91; and a lifter robot 100 that lifts, in the workspace 13, a battery pack 96 for running of the vehicle body 91 and that disposes the battery pack 96 under the vehicle body 91. The lifter robot 100 has a battery support 110 that supports the battery pack 96 and an articulated lift arm 120 that changes the position of the battery support 110 in the horizontal direction and the height of the battery support 110.
The power conversion device 1 is provided with: a power conversion circuit 10 for generating the drive power for an electric motor 3; a command generation unit 111 for calculating a voltage command on the basis of a frequency command, an output current from the power conversion circuit 10 to the electric motor 3, and an estimated value of the inductance of the electric motor 3; an error calculation unit 115 for calculating a phase error on the basis of the voltage command, the output current from the power conversion circuit 10 to the electric motor 3, and the estimated value of the inductance; a command correction unit 116 for correcting the phase of the voltage command on the basis of the phase error; and a PWM control unit 117 for controlling the power conversion circuit 10 so as to cause the drive power to follow the voltage command, the phase of which is corrected by the command correction unit 116.
H02P 21/16 - Estimation of constants, e.g. the rotor time constant
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
MACHINE LEARNING DATA GENERATION DEVICE, MACHINE LEARNING DEVICE, WORK SYSTEM, COMPUTER PROGRAM, MACHINE LEARNING DATA GENERATION METHOD, AND WORK MACHINE MANUFACTURING METHOD
A machine learning data generation device comprising: a virtual sensor input generation unit (102) which generates, on the basis of a virtual target object model, a virtual sensor input that is a virtually generated version of a sensor input obtained by a work machine (4); a virtual operation command generation unit (103) which generates, in accordance with at least one of the virtual target object model and the virtual sensor input, a virtual operation command that is a virtually generated version of an operation command to an operating machine (403) for the work machine (4); a simulator (104) which performs a computer simulation of physical work on the basis of the virtual operation command using a virtual operating machine model and the virtual target object model; an achievement status assessment unit (105) which assesses the achievement status of the purpose of the physical work on the basis of the simulation results; and a machine learning data generation unit (1) which generates machine learning data on the basis of the virtual sensor input, the virtual operation command, and the achievement status.
MACHINE LEARNING DATA GENERATION DEVICE, MACHINE LEARNING DEVICE, WORK SYSTEM, COMPUTER PROGRAM, MACHINE LEARNING DATA GENERATION METHOD, AND METHOD FOR MANUFACTURING WORK MACHINE
A machine learning data generation device (1), having: a virtual sensor input generation unit (102) in which sensor input is virtually generated, the sensor input being obtained as a result of sensing by a sensor of a work machine (4) with respect to a plurality of bulky objects serving as subjects of physical work by an operating machine (403) of the work machine (4), and the virtual sensor input generation unit (102) generating virtual sensor input on the basis of a virtual object model that is a virtual model of the objects; a virtual action command generation unit in which an action command to the operating machine of the work machine (4) is virtually generated, the virtual action command generation unit generating a virtual action command in accordance with the virtual object model and/or the virtual sensor input; a virtual action outcome evaluation unit (116) that evaluates the outcome, in a virtual space, of the physical work performed by the operating machine (403) of the work machine according to the virtual action command; and a machine learning data generation unit (106) that generates machine learning data on the basis of the virtual sensor input, the virtual action command, and the evaluation by the virtual action outcome evaluation unit .
[Problem] To provide a torque sensor that can be miniaturized, a robot, and a torque computation method. [Solution] A torque sensor 1 includes a strain body 3 and optical sensors OS1-OS4 for detecting the deformation of the strain body 3. The strain body 3 includes a ring-shaped outer peripheral part 5, and an inner peripheral part 7 at least a portion of which is disposed radially inward of the outer peripheral part 5. The optical sensors OS1-OS4 include: scales SC1-SC4 that are fixed to the inner peripheral part 7, and that are disposed in between the outer peripheral part 5 and the inner peripheral part 7; and detection units D1-D4 that are fixed to the outer peripheral part 5, and that are disposed so as to face the scales SC1-SC4 in between the outer peripheral part 5 and the inner peripheral part 7.
G01L 3/12 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving photoelectric means
This DC-DC converter is provided with: a boost chopper circuit having a reactor and a blocking diode which are provided between a DC power supply and a load and a switching element having one end connected between the reactor and the blocking diode and boosting an input voltage to generate an output voltage; a first reactor provided between the DC power supply and the one end of the switching element; a first capacitor provided between the first reactor and the one end of the switching element; a first diode having an anode terminal connected between the first reactor and the first capacitor and a cathode terminal connected between the blocking diode and the load; a second capacitor provided between the DC power supply and the first reactor; and a second diode having a cathode terminal connected between the second capacitor and the first reactor and an anode terminal connected to the one end of the switching element.
H02M 3/155 - Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
[Problem] To provide a finger exercise device on which the motion of a finger can be regulated using a simple structure. [Solution] A finger exercise device 1 has: a brace 19 which keeps a tip 63 of a finger 53 in place; an arm 15 that turns about a turning shaft 23 so as to move the brace 19 around the turning shaft 23; a fixed gear 13 that is disposed so as to be fixed to the position of the turning shaft 23; and a planetary gear 17 that meshes with the fixed gear 13, that makes an orbital motion around the fixed gear 13 while revolving on the axis thereof, and that is linked to a rotary shaft 25 so as to rotate the brace 19 about the rotary shaft 25.
An expansion module (2) includes at least a processor and a memory, and is connected to an external terminal (101) of a piece of industrial equipment (1), wherein a machine learning model for estimating at least either of a parameter of the industrial equipment (1) or an internal state of equipment that is controlled by the industrial equipment (1) is stored in the memory, and the processor carries out learning of the machine learning model using information acquired from the industrial equipment (1) as teacher data.
G05B 19/18 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
This control system 1 comprises: a motor 2 that drives an object to be driven 4; a control unit 112 that drives the motor 2; a first estimation unit 113 that, on the basis of at least a driving force command value from the control unit 112, estimates a first external force acting on the motor 2; a data storage unit 115 that stores profile data expressing change in the estimated value estimated by the first estimation unit 113; and a second estimation unit 116. When the control unit 112 is driving the motor 2 according to a prescribed operation pattern, the second estimation unit 116 estimates, on the basis of an estimated value newly estimated by the first estimation unit 113 and the profile data stored in the data storage unit 115, a second external force acting on the object to be driven 4.
G05D 3/12 - Control of position or direction using feedback
G05B 13/02 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
[Problem] To provide a robot system and a servo system which enable collaborative operation with a person while suppressing an increase in costs. [Solution] A robot system 1 comprises: a robot 3 equipped with a joint that is driven by a motor M; and a robot controller 5 that controls the motor M so as to operate the robot 3. The robot controller 5 comprises: a position control unit 25, a speed control unit 27, and a current control unit 29 that execute, on the basis of a position command, position control of the motor M; a torque command storage unit 33 that, when position control of the motor M is executed, stores in a time series a torque command generated on the basis of the position command; and the current control unit 29 that executes, on the basis of the torque command stored by the torque command storage unit 33, torque control of the motor M.
This power conversion device 30 is provided with: a power conversion circuit 40 for converting primary side power to secondary side power and supplying the secondary side power to a pump 20; and a control circuit 100 for causing the secondary side power to follow a control command by the power conversion circuit 40. The control circuit 100 is configured so as to further execute: evaluating, on the basis of the secondary side power, the amplitude of the drive force of the pump 20; setting, on the basis of the relationship between the amplitude evaluation result and the drive speed of the pump 20, an amplitude threshold value profile indicating the relationship between an amplitude threshold value and the drive speed; and detecting an abnormality of the pump 20 in accordance with the fact that the amplitude evaluation result exceeds the amplitude threshold value based on the amplitude threshold value profile.
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02M 1/00 - APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF - Details of apparatus for conversion
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
83.
CONTROL SYSTEM, MONITORING DEVICE, MONITORING METHOD, AND PROGRAM
A control system according to an aspect of the present invention is provided with: a discharge control unit that controls a coating device so as to discharge paint through a discharge unit; a robot control unit that causes an articulated robot to change the position and the attitude of the discharge unit so as to coat a workpiece with the paint discharged from the discharge unit; a coating abnormality detection unit that detects an abnormality of a paint coating state on the basis of the state of the coating device and/or the state of the articulated robot; a coating position calculation unit that calculates, on the basis of the state of the articulated robot, the coating position on the workpiece to be coated with paint from the discharge unit; and an abnormality notification unit that provides a notification of a site where the abnormality of the coating state has occurred in the workpiece on the basis of the detection result of the abnormality of the coating state and the calculation result of the coating position.
NATIONAL UNIVERSITY CORPORATION NAGAOKA UNIVERSITY OF TECHNOLOGY (Japan)
Inventor
Suzuki Shunsuke
Kawai Yusuke
Yokokura Yuki
Miyazaki Toshimasa
Ohishi Kiyoshi
Mamba Takashi
Ando Shingo
Abstract
A controller 100 comprises: a first inertial body 91; an armature 62 that drives the first inertial body 91 in accordance with supply of electric power; a second inertial body 92; a current control unit 112 that outputs driving electric power for causing the driving force of the second inertial body 92 to follow a control target with respect to the armature 62 that is the object of control having a transmission element 83 that transmits motive power from the first inertial body 91 to the second inertial body 92; and a compensation unit 114 that calculates a compensation component to cancel out a feedback component that is generated in the object of control and affects an action of the second inertial body 92, on the basis of the state of the action of the object of control, and adds the compensation component to the driving electric power that the current control unit 112 outputs to the armature 62.
H02P 29/40 - Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
85.
ROBOT SYSTEM, RECOVERY PROGRAM GENERATION DEVICE, CONTROL SUPPORT DEVICE, CONTROL DEVICE, PROGRAM, RECOVERY PROGRAM GENERATION METHOD, AND RECOVERY PROGRAM OUTPUT METHOD
A robot system 1 is provided with: a robot 10; peripheral equipment 50 disposed to the periphery of the robot 10; a control unit 112 which causes at least the robot 10 to operate on the basis of a program; an interruption unit 113 which interrupts a series of a plurality of operations, performed by the robot 10 in tandem with the peripheral equipment 50 and on the basis of an operation program, when an irregular state occurs in the peripheral equipment 50; and a simulator 300 which generates a recovery program on the basis of at least robot state information, of the robot 10, at the point in time when operation was interrupted due to the occurrence of the irregular state, wherein, on the basis of the recovery program, the control unit 112 causes the robot 10 operate with respect to the peripheral equipment 50 such that operations performed via the interrupted operation program can be continued.
A machine control system 1 comprises: one or more machines 4 that are configured in a real space and that each execute a motion in response to machine commands; one or more controllers 100 that are set in a virtual space and that generate the machine commands respectively for the one or more machines 4; and a communication server 3 that communicates with the one or more controllers 100 via a wired communication network 8, and that communicates with the one or more machines 4 via a wireless communication network 7.
This flywheel power storage system 1 comprises: a flywheel power storage device 100 that stores electric energy as rotational energy of an inertia rotor 103; and a plurality of power conversion devices 160 that independently charge and discharge the flywheel power storage device 100.
H02J 9/06 - Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over
H02J 3/30 - Arrangements for balancing the load in a network by storage of energy using dynamo-electric machines coupled to flywheels
The present invention improves the accuracy of determination as to whether an object has a prescribed attribute. This inspection system includes: a machine learning device; a feature data acquisition unit; and a parameter update unit. The machine learning device determines, on the basis of feature data of a plurality of objects, whether the plurality of objects has a prescribed attribute. For objects that are among objects having been determined, by the machine learning device, as not having the prescribed attribute, but that has been determined, not by the machine learning device, as having the prescribed attribute, the feature data acquisition unit acquires the feature data. The parameter update unit updates a learning parameter of the machine learning device on the basis of teacher data which includes the feature data acquired by the feature data acquisition unit.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
A method of teaching a robot including providing a pin at a location within a work station, and the robot in an area adjacent to the station. The robot having an arm and an end effector that pivots. The end effector has a through-beam sensor including a light emitter and a light receiver to sense when an object is present therebetween. The robot is moved to perform sensing operations in which the sensor senses the pin, such operations are performed while a position and/or an orientation of the end effector are varied to gather sensed position and orientation data. The sensing operations are performed such that the pin is located at different distances between the emitter and the receiver as the robot moves the sensor across the pin. Calculations are performed on the data to determine the location of the pin with respect to a coordinate system of the robot.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
[Problem] To enhance the control performance for a motor. [Solution] This motor control system 1 has: a motor 7; a control device 5 for controlling the motor 7; and an encoder 9 for detecting a rotational position Pf of the motor 7 and transmitting the rotational position Pf to the control device 5 via a communication path 18. The control device 5 has a transmission unit 19 for transmitting a torque command Tr for controlling the motor 7 to the encoder 9 via a communication path 20. The encoder 9 has: a position detection unit 21 for detecting the rotational position Pf of the motor 7; a receiving unit 23 for receiving the torque command Tr from the transmission unit 19 via the communication path 20; a disturbance estimation unit 25 for estimating a disturbance torque Td on the basis of the rotational position Pf and the torque command Tr; and a transmission unit 26 for transmitting the rotational position Pf and the disturbance torque Td to the control device 5 via the communication path 18.
A communication system 1 according to the present disclosure comprises: a master device 10; an upper-level trunk cable 21A connected to the master device 10; a connector 40A connected to the upper-level trunk cable 21A; an upper-level slave device 30#1 connected to the master device 10 at least via the upper-level trunk cable 21A and the connector 40A; a lower-level trunk cable 22A connected to the connector 40A; and a lower-level slave device 30#2 connected to the upper-level slave device 30#1 at least via the lower-level trunk cable 22A and the connector 40A. The connector 40A comprises: an upper-level power source line 41A for transferring a power supplied from the master device 10 side; a power branch part 45A for branching the upper-level power source line 41A into a first power source line 41A1 extending toward the upper-level slave device 30#1 side and a second power source line 41A2 extending toward the lower-level slave device 30#2 side; an upper-level signal line 43A for transferring communication data between the master device 10 side and the upper-level slave device 30#1 side; and a lower-level signal line 44A for transferring communication data between the upper-level slave device 30#1 side and the lower-level slave device 30#2 side.
An industrial machine system 1 of the present disclosure includes: slave equipment #1/#2, which is a component for an industrial machine; and master equipment 10 which communicates with the slave equipment #1/#2 and controls the slave equipment #1/#2. The slave equipment #1/#2 and the master equipment 10 are synchronized through a wireless network #1, and communicate communication data for controlling the slave equipment #1/#2, such communication carried out through a wireless network #2 that is different from the wireless network #1.
A robot control system 1 includes: a teacher storage unit 211 storing information of a plurality of teachers; a selection unit 214 that selects one of the plurality of teachers stored in the teacher storage unit 211 when support information is required to keep a robot 20 working; an environment information transmission unit 215 that transmits environment information of the robot 20 via a network line 50 to the teacher selected by the selection unit 214; and a support information receiving unit 216 that receives support information via the network line 50 from the teacher selected by the selection unit 214.
A fluid pressure feeding system 1 is provided with: a plurality of pressure feeding devices 10 for pressure-feeding fluid; a deterioration level estimation unit 115 for estimating, on the basis of information about driving force of any one of the plurality of pressure feeding devices 10, a deterioration level of the one pressure feeding device 10; a selection unit 215 for selecting, on the basis of the deterioration level estimated by the deterioration level estimation unit 115, at least one pressure feeding device 10 from the plurality of pressure feeding devices 10; and a pressure-feeding control unit 216 for causing the pressure feeding device 10 selected by the selection unit 215 to pressure-feed the fluid.
This power conversion device 100 is provided with: a power conversion unit 111 that supplies power to a pumping device 1; a data acquisition unit 121 that acquires speed data corresponding to the driving speed of the pumping device 1 and force data corresponding to the driving force of the pumping device 1; a threshold setting unit 125 that sets a threshold for an amplitude index value corresponding to the amplitude of a vibration component of the force data; and an abnormality detection unit 126 that detects abnormality in an object to be driven in response to the amplitude index value surpassing the threshold. The threshold setting unit 125 increases the threshold as the speed data increases.
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
96.
POWER CONVERSION DEVICE, PUMPING DEVICE, CONTROL METHOD, DIAGNOSTIC DEVICE, AND DIAGNOSIS METHOD
This power conversion device 100 is provided with: a power conversion unit 111 that supplies power to a pumping device 1; a data acquisition unit 121 that acquires speed data corresponding to the driving speed of the pumping device 1 and force data corresponding to the driving force of the pumping device 1; a threshold setting unit 125 that sets a threshold for an amplitude index value corresponding to the amplitude of a vibration component of the force data; and an abnormality detection unit 126 that detects abnormality in an object to be driven in response to the amplitude index value surpassing the threshold. The threshold setting unit 125 increases the threshold as the speed data increases.
H02M 1/00 - APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF - Details of apparatus for conversion
H02M 7/48 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
H02P 29/024 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
97.
POWER CONVERSION DEVICE, POWER CONVERSION SYSTEM, AND POWER CONVERSION METHOD
This power conversion device 2, 2A is connected to another power conversion device 2, 2A in parallel and provided with: an inverter circuit 12 for performing power conversion by changing the connection state between a plurality of lines 22P, 22N on the primary side and a plurality of lines 23U, 23V, 23W on the secondary side; a base line selection unit 164 for selecting any one of the lines on the secondary side as a base line; and a partial modulation control unit 162 for controlling the inverter circuit 12 so as to change the connection state between the another lines 23U, 23V, 23W on the secondary side and the plurality of lines 22P, 22N on the primary side while maintaining a state in which the base line is connected to the any one of the lines on the primary side. The base line selection unit 164 changes over, on the basis of the change-over timing of the lines 23U, 23V, 23W selected as the base line by the base line selection unit of the other power conversion device 2, 2A, the lines 23U, 23V, 23W selected as the base line.
H02M 7/493 - Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode the static converters being arranged for operation in parallel
This robot system comprises two first robots and one second robot. The first robots are articulated robots that are disposed along the transport direction of a workpiece and that perform work on the workpiece. The second robot is an articulated robot that is disposed between the two first robots in the transport direction and that performs work on the same workpiece; the second robot has a different axial configuration to the first robot. The first robot is a seven-axis articulated robot that has an axis configuration comprising, in order from the front end, a rotation axis, a turning axis, a turning axis, and a rotation axis.
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
B62D 65/00 - Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
99.
POWER CONVERSION SYSTEM, IP ADDRESS TRANSMISSION METHOD FOR POWER CONVERSION DEVICE AND PROGRAM
This power conversion system (1) includes a plurality of power conversion devices (10) which belong to the same group and are communicably connected to each other. In addition, a list generation unit (102) of the power conversion system (1) acquires IP addresses of the plurality of respective power conversion devices (10) and generates an IP address list. A list storage unit (100) stores the IP address list. A list transmission unit (105) transmits the IP address list to an upper layer device (30) associated with the plurality of power conversion devices (10).
H02J 13/00 - Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
100.
BRAKE DIAGNOSTIC DEVICE AND BRAKE DIAGNOSTIC SYSTEM
[Problem] To improve the validity of a diagnostic result. [Solution] A brake diagnostic device 9 for diagnosing brake device 7 in a servomotor 5, said brake diagnostic device having: a wear amount acquisition unit 31 for acquiring a wear amount of a friction material 29 of the brake device 7; a first rotation amount acquisition unit 33 for acquiring a motor total rotation amount, which is a cumulative value for the amount of rotation of a motor 6; and a diagnostic unit 36 for diagnosing wear of the brake device 7 on the basis of the wear amount acquired by the wear amount acquisition unit 31 and the motor total rotation amount acquired by the first rotation amount acquisition unit 33.
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