A waterproof structure including an extension shaft disposed at an upper side of a vertically extending ball screw spline shaft so as to be coaxial with the ball screw spline shaft, a cylindrical cover member that covers the extension shaft and the ball screw spline shaft and is configured to be extended and shortened in a direction along a longitudinal axis of the extension shaft, and a rotary connection unit that connects the ball screw spline shaft and the extension shaft to each other so that the ball screw spline shaft and the extension shaft are configured to rotate relative to each other around the longitudinal axis, where an upper end of the cover member is fixed to an upper end of the extension shaft.

A horizontal articulated robot includes a base, a force detection unit provided in the base, a first arm coupled to the base and pivoting about a first pivot axis, a second arm coupled to the first arm and pivoting about a second pivot axis, a third arm coupled to the second arm, pivoting about a third pivot axis, and moving in an axial direction of the third pivot axis, a control unit that controls an action of the first arm, the second arm, or the third arm based on a detection value of the force detection unit, and an operation unit having a third arm operation part for operation of the third arm and a teaching point registration operation part for operation of registration of a position of a control point as a teaching point using the control unit, and provided in the second arm.

A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein.

A robot having a shaft extending in vertical directions at an end of an arm pivoting in horizontal directions around a pivot axis parallel to the vertical directions and performing work using an end effector attached to a lower end of the shaft, the shaft having a helical groove and a longitudinal groove to enable upward and downward motion in the vertical directions and pivot around an axis of the shaft, includes a ring-shaped packing having a convex portion to engage with the longitudinal groove, fitted on the shaft, and sandwiched and fixed by a stopper portion and a collar portion in an extension direction of the shaft.

A system and method for performing a tear test are described herein. The system may include a fixed clamping station configured to hold a first portion of a film specimen and a movable clamp coupled to an actuator, the movable clamp may be configured to hold a second portion of the film specimen. The movable clamp may be configured to move in a direction away from the fixed clamping station to tear the film specimen. The system may include a slitter blade configured to cut the film specimen at a location between the fixed clamping station and the movable clamp. The system may include a load cell coupled to one of the fixed clamping station and the movable clamp. The load cell may be configured to measure a force associated with tearing of the film specimen. The actuator may be configured to manipulate the movable clamp along a trajectory.

An arm revolving-type robot includes a first member, and a second member coupled to the first member so as to be relatively rotatable, at least one of the first member and the second member including an arm portion. The second member includes a member main body portion, a protrusion that is provided on the member main body portion so as to protrude outward from a wall surface of the member main body portion, and that abuts on the first member along with rotation of the second member to regulate a rotation range of the second member, and a shaft-shaped reinforcing member disposed inside the protrusion. The protrusion and a remaining portion of the member main body portion are integrally formed of the same material, and the reinforcing member is disposed from the protrusion to the remaining portion of the member main body portion.

A robot system includes: a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear; and a main shaft phase output unit outputting a phase of the main shaft gear as a first main shaft phase. A phase of the main shaft gear is derived as a second main shaft phase, based on a phase of the first countershaft gear, a phase of the second countershaft gear, and a phase of the third countershaft gear. Processing to stop the drive unit is performed when the first main shaft phase and the second main shaft phase do not coincide with each other.

A horizontal articulated robot includes a base, a first arm coupled to the base and configured to turn around a first axis, a second arm coupled to the first arm and configured to turn around a second axis parallel to the first axis, a third arm coupled to the second arm and configured to turn around a third axis parallel to the first axis and move along the third axis, a motor provided in the second arm and configured to drive the third arm, and a force detecting section provided between the motor and the second arm and configured to detect reaction generated by driving the motor.

A horizontal articulated robot includes a base; a first arm coupled to the base and configured to turn around a first axis, a second arm coupled to the first arm and configured to turn around a second axis parallel to the first axis, a third arm coupled to the second arm and configured to turn around a third axis parallel to the first axis and move along the third axis, a supporting section provided in the second arm and configured to support the third arm, and a force detecting section provided between the second arm and the supporting section and configured to detect force applied to the third arm.

A robot includes a base, a robot arm having a first arm coupled to the base and rotating about a first axis, and a force detection unit provided in the base and detecting a force acting on the base or the robot arm, wherein the first arm is coupled to the base in a position shifted from a first center line passing through a center of the base and being parallel to the first axis, and a second center line passing through a center of the force detection unit and being parallel to the first axis is closer to the first axis than the first center line.