Murata Manufacturing Co., Ltd.

Shigeki Fukunaga

Shigeru Tsuji

Kenichi Shirato

Mitsuhiro Namura

Koji Kawai

Atsuhiko Hirata

Arata Suzuki

Tomonari Watanabe

Kenichiro Maki

Shigeki Yamane

Koichi Yoshikawa

Takeshi Hashimoto

A walking assist apparatus includes a pair of wheels, at least one first driving unit that drives the pair of wheels, a main body that rotatably supports the pair of wheels, and a grip that is disposed at one end of the main body to be able to be gripped. The walking assist apparatus includes a sensor unit configured to detect an angular change in an inclination angle of the main body in a pitch direction, and a first control unit configured and programmed to control an operation of the at least one first driving unit based on an output of the sensor unit such that the angular change of the main body is zero.

Walking assist apparatus

In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.

Movement direction control apparatus and computer program

An overturn prevention control device for a two-wheel vehicle having a vehicle body, a front wheel, an actuator that steers the front wheel, a rear wheel, and a rear-wheel driving portion, includes an angular velocity sensor and a control unit arranged to output a steering angle command signal for controlling the actuator. The angular velocity sensor includes a detection axis, is mounted on the vehicle body such that the detection axis is downwardly inclined at a predetermined angle relative to a forward direction of the vehicle body, and detects an angular velocity about the detection axis. The angular velocity detected by the angular velocity sensor includes an angular velocity in a lateral direction of inclination and an angular velocity in an azimuthal direction. The zero-set error and offset noise are incorporated into the azimuth angle command. Thus, the two-wheel vehicle can be prevented from overturning.

Overturn prevention control device for two-wheel vehicle

An aligning device for electronic components and a bonding device using the aligning device. The aligning device includes a chamber, a flexible bellows within the chamber, two block used to hold an electronic component, a driving unit configured to move either of the two blocks relative to each other and located in an airtight chamber and an image port having a window through which one of the electronic components can be observed.

Aligning device and bonding apparatus

A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.

Falling prevention controlling device and computer program

A method and apparatus for mounting a light emitting element, enabling positioning on an object with precision with reference to the optic axis of a light emitting element, and mounting the element. A suction head is inserted between a first camera and a second camera having relatively fixed optic axes, a head reference mark of the suction head is captured with the first camera, the end face of a light emitting element suctioned by the suction head is captured with the second camera, the light axis emitted by the light emitting element is captured with a third camera, a stage is inserted between the first camera and the second camera, a board held on the stage is captured with the first camera, a stage reference mark of the stage is captured with the second camera, the relative position between the light emitting element and the suction head and the relative position between the board and the stage are calculated using the image information from both cameras, the suction head and the stage are moved to a mounting position, the head reference mark and the stage reference mark are recognized with the first and second cameras, and the suction head and the stage are subjected to position correction based on the relative position information.

Device for mounting light emitting element

Method for mounting component by suction nozzle

A suction head is inserted between first and second cameras relatively disposed facing one another with aligned optical axes, so that the first camera takes images of a head reference mark on the suction head, and the second camera of a first part suctioned to the suction head. Next, a stage is inserted between the first and second cameras so that the first camera takes images of a second part held on the stage, and the second camera of a stage reference mark thereupon. The relative positions between the first part and the suction head, and between the second part and the stage, are calculated based upon image information from the cameras, and the suction head and the stage are positioned, the first and second parts being relatively positioned based upon positional information and relative positional information from the first and second cameras, and mounting is performed.

Parts mounting method

Parts mounting apparatus

A load-control type actuator is provided, in which the impact load applied to a workpiece is reduced enabling damages in the workpiece to be small. A load-control-type actuator includes a nozzle which comes into contact with a workpiece, a nozzle holder for supporting the nozzle via a spring, and a voice-coil motor which can control a thrust driving force to the nozzle holder. The spring constant of the spring is set so that the spring reaction force of the spring within the response time of the voice-coil motor is reduced smaller than the maximum impact load when the nozzle touches the workpiece. The nozzle is suspended and supported by the spring and the initial load thereof is set to zero.

Load-control-type actuator

A component conveyor which can spend sufficient time for picking and placing operation has low energy consumption, and the moving speed of the head is fast. In order to pick and place a component P, there are provided several movable heads to , movable along a closed path, magnets to and coils to , both of which stop the head at the picking position and the placing position, and magnets to which transfer the kinetic energy of the moving head to the stopped head at the picking position or the placement position. By applying the initial velocity in the progress direction to at least one head, the kinetic energy is sequentially transmitted to the following head. A moving head is made to stop at a position of the preceding head. Thus, the kinetic energy of the moving head is transmitted to the stopped head. By using the repulsion effect, moving and stopping of the head is efficiently performed.

Component conveyor

A linear actuator can obtain a roughly fixed load within a stroke range. The linear actuator comprises a fixed element, comprising a yoke and a magnet which is magnetized in the radial direction, and a moving element, comprising an electromagnetic coil and a bobbin which surrounds the magnet. A spring is provided for applying a force acting in opposition to the thrust direction acting on the moving element. A constant load stroke area is provided so that the characteristics of the opposite force of this spring balance the characteristics of the thrust force acting on the moving element. The constant load stroke area is an area where one end of the coil in the stroke direction is located in an outside position from one end of the magnet in the stroke direction, and the other end of the coil in the stroke direction is located in an inside position from both ends of the magnet in the stroke direction.

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Higashiomi, Japan

Shigeki Fukunaga