Hitachi, Ltd.

Komatsu Corporation

The University of Tokyo

Ihi Corporation

Yuta Yamauchi

Nobuaki Nakasu

Tetsuya Yamauchi

Keita Naitou

Takeshi Nakamura

Hiromasa Suzuki

Koichi Inagaki

Yutaka Ohtake

Hiroyuki Hishida

Atsuko Enomoto

Reiko Inoue

Takashi Michikawa

A planetary gear mechanism has a helical gear. A lubrication system for the planetary gear mechanism includes a first lubricating oil supply path, a second lubricating oil supply path, and a controller. The first lubricating oil supply path is disposed on one side of the helical gear in a direction along a rotation axis of the helical gear. The first lubricating oil supply path is formed toward a tooth surface of the helical gear. The second lubricating oil supply path is disposed on an other side of the helical gear. The second lubricating oil supply path is formed toward the tooth surface of the helical gear. The controller switches discharge of lubricating oil to the tooth surface of the helical gear between the first lubricating oil supply path and the second lubricating oil supply path based on a rotation direction of the helical gear.

Lubrication system and planetary gear mechanism

A planetary gear mechanism includes a plurality of planetary gears with helical teeth, a sun gear disposed inside the plurality of planetary gears to mesh with the plurality of planetary gears, a ring gear disposed outside the plurality of planetary gears to mesh with the plurality of planetary gears, a plurality of shafts rotatably supporting the plurality of planetary gears, a first support wall supporting first ends of the plurality of shafts, a second support wall supporting second ends opposite to the first ends of the plurality of shafts, and a plurality of connecting sections arranged between the planetary gears adjacent in a circumferential direction. The second support wall is disposed opposite to the first support wall. The plurality of connecting sections connect the first support wall and the second support wall. Each connecting section includes first and second end portions connected to the first and second support walls.

Planetary gear mechanism

A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point, a second search process for searching for a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point, a determination process for determining second trajectory information indicating positions and postures of movement destinations of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and an output process.

Trajectory plan generation device, trajectory plan generation method, and trajectory plan generation program

An assembly planning device: holds a partial-order graph showing assembly operations of parts and an order constraint based on a partial-order relationship of the assembly operations, an operation sequence template showing an operation sequence and a required time of the operation sequence, and part information showing parts that can be assembled by robots; refers to the part information to generate allocation plans in which the robot are allocated to the assembly operations shown by the partial-order graph; for each of the allocation plans, refers to the operation sequence template to allocate an operation sequence for each assembly operation shown by the allocation plan; calculates movement times of the robots in the allocated operation sequence; calculates an operation time in the allocation plan based on the movement times and the required time shown by the operation sequence template; and selects an allocation plan based on the operation times.

Assembly planning device, assembly planning method, and non-transitory computer-readable storage medium

A trajectory generation device generates a trajectory of a robot for conveying an object. A path condition acquisition unit acquires path condition information including at least coordinates of a first via point which is a position of a reference point of a suction nozzle of the robot when the suction nozzle comes into contact with the object, and a velocity, an acceleration, and a jerk of the suction nozzle at the first via point. A pressurization distance and coordinate calculation unit calculates coordinates of a second via point which is a position of the reference point when the suction nozzle is pushed into the object, based on the path condition information; and a trajectory generation unit generates the trajectory of the suction nozzle which satisfies the path condition information and reaches an end point from a predetermined start point via the first via point and the second via point.

Trajectory generation device, trajectory generation method, program, and robot system

Proposed are an image analyzing apparatus and program in which the orientation of fiber bundles can be easily analyzed from a three-dimensional image of CMC. Provided is an image analyzing apparatus for analyzing an orientation of a fiber bundle from a three-dimensional image of a fiber-reinforced composite material, comprising an input unit which inputs the three-dimensional image, a binarization processing unit which binarizes the input three-dimensional image and acquires a binary image, an orientation estimation processing unit which estimates each orientation of foreground pixels in the binary image based on an orientation detection filter having a parameter for causing a shape of a detected cross section to have anisotropy, a center extraction processing unit which extracts center pixels showing a center of the fiber bundle from a foreground pixel group, in which the orientation thereof was estimated, based on the orientation detection filter, a fiber bundle connection processing unit which deems center pixels having a same or similar orientation to be a same fiber bundle with regard to the extracted center pixel group, and connects the center pixels indicating the same fiber bundle, and a meander determination processing unit which calculates a meandering amount of the connected center pixel group indicating the same fiber bundle.

Growing community of inventors

Tokyo, Japan

Yuta Yamauchi