Abstract: The present invention belongs to the field of techniques related to a laser robot and a method of controlling the same, particularly for performing weaving of a laser beam easily with high accuracy without the provision of a vibrating condenser lens at the leading edge of an arm.To solve the problems, in the laser robot (RB) of the present invention, a first inclined mirror (41a) is mounted on a motor (42a) inclined at a predetermined angle from a plane perpendicular to the direction of the rotation axis of a rotor shaft. Similarly, a second inclined mirror (41b) is mounted on a motor (42b) inclined at a predetermined angle. The laser beam (LB) emitted from a laser oscillator (8) is reflected in series by the first and second inclined mirrors (41a, 41b) and is subsequently propagated in the laser robot (RB) to be directed toward workpieces from the tip of a torch (7).

Abstract: A masking sheet comprising a corrosion-resistant film and, formed thereon, a layer of an adhesive comprising at least one of a chloroprene rubber, a nitrile rubber, and a styrene-butadiene rubber.

Abstract: The points of second cutters (153) are disposed within a gap (E) generated by moving an electric wire (600a) longitudinally after the formation of a first slit (610), and subsequently the electric wire (600a) is moved longitudinally to form a split slit (620) for removing sheath in an intermediate region. The first slit (610) and a second slit (630) are formed at positions deviated in one direction respectively from both ends of the intermediate region (600S), and the electric wire is moved longitudinally with first cutters (103) remaining stuck in the sheath at one end thereof, so that waste strip is removed.

Abstract: The present invention is directed to a weld line profile control method in weaving welding. According to this method, a welding current and/or a welding voltage in a position close to a weaving endpoint is evaluated as a reference value. A welding current and/or a welding voltage in the vicinity of an n-th (n.gtoreq.2) weaving endpoint are actually measured respectively, and thereafter an (n+1)-th weaving endpoint position is evaluated on the basis of difference between the actually measured value and the reference value. Further, welding from the n-th weaving endpoint to an (n+1)-th weaving endpoint is executed on the basis of the positional data. As the result, neither too much nor too little weaving welding can be performed.

Abstract: A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second members (W1, W2) are welded by a weld woven across an interspace between them while oscillating a welding torch (4) along a weld line (WL). Data on changes in the interspace between the first and second welded member (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. During the welding, the computer 7 performs arithmetic to obtain command values on the basis of the data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace. Changes in the direction in which the welding torch is moved to weave the weld are determined by detecting the actual value of the welding current and reversing direction when the detected value exceeds a prescribed threshold value.

Abstract: An oil-free scroll fluid machine having a stationary scroll member, an orbiting scroll member opposing the stationary scroll member, an orbiting bearing boss provided on the orbiting scroll member and receiving an orbiting bearing, and a drive shaft drivingly engaging with the orbiting scroll member through the orbiting bearing and causing an orbiting motion of the orbiting scroll member relative to the stationary scroll member. The orbiting bearing boss projects from the orbiting scroll member into a compression chamber formed between both scroll members beyond a plane which is at 1/2 the height of the wrap on the stationary scroll member. An ample discharge space is formed between the end of the orbiting bearing boss and the end plate of the stationary scroll member.

Abstract: This invention is directed to a harness producing apparatus for producing a harness (1) by cutting a wire (600a, 600b) having a core covered with a covering, stripping the covering from a cut end portion of the wire and attaching a terminal (604a, 604b) to the stripped end portion of the core. According to this apparatus, a holding means (201) for holding the wire (600a, 600b) is three-dimensionally moved by a moving means (202). When the covering is stripped off, the holding means (201) holds the wire (600a, 600b) at the vicinity of the cut end, so that the wire (600a, 600b) hardly expands and the stripping can be accurate. Further, when the terminal is attached, the core can be moved to a proper position in relation to a terminal attaching means (400) according to a type of terminal.

Abstract: A rotary encoder comprises a rotator having ring-shaped multipole magnet and stator having magnetic field detecting sensors concentrically provided with the ring-shaped multipole magnet. The stator is provided with a plurality of zero-magnetostrictive amorphous ferromagnetic cores arrayed in correspondence to the magnetic pole pitch of the multipole magnet. Rotation angles of the rotor are detected by coils extended across the plurality of amorphous magnetic cores to be magnetically coupled with the same.

Abstract: A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under the control of a computer (7). First and second members (W1, W2) are welded by a mold woven while oscillating an welding torch (4) along a weld line (WL), with data on changes in an interspace between the first and second welded members (W1, W2) along a direction of the weld line (WL) being previously obtained and stored in advance of welding. For the welding, the computer 7 performs arithmetic to obtain command values on the basis of the stored data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace.

Abstract: A wire harness is produced by attaching terminals to one of the respective ends of a plurality of wires and gathering the other ends and attaching a single terminal thereto. The plurality of insulated wires are intermittently fed by respective predetermined lengths along predetermined feed paths, and then cut to respective predetermined lengths to provide remaining wires and cut wire sections. The insulation on the forward ends of the remaining wires and on the rear ends of the cut wire sections, next to the cut just made, are stripped. Terminals are crimped to insulation-stripped ends of the remaining wires. The cut wire sections are transferred so that their insulation-stripped ends are gathered in one place and then the insulation-stripped ends of the cut wire sections are trued-up and a single terminal is crimped thereto to form a single terminal for the plurality of cut wire sections.

Abstract: A scroll type pump has a fixed scroll and an orbiting scroll engaging therewith, wherein a curve of a wrap of either of the scrolls is offset inwardly or outwardly relative to a set curve so as to prevent formation of a gap between the wraps due to thermal expansion of the scroll wraps.

Abstract: Two photoelectric switches on a path for coating stripping processing of a wire detect passages of an exposed core portion and a residual coating portion of a wire end respectively in a non-contact manner, to derive passage signals corresponding to the times of the passages. These passage signals are compared in length with each other, whereby a decision of effective stripping is made when the difference therebetween is larger than a prescribed value while a decision of defective stripping is made when the difference is smaller than the prescribed value.

Abstract: A terminal crimping machine has an insulation stripping unit and a plurality of terminal crimping units disposed laterally of a transfer conveyor path. The transfer conveyor carries a number of wire transfer units for gripping insulated wires cut to predetermined lengths and travels intermittently. Each terminal crimping unit has a crimping bed for vertically moving from a position below the level of the ends of wires being transferred to the level of the ends of the wires. A crimping die is disposed above the crimping bed and adapted for vertical movement for crimping terminals. The arrangement is such that when a wire which corresponds to a particular one of the terminal crimping units is fed to that unit, in accordance with a signal from a separate control device, the corresponding crimping bed is raised while the crimping die is lowered to effect a terminal crimping operation. However, wires which do not correspond to the particular terminal crimping unit are allowed to pass thereover.

Abstract: Velocity, at which a work point of a robot passes through respective reference points, has previously been given magnitude and directions dependent on a relative positional relation between a plurality of continuous reference points. The work point passes through the respective reference points. Between adjacent reference points, interpolation arithmetic is performed along the above condition, whereby the work point defines a smooth locus in accordance with the result of the arithmetic.

Abstract: An automatic bending apparatus comprises a bending machine (1) provided with a bottom die (7a) and a top die (7b) for bending a plate, and a gripper (27) for holding the plate. The gripper (27) can be positioned in a vertical plane in the forward and backward direction with respect to the bending machine (1) as well as around a horizontal axis orthogonally intersecting with the vertical plane. When the plate is bent by lowering of the top die (7b) or lifting of the bottom die (7a), the ends of the plate rise. In order to make the gripper (27) follow up the rising motion, positioning of the gripper (27) is controlled successively based on the position data concerning the lowering of the top die (7b) or the lifting of the bottom die (7a).

Abstract: An apparatus for controlling an articulated robot comprises coordinate transforming portions (5 to 8 and 18) and a calculating portion (9) for equation of motion. The coordinate transforming portions (5 to 8 and 18) perform coordinate transformation between the Cartesian coordinate system and the articular system with respect to the position data, speed data, acceleration data and force data. The coordinate transforming portions (5 to 8 and 18) are respectively formed of hardware and accordingly, the calculation speed therein is extremely high as compared with the case using software. The calculating portion (9) for equation of motion solves the inverse problem of an equation of motion using the speed data (d.alpha.) and acceleration data (d.sup.2 .alpha.) in the articular coordinate system, whereby predictive control is performed. The calculating portion (9) for equation of motion is also formed of hardware and accordingly, the calculation speed therein is extremely high.

Abstract: An articulated robot comprises one or more articulation angles that can assume two states on the occasion of the same position or attitude of an object being controlled. A change from one to the other of the above described two states is taught by operating an operation panel and the respective driving means of two arms constituting one articulation angle are controlled based on the above described teaching information so that the articulation angle may be changed from one state to the other state, whereby rotation of the respective arms is controlled.

Abstract: A refrigerating apparatus including a first compressor, a condenser, a first pressure reducer a first evaporator, a second pressure reducer and a second evaporator connected together by lines to form a refrigerating circuit for a refrigerant to flow therethrough, wherein a second compressor is connected at its suction side to the second pressure reducer for receiving gaseous component of refrigerant from the first evaporator and connected at its discharge side to the line between the first compressor and the condenser. An evaporative pressure control valve may be mounted in the line between the first evaporator and the second pressure reducer or the line between the second pressure reducer and the second evaporator. A bypass line mounting an electromagnetic valve may connect the line between the first evaporator and the second pressure reducer to the line between the second pressure reducer and the second evaporator.

Abstract: An automatic positioning apparatus comprises a smoothing means. The smoothing means is adapted to connect smoothly a 3-dimensional path based on the preceding and succeeding four taught points irrespective of a straight line or a curved line, while correcting a driving system with a delay of a system of a means being controlled, thereby to achieve a control in consideration of not only inertia but also a response characteristic.

Abstract: First feed rollers whose speed is variable, second feed rollers intermittently driven and movable in the direction of an insulated wire, a clamp which is movable in the direction of the axis of the wire and can be opened and closed during the interruption of driving by the second feed rollers, insulation cutting and stripping blades which can be opened and closed, a wire guiding device which can be opened and closed, wire cutting blades which can be opened and closed, insulation cutting and stripping blades, and a clamp which is movable along the axis of the wire and may be opened and closed during the interruption of driving by the second feed rollers in the direction of the axis of the wire, are arranged in the order mentioned from the upstream to the downstream side of the path of travel of the insulated wire, with a suitable spacing between adjacent components.