Abstract: An automatic welding apparatus comprises a welding torch including an electrode and a fixture for fixing a workpiece, and a relative positional relation of the welding torch and the workpiece fixture is controlled such that the electrode of the welding torch is moved to trace the welding line of the workpiece, whereby automatic welding is achieved. The automatic welding apparatus further comprises a switch for selectively connecting the electrode of the welding torch to a welding power supply or a detecting power supply, and a sensor for sensing a current or a voltage between the electrode and the workpiece when the electrode is switched to the detecting power supply, whereby the relative positional relation between the welding torch and the workpiece is detected in response to the output of the sensor, and thus a welding point or a welding line is sensed.

Abstract: An increment type position control apparatus is adapted to evaluate a numerical value concerning a positional point by making subtraction between the data in a position feedback counter for counting a feedback pulse from an incremental encoder and the data in a commanded position buffer from a processor. Upon depression of an origin return command button provided on a control panel, the position feedback counter and the commanded position buffer are each loaded with a predetermined value, whereupon a pitch is given, whereby an object being controlled is controllably moved in the direction toward the origin. If and when the object being controlled exceeds the origin position, the same is stopped and the counter and the buffer are each again loaded with an appropriate numerical value, whereupon a given pitch is provided, whereby the object being controlled is moved in the direction toward the origin and comes to a point to almost exceeding the origin position.

Abstract: An automatic welding apparatus includes a movable welding torch carried by a positioning assembly mounted on a pair of turn frames adapted to be rotated about a horizontal axis. The positioning assembly is capable of orienting the welding torch with respect to a workpiece holder also mounted on the pair of turn frames. A computer control arrangement accurately positions the torch along three mutually orthogonal axes during welding, and controls the angular position of the pair of turn frames about the horizontal axis. In alternative embodiments, the workpiece holder is mounted on a pair of stationary stands so that the holder is independently rotatable around a horizontal axis which may be coincident with, or offset from, the axis of rotation of the turn frames. The arrangement permits automatic torch positioning for downward butt welding or horizontal fillet welding on the interior or exterior of long box-like or tubular members.

Abstract: An automatic welding apparatus including a movable welding torch carried by a composite frame adapted to control the relative position of the torch with respect to a workpiece holder. Either the workpiece holder or composite frame may be supported on a movable base comprising a truck mounted on a track for movement in a longitudinal direction. The truck is capable of being fixedly positioned at a number of predetermined work stations along the track.

Abstract: A method and system of velocity control for an automatic welding apparatus, wherein at least either a welding torch or a workpiece is movable in the directions of the three rectangular axes and point-to-point (PTP) position control of the torch and workpiece is effected between two preset positions at a preset relative velocity. In effecting the PTP position control, the direction of movement is determined based on information about the two preset positions, and the components of the preset velocity in the directions of the three rectangular axes are determined based on the direction of movement thus found and also based on information about the preset velocity, these components being used as instruction velocities in the respective axes.

Abstract: A long-sized wire collecting apparatus for use with an automatic insulated wire cutting and insulation stripping machine including cutter assemblies for cutting the insulated wires and for cutting the insulations, and a movable clamp device adapted to be reciprocable for effecting the withdrawal of the insulated wires by hauling operation. The apparatus comprises a first wire storing device whereby the wires withdrawn by the movable clamp device are connected into a linear form and two wire lengths cut by a single closing action of the cutter assemblies are temporarily stored and then allowed to drop, a second wire storing device whereby such wire lengths are temporarily stored for a predetermined plurality of times of dropping and then allowed to fall, and a plurality of wire length collecting trays for successively storing such dropped wire lengths intermittently transferring them.

Abstract: A refrigerating system having, arranged to form a closed circuit, a refrigerant compressor, a condensor, a receiver and a plurality of sets of evaporators and expansion valves with all the sets connected in parallel with one another. The system further includes a throttle mounted in the circuit between the condenser and the receiver, a branch line and change-over valves for selectively connecting the circuit on the delivery side of the compressor to each evaporator and a passage connecting each evaporator to the receiver by bypassing the associated expansion valve, so that the refrigerantin the state of a compressed gas can be supplied to a desired evaporator to defrost the same and the refrigerant condensed in the defrosted evaporator can be returned to the receiver.

Abstract: An automatic welding apparatus comprising a workpiece fixture carried by a moving member for rotation about a horizontal axis extending in a back and forth direction, said moving member being provided on a carriage for sliding movement in a lateral direction, said carriage being provided for sliding movement in said back and forth direction, and a torch fixture carried by an arm for rotation about a vertical axis, said arm being provided for sliding movement in the vertical direction. In another embodiment, the workpiece fixture is provided only for rotation about a horizontal axis extending in the back and forth direction, and the torch fixture is carried by the arm for rotation about the vertical axis, which arm is provided at the end of a column for sliding movement in said lateral direction, which column is provided on a sliding member for sliding movement in the vertical direction, which sliding member is provided on a guide for sliding movement in said back and forth direction.

Abstract: An apparatus for cutting an insulated wire, stripping the end thereof and twisting the wire strands, comprises an insulated wire intermittent supply, cutting blades to be driven to cut the wire during the stoppage of the wire supply and to be returned immediately thereafter. Front and rear stripping blades are driven to cut only the insulation of the wire at positions spaced forwardly and rearwardly of the wire cutting position. Front and rear insulation rotating bars are driven to contact the insulation forward and rearward of the wire cutting position and to move in the opposite directions to rotate the insulation thereof while the wire portions at the opposite sides of the wire cutting position are forcibly drawn in the directions away from the wire cutting position.

Abstract: An apparatus for cutting an insulated wire, stripping the end thereof and twisting the wire strands, comprises an insulated wire intermittent supply, cutting blades driven to cut the wire during the stoppage of the wire supply and returned immediately thereafter. Front and rear stripping blades are driven to cut only the insulation of the wire at positions spaced forwardly and rearwardly of the wire cutting position and returned after a predetermined period after return of the cutting blades. A pair of front insulation rotating bars are driven to contact the insulation rearward of the front insulation cutting position and moved in the opposite directions to rotate the insulation thereof while the cut wire length is forcibly moved in the supply direction thereof, whereby the end of the cut wire length is stripped and the strands thereof are twisted.

Abstract: An apparatus for cutting an insulated electric wire into lengths and crimping a terminal to the end of the resulting wire lengths, comprising means for intermittently supplying said insulated electric wire through a predetermined distance, a cutter blade assembly operable in timed relation with the intermittent wire supply and including a cutter blade for cutting the wire and a cutter blade spaced forwardly therefrom for cutting only the insulator of the wire, wire length transfer means laterally extending and mounted pivotally at a position spaced from the assembly, which transfer means comprises a circulating conveyer having a plurality of grippers disposed at intervals and being moved intermittently in timed relation with the intermittent wire supply for conveying the wire lengths away from the supply means, and driver means for alternately driving the transfer means to a normal position and a forwardly shifted position in timed relation with the intermittent wire supply, the abovementioned timed relation