Abstract: An object of the present invention is to provide a hardening method and a hardening device capable of successfully hardening a shaft and an inner wall of a hole of a work in which the hole is formed close to the shaft on a flat plate. A hardening device for hardening a shaft and an inner wall of a hole, the shaft extending vertically from a flat plate and the hole being formed adjacent to the shaft, includes a first heating coil that is a conductive body facing the shaft and a second heating coil that is a helical conductive body having at least a portion inserted into the hole, so that the first heating coil and the second heating coil heat the shaft and the inner wall of the hole respectively and simultaneously.

Abstract: An object of the present invention is to provide a hardening method and a hardening device capable of successfully hardening a shaft and an inner wall of a hole of a work in which the hole is formed close to the shaft on a flat plate. A hardening device for hardening a shaft and an inner wall of a hole, the shaft extending vertically from a flat plate and the hole being formed adjacent to the shaft, includes a first heating coil that is a conductive body facing the shaft and a second heating coil that is a helical conductive body having at least a portion inserted into the hole, so that the first heating coil and the second heating coil heat the shaft and the inner wall of the hole respectively and simultaneously.

Abstract: An object of the present invention is to provide a hardening method and a hardening device capable of successfully hardening a shaft and an inner wall of a hole of a work in which the hole is formed close to the shaft on a flat plate. A hardening device for hardening a shaft and an inner wall of a hole, the shaft extending vertically from a flat plate and the hole being formed adjacent to the shaft, includes a first heating coil that is a conductive body facing the shaft and a second heating coil that is a helical conductive body having at least a portion inserted into the hole, so that the first heating coil and the second heating coil heat the shaft and the inner wall of the hole respectively and simultaneously.

Abstract: An object of the present invention is to provide a hardening method and a hardening device capable of successfully hardening a shaft and an inner wall of a hole of a work in which the hole is formed close to the shaft on a flat plate. A hardening device for hardening a shaft and an inner wall of a hole, the shaft extending vertically from a flat plate and the hole being formed adjacent to the shaft, includes a first heating coil that is a conductive body facing the shaft and a second heating coil that is a helical conductive body having at least a portion inserted into the hole, so that the first heating coil and the second heating coil heat the shaft and the inner wall of the hole respectively and simultaneously.

Abstract: With an object being the overall reduction of error in systems wherein reception timing is controlled by detecting the timing error of the received signal even when the signal arrival path varies in multipath communication and similar conditions, the present invention comprises a timing error detection means 3 which detects errors between the time slot reception time and reception timing of the received signal, a reception timing control means 1 which controls the reception timing of the slot on the basis of errors at reception of preceding time slots, and a control adjustment means 2 which adjusts the amount of control of the reception timing in relation to the errors detected, the control adjustment means 2 making it possible, by taking the time average of each error detected during reception of a plurality of time slots, to fix the error in the vicinity of the maximum frequency of timing delay distribution, even where there are variations in error resulting from variations in the arrival path of the receiv

Abstract: A saw-tooth waveform signal generating circuit (3) generates a saw-tooth waveform signal d in response to a timing signal b derived from a reference clock a. A voltage comparator (4) slices the saw-tooth waveform signal with a reference voltage to shape the waveform thereof, thereby producing a synthesizer output e having a rectangular waveform. A counter (5) adds or subtracts a predetermined value every time a reference clock arrives. The count of the counter (5) is converted to an analog value by a DAC (6) and then is applied to, for example, the saw-tooth waveform signal generating circuit as a bias. As a result, the voltage for causing the saw-tooth waveform signal to start rising or falling is manipulated to allow the voltage comparator to slice the saw-tooth waveform signal at any desired timing. Hence, a synthesizer output can be produced in any desired phase.

Abstract: There is provided an abnormal temperature detection device for a regeneration resistor for consuming the regenerative energy of an electric motor, which includes a heat conductive member (11) disposed in contact with the surface of a regeneration resistor (1), and a thermostat for detecting a rise in the temperature due to an abnormal heat generated in the regeneration resistor (1), via the thermostat (12). The thermostat (12) the regeneration resistor (1) are disposed in different spaces. The thermostat (12) is mounted on a portion at which the temperature is lowered, via the heat conductive member (11), and the temperature of that portion is detected instead of directly detecting the surface temperature of the regeneration resistor (1) which is set at high temperatures. Accordingly, a high temperature state of the regeneration resistor (1) can be detected by using a thermostat able to detect a low temperature.

Abstract: A system for coupling a visual sensor processor (B) and a robot controller (A), so that the processing of the whole system is sped up and the configuration of the system is low-cost. To this end, the visual sensor processor (B) and the robot controller (A) are coupled together via a bidirectional high-speed data transfer channel (10, 28, l.sub.1, l.sub.2) for an exchange therebetween of required information. A nonvolatile memory (6) and a serial interface (12) for connection to an external input/output device, are installed in the robot controller (A), and are shared by the visual sensor processor (B) and the robot controller (A) through utilization of the channel.

Abstract: In a channel selecting device which is for use in a station of a multichannel access radio communication system comprising that station and a plurality of other stations, a control channel, and a predetermined number of speech channels and which includes a channel selector (11, 12, and 14) for selecting one of the speech channels as a selected channel on starting communication with a specific station of the system, a channel detecting arrangement (11, 12, and 14) is coupled to the control channel to detect channel codes of busy channels which are rendered busy among the speech channels by at least two of the other stations. The channel detecting arrangement is operable while the first-mentioned station is in an idle state. A memory unit (30) is coupled to the channel detecting arrangement and stores the channel codes of the busy channels. The channel selector is coupled to the memory unit to select the selected channel from idle channels which are other than the busy channels.

Abstract: A radio transceiver, improved in that an antenna switching circuit is so connected between an antenna and the transmitting and receiving sections of the transceiver that a filter for removing spurious emission components from a transmitted wave is connected only to the transmitting section of the transceiver, whereby insertion loss of a received wave is avoided.

Abstract: A frequency synthesizer applicable to a radio communication equipment includes a phase comparator adapted to produce a voltage representative of a difference in phase between outputs of a variable and a fixed frequency dividers. The output of the phase comparator is applied through a switch and a low pass filter to a voltage controlled oscillator. A reset circuit produces a reset signal interlocked with a power source of the synthesizer. The variable and the fixed frequency dividers are reset by the reset signal while the switch is closed after the generation of the reset signal and opened upon turn-off of the power source.

Abstract: An absolute position detecting system for a servocontrol system which has its operation controlled in accordance with a numerical control program. Resolvers 202 and absolute encoders 110 made rotatable with a servomotor 105, are set at a predetermined revolving ratio so that the absolute positions of operating axes may be detected highly accurately from the revolution outputs of the two. The detecting operations can be performed for the plural operating axes by using one detecting circuit commonly.

Abstract: Disclosed is a robot control system of the type in which instructive data taught by means of a teaching box is stored in memory and a manipulator such as a robot hand is actuated in accordance with the instructive data so that the robot is made to execute predetermined tasks. The manipulator is so driven by a servo motor as to reduce to zero a deviation between the number of command pulses generated on the basis of the instructive data and the number of feedback pulses generated in accordance with the current position of the manipulator. In accordance with a feature of the invention, the limit values of the deviation are stored in memory in advance and, when the deviation is found to lie outside the range of the limit values during the operation of the robot, such condition is interpreted as an overload and the operation of the robot is halted.

Abstract: A circuit for controlling a D.C. electromagnetic brake, in which a series circuit consisting of a solenoid 35 for the electromagnetic brake and a transistor 52 for controlling the current that flows into the solenoid is connected to a D.C. power source 8 and wherein a varistor 4 is connected in parallel between the emitter and the collector of the transistor 52 which controls current that flows into the solenoid, in order to clamp the counter electromotive force that generates across the emitter and the collector of the transistor when the current flowing through the solenoid is interrupted.

Abstract: Disclosed is an industrial robot having a function for controlling a current of a motor for driving, which comprises a circuit (41) for summing a plurality of input signals to which input signals of speed command, speed feedback, current command and current feedback are supplied, a switching circuit (23) for selectively switching the input of speed command to the inputs of current command and current feedback by a switching command signal and an operational amplifier (38) to which the switched signal is supplied. In this industrial robot, the position control is switched over to the current control by a switching command signal from a robot control device (22), and by the position control, an article to be held is shifted to a predetermined position and by the current control, driving electric motors (Mr, M.theta.

Abstract: In a transmission system employing a plurality of parallel lines for transmitting serial digital signals, means are provided in each line for detecting and disconnecting any line on which transmission is interrupted comprising a converter for producing two signals of opposite polarity, a receiver for reconverting the signals connected to the converter by a pair of transmission lines, an exclusive OR gate connected to the pair of transmission lines for providing an output when normal signals of opposite polarity are present, and a switch comprising an AND gate converted to the receiver and to the exclusive OR gate which disconnects the receiver when no output is received from the exclusive OR gate. The received signals from each line are combined through a common OR gate.

Abstract: A system for controlling a plurality of microprocessors, comprising a common memory which can be selectively switched to exclusive buses which are connected to the plurality of microprocessors, respectively, and a priority control circuit which determines the priority of the microprocessors. According to the system of the present invention, it has a common memory that is selectively connected to the buses, data is transmitted without affecting the operation of the microprocessors on the receiving side, data transfer between the microprocessors having different cycle times is carried out at speeds that are adapted to the cycle times of the individual microprocessors, and the degree of the exclusive use of the bus by the microprocessor is prevented from being reduced when the direct memory access transfer is carried out. Consequently, a system for controlling a plurality of microprocessors having an improved performance is obtained in accordance with the present invention.

Abstract: A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial robot, has the numerical control device and the robot control device connected to each other by means of a data transfer line. Each of the numerical control device and the robot control device is provided with a circuit for transmitting and receiving data which are exchanged through the data transfer line. The robot command data for controlling the robot, as well as the machining data for controlling the machine tool, are stored in a non-volatile memory device provided only in the numerical control device, through the data transfer line and respective circuits for transmitting and receiving data.

Abstract: A control system for an industrial robot having a robot controlled in accordance with a position command signal and a position feedback signal and a control circuit for controlling the movement of said robot, said control circuit comprising an error register, a digital-analog converter, and a position gain multiplier between said error register and said digital-analog converter, wherein when the motor which drives said robot stops the rotation or when said motor gets ready to stop the rotation and an error value held in said error register becomes higher than a predetermined value, the multiplication factor of said position gain multiplier is increased, thereby a high accuracy of the positioning is accomplished.

Abstract: A single velocity unit is provided in the control unit of an industrial robot, which control unit has a plurality of motors for driving the arm of the industrial robot and a plurality of detectors for detecting the position of the arm. By the operation of the central processing unit, the digital output unit selects one of the axis position control units and one of the motors to be connected to the velocity unit, in accordance with an axis selecting instruction read out from the memory.