Abstract: A tape winding method includes an oblique winding step, in which a tape set is arranged obliquely so that each tape is wound obliquely at a predetermined angle, the tape spacing is adjusted so that a winding tape pitch is smaller than or equal to a tape width, and in this state, oblique winding is performed while moving the tape set by a movement amount, wherein the movement amount per turn of the oblique winding is defined by multiplying a sum of the winding tape pitch and a winding tape width of one tape by a number of tapes.

Abstract: The efficiency of the tape winding task is improved while a desired lapping width (R11) is secured. A tape winding method includes a winding start step (step S11 to step S14), a lapped winding step (step S15 and step S16) of performing lapped winding in which adjacent tapes (21) partially overlap each other, while the tape set (2) is moved by an amount of movement per lapped winding that is a sum of a tape spacing (T11) and a lapping width (R11), and a winding end step.

Abstract: The operations from a formation of a branch shape to a shape determination by a tape winding are automatically performed. An apparatus for manufacturing wire harness includes an under-pulling tape winding portion of a fixed tape winding mechanism and a moving tape winding mechanism (preceding tape winding portion) configured to, among a plurality of connectors and electric wires prepared for manufacturing a wire harness, perform tape winding of the electric wires that are connected to the same connector; and the moving tape winding mechanism (following tape winding portion) configured to perform the tape winding with respect to portions connected to the different connectors and to which the tape winding by the preceding tape winding portion have already been performed so as to form a branch shape.

Abstract: A tension applied to electric wires is suppressed by a simple configuration. A tension control apparatus is characterized by including a sliding portion configured to retain an electric-wire-end portion of an electric wire that can be pulled out and to move in a straight line; and a control portion configured to control a pulling-out amount of electric-wires due to a movement of the sliding portion while obtaining a driving force of a servo motor as an indication indicating a tension in the electric wire, comparing a balancing force as the indication with a predetermined reference value when the sliding portion stops, and making the sliding portion to move in response to a comparison result between the above-indicated indication and the reference value when this indication temporarily increases.

Abstract: The operations from a formation of a branch shape to a shape determination by a tape winding are automatically performed. An apparatus for manufacturing wire harness includes an electric wire grasping mechanism of an electric-wire grasping/additional-length-applying portion and a sliding portion (parallel regulation portion) configured to regulate a plurality of prepared electric wires in a parallel state; an under-pulling tape winding portion in a fixed tape winding mechanism and a moving tape winding mechanism (preceding bundling portion) configured to select and bundle part of the plurality of electric wires; and the moving tape winding mechanism (following bundling portion) configured to further bundle portions that have been bundled by the preceding bundling portion to form a branch.

Abstract: The present invention realizes deceleration without deviation with respect to a corner speed while maintaining behavior during deceleration at a constant level.

Abstract: An apparatus for manufacturing wire harness includes a plurality of sliding portions provided to move in a straight line, wherein each is mounted with a tip-end connector to which an electric wire that can be pulled out is connected; a moving tape winding mechanism (branch formation portion) configured to selectively bundle the plurality of electric wires being pulled out by the plurality of sliding portions to form a branch; and a control portion configured to control a pulling-out amount of the electric wires due to the movement of the sliding portions and branching operations due to the moving tape winding mechanism (branch formation portion).

Abstract: A wire harness manufacturing apparatus 1 includes a plurality of connector cups 12 having a same outer shape as each other, a sub-harness mounting plate 13 on which a plurality of sub-harnesses W1a are mounted while the connector cup 12 is attached to the connector, a plate fixing portion 14, a plurality of slide portions 15 respectively holding one-end side connectors via the connector cups 12, base end holding portions 16 holding other-end side connectors via the connector cups 12, a connector transfer mechanism 17 detaching the one-end side connector and the other-end side connector together with the connector cup 12 from the sub-harness mounting plate 13 to the slide portions 15 and the base end holding portions 16, and an electric wire processing portion 18 performing electric wire processing on electric wires stretched between the slide portions 15 and the base end holding portions 16.

Abstract: A wire harness manufacturing apparatus includes a plurality of sliding portions provided at a position at a predetermined height to line up along an arrangement direction being parallel to each other to perform a movement in a straight line along a sliding direction between a first-end side and a second-end side, one or more base-end retaining portions provided at the first-end side at the predetermined height to be immobile at least in the sliding direction, the base-end retaining portion being lined up in the arrangement direction to retain the other end side of at least one of the electric wire toward the reference surface side; and an electric-wire processing portion performing an electric-wire processing of selectively bundling the electric wires to form the branch shape with respect to the plurality of electric wires that are stretched between the one or more base-end retaining portions and the plurality of sliding portions.

Abstract: A numerical control device for controlling a laser machining device that machines a workpiece by means of a pulse laser emitted from a laser machining head while moving the laser machining head and the workpiece relative to each other, said numerical control device being provided with: a speed command generation unit for generating a speed command for controlling the speed of the relative movement on the basis of a machining program; a laser command generation unit for generating a laser output command value that includes at least the frequency and duty of the pulse laser, in accordance with the speed command; a change rate calculation unit for calculating a period command for the pulse laser on the basis of the frequency, and calculating a change rate of a changed period command changed by a limitation for the performance of the laser machining device; and a speed adjustment unit for using the change rate to adjust the speed command generated by the speed command generation unit.

Abstract: A control device is provided with an instructed path generation unit that generates an instructed path for a movement path of a moving part on the basis of an instruction of a program, an actual forward path prediction unit that predicts an actual forward path from the instructed path using a machine model relating to a transfer characteristic of an industrial machine, an instructed reverse path generation unit that generates an instructed reverse path by reversing the movement direction of an actual forward path, an actual reverse path prediction unit that predicts an actual reverse path from the instructed reverse path using the machine model, and an instructed speed adjustment unit that adjusts an instructed speed based on a movement speed indicated by the instruction of the program so as to reduce an error of the actual reverse path relative to the instructed reverse path, and generates an instructed reverse speed.

Abstract: A machine-learning device performs machine-learning under machining conditions including at least a waiting time of laser emission for controlling machining of a subject to be machined in a laser machining apparatus, and comprises: an action output unit which selects, as an action, a machining condition from a plurality of machining conditions, and outputs the action to the laser machining apparatus; a state acquisition unit which acquires, as state information, image data obtained by imaging a machined state of the subject that has been machined by the action; a reward calculation unit which calculates a reward on the basis of the waiting time of the laser emission and the machining accuracy of the machining state calculated on the basis of at least the acquired state information; and a learning unit which performs machine-learning on the machining conditions on the basis of the acquired state information and the calculated reward.

Abstract: A robot hand includes a gripping mechanism. The gripping mechanism includes a pair of gripping claws that perform opening and closing operations in a horizontal direction intersecting with an extending direction of an electric wire. The gripping claw has a lower claw portion that functions as a scooping claw by moving obliquely upward from below. Before or during a bundling operation, a control device of a robot causes the lower claw portion of the gripping claw to move obliquely upward from below to scoop up all electric wires to be bundled.

Abstract: Provided is a control device for a laser machining apparatus which can maintain the inclination direction of a nozzle with respect to a machining program route even during modification of the tool diameter correction amount, and which can improve machining accuracy.

Abstract: An electric wire processing device includes a comb-shaped jig having a plurality of comb teeth; and a drive mechanism configured to, in a state in which at least one electric wire is sandwiched between the plurality of comb teeth, slide the comb-shaped jig on the at least one electric wire.

Abstract: A wire harness manufacturing device includes a first rail and a second rail provided in parallel on a jig plate; a first holding portion that holds a first connector and a second holding portion that holds a second connector; an electric wire holding portion that holds a first electric wire and a second electric wire; a one end side connection portion that connects one end sides of the first electric wire and the second electric wire to the first connector and the second connector; a cutting portion that cuts the first electric wire and the second electric wire; the other end side connector that connects the cut first electric wire and the cut second electric wire to a third connector and a fourth connector and a binding portion that binds the first electric wire and the second electric wire whose tension is adjusted.

Abstract: A robot hand includes a gripping mechanism. The gripping mechanism includes a pair of gripping claws that perform opening and closing operations in a horizontal direction intersecting with an extending direction of an electric wire. The gripping claw has a lower claw portion that functions as a scooping claw by moving obliquely upward from below. Before or during a bundling operation, a control device of a robot causes the lower claw portion of the gripping claw to move obliquely upward from below to scoop up all electric wires to be bundled.

Abstract: The present invention provides a method for manufacturing zinc oxide whiskers, whereby zinc powders composed of particles coated with an oxide film, preferably an oxide film having a superior sealing property are, heated for oxidization in an atmosphere containing oxygen.The atmosphere may contain carbon dioxide or steam.The obtained zinc oxide whiskers are formed in a single crystal comprised of a core part and an acicular part spreading in four different directions from the core part.For a baking furnace to obtain zinc oxide whiskers, is employed one that successively forms an atmosphere of a high partial pressure of zinc steam at the source side and an atmosphere of a high partial pressure of oxygen for facilitating formation of whiskers. The zinc oxide whiskers can be controlled in size by selecting the relative ratio of the partial pressure of zinc steam and oxygen.

Abstract: Disclosed is a polypropylene resin composition which is superior in mechanical strength and affords molded articles having good appearance which comprises (A) a crystalline polypropylene, (B) a polypropylene modified with an unsaturated carboxylic acid or an acid anhydride thereof, and (C) a zinc oxide whiskers. When the composition additionally contains an inorganic filler such as glass fibers, molded articles further improved in appearance can be obtained. The zinc oxide whiskers preferably have a tetrapod type crystal structure.

Abstract: Disclosed is a rubber modified styrene resin composition which comprises 50-98% by weight of a rubber modified styrene resin and 50-2% by weight of zinc oxide whiskers. This composition can provide molded articles excellent in mechanical strength, surface state and vibration damping characteristics. Impact strength can be further improved by adding to the above composition a rubber-like material. The zinc oxide whiskers preferably have a tetrapod-formed crystal structure and furthermore, is preferably surface treated with a coupling agent such as silane compound.