Abstract: An operating program writing system includes a block storing part which stores a plurality of blocks constituting work units of an operating program, a selecting part which selects any number of blocks from the plurality of blocks, a displaying part which displays a path diagram including the any number of blocks and arguments which are contained in the blocks, a selecting and inputting part which selects at least one block among the any number of blocks and inputs the arguments of the at least one block, a running part which arranges run buttons for the respective any number of blocks and runs blocks which correspond to the run buttons, and a writing part which uses the any number of blocks and the input argument of the at least one block as the basis to write an operating program.

Abstract: A robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program or a program template, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.

Abstract: A sheet conveyance apparatus includes first and second conveyance paths that eventually merge together. A guide member pair constituting the first conveyance path includes a second path guide member disposed on the second conveyance path side among the guide member pair and having a straight portion and a curved portion provided continuously downstream of the straight portion. A downstream end portion of the guide member is positioned in a merging portion of the first and second conveyance paths. The straight portion includes a plurality of ribs and a slope portion formed thereon. The plurality of ribs project perpendicularly from a base portion and are parallel to the sheet conveyance direction. The slope portion is provided between two of the plurality of ribs adjacent to each other and is inclined from the base portion toward the ridges of the plurality of ribs.

Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.

Abstract: A sheet feeding unit includes a supporting member configured to rotatably support a rotary feeding member, a first retaining member configured to push the supporting member upward from the underside to retain the rotary feeding member at a waiting position, and a second retaining member protruding on the underside of the supporting member when the first retaining member retains the supporting member. The retention of the supporting member by the first retaining member is released in association with the mounting of a sheet storage portion in the mounting position, and then the retention of the supporting member by the second retaining member is released.

Abstract: An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

Abstract: A sheet feeding unit includes a supporting member configured to rotatably support a rotary feeding member, a first retaining member configured to push the supporting member upward from the underside to retain the rotary feeding member at a waiting position, and a second retaining member protruding on the underside of the supporting member when the first retaining member retains the supporting member. The retention of the supporting member by the first retaining member is released in association with the mounting of a sheet storage portion in the mounting position, and then the retention of the supporting member by the second retaining member is released.

Abstract: A sheet feeding apparatus and an image forming apparatus which can reliably feed even sheets having a non-uniform thickness to prevent excessive stacking. An auxiliary tray 1 is swingably provided on the upper surface of a tray 2 which is provided in a cassette body 3a to be lifted and lowered and stacks sheets thereon. When the sheets are stacked, a swing regulating portion 12 regulates the swing of the auxiliary tray 1 when the tray 2 is in a sheet stacking position and releases the regulation of the swing of the auxiliary tray 1 when the tray 2 is lifted.

Abstract: A simulation device capable of executing a proper simulation without changing a program, while the definition of virtual peripheral equipment and/or a PLC is not necessary. A signal status setting file, which is separated from a robot program, can be executed in parallel with the program, and includes a command for setting or changing a signal status described corresponding to a line in execution of the program, wherein the status is referenced by executing the line of the program. For example, a command of the file, described corresponding to a fifth line of the robot program, commands inputting a signal which indicates that the opening motion of a door is completed. Therefore, when the simulation is executed, in synchronization with the line in execution of the program, the setting or changing of the signal status, described corresponding to the line in execution, is performed.

Abstract: An operating program writing system (10) comprises a block storing part (11) which stores a plurality of blocks constituting work units of an operating program, a selecting part (12) which selects any number of blocks from the plurality of blocks, a displaying part (13) which displays a path diagram which is comprised of the any number of blocks and arguments which are contained in the blocks, a selecting and inputting part (14) which selects at least one block among the any number of blocks and inputs the arguments of the at least one block, a running part (15) which arranges run buttons for the respective any number of blocks and runs blocks which correspond to the run buttons, and a writing part (16) which uses the any number of blocks and the input argument of the at least one block as the basis to write an operating program.

Abstract: An image forming apparatus capable of selectively discharging a sheet having an image formed with toner on one surface thereof and a sheet having images formed with toner on both surfaces thereof includes a fixing unit configured to fix a toner image on a sheet, a sheet stacking portion configured to stack sheets each having the toner image fixed thereon, and a control portion configured to control a maximum sheet stacking amount of sheets stacked in the sheet stacking portion. The control portion controls the maximum sheet stacking amount set when sheets, at least one of which has the toner images formed on both surfaces thereof, are stacked to be smaller than the maximum sheet stacking amount set when sheets each having the toner image formed on one surface thereof are stacked.

Abstract: A guide path branched downward from a conveyance path for guiding a sheet having a toner image fixed thereon to a sheet discharge tray, a switchback path, and a inversed discharge path guide the sheet once, and then guide the sheet to the sheet discharge tray with its front and back surfaces and its leading and trailing edges in a sheet conveyance direction reversed. A fan supplies air between a sheet discharged by a sheet discharge roller and a sheet already discharged onto the sheet discharge tray from a supply opening provided below the sheet discharge roller. A control portion for controlling a blowing operation of the fan selectively operates the fan when discharging the sheet after passing the sheet through the guide path, the switchback path, and the inversed discharge path.

Abstract: A sheet feeding apparatus and an image forming apparatus which can reliably feed even sheets having a non-uniform thickness to prevent excessive stacking. An auxiliary tray 1 is swingably provided on the upper surface of a tray 2 which is provided in a cassette body 3a to be lifted and lowered and stacks sheets thereon. When the sheets are stacked, a swing regulating portion 12 regulates the swing of the auxiliary tray 1 when the tray 2 is in a sheet stacking position and releases the regulation of the swing of the auxiliary tray 1 when the tray 2 is lifted.

Abstract: A simulation apparatus includes a simulation management unit for designating an elapsed time point, a robot operation calculation unit for causing the operation program to be executed to a designated elapsed time point to determine the operating position of the robot at the designated elapsed time point, a machine tool operation calculation unit for sequentially determining the operating position of the machine tool while at the same time executing the machining program continuously, and a machine tool operation storage unit for storing the determined operating position of the machine tool in correspondence with the elapsed time point each time a unit time elapses. The simulation management unit displays three-dimensional models of the robot and the machine tool on a display unit based on the operating positions of the robot and the machine tool at the designated elapsed time point acquired from the robot operation calculation unit and the machine tool operation calculation unit.

Abstract: When an image is formed on a second side of a sheet, the image forming position is adjusted on the basis of a value calculated using the amount ?n of lateral registration deviation detected before forming an image on the first side and the amount ?n-1, of lateral registration deviation of the previous sheet on which image formation is performed. Thus, it is possible to adjust the positions of irradiation of laser light to the photosensitive drums and to start forming the second-side images as soon as the first-side images have been primary-transferred onto the intermediate transfer belt.

Abstract: A guide path branched downward from a conveyance path for guiding a sheet having a toner image fixed thereon to a sheet discharge tray, a switchback path, and an inversed discharge path guide the sheet once, and then guide the sheet to the sheet discharge tray with its front and back surfaces and its leading and trailing edges in a sheet conveyance direction reversed. A fan supplies air between a sheet discharged by a sheet discharge roller and a sheet already discharged onto the sheet discharge tray from a supply opening provided below the sheet discharge roller. A control portion for controlling a blowing operation of the fan selectively operates the fan when discharging the sheet after passing the sheet through the guide path, the switchback path, and the inversed discharge path.

Abstract: The invention is an immobilization apparatus comprising: a container (1) having a nozzle (4) formed for exhausting a solution; a charging means (PS, 5, 4) for charging the sample solution within the container; and an airflow generating means for generating airflow (Af) crashing into the sample solution. The immobilization apparatus is configured to operate the charging means and the airflow generating means simultaneously, atomize the solution into microparticulate substances charged while maintaining its activity and functionality by the electrostatic force due to the charge of the sample solution charged by the charging means and the crash energy due to the crash of the airflow generated by the airflow generating means into the sample solution, and exhaust it from the exhaust outlet (4), and the charged microparticulate substances are deposited on a substrate (7) by the electrostatic force.

Abstract: A sheet feeding device and an image forming apparatus which can stably separate sheets even when the position of a pressing portion is changed are provided. A guide portion supports sheets from below and guides the sheets to a pressing portion between a sheet feeding roller which is biased in the direction pressing the sheet feeding roller onto the sheets stacked on a sheet stacking portion and a separating member which separates the sheets fed from the sheet feeding roller one by one. The guide portion is linearly lowered together with the separating member with the downward movement of the sheet feeding roller biased by a roller biasing member.

Abstract: An image forming apparatus capable of selectively discharging a sheet having an image formed with toner on one surface thereof and a sheet having images formed with toner on both surfaces thereof includes a fixing unit configured to fix a toner image on a sheet, a sheet stacking portion configured to stack sheets each having the toner image fixed thereon, and a control portion configured to control a maximum sheet stacking amount of sheets stacked in the sheet stacking portion. The control portion controls the maximum sheet stacking amount set when sheets, at least one of which has the toner images formed on both surfaces thereof, are stacked to be smaller than the maximum sheet stacking amount set when sheets each having the toner image formed on one surface thereof are stacked.

Abstract: A sheet feeding device and an image forming apparatus which can stably separate sheets even when the position of a pressing portion is changed are provided. A guide portion supports sheets from below and guides the sheets to a pressing portion between a sheet feeding roller which is biased in the direction pressing the sheet feeding roller onto the sheets stacked on a sheet stacking portion and a separating member which separates the sheets fed from the sheet feeding roller one by one. The guide portion is linearly lowered together with the separating member with the downward movement of the sheet feeding roller biased by a roller biasing member.