Abstract: A control system includes a terminal device including a first communication unit configured to perform first Bluetooth communication and second Bluetooth communication, and a printing apparatus including a second communication unit that is connected by pairing to the terminal device to perform the second Bluetooth communication with the first communication unit, wherein the terminal device performs the first Bluetooth communication in a state where no pairing connection is made with the printing apparatus, and transmits a notification instruction command to the printing apparatus through the first communication unit, and wherein the printing apparatus performs a notification operation based on the notification instruction command when receiving the notification instruction command through the second communication unit based on the first Bluetooth communication.

Abstract: In a robot for compensating gravitational torque, various types of installation postures, including installation of a floor and hanging from a ceiling, can easily be realized. Namely, the characteristics of the gravitational balancer are selected in order to compensate for various postures of the robot, such as that when installed on a floor or hung from a ceiling. Also, a direction of the compensation torque can freely be changed by adjusting a spring mounting position in the rotational link or in the stationary link. Further, adjustment of the compensation torque can freely be carried out by providing a plurality of spring set positions in the stationary link as well as in the rotational link. In addition, adjustment of the compensation torque can freely be carried out also by adjusting the mounting length of a spring set between the stationary link and the rotational link.

Abstract: This invention relates to an articulated robot comprising at least two control arms (4), (7), and two speed reducers provided at articulated portions of the two control arms (4), (7) on the same axis in opposed relation to each other. The two speed reducers comprises first and second harmonic drive speed reducers which include a common circular spline (60) fixedly secured to the articulated portion of one of the control arms (4), (7), and a bracket (40), (50) mounted on one end of the common circular spline (60) for angular movement relative to the common circular spline (60) and connected to the articulated portion of the control arm (4), (7). The number of component parts can be reduced, the assembling operation can be facilitated, a stable high accuracy can be maintained, and an inexpensive articulated robot can be obtained.

Abstract: A holding construction of a fuel injection valve in an internal combustion engine, wherein a fuel injection pipe connected to a fuel injection pump is laterally inserted from a cylinder head side face into a cylinder head, a laterally-disposed injection-pipe-connecting conical-receiving hole is formed on a fuel injection valve arranged in a central part of the cylinder head, and the tip end taper of the fuel injection pipe is directly connected to the receiving hole of the injection valve.