Abstract: Control device (21) for controlling, by means of a microprocessor (22), an electrical drive motor (2) that is incorporated in a stapler (1) and whose drive shaft (9) drives a staple driver (13) in a forward and reverse motion that has a defined start point and a defined reversing point, and which staple driver drives, during its forward motion, a staple (15) into a workpiece (17), preferably a sheaf of paper, wherein the control device (21) comprises a sensor (23) that senses the rotational speed of the drive shaft (9) and the number of rotations it has completed from the start point, and transfers the sensed information to the microprocessor (22) which, in a known manner, analyzes the obtained information and generates a control signal that controls the supply of current to the drive motor (2), whereupon the rotational speed of the drive shaft is regulated.

Abstract: An automatic fastening scheduler apparatus is described for scheduling the placement of fasteners such as nails, staples or screws for joining materials along a preselected path on the material. The apparatus spaces the fasteners by sequentially operating the safety mechanism of a standard power fastener at a rate determined by the distance the apparatus is rolled along the surface of the material. The apparatus does not modify the operation of the safety mechanism of the power fastener and the power fastener can be easily removed from the apparatus for manual operation. The apparatus provides for varying the spacing between adjacent fasteners and can be operated from either an upright or a crouched position.

Abstract: A control module advantageously reduces cost and enhances reliability, design flexibility, ease of assembly, and performance of a flywheel operated hand tool. The control module includes a thin film printed circuit with non-contact speed sensing of a flywheel to more accurately set the target speed and control transfer kinetic energy thereof to a fastener, achieving a desired depth regardless of variations in component performance and battery voltage. The printed circuit also includes long service life thin film switches for responding to trigger and safety inputs. Furthermore, the control module responds to a user speed selection and to preset speed selection ranges to reconfigure the controls as appropriate to constraints of a fastener drive assembly and to user preferences.

Abstract: A motor driven stapler in which there are no fears of cutting off and need for loosed part of the lead wires of photo sensor for detection of sheets to be bundled, is provided.

Abstract: A device for discharging fastening elements, and a method of preventing a device from discharging fastening devices into human flesh, are disclosed. The device includes a coil proximate a location of discharge, a capacitive element coupled in parallel with the conductive coil to form a resonant tank circuit, an oscillator that drives the tank circuit, a frequency detector, an amplitude control circuit and a processor. The detector detects a frequency of oscillation of the tank circuit as affected by a material proximate the coil. In response to an electrical signal from the oscillator, the control circuit generates a control signal that is provided back to the oscillator. Based upon the frequency and an additional signal functionally related to the control signal, the processor provides an output signal that prevents the device from discharging when the material proximate the coil is human flesh.

Abstract: The present invention relates to a method and apparatus for minimizing undesirable gaps in riveted assemblies. The method includes the steps of selecting a rivet having a head and a tail with identical forming characteristics, positioning the selected rivet in an assembly that is countersunk on one of two sides, and applying a force over time to the head of the rivet and a force over time to the tail of the rivet that are equal and opposite, compensating for force unbalancing characteristics of the countersink.

Abstract: An electronically controlled pneumatic fastener driving tool. The tool is of the type having a body containing a cylinder with a piston/driver assembly therein, a firing valve actuable to introduce high pressure air into the cylinder to cycle the piston/driver assembly, a manual trigger, a safety trip, and an electronic control system. The electronic control system comprises a remote solenoid valve to actuate the firing valve, a microprocessor having inputs from at least the trigger and safety trip and an output to energize the solenoid of the remote valve to cycle the tool, a battery to energize the microprocessor and a rechargeable battery to energize the solenoid of the remote valve. The microprocessor determines the mode of operation of the tool and may be designed to provide two or more modes selectable by a mode selection switch. The input from the trigger is provided with a reed switch closable by the trigger and the input from the safety trip is provided with a reed switch closable by the safety trip.

Abstract: A motor-operated stapler capable of narrowing the range of a home position zone of a cam, is provided. The motor-operated stapler includes a driver 36 which reciprocates and drives out a staple toward a sheet bundle and a drive-out mechanism 30 which causes the driver 36 to operate. A driver cam 32 is mounted on a driving shaft 31 in the drive-out mechanism 30 and the driver 36 is reciprocated once by rotation of the driver cam 32. A brake mechanism 60 is used which applies a brake mechanically to the rotation of the driving shaft 31 when the driver 36 returns to its home position.

Abstract: A clipping device is provided which comprises: a cartridge containing a belt of plate-shaped clips arranged like a belt; a pair of clamps for holding and bending the upper and lower ends of a clip occupying the front of the clip-arranged belt and thereby separating the front clip from the clip-arranged belt and fastening the end of a bundle of sheets with the separated front clip; a slider that reciprocates between the cartridge and the pair of clamps so that the clip-arranged belt is fed from the cartridge to the pair of clamps; a control unit that controls and drives the pair of clamps and the slider; and a clip-setting-detecting unit that detects whether the separated clip is held by the pair of clamps or not.

Abstract: A stapler made with an upside down structure and used in downside up position in which loading of the cartridge is easily attained, is provided. The stapler comprises a base plate 21 which is fixed on a top board 13, a bracket 30 which is rotatably attached to an arm board portion 25 of the base plate 21, a stapler body 40 which is attached to the bracket 30 and a stopper 70 which fixes the stapler body 40 in its downside up posture.

Abstract: An apparatus for inserting, in the molding of picture-frames, metal staples adapted to retain laminar backing elements for pictures, photographs and the like, comprising a beam which is arranged horizontally above the surface that supports the molding, two fixing tools which are guided on the beam transversely to two opposite sides of the molding, an actuation for adjusting the distance between the fixing tools along the beam as a function of the distance between the sides, and a further actuation for vertically actuating the fixing tools into the position for applying metallic staples in the sides.

Abstract: In a stapler for variably stapling a set or stack of sheets manually inserted through the stapler entrance path with different orientations, there is a sheet guide system with movable guide members automatically differently repositioned into different sheet guiding positions in the entrance path by the sheet stack insertion and its angle of insertion, including switching in between a corner angled stapling alignment position and a linear sheet edge aligned stapling position, respectively differently positioning the sheet stack for stapling. It may include a base plate, a pair of guide elements movably mounted on the base plate, and a fixed registration wall. The guide members in the corner angled stapling position may present opposing converging 45 degree angled edge registration surfaces to the inserted sheet stack. For edge stapling, the same guide members and/or the registration wall may present one, or two straight edge registration surfaces to the inserted stack.

Abstract: The device is used for fixing rivets, buttons, etc., which comprises an article lower part and an article upper part, to a fabric. It has a lower gripper (1) supporting the article lower part and a plunger (2) performing the riveting stroke. With the lower end of the plunger is associated an upper gripper (3) acting on the article upper part and with the upper end is associated a drive mechanism (4) responsible for the stroke movement. A finger guard bow (11), associated with the plunger and extending into the movement path of the upper gripper and which, after initiating a plunger riveting stroke, on encountering an obstacle and before reaching its end position, stops the drive mechanism and consequently the plunger.

Abstract: A rivet delivery device is provided for transferring a rivet from a rivet passage to a nose piece of a pulling head and jaw case mechanism. The rivet delivery device is air driven to extend forwardly of the rivet setting tool and rotates to present a rivet in front of the jaws and then transfers the rivet into the jaws. The angular rotation and stroke length of the rivet delivery device can be easily adjusted. A double-acting piston is driven in both directions by positive air pressure to extend and rotate the delivery device in front of the nose piece and returning the rivet delivery device after rivet transfer. The use of a double-acting piston greatly enhances the speed at which the, rivet delivery device can operate.

Abstract: An apparatus for open-heart surgery includes a suture-needle holding tip (10) or a stapler and a handle (100). The tip is driven to oscillate relative to the handle in the same motion as the surface of the heart, which is being operated on. This cancels the motion of the heart, effectively stopping it, so that the surgeon (S) need not compensate for heart beats. The tip can grasp or release the needle (N) with a mechanism (300) under control of a switch (330) through a flexible cable 120. Independently, a drive mechanism 200 causes a cam (230) to be turned by a motor 213 for driving the needle-holding tip by means of a flexible cable 120. The cam is shaped so that the pattern of the platform oscillation follows the beating heart's motion. A momentary-contact switch triggers a pacer, which paces the heart to beat in synchrony with the motion of the needle-holding tip. The rate is set slightly above the un-paced heart beat rate.

Abstract: A connector plate application apparatus presses connector plates into wood members to connect them together for forming wood frames, truss components and the like. Connector plates are supplied to the apparatus in the form of a strip which is pre-punched with nailing teeth. The connector plates are sheared from the strip and driven into the wood members by drivers. The strip is fed forward automatically by a strip feed which engages the strip in openings left by punching the nailing teeth. Loading of a new strip of connector plates is facilitated by an alignment mechanism which allows non-visual alignment of the strip with the strip feed so that the strip feed engages the strip in the openings.

Abstract: The present invention provides a sheet binding apparatus for effecting stapling operation by rotation of a motor including a current measuring device for measuring a current of the motor, a first timing output device for defining the timing of the stapling operation, a second timing output device for effecting the output at a different timing from an output timing of the first timing output device, a calculation device for measuring outputs of the current measuring device in response to signals from the first and second timing output devices to seek the difference between the measured values, a base current measuring device capable of setting a current value in advance on which the judgement of the presence/absence of a needle is based, and a discriminating device for comparing an output value from the calculation device with a set value of the base current value setting device to judge the presence/absence of the needle.

Abstract: An end plating machine for a wood tie having opposite ends comprising a frame including horizontally spaced-apart first and second end frames with the frame including tie in-feed and out-feed portions. A conveyor is provided for positioning a tie between the end frames. First and second tie clampers are positioned adjacent the first and second end frames for clamping the ends of a tie positioned therebetween. First and second power rams are mounted on the first and second end frames, respectively, for driving an end plate into the ends of the tie while the tie is being clamped by the first and second tie clampers. First and second end plate hoppers are positioned on the first and second end frames, respectively, for supporting a plurality of end plates therein.

Abstract: An electric stapler to bind a set of sheets with staples, is provided with a cartridge to hold the staples, a magazine to guide the cartridge in the direction of the front surface of the set of sheets, a drive motor to contact with and separate from the magazine in relation to the set of sheets, a reduction means to reduce and control angular velocity of the drive motor, and a driver plate to drive down the staples into the set of sheets through the driving force of the drive motor, performs a series of binding processes in a short time with reducing impact caused by the magazine.

Abstract: An apparatus for attaching rivets, buttons or the like to textiles or the like, having a plunger which performs the riveting stroke and whose upward and downward movement is controlled by the interaction of the top end of the plunger with a cam plate rotationally driven by an electric motor, the apparatus performing a sequence of attachments upon actuation of a switch or the like, the electric motor (39) running at a fixed preset angular velocity being stopped briefly in the top dead-center position of the plunger (24) by a braking device or the like in order to reduce the cycle frequency of the plunger stroke. To this end, the control unit switches off the drive motor (39) in the top dead-center position of the plunger for a preprogrammed time and switches it on again after the preprogrammed waiting time has expired and actuates a brake in particular during the waiting time.

Abstract: A fastener detection system is provided for both internal combustion and powder actuated fastener driving tools, and similar powered fastener driving tools. A sensor disposed at a portion of a fastener supply path detects the presence or absence of a fastener. In the combustion tool, either or both of fuel delivery and combustion ignition are disabled when no fastener is detected. In the powder actuated tool an indicator notifies an operator when the sensor detects the absence of a fastener. The indicator may also be incorporated into the combustion tool.

Abstract: A fastener detection system is provided for both internal combustion and powder actuated fastener driving tools, and similar powered fastener driving tools. A sensor disposed at a portion of a fastener supply path detects the presence or absence of a fastener. In the combustion tool, either or both of fuel delivery and combustion ignition are disabled when no fastener is detected. In the powder actuated tool an indicator notifies an operator when the sensor detects the absence of a fastener. The indicator may also be incorporated into the combustion tool.

Abstract: A box nailing machine includes a piston within a cylinder to drive a nail. A main selector valve introduces compressed air into the cylinder and discharges the compressed air from the cylinder. A start operation valve operates the main selector valve. A trigger device for the box nailing machine comprises: a trigger switch operated by a trigger lever; a contact switch operated by the contact arm; an electromagnetic valve serving as the start operation valve; a logical circuit for applying a drive current to the electromagnetic valve when both the trigger switch and the contact switch are turned on; and a controller which includes a timer with a predetermined time limit. The timer is started in accordance with a trigger signal of the trigger switch and prohibits the drive current from the electromagnetic valve when the timer counts the predetermined time period. The timer is reset upon release of the trigger.

Abstract: Apparatus for assembling fasteners includes a fastening wrench operated by a first operator and having interchangeable sockets of different sizes for engaging nuts of different sizes. The nuts are required to be tightened to different torque values on their respective bolts. When the first operator removes a socket from a socket tray in preparation for attaching the socket to the fastening wrench, a signal is sent to a controller which determines the torque value associated with that socket size. When the fastening wrench reaches the specified torque value during the tightening operation, the controller automatically shuts the fastening wrench off. The apparatus also includes a second wrench, operated by a second operator, for engaging the heads of the bolts to prevent them from turning during the tightening process. During the tightening process the second operator may not be in communication with the first operator.

Abstract: An electric stapler is provided which comprises a driving plate (7) for driving out a staple from a driving position while reciprocating, a delivering mechanism for delivering a sheet-staple (11) to the driving position interrelatedly with a reciprocating motion of the driving plate, a working piece (24) which is rotated by a push given by a staple occupying the front row of the sheet-staple (11) when the front staple reaches the driving position, and a sensor (25) for detecting the rotation of the working piece (24). The driving plate (7) returns to its initial position in accordance with a detection signal output by the sensor (25).

Abstract: A system for first setting a blind rivet and then verifying the correctness of the set comprising a rivet setting tool to set the rivet and computer logic to verify the correctness of the set. The setting tool includes a jaw assembly for holding the stem of the rivet's mandrel fitted to an axially movable pulling shaft. Both the pulling force of the setting tool and the displacement of the pulling shaft are measured and the measurements are interpreted by an integrator to determine the total energy of the setting process. The determined total energy is then compared with an ideal total energy to assess whether or not the set of the particular rivet is acceptable. Other quantitative comparisons may be made against other ideal values.

Abstract: A blind rivet set verification system for setting a blind rivet assessing the acceptability of the rivet set. The system includes a remote intensified rivet setting tool and computer hardware and software. The tool comprises a displacement transducer that produces a displacement signal and a pressure transducer that produces a pressure signal. The transducers are connected to the computer which receives the distinct signals. These signals are interpreted to plot a displacement-versus pressure waveform and to determine the velocity of the movement of an air piston that responds to the rivet set by hydraulic pressure. Using the combined date of the velocity waveform and the displacement-versus pressure waveform, the breakload is identified and compared against predetermined ideal data to assess the acceptability of the set. The displacement reading at break is corrected for jaw slippage and offset of the air piston.

Abstract: A stapler comprises a stapler head which accommodates a strip of wire staple blanks and is pivotable between a starting position and a working position, in which it is applied against a sheaf of papers. A staple shaper shapes the blanks into substantially U-shaped staples, and a staple driver releases the thus-formed staples from the strip and drives them one by one into the sheaf of papers. A pivotable operating device reciprocates the staple shaper and the staple driver. A drive device is adapted to pivot the operating device in such a manner that it causes the staple driver to drive a staple into the sheaf of papers in a driving stroke and causes the staple shaper to shape the following staple in a shaping stroke, as well as adapted to pivot the stapler head to its working position before the staple driver performs the driving stroke and retain it there during the driving stroke of the staple driver.

Abstract: Fastener installation apparatus for operating cyclically so as to instal successively a plurality of fasteners includes a fastener installation head (11) having an aperture (35) in which part of a fastener is inserted, and a vacuum generator (20) for creating an airflow in through the aperture (35), along a pipe (31) and into a receptacle (15) for broken-off fastener parts. The presence of a fastener in the aperture (35) causes a change in the level of vacuum in the pipe (31) and receptacle (15). The level of vacuum is sensed by vacuum level detection means (45), which gives an electrical signal to the apparatus control unit (14a, 14b). The control unit allows the installation apparatus to continue its cyclical operation only upon the presence or absence of fastener in the aperture (35) at the appropriate points in the cycle of operation of the apparatus.

Abstract: A system for programmably controlling stitching apparatus comprises a controller, operatively coupled to the stitching apparatus, for controlling the stitching apparatus. The controller includes a plurality of system routines, including setup, diagnostic and operational routines, that are selectable options to customize operation of the stitching apparatus. The system further includes a user interface through which a system user selects the system routines and monitors the selected system routines. The setup routines include selection of paper size, stitch mode and trail edge offset.

Abstract: A method and apparatus for punching holes in a stack of sheets using a hole puncher. The method includes the steps of activating the hole puncher, determining whether the hole puncher has completely punched a hole in the stack of sheets, and repeating the activating step in response to the determining step until the hole punching is successful. The method also includes determining whether a reference number of unpunched sheets, which is not greater than a single punch capacity of the hole puncher, has been stacked. Upon determining that the reference number of sheets has been reached, the method includes discontinuing the stacking of further sheets and applying a punching operation to the reference number of sheets. The method also includes reinitiating the stacking operation if the number of sheets to be stacked is greater than the reference number of sheets. The invention also includes an apparatus for carrying out the noted method steps.

Abstract: An apparatus to assemble prefabricated walls and joist panels for homes, apartments, commercial buildings, etc. Apparatus is self-loading and can place and fasten 2.times.3, 2.times.4, 3.times.4, 4.times.4, and 4.times.6 cross members between parallel plates on the fly, having telescoping carriage and track, cross members may vary in length from 7-1/2 feet to 12 feet. Self-contained and portable apparatus may be used in remote locations and transported without special highway permits. All the frames for a building can be fabricated in on production run therefore saving handling and storage.

Abstract: A method of controlling a sheet material discharge apparatus with a sheet material binder includes, during discharge of sheet materials which form a set, the binding means operates to bind the set without waiting for a trailing edge of the last one of the sheet materials of the set to be discharged, once a leading edge of the last sheet is discharged and aligned in a sheet accommodating step, and after operating a binding means to bind a set, detecting a resetting of the binding means to a stand-by state, and permitting the operation of the sheet discharging operation when the resetting is not detected within a predetermined period after operation of the binding means is instructed.

Abstract: A tool for setting blind rivets. The load of the motor which drives the pulling head between fully forward and retracted positions is monitored. When the pulling head is displaced to set a rivet motor direction will be changed if a moderate load is not sensed in a short period of time or if following such sensing of a moderate load the sensed low drops to a minimum value. When the pulling head is displaced in the opposite direction a stop will be engaged at the fully forward position and the sensing of a moderate load will stop the motor.

Abstract: A sheet post-processing apparatus includes a stapling unit including a detachable staple cartridge for holding staples attached in series, a staple driving device for sequentially driving the series of staples into sheets from a front-end portion, and a staple feeder for feeding the staples from the staple cartridge to the staple driving device. The sheet post-processing apparatus further includes a cartridge regulating device engageable with the staple cartridge for inhibiting detachment of the staple cartridge as a result of the engagement, a detector for detecting the presence or absence of the staples, and a releasing device for disengaging the regulating device when the absence of staples is detected by the detector to allow removal of the staple cartridge for replacement of the staples.

Abstract: A sheet stapling apparatus including a stapling device for stapling a set of sheets, a load detecting device for detecting a level of a load of the stapling device during a stapling operation, and a signal generating device for generating a signal when the load detected by the load detecting device is outside a predetermined range.

Abstract: A rivet pulling head is supported for vertical displacement from an up position to a down riveting position. A rivet delivery device is carried by a movable support and has a delivery arm which can be lowered relative to the pulling head and pivoted underneath it to deliver the next rivet to the pulling head. The delivery device is operated when the head is at the up position and while the head is maintained at that location.

Abstract: The system accordingly strictly accounts for all rivets and prevents a rivet from being removed for any reason and not accounted for. This assures that no free rivet will find itself within the workpiece being riveted.

Abstract: A stapling system for stapling a set of copy sheets in a copier or printer includes a precise, but non-metering continuous wire feed mechanism. The feed mechanism has a full-feed wire sensor, and a control circuit including the wire being fed, for sensing and controlling the feeding of precise lengths of continuous staple wire to the stapler head of the system.

Abstract: For use in a robotically operated workstation, apparatus for installing fasteners, for example tubular blind rivets, comprises a pneumatically operated fastener installation tool 16. The tool 16 has a part in the form of a headed mandrel 22 which is loaded with and carries a finite supply of the fasteners, a gripping and pulling actuator 26 and a nose assembly 21 which provides an abutment 18 for supporting successive rivets while the mandrel is pulled to draw its head through and set the rivet. For reloading the tool with further fasteners, after use, the apparatus includes a nest 96b for detaching and receiving the mandrel 22, together with the nose assembly 21, from the actuator 26, and a similar nest 96a provided with another nose assembly and another mandrel fully loaded with fasteners which it presents and attaches to the actuator 26.

Abstract: A rivet tool is supported for repeated displacement to a rivet setting location. When the tool is at this location, it is forcefully pushed against the workpiece during rivet setting to assure that the rivet will be properly set.

Abstract: A copier or printer providing regular automatic on-line stapling of the output sets of copies, yet also providing a separate, easily manually accessible, convenience stapler, driven by the same power supply but on a controlled power sharing basis, saving the cost of a separate, or higher power, stapler drive power supply. This is accomplished without any interference with, or delay in, the operation of the on-line output stapling, without overloading of the shared power supply, and without operator-perceptible interference with the operation of the separate convenience stapler. The operation of the internal copy set stapler is prioritized to avoid throughput loss and only briefly, e.g., for one second or less, is coincident driver power for the convenience stapler inhibited, i.e., only for a time period sufficient for the power pulse to the finisher stapler to be generated and provided, and only if overlap in power usage would otherwise occur.

Abstract: A powered fastener installation apparatus and method wherein the successful installation of a fastener is indicated by directly detecting the event of the fastener stem breaking. The device releases any partially upset fastener before withdrawing from the workpiece so as to prevent damage to the workpiece. The fastener installation device includes means for transferring the fastener from a feed module to the pulling head and avoiding partial upsetting or disassembly of the fastener, which can lead to jamming the device. The pulling head and transfer apparatus are provided with a vacuum to retain the fastener without mechanical gripping, thereby allowing easy purging of the fastener and preventing the fastener from falling out of the device unintentionally. Moreover, use of the vacuum retention allows greater flexibility and tolerance of errors in the placement and angular orientation of the robot arm and workpiece.

Abstract: A vacuum pulls a spent mandrel through a gun bore and into a collection tube which discharges into a collector. Gun operation and mandrel entry into and departure from the collection tube are sensed and blockage of the mandrel within the collection tube and the jamming of the mandrel in the rivet gun are determined and signalled to the operator. The cycle immediately continues when the mandrel is cleared.

Abstract: Rivets are delivered from a feed chute to a transfer location and blown through a feed tube to a loading device. The presence of a rivet is sensed both at the transfer location and at the loading device and a fault indicator is operated in the event a rivet sensed and transported from the transfer location does not wind up in the loading device. The operator hits the reset button which blows clean air thru the feed tube in an attempt to free the jammed rivet. In the event this does not occur, the system assumes the operator cleared the jam and loads the next rivet into position to be transferred and continues the cycle.

Abstract: Setting machine for fasteners has a double-acting air cylinder with a toggle linkage for driving down the upper die and an air cylinder for driving a wedge to drive up the lower die. The cylinders are activated to drive the dies together to set the fastener parts as pushers, which have moved the fastener parts into setting position, are retracted.

Abstract: A vacuum pulls a spent mandrel through a gun bore and into a collection tube which discharges into a collector. Gun operation and mandrel entry into and departure from the collection tube are sensed and blockage of the mandrel within the collection tube and the jamming of the mandrel in the rivet gun are determined and signalled to the operator. The cycle immediately continues when the mandrel is cleared.

Abstract: A tag attaching apparatus in which the transverse bar of a tag pin is pushed out of a hollow needle located at the front of the apparatus body by a piston, and which comprises a motor for driving the piston, a converter for transforming the motor rotation into reciprocating motion of the piston, and a control for returning the piston to the home position.

Abstract: A powered fastener installation apparatus and method wherein the successful installation of a fastener is indicated by directly detecting the event of the fastener stem breaking. The device releases any partially upset fastener before withdrawing from the workpiece so as to prevent damage to the workpiece. The fastener installation device includes means for transferring the fastener from a feed module to the pulling head and avoiding partial upsetting or disassembly of the fastener, which can lead to jamming the device. The pulling head and transfer apparatus are provided with a vacuum to retain the fastener without mechanical gripping, thereby allowing easy purging of the fastener and preventing the fastener from falling out of the device unintentionally. Moreover, use of the vacuum retention allows greater flexibility and tolerance of errors in the placement and angular orientation of the robot arm and workpiece.

Abstract: A sheet stapling apparatus including a stapling device for stapling a set of sheets, a load detecting device for detecting a level of a load of the stapling device during a stapling operation, and a signal generating device for generating a signal when the load detected by the load detecting device is outside a predetermined range.