Toyoda Koki Kabushiki Kaisha

Cyubu Kogyo Kabushiki Kaisha

Shuichi Nakata

Toshio Aono

Katsumi Yamamoto

Shinichi Sugita

Minoru Enomoto

Hideo Yamada

Tomohiro Morishita

Tsuyoshi Tamesui

Ryuji Souma

Yoshikazu Tojo

Rinzo Watanabe

Yasutaka Shioji

Yukio Fukuoka

Shirou Takayama

Mikimasa Matsui

Kozo Fukuda

An apparatus for attaching a molding to the peripheral edge of an article such as a glazing used in an automobile. A molding having a groove in its one side is extruded from an extruder. The molding is guided so that the leading end of the molding contacts the edge of an article which is held by a robot. The groove of the molding is expanded by a guide section, and the edge of the glazing enters the groove thus expanded. The robot then rotates the glazing, while pressure is applied to the molding so that the molding adheres to the glazing. When the glazing is rotated one turn, the molding is cut. The molding may be heated from the side having the groove, and cooled from the opposite side having a lip. This facilitates the attachment of the molding without causing any deterioration of the shape of the lip.

Apparatus for attaching a molding

An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.

Electric control apparatus for industrial robot

In a grinding machine, a rest apparatus is advanced to move a workpiece toward a grinding wheel being in a stationary condition after a preliminary grinding operation. After a predetermined amount of advancement of the rest apparatus, the grinding wheel is again advanced to grind the workpiece while the rest apparatus is stationary until the workpiece deviates from engagement with the rest apparatus, whereby after a final grinding operation, the workpiece is ground at the true center thereof so as to be in true roundness and with good concentricity.

Grinding machine with a rest apparatus

Growing community of inventors

Kariya, Japan

Shuichi Nakata