What is claimed is:
1. A finishing apparatus for a slide fastener in which at least a slider is attached to a continuous slide fastener chain, comprising:
operation control means;
left and right gripper devices for holding left and right tip side portions of the slide fastener chain, transferring the slide fastener chain in a longitudinal direction (an X-axis direction), and opening or closing the left and right tip side portions of the slide fastener chain in a Y-axis direction orthogonal to the X-axis direction, based on a command sent from the operation control means; and
slider holding sections for inserting the slide fastener chain during an opening and closing operation of the left and right tip side portions of the slide fastener chain,
wherein the operation control means in the X-Y axis direction of the left and right gripper devices includes a numeric control section, and the finishing apparatus further comprises electric motors for controllably driving the left and right gripper devices in the X-Y axis direction based on a command sent from the numeric control section.
2. The finishing apparatus according to claim 1, wherein the controllable driving operation in the X-Y axis direction of the left and right gripper devices is carried out by the two electric motors for the X and Y axes, and the respective electric motors are controllably driven independently.
3. The finishing apparatus according to claim 1, wherein the numeric control section has a storage section which stores data including at least one of kinetic loci, speeds and sequences of the left and right gripper devices to be controlled according to types of the slider and the slide fastener chain.
4. The finishing apparatus according to claim 1, wherein the slider holding sections are provided in a transfer path of the slide fastener chain.
5. The finishing apparatus according to claim 1, wherein the slider holding sections have an exchange mechanism based on a type of the slider.
6. The finishing apparatus according to claim 1, wherein a stopper fixing device is provided in a stopper fixing position of the X-axis direction of the gripper device.
7. The finishing apparatus according to claim 9, wherein a cutting device is further provided in a position where the slide fastener chain is to be introduced.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A parking assist system comprising:
an electronic control unit configured to
detect an available parking area in an area around a vehicle,
calculate a parking guidance path for guiding the vehicle from a current position of the vehicle to a parking target position included in the available parking area,
execute guidance control for guiding the vehicle to the parking target position by executing at least steering control along the parking guidance path, and
when an end condition for ending guidance is satisfied in a middle of execution of the guidance control, end the guidance control and carry out at least one of steering to keep a steering angle at an end of the steering control for a predetermined period or steering to gradually reduce the steering angle from the steering angle at the end of the steering control toward a neutral position.
2. The parking assist system according to claim 1, wherein
the electronic control unit is configured to, when an operation input of a steering unit is received while the steering angle is kept or gradually reduced, give priority to the operation input.
3. The parking assist system according to claim 1, wherein
the electronic control unit is configured to select whether to keep or gradually reduce the steering angle in response to a situation around the vehicle.
4. The parking assist system according to claim 2, wherein
the electronic control unit is configured to select whether to keep or gradually reduce the steering angle in response to a situation around the vehicle.
5. The parking assist system according to claim 1, wherein
the electronic control unit is configured to, when the end condition is satisfied and the guidance control is ended, output a notice that prompts a driving operation of the vehicle.
6. The parking assist system according to claim 2, wherein
the electronic control unit is configured to, when the end condition is satisfied and the guidance control is ended, output a notice that prompts a driving operation of the vehicle.
7. The parking assist system according to claim 3, wherein
the electronic control unit is configured to, when the end condition is satisfied and the guidance control is ended, output a notice that prompts a driving operation of the vehicle.
8. The parking assist system according to claim 4, wherein
the electronic control unit is configured to, when the end condition is satisfied and the guidance control is ended, output a notice that prompts a driving operation of the vehicle.
9. The parking assist system according to claim 1, wherein
the electronic control unit is configured to, when the end condition is satisfied in the middle of execution of the guidance control, end the guidance control, carry out steering to keep the steering angle at the end of the steering control for the predetermined period, and then carry out steering to gradually reduce the steering angle from the steering angle at the end of the steering control toward the neutral position.