Abstract: A robot hand changer has a first joint member mounted on a robot arm, a second joint member mounted on a robot hand, and an engaging member mounted on the first joint member and angularly movable with respect to the second joint member for coupling the first and second joint members against each other. The robot hand changer also has an optical signal transmission device including sets of optical fibers disposed in confronting relation out of contact with each other for transmitting control signals across mating surfaces when the robot arm and the robot hand are coupled to each other, and photoelectric transducer circuits for converting electric signals to optical signals and vice versa. The robot hand arm further includes a detecting device for detecting dirt on the mating surfaces.

Abstract: A method of assembling a steering assembly having a socket connected to a steering shaft via a steering joint which socket is to be serration-fitted to an input shaft of a gearbox which is mounted on a suspension assembly. The phase of the socket is measured at the time when a steering wheel is aligned in a neutral posture while the steering assembly is maintained in the same articulated condition as when the steering assembly is assembled to a car body and while the steering wheel is serration-fitted to the steering shaft of the steering assembly. The phase of the input shaft is adjusted such that the input shaft can be serration-fitted into the socket in the phase measured in the preceding step. The adjustment is performed by rotating the input shaft within an angular range corresponding to one half pitch of the serrations of the input shaft in either direction from a neutral posture in which the steering angles to the right and to the left are equal.

Abstract: A robot hand changer has a first joint member mounted on a robot arm, a second joint member mounted on a robot hand, and an engaging member mounted on the first joint member and angularly movable with respect to the second joint member for coupling the first and second joint members against each other. The robot hand changer also has an optical signal transmission device including sets of optical fibers disposed in confronting relation out of contact with each other for transmitting control signals across mating surfaces when the robot arm and the robot hand are coupled to each other, and photoelectric transducer circuits for converting electric signals to optical signals and vice versa. The robot hand arm further includes a detecting device for detecting dirt on the mating surface.

Abstract: An automatic wheel attachment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the detecting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: An automatic wheel alignment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the decting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: An automatic wheel attachment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the detecting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: An automatic wheel attachment apparatus for attaching a wheel to a wheel attachment member of an automotive body. The automatic wheel attachment apparatus includes a reorienting device for reorienting a wheel attachment surface of the wheel attachment member, a phasing device for phasing wheel attachment bolts on the wheel attachment member, the phasing device being movable longitudinally and vertically of the automotive body to bring the wheel attachment member and the phasing device into central alignment with each other, a detecting device for detecting the amount and direction of movement of the phasing device, and a nut runner for fastening the wheel to the wheel attachment member while the center of the wheel attachment member as detected by the detecting device is being held in alignment with the center of the wheel. At least the reorienting device, the phasing device, and the detecting device are combined in a single robot.

Abstract: A phase adjusting apparatus for use in an assembling machine for assembling first and second workpieces including a movable frame which is arranged to move into and out of the space formed between the two workpieces. Prior to coupling the two workpieces, the movable frame is moved to enter the space and a first movable table and a second movable table on the movable frame are used to adjust the phase of a rotary body on the first workpiece and the phase of a rotary shaft on the second workpiece to another. After removing the movable frame from the space, the two workpieces are then brought together so that the rotary body and the rotary shaft are coupled to each other.