Abstract: A working device and a working method wherein an articulated robot controls vertical movement of a balancer arm by commanding vertical movement for a balancer, and moves the balancer arm horizontally by applying an external force to the balancer arm in the horizontal direction by means of a robot arm.

Abstract: Provided is a work measuring method by which a deviation quantity of a work measuring point from a reference position can be measured in a short time. A work surface is set as a reference point when the measuring point is positioned at the reference position, and a distance from a photographing device to a reference surface is set as a reference distance. A deviation quantity of the measurement point in a direction intersecting a photographing direction on the reference surface is measured by the photographing device, and a deviation quantity of the measuring point in the photographing direction is measured by a laser distance sensor. Then, based on the deviation quantity measured by the photographing device, the deviation quantity measured by the laser distance sensor, and the reference distance, a deviation quantity of the measuring point in a direction intersecting the photographing direction is calculated.

Abstract: Provided is a work assembling system (1) comprising a manpower working area (30A) for transferring bodies (10) continuously, a robot working area (40) disposed on the downstream of the manpower working area (30A) for tact-transferring the bodies (10), and a first buffer space (50A) disposed at a boundary portion between the manpower working area (30A) and the robot working area (40).

Abstract: There is provided an image reading apparatus and a control method therefor, which can suppress the influence of external light, and obtain an appropriate read image. To accomplish this, the image reading apparatus executes a Light-on reading processing for turning on an LED and causing a sensor to read an original document on a original platen at the first resolution, and a Light-off reading processing for turning off a light source and causing the sensor to read the original document on the original platen at the second resolution. In accordance with the influence of external light in an Light-off mode image read by the Light-off reading processing, the image reading apparatus removes the influence of external light in a Light-on mode image read by the Light-on reading processing.

Abstract: A device for mounting a vehicle instrumental panel has an assist machine and work robots. The assist machine has an instrument panel holding mechanism for holding an instrument panel, conveys the instrument panel, and has an assist function for holding the weight of the instrument panel. The work robots have connection mechanisms removably connected to the instrument panel holding mechanism and operate the instrument panel holding mechanism to place the instrument panel in a vehicle interior.

Abstract: A travel control method for a self-propelled carriage having a travel control section for controlling steering-driving wheels. In the method, the steering-driving wheels are steered by a predetermined angle based on a direction change command, and in this state, the carriage is moved forward and backward for a predetermined distance to make the carriage depart from a base line. Then, the carriage is steered toward the base line to return to the base line. After that, the carriage is made to be able to travel along the base line.

Abstract: A working device and a working method wherein an articulated robot controls vertical movement of a balancer arm by commanding vertical movement for a balancer, and moves the balancer arm horizontally by applying an external force to the balancer arm in the horizontal direction by means of a robot arm.

Abstract: There is provided an image reading apparatus and a control method therefor, which can suppress the influence of external light, and obtain an appropriate read image. To accomplish this, the image reading apparatus executes a Light-on reading processing for turning on an LED and causing a sensor to read an original document on a original platen at the first resolution, and a Light-off reading processing for turning off a light source and causing the sensor to read the original document on the original platen at the second resolution. In accordance with the influence of external light in an Light-off mode image read by the Light-off reading processing, the image reading apparatus removes the influence of external light in a Light-on mode image read by the Light-on reading processing.

Abstract: Provided is a work measuring method by which a deviation quantity of a work measuring point from a reference position can be measured in a short time. A work surface is set as a reference point when the measuring point is positioned at the reference position, and a distance from a photographing device to a reference surface is set as a reference distance. A deviation quantity of the measurement point in a direction intersecting a photographing direction on the reference surface is measured by the photographing device, and a deviation quantity of the measuring point in the photographing direction is measured by a laser distance sensor. Then, based on the deviation quantity measured by the photographing device, the deviation quantity measured by the laser distance sensor, and the reference distance, a deviation quantity of the measuring point in a direction intersecting the photographing direction is calculated.

Abstract: Provided is a work assembling system (1) comprising a manpower working area (30A) for transferring bodies (10) continuously, a robot working area (40) disposed on the downstream of the manpower working area (30A) for tact-transferring the bodies (10), and a first buffer space (50A) disposed at a boundary portion between the manpower working area (30A) and the robot working area (40).

Abstract: A device for mounting a vehicle instrumental panel has an assist machine and work robots. The assist machine has instrument panel holding means for holding an instrument panel, conveys the instrument panel, and has an assist function for holding the weight of the instrument panel. The work robots have connection means removably connected to the instrument panel holding means and operate the instrument panel holding means to place the instrument panel in a vehicle interior.

Abstract: Mounting operation is efficiently performed by automatically conveying parts and assisting only an operation to mount the parts to a mounted body. A parts conveying/mounting device 1 comprises a power assist mechanism on a self-traveling carrier. When receiving a tank T at a parts reception position SP, the parts conveying/mounting device 1 travels at high speed to a main line ML along a travel guiding route K, and self-travels in the conveyance direction of a vehicle body W synchronously with the flow of the vehicle body W, in a state that the tank T is conveyed to the vicinity of a mounting portion of the vehicle body W. A worker MS performs positioning of the tank T via the power assist mechanism, and mounts the tank to the vehicle body W.

Abstract: To provide a conveying and assembling system in which an operation area where a person coexisting type assembling device and an operator coexist is efficiency distributed, The operation area includes an area A1 where a person coexisting type assembling device R and an operator SS cooperate, an area A2 where the person coexisting type assembling device independently moves, and areas A3 and A4 where the operator independently operates while the person coexisting type assembling device R independently moves. In the operation area, a main line ML along which a vehicle body W moves in the arrow direction (leftward) in a suspended manner, a sub line SL along which the person coexisting type assembling device R travels, a tank mounting base TB, a tank housing shelf TT, and a component mounting base BB are provided.

Abstract: A travel control method for a self-propelled carriage having a travel control section for controlling steering-driving wheels. In the method, the steering-driving wheels are steered by a predetermined angle based on a direction change command, and in this state, the carriage is moved forward and backward for a predetermined distance to make the carriage depart from a base line. Then, the carriage is steered toward the base line to return to the base line. After that, the carriage is made to be able to travel along the base line.

Abstract: A part positioning apparatus comprises a target marker (2a) provided on a tip end of a wire (2b) to be set on a motor vehicle body (W), a sensed member for accommodating the wire (2b) in such a state as to be pulled out and wound up, a first sensor (3) for detecting a pulled-out length of the wire (2b) when the target marker (2a) is set on the motor vehicle body (W), a second sensor (4) for detecting an existing location of the wire (2b) when the target marker (2a) is set on the motor vehicle body (W), and a controller means (5) for controlling a traveling amount of the self-traveling machine (1) such that each of detection values of the first sensor (4) and the second sensor (5) becomes a given value.

Abstract: In a tie rod adjusting apparatus which adjusts a tie rod of a steering mechanism for steering a front wheel of a motor vehicle, an open end wrench is supported by a supporting mechanism which has a freedom of four axes so as to be movable in the vehicle width direction and the vehicle longitudinal direction, tiltable in the vehicle width direction, and tiltable about an axial line (U-axis) which extends longitudinally along the length of the open end wrench. A tilting member of the supporting mechanism for tilting in the vehicle width direction is supported by a guide rail which is arcuate with the top end portion of the open end wrench serving as a center of arc. By the arcuate movement of the tilting member along the guide rail, the open end wrench is tiltable in the vehicle width direction without deviating the top end portion thereof in the vehicle width direction.

Abstract: An apparatus for testing an anti-lock brake system has rolls and device for detecting rotational changes of the rolls. The test is performed by running a vehicle having mounted thereon the anti-lock brake system while wheels of the vehicle are placed on the rolls, actuating the anti-lock brake system when a predetermined speed has been attained, and judging operating conditions of the anti-lock brake system from rotational changes of the rolls at the time of braking. In the apparatus, the friction coefficient of each of the rolls is set to such a value that a frictional force to act between each of the rolls and each of the wheels at the time of braking exceeds an inertia force of each of the rolls.

Abstract: A running control function of a motorcar is inspected on an inspecting apparatus which is provided with rolls for mounting thereon each of wheels of the motorcar. The control function operates to control rotational speeds of wheels depending on a difference in rotational speed between front and rear wheels or right and left wheels of the motorcar. The motorcar is caused to run in a condition in which each of the wheels of the motorcar is mounted on each of the rolls. When a rotational speed of a first roll for mounting thereon one of front and rear wheels or one of right and left wheels and a rotational speed of a second roll for mounting thereon the other of the front and rear wheels or the other of the right and left wheels have both increased to a predetermined speed, the first roll is decelerated.

Abstract: A running control function of a motorcar is inspected on an inspecting apparatus which is provided with rolls for mounting thereon each of wheels of the motorcar. The control function operates to control rotational speeds of wheels depending on a difference in rotational speed between front and rear wheels or right and left wheels of the motorcar. The motorcar is caused to run in a condition in which each of the wheels of the motorcar is mounted on each of the rolls. When a rotational speed of a first roll for mounting thereon one of front and rear wheels or one of right and left wheels and a rotational speed of a second roll for mounting thereon the other of the front and rear wheels or the other of the right and left wheels have both increased to a predetermined speed, the first roll is decelerated.

Abstract: An apparatus for testing an anti-lock brake system has rolls and device for detecting rotational changes of the rolls. The test is performed by running a vehicle having mounted thereon the anti-lock brake system while wheels of the vehicle are placed on the rolls, actuating the anti-lock brake system when a predetermined speed has been attained, and judging operating conditions of the anti-lock brake system from rotational changes of the rolls at the time of braking. In the apparatus, the friction coefficient of each of the rolls is set to such a value that a frictional force to act between each of the rolls and each of the wheels at the time of braking exceeds an inertia force of each of the rolls.