Abstract: Provided are: a sewing device provided with a sewing mechanism which performs sewing on a work to be sewn using a sewing-machine needle, while holding the work to be sewn in a state of being shaped in a predetermined shape on a plurality of seating portions arranged in a sewing direction; and a sewing method. When the seating portions are withdrawn from the work to be sewn so as to avoid interference between the sewing mechanism and the seating portions, a guiding mechanism enables movement in a first withdrawing direction for avoiding a first undercut portion of the work to be sewn, and movement in a second withdrawing direction for avoiding a second undercut portion of the work to be sewn.

Abstract: An electrode orientation checking apparatus includes a machine stand attached to a seam welding apparatus from which one roller electrode of a set has been removed, a positioning guide and a set of distance sensors that are provided on the machine stand, and a calculating section. A positioning surface of the positioning guide is fixed at a position corresponding to a portion of an outer circumferential surface of the one roller electrode before being removed, the portion lying on a line segment connecting rotational centers of the roller electrodes. The distance sensors are respectively fixed forward and backward of the positioning surface in a progression direction of the roller electrodes. The calculating section calculates data for acquiring a direction of the line segment relative to the stacked body.

Abstract: This sewing needle holding device (10) is provided with: a holder (24) which holds the base end side of a sewing needle (14) provided with, from the leading end side toward the base end side in the extension direction, a small diameter portion (16), an outer diameter varying portion (20a), and a large diameter portion (18); and a presser member (26) which is mounted to the holder (24). The holder (24) causes at least the small diameter portion (16) and the outer diameter varying portion (20a) of the sewing needle (14) to protrude from a holder leading-end surface (34). The presser member (26) has a counter portion (46) that faces the holder leading-end surface (34). The counter portion (46) has formed therein an insertion hole (50) through which the small diameter portion (16) can be inserted. At least a part of the insertion hole (50) is provided with a pressure-receiving surface (52) that comes into abutment with the outer diameter varying portion (20a).

Abstract: Provided are: a sewing device provided with a sewing mechanism which performs sewing on a work to be sewn using a sewing-machine needle, while holding the work to be sewn in a state of being shaped in a predetermined shape on a plurality of seating portions arranged in a sewing direction; and a sewing method. When the seating portions are withdrawn from the work to be sewn so as to avoid interference between the sewing mechanism and the seating portions, a guiding mechanism enables movement in a first withdrawing direction for avoiding a first undercut portion of the work to be sewn, and movement in a second withdrawing direction for avoiding a second undercut portion of the work to be sewn.

Abstract: In a sewn workpiece in which a sewn part that needs to be sewed is provided to a base material made of resin, the sewn part includes a bent part, and a hole for guiding a sewing needle from a front surface side of the base material to a back surface side thereof is provided to the bent part.

Abstract: An electrode orientation checking apparatus includes a machine stand attached to a seam welding apparatus from which one roller electrode of a set has been removed, a positioning guide and a set of distance sensors that are provided on the machine stand, and a calculating section. A positioning surface of the positioning guide is fixed at a position corresponding to a portion of an outer circumferential surface of the one roller electrode before being removed, the portion lying on a line segment connecting rotational centers of the roller electrodes. The distance sensors are respectively fixed forward and backward of the positioning surface in a progression direction of the roller electrodes. The calculating section calculates data for acquiring a direction of the line segment relative to the stacked body.

Abstract: A laminate formed by stacking a plurality of workpieces is sandwiched between a pair of roller electrodes. Then, seam welding is performed on the laminate by successively repeating an ON/OFF operation of a conduction state between the pair of roller electrodes while moving the laminate relative to the pair of roller electrodes. When the seam welding stops in a state where the pair of roller electrodes are unpowered and then the seam welding is to be resumed, the laminate is moved by a predetermined distance in a direction opposite to the relative moving direction during seam welding, spot welding is performed on the laminate, and then the seam welding is resumed.

Abstract: A resistance welding device is provided with a lower tip and an upper tip that serve as welding tips, and pressing rods that serve as pressing members. The upper tip and the pressing rods press a stacked body, which is to be welded, from the metallic plate side, which is the outermost member of the stacked body. The lower tip presses the stacked body from the lowermost metallic plate side. In this state, and electric current is conducted from the upper tip to the lower tip.

Abstract: High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).

Abstract: A moving die is held by a robot and made to approach a vehicle, and a positioning pin is inserted into a positioning hole of the vehicle. The moving die is brought into a floating state of being displaceable relative to the vehicle by reducing a force of the robot for maintaining an attitude thereof. In a state of holding the moving die by the robot, a surface of the moving die is brought into contact with the vehicle by an adsorbing mechanism including an adsorbing portion of an elastic member provided to the moving die. The moving die and the robot are cut to be separated.

Abstract: A fastening device includes a rotational drive portion that rotationally drives a socket, an advance/retract drive portion that causes this socket to advance or retract along a rotational axis thereof, a magazine that retains a plurality of heads that retain bolts, and a switching portion that moves this magazine to selectively position one of a plurality of heads ahead and on the rotational axis of the socket. One of the heads is selected and positioned on the rotational axis of the socket by the switching portion, then the socket is advanced by the advance/retract drive portion and the head thus selected is retained by the socket, then the socket is advanced further by the advance/retract drive portion and the head to detach is detached from the magazine, and then the head is rotated by driving the rotational drive portion, thereby fastening a bolt retained in the head.

Abstract: High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W).

Abstract: A resistance welding device is provided with a lower tip and an upper tip that serve as welding tips, and pressing rods that serve as pressing members. The upper tip and the pressing rods press a stacked body, which is to be welded, from the metallic plate side, which is the outermost member of the stacked body. The lower tip presses the stacked body from the lowermost metallic plate side. In this state, and electric current is conducted from the upper tip to the lower tip.

Abstract: A moving die is held by a robot and made to approach a vehicle, and a positioning pin is inserted into a positioning hole of the vehicle. The moving die is brought into a floating state of being displaceable relative to the vehicle by reducing a force of the robot for maintaining an attitude thereof. In a state of holding the moving die by the robot, a surface of the moving die is brought into contact with the vehicle by an adsorbing mechanism including an adsorbing portion of an elastic member provided to the moving die. The moving die and the robot are cut to be separated.

Abstract: The intensity of first reflected ultrasonic waves reflected from an end of a first electrode tip is measured while the electrode tip is separated from a workpiece. The intensity of second reflected waves reflected from the end of the electrode tip is measured while the electrode tip contacts with the workpiece. Based on the above intensities, an intensity ratio (reflectance) and the fraction of the waves entering the workpiece are determined from the following equations: reflectance=(intensity of second reflected waves)/(intensity of first reflected waves) fraction of waves entering the workpiece=1?reflectance. From a predetermined correlative relationship between a contact area of a region enabling ultrasonic waves to be incident on the workpiece and the determined fraction of the entering waves, a ratio (contact area ratio) is determined between a total area of the region and a contact area of the region contacting with the workpiece.

Abstract: A moving die is held by a robot and made to approach a vehicle, and a positioning pin is inserted into a positioning hole of the vehicle. The moving die is brought into a floating state of being displaceable relative to the vehicle by reducing a force of the robot for maintaining an attitude thereof. In a state of holding the moving die by the robot, a surface of the moving die is brought into contact with the vehicle by an adsorbing mechanism including an adsorbing portion of an elastic member provided to the moving die. The moving die and the robot are cut to be separated.

Abstract: A fastening device includes a rotational drive portion that rotationally drives a socket, an advance/retract drive portion that causes this socket to advance or retract along a rotational axis thereof, a magazine that retains a plurality of heads that retain bolts, and a switching portion that moves this magazine to selectively position one of a plurality of heads ahead and on the rotational axis of the socket. One of the heads is selected and positioned on the rotational axis of the socket by the switching portion, then the socket is advanced by the advance/retract drive portion and the head thus selected is retained by the socket, then the socket is advanced further by the advance/retract drive portion and the head to detach is detached from the magazine, and then the head is rotated by driving the rotational drive portion, thereby fastening a bolt retained in the head.

Abstract: For spot-welding a plurality of metal workpieces, the metal workpieces are gripped and pressed under a pressing force by a pair of electrode tips, thereby forming a contact interface between the metal workpieces. Then, an electric current is passed between the electrode tips, and it is determined whether the contact interface is melted or not. Simultaneously when it is judged that the contact interface is melted, the pressing force applied from the electrode tips to the metal workpieces is reduced to such a level that the electrode tips and the metal workpieces are kept in contact with each other, the metal workpieces are kept in contact with each other, and the electric current keeps flowing between the electrode tips.

Abstract: A front face distance is obtained by measuring the position of a front face of an instrument panel held by an end effecter of a robot. An error on an optical axis, at the position of the front face is obtained based on the front face distance. Based on the error, the position of the instrument panel is adjusted so that a focal point of a laser meets the position at a predetermined depth defined with the front face as the standard. A back face of the instrument panel is irradiated with a laser to form a fine hole of a fragile section.

Abstract: The intensity of first reflected ultrasonic waves reflected from an end of a first electrode tip is measured while the electrode tip is separated from a workpiece. The intensity of second reflected waves reflected from the end of the electrode tip is measured while the electrode tip contacts with the workpiece. Based on the above intensities, an intensity ratio (reflectance) and the fraction of the waves entering the workpiece are determined from the following equations. reflectance=(intensity of second reflected waves)/(intensity of first reflected waves) fraction of waves entering the workpiece=1?reflectance From a predetermined correlative relationship between a contact area of a region enabling ultrasonic waves to be incident on the workpiece and the determined fraction of the entering waves, a ratio (contact area ratio) is determined between a total area of the region and a contact area of the region contacting with the workpiece.