Abstract: A holding apparatus coupled to a drive shaft provides a holding mechanism. An elastic mechanism coupling the holding mechanism to the drive shaft and detectors for detecting a deflection of the holding mechanism with respect to the drive shaft. The holding mechanism holds a first member which is assembled to a second member and is controlled in response to a representative signal generated by the detectors. The elastic mechanism comprises two independent springs, one of which supports elastically the holding mechanism in the axial direction of the shaft and the other of which supports elastically the holding mechanism in the direction perpendicular to the axial direction thereof, whereby the holding mechanism is movably coupled with the drive shaft.

Abstract: A versatile automatic transaction equipment comprises: a basic module including a user operation unit, an ID card processing unit, a transaction recording unit, and a cash delivery unit for cash payment transaction or verification of customer account balance; a deposit-receiving sub-module including a unit for identifying the type or class and authenticity of bill or bills inserted into the equipment for a deposit by a user and for counting the amount of money received as a deposit, and a bill transport unit for separately transporting the bills in two routes of rejection and receipt in accordance with the result of identification; and a passbook-processing sub-module including a magnetic data processing unit for reading and/or writing magnetic record data from the magnetic stripe attached to the passbook inserted by the user, and a printer unit for printing data representing the transaction history of the associated account.

Abstract: Automatic assembling method to screw a nut on a bolt comprises steps of detecting a position of a bolt which is maintained by a supporter, and of positioning in rough a nut thereto by a positioning mechanism, in which the nut is supported by an attachment coupled with a motor through an elastic mechanism, which is capable of deformation in both directions of an axis and a radius. The nut, then is movably pressed against the bolt and rotated by the motor. When the nut is not screwed on the bolt, the positioning mechanism changes its position in two dimensions so that the nut is maintained movably pressed against the bolt and the nut is rotated again. The changing position of the positioning mechanism will be continued until the nut is screwed on the bolt.

Abstract: An automatic assembly control apparatus employs a holding mechanism for holding a collar with a hole, to which a shaft of a motor is inserted. The holding mechanism is coupled to a positioning mechanism through an elastic mechanism so that the positioning mechanism may be controlled in response to signals representative of the displacement or deflection of the elastic mechanism. The collar is first placed in rough upon the center axis of the shaft which has a step portion at the end portion thereof and then inserted onto the shaft while its position is corrected by the positioning mechanism. The insertion of the collar is stopped when it is caught at the step portion of the shaft and then the position of the collar is changed in such a manner that the collar is inserted onto the shaft over the step portion thereof. Then, the collar is gradually inserted onto the shaft.

Abstract: In an automatic assembly control system, a flexible coupling mechanism deformable in accordance with the relative positions of an object and a hole to receive the object therein and a detector to detect the displacement or the deformation of the coupling mechanism in the direction of insertion in excess of a certain value are provided so that in the process of inserting the object into the hole the distance between the object and the hole in the direction perpendicular to the direction of insertion is controlled in accordance with the output of the detector.

Abstract: In order to accurately position a plurality of work pieces in registration with a plurality of corresponding target positions on another work piece, the distance between a first detector, which detects one of the positions of a plurality of positioning targets on a single first workpiece, and another detector for detecting the position of another positioning target on the work piece is made equal to the distance between the positioning targets. One of a second plurality of other work pieces is positioned in registration with one of the positioning targets and a detecting mechanism provided with the detectors is rotated about a prescribed reference position. Then another positioning target on the first work piece is detected by means of the detecting mechanism, so that the positions Of the plurality of second work pieces will be brought into registration with the plurality of positioning targets on the first work piece.