Abstract: A turbine includes a turbine wheel, a housing having a flow path for a gas, a variable geometry device to guide the gas from the flow path to the turbine wheel, and a biasing member. The variable geometry device includes one or more nozzle vane member, each having a nozzle vane, a nozzle shaft and a nozzle link plate. The biasing member is in contact with the nozzle link plate of the nozzle vane member, to urge the nozzle vane member against a contact surface of the turbine.

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: 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: Distance meters measure distances from a reference position to a first area including an upper pitch circle portion and a second area including a lower pitch circle portion. Center coordinates of the hub is calculated based on respective center coordinates of two hub bolts included within the first and second areas. Coordinates of three points defining apexes of a triangle are acquired. Inclination angle of the hub relative to a vertical plane is calculated based on the coordinates of the three points, and an orientation of each of the hub bolts is calculated based on the center coordinates of the hub and the center coordinates of the hub bolt.

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: A door removing system which occupies less space, reduces costs, and reduces cycle time. A door removing system (1) removes from an automobile body (10) a door (11) fixed to the body (10) by bolts (12). The door removing system (1) is provided with a double-arm robot (20) for holding the door (11) in the vertical direction, a single-arm robot (30) for removing the bolts (12), and a controlling device for controlling the robots. The controlling device holds the door (11) in the vertical direction by a pair of manipulators (22A, 22B) of the double-arm robot (20), removes the bolts (12) by the single-arm robot (30) with the door (11) held by the manipulators, and then transfers the door (11) by the double-arm robot (20).

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: Distance meters measure distances from a reference position to a first area including an upper pitch circle portion and a second area including a lower pitch circle portion. Center coordinates of the hub is calculated based on respective center coordinates of two hub bolts included within the first and second areas. Coordinates of three points defining apexes of a triangle are acquired. Inclination angle of the hub relative to a vertical plane is calculated based on the coordinates of the three points, and an orientation of each of the hub bolts is calculated based on the center coordinates of the hub and the center coordinates of the hub bolt.

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 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: While a vehicle is running on a bench type of testing apparatus for inspecting a cornering control mechanism, the connection of one of drums on which one of the left and right driving wheels is mounted is released from the other drums. Then, the rotational speed of one of the driving wheels increases and the rotational speed of the other of the driving wheels decreases. At this time, a controller mounted on the vehicle judges that the vehicle is in an oversteering state, and the brake of one of the driving wheels is switched on (or operated). Then, based on the deceleration of one of the driving wheels, a discrimination is made as to whether the cornering control mechanism has operated normally or not. Since the rotational speed of one of the driving wheels decreases also when an accelerator is switched off (or pressing down of the accelerator pedal is released), a discrimination is made based on the deceleration of the other of the driving wheels as to whether the accelerator is switched off or not.

Abstract: On a measuring head which is mounted on a working end of a robot, there are provided an optical distance measuring device and a mirror which refracts an optical axis of the distance measuring device toward the plate surface of a workpiece. The measuring head is moved such that a point of irradiation of a light beam relative to the workpiece moves along a scanning line which is set so as to cross a hole edge point. The position at which the measured distance rapidly changes is set as the position of the hole edge point of a hole which crosses the scanning line. In case holes are respectively formed in a pair of plate portions which lie opposite to each other, the measuring head is provided with a distance measuring device and a mirror in a pair respectively so that the positions of both the holes on both sides can be measured at the same time.

Abstract: A supporting frame supports a measuring head which has mounted thereon a measuring element which abuts with a reference surface of a wheel mounting member so as to be inclinable about a camber axis and a toe axis. A plurality of holding arms which can be opened and closed are provided on this supporting frame. Each of the holding arms is provided with a roller. The wheel mounting member is held by these rollers in a diametrically aligned condition. Each of these rollers is made of an elastic member and is rotatably supported by fitting onto a roller axis which is parallel with a tangential line of the wheel mounting member at a point of abutment of each of the rollers with the wheel mounting member. The wheel mounting member is thus made free to incline. A suspension is moved up and down by vertically driving the supporting frame.

Abstract: A three-wheeled automobile comprises a front cowl for enclosing a front portion of the automobile, and a floor forming a passenger step. The front cowl has on lateral sides thereof rear ends positioned above front wheels of the automobile, and a front end surface positioned forwardly of the front wheels. As a result, a large space is provided between a front wall of the front cowl and a seat. A handle post is provided generally centrally of the floor. The floor has roomy foot platforms located around the handle post. As a result, a space left forwardly of the handle post can be used as a feet accommodating area.

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 plurality of control functions of a motorcar are inspected by grouping the control functions into a first group having a function of accelerating at least one wheel and a second group having a function of decelerating at least one wheel. The inspection of the control functions which belong to the first group is carried out during a process of accelerating the motorcar and the inspection of the control functions which belong to the second group is carried out in a process of decelerating the motorcar.