Abstract: In the first composite step, a plurality of images is superimposed. In the second composite step, a plurality of images of a second surface of the plurality of components is superimposed. In a first detection step, a feature amount of the first surface is detected using the plurality of images superimposed in the first composite step. In a second detection step, a feature amount of the second surface corresponding to the plurality of areas of the first surface is detected using the plurality of images superimposed in the second composite step. A difference in the feature amounts between each area of the first surface and each area of the second surface corresponding to each area of the first surface is calculated. In the determination-area decision step, an area where the difference in the feature amounts calculated in the calculation step is greater than a predetermined value is decided.

Abstract: A posture of a component is to be accurately determined. A posture determination method is to determine, based on an image acquired for a component having a plurality of surfaces, a posture of the component. This posture determination method includes recognizing an outer shape of the component from the image, detecting a feature amount of a surface shape in a determination area being a part of the component based on the outer shape of the component recognized in the recognizing, and determining. In the determining, the posture of the component is determined by comparing a first reference amount indicating a reference feature amount in the determination area of a first surface of the component and a second reference amount indicating a reference feature amount in the determination area of a second surface of the component with the feature amount detected in the detecting.

Abstract: A picking device includes: a workpiece holder in which a plurality of workpieces is stacked; a light receiver that receives reflected light from a workpiece stacked in the workpiece holder; a mover that relatively moves the light receiver with respect to the workpiece in such a manner that a distance between the light receiver and the workpiece is adjustable; an arm that picks the workpiece; a first hardware processor that calculates a distance between the light receiver and at least one workpiece among the plurality of workpieces; a second hardware processor that specifies a workpiece as a picking target among the plurality of workpieces or a region where the workpiece exists; and a third hardware processor that adjusts a distance between the light receiver and the workpiece calculated by the first hardware processor by controlling the mover in the region specified by the second hardware processor.

Abstract: A component supply device includes a hopper, a conveyance robot, a pick-up stand, and a discharge stand. A temporary placement position at which the component is temporarily placed on the tray is disposed on a straight line connecting a supply position at which the component is supplied to the conveyance robot in the hopper and a hand-over position at which the component is delivered from the conveyance robot on the discharge stand. The discharge stand includes a posture changer that changes a posture of the component conveyed by the conveyance robot.

Abstract: An image forming apparatus includes: a conveyor including a conveyance belt that conveys a recording medium along a conveyance direction; at least one or more heads that discharge ink to the conveyed recording medium; and a suction part that causes the recording medium to be adsorbed to the conveyance belt, wherein the conveyor is provided with: a first suction region including at least a region where the head discharges ink in accordance with an image forming region of the recording medium; and a second suction region located in a periphery of the first suction region, and suction force by the suction part is larger in the first suction region than in the second suction region.

Abstract: A deaerator includes: a deaeration module that removes a gas contained in liquid; and a heating device that is provided integrally with the deaeration module and heats the deaeration module, wherein the deaeration module and the heating device are provided in a manner detachable from each other.

Abstract: A toner storing container stores toner and is provided attachable to and detachable from an image forming apparatus. The toner storing container includes: a container body that includes an opening, and an inner circumferential surface extending toward the opening around a center line extending in one direction; and a toner conveyer that is attached onto the inner circumferential surface of the container body. The toner conveyer projects inward from the inner circumferential surface as well as spirally extends in the one direction around the center line.

Abstract: A belt conveying apparatus includes: an endless belt member; a belt conveying roller that rotatably stretches the belt member; a pair of regulating members, disposed at both end parts of the belt conveying roller, that regulates movement of the belt member in a width direction thereof; a moving mechanism that moves at least one of the pair of regulating members in the width direction; and a supporting member that supports the belt member in an area extending in the width direction after the regulating member has moved.

Abstract: An image forming apparatus includes a fixing part that fixes an unfixed toner image transferred to a sheet of paper by a fixing member being heated, a duct having an inner opening facing the fixing member and an outer opening spaced apart from the fixing member, a fan capable of changing a flow direction of air inside the duct, a filter that collects particulates flowing inside the duct, and a hardware processor that controls the fan to rotate in a direction to draw air into the duct from the inner opening to collect the particulates from a vicinity of the fixing member, and that, at a timing at which to cool the fixing member, controls the fan to rotate in a direction to blow air inside the duct toward the fixing member from the inner opening.

Abstract: A toner storing container stores toner and is provided attachable to and detachable from an image forming apparatus. The toner storing container includes: a container body that includes an opening, and an inner circumferential surface extending toward the opening around a center line extending in one direction; and a toner conveyer that is attached onto the inner circumferential surface of the container body. The toner conveyer projects inward from the inner circumferential surface as well as spirally extends in the one direction around the center line.