A workpiece machining device includes a sensor unit that detects the passage of a moving workpiece W, a machining unit that performs machining using a predetermined machining tool in a state where the workpiece W is moved, and a machining control unit that controls the operation of the machining unit. The machining control unit issues an operation command signal S.sub.P to the machining unit at intervals of a predetermined control cycle T, measures a detection time T.sub.D taken to receive a detection signal S.sub.D relative to a cycle start time point of the control cycle T, stores various parameters including the detection time T.sub.D, a difference between the control cycle T and the detection time T.sub.D is defined as a response delay time, and modifies the operation command signal S.sub.P in each control cycle T on the basis of the response delay time T.sub.D.

A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.

A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.

A flay assembly for separating a workpiece from a manufacturing fixture has a horizontal beam assembly and a pair of vertical beam assemblies. The horizontal beam assembly includes a horizontal beam having a horizontal drive motor. Each vertical beam assembly includes a vertical beam operably engaged to the horizontal drive motor and has a workpiece attachment assembly operably engaged to a vertical drive motor. The workpiece attachment assembly has an attachment mechanism attachable to the workpiece. The horizontal drive motor and the vertical drive motors are operable in a manner to move the vertical beams away from each other along a horizontal drive axis while simultaneously moving each workpiece attachment assembly along a vertical drive axis to cause the attachment mechanisms to pull the workpiece side portions away from the manufacturing fixture while a center support of the horizontal beam maintains a workpiece crown in contact with the manufacturing fixture.

A flay assembly for separating a workpiece from a manufacturing fixture has a horizontal beam assembly and a pair of vertical beam assemblies. The horizontal beam assembly includes a horizontal beam having a horizontal drive motor. Each vertical beam assembly includes a vertical beam operably engaged to the horizontal drive motor and has a workpiece attachment assembly operably engaged to a vertical drive motor. The workpiece attachment assembly has an attachment mechanism attachable to the workpiece. The horizontal drive motor and the vertical drive motors are operable in a manner to move the vertical beams away from each other along a horizontal drive axis while simultaneously moving each workpiece attachment assembly along a vertical drive axis to cause the attachment mechanisms to pull the workpiece side portions away from the manufacturing fixture while a center support of the horizontal beam maintains a workpiece crown in contact with the manufacturing fixture.

A smart loader apparatus for a trunk lid hinge includes a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position, a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body, a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper, a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected, and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.

Described is an apparatus for reversibly modifying the optical appearance of a piece of apparel. The apparatus may include a position-determining system for determining the position of the piece of apparel, a projecting system for projecting colors, images and/or patterns onto the piece of apparel, and a shape-modifying system for modifying the shape of the piece of apparel, e.g., the surface of the piece of apparel.

A smart loader apparatus for a trunk lid hinge includes a hinge alignment jig at which a trunk lid hinge is aligned and disposed at a predetermined position, a smart loader of which a transfer gripper for gripping the trunk lid hinge aligned at the hinge alignment jig is disposed at a front end portion, and the smart loader includes an articulated arm for transferring the trunk lid hinge gripped by the transfer gripper to a predetermined position of a vehicle body, a driving portion that drives the transfer gripper and the articulated arm to change a position of the transfer gripper, a force and torque (FT) sensor installed at a portion at which the articulated arm and the transfer gripper are connected, and a controller that controls the driving portion to move the transfer gripper in the direction of the force sensed by the FT sensor.

A workpiece machining device includes a sensor unit that detects the passage of a moving workpiece W, a machining unit that performs machining using a predetermined machining tool in a state where the workpiece W is moved, and a machining control unit that controls the operation of the machining unit. The machining control unit issues an operation command signal S.sub.P to the machining unit at intervals of a predetermined control cycle T, measures a detection time T.sub.D taken to receive a detection signal S.sub.D relative to a cycle start time point of the control cycle T, stores various parameters including the detection time T.sub.D, a difference between the control cycle T and the detection time T.sub.D is defined as a response delay time, and modifies the operation command signal S.sub.P in each control cycle T on the basis of the response delay time T.sub.D.