| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a nut tightening apparatus and a nut tightening method by which a nut inserted with a shaft-like member can be fastened to a workpiece at predetermined specified tightening torque and efficiency in the fastening can be improved. <P>SOLUTION: In the nut fastening apparatus 10, a temporarily fastening device control part 46 controls the rotary motion of a servo motor 32 and rotates an open bit runner 26a for temporarily fastening the nut N. In the apparatus 10, a rotary encoder 36 detects the rotation position of the temporarily fastened nut N. A robot control part 70 incorporated in the apparatus 10 calculates positions of two side faces N1 of the nut N based on the calculated rotation position of the nut N. Based on the position information of the calculated side face N1, the robot control part 70 activates a robot 64 and makes an open-end wrench 52 engaged with the nut N. <P>COPYRIGHT: (C)2012,JPO&INPIT |
