JP2014195864A - Multi-axis clamping device and multi-axis clamping method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multi-axis clamping device and a multi-axis clamping method in which replacement work itself is made less burdensome and can be performed in a short time.SOLUTION: A lower bearing case 16 of each pitch conversion mechanism part is fit in each groove formed in the Y-axis plate, by horizontally inserting a Y-axis plate 24, and the positioning in the X-axis direction of each lower bearing case is performed. The positioning in the X-axis direction of each lower bearing case is performed, so that the positioning in the X-axis direction of each socket is also performed. By the above, the positioning in the X-axis direction of each lower bearing case is performed, and then the X-axis plates 22, 23 are inserted to be overlapped with the Y-axis plate from right and left along a bar 33. By inserting the X-axis plate to be overlapped with the Y-axis plate along the X-axis direction, each lower bearing case that is already fit in the groove of the Y-axis plate and positioned in the X-axis direction is fit in the grooves of the X-axis plates 22a, 23a, and the positioning in the Y-axis direction is performed.

Description

  The present invention relates to a multi-axis tightening apparatus that simultaneously tightens a plurality of bolts or nuts, and more particularly to a multi-axis tightening apparatus and a multi-axis tightening method that are effective when a plurality of types of workpieces exist.

  Since there are a large number of tightening points in an engine of an automobile or a motorcycle, a multi-axis tightening device that simultaneously tightens a large number of bolts and nuts is known. If all the tightening operations are fully automated, the arrangement of workers can be omitted and the operation time can be shortened.

  However, a multi-axis tightening device that satisfies this requirement would be precise, large, and more expensive, so the nut runner was introduced and automated only in the multi-axis simultaneous tightening process, and the type of workpiece was changed. In many cases, the number of nut runner shafts and the distance between the nut runners (pitch) are manually changed.

  A general multi-axis tightening device includes a plurality of nut runners, and the rotational driving force of these nut runners is transmitted to a socket via a universal joint, and a bolt (nut) is tightened by the socket.

  By the way, if the distance between the axes of the socket is fixed, the multi-axis tightening device can be applied to only one model (work), and if the tightening location is changed for different models, another multi-axis tightening device must be used. There was a disadvantage that had to be done. For this reason, for example, Patent Document 1 discloses a multi-axis tightening device that can cope with a change in the tightening position by making the distance between the axes of the sockets variable.

The device disclosed in Patent Document 1 is a device of a type in which a nut runner and a socket are directly connected, and a first variable plate having a cam hole and a cam hole having a shape different from that of the first variable plate are formed. Overlap the second variable plate, insert the nut runner into the cam holes of the first variable plate and the second variable plate, and slide the first variable plate and the second variable plate to make the nut runner optional in the XY direction. The distance between the axes of the nut runner (socket) is adjusted by moving to the position.
In addition to the inter-axis adjusting mechanism using the cam mechanism, an inter-axis adjusting mechanism using a cylinder for each nut runner is also known.

  In the apparatus disclosed in Patent Document 1, since the inter-axis adjustment mechanism is complicated and the weight of the entire apparatus is increased and handling is troublesome, the present applicant has previously proposed Patent Document 2. .

  In this Patent Document 2, a universal joint is connected to each of a plurality of nut runners, and the universal joint is connected to a socket via a shaft held in a bearing case, and a hole corresponding to a tightening position of a workpiece is formed. The above-described template is provided, and the distance between the axes of each socket is determined by fitting the bearing case into the hole of the template.

Japanese Utility Model Publication No. 61-4225 Japanese Patent Laid-Open No. 2002-239853

In Patent Document 1, since the inter-axis adjustment mechanism is complicated, there are various problems as described above.
On the other hand, Patent Document 2 is rich in versatility because different workpieces can be tightened only by exchanging templates compared to Patent Document 1. However, the weight of the template itself is large. For example, in the manufacturing process of an engine or transmission, the weight of the template may be several tens of kilograms. Also, since all types of templates must be stored on the line side, there is a problem in terms of space and management.

  In order to solve the above-mentioned problem, a multi-axis fastening device according to claim 1 includes a device body, a plurality of nut runners provided in the device body, and a pitch conversion connected to the lower end of the nut runner via a universal joint. A mechanism part and a socket rotated by the nut runner through the pitch conversion mechanism part are provided, and the pitch conversion mechanism part is formed by at least two combination plates inserted into the height position of the pitch conversion mechanism part from two different directions. The combination plate positioned at a predetermined position and inserted is fixed to the apparatus main body by a fixing mechanism.

  As the pitch conversion mechanism, for example, a bearing case in which a shaft is rotatably disposed is conceivable.

  By introducing the combination plate as described above, it is possible to easily change the number of nut runners and change the pitch when changing the workpiece, and to deal with ergonomics. In particular, in the manufacturing process of automobile engines and transmissions, the conventional template can be several tens of kilograms, which makes it difficult for one person to work and two persons, but the invention according to claim 1 One person can work.

  Further, since the combination plate is inserted into the apparatus main body, a lifting mechanism is not required as in the template method. In the template method, slide insertion from the side cannot be performed on the method, and it must be lifted from the lower side, so the work requiring this fine adjustment has to rely on a machine. On the other hand, each plate constituting the combination plate of the present invention is lighter (several kg) than the conventional template, and only the work is inserted, so that one person can work easily and anyone can work easily.

  In the invention according to claim 2 of the present application, the combination plate has an X-axis plate in which a groove portion into which the pitch conversion mechanism portion is fitted along the X-axis direction on the XY plane, and a pitch along the Y-axis direction. The pitch conversion mechanism portion is configured to be positioned on the XY plane by including a Y-axis plate in which a groove portion into which the conversion mechanism portion is fitted is formed, and the X-axis plate and the Y-axis plate are overlapped.

  As described above, the combination plate is composed of the X-axis plate and the Y-axis plate, so that the operator does not need to move the conventional template which is a heavy object at a position where the relatively light combination plate can be easily operated. Since it only needs to be inserted by sliding, it does not require the skill and physical strength of the worker, and the ergonomic structure is also excellent.

  In the invention according to claim 3 of the present application, the portion of the groove portion of the X-axis plate and the Y-axis plate that comes into contact with the pitch conversion mechanism is provided with a reinforcing member for reducing wear.

  In the case of the conventional template method, the same circular bearing case (pitch conversion mechanism) is fitted in the circular hole formed in the template, so that force is applied to the entire circumference of the circular hole of the template. Since the holes formed between the crossed combination plates are rectangular and are in a state close to point contact, it is preferable to provide a reinforcing member to reduce wear.

  In the invention according to claim 4 of the present application, the main body portions of the X-axis plate and the Y-axis plate are made of aluminum or an aluminum alloy in order to reduce the weight, and the reinforcing member is made of iron or an iron-based alloy. .

  In the invention according to claim 5 of the present application, the number of the X-axis plate and the Y-axis plate is one or two, respectively, and the total number of the X-axis plate and the Y-axis plate is 2 to 4.

  Since plates are combined, infinite combinations can be set. However, in the actual manufacturing process, there is a high possibility of mistakes in a process with many branches, and the management of all the plates becomes complicated, and the space for storing the plate also increases. End up. Therefore, it is preferable that the number of both the X-axis plate and the Y-axis plate is limited to two to facilitate management of the combination plate and to suppress the plate accommodation space.

  In the invention according to claim 6 of the present application, the X-axis plate and the Y-axis plate are gripped by an operator when being inserted into and pulled out from an end opposite to the opening end of the groove portion into which the pitch conversion mechanism portion is fitted. It was set as the structure provided. By providing a grip in this way, the replacement work can be performed easily.

In the invention according to claim 7 of the present application, the plate constituting the combination plate has a discrimination function capable of being distinguished from other plates.
In the case of the combination plate, it is also assumed that the operator makes a mistake in the combination and the pitch conversion mechanism unit cannot be positioned.

  As a discrimination function to prevent such a problem, for example, if red, yellow, green, blue, white, black, etc. are applied to the entire surface of the plate or a specific part, and the same color is always combined, there is an error. Never happen. In addition to discrimination by color, it is also possible to engrave a specific part. For example, in the case of a single shape, the number of circles is changed. Further, means such as putting symbols with numerals and alphabets, forming a protrusion on a part of the plate, and forming a notch into which the protrusion fits on the combined plate can be considered.

In the invention according to claim 8 of the present application, the discriminating function is configured such that a plurality of through holes that can be closed with different members are provided on the plate and discriminated by a through hole pattern.
The method of discriminating by color or symbol can be realized at a relatively low cost, but it is troublesome for the operator to judge each time. On the other hand, a plurality of through-holes, for example, four holes, are provided at the end of the plate, and any of the through-holes are closed with bolts, and each plate is installed. Can be distinguished in 16 ways (2 to the 4th power) depending on whether they are penetrating or not. Since the sensor is not required during normal operation, it can be easily removed and installed only when the combination plate is changed. The sensor signal may be transmitted / received wirelessly instead of wired, and if the workpiece and the combination plate do not match, the operator may be notified by an error display, light or sound.

A multi-axis fastening method according to claim 9 of the present application includes a step of lowering the apparatus main body,
A step of removing the existing combination plate, a step of inserting at least two combination plates into the height position of the pitch conversion mechanism section from different directions, and a step of confirming that the combination plate is a combination plate corresponding to the workpiece by the combination plate discrimination mechanism And a step of raising the apparatus main body in order to return the apparatus main body to the original position.

  In the invention concerning Claim 10 of this application, it was set as the structure which provides the moving mechanism which enables the said apparatus main body to move to at least one direction, and the control mechanism which controls the movement of this moving mechanism. By providing a restriction mechanism that restricts the movement of the movement mechanism together with the movement mechanism of the device main body, the control cable of each nut runner can be smoothly routed, and the nut runner is performed against the tensile force due to the weight of the control cable. The burden on the operator for the positioning work is reduced, and the operability of the multi-axis fastening device is improved.

In the invention according to claim 11 of the present application, the moving mechanism includes a rail and a traveling body that engages with the rail, the restriction mechanism is attached to the traveling body, and the brake sandwiches the rail from both sides. It was set as the means. With such a configuration, the structure of the moving mechanism and the regulating mechanism can be simplified, and the implementation becomes easy.

  According to the multi-axis tightening apparatus and multi-axis tightening method according to the present invention, the pitch conversion mechanism as compared with the template disclosed in Patent Document 2 as well as the inter-axis adjusting mechanism disclosed in Patent Document 1 Since the weight of the combination plate that constitutes is significantly reduced, even a powerless operator can replace the combination plate by one person and is ergonomic.

  Further, the conventional template needs to be lifted upward, but in the present invention, it is only necessary to slide the combination plate from the side, so that the replacement work itself becomes easy and can be performed in a short time.

  Also, by providing a regulation mechanism that regulates the movement of the movement mechanism together with the movement mechanism of the device body, the control cable of each nut runner can be smoothly routed and the nut that is performed against the tensile force due to the weight of the control cable The burden on the operator for the positioning work of the runner is reduced, and the operability of the multi-axis fastening device is improved.

Front view of a multi-axis fastening device according to the present invention 1 is an enlarged view of the main part of FIG. Side view of the multi-axis clamping device 3 is an enlarged view of the main part of FIG. Plan view seen from the AA direction in FIG. Perspective view of fixing mechanism Top view of the fixing mechanism Top view of the combination plate before insertion (A) Side view of left X-axis plate, (b) Side view of right X-axis plate, (c) Side view of Y-axis plate Enlarged front view of the main part of the multi-axis clamping device before inserting the combination plate Plan view of the combined plate in a stacked state Outline perspective view of moving mechanism and regulating mechanism Side view of moving mechanism and regulating mechanism BB sectional view of FIG. The figure seen from the arrow C direction of FIG.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIGS. 1 and 3, the apparatus main body 1 includes a gate-shaped outer frame 2 and a box-shaped inner frame 4 that is supported inside the outer frame 2 through a shaft 3 so as to be swingable. A lock mechanism 5 for locking the swing position of the inner frame 4 is provided at the lower end of the outer frame 2.

  A rail 6 is disposed above the apparatus body 1, and the outer frame 2 is supported via a cylinder unit 8 on a traveling body 7 that engages with the rail 6. The main body 1 moves up and down.

  In the illustrated example, the inner frame 4 is separated from the outer frame 2, but the outer frame 2 and the inner frame 4 may be integrated. In this case, only up and down movement is performed without swinging.

  A plurality of nut runners 9 are provided on the upper surface of the inner frame 4. In the illustrated example, five nut runners 9 are attached in the X direction and two in the Y direction so that the drive shaft 10 protrudes downward.

  An upper end portion of a universal joint 11 (universal joint) is connected to the drive shaft 10 of the nut runner 9, and a lower end portion of the universal joint 11 is connected to an upper end of a shaft 13 that is rotatably held in the pitch conversion mechanism portion 12. The lower end of the shaft 13 is connected to the socket 14.

  As shown in FIGS. 2 and 4, the pitch conversion mechanism 12 includes an upper bearing case 15 and a lower bearing case 16, and the upper bearing case 15 is held by an XY direction moving mechanism 17.

  As shown in FIG. 5, the XY direction moving mechanism 17 arranges a pair of rail members 18, 18 parallel to the X axis direction at the lower end portion of the inner frame 4, and moves the blocks 19, 19 to these rail members 18, 18. The rods 20 and 20 are spanned between the opposing blocks 19 and 19, and the upper bearing case 15 is supported along the rods 20 and 20 so as to be movable in the Y-axis direction.

  On the other hand, as shown in FIG. 2, the lower bearing case 16 is positioned in the XY directions by the combination plate mechanism 21.

  As shown in FIGS. 8 and 9, the combination plate mechanism 21 includes two X-axis plates 22 and 23 and one Y-axis plate 24. These plates 22, 23 and 24 are made of aluminum or an aluminum alloy in order to reduce the weight. In addition, grips 25, 26, and 27 are attached to the rear end portion with respect to the insertion direction in order to be inserted into or pulled out from the apparatus main body 1.

  The X-axis plates 22 and 23 are formed with grooves 22a and 23a extending in the X-axis direction, and the Y-axis plate 24 is formed with grooves 24a extending in the Y-axis direction. These grooves 22 a, 23 a, and 24 a are for positioning the lower bearing case 16 so that the width thereof is set slightly wider than that of the lower bearing case 16.

  Further, since the edges of the grooves 22a, 23a, 24a are likely to wear due to contact with the lower bearing case 16 during positioning, a reinforcing piece 28 made of iron or an iron-based alloy is attached.

  In the illustrated example, the grooves 22a, 23a, and 24a provided in the plates 22, 23, and 24 have the same interval. By changing this interval, the lower bearing case 16 can be moved on the XY plane. Therefore, if the work target workpiece is changed, a plate corresponding to the workpiece is replaced with a plate having different intervals between the grooves 22a, 23a, and 24a. . In order not to select the wrong plate at the time of replacement, means such as color-coding for each of the above-mentioned plates, formation of marks and irregularities, etc. are taken.

Each of the plates 22, 23, 24 is inserted into the apparatus main body 1 and fixed via a fixing mechanism 30 attached to the lower end of the inner frame 4 of the apparatus main body 1.
As shown in FIGS. 6, 7, and 10, the fixing mechanism 30 includes a pair of support pieces 31 and 32 that extend in the Y-axis direction and a bar 33 that connects the support pieces 31 and 32. Guides 34 and 35 are mounted on the support pieces 31 and 32, and tapered portions 34 a and 35 a for facilitating insertion of the Y-axis plate 24 are formed at the entrances of the guides 34 and 35. Tapered 33a for facilitating the insertion of the X-axis plates 22 and 23 is also formed at both ends.

  A procedure for simultaneously tightening a plurality of locations of one workpiece using the multi-axis tightening device having the above-described configuration will be described. A description will be given starting from a state in which the apparatus body 1 is pulled down by the cylinder unit 8 while the X-axis plates 22 and 23 and the Y-axis plate 24 are not inserted into the fixing mechanism 30.

  First, the X-axis plates 22 and 23 and the Y-axis plate 24 are selected according to the work to be tightened. First, the Y-axis plate 24 is inserted between the support pieces 31 and 32 of the fixing mechanism 30 along the guides 34 and 35. The insertion of the Y-axis plate 24 is performed until the tip part comes into contact with the bar 33.

  By inserting the Y-axis plate 24 horizontally, the lower bearing cases 16 of the respective pitch conversion mechanisms 12 are fitted into the respective grooves 24a formed in the Y-axis plate 24, and the respective lower bearing cases 16 are positioned in the X-axis direction. The By positioning each lower bearing case 16 in the X-axis direction, each socket 14 is also positioned in the X-axis direction.

  After the positioning of each lower bearing case 16 in the X-axis direction as described above, the X-axis plates 22 and 23 are inserted along the bar 33 so as to overlap the Y-axis plate 24 from the left and right. Either X-axis plate 22 or 23 may be inserted first. Alternatively, the Y-axis plate 24 may be inserted after the X-axis plates 22 and 23 are inserted.

  Each lower bearing case that has already been positioned in the X-axis direction by being inserted into the groove 24a of the Y-axis plate 24 by inserting the X-axis plates 22 and 23 so as to overlap the Y-axis plate 24 along the X-axis direction. 16 is fitted into the grooves 22a and 23a of the X-axis plates 22 and 23 to be positioned in the Y-axis direction.

Thus, the positioning of the plurality of sockets 14 in accordance with the workpiece on the XY plane is completed.
As mentioned earlier, make sure that you are using the right combination. When it is confirmed that the combination is correct, the combination plate is fixed to the fixing mechanism. Then, the device is raised to the reference position.
Next, the apparatus body 1 is lowered by the cylinder unit 8, the sockets 14 are fitted to the nuts and bolts of the workpiece, and the nut runner 9 is driven to simultaneously tighten a plurality of bolts and nuts.

  Further, as shown in FIGS. 11 to 14, a moving mechanism 40 that allows the apparatus main body 1 to move in one direction (X direction) is a rail 6 such as an eye beam and a travel that engages the rail 6 movably. It consists of a body (trolley) 7. As the moving mechanism 40, a linear guide can be used as long as it is a relatively lightweight multi-axis fastening device.

The traveling body 7 includes front and rear wheels 41 and 42 traveling on the left upper surface 6a below the rail 6, front and rear wheels 43 and 44 traveling on the right upper surface 6b below the rail 6, and left and right front wheels 41 and 42. The L-shaped plate 45a for supporting the axles 41a and 42a and the L-shaped plate 45b for supporting the axles 43a and 44a of the front and rear wheels 43 and 44.

  Further, saddles 46 and 47 are attached before and after the L-shaped plates 45 a and 45 b so as not to interfere with the rail 6. A restriction mechanism 50 for stopping the movement of the traveling body 7 is attached to the rear saddle 47 by bolts 51. Further, the main body 1 is mounted on the saddles 46 and 47.

  The restriction mechanism 50 includes a bracket 52 attached to the saddle 47 with bolts 51, a parallel open / close air cylinder 53 fixed to the bracket 52, and brake arms 55a provided on both heads 54a and 54b at the rod ends of the air cylinder 53. 55b and resin brake pads 56a and 56b attached to the brake arms 55a and 55b.

  In the parallel open / close air cylinder 53, both heads 54a and 54b move forward by an opening operation, and both heads 54a and 54b move backward by a closing operation. The opening / closing operation of the air cylinder 53 can be operated by a worker with a hand switch (not shown). The brake pads 56a and 56b are attached to the heads 54a and 54b via the brake arms 55a and 55b so as to face the side edges 6c and 6d of the rail 6, respectively.

When the operator operates the hand switch (not shown) to cause the air cylinder 53 to close, the brake pads 56a and 56b sandwich the side edges 6c and 6d of the rail 6 as shown in FIG. The traveling body 7 can be braked to restrict the movement of the traveling body 7.

The moving mechanism 40 allows the operator to move the apparatus main body 1 to a desired position and smoothly perform the positioning operation of the nut runner 9 with respect to the workpiece. Then, after the positioning operation of the nut runner 9 with respect to the workpiece is completed, if the operator operates the hand switch to close the air cylinder 53 and stop the traveling body 7, a control cable (not shown) It is possible to counter unnecessary movement of the apparatus main body 1 due to a tensile force due to weight.

  In the embodiment of the present invention, the movement mechanism 40 and the restriction mechanism 50 that allow the apparatus main body 1 to move in one direction (X direction) have been described, but the configuration including the movement mechanism 40 and the restriction mechanism 50 is combined. Thus, it is possible to configure a moving mechanism that allows the apparatus main body 1 to move in the XY directions and a restricting mechanism for the moving mechanism.

  By providing a moving mechanism that allows the apparatus main body 1 to move in the X and Y directions and a restricting mechanism for the moving mechanism, the control cables of the individual nut runners 9 can be easily routed and resist the tensile force due to the weight of the control cables. Thus, the burden on the operator for the positioning operation of the nut runner 9 that requires the movement of the apparatus main body 1 is reduced. Moreover, work efficiency improves by shortening the positioning work time of the nut runner 9 with respect to a workpiece | work.

  The multi-axis tightening apparatus and multi-axis tightening method according to the present invention can be applied not only to an engine or transmission of an automobile or a motorcycle but also to a work having a plurality of tightening locations.

  DESCRIPTION OF SYMBOLS 1 ... Main part of an apparatus, 2 ... Outer frame, 3 ... Axis, 4 ... Box-shaped inner frame, 5 ... Lock mechanism, 6 ... Rail, 7 ... Running body, 8 ... Cylinder unit, 9 ... Nut runner, 10 ... Nut Runner drive shaft, 11 ... Universal joint (universal joint), 12 ... Pitch conversion mechanism, 13 ... Shaft, 14 ... Socket, 15 ... Upper bearing case, 16 ... Lower bearing case, 17 ... XY direction moving mechanism, 18 ... Rail member, 19 ... Block, 20 ... Rod, 21 ... Combination plate mechanism, 22, 23 ... X-axis plate, 24 ... Y-axis plate, 22a, 23a, 24a ... Groove, 25, 26, 27 ... Grip, 28 ... Reinforcement Piece, 30 ... Fixing mechanism, 31, 32 ... Support piece, 33 ... Bar, 33a ... Tapered portion, 34, 35 ... Guide, 34a, 35a ... Tapered portion, DESCRIPTION OF SYMBOLS 0 ... Movement mechanism, 41, 42, 43, 44 ... Wheel, 46, 47 ... Saddle, 50 ... Restriction mechanism, 53 ... Parallel open / close type air cylinder, 54a, 54b ... Head, 55a, 55b ... Brake arm, 56a, 56b ... Brake pads.

Claims (11)

  An apparatus main body, a plurality of nut runners provided in the apparatus main body, a pitch conversion mechanism portion connected to the lower end of the nut runner via a universal joint, and a socket rotated by the nut runner via the pitch conversion mechanism portion In order to position the pitch conversion mechanism portion at a predetermined position, at least two combination plates that are inserted into the height position of the pitch conversion mechanism portion from two different directions are inserted. A multi-axis fastening apparatus comprising a fixing mechanism for fixing the combination plate to the apparatus main body.   2. The multi-axis fastening device according to claim 1, wherein the combination plate has an X-axis plate formed with a groove portion into which the pitch conversion mechanism portion is fitted along the X-axis direction on the XY plane, and along the Y-axis direction. The multi-axis is characterized by comprising a Y-axis plate in which a groove portion into which the pitch conversion mechanism portion is fitted is formed, and the pitch conversion mechanism portion is positioned on the XY plane by overlapping the X-axis plate and the Y-axis plate. Tightening device.   3. The multi-axis fastening device according to claim 2, wherein a reinforcing member for reducing wear is provided in a portion of the groove portion of the X-axis plate and the Y-axis plate that comes into contact with the pitch conversion mechanism. A featured multi-axis fastening device.   4. The multi-axis fastening device according to claim 3, wherein the main body portions of the X-axis plate and the Y-axis plate are made of aluminum or an aluminum alloy, and the reinforcing member is made of iron or an iron-based alloy. Tightening device.   3. The multi-axis fastening device according to claim 2, wherein the number of the X-axis plate and the Y-axis plate is one or two, and the total number of the X-axis plate and the Y-axis plate is 2 to 4. A multi-axis fastening device characterized by that.   3. The multi-axis fastening device according to claim 2, wherein the X-axis plate and the Y-axis plate are inserted into and pulled out from an end opposite to the opening end of the groove portion into which the pitch conversion mechanism portion is fitted. A multi-axis fastening device characterized in that a grip for gripping is provided.   2. The multi-axis clamping device according to claim 1, wherein the plates constituting the combination plate have a discrimination function that can be distinguished from other plates.   The multi-axis tightening device according to claim 7, wherein the discrimination function is provided with a plurality of through-holes that can be closed with different members on the plate, and discriminates by a through-hole pattern in a through state. Tightening device. Lowering the device body;
Removing the existing combination plate;
Inserting at least two combination plates from different directions into the height position of the pitch conversion mechanism,
A step of confirming the combination plate corresponding to the workpiece by the combination plate discrimination mechanism;
Fixing the combination plate to the fixing mechanism;
A multi-axis fastening method comprising the step of raising the apparatus main body in order to return the apparatus main body to the original position.   The multi-axis fastening device according to any one of claims 1 to 8, further comprising: a moving mechanism that allows the device main body to move in at least one direction; and a restriction mechanism that restricts movement of the moving mechanism. A featured multi-axis fastening device.   11. The multi-axis fastening device according to claim 10, wherein the moving mechanism includes a rail and a traveling body that engages with the rail, the restriction mechanism is attached to the traveling body, and the brake sandwiches the rail from both sides. A multi-axis fastening device characterized by being a means.

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