JPH0751957A - Tool for fastening and fastening device - Google Patents

Abstract

PURPOSE:To provide a tool for fastening and a fastening device which are constituted to perform a fastening work regardless of the fastening direction of a screw and a bolt and the driving direction of a rivet, simplify structure and reduce a manufacturing cost, besides have excellent flexibility, and also reduce an installation space. CONSTITUTION:A tool body 1 for fastening a screw having a driver bit 8 is rotatably supported to a holder 38 and rotated with the aid of an air motor 39 arranged to the side of the older 38. The angle of the tool body 1 is variable according to a direction in which the screw is fastened. Further, by attaching a tool A for fastening to the tip of the arm of a robot, a screw is automatically fastened in an arbitrary position and at an arbitrary angle.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a fastening tool and a fastening device. In particular, the present invention relates to a fastening tool and a fastening device that can perform a fastening operation on an assembly line regardless of the fastening direction of screws and bolts, the driving direction of rivets, and the like.

[0002]

2. Description of the Related Art In a product assembly line or the like of various fields, an automatic screw tightening device capable of automatically tightening a screw by using a driving force of a motor is used. FIG. 9 is a perspective view showing a conventional automatic screw tightening device F, in which an automatic screw tightener main body 81 is attached to a horizontal moving robot 82 which moves on an XY plane. That is, in this horizontal mobile robot 82,
The slide body 83 is guided by the guide groove 85 of the base body 84 and slides in the X direction, and the automatic screw tightener main body 81 attached to the slide body 83 can also be moved in the Y direction by the slide body 83. There is. Further, the automatic screw tightener main body 81 is provided with a chuck 86 that holds one screw at a tip thereof, and has a structure in which each screw supplied from the feeder toward the chuck 86 is tightened by a built-in bit.

In the automatic screw tightening device F in which the automatic screw tightener main body 81 is attached to the horizontal moving robot 82, the automatic screw tightener main body 81 together with the slide body 83 are provided.
While moving in the X and Y directions, the screws can be efficiently tightened on a large number of workpieces 89 on the pallet 88 sent on the conveyor 87, so that the workability is high. However, since the slide body 83 can only move in a planar manner in the XY directions, the applicable work piece 89
There is a limitation in the type of screw and the form of screw tightening work, and for example, it was not possible to tighten a horizontal screw or a diagonal screw.

Therefore, Japanese Unexamined Patent Publication No. 2-78230 discloses an automatic screw tightening robot G capable of changing the screw tightening direction. This is, as shown in FIG. 10, three-dimensionally movable articulated arms 91, 92,
An automatic screw tightener main body 95 is attached to a tip end portion of an arm 93 of an articulated robot 94 having 93, and the articulated robot 94 can freely change the screw tightening work direction of the automatic screw tightener main body 95. .

However, in the automatic screw tightening robot G, the automatic screw tightener main body 95 itself cannot change the screw tightening direction, and the direction of the automatic screw tightener main body 95 is changed by the operation of the articulated robot 94. By changing it, it corresponds to the change in the screw tightening direction. For this reason,
Both the position and the direction of the main body 95 of the automatic screw tightener need to be changed by the articulated robot 94, and the articulated robot 94 having a complicated structure and expensive is indispensable, and there is a problem that the apparatus cost becomes very high. It was Furthermore, in order to install this automatic screw tightening robot G near a conveyor line or the like, an installation space for installing the multi-joint robot 94 and a space for moving the multi-joint arm are required around it, and space efficiency is also improved. It was bad. Further, since the automatic screw tightening robot G has six joints and needs to perform 6-axis control, the control program for moving the multi-joint robot according to the purpose is also complicated. Further, the robot portion cannot be replaced or the existing robot or the like cannot be used according to the work piece 96 to be screw-tightened, resulting in lack of flexibility.

Therefore, there has been a demand for a screw tightening means capable of multi-direction screw tightening capable of solving the above problems, but in the past, there has been no answer to these requests.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the drawbacks of the above-mentioned conventional examples, and its purpose is to relate the tightening direction of screws and bolts and the driving direction of rivets. To provide a fastening tool and a fastening device which can perform fastening work such as screws, bolts, rivets, etc., can be manufactured at a low cost with a simple structure, have excellent flexibility, and can reduce the installation space. It is in.

[0008]

A first fastening tool of the present invention is a fastening tool for fastening a fastener such as a screw, a nut or a rivet to an object, and the fastener is the object. A tool main body for fastening the tool main body, and a support member for pivotally supporting the tool main body around a uniaxial direction.
Rotation imparting means for rotating the direction of the tool body with respect to the support member.

A second fastening tool of the present invention is a tool body for fastening the fastener to an object, and a support member for pivotally supporting the tool body in a uniaxial direction. A first rotation imparting means for rotating the direction of the tool main body with respect to a support member;
Second rotation imparting means for rotating around an axis in a direction different from the axial direction is provided.

A first fastening device of the present invention is characterized in that the fastening tool can be moved by a position controllable moving means.

In a second fastening device of the present invention, the first fastening tool is rotatably attached to a position-controllable displacement means, and the fastening tool is movable by the displacement means. It is characterized in that the tool is rotated by a displacement means in a direction different from the rotation direction of the tool body.

A robot may be used as the displacement means in the fastening device, and the fastening tool may be attached to the arm tip of the robot.

[0013]

In the first fastening tool of the present invention, since the tool body is rotatably supported by the support member, the orientation of the tool body is flat in accordance with the direction of the fastening surface of the work piece. Can be changed within. For example, the tool main body can be turned sideways, faced downward, obliquely faced down, or at any angle depending on the work piece.

Further, in the second fastening tool of the present invention, since the tool body is rotatably supported by the support member and the support member is rotatable, the work piece is rotated. The orientation of the tool body can be freely changed in the three-dimensional space according to the direction. For example, the tool body can be turned downward, forward, backward, right sideways, or left sideways depending on the work piece.

Further, in the first fastening device of the present invention, the fastening tool can be moved by the displacing means (including the robot), so that the fastening tool is moved to the work position in accordance with the fastening work position. This enables a higher degree of automation of the fastening work.

In particular, even when the first fastening tool is used as the fastening tool, if the fastening tool is rotated by the displacing means as in the second fastening device of the present invention, the uniaxial rotation can be achieved. The tool body of the rotatable fastening tool can be oriented freely in the three-dimensional space according to the direction of the work piece.

[0017]

1 is a side view showing a fastening tool A for screw fastening according to an embodiment of the present invention, and FIG. 2 is a tool body 1 thereof.
2 is a partially cutaway side view showing the tool main body 1 lying sideways. FIG. Further, FIG. 3 is a plan view of the tool main body 1 in a vertical state. The fastening tool A includes a tool body 1 for tightening screws and a linear movement mechanism section 2 for linearly moving the tool body 1.
And a rotation mechanism section 3 for rotating the tool body 1 together with the linear movement mechanism section 2.

(Tool Body) First, the tool body 1 will be described with reference to FIG. 4 is a bit holder,
A tool bit 8 for tightening a screw 7 is slidably and rotatably housed inside a through hole 6 opened at the tip of a tool body 5, and the bit holder 4 A guide portion 9 for preventing the tip portion of the driver bit 8 from swinging at the tip portion of the
Is provided, and the chuck portion 10 for holding the screw 7 fed from the screw feeder is provided on the tip side of the guide portion 9.
Is provided. Further, a reinforcing pin 12 arranged parallel to the bit holder 4 is slidably held in a through hole 11 formed adjacent to the through hole 6 in the tool body 5, and a tip portion of the reinforcing pin 12 is held. Connector 13 attached to
Grips the bit holder 4 by fitting into the groove 14 formed in the outer peripheral surface of the bit holder 4. Tool body 5
A compression spring 15 is interposed between the tip surface of the bit holder 4 and the connector 13, and the elastic force of the compression spring 15 urges the bit holder 4 and the reinforcing pin 12 to project. The bit holder 4 and the reinforcing pin 12 are prevented from coming off by a flange 16 provided on the portion. Then, when the tip of the bit holder 4 is pushed,
The bit holder 4 and the reinforcing pin 12 slide together and retreat against the elasticity of the compression spring 15. In this way, the bit holder 4 slides while being guided by the reinforcing pin 12, so that the bit holder 4 slides smoothly and straight without tilting.

The base end portion of the driver bit 8 protruding outward from the base end side of the bit holder 4 is a bearing 17
Is rotatably held on the tool body 5 via
A gear 18 is fixed to the base end of the driver bit 8, and the gear 18 meshes with an output gear 20 of a precision mechanical clutch 19 fixed to the tool body 5. Therefore, the axis of the driver bit 8 and the center of the precision mechanical clutch 19 are not on the same axis, and the driver bit 8 is eccentric to the outside of the precision mechanical clutch 19. A main shaft gear 22 is rotatably attached to a first plate 21 provided at the rear end of the tool body 5 via a bearing (not shown), and the main shaft gear 22 is an input of the precision mechanical clutch 19. It is connected to the side. Further, the low speed and high torque motor 24 is attached to the first and second plates 21 and 23 at the rear end of the tool body 5.
And a high-speed low-torque motor 25 is mounted, the low-speed high-torque motor 24 is connected to the main shaft gear 22 by a one-way clutch 26, and the cylindrical gear 27 of the high-speed low-torque motor 25 is connected to the main gear via an intermediate gear 28. 22 is connected. The rotation of the high-speed low-torque motor 25 is transmitted to the main shaft gear 22 via the intermediate gear 28, and the main shaft gear 22 rotates at a high speed (for example, 1000 rpm). The rotation of the low-speed high-torque motor 24 is transmitted to the main shaft gear 22 via the one-way clutch 26, and the main shaft gear 22
Is rotated at a low speed (for example, 60 rpm), and the main shaft gear 22 is rotating at a high speed (for example, larger than 60 rpm), the one-way clutch 26 idles.

Further, 29 is a precision mechanical clutch 19
The output torque of the precision mechanical clutch 19 is detected by the torque sensor 30 via the torque sensor 29. Further, a rail member 31 is fixed to the back surface of the tool body 5.

(Linear Moving Mechanism 2) Next, the linear moving mechanism 2 for linearly moving the tool body 1 in the front-rear direction will be described. Two sliders 33 are provided on the lower surface of the base substrate 32, and an air cylinder 34 is fixed to the upper surface of the base substrate 32. The slider 33 on the lower surface of the base substrate 32 is slidably engaged with and engaged with the rail member 31 of the tool body 1, and the tool body 1 is slidably held on the lower surface side of the base substrate 32 by the slider 33 and the rail member 31. Has been done. The tip of the piston 35 of the air cylinder 34 is connected to a third plate 36 fixed to the tip surface of the tool body 5. Therefore, the air cylinder 34
It is possible to move the tool main body 1 back and forth by driving and causing the piston 35 to expand and contract. 37
Is an adjusting screw for limiting the amount of forward movement of the tool main body 1, and is screwed to the rear end surface of the base substrate 32 so as to face the first 21 plate, and By adjusting, the amount of forward movement of the tool body 1 can be limited.

(Rotation Mechanism Section) The rotation mechanism section 3 is mainly composed of a substantially inverted U-shaped holder 38, an air motor 39 and a gear mechanism (not shown). As shown in FIG. The main body 1 and the linear movement mechanism unit 2 are arranged so as to be housed in the holder 38, and the shaft 40 fixedly inserted into the base substrate 32 is rotatably inserted into a hole (not shown) of the holder 38 to thereby linearly move the mechanism. The part 2 is rotatably supported by the holder 38. Holder 38
The output of the air motor 39 attached to the side surface of the tool is transmitted to the shaft 40 via a gear mechanism, and by driving the air motor 39, the tool body 1 is rotated together with the linear movement mechanism section 2. Also, the holder 38
A notch 41 for allowing the tool body 1 to escape is provided on the upper surface of the tool body 1 when the tool body 1 is rotated to be in an upright state. Therefore, by driving the air motor 39, the tool main body 1 can be rotated about the shaft 40, and the tool main body 1 can be turned sideways as shown in FIG. 4A or shown in FIG. 4B. As described above, the tool main body 1 can be turned downward, or can be stopped at any angle in the middle oblique direction (or it can be rotated at a wider angle). The base end of the positioning block 42 is fixed to the end of the shaft 40 on the outer side surface of the holder 38.
An adjusting screw 43 is screwed into the tip of the adjusting screw 43, and a stopper block 44 is fixed to the outer surface of the holder 38 at a position facing the head of the adjusting screw 43. Then, the tool body 1 rotates and the positioning block 42
With the head of the adjusting screw 43 of the tool contacting the stopper block 44, the tool body 1 cannot rotate any more,
The rotation angle of the tool body 1 can be regulated or positioned. Further, the stop angle of the tool body 1 can be adjusted by rotating the adjusting screw 43 and adjusting the amount of protrusion thereof.

(Operation of Fastening Tool) Next, the operation of the fastening tool A will be described. In the standby state, the tool body 1 is retracted by the linear movement mechanism portion 2, and the bit holder 4 is projected by the elasticity of the compression spring 15. When the operation start command is output from the control unit to the fastening tool A, the fastening tool A rotates the tool main body 1 by the rotation mechanism unit 3 at the screw tightening work position of the work piece, and an angle corresponding to the screw tightening direction. Stop the tool body 1 with. Next, when the screw 7 is supplied from the screw feeder, the supplied screw 7 is held in the chuck portion 10 as shown in FIG. Next, high-speed low-torque motor 25
And the low-speed high-torque motor 24 rotates. Both motors 2
When 4, 25 rotate, the rotation of the high-speed low-torque motor 25 is transmitted to the main shaft gear 22 via the intermediate gear 28, and the main shaft gear 22 is at high speed (for example, main shaft gear rotation speed 1000 rpm).
Rotate. At this time, the one-way clutch 26 idles because the main shaft gear 22 is rotating at high speed, and the rotation of the low speed / high torque motor 24 is not transmitted to the main shaft gear 22. When the main shaft gear 22 rotates in this manner, the rotation is transmitted to the driver bit 8 via the precision mechanical clutch 19 and the like, and the driver bit 8 rotates at a low torque and a high speed. When the rotation of the driver bit 8 is stabilized, the piston 35 of the air cylinder 34 is projected and the linear movement mechanism portion 2 projects the tool body 1 forward. When the tool body 1 projects forward, the tip of the bit holder 4 of the tool body 1 comes into contact with the work piece, and further, the tool holder 1 is pushed forward and the bit holder 4 retracts while compressing the compression spring 15. . Therefore, the driver bit 8
The tip of the screw engages with the screw 7, and the tip of the screw 7 is pushed into the screw hole of the work piece.
Is rotated at high speed and screwed into the screw hole. When the screw 7 enters the screw hole and the resistance becomes high, and the torque at the tip of the driver bit 8 becomes larger than the torque of the high speed low torque motor 25, the rotation speed of the main shaft gear 22 decreases, and the rotation speed becomes low speed high torque. Number of rotations by the motor 24 (eg 60
When the speed becomes smaller than (rpm), the one-way clutch 26, which has been idling until then, operates, the driver bit 8 automatically switches to high-torque, low-speed rotation, tightens the screw 7 with high torque, and tightens the screw 7 in the screw hole. Screw 7
When the torque of the driver bit 8 becomes equal to or more than the torque set by the precision mechanical clutch 19, the precision mechanical clutch 19 idles, so that the torque detector 29 stops and is detected by the torque sensor 30. When this is detected, both motors 24, 25
Is stopped, the piston 35 of the air cylinder 34 is further retracted, the tool body 1 is retracted, and the bit holder 4 is projected as it is.

In this fastening tool A, automatic screw tightening can be performed as described above, and the tool body 1 can be freely oriented in a plane as shown in FIGS. 4 (a) and 4 (b). Since it can be oriented in any direction, not only can the screw 7 be tightened on a horizontal surface or a wall surface (vertical surface), but also the screw 7 can be automatically tightened on any inclined surface in between. Further, as described above, the screw 7 is fastened at a high speed and a low torque first, and then the screw 7 is fastened at a low speed and a high torque to the end, so that the screw tightening work can be reliably performed, and the precision mechanical clutch 19 The screw can be tightened with a constant torque. Further, since the tool main body 1 is moved in the front-back direction by the linear movement mechanism portion 2 provided in the fastening tool A, the tool main body 1 can be smoothly moved regardless of the direction of the tool main body 1. it can. Further, since the shaft center of the driver bit 8 is eccentric to the outside of the center of the precision mechanical clutch 19 and arranged at the end of the tool body 1, it is necessary to perform the screw tightening work on the bottom surface near the side wall, for example. Even in this case, the screw 7 near the side wall can be tightened without being obstructed by the side wall. Moreover, the fastening tool A itself is short,
Since the tool body 1 can be brought close to the work, the shaking of the tool body 1 is small, and the screw tightening accuracy can be improved.

When it is not necessary to move the fastening work position of the fastening tool A and only the screw fastening work direction needs to be changed, the fastening tool A can be used with the holder 38 of the fastening tool A fixed, for example. . Further, depending on the application, it can be used by being fixed to the displacement portion of the displacement means such as an XY stage. However, the fastening tool A
In order to move the position of No. 3 in the three-dimensional space and perform the screw tightening work in any direction at any position, as a fastening device in which the above-mentioned fastening tool A is attached to the arm tip of the robot. Preference is given to using. Even when a robot is used, if the fastening tool A according to the present invention is used, it is possible to use a robot having a simple structure that is smaller in size and less flexible than the conventional example.

FIG. 5 is a schematic perspective view showing an embodiment of a fastening device C using a robot. The robot 51 has a first arm 52 and a second arm 52 that rotate in a horizontal plane.
A four-axis articulated robot including a third arm 54 that vertically expands and contracts and rotates.
The holder 38 of the fastening tool A is attached to the lower end of the. Further, 55 is a screw feeder (drum feeder) for feeding the screw 7 to the fastening tool A.

In FIG. 5, the fastening device C is installed beside the carrying line 57 on which the assembly is carried on the pallet 56.
It is shown that the plate 59 and the like are screwed to the work 58. In such a fastening device C, the third arm 54 of the robot 51 can change the direction of the fastening tool A in the horizontal plane, and the rotation mechanism section 3 of the fastening tool A moves the tool body 1 up and down. The direction of the tool body 1 is 3
It can be oriented in any dimension. The position of the tip of the tool body 1 can also be moved to an arbitrary position by the robot 51. Therefore, this fastening device C
According to this, all the screw tightening points of the bottom plate 59 and the side plate 59 can be screwed.
Reference numeral 60 is a pallet positioning stop device.

FIG. 6 is a schematic perspective view showing a fastening device D using another robot. The robot 61 is a kind of Cartesian coordinate type robot, in which a second arm 63, which is cantilevered along a fixed first arm 62, can move in parallel in the X direction. , Second
The head portion 64 attached to the arm 63 can be translated in the Y direction along the second arm 63. Further, the third arm 65 hung from the head portion 64 is configured to be moved up and down and rotated by a drive block 66, and the fastening tool A is fixed to the lower end of the third arm 65. Therefore, also in this fastening device D, the screw 7 can be driven in any direction at any position, and the robot 61 having a very simple structure can be used. Reference numeral 67 is a ball feeder for supplying the screw 7.

FIGS. 7A, 7B and 7C are schematic views showing the fastening tool B according to the second embodiment of the present invention (the linear moving mechanism 2 is not shown). is there. In this fastening tool B, the holder 3 of the rotation mechanism 3 is mounted on the upper surface of the holder 38 by a motor (not shown) or the like.
A rotary drive mechanism 68 for rotating 8 is provided. Therefore, in this fastening tool B, not only can the tool body 1 be rotated in a plane, but also the tool body 1 can be rotated by the rotation drive mechanism 68 in a plane orthogonal to the plane. . Therefore, in this fastening tool B, the direction of the tool main body 1 can be oriented freely in the three-dimensional space by the fastening tool B itself, and the tool main body 1 can be moved forward as shown in FIG. 7A, for example. Or facing the tool body 1 sideways as shown in Fig. 7 (b),
It may be directed downward as shown in FIG. 7C, or may be directed in an oblique direction other than this. Therefore, the application of the fastening tool B is further expanded, and a robot having a simpler structure can be used even when the fastening tool B is attached to a robot or the like to form a fastening device. For example, as shown in FIG. 8, the fastening tool B is used for the third arm 65a of the robot 61.
Fastening device E attached to the tip, but fastening tool B
Since the tool body 1 can be oriented in any direction by itself, the robot E does not need a mechanism for rotating the fastening tool B, and the robot E only moves the fastening tool B in the three-dimensional space. The simple structure of is enough. Moreover, since the third arm 65a does not need to rotate, the third arm 65a can have a structure with high rigidity, and the shaking of the fastening tool B can be prevented.

Although the fastening tool and fastening device for screw tightening have been described in the above embodiments, the fastening tool and fastening device of the present invention can also be used for nuts and rivets. For example, when it is used for nut tightening, a nut tightening socket as described in, for example, Japanese Patent Laid-Open No. 4-343627 may be used instead of the above-mentioned screw tightening tool main body.

[0031]

In the fastening tool of the present invention, since the tool body is supported by the support member so as to be rotatable about one axis or about two axes, it can be moved in the direction of the fastening surface of the work piece. In addition, the orientation of the tool body can be freely changed, horizontal screws and diagonal screws can be tightened, and screws and nuts can be fastened to fastening surfaces facing various directions. Can be made.

Further, in the fastening device of the present invention, the fastening tool can be moved by the displacement mechanism (including the robot), so that the fastening tool can be freely moved to the work position depending on the fastening work position. It can be moved, allowing a higher degree of automation of the fastening work.

Moreover, when such a fastening tool is used, or according to such a fastening device, the direction of the tool main body can be changed by the fastening tool itself, and the tool main body can be changed by the displacement mechanism or the robot. Since it is not necessary to change the direction of, the displacement mechanism and the robot are flexible and there is no restriction on the type or model of the displacement mechanism or robot. Furthermore, since it is excellent in flexibility, it is possible to replace the displacement mechanism or the robot according to the target work such as screw tightening, or to use the existing robot.

Further, since the fastening direction of the tool body can be changed by the fastening tool, even when the displacement mechanism or the robot is used, the displacement mechanism or the robot having a small degree of freedom and a simple structure can be used. Also, the device cost can be reduced. Furthermore, since a relatively small robot having a simple structure can be used,
Even when the fastening device is installed near a conveyor line or the like, the installation space can be reduced and the space efficiency can be improved. Further, there is an advantage that the control program can be simplified by using a robot having a simple structure.

[Brief description of drawings]

FIG. 1 is a side view showing a fastening tool according to the present invention.

FIG. 2 is a partially cutaway side view of a tool body used in the fastening tool of the above.

FIG. 3 is a plan view showing the fastening tool of the above.

4A and 4B are schematic diagrams for explaining the operation of the fastening tool of the above.

FIG. 5 is a perspective view showing a fastening device using the fastening tool of the above.

FIG. 6 is a perspective view showing another fastening device using the fastening tool of the above.

7 (a), (b) and (c) are schematic views showing another fastening tool according to the present invention and its operating state.

FIG. 8 is a perspective view showing still another fastening device using the fastening tool of the above.

FIG. 9 is a perspective view showing a conventional screw tightening device.

FIG. 10 is a perspective view showing a conventional automatic screw tightening robot.

[Explanation of symbols]

 1 Tool Main Body 2 Linear Movement Mechanism 3 Rotation Mechanism 4 Bit Holder 8 Driver Bit 24 Low Speed High Torque Motor 25 High Speed Low Torque Motor 26 One Way Clutch 38 Holder 39 Air Motor 51, 61 Robot 68 Rotation Drive Mechanism

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Osamu Ito 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (5)

[Claims] 1. A fastening tool for fastening a fastener such as a screw, a nut, or a rivet to an object, the tool body for fastening the fastener to the object, and the tool body being uniaxial. A fastening tool comprising a support member pivotally supported about a direction and a rotation imparting means for rotating the direction of the tool body with respect to the support member. 2. A fastening tool for fastening a fastener such as a screw, a nut, or a rivet to an object, the tool body for fastening the fastener to the object, and the tool body being uniaxial. A support member rotatably pivoting about a direction, a first rotation imparting means for rotating the direction of the tool body with respect to the support member, and an axis rotation of the support member in a direction different from the one axial direction. A fastening tool comprising: a second rotation imparting means for rotating the body. 3. A fastening device, wherein the fastening tool according to claim 1 or 2 is movable by a position controllable displacement means. 4. The fastening tool according to claim 1 is rotatably attached to a position controllable displacement means, the fastening tool is movable by the displacement means, and the fastening tool is moved by the displacement means. A fastening device characterized in that it is adapted to rotate in a direction different from the rotation direction of the tool body. 5. The fastening device according to claim 3, wherein the displacing means is a robot, and the fastening tool according to claim 1 or 2 is attached to an arm tip portion of the robot.