KR20130007912A

KR20130007912A - Bolt fastening apparatus

Info

Publication number: KR20130007912A
Application number: KR1020110068571A
Authority: KR
Inventors: 고강호; 김종성
Original assignee: 주식회사 엠플러스
Priority date: 2011-07-11
Filing date: 2011-07-11
Publication date: 2013-01-21

Abstract

PURPOSE: A bolt fastening device is provided to adjust an angle of a nut by moving the nut in a radial direction, thereby preventing damage to the bolt or a screw portion of the nut caused by an angle mismatch of the nut. CONSTITUTION: A first fastener of a bolt fastening device comprises a rotation driving unit(20) and a socket(60). A nut receiving unit is connected to a rotary shaft(22) of the rotation driving unit and a nut fastened to the bolt is inserted into the inside of the nut receiving unit. The socket is formed in the inner circumference of the nut receiving unit. A nut holding unit of the socket supports a portion of the outer circumference of the nut. The nut is moved by the nut holding unit in a radial direction based on a central portion. The first fastener fastens the nut to the nut of an object primarily.

Description

Bolt fastening apparatus

The present invention relates to a bolt fastener, and more particularly, to a bolt fastener configured to perform a function of adjusting the position of the bolt and nut (eccentricity and declination adjustment function) when fastening the bolt and the nut in building construction and the like. .

In general, when assembling H-Beam, which is the basis of various buildings, fastening bolts and nuts are used. Various tools including bolt fasteners for assembling H-Beams become larger and more automated. There is a situation.

On the other hand, when assembling the object such as H-beam there is a portion for fastening a plurality of bolts and nuts. That is, the bolts are inserted into a plurality of fastening holes formed in the H-beams, and the H-beams are assembled by fastening the nuts to the bolts. Of course, in addition to assembling the H-beam that is the basis for the building construction process is required to fasten a number of bolts and nuts.

In addition, in order to fasten the nut to the bolt, a bolt fastener is often used. That is, in view of building construction, etc., many methods of fastening bolts and nuts to H beams using bolt fasteners have been adopted.

However, when the bolt and the nut are fastened to each other by using a bolt fastener or the like, the center of the nut and the center of the bolt do not coincide, that is, the position of the nut with respect to the bolt is eccentric to the eccentric state or the angle is distorted. If the nut is tightened as it is, the bolt or nut is damaged due to excessive force being applied to the thread of the bolt or nut. Since the nut cannot be used by itself, it will inevitably cause considerable obstacles in workability and the like. That is, when the nut is misaligned when the bolt and the nut are fastened to a structure such as an H beam, the center of the bolt and the center of the nut do not coincide with each other, so that the nut is not properly aligned with the bolt. If you forcibly tighten the nut to the bolt in an abnormal condition, the bolt or nut thread will be broken. If the bolt or nut is damaged in this way, the nut must be loosened and removed again, and a new nut or the bolt itself must be rebuilt. In addition to the inconvenience of the time and the delay of the construction period, which results in the ultimate decrease in the overall workability.

The present invention has been proposed to solve the problems as described above, the object of the present invention is the function of fastening mutually in the state of automatically matching their relative position at the time of fastening the bolt and nut required for building construction, etc. (that is, eccentricity) And a declination automatic adjustment function) to prevent burnout of the bolt and the nut when the bolt and the nut are fastened, and to provide a bolt fastener of a new configuration that can improve workability and the like. In addition, the present invention is to be configured to fasten the nut and the washer at the same time, to provide a new bolt fastener that can be expected more excellent workability.

According to the present invention for solving the above problems, a bolt fastener configured to assemble the object by fastening the nut to the bolt coupled to the object, the rotary drive unit provided with a rotating shaft at the front end; A nut receiving part is connected to the rotary shaft of the rotary driving part and has a nut inserted therein, the nut being fastened to the bolt. An inner circumferential surface of the nut receiving part allows the nut to move in a radial direction with respect to the center of the nut. And a socket having a nut holding part for supporting a portion, wherein the bolt fastener is provided to first tighten the nut to the bolt in the object by a primary fastener including the rotation driving part and the socket. .

It may further comprise a transfer unit for advancing the rotation drive unit and the socket in the bolt direction.

The nut holding part includes a plurality of jaw-shaped support protrusions provided at predetermined intervals along the circumferential direction on the inner circumferential surface of the socket, and a support groove portion provided between the support protrusions and into which the angled corners of the nut are inserted. The width of the nut holding part in the front-rear direction is configured to be relatively smaller than the thickness of the nut in the front-rear direction. The nut holding part holds a part of the outer circumferential surface of the nut so that the nut is radiated based on the central part. Characterized in that the angle is adjusted while moving in the direction.

A magnet may be further provided to prevent detachment of the nut inserted into the socket.

The socket may be provided with a plurality of supports for supporting the outer circumferential surface of the washer inserted into the socket.

The support includes a plurality of elastic wires having a proximal end coupled to the socket and extending in the longitudinal direction of the socket, and arranged at regular intervals along the circumferential direction, and provided at the distal end of the elastic wire to be coupled to the socket. Protruding to the inner peripheral surface of the washer is characterized in that it comprises a plurality of support balls for pressing and supporting the outer peripheral surface of the elastic wire by the elastic force of the elastic wire.

The rotary shaft of the rotary drive unit is further provided with an eccentric adjustment unit that is moved relative to the radial direction relative to the longitudinal center of the bolt, the socket is connected to the rotary shaft via the eccentric adjustment unit.

The eccentric adjustment unit is slidably coupled to the base panel connected to the rotation axis of the rotation drive unit, the front panel of the base panel in the forward and backward direction in a first direction perpendicular to the radial direction relative to the longitudinal center of the bolt; A first sliding panel is slidably coupled to a front position of the first adjusting panel and operates forward and backward in a radial direction with respect to the longitudinal center of the bolt, and in a direction perpendicular to the first direction. A second adjustment panel which is operated forward and backward in a direction, first end means connected to both the first adjustment panel and the base panel, and stretched in the forward and backward direction of the first adjustment panel and the first adjustment panel. And both ends thereof are connected to the second adjusting panel and stretched in the forward and backward directions of the second adjusting panel. It may include a second elastic supporting means connected to the lock.

A first guider provided on opposite surfaces of the base panel and the first adjustment panel so as to slide relative to each other so that the first adjustment panel can slide relative to the base panel in a first direction, and the first adjustment A second panel disposed on opposite surfaces of the panel and the second adjusting panel so as to slide relative to each other so that the second adjusting panel can slide relative to the first adjusting panel in a second direction perpendicular to the first direction; The guider may further include.

It is arranged to be parallel to the primary fastener, the front end is provided with a rotation drive having a rotation shaft, and the drive is connected to the rotation shaft of the rotation drive part and the inside of the tip end accommodating the nut for inserting the nut first fastened to the bolt The nut receiving part further includes a nut plug having a nut holding part rotatably holding the nut, and the nut is connected to the bolt by a secondary fastener including the rotation driving part and the nut plug. Characterized in that the secondary fastening process to fully fasten.

And a position adjuster for adjusting an eccentricity and a declination of the secondary fastener, wherein the position adjuster is installed in an upright direction on a base and connected to the secondary fastener, thereby connecting the secondary fastener to the base. And a plurality of rubber mounts for guiding the relative flow.

The base may further include a plurality of stoppers for preventing excessive deformation of the rubber mount.

According to the bolt fastener according to the present invention as described above, since the nut holding portion provided inside the socket of the primary fastener, which is the main part, holds the part of the outer circumferential surface of the nut, the nut can be adjusted while moving in the radial direction with respect to the center. When the nut is fastened to the bolt, the angle of the nut is distorted at the rotational center of the bolt, thereby preventing the bolt or the threaded portion of the nut from being burned out due to the angle mismatch of the nut. Strictly speaking, the nut is not twisted but is invented so that the nut moves according to the deflection angle of the bolt when the bolt inserted in the H beam is twisted. Since the bolt fastener of the present invention is mounted on the robot and the robot is always in a posture, the position of the bolt fastener and the nut fitted to the bolt fastener always maintains a constant defibrillation force. That is, the present invention can correct the declination state between the bolt and the nut so that the nut can be fastened to the bolt in the correct position, it is possible to prevent their damage caused when the nut and the bolt is fastened.

According to the present invention, the center of rotation of the nut inserted into the socket of the primary fastener is moved by moving the first adjustment panel and the second adjustment panel constituting the eccentric adjustment unit, which are main parts, in the first and second directions perpendicular to each other. Since the center of rotation of the nut and the center of rotation of the nut do not coincide (i.e. eccentricity), the bolt or nut is prevented from being burned out. You can get it.

In other words, the present invention performs the nut as well as the eccentric adjustment of the nut by the socket and the eccentric adjustment, which is the main part so that the nut is fastened at the correct position without the position of the bolt, and when the nut is coupled By preventing the burnout, it is possible to prevent the need to loosen and remove the nut again due to the bolt or nut breakage, and to refit the new nut or to rebuild the bolt itself. Delays can be avoided, which can ultimately have a beneficial effect of significantly increasing overall workability.

In addition, according to the present invention, the magnet is provided at the rear of the socket of the primary fastener, and the nut inserted into the socket of the primary fastener is held by the magnetic force of the magnet. Therefore, it is possible to prevent a decrease in workability due to the nut is separated from the socket.

In addition, since the washer inserted into the socket of the primary fastener is also held in the socket firmly by the support provided in the socket, it is possible to more reliably prevent a phenomenon such as poor workability that may be caused by the washer coming out of the socket during operation. The effect of preventing can be achieved.

1 is a perspective view of a bolt fastener according to the present invention
Figure 2 is a perspective view showing an exploded state of the primary fastener which is the main part of the present invention
3 is an exploded perspective view showing an enlarged main part shown in FIG.
Figure 4a is a side cross-sectional view showing the internal structure of the socket, which is another main part of the present invention
Figure 4b is a side cross-sectional view showing a state in which the nut and washer coupled to the socket of Figure 4a
FIG. 5 is a perspective view schematically illustrating a state in which a washer is supported by the washer support shown in FIG. 3; FIG.
6 is a front view showing a state in which the nut is inserted into the socket constituting the primary fastener shown in FIG.
7 is a front view showing the configuration of the present invention
8 is a side view of the A direction of FIG.
9 is a side view of the B direction in FIG.
10 is an exploded perspective view showing main parts of the secondary fastener of the present invention;
FIG. 11 is an enlarged perspective view of a main part of the secondary fastener shown in FIG. 10; FIG.
Figure 12 is a side view showing a secondary fastener of the present invention
13 is a perspective view conceptually showing the configuration of the position adjuster for adjusting the eccentricity and the declination of the secondary fastener shown in FIG.
14 is a side view of FIG.
15 is a plan view of an essential part of FIG.
FIG. 16 is a perspective view showing a bottom of a main part of FIG. 13; FIG.
Figure 17 is a perspective view of a rotation housing constituting the secondary fastener of the present invention
18 is a front view showing a coupling state of the satellite gear and the rotation housing shown in FIG.
19 to 23 are perspective views showing a process of fastening the nut and the washer to the bolt by the bolt fastener of the present invention

Hereinafter, with reference to the accompanying drawings will be described in detail a bolt fastener according to a preferred embodiment of the present invention.

Referring to the drawings, the bolt fastener of the present invention in the bolt fastener configured to assemble the object by fastening the nut (2) to the bolt (1) coupled to the object, the nut 2 to the bolt (1) 1 A primary fastener for fastening (pre-fastening) by car and a secondary fastener for fastening (completely fastening) the nut 2 to the bolt 1 are provided. Here, the object means a structure such as H-Beam (H-Beam) that is assembled at the time of construction of the building, it should be understood to mean all the structures using the bolt (1).

In the present invention, the primary fastener and the secondary fastener are supported by a panel-shaped base and are installed side by side, and the entire base is horizontally right and left at a place (place) where the bolt 1 is driven by a transfer unit not shown. The tip end portions of the primary fastener and the secondary fastener can be transferred to the positions facing the bolts 1, respectively, by being transferred in the direction.

In more detail, the base is arranged side by side through the transfer guide means such as the guide rail in the lower base upper position, the upper base can be slide-operated in the front-rear direction with respect to the lower base. That is, the upper base is advanced in the direction toward the bolt 1 at the location where the bolt 1 is installed and back in the opposite direction to the bolt 1. Of course, the transfer operation unit for operating the upper base back and forth, although not shown in the figure may use a known device such as a cylinder. That is, by operating the upper base back and forth using a cylinder or the like, the primary fastener and the secondary fastener mounted on the upper base can be advanced back and forth in the direction of the bolt (1). In reality, the cylinder is installed between the LM guides at the bottom. Some are shown in FIG. 19.

In addition, although the lower base is also not shown in the drawing, the main transport frame is mounted on the main transport frame via a known transport guide member such as a guide rail, and the main transport frame also adopts a known device such as a cylinder. The lower base and the upper base provided on the transfer frame, and the primary fastener and the secondary fastener can be moved in the left and right directions at the location where the bolt 1 is installed. That is, by forwarding the main conveying frame left and right by using a cylinder or the like, the front end portions of the primary fasteners and the secondary fasteners mounted on the base may be transported to the position facing the bolts 1.

Meanwhile, the primary fastener and the secondary fastener may be mounted on a three-axis robot provided in a hexahedral cabin to transfer the primary fastener and the secondary fastener to an appropriate position based on the bolt 1. . In this case, the three-axis robot can be regarded as the transfer operation unit of the primary fastener and the secondary fastener. Of course, the cabin and the three-axis robot will also be understood as a kind of transfer operation unit.

Referring to the structure of the primary fastener which is the main part in the present invention, the primary fastener is largely connected to the rotary drive unit 20 provided with the rotary shaft 22 at the tip end, and the rotary shaft 22 of the rotary drive unit 20. A nut accommodating part is provided inside the nut 2 for fastening to the bolt 1, and an inner circumferential surface of the nut accommodating part has a part of the outer circumferential surface of the nut 2 so that the nut 2 can move in a radial direction with respect to the center thereof. It has a structure provided with a socket 60 having a nut holding portion (60JP) for supporting the. That is, the present invention is a bolt fastener having a primary fastener having the rotary drive unit 20 and the socket 60 as a main configuration, the primary fastener including the rotary drive unit 20 and the socket 60. The first tightening of the nut 2 to the bolt 1 in the object (that is, pre-tightening operation of the nut 2) is performed.

The rotation drive unit 20 is coupled to a support bracket coupled back and forth through the guide rail on the upper frame of the base, so that the rotation drive unit 20 mounted on the support bracket is bolted by driving the transfer operation unit. 1) It can move forward or backward. In this case, the rotary drive unit 20 may be a drive motor provided with the rotary shaft 22 at the tip end, a cylinder for rotating the rotary shaft 22 at the tip end by supply of hydraulic pressure, or the like.

The rotation shaft 22 of the rotation drive unit 20 is provided with an eccentric adjustment unit which is relatively moved in the radial direction with respect to the central portion in the longitudinal direction of the bolt 1 for fastening the nut 2.

The eccentric adjustment unit is slidably coupled to the base panel 30 connected to the rotation shaft 22 of the rotation driving unit 20 and the front position of the base panel 30 and radiates based on the longitudinal center of the bolt 1. And a first adjustment panel 40 operating forward and backward in a first direction orthogonal to the direction, and slidably coupled to a front position of the first adjustment panel 40 and radiating with respect to the longitudinal center of the bolt 1. Both ends of the second adjustment panel 50 and the first adjustment panel 40 and the base panel 30 which are operated forward and backward in the direction and operated forward and backward in the second direction in a direction perpendicular to the first direction. Is connected to both ends of the first holding means and the first adjusting means 40 and the first adjusting panel 40 and the second adjusting panel 50 which are stretched in the forward and backward directions of the first adjusting panel 40, and the second adjusting panel. Telescopic in 50 forward and backward directions And second gripping means connected to each other.

The base panel 30 is formed in a substantially square plate shape, the holder is provided on the back of the base panel 30, the holder is formed in the center of the polygonal hole (square hole in the present invention), the polygonal hole of the halter The base panel 30 has a structure in which the base panel 30 is connected to the rotation shaft 22 of the rotation drive unit 20 by being fitted to the cross-sectional polygonal coupling portion provided at the front end of the rotation shaft 22 of the rotation drive unit 20. 1 to 3, the front of the base panel 30 is provided with two guider bars 31 extending side by side in a substantially up and down direction, and the longitudinal direction is provided on the top and bottom sides of the base panel 30. Two stopping jaws 37 extending side by side are provided side by side. The guider bar 31 is fixed to the base panel 30 by fasteners such as bolts 1, and the stopper jaw 37 is fastened to the upper and lower sides of the base panel 30 through the connecting piece. It is fixed to the upper and lower surfaces of the base panel 30 via the. In addition, both sides of the base panel 30 are provided with a base upper pin 35H and a base lower pin 35LO having different heights up and down. 3 and 7, the base upper pin 35H is provided at an upper side of one side (right side) of the base panel 30, and the base lower pin 35LO is shown in FIG. 7 as the base panel ( 30) is provided in the lower position on the other side (left side). The base upper pin 35H and the base lower pin 35LO have a coupling hole orthogonal to the axial direction (which may be referred to as a coupling hole for fitting an end of the spring to be described later).

The first adjustment panel 40 is slidably arranged at the front position of the base panel 30. Like the base panel 30, the first adjustment panel 40 is formed in a substantially rectangular plate shape. Two guider bars 41r extending side by side in the vertical direction are provided. At this time, the two guider bars 41r provided on the rear surface of the first adjustment panel 40 and the two guider bars 41r of the base panel 30 are disposed to face one side. The guider bar 41r is also fixed by fasteners such as bolts 1 and the like fastened to the first adjustment panel 40.

Accordingly, the guider bar 31 of the base panel 30 and the guider bar 41r on the rear surface of the first adjustment panel 40 are slid relative to each other in a state where one side thereof faces each other so that the first adjustment panel with respect to the base panel 30 is provided. 40 is able to exercise relative. FIG. 8 is a side view of the portion indicated by A in FIG. 7. In FIG. 8, the guider bar 31 of the base panel 30 and the guider bar 41r of the first adjustment panel 40 face each other in a state where one side thereof faces each other. As it slides, it shows that the first adjustment panel 40 can move relative to the base panel 30. FIG. 8 shows that the first adjustment panel 40 can be lifted relative to the base panel 30 in the vertical axis direction (X axis direction, the direction inclined with respect to the X axis direction based on FIG. 7). 7 and 8 show that the first adjustment panel 40 is relatively lifted in the H-H 'line direction.

The guider bar 31 of the base panel 30 and the guider bar 41r of the first adjustment panel 40 allow the first adjustment panel 40 to slide relative to the base panel 30 in the first direction. It acts as a first guider. Here, the first direction may be referred to as the H-H 'line direction illustrated in FIG. 7.

In addition, four groups of side surfaces of the first adjustment panel 40 are provided with a first upper pin 45H, a first lower pin 45LO, a first right pin 45R, and a first left pin 45L. . The upper and lower heights of the first upper pin 45H and the first lower pin 45LO are arranged differently. 3 and 7, the first lower pin 45LO is disposed at a lower side of one side (right side) of the first adjustment panel 40, and the first upper pin 45H is disposed in FIGS. 3 and 7. As shown in the drawing, the first adjusting panel 40 is provided at an upper side of the other side (left side). The left and right positions of the first right pin 45R and the first left pin 45L are different from each other. 3 and 7, the first right pin 45R is disposed at a position biased to the right side of the lower surface of the first adjustment panel 40, and the first right pin 45R is disposed at the first adjustment panel ( The first left pin 45L of 40 is disposed at a position biased to the left side of the upper surface of the first adjustment panel 40. The first upper pin 45H, the first lower pin 45LO, the first right pin 45R, and the first left pin 45L also have a coupling hole orthogonal to the axial direction (the end of the spring to be described later is fitted). It can be referred to as a coupling hole for) is formed.

In addition, a hole penetrating from the front surface to the rear surface is formed in the center portion of the first adjustment panel 40, and the front direction of the first adjustment panel 40 is horizontal in the vertical direction as shown in FIGS. 3 and 8. A pair of upper guider bar 41 and lower guider bar 41 are provided. The upper guider bar 41 and the lower guider bar 41 are also fixed by fasteners such as bolts 1 and the like fastened to the front surface of the first adjustment panel 40.

The 2nd adjustment panel 50 is slidably arrange | positioned in the front position of the said 1st adjustment panel 40. FIG. Similarly to the first adjustment panel 40, the second adjustment panel 50 is formed in a substantially rectangular plate shape, and a hole penetrating from the front surface to the rear surface is formed in the center portion of the second adjustment panel 50. In addition, two upper and lower side guider bars 51 extending side by side in the substantially horizontal direction are disposed at the upper and lower positions of the rear surface of the second adjustment panel 50, that is, the surface facing the front surface of the first adjustment panel 40. It is provided. The upper and lower side guider bars 51 are also fixed by fasteners such as bolts 1 and the like fastened to the rear surface of the second adjustment panel. At this time, the two upper and lower side guider bars 51 provided on the rear surface of the second adjustment panel 50 and the two upper and lower side guider bars 41 provided on the front surface of the first adjustment panel 40 are each one side surface. It is arranged to face.

Therefore, the guider bar 51 of the second adjustment panel 50 and the guider bar 41 on the front surface of the first adjustment panel 40 are relatively slid in a state in which one side faces each other, so that the guider bar 51 of the second adjustment panel 50 is relative to the first adjustment panel 40. The second adjustment panel 50 can perform relative movement. FIG. 9 is a side view of the portion labeled B in FIG. 7. Referring to FIG. 9, the guider bar 51 of the second adjustment panel 50 and the guider bar 41 of the first adjustment panel 40 are one side. Since the relative slide in the state facing each other, the second adjustment panel 50 can be relative to the first adjustment panel 40. In FIG. 9, the second adjustment panel 50 may be lifted relative to the first adjustment panel 40 in the left and right directions (Y-axis direction, the direction inclined up and down with respect to the Y-axis direction based on FIG. 7). Shows that there is. 7 and 9, the second adjustment panel 50 is shown to move relative to the L-L 'line direction.

The guider bar 41 of the first adjusting panel 40 and the guider bar 51 on the front surface of the second adjusting panel 50 may move the second adjusting panel 50 with respect to the first adjusting panel 40 in the second direction. It is to function as a second guider to slide relative to. Here, the second direction may be referred to as the L-L 'line direction shown in FIG. 7.

As a result, the first adjustment panel 40 is operated up and down in the first direction, that is, in the approximately Y axis direction (the direction slightly inclined with respect to the Y axis direction with reference to FIG. 7), and the second adjustment panel 50 is operated. Is operated back and forth in the second direction, that is, approximately in the X-axis direction (the direction slightly tilted up and down with respect to the X-axis direction with reference to FIG. 7). In FIG. 8, the first adjusting panel 40 is relatively lifted relative to the base panel 30. In FIG. 9, the second adjusting panel 50 is relatively relative to the first adjusting panel 40. Sliding left and right is conceptually shown.

Therefore, the 1st adjustment panel 40 and the 2nd adjustment panel 50 are comprised so that it can move to a 1st direction and a 2nd direction, and the socket 60 of the front surface of the 2nd adjustment panel 50 (described later) It is possible to perform a function (care function) to adjust the center of the nut 2 inserted therein to the center of the bolt 1 to be fastened.

In addition, both ends of the first adjustment panel 40 and the base panel 30 are connected to the first control panel 40, and the first fingering means connected to expand and contract in the forward and backward directions of the first adjustment panel 40. The first gripping means includes a spring 90RS having both ends connected to the base panel 30 and the first adjustment panel 40 at one side of the base panel 30 and the first adjustment panel 40, and the base panel. Both ends of the 30 and the first adjustment panel 40 are composed of different springs 90LS connected to the base panel 30 and the first adjustment panel 40, respectively.

As described above, one end of one spring 90RS is fitted into the coupling hole of the base upper pin 35H provided on one side of the base panel 30, and the first adjustment of the front position of the base panel 30 is performed. One spring 90RS is adjusted with the base panel 30 by fitting the other end of the spring 90RS into the coupling hole of the first lower pin 45LO provided at one lower side of the panel 40. It may be arranged at one side position of the panel 40. 1, the one spring 90RS is shown.

In addition, one end of the other spring 90LS is inserted into and engaged with the coupling hole of the base lower pin 35LO provided on the other side of the base panel 30, and the first adjustment panel at the front position of the base panel 30 ( The other spring 90LS is connected to the base panel 30 and the first by inserting the other end of the other spring 90LS into the coupling hole of the first upper pin 45H provided at the upper side of the other side. It may be arranged at the other side position of the adjustment panel 40. 7 and 8, the other spring 90LS is shown.

The two right springs 90RS and the left springs 90LS provided at both side positions of the base panel 30 and the first adjustment panel 40 are arranged to cross each other in an X shape when viewed from the side. The two left springs 90LS and the right spring 92RS exert elastic restoring force in a state in which the first adjustment panel 40 is relatively moved in the first direction (about Y axis direction) with respect to the base panel 30. To return the first adjustment panel 40 to its original position.

In addition, the present invention comprises a second gripping means connected to both ends of the first adjustment panel 40 and the second adjustment panel 50 and stretched in the forward and backward directions of the second adjustment panel 50. . The second gripping means may include a pair of upper springs 90HS and lower springs 90LOS provided at upper and lower positions of the first and second adjustment panels 40 and 50, respectively.

One end of the upper spring 90HS is fitted into the coupling hole of the first left pin 45L provided at the upper right side of the first adjustment panel 40, and the front adjustment position of the first adjustment panel 40 is fitted. First adjustment of the upper side spring (90HS) by inserting the other end of the upper side spring (90HS) into the coupling hole of the second left pin (55L) provided in the upper left side position of the second adjustment panel (50) The panel 40 and the second adjustment panel 50 may be arranged at a position on the upper side. 1, the upper side spring 90HS is shown.

In addition, one end of the lower spring 90LOS is fitted into the coupling hole of the first left pin 45L provided at the lower left position of the first adjustment panel 40, and the front adjustment position of the first adjustment panel 40 is fitted. The lower side spring 90LOS by fitting the other end of the lower side spring 90LOS to the engaging hole of the second right pin 55R provided at the lower right position of the second adjustment panel 50 of the first adjustment panel 50. The lower side of the 40 and the second adjustment panel 50 can be arranged. The lower side spring 90LOS is shown in FIG.

The two right springs 90RS and the left springs 90LS provided at the upper and lower side positions of the first adjustment panel 40 and the second adjustment panel 50 cross each other in an X-shape when viewed from the top. These two upper side springs 90HS and the lower side springs 90LOS have a relative movement in the second direction (approximately the X-axis direction) of the second adjusting panel 50 relative to the first adjusting panel 40. In this state, the elastic restoring force is applied to return the first adjustment panel 40 to its original position.

In addition, the front surface of the second adjustment panel 50 is provided with a plurality of magnet coupling grooves around the hole in the center portion, the magnet coupling groove has a structure in which the magnet (50M) is seated. The magnet 50M acts as a magnetic force in a state in which the nut 2 is inserted into the socket 60 provided on the front surface of the second adjustment panel 50 to prevent the nut 2 from falling out.

The socket 60 is configured in the form of a single-ended circular pipe having a flange portion at the proximal end, and the flange portion of the socket 60 is fixed to the front surface of the second adjustment panel 50 by fasteners such as bolts 1 and the like. . The inner nut receiving portion of the socket 60 has a socket 60 fixed to the front of the second adjustment panel 50 so as to meet the hole in the center of the second adjustment panel 50 and the hole in the center of the first adjustment panel 40. 60 has a structure connected to the rotation shaft 22 of the rotation drive unit 20 via the eccentric adjustment unit.

In addition, the inside of the socket 60 is provided with a nut receiving portion into which the nut 2 for fastening to the bolt 1 is inserted, and on the inner circumferential surface of the nut receiving portion, the nut 2 can move in a radial direction with respect to the center. A nut holding part 60JP is provided to support a part of the outer circumferential surface of the nut 2. At this time, the nut holding portion (60JP) is a plurality of jaw-shaped support protrusions provided at regular intervals along the circumferential direction on the inner circumferential surface of the socket (60), and are provided between the support protrusions and the angle of the nut (2) It includes a support groove that is inserted into the corner portion. In addition, the width of the nut holding portion 60JP in the front-rear direction is configured to be smaller than the thickness of the nut 2 in the front-rear direction, and a portion of the outer circumferential surface of the nut 2 is formed by the nut holding portion 60JP in the socket 60. By holding, the nut 2 can be angled while moving in the radial direction with respect to the center part.

Figure 4a is a side cross-sectional view showing a nut holding portion (60JP) inside the socket 60, Figure 4b is a nut (2) and washer (3) is introduced into the socket 60, the nut (2) socket 60 In FIG. 4B, the nut holding portion 60JP of the socket 60 does not hold the entire outer circumferential surface of the nut 2. Since the part of the outer circumferential surface of 2) is held, the nut 2 can move in the radial direction with respect to the center such as the arrow A direction (upward direction) and A 'direction (lower direction) and the left and right directions. While the (2) is held in the nut holding portion (60JP) of the socket 60, while moving in the radial direction with respect to the center, the angle of the nut (2) can be adjusted to an angle that can be accurately fastened to the bolt (1) It becomes possible. Even if the width of the nut holding portion (60JP) provided in the socket 60 is small, it does not matter in terms of strength, because the first fastening is pre-fastening, so a large fastening force is not necessary.

On the other hand, the socket 60 may be provided with a plurality of supports 80 for supporting the outer peripheral surface of the washer (3) introduced into the. In the present invention, the support 80 has a plurality of elastic wires 82, the proximal end of which is coupled to the socket 60 and installed in the longitudinal direction of the socket 60, and arranged at regular intervals along the circumferential direction, such elasticity A plurality of support balls provided at the distal end of the wire 82 and coupled to the socket 60 and protruding to the inner circumferential surface of the socket 60 to press and support the outer circumferential surface of the washer 3 by the elastic force of the elastic wire 82 ( 84). In the present invention, the support ball 84 is provided in three circumferential portions of the socket 60, by pressing the outer peripheral surface of the washer (3) inserted into the socket 60 at three points to support it.

In addition, the present invention includes a secondary fastener for fastening the nut 2 to the bolt 1 in order to fully tighten the nut 2.

Since the secondary fastening is the main body fastening, very large torque is required. Since torque is also a kind of force, an action force and a reaction force are generated, and the same torque as the fastening torque is transmitted to the arm of the robot, which may damage the robot. Therefore, it is essential to remove the torque generated when the nut (2) is fastened, the use of the satellite gear can offset the tightening torque from the inside, using this principle, the satellite gear box portion of the commercially available tools in this equipment ( 11) is utilized. In addition, the driving units 20 and 70 for turning the primary fastener and the secondary fastener can also use a conventional product. For example, a product using pneumatic pressure can be employed as a torque generator called a nut runner.

Secondary fasteners, like primary fasteners, require eccentricity and declination. However, since the secondary fastener requires very large torque unlike the primary fastener, since the eccentricity and the angular accommodating function cannot be applied to the secondary fastener itself, the secondary fastener is installed under the secondary fastener. In the present invention, the eccentricity and the declination adjustment function of the secondary fastener are performed by the position adjuster 210. The position adjuster 210 includes four rubber mounts as shown in FIGS. 13 to 16. ) 212 is used to accommodate eccentricity and declination. In addition, four stoppers 214 are mounted at each corner of the base 10 to prevent the rubber mount 212 from being severely deformed. In the present invention, the base 10 includes a lower base 12, an upper base 14, and an adjusting base 17. In the case of the present invention employing the rubber mount 212, the eccentric capacity of the up and down direction is ± 3mm and the declination angle is determined by the relative deformation amount of each rubber mount 212. The position of the rubber mount 212 is disposed in consideration of the center of gravity so that the secondary fastener can be horizontal.

13 to 16, the lower periphery of the rubber mount 212 has a structure to be inserted into the hole 14h formed in the upper base 14, and the hole of the upper base 14 is provided. The diameter of the lower periphery of the rubber mount 212 is made relatively small compared with the diameter (14h). In addition, the upper end of the rubber mount 212, the integral flange portion 214a is a fastener such as a bolt to the bottom of the adjustment base 17 (part where the secondary fastener is directly mounted via the bracket 17B). It is fixed by mediation. At this time, the rubber mounts 212 are arranged in four front, rear, left and right as described above. That is, the upper end of the rubber mount 212 is fixed to the bottom of the adjustment base 17 on which the secondary fastener is mounted, and the lower end side of the rubber mount 212 is coupled to the hole 14h of the upper base 14 so as to be relatively movable. Structure.

Therefore, since the rubber mount 212 can flow relative to the front, rear, left, and right directions up and down with respect to the upper base 14, the upper base 14 is attached to the upper base 14 via the adjustment base 17 and the bracket 17B. Secondary fasteners can be moved relative to all required directions (front, rear, up and down positions, etc.), so that the nut 2 connected to the nut plug 80 of the secondary fastener is positioned relative to the bolt 1 By adjusting the eccentricity and declination can be adjusted.

On the other hand, the lower base of the rubber mount 212 is accommodated in the upper base 14 is coupled to the lower end of the stopper 214 is arranged upright, this stopper 214 is coupled to the stopper penetrated to the upper and lower surfaces of the adjustment base 17 It is coupled to the ball 17h, the upper end of the stopper 214 is provided with a stopper head 214a. At this time, the diameter of the stopper 214 is made relatively smaller than the diameter of the stopper coupling hole 17h of the adjustment base 17, so that the adjustment base 17 relative to the stopper 214 in all directions relative to the eccentricity And while helping to adjust the declination, the rubber mount (212) is to prevent the function from being excessively deformed. And, the stopper head 214a at the upper end of the stopper 214 is disposed on the upper side of the adjustment base 17, the size of the stopper head 214a is relative to the diameter of the stopper coupling hole 17h of the adjustment base 17. As it is made large, the adjustment base 17 is to hold the upper base 14 without being separated.

Therefore, the present invention can secure the eccentricity and angular accommodating function in the secondary fastener as well as the primary fastener, so that the fastening operation can be performed by precisely adjusting the position of the nut 2 and the bolt 1, thereby improving workability. Preferable results, such as these, can be acquired. For example, the position adjuster 210, which functions to control the eccentricity and the angle of inclination of the secondary fastener, may also be said to be one of the key components of the present invention.

The secondary fastener is arranged in parallel with the primary fastener, and the driving part is operatively connected to the rotary driving part 70 having the rotary shaft 22 at the distal end and the rotary shaft 72 of the rotary driving part 70. Nut plug having a nut receiving part for inserting the nut 2 fastened primarily to the bolt 1 to be fastened, and a nut holding part 80JP having a nut holding part rotatably holding the nut 2 in the nut receiving part. 80 may be configured to be included.

In addition, the nut plug 80 is connected to the rotary shaft 72 of the rotary drive unit 70 also provided in the secondary fastener, the first gear unit 100, the second gear unit 110. ), A third gear unit 120 and a rotation housing 180 meshed with the first gear unit 100, the second gear unit 110, and the third gear unit 120.

The first gear unit 100 has a structure in which a plurality of satellite gears 107 engaged with a gear part provided at a circumference of a rotation shaft 72 of the rotation driving unit 70 are disposed in a radial direction. The plurality of satellite gears 107 are rotatably coupled to the inside of the first gear drum and disposed in a radial direction with respect to the center, and the satellite gear 107 of the first gear unit 100 is the rotation driving unit 70. It is engaged with the drive gear 74 connected to the rotating shaft 72 of the.

At this time, the auxiliary shaft 71SR of the longitudinal direction passing through the center of the drive gear 74 in which the first gear unit 100 is engaged is slipably connected to the rotation shaft 72 of the rotation drive unit 70. In addition, a driving gear 100G through which the auxiliary shaft 71SR passes is provided on the front surface of the first gear drum of the first gear unit 100.

The second gear unit 110 has a structure in which a plurality of satellite gears 117 are disposed in the radial direction with respect to the center of the second gear drum, and is disposed at a front position of the first gear unit 100. The drive gear 110G provided on the front surface of the second gear drum is also slipably coupled to the auxiliary shaft 71SR.

A third gear unit 120 having a structure in which a plurality of satellite gears 127 are disposed in the radial direction with respect to the center of the third gear drum is disposed at the front position of the second gear unit 110. Each satellite gear 127 of the third gear unit 120 is rotatably mounted inside the third gear drum by the shaft member, the front end of the shaft member of each satellite gear 127 is exposed to the front of the third gear drum. It is. In addition, the driving gear 110G provided on the front surface of the second gear drum of the second gear unit 110 is engaged with the satellite gear 127 disposed in the radial direction of the third gear unit 120.

The first gear unit 100, the second gear unit 110, and the third gear unit 120 are covered by the rotation housing 180. That is, the rotation housing 180 surrounds the first to third gear units 100, 110, and 120. Each of the satellite gears 107, 117, and 127 of the first to third gear units 100, 110, and 120 is respectively formed on the inner circumferential surface of the rotation housing 180. The gear part 182 which engages is provided. See FIG. 13.

Therefore, as the rotation shaft 72 of the rotation drive unit 70 rotates, the respective satellite gears 107, 117, 127 of the first to third gear units 100, 110, 120 transmit rotational force to the rotation housing 180 while the rotation direction is reversed. The rotation housing 180 may be rotated in the same direction as the rotation shaft 72 of the rotation driver 70. At this time, the rotation housing 180 is provided with a plurality of engaging jaw 185 at regular intervals along the circumferential direction.

An outer power transmission housing 146 is provided at the front position of the third gear drum, and a plurality of locking pieces 146b provided at the proximal end of the outer power transmission housing 146 are engaged with the engaging jaw of the rotation housing 180. 185 is engaged in such a manner that the drum can rotate with the outer power transmission housing 146 together with the rotation housing 180. In addition, a front end portion of the outer power transmission housing 146 is provided with a plurality of front protrusion pieces 146a along the circumferential direction.

An inner power transmission housing 142 is provided inside the outer power transmission housing 146. The inner circumferential surface of the inner power transmission housing 142 is provided with supporting protrusions at regular intervals along the circumferential direction, and the protruding end 142a is provided at the proximal end of the inner power transmission housing 142, such an inner power transmission housing 142. Since the shaft member front end portions of the respective satellite gears 127 of the third gear unit 120 are caught by the locking protrusion 142a of the third gear unit 120, the inner power transmission housing 142 rotates when the third gear unit 120 rotates. can do.

An auxiliary plug 140 is disposed inside the inner power transmission housing 142, and an outer circumferential surface of the auxiliary plug 140 is provided with a locking protrusion in the circumferential direction, such a locking protrusion being a support protrusion on the inner circumferential surface of the inner power transmission housing 142. As it fits in, the auxiliary plug 140 can be rotated together with the inner power transmission housing 142.

A nut plug 80 is provided at a front position of the inner power transmission housing 142. A nut holding portion 80JP having a toothed structure is provided on the front inner circumferential surface of the nut plug 80, and the nut holding portion 80JP has a angular portion of the nut 2 engaged in the nut plug 80. As it is introduced, the nut 2 can be rotated together with the nut plug 80.

In addition, a plurality of engaging grooves 80a are formed on the outer circumferential surface of the nut plug 80, and thus the front protrusion piece 146a of the drum of the outer power transmission housing 146 is hooked to the engaging groove 80a. When the rotation housing 180 is rotated, the nut plug 80 is rotated by the rotational force of the outer power transmission housing 146, and the nut 2 inside the nut plug 80 may also be rotated.

In addition, the auxiliary shaft 71SR whose proximal end is slidably connected to the rotary shaft 72 of the rotary drive unit 70 passes through the central portions of the first to third gear units 100, 110 and 120, and the front end of the auxiliary shaft 71SR is assisted. Protrudes through the plug 140 to the inside of the auxiliary plug 140, the auxiliary shaft (71SR) is provided with a support jaw (71a) in the circumference of the rear position of the auxiliary plug 140, this auxiliary shaft (71SR) The inner spring 170 is coaxially arranged at the same time, and both ends of the inner spring 170 are in contact with the support jaw 71a of the auxiliary shaft 71SR and the front surface of the second gear unit 110, respectively. Therefore, the first gear unit 100 and the second gear unit 110 is in a state in which the inner spring 170 can be rotated in close contact with each other.

In addition, a relatively large outer spring 160 disposed between the rear end of the auxiliary plug 140 and the front surface of the third gear drum is coaxially coupled to the auxiliary shaft 71SR. Therefore, the third gear unit 120 and the second gear unit 110 is in a state that can be rotated in close contact with each other by the elastic force of the outer spring 160. Then, when the nut 2 is completely fastened to the bolt 1 by the secondary fastener and the nut 2 no longer rotates, torque in which the rotational force acts in the opposite direction to the direction of rotation of the nut 2 is reversed. When the torque is applied, the first to third gear units 100, 110, and 120, which are in close contact with each other by the force of the inner spring 170 and the outer spring 160, are mutually slipped by the reverse torque, The load can be prevented from hooking up to the secondary fasteners.

The bolt fastener of the present invention having such a configuration is to use a bolt fastening robot to automate the construction of high-rise buildings in the construction, rather than being held directly by people, the present invention as an end effector (end-effecter) of such a robot This is used. The robot has three degrees of freedom, and moves to the position of the bolt through left and right movement, front and rear movement, and Shanghai movement to fasten the nut by using the bolt fastener of the present invention, which depends on the end of the robot. At this time, although the bolt fastening robot is used for construction magnetization, it will be understood that the bolt fastener of the present invention can be put into field work using other suitable transfer devices according to field conditions.

The process of fastening the bolt 1 and the nut 2 by using the present invention of the above configuration will be described.

First, as shown in FIG. 19, the socket 60 provided at the front end of the primary fastener is transferred to a position facing the bolt 1.

Next, as shown in FIG. 20, the rotating shaft 22 of the rotation driving unit 20 is rotated by fitting the washer 3 and the nut 2 fitted in the socket 60 of the primary fastener to the bolt 1. The nut 2 is fastened to the bolt 1 while advancing the primary fastener. The primary fastener pre-tightens the nut 2 to the bolt 1.

Then, as shown in FIG. 21, the socket 60 of the primary fastener is retracted from the bolt 1, and then the nut plug 80 part of the secondary fastener is transferred to the bolt 1 part.

Next, as shown in FIG. 22, the nut plug 80 of the secondary fastener is coupled to the nut 2 fastened to the bolt 1, and the nut plug is rotated by the rotation shaft 72 of the rotation drive unit 70. The nut (2) is completely tightened to the bolt (1) by rotating the 80, and as shown in FIG. 23, the secondary fastener is reversed to remove the nut plug (80) from the nut (2). Complete the work of tightening the nut (1) and (2).

At this time, the main socket 60 in the present invention is provided with a nut holding portion (60JP) for supporting a portion of the outer circumferential surface of the nut 2 so that the nut 2 can move in the radial direction with respect to the center. As shown in 4b, the nut holding portion 60JP inside the socket 60 has a width in the front-rear direction relatively smaller than the thickness in the front-rear direction of the nut 2, so that a part of the outer circumferential surface of the nut 2 60 The holding of the nut holding portion 60JP inside allows the nut 2 to be angularly adjusted while moving in the radial direction with respect to the center, so that when the nut 2 is fastened to the bolt 1, the nut 2 ) Is prevented from burning out due to the angle mismatch between the bolt 1 or the nut 2 due to the angle of rotation of the bolt (1) at the center of rotation of the bolt (1).

In addition, the first adjustment panel 40 and the second adjustment panel 50 constituting the eccentric adjustment unit are inserted into the socket 60 of the primary fastener while being relatively moved in the first and second directions perpendicular to each other. Since the center of rotation of the nut 2 can be precisely aligned with the center of the bolt 1 without being eccentric at the center of the bolt 1, the state of rotation of the nut 2 and the center of rotation of the bolt 1 do not coincide. In addition, it is possible to obtain an effect of preventing the burnt out of the bolt (1) or nut (2) by tightening the nut (2). For example, since the first adjustment panel 40 and the second adjustment panel 50 of the eccentric adjustment unit relative to the radial direction relative to the longitudinal center of the bolt 1 performs a careful function of adjusting the eccentric state, Since the nut 2 is fastened in the correct position with the bolt 1, the bolt 1 and the nut 2 may be prevented from being burned out when the bolt 1 and the nut 2 are coupled to each other.

As a result, the present invention performs the eccentric adjustment as well as the angular adjustment of the nut 2 by the socket 60 and the eccentric adjustment unit, which are main parts, so that the nut 2 is fastened at the correct position without being displaced to the bolt 1. By preventing the nut (2) or the bolt (1) from being burned when the nut (2) is engaged, when the bolt (1) or the nut (2) is damaged, the nut (2) is loosened again and removed, and the nut (2) is newly removed. In order to prevent the need for re-installation by replacing the bolts or the bolts 1 themselves, thereby preventing inconvenience caused in the field construction and preventing delays in the construction period, thereby ultimately increasing the overall constructability considerably. It will have a beneficial effect. For reference, the eccentric eccentricity capacity of the primary fastener is ± 3 mm eccentricity, ± 3 ° eccentricity, this eccentric range and eccentric angle range can be increased or decreased according to the needs of the field conditions, such as 1 It is natural that the configuration of the car fastener can be appropriately modified.

In addition, the distal end portion of the socket 60 of the primary fastener is provided with a tooth portion 60T, and the tooth portion of the socket 60 is provided in the tooth portion provided in the nut 2 supply port included in the nut 2 feed feeder or the like. (60T) is coupled in the engaged state, thereby allowing the nut (2) to be put in a state in which the angle of the socket 60 is adjusted, it can also contribute to increase the workability.

In the present invention, the socket 60 may be connected to the nut plug provided in the nut feeder to receive the nut 2. The front end of the socket 60 may be referred to as a jaw (toothed engagement protrusion) along the circumferential direction. And the front end of the nut plug has a toothed engagement protrusion. When the socket 60 is inserted and docked to the nut plug, the toothed jaw of the socket 60 and the engagement protrusion of the nut plug engage with each other. As the position is automatically matched, and because of this, even if the nut socket 100 is docked by entering at any angle, the hexagonal position can be automatically matched, so that the nut 2 is advanced through the socket plug 27 It can be supplied to the nut socket 100 of the bolt fastener.

On the other hand, a magnet (50M) is provided at the rear position of the socket (60) of the primary fastener, which is a main part of the present invention, the nut (2) is introduced into the socket 60 by the magnetic force of the magnet (50M) Since it remains firmly accommodated without leaving the socket 60, it is possible to reliably prevent the deterioration in workability such that the nut 2 is released from the socket 60 when the socket 60 of the primary fastener is transported. Can be.

In addition, the nut 2 inserted into the socket 60 of the primary fastener is also maintained by the supporter 80 provided in the socket 60 so that the washer 3 is held in the socket 60. Therefore, it is possible to more surely ensure a phenomenon such as deterioration in workability, which may be caused by the washer 3 falling out when the primary fastener and the socket 60 are transferred.

In other words, as shown in FIGS. 4B and 5, in the state in which the washer 3 is inserted into the socket 60, the support ball 84 connected to the distal end of the elastic wire 82 is centered on the outer circumferential surface of the washer 3. Since the washer 3 is supported at a plurality of points by pressing in the direction, the washer 3 can be reliably prevented from falling out of the socket 60.

The specific embodiments of the present invention have been described above. It is to be understood, however, that the scope and spirit of the present invention is not limited to these specific embodiments, and that various modifications and changes may be made without departing from the spirit of the present invention. If you have, you will understand.

Therefore, it should be understood that the above-described embodiments are provided so that those skilled in the art can fully understand the scope of the present invention. Therefore, it should be understood that the embodiments are to be considered in all respects as illustrative and not restrictive, The invention is only defined by the scope of the claims.

20. Rotating Drive Unit 30. Base Panel
40. First adjustment panel 50. Second adjustment panel
60. Socket 60JP. Nut holding part
70. Rotary drive 80. Nut plug

Claims

In the bolt fastener configured to assemble the object by fastening the nut coupled to rotate with the rotation axis of the rotation drive to the bolt coupled to the object,
A nut receiving part is connected to the rotary shaft of the rotary driving part and has a nut inserted therein, the nut being fastened to the bolt. An inner circumferential surface of the nut receiving part allows the nut to move in a radial direction with respect to the center of the nut. A socket having a nut holding portion for supporting a portion;
And tightening the nut to the bolt on the object by a primary fastener including the socket mounted to the rotary shaft of the rotary drive unit.

The method of claim 1,
The nut holding part includes a plurality of jaw-shaped support protrusions provided at predetermined intervals along the circumferential direction on the inner circumferential surface of the socket, and a support groove portion provided between the support protrusions and into which the angled corners of the nut are inserted. The width of the nut holding part in the front-rear direction is configured to be relatively smaller than the thickness of the nut in the front-rear direction, and the nut holding part of the inner circumferential surface of the socket holds a part of the outer circumferential surface of the nut so that the nut is radially relative to the center. Bolt fasteners characterized in that the angle is adjusted while moving.

The method of claim 1,
Bolt fasteners, characterized in that further provided with a magnet for preventing separation of the nut inserted into the socket.

The method of claim 1,
The socket is a bolt fastener, characterized in that a plurality of supports provided for supporting the outer peripheral surface of the washer introduced into.

5. The method of claim 4,
The support has a plurality of elastic wires proximal to the socket and installed in the longitudinal direction of the socket, and are arranged at regular intervals along the circumferential direction, and are coupled to the distal end of the elastic wire to protrude toward the inner circumferential surface of the socket. And a plurality of support balls for pressing and supporting the outer circumferential surface of the washer by the elastic force of the elastic wire.

The method of claim 1,
The rotation shaft of the rotary drive unit is further provided with an eccentric adjustment unit which is moved relative to the radial direction relative to the longitudinal center portion of the bolt, the bolt fastener, characterized in that the socket is connected to the rotation shaft via the eccentric adjustment unit.

The method according to claim 6,
The eccentric adjustment unit,
A base panel connected to the rotation shaft of the rotation drive unit;
A first adjustment panel slidably coupled to a front position of the base panel and operating forward and backward in a first direction perpendicular to the radial direction with respect to the longitudinal center of the bolt;
It is slidably coupled to the front position of the first adjustment panel and operated forward and backward in the radial direction with respect to the longitudinal center of the bolt, and forward and backward in the second direction in a direction orthogonal to the first direction. The second adjustment panel,
First gripping means connected to both ends of the first adjustment panel and the base panel and to be stretched in a forward and backward direction of the first adjustment panel;
And a second gripping means connected at both ends of the first adjusting panel and the second adjusting panel, the second adjusting means connected to the first adjusting panel and the second adjusting panel so as to extend and contract in the forward and backward directions of the second adjusting panel.

The method of claim 7, wherein
A first guider provided on opposite surfaces of the base panel and the first adjustment panel so as to slide relative to each other so that the first adjustment panel can slide relative to the base panel in a first direction, and the first adjustment A second panel disposed on opposite surfaces of the panel and the second adjusting panel so as to slide relative to each other so that the second adjusting panel can slide relative to the first adjusting panel in a second direction perpendicular to the first direction; Bolt fasteners further comprising a guider.

The method of claim 1,
A rotation drive unit disposed to be parallel to the primary fastener and having a rotation shaft at a distal end thereof;
A nut receiving part is operably connected to the rotary shaft of the rotation driving part and has a nut accommodating part for inserting the nut first fastened to the bolt, and the nut accommodating part is rotatably holding the nut. Further comprising a nut plug provided with,
And a secondary fastening process of completely fastening the nut to the bolt by a secondary fastener including the rotation driving unit and the nut plug.

10. The method of claim 9,
And a position adjuster for adjusting an eccentricity and a declination of the secondary fastener, wherein the position adjuster is installed in an upright direction on a base and connected to the secondary fastener, thereby connecting the secondary fastener to the base. A bolt fastener comprising a plurality of rubber mounts for guiding relative flow.

The method of claim 10,
And the base is provided with a plurality of stoppers to prevent excessive deformation of the rubber mount.