PURPOSE: To perform reliable discrimination of a thread fastening state by providing a fastening state inspecting device to discriminate a state, in which thread fastening by a nut runner is completed, from a fact that fastening is effected by means of torque exceeding a specified torque, a fact that nut runner is completed in its drive with in a specified time, and a fact that a thread fastening completion position is confirmed.
CONSTITUTION: A thread fastening device comprises a vacuum pad 18 to suck a work W2, having a screw member, in a direction reverse to the fastening direction of a screw, a position detector 17 to detect a position where thread fastening of a work W2 having a screw member against a nut runner is started and a position where the thread fastening is completed, a torque detector 20 to detect drive torque of the nut runner, and a clock 37 to detect a drive time of the nut runner. Further, a fastening state inspecting device 36 is provided for discriminating a state, in which thread fastening by the nut runner is completed, from a fact that fastening is made by means of a torque exceeding specified torque, a fact that the nut runner is completed is its drive in a specified time, and a fact that a thread fastening completion position is confirmed.
INAMI SATOSHI
KAWAGUCHI HIROSHI
