Automatic assembly apparatus for bolts and nuts

An automatic assembling apparatus comprising:

• first means for holding a first object, which is screwed on a second object supported by a holder;
• second means coupled with said first means, said second means being movable in an axial direction and in a rotating direction with respect to a center axis of said second means, and said second means being capable of inclination with respect to the center axis thereof;
• third means for detecting the displacement of said second means;
• fourth means for driving said first means to screw said first object on said second object;
• fifth means for controlling said fourth means, said fifth means receiving signals from said third means;
• sixth means for detecting a position of said second object;
• and
• seventh means for moving said first means within a plane at right angles with respect to the center axis of said first means, said seventh means being controlled by said fifth means, to which signals from said sixth means are supplied;
• wherein said sixth means comprises two pairs of detecting fingers and two pairs of detecting elements, each pair of said detecting fingers comprising two detecting fingers, respectively which are arranged at right angle, and being spaced from each other, said each detecting finger in one pair of said detecting fingers placed in parallel with said each detecting finger in the other pair of said detecting fingers, said each detecting element coupled with said each detecting finger and detecting the displacement of said each detecting finger.

An automatic assembling apparatus comprising

• first detecting means for detecting the position of a first object,
• positioning means responsive to said first detecting means for positioning a second object with respect to said first object for fastening said second object to said first object, said positioning means roughly positioning said second object with respect to said first object in response to said first means,
• driving means for pressing said second object against said first object,
• motor means for rotating said second object to fasten said second object to said first object,
• second detecting means for detecting the fastening of said second object to said first object, and
• means responsive to said second detecting means in accordance with an irregular fastening for controlling said positioning means to readjust the position of said second object relative to said first object while maintaining said second object pressed against said first object by said driving means, controlling said means reactivating said motor means upon obtaining a predetermined readjustment of said position of said second object to again fasten said second object to said first object.