Abstract: A joining device comprises a die and driving means. A first concave portion is recessed in a substantially cylindrical shape in a driving direction on the die, and a second concave portion is recessed in the driving direction in a central portion on a bottom face of the first concave portion. A portion on an external side of the second concave portion on the bottom face of the first concave portion forms a terrace portion that is shallower than the second concave portion, and a diameter of the foot portion of the self-piercing rivet corresponds to a diameter of the terrace portion. In driving the foot portion of the self-piercing rivet toward the terrace portion of the first concave portion, the foot portion of the self-piercing rivet is spread outward by the terrace portion and a part of the members to be joined runs into the second concave portion.

Abstract: A joining device comprises a die and driving means. A first concave portion is recessed in a substantially cylindrical shape in a driving direction on the die, and a second concave portion is recessed in the driving direction in a central portion on a bottom face of the first concave portion. A portion on an external side of the second concave portion on the bottom face of the first concave portion forms a terrace portion that is shallower than the second concave portion, and a diameter of the foot portion of the self-piercing rivet corresponds to a diameter of the terrace portion. In driving the foot portion of the self-piercing rivet toward the terrace portion of the first concave portion, the foot portion of the self-piercing rivet is spread outward by the terrace portion and a part of the members to be joined runs into the second concave portion.

Abstract: The invention provides an improved contamination inspecting device which can carry out continuous, automatic inspection of portable articles both large and small regardless of their shape. The device incorporates a conveying means for carrying the articles through the inspection position wherein the speed of the conveying means is varied based on the background radioactivity detected by the plane scintillator, a plane scintillator for detecting radiation from both the background environment and the articles to be inspected, a five-axes gate-type underriding mechanism which incorporates a robot arm so as to enable the plane scintillator to travel along the surfaces of each article, and control means for controlling the speed of the conveying means based on the background radioactivity detected by the plane scintillator and for controlling the five-axis robot based on the shape of the articles to be inspected.