CN115211250A

CN115211250A - Workpiece insertion device

Info

Publication number: CN115211250A
Application number: CN202080097569.8A
Authority: CN
Inventors: 菊川祐一郎; 大石信夫
Original assignee: Fuji Corp
Current assignee: Fuji Corp
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2022-10-18
Also published as: JP7397170B2; JPWO2021191980A1; DE112020006953T5; WO2021191980A1

Abstract

The work insertion device inserts each pin of a work having a plurality of pins arranged therein into a corresponding hole of an object to be inserted having a plurality of holes arranged therein, and includes: a holding member that holds a workpiece; a rotating device for relatively rotating the holding member with respect to the inserted member; a moving device for moving the holding member relative to the inserted object along an orthogonal plane orthogonal to a rotation axis of the rotating device; and a control device. The control device measures an actual position of each pin of the workpiece, calculates a positional deviation amount of the measured actual position from an ideal position for each pin, obtains a rotation angle of the workpiece in which the positional deviation amount of the pin having the largest positional deviation amount is the smallest in a relative rotation angle range of the workpiece with respect to the inserted object, and controls the rotating device so that the rotation angle of the workpiece becomes the obtained rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object.

Description

Workpiece insertion device

Technical Field

The present specification discloses a workpiece insertion device.

Background

Conventionally, a component mounting machine (work inserting apparatus) has been proposed in which each lead of a lead component is inserted into a corresponding insertion hole of a mounting portion (see, for example, patent document 1). The component mounting machine measures the actual measurement position of each lead of the lead component by the component recognition camera and calculates the regression line of the measured actual measurement position by the least square method. Next, the component mounting machine measures the actual measurement position of each insertion hole of the mounting portion by the board recognition camera and calculates a regression line of the measured actual measurement position by the least square method. The component mounting machine adjusts the rotation angle of the lead component when the head unit mounts the lead component on the mounting portion, based on the angle formed by the regression line calculated for the lead component and the regression line calculated for the mounting portion.

Documents of the prior art

Patent document 1: japanese patent laid-open publication No. 2016-207729

Disclosure of Invention

Problems to be solved by the invention

For example, when there is positional deviation in only one of the plurality of leads included in the lead element, the regression line is calculated so as to be strongly influenced by the measured positions of the plurality of other leads having no positional deviation. Therefore, in the component mounting machine described in patent document 1, even if the rotation angle of the lead component is adjusted based on the regression line, the position of the lead having the positional deviation is not sufficiently corrected, and there is a possibility that the lead cannot be inserted into the corresponding insertion hole.

A main object of the present disclosure is to provide a work inserting apparatus capable of inserting each pin into a corresponding hole of an object to be inserted having a plurality of holes even if positional deviation occurs only in some of the plurality of pins when each pin of a work having the plurality of pins is inserted into the corresponding hole.

Means for solving the problems

In order to achieve the above-described main object, the present disclosure adopts the following means.

The present disclosure provides a work insertion apparatus for inserting each pin of a work having a plurality of aligned pins into a corresponding hole of an inserted object having a plurality of aligned holes, the work insertion apparatus including:

a holding member for holding the workpiece;

a rotating device for relatively rotating the holding member with respect to the inserted member;

a moving device that moves the holding member relative to the inserted object along an orthogonal plane orthogonal to a rotation axis of the rotating device; and

and a control device that measures an actual position of each pin of the workpiece, calculates a positional deviation amount of the measured actual position from an ideal position for each pin, obtains a rotation angle of the workpiece in a relative rotation angle range of the workpiece with respect to the inserted object, the rotation angle minimizing a positional deviation amount of the pin maximizing the positional deviation amount, and controls the rotating device so that the rotation angle of the workpiece becomes the obtained rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object.

The work insertion device of the present disclosure measures the actual position of each pin of the work, and calculates the amount of positional deviation of the measured actual position from the ideal position for each pin. Then, the workpiece insertion device obtains a rotation angle of the workpiece at which the amount of positional deviation of the pin, which is the largest in the amount of positional deviation, is the smallest in a relative rotation angle range of the workpiece with respect to the inserted object. The workpiece insertion device controls the rotating device so that the rotation angle of the workpiece becomes the determined rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object. Thus, when each pin of a workpiece having a plurality of pins is inserted into a corresponding hole of an object to be inserted having a plurality of holes, each pin can be inserted into the corresponding hole even if only some of the plurality of pins are displaced.

Drawings

Fig. 1 is a schematic configuration diagram of a workpiece insertion apparatus according to the present embodiment.

Fig. 2 is a control block diagram of the workpiece insertion apparatus 10.

Fig. 3 is a flowchart showing an example of the workpiece insertion process.

Fig. 4 is a flowchart showing an example of image processing.

Fig. 5 is a flowchart showing an example of image processing.

Fig. 6 is an explanatory diagram showing a case where the center position of the workpiece is recognized.

Fig. 7 is an explanatory diagram showing a case of identifying the actual positions of the respective pins.

Fig. 8 is an explanatory diagram showing a case where the ideal position of each pin is estimated.

Fig. 9 is an explanatory diagram showing a case where the amount of positional deviation of the actual position of each pin from the ideal position is calculated.

Fig. 10 is an explanatory diagram showing a case where the positional deviation amount of each pin is plotted.

Fig. 11 is an explanatory diagram showing a case where the minimum circle is set.

Fig. 12 is an explanatory diagram showing a case of angle adjustment.

Fig. 13 is an explanatory diagram showing a case of angle adjustment.

Fig. 14 is an explanatory diagram illustrating a case of estimating the insertion holes.

Fig. 15 is an explanatory diagram showing a case of identifying the outer shape of each pin.

Detailed Description

Next, a mode for carrying out the present disclosure will be described with reference to the drawings.

Fig. 1 is a schematic configuration diagram of a workpiece insertion apparatus according to the present embodiment. Fig. 2 is a control block diagram of the workpiece insertion apparatus 10. In fig. 1, the left-right direction represents the X-axis direction, the front-rear direction represents the Y-axis direction, and the up-down direction represents the Z-axis direction. The work insertion apparatus 10 of the present embodiment is configured to insert each pin P of a work W (for example, a connector) having a plurality of pins P (for example, pins having square end surfaces) arranged at predetermined intervals on a back surface thereof into a corresponding insertion hole H of an object to be inserted (for example, a board or a socket) having a plurality of insertion holes H arranged at predetermined intervals on a front surface thereof. As shown in fig. 1, the work insertion apparatus 10 includes: the work supply device 21, the transport device 22, the head moving device 30, the head 40, the work camera 24, the marking camera 25, the discard box 26, and the control device 60 (see fig. 2). They are housed in the housing 12.

The workpiece supply device 21 may be, for example, a tray supply device that supplies a tray having a plurality of receiving grooves that receive the workpieces W.

The conveyor 22 includes, for example, a pair of conveyor belts that are provided at a predetermined interval in the front-rear direction (Y-axis direction) and that are arranged along the left-right direction (X-axis direction). The conveying device 22 conveys the substrate S as an inserted object from left to right by driving a pair of conveyor belts.

The head moving device 30 moves the head 40 forward, backward, leftward, and rightward (XY-axis direction), and includes an X-axis slider 32 and a Y-axis slider 34 as shown in fig. 1. The X-axis slider 32 is supported by a pair of upper and lower X-axis guide rails 33 provided on the front surface of the Y-axis slider 34 so as to extend in the left-right direction (X-axis direction). The X-axis slider 32 is moved in the X-axis direction along the X-axis guide rail 33 by driving of an X-axis actuator 36 (see fig. 2). The Y-axis slider 34 is supported by a pair of left and right Y-axis guide rails 35 provided on the upper stage portion of the housing 12 so as to extend in the front-rear direction (Y-axis direction). The Y-axis slider 34 is moved in the Y-axis direction along the Y-axis guide rail 35 by driving of a Y-axis actuator 38 (see fig. 2). Further, the X-axis slider 32 detects the position in the X-axis direction by an X-axis position sensor 37 (see fig. 2). In addition, the Y-axis slider 34 detects the position in the Y-axis direction by a Y-axis position sensor 39 (see fig. 2). A head 40 is attached to the X-axis slider 32. Therefore, the head 40 is moved along the XY plane (horizontal plane) by driving and controlling the head moving device 30 (the X-axis actuator 36 and the Y-axis actuator 38).

The head 40 includes a suction nozzle 41 that picks up (sucks) and holds the workpiece W. Although not shown, a negative pressure source is connected to the suction nozzle 41 via an electromagnetic valve (opening/closing valve), and the suction nozzle 41 receives a supply of negative pressure from the negative pressure source to suck the workpiece W. The suction nozzle 41 moves in the vertical direction (Z-axis direction) by driving the Z-axis actuator 42 (see fig. 2), and rotates about the Z-axis by driving the Θ -axis actuator 44 (see fig. 2). The nozzle 41 detects a position in the Z-axis direction by a Z-axis position sensor 43 (see fig. 2), and detects a position in the Θ -axis direction (rotation angle Θ) by a Θ -axis position sensor 45 (see fig. 2).

As shown in fig. 1, the work camera 24 is disposed between the work supply device 21 and the conveying device 22. When picking up and mounting (inserting) the workpiece W supplied by the workpiece supply device 21 to the substrate S conveyed by the conveyance device 22, the workpiece camera 24 photographs the workpiece W from below when the workpiece W passes above the workpiece camera 24. The image captured by the workpiece camera 24 is used to determine the amount of positional deviation of the workpiece W held by the suction nozzle 41 with respect to the suction nozzle 41, determine the optimum posture of the workpiece W for inserting each pin P of the workpiece W into the corresponding insertion hole H of the substrate S, and determine a defect of the workpiece W.

As shown in fig. 1, the mark camera 25 is attached to the X-axis slider 32 and is moved in the XY-axis direction together with the head 40 by the head moving device 30. The mark camera 25 photographs a reference mark attached to the substrate S carried in by the transport device 22 from above. The image captured by the mark camera 25 is used to confirm the position of the substrate S and to confirm the type of the substrate S.

The reject box 26 is provided between the workpiece supply device 21 and the conveying device 22 adjacent to the workpiece camera 24. The waste bin 26 is a bin for discarding the workpiece W in which the defect has occurred.

As shown in fig. 2, the control device 60 is a microprocessor including a CPU61 as a center, and includes a ROM62, an HDD63, a RAM64, and an input/output interface 65 in addition to the CPU 61. Which are electrically connected via a bus 66. The control device 60 receives position signals from the X-axis position sensor 37, the Y-axis position sensor 39, the Z-axis position sensor 43, and the Θ -axis position sensor 45. Further, image signals and the like from the workpiece camera 24 and the mark camera 25 are also input to the control device 60. On the other hand, drive signals for the workpiece feeder 21, the transport device 22, the X-axis actuator 36, the Y-axis actuator 38, the Z-axis actuator 42, and the Θ -axis actuator 44 are output from the control device 60. In addition, control signals for the workpiece camera 24 and the mark camera 25 are also output from the control device 60.

Next, the operation of the workpiece insertion apparatus 10 configured as described above will be described. Fig. 3 is a flowchart showing an example of the workpiece insertion process executed by the CPU61 of the control device 60. This process is executed when an instruction for production is received from a higher-level management computer (not shown).

When the workpiece insertion process is executed, the CPU61 of the control device 60 first performs a suction operation of causing the suction nozzles 41 to suck the upper surface of the workpiece W supplied from the workpiece supply device 21 (step S100). The suction operation is performed by controlling the head moving device 30 (the X-axis actuator 36 and the Y-axis actuator 38) so as to move the suction nozzle 41 upward of the supply position of the workpiece W of the workpiece supply device 21, and then controlling the Z-axis actuator 42 so as to lower the suction nozzle 41 and controlling the electromagnetic valve so as to supply a negative pressure to the suction nozzle 41.

Next, the CPU61 controls the head moving device 30 so as to move the suction nozzle 41, which has sucked the workpiece W, upward of the workpiece camera 24 (step S110), and performs imaging of the workpiece W by the workpiece camera 24 (step S120). Then, the CPU61 performs image processing on the obtained captured image (step S130). In the image processing, an optimum insertion posture (insertion position and insertion angle) of the workpiece W for inserting all the pins P of the workpiece W into the corresponding insertion holes H of the substrate S is determined. In the image processing, it is determined whether all the pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S by optimizing the insertion posture of the workpiece W. Details of such image processing will be described later.

If it is determined as a result of the image processing that all the pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S (yes in step S140), the CPU61 corrects the insertion position and the insertion angle of the workpiece W to the insertion position and the insertion angle optimized by the image processing (step S150). Then, the CPU61 performs an insertion operation of inserting the pins P of the workpiece W into the corresponding insertion holes H of the substrate S at the corrected insertion position and insertion angle (step S160), and ends the workpiece insertion process. The insertion operation is performed by controlling the head moving device 30 and the Θ -axis actuator 44 so that the workpiece W sucked by the suction nozzle 41 is moved upward at the insertion position and rotated by the insertion angle, and then controlling the Z-axis actuator 42 so that the suction nozzle 41 is lowered and controlling the electromagnetic valve so that the supply of the negative pressure to the suction nozzle 41 is released.

On the other hand, if it is determined as a result of the image processing that any pin P of the workpiece W cannot be inserted into the corresponding insertion hole H of the substrate S (no in step S140), the CPU61 determines that a defect has occurred in the workpiece W, performs a discarding operation of discarding the workpiece W in the discarding box 26 (step S170), and ends the workpiece insertion process. The discarding operation is performed by controlling the head moving device 30 so as to move the workpiece W sucked by the suction nozzle 41 above the discard box 26, and then controlling the electromagnetic valve so as to release the supply of the negative pressure to the suction nozzle 41.

Next, the details of the image processing in step S130 will be described. Fig. 4 and 5 are flowcharts showing an example of image processing. Hereinafter, image processing will be described with reference to fig. 6 to 15 as appropriate.

In the image processing, the CPU61 first searches all the pins P of the workpiece W to identify the center position O of the workpiece W (step S200). This processing is performed, for example, by recognizing all the pins P by pattern matching using shape data registered in advance, setting a rectangular region including all the recognized pins P, and setting the center coordinates of the set rectangular region as the center position O of the workpiece W (see fig. 6).

Next, the CPU61 searches for each pin P of the workpiece W individually, and identifies the actual position of each pin P (step S210). This processing is performed, for example, by individually recognizing each pin P by pattern matching using shape data, and setting the center coordinates (coordinates of the intersection of the cross marks in fig. 7) of the outline (square) of each recognized pin P as the actual position.

Then, the CPU61 estimates an ideal position of each pin P from the center position O of the workpiece W recognized in step S200 (step S220). Here, the ideal position of each pin P represents the center coordinates of the outer shape of each pin P in a state where there is no positional deviation (coordinates of the intersection of crosses in fig. 8). The processing of step S220 is performed by obtaining and registering a relationship between the center position O of the workpiece W and the ideal position of each pin P, and when the center position O of the workpiece W is recognized, deriving the ideal position of each pin P from the recognized center position O and the registered relationship.

After recognizing the actual position of each pin P and estimating the ideal position in this way, the CPU61 calculates the amount of positional deviation Δ x, Δ y between the actual position and the ideal position of each pin P (step S230). This process is performed by calculating the distance between the actual position and the ideal position in each of the X-axis direction and the Y-axis direction (see fig. 9).

Next, the CPU61 plots points separated by the positional deviation amounts Δ x and Δ y from the same reference point in the XY coordinate system for each pin P (step S240, see fig. 10), and sets a minimum circle including all the plotted points (step S250, see fig. 11). Next, the CPU61 rotates the ideal position of each pin P around the center position O of the workpiece W to derive the optimum angle θ at which the radius of the minimum circle is minimum (step S260). This processing can be performed as follows, for example. That is, the CPU61 first calculates the positional deviation amounts Δ x and Δ y between the new ideal position of each pin P at each rotation angle and the actual position of each pin P recognized in step S210 and plots the positional deviation amounts Δ x and Δ y on the XY coordinate system while rotating the ideal position of each pin P by a predetermined angle in both forward and reverse rotation directions about the center position O (see fig. 12 and 13). Next, the CPU61 sets a minimum circle including all the plotted points, and calculates the radius of the set minimum circle. Also, the CPU61 sets the rotation angle of the smallest circle to which the radius is set to be the smallest as the optimum angle θ. This processing can be said to be processing for finding the rotation angle (insertion posture) of the workpiece W at which the amount of positional deviation of the pin P that maximizes the amount of positional deviation is the smallest in the rotation angle range of the workpiece W by the Θ -axis actuator 44. Thus, even if some of the pins P of the workpiece W are misaligned, all the pins P can be inserted into the corresponding insertion holes H of the substrate S.

After deriving the optimum angle θ that minimizes the radius of the smallest circle in this way, the CPU61 sets the derived optimum angle θ as an angle correction value (step S270), and sets the amounts of deviation between the center point of the smallest circle that minimizes the radius and the reference point in the X-axis direction and the Y-axis direction as position correction values (step S280). Thereby, the insertion posture of the workpiece W is optimized by correcting the workpiece insertion position by the position correction value and correcting the workpiece insertion angle by the angle correction value in step S150 of the workpiece insertion process.

After optimizing the insertion posture (insertion position and insertion angle) of the workpiece W in this way, the CPU61 sets the position and outer shape (see the broken line in fig. 14) of each insertion hole H of the substrate S as the object to be inserted (step S290). This process is performed by setting the ideal position of each pin P at the optimum angle θ derived in step S260 as the position of each insertion hole H and setting the outer shape (circle) of the radius r centered on the ideal position. The position and the outer shape of each insertion hole H may be estimated (recognized) by applying pattern matching to an image obtained by imaging the substrate S with the mark camera 25.

Next, the CPU61 sets the outer shape of each pin P centering on the actual position (step S300). This processing is performed by setting the positions of the four corners based on the actual position of each pin P and the size (vertical and horizontal length) of each pin P. Then, the CPU61 determines whether or not the outer shape of each pin P set is completely included in the outer shape of the corresponding insertion hole H set in step S290 (step S310). This process is performed by determining whether or not the four corners of each pin P are all included in the outer shape of the corresponding insertion hole H (see fig. 15). The CUP61 may set a circumscribed circle circumscribing the four corners of each pin P as the outer shape of each pin P, and determine whether or not the set circumscribed circle is included in the outer shape of the corresponding insertion hole H. If the determination in step S310 is an affirmative determination (yes), the CPU61 determines that all the pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S (step S330), and ends the image processing. In this case, as described above, in step S140 of the workpiece insertion process, an affirmative determination is made (yes), and the workpiece W is inserted into the substrate S at the insertion position and the insertion posture optimized by the image processing.

On the other hand, if the determination at step S310 is a negative determination (no), the CPU61 determines that the workpiece W cannot be inserted into the substrate S regardless of the posture of the workpiece W (step S340), and ends the image processing. In this case, as described above, a negative determination (no) is made in step S140 of the workpiece insertion process, and the workpiece W is discarded in the discard box 26.

Here, the correspondence relationship between the main elements of the embodiment and the main elements described in the claims will be described. That is, the suction nozzle 41 of the present embodiment corresponds to a "holding member", the Θ -axis actuator 44 corresponds to a "rotating device", the head moving device 30 corresponds to a "moving device", and the control device 60 corresponds to a "control device".

It is to be understood that the present disclosure is not limited to the above-described embodiments, and various modifications can be made within the technical scope of the present disclosure.

For example, in the above-described embodiment, after the insertion position and the insertion angle of the workpiece W are optimized, it is determined whether all the pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S (object to be inserted). However, such determination may be omitted.

In the above-described embodiment, the workpiece insertion apparatus 10 moves the workpiece W held by the head 40 in the XY-axis direction (front-rear-left-right direction) by the head moving device 30. However, the workpiece insertion device 10 may move the substrate S (object to be inserted) in the XY-axis direction. That is, the workpiece W may be moved in the XY axis direction relative to the inserted object.

In the above-described embodiment, the workpiece insertion apparatus 10 moves the workpiece W in the Z-axis direction by the Z-axis actuator 42, and rotates the workpiece W about the Z-axis by the Θ -axis actuator 44. However, the workpiece insertion apparatus 10 may move the substrate S (the object to be inserted) in the Z-axis direction and rotate around the Z-axis. That is, the workpiece W may be moved in the Z-axis direction relative to the inserted object and rotated around the Z-axis.

As described above, the work inserting apparatus according to the present disclosure is a work inserting apparatus for inserting each pin of a work having a plurality of pins arranged in a row into a corresponding hole of an object to be inserted having a plurality of holes arranged in a row, and includes: a holding member for holding the workpiece; a rotating device for relatively rotating the holding member with respect to the inserted member; a moving device that moves the holding member relative to the inserted object along an orthogonal plane orthogonal to a rotation axis of the rotating device; and a control device that measures an actual position of each pin of the workpiece, calculates a positional deviation amount of the measured actual position from an ideal position for each pin, obtains a rotation angle of the workpiece that minimizes the positional deviation amount of the pin having the largest positional deviation amount in a relative rotation angle range of the workpiece with respect to the inserted object, and controls the rotation device so that the rotation angle of the workpiece becomes the obtained rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object.

The work inserting apparatus of the present disclosure measures an actual position of each pin of a work, and calculates a position deviation amount of the measured actual position from an ideal position for each pin. Then, the workpiece insertion device obtains a rotation angle of the workpiece at which the amount of positional deviation of the pin, which is the largest in the amount of positional deviation, is the smallest in a relative rotation angle range of the workpiece with respect to the inserted object. The work insertion device controls the rotation device so that the rotation angle of the work is the determined rotation angle when each pin of the work is inserted into the corresponding hole of the inserted object. Thus, when each pin of a workpiece having a plurality of pins is inserted into a corresponding hole of an object to be inserted having a plurality of holes, each pin can be inserted into the corresponding hole even if only some of the plurality of pins are displaced.

In the workpiece insertion device according to the present disclosure, the control device may plot positions of the pins based on the same reference point, set a minimum circle including the plotted positions of the pins, and determine a rotation angle of the workpiece at which a radius of the minimum circle is minimized. In this case, the control device may control the moving device so that, when each pin of the workpiece is inserted into the corresponding hole of the inserted object, the position of the workpiece relative to the inserted object along the orthogonal plane is corrected based on the position of the center point of the minimum circle at which the radius of the minimum circle is minimized. In this case, the control device may determine whether or not each pin of the workpiece can be inserted into the corresponding hole of the inserted object based on the position of each pin and the position of the corresponding hole when the rotation angle of the workpiece is made the calculated rotation angle and the position of the workpiece along the orthogonal plane is corrected based on the position of the center point of the minimum circle after the rotation angle of the workpiece is determined to be the rotation angle when the radius of the minimum circle is made the minimum circle. In this case, the end surface of each pin of the workpiece may be formed in a square shape, and the control device may estimate the positions of the four corners of each pin of the workpiece based on the position of each pin of the workpiece, and determine whether or not each pin of the workpiece can be inserted into the corresponding hole of the inserted object by determining whether or not the positions of the four corners of each pin are within the region of the corresponding hole of the inserted object.

Industrial applicability

The present disclosure can be used in the manufacturing industry of a workpiece insertion device, and the like.

Description of the reference numerals

10 workpiece insertion device, 12 housing, 21 workpiece feeding device, 22 conveying device, 24 workpiece camera, 25 marking camera, 26 waste box, 30 head moving device, 32X axis slide, 33X axis guide rail, 34Y axis slide, 35Y axis guide rail, 36X axis actuator, 37X axis position sensor, 38Y axis actuator, 39Y axis position sensor, 40 head, 41 suction nozzle, 42Z axis actuator, 43Z axis position sensor, 44 theta axis actuator, 45 theta axis position sensor, 60 control device, 61CPU, ROM 6263HDD, 64RAM,65 input and output interface, 66 bus, H insertion hole, S substrate, W workpiece, P pin.

Claims

1. A work inserting apparatus inserts each pin of a work having a plurality of pins arranged into a corresponding hole of an object to be inserted having a plurality of holes arranged,

the work insertion device is provided with:

a holding member that holds the workpiece;

a moving device that relatively moves the holding member with respect to the inserted object along an orthogonal plane orthogonal to a rotation axis of the rotating device; and

and a control device that measures an actual position of each of the pins of the workpiece, calculates a positional deviation amount of the measured actual position from an ideal position for each of the pins, obtains a rotation angle of the workpiece in which the positional deviation amount of the pin having the largest positional deviation amount is the smallest in a relative rotation angle range of the workpiece with respect to the inserted object, and controls the rotation device so that the rotation angle of the workpiece becomes the obtained rotation angle when each of the pins of the workpiece is inserted into the corresponding hole of the inserted object.

2. The workpiece insertion device of claim 1,

the control device plots the positions of the pins based on the same reference point based on the positional deviation amount, sets a minimum circle including the plotted positions of the pins, and determines the rotation angle of the workpiece at which the radius of the minimum circle is minimized.

3. The workpiece insertion device of claim 2,

the control means controls the moving means so that the relative position of the workpiece with respect to the inserted object along the orthogonal plane is corrected based on the position of the center point of the smallest circle at the time of inserting each pin of the workpiece into the corresponding hole of the inserted object with the radius of the smallest circle minimized.

4. The workpiece insertion device of claim 3,

the control device determines whether or not each pin of the workpiece can be inserted into the corresponding hole of the inserted object based on the position of each pin and the position of the corresponding hole when the rotation angle of the workpiece is made the determined rotation angle and the position of the workpiece along the orthogonal plane is corrected based on the position of the center point of the minimum circle after the rotation angle of the workpiece is determined to be the rotation angle when the radius of the minimum circle is made the minimum circle.

5. The workpiece insertion device of claim 4,

the end face of each pin of the workpiece is formed into a square shape,

the control device estimates the positions of the four corners of each pin of the workpiece based on the position of the pin, and determines whether the positions of the four corners of each pin are in the region of the corresponding hole of the inserted object, thereby determining whether the respective pins of the workpiece can be inserted into the corresponding holes of the inserted object.