JP2021074819A - Automatic assembling system for insert - Google Patents

Abstract

To provide an automatic assembling system for an insert that can reduce burdens on an operator.SOLUTION: The automatic assembling system for an insert comprises: an insert insertion part that inserts insert bushes into assembling holes; an insert supply device that supplies the insert bushes to the insert insertion part; a movement device that moves the insert insertion part relatively with respect to a work-piece having multiple assembling holes formed therein and the insert supply device; and an abnormality detection device that detects abnormal assembling of the insert bushes to the assembling holes.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic insert assembly system.

The following Patent Document 1 discloses a screw insert insertion tool. This insertion tool is a tool for inserting a screw insert into a female screw of a work, and is a spline shaft, a head, a clutch, a motor, a prewinder, a first male screw, a second male screw, a mandrel, a mandrel fine adjustment means, and a mandrel fine adjustment means. It is provided with a spring, the mandrel has grooves on both ends to which the tongue of the screw insert engages, and the first and second male threads are formed to have the same shape and dimensions.

Japanese Unexamined Patent Publication No. 11-288678

By the way, the above background technique is a tool (insertion tool) that is gripped and operated by an operator, and when a screw insert is inserted into a work in which a large number of female screws are formed, the operator increases the number of female screws. You are forced to repeat the work accordingly. That is, the above-mentioned background technique causes a great deal of fatigue to the operator when there are many places where the inserts are attached, and also lowers the work efficiency.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an insert automatic assembly system capable of reducing the burden on the operator.

In order to achieve the above object, in the present invention, as a first solution according to the automatic insert assembly system, an insert insertion portion for inserting the insert bush into the assembly hole and the insert bush are supplied to the insert insertion portion. Detects abnormal assembly of the insert supply device, a work on which a large number of the assembly holes are formed, a moving device that moves the insert insertion portion relative to the insert supply device, and the insert bush with respect to the assembly hole. A means of providing an abnormality detection device is adopted.

In the present invention, as a second solution for the automatic insert assembly system, in the first solution, the insert insertion portion abuts an outer guide containing the insert bush against a predetermined work. In this state, the insert bush is inserted into the assembly hole, the moving device moves the outer shape guide so as to abut the work, and the abnormality detection device brings the outer shape guide into contact with the work. A means of detecting the abnormal assembly based on the operating state of the mobile device is adopted.

In the present invention, as a third solution according to the automatic insert assembly system, in the first solution, the insert insertion portion abuts an outer guide containing the insert bush against a predetermined work. In this state, the insert bush is inserted into the assembly hole, the moving device moves the outer shape guide so as to abut the work, and further includes a distance sensor for detecting the position of the outer shape guide, and the abnormality. The detection device employs a means of detecting the abnormal assembly based on the position of the outer shape guide.

In the present invention, as a fourth solution according to the automatic insert assembly system, in any of the first to third solutions, the insert insertion portion abuts on the work in a cushioned state. , The means of inserting the insert bush into the assembly hole is adopted.

In the present invention, as a fifth solution according to the automatic insert assembly system, in any of the first to fourth solutions, the insert bush has a form of a coil spring.

According to the present invention, it is possible to provide an insert automatic assembly system capable of reducing the burden on the operator.

It is a front view and the top view which show the system structure of the insert automatic assembly system A which concerns on one Embodiment of this invention. It is a perspective view which shows the structure of the insert bush B in one Embodiment of this invention, and is the side view which shows the structure of a hand tool T. It is a schematic diagram which shows the positional relationship between the tool 10 and the outer shape guide 18 in one Embodiment of this invention. It is a schematic diagram which shows the positional relationship between a tool 10, an outer shape guide 18, and a work W in one Embodiment of this invention. It is a schematic diagram which shows the abnormal assembly state of the insert bush B in one Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
First, with reference to FIG. 1, the system configuration of the insert automatic assembly system A according to the present embodiment will be described. As shown in FIGS. 1A and 1B, the automatic insert assembly system A includes an indexing table D, a robot R, a hand rack H, an insert supply device K, a control panel S, a pendant P, and an emergency stop switch. It has an I.

The indexing table D is a movable table on which the work W is placed on the upper surface (mounting surface), and the position and posture of the work W are set to a desired state. The indexing table D sets the position and orientation of the work W to a desired state based on the control signal input from the control panel S. Such an indexing table D is provided with, for example, a fixture for fixing the work W to the mounting surface, and the position and posture of the mounting surface and the posture of the work W on the mounting surface are fixed by the fixture. Change the posture.

The work W is a member in which a large number of engaging holes are formed in advance. This work is a member having a predetermined shape made of a relatively soft metal material, for example, an aluminum alloy or a titanium alloy, and a large number of engaging holes are formed for fixing other members. These engaging holes vary depending on the form of the fixture. For example, when a male screw is used as the fixture, it is a screw hole (female screw).

Here, in the screw hole (female screw), when the material of the work W is a relatively soft metal material, the screw thread is easily crushed. The insert bush B in the present embodiment is a reinforcing component that is preliminarily attached to the screw hole (female screw) in order to reinforce the screw hole (female screw) whose screw thread is easily crushed, and is shown in FIG. 2 (a). It is a coil spring.

That is, the insert bush B is an annular coil spring in which a wire rod is tightly wound at a predetermined pitch, and has a predetermined diameter (outer diameter and inner diameter), a predetermined length (dimension in the axial direction), and a pitch (coil). Pitch). In such an insert bush B, an engaging groove b is formed in an inner peripheral portion near the tip end. The details will be described later, but the tool 10 of the hand tool T, which will be described later, engages with the engagement groove b.

The insert automatic assembly system A according to the present embodiment is a system for automatically assembling such an insert bush B into the screw hole h of the work W. This screw hole h corresponds to the assembly hole in the present invention.

The robot R is an articulated robot that three-dimensionally moves the hand tool T attached to the tip. The robot R positions the hand tool T at each position of a large number of screw holes h formed in the work W. That is, the robot R moves the hand tool T based on the control signal input from the control panel S, and sequentially moves the hand tool T to the positions of the screw holes h in a predetermined order. The details of the hand tool T will be described later, but the hand tool T corresponds to the insert insertion portion of the present invention.

The hand rack H is an accommodating portion for accommodating a plurality of tools 10 and an outer guide 18 shown in FIG. 2 in a predetermined posture. This hand rack H accommodates a plurality of tools 10 having different specifications and an outer shape guide 18, and when the first hand changer 11 also shown in FIG. 2 is operated, one of the plurality of tools 10 is used as a hand tool. It is handed over to T, and one of the plurality of external guides 18 is handed over to the hand tool T by operating the second hand changer 16.

The insert supply device K is a device that automatically supplies the insert bush B to the hand tool T. Although the details will be described later, the insert supply device K sequentially supplies the insert bushes B one by one to the hand tool T whose position is set at a predetermined supply position in a predetermined posture by the operation of the robot R.

The control panel S includes a control unit that comprehensively controls the insert automatic assembly system A, and an operation panel for manually inputting control information required by the control unit. Specifically, the control panel S sequentially assembles the insert bush B into the screw hole h by controlling the indexing table D, the insert supply device K, the robot R, and the hand tool T based on a predetermined control program. Let me.

The pendant P is a portable operation panel, and is freely connected to the control panel S by wire or wirelessly. The pendant P manually inputs the control information required by the control unit of the control panel S to the control panel S. The emergency stop switch I is freely connected to the control panel S by wire or wirelessly, and the operation instruction for emergency stopping the operation of the insert automatic assembly system A is manually given to the control panel S as one of the control information. input.

Here, the indexing table D, the robot R, and the control panel S constitute the moving device of the present invention. That is, the indexing table D, the robot R, and the control panel S have a hand tool T (insert insertion portion) for the work W and the insert supply device K in which a large number of screw holes h (assembly holes) are formed as an overall function. ) Is moved relative to each other.

Subsequently, the details of the hand tool T will be described with reference to FIGS. 2 and 3.
As shown in FIG. 2, the hand tool T includes a base plate 1, a connecting member 2, an LM guide 3, a first LM block 4A, a second LM block 4B, a first bracket 5, a first air cylinder 6, a second bracket 7, and the like. Rotary drive unit 8, tool holder 9, tool 10, first hand changer 11, distance sensor 12, third bracket 13, second air cylinder 14, fourth bracket 15, second hand changer 16, fifth bracket 17, and outer shape It is equipped with a guide 18.

Among the constituent elements constituting such a hand tool T, the rotary drive unit 8, the tool holder 9, the tool 10, and the spindle M in the present embodiment are configured. The spindle M is a mechanism for rotating the insert bush B around its axis.

Further, among the components of the hand tool T, the first air cylinder 6, the rotary drive unit 8, and the second air cylinder 14 are controlled units controlled by the control panel S. The first air cylinder 6, the rotary drive unit 8, and the second air cylinder 14 operate based on the control signal input from the control panel S, and output their own operating state to the control panel S as an operation detection signal. ..

Further, the second air cylinder 14 and the control panel S constitute the abnormality detection device of the present invention. That is, the control panel S detects the operating state of the second air cylinder 14 based on the operation detection signal input from the second air cylinder 14, and the screw hole h ( Detects abnormal assembly of the insert bush B with respect to the assembly hole).

The base plate 1 is an L-shaped plate material in which a pair of flat surfaces are connected in an orthogonal state, one flat surface portion is fixed to the tip portion of the robot R via a connecting member 2, and the other flat surface portion is an LM guide. 3 is fixed. The base plate 1, that is, the hand tool T, takes various postures in the three-dimensional space based on the movement of each joint of the robot R.

Here, when the plane (reference plane) on which the screw hole h is formed by the indexing table D is set horizontally, when the insert bush B is sequentially assembled to the screw hole h, the base plate 1 is moved by the robot R. The other plane portion is set in the vertical direction (vertical direction) as shown by the arrow L. That is, when the reference plane is horizontal, the hand tool T is set in the direction orthogonal to the reference plane, that is, in the vertical direction (vertical direction). In the following, each part will be described on the assumption that the hand tool T is set in the vertical direction (vertical direction).

The connecting member 2 is a connecting tool that detachably connects such a base plate 1 to the tip end portion of the robot R. The LM guide 3 is a pair of rails extending in the vertical direction (vertical direction). The LM Guide 3 is attached to one surface (the left surface in FIG. 2) of the other flat surface portion of the base plate 1 so as to face each other in parallel at predetermined intervals.

The first LM block 4A is a moving block that moves up and down along such an LM guide 3. That is, the first LM block 4A is slidably mounted on the LM guide 3 by interposing a bearing. Such a first LM block 4A guides the vertical movement of the spindle M described above.

The second LM block 4B is a moving block that moves up and down along the LM guide 3 like the first LM block 4A. The second LM block 4B is mounted on the lower side of the first LM block 4A with respect to the LM guide 3 extending in the vertical direction, and is slidable with respect to the LM guide 3 by interposing a bearing. .. Such a second LM block 4B guides the vertical movement of the outer shape guide 18.

The first bracket 5 is a plate-shaped member fixed to the base plate 1 and supports the first air cylinder 6. The first bracket 5 includes a flat surface portion in a horizontal posture, and a first air cylinder 6 is fixed to the lower surface side of the flat surface portion. That is, the first bracket 5 supports the first air cylinder 6 in a suspended state in a vertical posture (vertical posture).

The first air cylinder 6 is an actuator that uses compressed air as a working fluid, and is fixed to the first bracket 5 in a vertical posture (vertical posture) as described above. That is, in the first air cylinder 6, the moving direction of the movable rod is the vertical direction (vertical direction), and the second bracket 7 connected to the tip (lower end) of the movable rod is moved up and down.

The second bracket 7 is a member fixed to the first LM block 4A and supports the spindle M, the first hand changer 11 and the distance sensor 12 described above. That is, the second bracket 7 includes a first portion for fixing the rotation drive unit 8 to the first LM block 4A, a second portion for fixing the tool holder 9 to the first LM block 4A, and a first hand changer. It includes a third portion for fixing the 11 and the distance sensor 12 to the first LM block 4A.

The rotation drive unit 8 includes a rotation shaft 8a, and is fixed to the first LM block 4A by the first portion of the second bracket 7. The rotation drive unit 8 is a drive mechanism that rotates the rotation shaft 8a around the shaft at a predetermined rotation speed. In addition to the rotary shaft 8a, the rotary drive unit 8 includes a motor as a power source, a speed reducer for decelerating the rotation speed of the motor, a coupling for connecting the speed reducer and the rotary shaft 8a, and a rotary shaft 8a. It is equipped with bearings that support it so that it can rotate.

The tool holder 9 is a holding member that rotatably holds the tool 10, and is fixed to the first LM block 4A by a second portion of the second bracket 7. The tool holder 9 holds the rod-shaped tool 10 in a vertical posture (vertical posture) and rotatably.

The tool 10 is a rod-shaped member that engages with the insert bush B. The tool 10 has various specifications prepared in advance depending on the type of insert bush B, and is housed in the hand rack H described above. The tool 10 attached to the hand tool T is the one selected in the hand rack H.

As shown in FIG. 3, such a tool 10 is a rod-shaped member having an engaging protrusion 10 provided at the tip end portion of the main body portion 10a and a flange portion 10c provided at the rear end portion of the rod-shaped main body portion 10a. The main body portion 10a is a rod-shaped portion (cylindrical portion) thinner than the inner diameter of the insert bush B described above, and can be easily inserted into the insert bush B.

The engaging protrusion 10 can freely protrude from the rod-shaped main body 10a and can be stored in the rod-shaped main body 10a, and engages with the engaging groove b of the insert bush B in the protruding state. The flange portion 10c is a cylindrical portion having a diameter larger than that of the rod-shaped main body portion 10a, and comes into contact with the upper end portion of the outer shape guide 18 in a state where the tool 10 is inserted into the outer shape guide 18.

The first hand changer 11 is a mechanism for exchanging such a tool 10 with the hand rack H. That is, the first hand changer 11 is operated by the robot R in a state where the hand tool T is set in a predetermined position and a predetermined posture in the vicinity of the hand rack H, so that the plurality of tools 10 housed in the hand rack H 10 are operated. One of them is selectively selected and attached to the hand tool T.

The distance sensor 12 detects the distance between the tool 10 and the outer guide 18 in the vertical direction. The distance sensor 12 outputs a distance detection signal indicating a detection result to the control panel S as one of the control information. As the distance sensor 12, a laser range finder capable of highly accurate distance detection can be adopted.

The third bracket 13 is a member fixed to the lower end of the base plate 1 and supports the second air cylinder 14. The third bracket 13 includes a flat surface portion in a horizontal posture, and a second air cylinder 14 is fixed to the upper surface side of the flat surface portion. That is, the third bracket 13 supports the second air cylinder 14 upward in a vertical posture (vertical posture).

The second air cylinder 14 is an actuator that uses compressed air as a working fluid, and is fixed to the third bracket 13 in a vertical posture (vertical posture) as described above. That is, in the second air cylinder 14, the moving direction of the movable rod is the vertical direction (vertical direction), and the second LM block 4B connected to the tip (upper end) of the movable rod is moved up and down.

The fourth bracket 15 is a member fixed to the second LM block 4B and supports the second hand changer 16, the fifth bracket 17, and the outer shape guide 18. That is, the fourth bracket 15 includes a flat surface portion in a horizontal posture, and directly supports the second hand changer 16 provided on the lower surface side of the flat surface portion. Further, the fourth bracket 15 indirectly supports the fifth bracket 17 and the outer shape guide 18 fixed to the lower part of the second hand changer 16.

The second hand changer 16 is provided between the fourth bracket 15 and the fifth bracket 17 facing each other in the vertical direction (vertically) with a predetermined distance between them, and the outer guide 18 is placed between the outer guide 18 and the hand rack H. It is a mechanism for exchanging with. That is, the first hand changer 11 is operated by the robot R in a state where the hand tool T is set in a predetermined position and a predetermined posture in the vicinity of the hand rack H, so that a plurality of external guides housed in the hand rack H are guided. One of 18 is selectively selected and attached to the hand tool T.

The fifth bracket 17 is a plate-shaped member that faces the flat surface portion of the fourth bracket 15 with the second hand changer 16 interposed therebetween. The fifth bracket 17 supports the outer guide 18 in a vertical posture (vertical posture) and coaxially with the tool 10 above.

The outer shape guide 18 is a tubular member that holds the insert bush B inside. As shown in FIG. 3, the outer shape guide 18 includes a through hole 18a and an insertion window 18b. The through hole 18a is a round hole that penetrates the inside of the outer guide 18 in the vertical direction, and a screw groove 18c that matches the outer diameter of the insert bush B is formed on the lower peripheral surface of the insertion window 18b. The insertion window 18b is provided in the middle of the through hole 18a, and is an opening for receiving the insert bush B into the through hole 18a.

When the insert bush B is assembled to the work W, such an outer guide 18 comes into contact with the periphery of the screw hole h (assembly hole) in the work W. Since the outer guide 18 is supported by the base plate 1 via the second air cylinder 14, it comes into contact with the work W in a cushioned state when it comes into contact with the work W.

Next, the operation of the insert automatic assembly system A according to the present embodiment will be described in detail with reference to FIGS. 4 and 5 in addition to FIGS. 1 to 3.

When the operator inputs a work start instruction from the operation panel of the control panel S, the insert automatic assembly system A starts the work of assembling the insert bush B to the work W. That is, the control panel S first controls the indexing table D to set the posture of the work W in a posture in which the insert bush B can be easily assembled. Further, the control panel S moves the hand tool T to the insert supply device K by controlling the robot R, and attaches the insert bush B to the outer shape guide 18.

Here, when the posture of the work W is set so that the formation surface of the screw hole h (assembly hole) to be assembled is horizontal, for example, the control panel S operates the robot R to operate the hand tool T. Is positioned directly above the screw hole h (assembly hole). In this state (initial state), as shown in FIG. 3A, the lower end portion of the outer shape guide 18 is not in contact with the work W, and the tool 10 is not inserted into the through hole 18a of the outer shape guide 18.

By controlling the first air cylinder 6 and the second air cylinder 14 from this initial state, the control panel S lowers the spindle M and the outer shape guide 18 as shown in FIG. 3 (b) to work the outer shape guide 18. The W is brought into contact with the forming surface. Then, as shown in FIG. 4A, the control panel S controls the rotation drive unit 8 to rotate the tool 10 and controls the first air cylinder 6 to further lower the spindle M.

When the tool 10 descends while rotating, the lower end of the main body 10a comes into contact with the upper end of the insert bush B, and the engaging protrusion 10b provided at the lower end of the main body 10a comes into contact with the main body due to this contact. It is stored in 10a. Therefore, the main body 10a is sequentially inserted into the insert bush B from above. Then, when the engaging protrusion 10b of the tool 10 faces the engaging groove b formed on the inner surface of the insert bush B, the engaging protrusion 10b protrudes from the main body 10a as shown in FIG. 4B and the engaging groove Engage with b.

As a result, the insert bush B starts rotating in the same manner as the tool 10, passes through the screw groove 18c of the outer guide 18, and enters the screw hole h (assembly hole) as shown in FIG. 4 (c). Then, when the entire insert bush B enters the screw hole h (assembly hole), the flange portion 10b of the tool 10 comes into contact with the upper end of the outer guide 18 as shown in FIG. 4D.

In this contact state, the load of the rotary drive unit 8 that rotates the spindle M increases extremely. That is, in this contact state, the drive current of the motor, which is the power source of the rotary drive unit 8, is extremely increased. By detecting such an increase in the drive current, the control panel S that controls the rotation drive unit 8 abuts the flange portion 10b on the outer shape guide 18, that is, the entire insert bush B has a screw hole h (assembly hole). ) Is determined to have been assembled, and the assembly operation is terminated. That is, the control panel S returns the spindle M and the outer shape guide 18 to the initial state.

Here, in the insert automatic assembly system A according to the present embodiment, even when only a part of the insert bush B has entered the screw hole h (assembly hole) (abnormal assembly state), the flange portion 10b of the tool 10 is used. Can come into contact with the upper end of the outer guide 18. For example, after the engaging protrusion 10b and the engaging groove b are engaged and a part of the insert bush B enters the screw hole h (assembly hole), the engaging protrusion 10b and the engaging groove b are engaged. Can come off.

When the engagement protrusion 10b and the engagement groove b are disengaged, the insert bush B stops rotating. Therefore, as shown in FIG. 5A, only the tool 10 is further inserted into the screw hole h (assembly hole). After entering, the flange portion 10b finally comes into contact with the outer guide 18. That is, the insert bush B is left in a halfway assembled state in the screw hole h (assembly hole).

However, in such an abnormally assembled state, the insert bush B is in a state of meshing with both the screw hole h (assembly hole) of the work W and the screw groove 18c of the outer shape guide 18, so that the outer shape guide 18 is initially used. Cannot be moved to state. The control panel S detects such an abnormal state of the outer shape guide 18, that is, an abnormally assembled state of the insert bush B, based on the operating state of the second air cylinder 14 that moves the outer shape guide 18 up and down.

According to this embodiment, the insert bush B is automatically and sequentially assembled into the screw holes h (assembly holes) of the work W having a large number of screw holes h (assembly holes), which is a burden on the operator. It is possible to provide an insert automatic assembly system A that can be reduced.

Further, according to the present embodiment, since the abnormally assembled state of the insert bush B is detected, more accurate assembly of the insert bush B is realized for the work W having a large number of screw holes h (assembly holes). It is possible.

Further, according to the present embodiment, since the outer shape guide 18 is moved toward the work W by using the second air cylinder 14, the outer shape guide 18 can be brought into contact with the work W in a cushioned state. Is. As a result, it is possible to prevent or suppress damage to the work W formed of a relatively soft metal material.

According to this embodiment, it is possible to provide an insert automatic assembly system capable of reducing the burden on the operator.

The present invention is not limited to the above embodiment, and for example, the following modifications can be considered.
(1) In the above embodiment, the moving device of the present invention is configured from the delivery table D, the robot R, and the control panel S, but the present invention is not limited thereto. For example, the work W may be fixedly installed by deleting the delivery table D, and the hand tool T (insert insertion portion) may be moved relative to the work W by the robot R and the control panel S. Further, the mechanism for moving the hand tool T (insert insertion portion) relative to the work W is not limited to the robot R (articulated robot). For example, the hand tool T (insert insertion portion) may be moved using the XY stage.

(2) In the above embodiment, the abnormally assembled state of the insert bush B is detected based on the operating state of the second air cylinder 14, but the present invention is not limited to this. For example, the abnormally assembled state of the insert bush B may be determined based on the position of the outer shape guide 18 detected by the distance sensor 12.

(3) In the above embodiment, the case where the insert bush B in the form of a coil spring is assembled into the screw hole h (assembly hole) of the work W has been described, but the present invention is not limited to this. As is well known, there are various forms of insert bushes. The present invention can be applied to the assembly of such various forms of insert bushes.

A Automatic insert assembly system B Insert bush b Engagement groove D Indexing table h Screw hole (assembly hole)
H Hand Rack I Emergency Stop Switch K Insert Supply Device M Main Shaft P Pendant R Robot S Control Panel T Hand Tool W Work 1 Base Plate 2 Connection Member 3 LM Guide 4A 1st LM Block 4B 2nd LM Block 5 1st Bracket 6 1st Air Cylinder 7 2nd bracket 8 Rotating drive 8a Rotating shaft 9 Tool holder 10 Tool 10a Main body 10b Engagement protrusion 10c Flange 11 1st hand changer 12 Distance sensor 13 3rd bracket 14 2nd air cylinder 15 4th bracket 16 2nd Hand changer 17 5th bracket 18 External guide 18a Through hole 18b Insertion window 18c Thread groove

Claims (5)

Insert insertion part for inserting the insert bush into the assembly hole,
An insert supply device that supplies the insert bush to the insert insertion portion,
A moving device that moves the insert insertion portion relative to the work on which a large number of assembly holes are formed and the insert supply device,
An automatic insert assembly system including an abnormality detection device for detecting abnormal assembly of the insert bush with respect to the assembly hole. The insert insertion portion inserts the insert bush into the assembly hole in a state where the outer guide containing the insert bush is in contact with the predetermined work.
The moving device moves the outer shape guide so as to abut the work.
The automatic insert assembly system according to claim 1, wherein the abnormality detection device detects the abnormality assembly based on an operating state of the moving device that brings the outer shape guide into contact with the work. The insert insertion portion inserts the insert bush into the assembly hole in a state where the outer guide containing the insert bush is in contact with the predetermined work.
The moving device moves the outer shape guide so as to abut the work.
Further equipped with a distance sensor for detecting the position of the external guide,
The automatic insert assembly system according to claim 1, wherein the abnormality detection device detects the abnormality assembly based on the position of the outer shape guide. The automatic insert according to any one of claims 1 to 3, wherein the insert insertion portion abuts on the work in a cushioning state, and the insert bush is inserted into the assembly hole. Assembly system. The automatic insert assembly system according to any one of claims 1 to 3, wherein the insert bush has a form of a coil spring.

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