WO2021191980A1

WO2021191980A1 - Workpiece insertion device

Info

Publication number: WO2021191980A1
Application number: PCT/JP2020/012771
Authority: WO
Inventors: 祐一郎菊川; 信夫大石
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2021-09-30
Also published as: JPWO2021191980A1; JP7397170B2; DE112020006953T5; CN115211250A

Abstract

A workpiece insertion device inserts individual pins of a workpiece having a plurality of arrayed pins in the corresponding hole of an object to be inserted that has a plurality of arrayed holes, the workpiece insertion device comprising: a holding member that holds the workpiece; a rotation device that rotates the holding member relatively with respect to the object to be inserted; a moving device that moves the holding member relatively with respect to the object to be inserted, along an orthogonal plane that is orthogonal to the rotation axis of the rotation device; and a control device. The control device: measures the actual position of each pin of the workpiece; calculates the positional offset of the actual position measured for each pin with respect to the ideal position for each pin; derives the rotation angle of the workpiece for which the positional offset of the pin having the greatest positional offset is smallest, within the rotation angle range of the workpiece relative to the object to be inserted; and controls the rotation device so that the rotation angle of the workpiece reaches the derived rotation angle when each pin of the workpiece is inserted in the corresponding hole of the object to be inserted.

Description

Work insertion device

This specification discloses the work insertion device.

Conventionally, a component mounting machine (work insertion device) for inserting each lead of a lead component into a corresponding insertion hole at a mounting location has been proposed (see, for example, Patent Document 1). This component mounting machine measures the measured position of each lead of the lead component with a component recognition camera, and calculates the regression line of the measured position by the least squares method. Subsequently, the component mounting machine measures the measured position of each insertion hole at the mounting location with a board recognition camera, and calculates by the least squares method of the regression line of the measured position. Then, the component mounting machine adjusts the rotation angle of the lead component when the head unit attaches the lead component to the attachment location based on the angle formed by the regression line calculated for the lead component and the regression line calculated for the attachment location.

Japanese Unexamined Patent Publication No. 2016-207729

For example, when only one of a large number of leads included in a lead component has a misalignment, the regression line is calculated so as to be strongly influenced by the measured positions of many other leads having no misalignment. 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 a misalignment is not sufficiently corrected and cannot be inserted into the corresponding insertion hole. There is a risk.

In the present disclosure, in a work in which each pin of a work having a plurality of pins is inserted into a corresponding hole of an object to be inserted having a plurality of holes, only some of the pins of the plurality of pins are misaligned. Also, the main purpose is to provide a work insertion device capable of inserting each pin into a corresponding hole.

This disclosure has taken the following steps to achieve the above-mentioned main objectives.

The workpiece insertion device of the present disclosure is
A work insertion device that inserts each pin of a work having a plurality of arranged pins into a corresponding hole of an object to be inserted having a plurality of arranged holes.
A holding member that holds the work and
A rotating device that rotates the holding member relative to the inserted object, and
A moving device that moves the holding member relative to the inserted object along an orthogonal plane orthogonal to the rotation axis of the rotating device.
The actual position of each pin of the work is measured, the amount of displacement of the actual position measured at each pin with respect to the ideal position is calculated, and the rotation angle range of the work relative to the object to be inserted is described as described above. The rotation angle of the work is obtained so that the amount of misalignment of the pin having the maximum amount of misalignment is minimized, and the rotation angle of the work is obtained when each pin of the work is inserted into the corresponding hole of the object to be inserted. A control device that controls the rotating device so that the rotation angle is different,
The gist is to prepare.

The work insertion device of the present disclosure measures the actual position of each pin of the work, and calculates the amount of displacement of the measured actual position at each pin with respect to the ideal position. Subsequently, the work inserting device obtains a rotation angle of the work such that the amount of misalignment of the pin having the maximum amount of misalignment within the range of rotation angles of the work relative to the object to be inserted is minimized. Then, the work inserting device controls the rotating device so that the rotation angle of the work becomes the obtained rotation angle when inserting each pin of the work into the corresponding hole of the object to be inserted. As a result, in a work in which each pin of a work having a plurality of pins is inserted into a corresponding hole of an object to be inserted having a plurality of holes, even if only some of the pins of the plurality of pins are misaligned. , Each pin can be inserted into the corresponding hole.

It is a schematic block diagram of the work insertion apparatus of this embodiment. It is a control block diagram of the work insertion apparatus 10. It is a flowchart which shows an example of a work insertion process. It is a flowchart which shows an example of image processing. It is a flowchart which shows an example of image processing. It is explanatory drawing which shows the state of recognizing the center position of a work. It is explanatory drawing which shows the state of recognizing the actual position of each pin. It is explanatory drawing which shows the mode of estimating the ideal position of each pin. It is explanatory drawing which shows the mode of calculating the misalignment amount of the actual position with respect to the ideal position of each pin. It is explanatory drawing which shows the state of the plot of the misalignment amount of each pin. It is explanatory drawing which shows the state of setting the minimum circle. It is explanatory drawing which shows the state of the angle adjustment. It is explanatory drawing which shows the state of the angle adjustment. It is explanatory drawing which shows the state of estimating the insertion hole. It is explanatory drawing which shows the state of recognizing the outer shape of each pin.

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 the work insertion device of the present embodiment. FIG. 2 is a control block diagram of the work insertion device 10. In FIG. 1, the left-right direction indicates the X-axis direction, the front-back direction indicates the Y-axis direction, and the up-down direction indicates the Z-axis direction. In the work inserting device 10 of the present embodiment, each pin P of the work W (for example, a connector) having a plurality of pins P (for example, pins having a quadrangular end face) arranged at a predetermined interval is arranged at a predetermined interval. It is configured to be inserted into the corresponding insertion hole H of an object to be inserted (for example, a substrate or a socket) having a plurality of insertion holes H arranged at the same time. As shown in FIG. 1, the work insertion device 10 includes a work supply device 21, a transfer device 22, a head moving device 30, a head 40, a work camera 24, a mark camera 25, a disposal box 26, and a control device 60 (see FIG. 2). ) And. These are housed in the housing 12.

Examples of the work supply device 21 include a tray supply device that supplies a tray having a large number of storage pockets for accommodating the work W.

The transport device 22 has, for example, a pair of conveyor belts that are installed at predetermined intervals in the front-rear direction (Y-axis direction) and are bridged to the left and right (X-axis direction). The transport device 22 transports the substrate S as an insert from left to right by driving a pair of conveyor belts.

The head moving device 30 moves the head 40 back and forth and left and right (in the XY axis direction), and includes an X-axis slider 32 and a Y-axis slider 34 as shown in FIG. The X-axis slider 32 is supported by a pair of upper and lower X-axis guide rails 33 installed so as to extend in the left-right direction (X-axis direction) on the front surface of the Y-axis slider 34. The X-axis slider 32 moves in the X-axis direction along the X-axis guide rail 33 by driving the 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 installed so as to extend in the front-rear direction (Y-axis direction) at the upper stage of the housing 12. The Y-axis slider 34 moves in the Y-axis direction along the Y-axis guide rail 35 by driving the Y-axis actuator 38 (see FIG. 2). The position of the X-axis slider 32 in the X-axis direction is detected by the X-axis position sensor 37 (see FIG. 2). Further, the position of the Y-axis slider 34 in the Y-axis direction is detected by the Y-axis position sensor 39 (see FIG. 2). A head 40 is attached to the X-axis slider 32. Therefore, the head 40 moves along the XY plane (horizontal plane) by driving and controlling the head moving device 30 (X-axis actuator 36 and Y-axis actuator 38).

The head 40 includes a suction nozzle 41 that picks up (sucks) and holds the work 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 the supply of negative pressure from the negative pressure source and sucks the work W. Further, the suction nozzle 41 moves in the vertical direction (Z-axis direction) by driving the Z-axis actuator 42 (see FIG. 2), and rotates around the Z-axis by driving the Θ-axis actuator 44 (see FIG. 2). The position of the suction nozzle 41 in the Z-axis direction is detected by the Z-axis position sensor 43 (see FIG. 2), and the position (rotation angle Θ) in the Θ-axis direction is detected by the Θ-axis position sensor 45 (see FIG. 2). Will be done.

As shown in FIG. 1, the work camera 24 is installed between the work supply device 21 and the transfer device 22. When the work camera 24 picks up the work W supplied by the work supply device 21 and mounts (inserts) it on the substrate S conveyed by the transfer device 22, the work camera 24 is concerned when the work W passes above the work camera 24. The work W is imaged from below. The image captured by the work camera 24 determines the amount of misalignment of the work W held in the suction nozzle 41 with respect to the suction nozzle 41, or inserts each pin P of the work W into the corresponding insertion hole H of the substrate S. It is used to determine the optimum posture of the work W for the work W and to determine the defect of the work W.

As shown in FIG. 1, the mark camera 25 is attached to the X-axis slider 32 and moves in the XY-axis direction together with the head 40 by the head moving device 30. The mark camera 25 takes an image of the 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 for confirming the position of the substrate S and confirming the type of the substrate S.

The disposal box 26 is installed adjacent to the work camera 24 between the work supply device 21 and the transfer device 22. The disposal box 26 is a box for discarding the work W in which a defect has occurred.

As shown in FIG. 2, the control device 60 is configured as a microprocessor centered on a CPU 61, and includes a ROM 62, an HDD 63, a RAM 64, and an input / output interface 65 in addition to the CPU 61. These are electrically connected via the bus 66. 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 are input to the control device 60. Further, image signals from the work camera 24 and the mark camera 25 are also input to the control device 60. On the other hand, the control device 60 outputs a drive signal to the work supply device 21, the transfer device 22, the X-axis actuator 36, the Y-axis actuator 38, the Z-axis actuator 42, and the Θ-axis actuator 44. Further, the control device 60 also outputs a control signal to the work camera 24 and the mark camera 25.

Next, the operation of the work insertion device 10 configured in this way will be described. FIG. 3 is a flowchart showing an example of the work insertion process executed by the CPU 61 of the control device 60. This process is executed when a production instruction is received from a higher-level management computer (not shown).

When the work insertion process is executed, the CPU 61 of the control device 60 first performs a suction operation of sucking the upper surface of the work W supplied from the work supply device 21 to the suction nozzle 41 (step S100). In the suction operation, the head moving device 30 (X-axis actuator 36 and Y-axis actuator 38) is controlled so that the suction nozzle 41 moves above the supply position of the work W by the work supply device 21, and then the suction nozzle 41 descends. This is performed by controlling the Z-axis actuator 42 and controlling the solenoid valve so that a negative pressure is supplied to the suction nozzle 41.

Subsequently, the CPU 61 controls the head moving device 30 so that the suction nozzle 41 sucking the work W moves upward of the work camera 24 (step S110), and the work camera 24 takes an image of the work W (step S120). ). Then, the CPU 61 performs image processing on the obtained captured image (step S130). Here, in the image processing, the optimum insertion posture (insertion position and insertion angle) of the work W for inserting all the pins P of the work W into the corresponding insertion holes H of the substrate S is determined. Further, in the image processing, it is determined whether or not all the pins P of the work W can be inserted into the corresponding insertion holes H of the substrate S by optimizing the insertion posture of the work W. Details of such image processing will be described later.

When the CPU 61 determines as a result of image processing that all the pins P of the work W can be inserted into the corresponding insertion holes H of the substrate S (“YES” in step S140), the insertion position and insertion angle of the work W are determined. The insertion position and insertion angle optimized by image processing are corrected (step S150). Then, the CPU 61 performs an insertion operation of inserting each pin P of the work W into the corresponding insertion hole H of the substrate S at the corrected insertion position and insertion angle (step S160), and ends the work insertion process. In the insertion operation, the head moving device 30 and the Θ-axis actuator 44 are controlled so that the work W sucked by the suction nozzle 41 moves above the insertion position and rotates to the insertion angle, and then the suction nozzle 41 descends. This is performed by controlling the Z-axis actuator 42 and controlling the solenoid valve so that the supply of negative pressure to the suction nozzle 41 is released.

On the other hand, when the CPU 61 determines as a result of image processing that any pin P of the work W cannot be inserted into the corresponding insertion hole H of the substrate S (“NO” in step S140), a defect occurs in the work W. It is determined that the work W is being discarded, and a disposal operation of discarding the work W to the disposal box 26 is performed (step S170), and the work insertion process is completed. In the disposal operation, after controlling the head moving device 30 so that the work W adsorbed on the suction nozzle 41 moves above the disposal box 26, the solenoid valve is set so that the supply of negative pressure to the suction nozzle 41 is released. It is done by controlling.

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

In the image processing, the CPU 61 first searches all the pins P of the work W and recognizes the center position O of the work W (step S200). In this process, for example, all pins P are recognized by pattern matching using pre-registered shape data, a rectangular area including all recognized pins P is set, and the center coordinates of the set rectangular area are set as work W. This is done by setting the center position O of (see FIG. 6).

Subsequently, the CPU 61 individually searches each pin P of the work W and recognizes the actual position of each pin P (step S210). In this process, for example, each pin P is individually recognized by pattern matching using shape data, and the center coordinates (coordinates of intersections of cross marks in FIG. 7) of the outer shape (quadrangle) of each recognized pin P are respectively recognized. This is done by setting it as the actual position.

Then, the CPU 61 estimates the ideal position of each pin P from the center position O of the work W recognized in step S200 (step S220). Here, the ideal position of each pin P indicates the center coordinates of the outer shape of each pin P (the coordinates of the intersection of the crosses in FIG. 8) in a state where there is no misalignment. In the process of step S220, the relationship between the center position O of the work W and the ideal position of each pin P is obtained and registered in advance, and when the center position O of the work W is recognized, the recognized center position O is registered. This is done by deriving the ideal position of each pin P from the relationship.

When the CPU 61 recognizes the actual position of each pin P and estimates the ideal position in this way, it calculates the amount of positional deviation Δx, Δy between the actual position of each pin P and the ideal position (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 CPU 61 plots points separated by the amount of positional deviation Δx, Δy from the same reference point in the XY coordinate system at each pin P (see step S240, FIG. 10), and includes all the plotted points. Set the minimum circle (step S250, see FIG. 11). Subsequently, the CPU 61 rotates the ideal position of each pin P around the center position O of the work W to derive the optimum angle θ that minimizes the radius of the minimum circle (step S260). This process can be performed, for example, as follows. That is, the CPU 61 first recognizes the new ideal position of each pin P for each rotation angle in step S210 while rotating the ideal position of each pin P about the center position O in both forward and reverse rotation directions by a predetermined angle. The actual position of each pin P and the amount of misalignment Δx and Δy are calculated and plotted in the XY coordinate system (see FIGS. 12 and 13). Subsequently, the CPU 61 sets a minimum circle including all the plotted points, and calculates the radius of the set minimum circle. Then, the CPU 61 sets the rotation angle in which the minimum circle having the minimum radius is set to the optimum angle θ. This process is a process of finding the rotation angle (insertion posture) of the work W such that the amount of misalignment of the pin P having the largest amount of misalignment is minimized in the range of rotation angles of the work W by the Θ-axis actuator 44. It can be said that there is. As a result, even if some of the pins P of the work W are misaligned, all the pins P can be inserted into the corresponding insertion holes H of the substrate S.

When the CPU 61 derives the optimum angle θ that minimizes the radius of the minimum circle in this way, the CPU 61 sets the derived optimum angle θ as the angle correction value (step S270), and sets the center point and the reference point of the minimum circle that minimizes the radius. The amount of deviation in the X-axis direction and the Y-axis direction is set as the position correction value (step S280). As a result, the insertion posture of the work W is optimized by correcting the work insertion position by the position correction value and correcting the work insertion angle by the angle correction value in step S150 of the work insertion process. Become.

When the insertion posture (insertion position and insertion angle) of the work W is optimized in this way, the CPU 61 sets the position and outer shape (see the broken line in FIG. 14) of each insertion hole H of the substrate S 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 at the position of each insertion hole H and setting the outer shape (circle) of the radius r centered on the ideal position. It is done. The position and outer shape of each insertion hole H may be estimated (recognized) by applying pattern matching to the image obtained by imaging the substrate S with the mark camera 25.

Subsequently, the CPU 61 sets the outer shape of each pin P centered on the actual position (step S300). This process is performed by setting the positions of the four corners based on the actual position of each pin P and the size (length and width) of each pin P. Then, the CPU 61 determines whether or not the outer shape of each set pin P 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 positions of the four corners of each pin P are included in the outer shape of the corresponding insertion hole H (see FIG. 15). The CUP 61 may set circumscribed circles circumscribed at 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 affirmative (“YES”), the CPU 61 determines that all the pins P of the work W can be inserted into the corresponding insertion holes H in the substrate S (step S330). , End the image processing. In this case, as described above, a positive determination (“YES”) is made in step S140 of the work insertion process, and the work W is inserted into the substrate S at the insertion position and insertion posture optimized by the image processing. It will be.

On the other hand, if the determination in step S310 is negative (“NO”), the CPU 61 determines that the work W cannot be inserted into the substrate S regardless of the posture in which the work W is inserted. (Step S340), the image processing is completed. In this case, as described above, a negative determination (“NO”) is made in step S140 of the work insertion process, and the work W is discarded in the discard box 26.

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

It is needless to say that the present disclosure is not limited to the above-described embodiment, and can be implemented in various aspects as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, after optimizing the insertion position and insertion angle of the work W, whether or not all the pins P of the work W can be inserted into the corresponding insertion holes H of the substrate S (object to be inserted). It was decided to judge. However, such a determination may be omitted.

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

In the above-described embodiment, the work inserting device 10 uses the Z-axis actuator 42 to move the work W in the Z-axis direction, and the Θ-axis actuator 44 to rotate the work W around the Z-axis. However, the work insertion device 10 may move the substrate S (object to be inserted) in the Z-axis direction and rotate it around the Z-axis. That is, the work W may be moved in the Z-axis direction relative to the object to be inserted and may be rotated around the Z-axis.

As described above, the work insertion device of the present disclosure is a work insertion device that inserts each pin of a work having a plurality of arranged pins into a corresponding hole of an object to be inserted having a plurality of arranged holes. The holding member that holds the work, the rotating device that rotates the holding member relative to the object to be inserted, and the holding member along an orthogonal plane orthogonal to the rotation axis of the rotating device. A moving device that moves relative to the inserted object and the actual position of each pin of the work are measured, the amount of displacement of the actual position measured at each pin with respect to the ideal position is calculated, and the relative to the inserted object is calculated. The rotation angle of the work is obtained so that the amount of misalignment of the pin having the largest amount of misalignment is minimized within the range of the rotation angle of the work, and each pin of the work corresponds to the object to be inserted. It is a gist to include a control device that controls the rotation device so that the rotation angle of the work becomes the obtained rotation angle when the work is inserted into the hole.

In such a work insertion device of the present disclosure, the control device plots the positions of each pin with respect to the same reference point based on the amount of misalignment, and draws a minimum circle including the plotted positions of each pin. It may be set to obtain the rotation angle of the work that minimizes the radius of the minimum circle. In this case, the control device is based on the position of the center point of the minimum circle when the radius of the minimum circle is minimized when each pin of the work is inserted into the corresponding hole of the object to be inserted. The moving device may be controlled so that the position of the work along the orthogonal plane relative to the insert is corrected. Further, in this case, the control device obtains the rotation angle of the work when the radius of the minimum circle becomes the minimum, and then sets the rotation angle of the work as the rotation angle of the center point of the minimum circle. Insert each pin of the work into the corresponding hole of the object to be inserted based on the position of each pin and the position of the corresponding hole when the position of the work along the orthogonal plane is corrected based on the position. It may be used to determine whether or not it can be done. Further, in this case, the end faces of the pins of the work are formed in a quadrangular shape, and the control device estimates the positions of the four corners of the pins from the positions of the pins of the work, and the positions of the four corners of the pins are determined. By determining whether or not it fits within the region of the corresponding hole of the object to be inserted, it may be determined whether or not each pin of the work can be inserted into the corresponding hole of the object to be inserted.

This disclosure can be used in the manufacturing industry of work insertion devices and the like.

10 work insertion device, 12 housing, 21 work supply device, 22 transfer device, 24 work camera, 25 mark camera, 26 disposal box, 30 head moving device, 32 X-axis slider, 33 X-axis guide rail, 34 Y-axis slider , 35 Y-axis guide rail, 36 X-axis actuator, 37 X-axis position sensor, 38 Y-axis actuator, 39 Y-axis position sensor, 40 head, 41 suction nozzle, 42 Z-axis actuator, 43 Z-axis position sensor, 44 Θ-axis Actuator, 45 Θ-axis position sensor, 60 control device, 61 CPU, 62 ROM, 63 HDD, 64 RAM, 65 input / output interface, 66 bus, H insertion hole, S board, W work, P pin.

Claims

A work insertion device that inserts each pin of a work having a plurality of arranged pins into a corresponding hole of an object to be inserted having a plurality of arranged holes.
A holding member that holds the work and
A rotating device that rotates the holding member relative to the inserted object, and
A moving device that moves the holding member relative to the inserted object along an orthogonal plane orthogonal to the rotation axis of the rotating device.
The actual position of each pin of the work is measured, the amount of displacement of the actual position measured at each pin with respect to the ideal position is calculated, and the rotation angle range of the work relative to the object to be inserted is described as described above. The rotation angle of the work is obtained so that the amount of misalignment of the pin having the maximum amount of misalignment is minimized, and the rotation angle of the work is obtained when each pin of the work is inserted into the corresponding hole of the object to be inserted. A control device that controls the rotating device so that the rotation angle is different,
A work insertion device equipped with.
The work insertion device according to claim 1.
The control device plots the position of each pin with respect to the same reference point based on the amount of misalignment, sets a minimum circle including the plotted positions of each pin, and the radius of the minimum circle is Find the minimum rotation angle of the work,
Work insertion device.
The work insertion device according to claim 2.
The control device with respect to the object to be inserted is based on the position of the center point of the minimum circle when the radius of the minimum circle is minimized when each pin of the work is inserted into the corresponding hole of the object to be inserted. The moving device is controlled so that the relative position of the work along the orthogonal plane is corrected.
Work insertion device.
The work insertion device according to claim 3.
The control device determines the rotation angle of the work when the radius of the minimum circle becomes the minimum, and then sets the rotation angle of the work as the rotation angle, and based on the position of the center point of the minimum circle. Whether or not each pin of the work can be inserted into the corresponding hole of the object to be inserted based on the position of each pin and the position of the corresponding hole when the position of the work along the orthogonal plane is corrected. To judge,
Work insertion device.
The work insertion device according to claim 4.
The end face of each pin of the work is formed in a quadrangular shape.
The control device estimates the positions of the four corners of each pin from the position of each pin of the work, and determines whether or not the positions of the four corners of each pin fit within the area of the corresponding hole of the insert. Thereby, it is determined whether or not each pin of the work can be inserted into the corresponding hole of the object to be inserted.
Work insertion device.