Workpiece insertion device

Abstract

A workpiece insertion device inserts each pin of a workpiece having a plurality of pins arranged into a corresponding hole of an insertion object having a plurality of holes arranged, and includes a holding member that holds the workpiece, a rotating device that relatively rotates the holding member with respect to the insertion object, a moving device that relatively moves the holding member with respect to the insertion 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, finds a rotation angle of the workpiece at which a positional deviation amount of a pin having the largest positional deviation amount among the positional deviation amounts becomes the smallest in a range of relative rotation angles of the workpiece with respect to the insertion object, and controls the rotating device so that the rotation angle of the workpiece becomes the found rotation angle when each pin of the workpiece is inserted into a corresponding hole of the insertion object.

Description

Technical Field

[0001] This specification discloses a workpiece insertion device. Background Technology

[0002] Conventionally, component mounting machines (workpiece insertion devices) have been proposed that insert each pin of a leaded element into the corresponding insertion hole of a mounting location (for example, see Patent Document 1). This component mounting machine uses a component recognition camera to determine the measured position of each pin of the leaded element and calculates a regression line of the measured position using the least squares method. Next, the component mounting machine uses a substrate recognition camera to determine the measured position of each insertion hole of the mounting location and calculates a regression line of the measured position using the least squares method. Furthermore, the component mounting machine adjusts the rotation angle of the leaded element when the head unit mounts the leaded element to the mounting location based on the angle between the regression line calculated with respect to the leaded element and the regression line calculated with respect to the mounting location.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2016-207729 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] For example, if only one of the multiple pins of a pin element has a positional deviation, the regression line is calculated in a way that is strongly influenced by the measured positions of the other pins that do not have positional deviations. Therefore, in the component mounting machine described in Patent Document 1, even if the rotation angle of the pin element is adjusted based on the regression line, the position of the pin with positional deviation is not sufficiently corrected, and it may be impossible to insert it into the corresponding insertion hole.

[0007] The main objective of this disclosure is to provide a workpiece insertion device that can insert each pin into the corresponding hole of an insert having multiple holes, even if only a portion of the pins are misaligned when inserting each pin of a workpiece having multiple pins into the corresponding hole of an insert having multiple holes.

[0008] Methods for solving problems

[0009] The following means are employed in this disclosure to achieve the aforementioned principal objectives.

[0010] The workpiece insertion device disclosed herein inserts each pin of a workpiece having a plurality of arranged pins into a corresponding hole of an insertee having a plurality of arranged holes. Its main feature is that it possesses:

[0011] Holding components, holding the aforementioned workpiece;

[0012] A rotating device that causes the retaining member to rotate relative to the inserted object;

[0013] The moving device causes the retaining member to move relative to the inserted object along an orthogonal plane orthogonal to the rotation axis of the rotating device; and

[0014] The control device measures the actual position of each pin of the workpiece, calculates the position deviation of each pin relative to the ideal position, and determines the rotation angle of the workpiece that minimizes the position deviation of the pin with the largest position deviation within the range of rotation angles between the workpiece and the inserted object. The control device controls the rotation device in such a way that the rotation angle of the workpiece is the determined rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object.

[0015] The workpiece insertion device of this disclosure measures the actual position of each pin of the workpiece and calculates the positional deviation of each pin from its ideal position. Next, the workpiece insertion device determines, within a range of rotation angles relative to the workpiece and the insertee, the rotation angle of the workpiece that minimizes the positional deviation of the pin with the largest positional deviation. Furthermore, the workpiece insertion device controls a rotation mechanism such that the rotation angle of the workpiece is the determined rotation angle when inserting each pin of the workpiece into the corresponding hole of the insertee. Therefore, when inserting each pin of a workpiece with multiple pins into the corresponding hole of an insertee with multiple holes, even if only a portion of the pins have a positional deviation, each pin can be inserted into its corresponding hole. Attached Figure Description

[0016] Figure 1 This is a schematic structural diagram of the workpiece insertion device according to this embodiment.

[0017] Figure 2 This is a control block diagram of the workpiece insertion device 10.

[0018] Figure 3 This is a flowchart illustrating an example of a workpiece insertion process.

[0019] Figure 4 This is a flowchart illustrating an example of image processing.

[0020] Figure 5 This is a flowchart illustrating an example of image processing.

[0021] Figure 6 This is an explanatory diagram showing the identification of the center position of the workpiece.

[0022] Figure 7 This is an explanatory diagram showing how the actual location of each pin is identified.

[0023] Figure 8 This is an explanatory diagram showing the assumed ideal positions of each pin.

[0024] Figure 9 This is an explanatory diagram showing the calculated positional deviation of each pin from its ideal position.

[0025] Figure 10 This is an explanatory diagram showing the plotting of the positional deviation of each pin.

[0026] Figure 11 This is an explanatory diagram showing the case where the minimum circle is set.

[0027] Figure 12 This is an explanatory diagram showing the angle adjustment.

[0028] Figure 13 This is an explanatory diagram showing the angle adjustment.

[0029] Figure 14 This is an explanatory diagram showing the case of the presumed insertion hole.

[0030] Figure 15 This is an explanatory diagram showing how to identify the shape of each pin. Detailed Implementation

[0031] Next, regarding the manner in which this disclosure is implemented, refer to the appendix. Figure 1 Explanation follows.

[0032] Figure 1 This is a schematic structural diagram of the workpiece insertion device according to this embodiment. Figure 2 This is a control block diagram of the workpiece insertion device 10. Additionally, in Figure 1 In this diagram, the left-right direction represents the X-axis direction, the front-back direction represents the Y-axis direction, and the up-down direction represents the Z-axis direction. The workpiece insertion device 10 of this embodiment is configured to insert each pin P of a workpiece W (e.g., a connector) having a plurality of pins P (e.g., pins with square end faces) arranged at predetermined intervals on its back surface into the corresponding insertion hole H of an insertable (e.g., a substrate or socket) having a plurality of insertion holes H arranged at predetermined intervals on its surface. Figure 1 As shown, the workpiece insertion device 10 includes: a workpiece feeding device 21, a conveying device 22, a head moving device 30, a head 40, a workpiece camera 24, a marking camera 25, a waste bin 26, and a control device 60 (see reference). Figure 2 They are housed in shell 12.

[0033] As a workpiece supply device 21, for example, a pallet supply device can supply a pallet having multiple receiving grooves for receiving workpieces W.

[0034] The conveying device 22 has, for example, a pair of conveyor belts arranged at predetermined intervals in the front-to-back (Y-axis direction) and mounted in the left-to-right (X-axis direction). The conveying device 22 conveys the substrate S, which is to be inserted, from left to right by driving the pair of conveyor belts.

[0035] The head moving device 30 moves the head 40 forward, backward, left, and right (in the XY axis direction), such as... Figure 1 As shown, it includes an X-axis slider 32 and a Y-axis slider 34. The X-axis slider 32 is supported by a pair of upper and lower X-axis guide rails 33 that are provided on the front surface of the Y-axis slider 34 in a manner extending in the left-right direction (X-axis direction). The X-axis slider 32 is connected to an X-axis actuator 36 (see reference). Figure 2 Driven by the actuator 38, the Y-axis slider 34 moves along the X-axis guide rail 33 in the X-axis direction. The Y-axis slider 34 is supported by a pair of left and right Y-axis guide rails 35 located on the upper section of the housing 12, extending in the front-rear direction (Y-axis direction). The Y-axis slider 34 is driven by the Y-axis actuator 38 (see reference 38). Figure 2 Driven by the X-axis position sensor 37, the X-axis slider 32 moves along the Y-axis guide rail 35 in the Y-axis direction. Additionally, the X-axis slider 32 is driven by the X-axis position sensor 37 (see reference 37). Figure 2 The position in the X-axis direction is detected. Additionally, the Y-axis slider 34 is controlled by the Y-axis position sensor 39 (see reference). Figure 2 The position in the Y-axis direction is detected. A head 40 is mounted on the X-axis slider 32. Therefore, the head 40 moves along the XY plane (horizontal plane) by driving the head moving device 30 (X-axis actuator 36 and Y-axis actuator 38).

[0036] The head 40 has a suction nozzle 41 for picking up (adsorbing) and holding the workpiece W. Although not shown, a negative pressure source is connected to the suction nozzle 41 via a solenoid valve (on / off valve), and the suction nozzle 41 receives a negative pressure supply from the negative pressure source to adsorb the workpiece W. In addition, the suction nozzle 41 is connected to a Z-axis actuator 42 (see reference 42). Figure 2 Driven by the Θ axis actuator 44, it moves in the vertical direction (Z-axis direction) and moves through the Θ axis actuator 44 (see reference). Figure 2 Driven by the Z-axis, the nozzle 41 rotates around the Z-axis. Additionally, the nozzle 41 is rotated around the Z-axis by the Z-axis position sensor 43 (see reference 43). Figure 2 The Z-axis position is detected by the Θ-axis position sensor 45 (reference). Figure 2 Detect the position (rotation angle Θ) along the Θ axis.

[0037] like Figure 1As shown, the workpiece camera 24 is positioned between the workpiece supply device 21 and the conveying device 22. When the workpiece W supplied by the workpiece supply device 21 is picked up and installed (inserted) onto the substrate S conveyed by the conveying device 22, the workpiece camera 24 captures an image of the workpiece W from below as it passes above it. The image captured by the workpiece camera 24 is used to determine the positional deviation of the workpiece W held in the suction nozzle 41 relative to the nozzle 41, to determine the optimal posture for inserting each pin P of the workpiece W into the corresponding insertion hole H of the substrate S, and to determine any defects in the workpiece W.

[0038] like Figure 1 As shown, the marking camera 25 is mounted on the X-axis slider 32 and moves together with the head 40 in the XY-axis direction via the head moving device 30. The marking camera 25 captures images from above of the reference marks attached to the substrate S brought in by the conveying device 22. The images captured by the marking camera 25 are used to confirm the position of the substrate S and the type of substrate S.

[0039] The waste bin 26 is disposed adjacent to the workpiece camera 24 between the workpiece supply device 21 and the conveying device 22. The waste bin 26 is used to discard defective workpieces W.

[0040] like Figure 2 As shown, the control device 60 is configured as a microprocessor centered on a CPU 61, and in addition to the CPU 61, it also includes a ROM 62, an HDD 63, a RAM 64, and an input / output interface 65. These are electrically connected via a bus 66. Position signals from the X-axis position sensor 37, Y-axis position sensor 39, Z-axis position sensor 43, and Θ-axis position sensor 45 are input to the control device 60. Image signals from the workpiece camera 24 and the marking camera 25 are also input to the control device 60. On the other hand, drive signals for the workpiece supply device 21, the conveying 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. Control signals for the workpiece camera 24 and the marking camera 25 are also output from the control device 60.

[0041] Next, the operation of the workpiece insertion device 10 configured in this way will be explained. Figure 3 This is a flowchart illustrating an example of a workpiece insertion process performed by the CPU 61 of the control device 60. This process is executed upon receiving production instructions from a higher-level management computer (not shown).

[0042] When performing the workpiece insertion process, the CPU 61 of the control device 60 first performs a suction action (step S100) to cause the suction nozzle 41 to suction the upper surface of the workpiece W supplied from the workpiece supply device 21. The suction action is performed by controlling the head moving device 30 (X-axis actuator 36 and Y-axis actuator 38) to move the suction nozzle 41 above the supply position of the workpiece W in the workpiece supply device 21, then controlling the Z-axis actuator 42 to lower the suction nozzle 41, and controlling the solenoid valve to supply negative pressure to the suction nozzle 41.

[0043] Next, the CPU 61 controls the head moving device 30 to move the suction nozzle 41, which holds the workpiece W, upward toward the workpiece camera 24 (step S110), and takes an image of the workpiece W using the workpiece camera 24 (step S120). Furthermore, the CPU 61 performs image processing on the acquired image (step S130). Here, in the image processing, the optimal insertion posture (insertion position and insertion angle) of the workpiece W for inserting all pins P of the workpiece W into the corresponding insertion holes H of the substrate S is determined. Moreover, in the image processing, it is determined whether all pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S through optimization of the insertion posture of the workpiece W. Details of this image processing will be described later.

[0044] If the image processing result determines that all pins P of workpiece W can be inserted into the corresponding insertion holes H of substrate S ("Yes" in step S140), then CPU 61 corrects the insertion position and insertion angle of workpiece W to the insertion position and insertion angle optimized by image processing (step S150). Furthermore, CPU 61 performs an insertion operation to insert each pin P of workpiece W into the corresponding insertion hole H of substrate S with 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 Θ-axis actuator 44 to move the workpiece W adsorbed on the suction nozzle 41 upwards to the insertion position and rotate it towards the insertion angle, then controlling the Z-axis actuator 42 to lower the suction nozzle 41 and controlling the solenoid valve to release the negative pressure supply to the suction nozzle 41.

[0045] On the other hand, if the image processing result determines that a certain pin P of the workpiece W cannot be inserted into the corresponding insertion hole H of the substrate S ("No" in step S140), the CPU 61 determines that the workpiece W is defective, performs a discarding action to discard the workpiece W to the discard bin 26 (step S170), and ends the workpiece insertion process. The discarding action is performed by controlling the head moving device 30 to move the workpiece W adsorbed on the suction nozzle 41 upwards to the discard bin 26, and then controlling the solenoid valve to release the negative pressure supply to the suction nozzle 41.

[0046] Next, the details of the image processing in step S130 will be explained. Figure 4 and Figure 5 This is a flowchart illustrating an example of image processing. The following discussion of image processing will refer to relevant documentation. Figures 6 to 15 While explaining.

[0047] In image processing, CPU 61 first searches for all pins P of workpiece W and identifies the center position O of workpiece W (step S200). This process is performed, for example, by using pattern matching with pre-registered shape data to identify all pins P, defining a rectangular region containing all identified pins P, and setting the center coordinates of the defined rectangular region as the center position O of workpiece W (see reference). Figure 6 ).

[0048] Next, CPU 61 searches each pin P of workpiece W individually to identify the actual position of each pin P (step S210). This process, for example, uses pattern matching with shape data to identify each pin P individually, and then sets the center coordinates of the shape (square) of each identified pin P. Figure 7 In the process, the coordinates of the intersection points of the cross markers are set to the actual positions.

[0049] Furthermore, the CPU 61 estimates the ideal position of each pin P based on the center position O of the workpiece W identified in step S200 (step S220). Here, the ideal position of each pin P represents the center coordinates of the shape of each pin P under conditions without positional deviation. Figure 8 In the middle, the coordinates of the intersection of the cross). The processing of step S220 is to pre-determine and register the relationship between the center position O of the workpiece W and the ideal position of each pin P. When the center position O of the workpiece W is identified, the ideal position of each pin P is derived according to the identified center position O and the registered relationship.

[0050] After identifying the actual position of each pin P and estimating its ideal position, CPU61 calculates the positional deviations Δx and Δy between the actual and ideal positions of each pin P (step S230). This process is performed by calculating the distance between the actual and ideal positions in each of the X-axis and Y-axis directions (see [reference]). Figure 9 ).

[0051] Next, for each pin P, CPU61 plots the points that have moved away from the same reference point in the XY coordinate system by the position deviations Δx and Δy (step S240, refer to...). Figure 10 And set the smallest circle containing all plotted points (step S250, refer to...). Figure 11Next, CPU 61 rotates the ideal position of each pin P around the center position O of the workpiece W to derive the optimal angle θ that minimizes the radius of the smallest circle (step S260). This process can be performed, for example, as follows: CPU 61 first rotates the ideal position of each pin P around the center position O in both the forward and reverse rotation directions by a predetermined angle each time, while calculating the positional deviations Δx and Δy between the new ideal position of each pin P at each rotation angle and the actual position of each pin P identified in step S210, and plots them in the XY coordinate system (refer to...). Figure 12 and Figure 13 Next, CPU 61 sets a minimum circle containing all plotted points and calculates the radius of the set minimum circle. Furthermore, CPU 61 sets the rotation angle of the minimum circle with the smallest radius to the optimal angle θ. This process can be described as finding the rotation angle (insertion posture) of workpiece W that minimizes the positional deviation of pin P, which has the largest positional deviation, within the rotation angle range of workpiece W based on Θ-axis actuator 44. Therefore, even if some pins P of workpiece W experience positional deviation, all pins P can be inserted into the corresponding insertion holes H of the substrate S.

[0052] After CPU61 derives the optimal angle θ that minimizes the radius of the minimum circle, it sets the derived optimal angle θ as the angle correction value (step S270), and sets the deviations between the center point of the minimum circle that minimizes the radius and the reference point in the X-axis and Y-axis directions as position correction values ​​(step S280). Thus, the insertion posture of workpiece W is optimized by correcting the workpiece insertion position with the position correction value and the workpiece insertion angle with the angle correction value in step S150 of the workpiece insertion process.

[0053] After optimizing the insertion posture (insertion position and insertion angle) of the workpiece W, the CPU61 sets the position and shape of each insertion hole H of the substrate S, which is the object to be inserted. Figure 14 (Refer to the dashed line in step S290). This process is performed by setting the ideal position of each pin P at the optimal angle θ derived in step S260 as the position of each insertion hole H and setting the shape (circle) with radius r centered on the ideal position. In addition, the position and shape of each insertion hole H can also be estimated (identified) by applying pattern matching to the image of the substrate S captured by the marking camera 25.

[0054] Next, CPU 61 sets the outline of each pin P centered on its 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 dimensions (length and width) of each pin P. Furthermore, CPU 61 determines whether the set outline of each pin P is completely contained within the outline of the corresponding insertion hole H set in step S290 (step S310). This process is performed by determining whether the positions of all four corners of each pin P are contained within the outline of the corresponding insertion hole H (see reference). Figure 15 Alternatively, CPU61 can also set the circumscribed circle of each pin P as the shape of the four corners of each pin P, and determine whether the set circumscribed circle is included in the shape of the corresponding insertion hole H. If the determination in step S310 is affirmative ("Yes"), CPU61 determines that all pins P of workpiece W can be inserted into the corresponding insertion hole H of 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 ("Yes") is made, and workpiece W is inserted into substrate S with the insertion position and insertion posture optimized by image processing.

[0055] On the other hand, if the determination in step S310 is negative ("No"), the CPU 61 determines that the workpiece W cannot be inserted into the substrate S regardless of the insertion posture (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 to the waste bin 26.

[0056] Here, the correspondence between the main elements of the embodiment and the main elements described in the claims will be explained. That is, in this embodiment, the suction nozzle 41 corresponds to the "holding member", the Θ-axis actuator 44 corresponds to the "rotation device", the head moving device 30 corresponds to the "moving device", and the control device 60 corresponds to the "control device".

[0057] Furthermore, this disclosure is not limited to any of the above-described embodiments. It is self-evident that it can be implemented in various ways as long as it falls within the technical scope of this disclosure.

[0058] For example, in the above embodiment, after optimizing the insertion position and insertion angle of the workpiece W, it is determined whether all pins P of the workpiece W can be inserted into the corresponding insertion holes H of the substrate S (the object to be inserted). However, such determination can also be omitted.

[0059] In the above embodiment, the workpiece insertion device 10 uses the head moving device 30 to move the workpiece W held at the head 40 in the XY axis direction (front-back, left-right direction). However, the workpiece insertion device 10 can also move the substrate S (the object to be inserted) in the XY axis direction. That is, the workpiece W only needs to move relative to the object to be inserted in the XY axis direction.

[0060] In the above embodiment, the workpiece insertion device 10 uses the Z-axis actuator 42 to move the workpiece W in the Z-axis direction and uses the Θ-axis actuator 44 to rotate the workpiece W about the Z-axis. However, the workpiece insertion device 10 can also move the substrate S (the object to be inserted) in the Z-axis direction and rotate it about the Z-axis. That is, the workpiece W only needs to move relative to the object to be inserted in the Z-axis direction and rotate about the Z-axis.

[0061] As explained above, the workpiece insertion device disclosed herein is a workpiece insertion device for inserting each pin of a workpiece having a plurality of arranged pins into the corresponding holes of an insert having a plurality of arranged holes. Its main purpose is to include: a holding member for holding the workpiece; a rotating device for rotating the holding member relative to the insert; a moving device for moving the holding member relative to the insert along an orthogonal plane orthogonal to the rotation axis of the rotating device; and a control device for measuring the actual position of each pin of the workpiece, calculating the position deviation of the measured actual position relative to an ideal position for each pin, determining, within a range of rotation angles relative to the insert, the rotation angle of the workpiece that minimizes the position deviation of the pin with the largest position deviation, and controlling the rotating device in such a way 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 insert.

[0062] The workpiece insertion device of this disclosure measures the actual position of each pin of the workpiece and calculates the positional deviation of each pin from its ideal position. Next, the workpiece insertion device determines, within a range of rotation angles relative to the workpiece and the insertee, the rotation angle of the workpiece that minimizes the positional deviation of the pin with the largest positional deviation. Furthermore, the workpiece insertion device controls a rotation mechanism such that the rotation angle of the workpiece is the determined rotation angle when inserting each pin of the workpiece into the corresponding hole of the insertee. Therefore, when inserting each pin of a workpiece with multiple pins into the corresponding hole of an insertee with multiple holes, even if only a portion of the pins have a positional deviation, each pin can be inserted into its corresponding hole.

[0063] In such a workpiece insertion device of this disclosure, the control device may plot the positions of each pin relative to the same reference point based on the positional deviation, set a minimum circle including the plotted positions of each pin, and calculate the rotation angle of the workpiece that minimizes the radius of the minimum circle. In this case, the control device may control the moving device to correct the position of the workpiece relative to the insert along the orthogonal plane based on the position of the center point of the minimum circle that minimizes the radius of the minimum circle when inserting each pin of the workpiece into the corresponding hole of the insert. Alternatively, in this case, after the control device calculates the rotation angle of the workpiece that minimizes the radius of the minimum circle, it may determine whether the pins of the workpiece can be inserted into the corresponding hole of the insert by adjusting the position of each pin and the corresponding hole based on the calculated rotation angle and the position of the center point of the minimum circle when correcting the position of the workpiece along the orthogonal plane. Furthermore, in this case, the end face of each pin of the workpiece may be formed as a square, and the control device may estimate the position of the four corners of each pin based on the position of each pin of the workpiece, and determine whether each pin of the workpiece can be inserted into the corresponding hole of the inserted object by determining whether the position of the four corners of each pin is within the area of ​​the corresponding hole of the inserted object.

[0064] Industrial availability

[0065] This disclosure can be applied to industries such as the manufacturing of workpiece insertion devices.

[0066] Explanation of reference numerals in the attached figures

[0067] 10 Workpiece insertion device, 12 Housing, 21 Workpiece feeding device, 22 Conveying device, 24 Workpiece camera, 25 Marking camera, 26 Waste bin, 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 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 Substrate, W Workpiece, P Pin.

Claims

1. A workpiece insertion device for inserting each pin of a workpiece having a plurality of arranged pins into a corresponding hole of an insert having a plurality of arranged holes. The workpiece insertion device includes: Holding component, holding the workpiece; A rotating device that allows the retaining member to rotate relative to the inserted object; A moving device that allows the holding member to move relative to the inserted object along an orthogonal plane orthogonal to the rotation axis of the rotating device; and The control device measures the actual position of each pin of the workpiece, calculates the position deviation of each pin relative to the ideal position, and determines the rotation angle of the workpiece that minimizes the position deviation of the pin with the largest position deviation within the range of rotation angles relative to the inserted object. The device controls the rotation of the workpiece in such a way that the rotation angle of the workpiece is the determined rotation angle when each pin of the workpiece is inserted into the corresponding hole of the inserted object.

2. The workpiece insertion device according to claim 1, wherein, The control device plots the positions of each pin relative to the same reference point based on the position deviation, sets a minimum circle containing the positions of each plotted pin, and calculates the rotation angle of the workpiece that minimizes the radius of the minimum circle.

3. The workpiece insertion device according to claim 2, wherein, The control device controls the moving device such that, when inserting the pins of the workpiece into the corresponding holes of the insert, the relative position of the workpiece with respect to the insert along the orthogonal plane is corrected based on the position of the center point of the minimum circle that minimizes the radius of the minimum circle.

4. The workpiece insertion device according to claim 3, wherein, After the control device calculates the rotation angle of the workpiece that minimizes the radius of the minimum circle, it corrects the position of each pin and the corresponding hole of the workpiece along the orthogonal plane based on the calculated rotation angle and the position of the center point of the minimum circle, and determines whether each pin of the workpiece can be inserted into the corresponding hole of the inserted object.

5. The workpiece insertion device according to claim 4, wherein, The end faces of each pin of the workpiece are square. The control device estimates the position of the four corners of each pin based on the position of each pin of the workpiece, and determines whether the pins of the workpiece can be inserted into the corresponding holes of the inserted object by determining whether the position of the four corners of each pin is within the area of ​​the corresponding hole of the inserted object.

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