PROTECTIVE MEMBER INSERTION SYSTEM AND METHOD

To provide a protective member insertion system and method which improves operability of a protective member insertion operation.SOLUTION: Holding tools T1, T2 which hold a protective member 50 of a screw hole 43b, a tool drive device 71 which can rotate the holding tools T1, T2 around a center axis BX of a screw hole 43b as a center, an articulated robot (insertion device 103) which can move the holding tools T1, T2 along the center axis BX of the screw hole 43b and adjusts angles of the holding tools T1, T2 with respect to the center axis BX of the screw hole 43b and a control device 107 which rotates the holding tools T1, T2 while inclining angles of the holding tools T1, T2 by an initial insertion angle θ preset for the center axis BX of the screw hole 41b and moves the holding tools T1, T2 along the center axis BX of the screw hole 43b to insert a protective member 50 held by the holding tools T1, T2 to the screw hole 43b are provided.SELECTED DRAWING: Figure 1 【課題】保護部材挿入システム及び方法において、保護部材挿入作業の作業性の向上を図る。【解決手段】ネジ穴４３ｂの保護部材５０を保持する保持工具Ｔ１，Ｔ２と、保持工具Ｔ１，Ｔ２をネジ穴４３ｂの中心軸ＢＸを中心として回転可能なる工具駆動装置７１と、保持工具Ｔ１，Ｔ２をネジ穴４３ｂの中心軸ＢＸに沿って移動可能であると共にネジ穴４３ｂの中心軸ＢＸに対する保持工具Ｔ１，Ｔ２の角度を調整する多関節ロボット（挿入装置１０３）と、保持工具Ｔ１，Ｔ２の角度をネジ穴４１ｂの中心軸ＢＸに対して予め設定された初期挿入角度θだけ傾斜させた状態で保持工具Ｔ１，Ｔ２を回転すると共に保持工具Ｔ１，Ｔ２をネジ穴４３ｂの中心軸ＢＸに沿って移動して保持工具Ｔ１，Ｔ２が保持した保護部材５０をネジ穴４３ｂに挿入する制御装置１０７とを設ける。【選択図】図１