INSERTION DEVICE AND INSERTION METHOD

To effectively improve work efficiency and productivity.SOLUTION: The present invention comprises a guide member 21, a propulsion device 22 having a moving member 22A movably provided on the guide member 21 and an actuator 23, a support member 25 provided on a tip side of the guide member 21, which has a through hole 25A through which a rod-shaped member 303 is inserted, and which supports the rod-shaped member 303 inserted through the through-hole 25A so as to be axially movable and radially displaceable, a sensor unit 80 provided in the support member 25 and capable of detecting radial displacement of the rod-shaped member 303 in the through hole 25A, and a determination unit 100 that determines whether the axial direction XH of a hole 301 is inclined with respect to the axial direction XA of the rod-shaped member 303 based on the displacement of the rod-shaped member 303 detected by the sensor unit 80 during the insertion operation of transmitting the driving force from the actuator 23 to the moving member 25A to insert the rod-shaped member 303 into the hole 301.SELECTED DRAWING: Figure 2 【課題】作業効率及び生産性を効果的に向上する。【解決手段】ガイド部材２１と、ガイド部材２１に移動可能に設けられる移動部材２２Ａ及び、アクチュエータ２３を有する推進装置２２と、ガイド部材２１の先端側に設けられるとともに、棒状部材３０３を挿通させる貫通孔２５Ａを有しており、貫通孔２５Ａに挿通された棒状部材３０３を軸線方向に移動可能、且つ、径方向に変位可能に支持する支持部材２５と、支持部材２５に設けられており、棒状部材３０３の貫通孔２５Ａ内における径方向への変位を検出可能なセンサ部８０と、アクチュエータ２３から移動部材２５Ａに推進力を伝達して棒状部材３０３を孔３０１に挿入する挿入動作中に、センサ部８０により検出される棒状部材３０３の変位に基づいて、棒状部材３０３の軸線方向ＸＡに対して孔３０１の軸線方向ＸＨが傾いているかを判定する判定部１００と、を備えた。【選択図】図２