PROBLEM TO BE SOLVED: To provide an insertion excellence degree determination unit, an insertion excellence degree determination device, a robot system and an insertion excellence degree determination method which can easily determine the insertion excellence degree of an insertion component to an insertion object hole.;SOLUTION: An insertion excellence degree determination unit is a determination unit 1 which determines the insertion excellence degree of an insertion component 5 that is inserted to a hole provided on a work object to the hole. The insertion component 5 comprises at least a head part having a size that cannot be inserted to the hole, and a columnar trunk part extending from the head part and having a thickness that can be inserted to the hole. The determination unit is configured to determine the insertion excellence degree on the basis of positions of prescribed portions P1-P4 of the head part of the insertion component 5 inserted to the hole in a direction orthogonal to the extension direction of the hole.;SELECTED DRAWING: Figure 8;COPYRIGHT: (C)2021,JPO&INPIT
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