Fastener applying apparatus and fastener applying method

A fastener applying apparatus comprising:

• an insertion mechanism configured to insert a fastener into a fastener hole in an object to be fastened;
• a support mechanism configured to support the insertion mechanism;
• an imaging device configured to image the fastener hole and supported by the support mechanism such that the imaging device and the insertion mechanism are disposed on a same axis;
• a fastener conveying device configured to convey the fastener to the insertion mechanism;
• and
• a control unit,
• wherein the insertion mechanism includes
• a holding portion configured to hold a shank portion of the fastener,
• a feeding device movably supported by the support mechanism so as to be movable along a first direction,
• a fastener support member configured to support the fastener and supported by the feeding device, and
• an alignment unit comprising a plurality of first elastic members arranged along a plane between the feeding device and the fastener support member, configured to support the fastener support member such that the fastener support member is movable along a first plane perpendicular to the first direction, the imaging device is surrounded by the plurality of first elastic members,
• the fastener conveying device includes a gripping portion configured to grip the fastener in an axial direction of the fastener, and
• the control unit controls the insertion mechanism and the fastener conveying device such that the gripping portion releases the fastener after the holding portion holds the fastener.