JPH11221724A - Rotation adjusting device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust the rotary angle of a part of which the rotation is to be adjusted with high accuracy by comprising a means for moving a rotation adjustment unit in the X-axis direction, comprising a means for moving the same in the Y-axis direction, and further comprising a means for moving the same in the Z-axis direction. SOLUTION: An X-axis direction movement rail 11 is mounted on a rack 10. A Y-axis direction movement rail 12 is mounted on the X-axis direction movement rail 11, and the Y-axis direction movement rail 12 is totally supported on the X-axis direction movement rail 11 movably in the X-axis direction. Further a Z-axis direction movement rail 13 is supported on the Y-axis direction movement rail 12, and the Z-axis direction movement rail 13 is totally supported movably in the Y-axis direction. A rotation adjustment unit 15 comprising a bit 16 on a point, is mounted on a needle of the Z-axis direction movement rail 13, whereby the bit 16 is movable in the X-axis direction, Y-axis direction and Z-axis direction. Accordingly the rotation can be adjusted by engaging the bit 16 with a part of which the rotation is to be adjusted, in an arbitrary position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation adjusting device and a rotation adjusting method, and more particularly to adjusting a rotation by engaging a bit with a rotation-adjusted portion and rotating the bit by a rotation driving means. The present invention relates to a rotation adjusting device and a rotation adjusting method.

[0002]

2. Description of the Related Art When assembling various types of equipment, there are parts that require rotational adjustment. In this case, conventionally, the rotation-adjusted portion is manually rotated and adjusted by a tool such as a screwdriver or a wrench. Such a method increases the number of work steps and increases the cost of equipment.

In view of such problems, an automatic rotation adjusting device has been proposed. In a conventional automatic rotation adjusting device, for example, a bit is directly connected to a main shaft of a motor, and the rotation is adjusted while rotating the bit by the motor. According to such a configuration, since it is not necessary to manually rotate the bit, the operation is reduced. However, since there is no mechanism for positioning the bit with respect to the rotation-adjusted portion, there is a problem that complete automation cannot be achieved.

Therefore, it is considered that a rotation adjustment unit is attached to, for example, a portion on the distal end side of a robot, thereby substantially automating a rotation adjustment operation. However, in such a method, a method is adopted in which the insertion is performed by continuously rotating the bit in one direction while the bit is pressed onto the screw.

[0005]

The problem with such a method is that the screw is rotated by the bit when the bit is not completely inserted, so that the rotation angle of the screw is precisely adjusted. Can not do it. In addition, in each insertion, the bit is idled on the screw, so that a large amount of time is lost. In addition, there is a problem that the insertion becomes difficult when the descending speed of the bit is increased. For these reasons, the bit often wears over the screw, resulting in severe bit wear.

Conventionally, in order to absorb a shift amount when a bit is inserted in a state where the bit is displaced with respect to the rotation-adjusted portion, a countermeasure has conventionally been taken such that the bit is swingably mounted on a rotating main shaft. Was taken. However, according to such an oscillating displacement absorbing mechanism, it is not possible to accurately measure how much the bit is displaced.
There has been a problem that the amount of displacement cannot be corrected.

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and it is possible to accurately adjust the rotation angle of a rotation-adjusted portion, and when the bit is displaced from the rotation-adjusted portion. In addition to measuring the deviation,
It is an object of the present invention to provide a rotation adjustment device and a rotation adjustment method that can use the shift amount for position correction at the time of subsequent bit insertion.

[0008]

According to the present invention, there is provided a rotation adjusting unit having a bit engaged with a rotation-adjusted portion, a rotation driving means for rotating the bit, and an axis perpendicular to the axis of the rotation-adjusted portion. X-axis direction moving means for moving the rotation adjustment unit in the X-axis direction on a plane, Y-axis direction movement means for moving the rotation adjustment unit in the Y-axis direction on the plane, and an axis of the rotation-adjusted portion And a Z-axis direction moving means for moving the rotation adjustment unit in the Z-axis direction parallel to the axis, and the rotation adjustment unit is supported movably in the X-axis direction, the Y-axis direction, and the Z-axis direction. And a rotation adjusting device.

[0009] A mechanism may be provided between the rotation driving means and the bit to move the bit in a direction perpendicular to the axis of the bit to absorb a deviation from the rotation-adjusted portion. Further, the mechanism for absorbing the displacement may include a guide mechanism for moving the bit in the X-axis direction and the Y-axis direction. Further, the bit may be driven by the rotation driving means via an Oldham coupling.

According to another aspect of the present invention, there is provided a rotation adjusting unit having a bit engaged with a rotation-adjusted portion, a rotation driving means for driving the bit to rotate, and X on a plane orthogonal to an axis of the rotation-adjusted portion. X-axis direction moving means for moving the rotation adjustment unit in the axial direction, Y-axis direction movement means for moving the rotation adjustment unit in the Y-axis direction on the plane, and Z parallel to the axis of the rotation-adjusted portion. Z-axis direction moving means for moving the rotation adjustment unit in the axial direction, and displacement of the bit in the X-axis direction and the Y-axis direction with respect to the rotation adjustment portion when the bit is engaged with the rotation adjustment portion. The present invention relates to a rotation adjusting device including: a detecting unit that detects an amount; and an adjusting unit that adjusts the X-axis direction moving unit and the Y-axis direction moving unit according to the amount of deviation.

The main invention related to the rotation adjusting method is a rotation adjusting method in which a bit driven by a rotation driving means is engaged with a rotation-adjusted portion a plurality of times to perform rotation adjustment, and a first bit engagement of the bit is performed. X-axis direction and Y-axis on a plane orthogonal to the axis direction of the bit in the case of
The present invention relates to a rotation adjusting method, wherein an amount of displacement in the axial direction is measured, and the position of the rotation driving means is corrected in accordance with the measurement of the amount of displacement when a second or subsequent bit is engaged.

When the bit is not engaged with the rotation-adjusted portion at the time of the first engagement of the bit, the rotation driving means is displaced in the X-axis direction and / or the Y-axis direction to engage a plurality of times. You may try to match.

Another invention related to a rotation adjusting method is based on a design value based on the positions of the two rotated adjustment portions when the bit is engaged with the two rotated adjustment portions which are spaced apart from each other. Is converted into a coordinate, and the bit is engaged with the rotation-adjusted portion based on the coordinate converted at the time of subsequent engagement of the bit.

According to a preferred aspect of the present invention, a repetitive bit is inserted into each of a large number of adjusting screws, for example, for adjusting the filter characteristics of a high frequency filter of a relay station for mobile communication, and the screw is rotated at a specified angle. In the case where the operation for performing the angle adjustment is automatically performed according to the machine, the bit insertion operation is divided into the first coarse adjustment and the second and subsequent fine adjustments. Measures the amount of deviation from the design value of the position of the bit in the X-axis direction and the Y-axis direction after insertion of the bit,
This is an insertion method in which the value of the deviation amount is reflected in the position data of the screw and the angle at that time is stored so that the second and subsequent insertions can be smoothly performed without rotating the bit. The present invention relates to a method of accurately rotating the adjusting screw in the second and subsequent bit insertions by this insertion method.

Here, when the bit cannot be inserted and engaged at the time of the first try, a retry of inserting the bit while shifting the position is performed, thereby increasing the displacement of the bit and the amount of absorption of the displacement. The insertion method is used. Further, based on the positions of the two screws inserted first, the design values are subjected to coordinate conversion, so that retries in subsequent insertion are eliminated, and the insertion speed is increased so that the working speed is increased. In such a form, in order to easily measure the amount of misalignment from the design value after the insertion of the bit, the movement of absorbing the misalignment of the bit is performed in a parallel movement in a direction perpendicular to the axial direction of the bit. It is preferable to provide a mechanism for absorbing the displacement of the bit.

By adopting a position correction method in which the bit is translated in a direction perpendicular to the axis direction, it is possible to measure the displacement at the time of the first insertion, and to determine the value and the bit angle data. Based on this, it becomes possible to achieve the insertion of the second and subsequent bits without rotating the bits. As a result, the bit can be rotated from a state where the bit is completely inserted and there is no backlash between the bit and the screw hole, so that the rotation angle of the screw can be adjusted with high accuracy. In addition, in the second and subsequent insertions, the bit is prevented from running idle on the screw, so that the time loss is reduced and the tact time is shortened. Also, even if the bit descending speed is increased, insertion errors do not increase. For this reason, the bit does not run idle on the screw and the bit wear is reduced.

If the bit cannot be engaged with the screw at the time of the first insertion, retrying insertion while shifting the bit position makes it possible to increase the amount of absorption of the bit position shift. 2
Based on the position of the screw at the position, the design value of the screw position is subjected to coordinate conversion, and it is possible to increase the work speed without retrying the subsequent insertion of bits.

[0018]

1 and 2 show the overall configuration of a rotation adjusting device according to an embodiment of the present invention.
This apparatus includes a gantry 10, and an X-axis direction moving rail 11 is mounted on the gantry 10.
A Y-axis direction moving rail 12 is mounted on the axial direction moving rail 11. The Y-axis moving rail 12 is supported by the X-axis moving rail 11 as a whole so as to be movable in the X-axis direction. And the Y-axis moving rail 12
A Z-axis direction moving rail 13 is supported on the upper side, whereby the Z-axis direction moving rail 13 is supported so as to be movable as a whole in the Y-axis direction.

A rotation adjusting unit 15 is attached to the mover of the Z-axis direction moving rail 13, and a bit 16 is attached to a tip end portion of the rotation adjusting unit 15. And FIG.
The rotation of the adjusting screw 17 shown in FIG. 3 is adjusted.

FIGS. 3 to 5 show the rotation adjusting unit 15 in particular.
Is shown. The attachment of the rotation adjusting unit 15 to the mover 20 of the Z-axis direction moving rail 13 will be described. A mounting table 21 is fixed to a movable element 20 constituting an output end of the Z-axis direction moving rail 13, and the mounting table 21 forms a guide rail, and a slider 22 slides vertically on the guide rail. Supported as possible. The slider 22 is fixed to a substantially rectangular housing 23 of the rotation adjusting unit 15.

An arm 24 is mounted on the mounting table 21 as shown in FIG. 5, and a suspension spring 26 is provided between a tip end of the arm 24 and a pin 25 of the housing 23.
The housing 23 is suspended on the mount 21 via such suspension springs 26. That is, the suspension spring 26 absorbs the own weight of the housing 23.

In the housing 23, as shown in FIG.
A pulse motor 29 is housed vertically. The lower end portion of the pulse motor 29 is mounted on the mounting plate 30, and is pressed by the mounting plate 30 by the pressing frame 31. The mounting plate 30 is supported by a sleeve 32, and the sleeve 32 is rotatably supported by the housing 23 via a pair of upper and lower bearings 33. The bearing 33 has an outer ring received by a bearing case 34, and the bearing case 34 is supported by the housing 23.

Accordingly, the pulse motor 29 is rotatably supported about its axis in the housing 23 via the mounting plate 30, and the rotation of the pulse motor 29 causes the corner portion of the mounting plate 30 to contact the stopper 35. Therefore, the rotation angle is restricted. That is, the mounting plate 30 has a substantially rectangular shape when viewed from above, and its rotation is regulated by the vicinity of the corner portion contacting the stopper 35.

A torque sensor 37 is mounted on an upper portion of the housing 23 in which the pulse motor 29 is housed, and a rotation shaft 38 of the torque sensor 37 is erected at the center of the upper end of the holding frame 31 via a coupling 39. Directly connected to the frame shaft 40. Therefore, torque as a reaction force when the pulse motor 29 rotates is detected by the torque sensor 37.

The output shaft 43 of the pulse motor 29 is connected to a cylindrical connecting shaft 44, and a tip end portion of the cylindrical connecting shaft 44 is connected to an Oldham coupling 45. The lower end portion of the Oldham coupling 45 is connected to the drive shaft 46, and the distal end side of the drive shaft 46 is connected to the bit 16 via the coupling 47. The cylindrical connecting shaft 44 is provided with a disk 48 for detecting the rotation angle or the number of rotations of the bit, and a portion on the outer peripheral side of the disk 48 is detected by a rotation detection sensor 49. I have.

As shown in FIGS. 6 to 8, a displacement absorbing mechanism 52 for moving the lower portion of the Oldham coupling 45 in a direction perpendicular to the axial direction of the bit 16 is provided below the bottom of the housing 23. It is provided on the side. This mechanism will be described in detail with reference to FIG. 8. The drive shaft 46 is rotatably supported by a pair of upper and lower bearings 53, and this bearing 53 is
4. The bottom plate 55 of the bearing case 54 is attached to the lower surface of the Y-axis direction slider 56, and the Y-axis direction slider 56 is slidably guided by a Y-axis direction guide rail 57.

Further, the Y-axis direction guide rail 57 is attached to the lower surface of the X-axis direction slider 58. The X-axis direction slider 58 is supported by an X-axis direction guide rail 59 so as to be slidable in the X-axis direction. X-axis direction guide rail 5
9 is fixed to the bottom plate of the housing 23.

By such a displacement absorbing mechanism, a portion of the drive shaft 46 below the Oldham coupling 45 including the bit 16 is supported so as to be movable in the X-axis direction and the Y-axis direction. Accordingly, the bit 16 is also movably supported in the X-axis direction and the Y-axis direction in accordance with this, and it becomes possible to absorb the positional deviation in the same direction.

An X-axis direction detection dog 62 is attached to the bottom plate 55 of the bearing case 54, and the X-axis direction gap sensor 63 detects the dog 62. Also, as shown in FIG.
A Y-axis direction detection dog 64 is attached to a portion perpendicular to the portion where the 2 is attached, and this dog 64 is detected by a Y-axis direction gap sensor 65. That is, the drive shaft 46 by the displacement absorbing mechanism 52
The shift amounts of the bit 16 in the X-axis direction and the Y-axis direction are detected by the X-axis direction gap sensor 63 and the Y-axis direction gap sensor 65, respectively.

The X-axis direction stopper 68 and the Y-axis direction stopper 69 are used to restrict the maximum stroke of the deviation amount in the X-axis direction and the Y-axis direction by the deviation absorption mechanism 52, as shown in FIG. It is attached to two sides perpendicular to each other below the bottom plate of the housing 23. Since these mechanisms have substantially the same configuration as each other, for example, the Y-axis direction stopper 69 will be described with reference to FIGS.

A pair of left and right side plates 72 are attached to the bottom plate of the housing 23, and a rod 73 is attached between these side plates 72 so as to be stretched. A pair of left and right springs 74 are arranged on the rod 73, and these springs 74 press the spring receiving sleeve 75. Further, a boss 77 is further attached to an attachment plate 76 attached to the guide rail 59 in the X-axis direction, and a tip portion of the boss 77 is inserted between the pair of spring receiving sleeves 75 with a gap. I have. A mounting plate 78 is mounted on the Y-axis direction slider 56, and a boss 79 provided on the mounting plate 78 is inserted between a pair of left and right spring receiving sleeves 75. Is set.

Therefore, according to such a configuration, bit 1
If there is a displacement between the screw 6 and the adjusting screw 17, Y
The axial slider 56 moves along the rail 60, but the boss 79 and the mounting plate 78 move in the same direction while pressing the spring receiving sleeve 75 because they are fastened to the Y-axial slider 56. The maximum movement amount at this time is the mounting plate 78.
Until it hits the stopper 61, which is the maximum absorption amount.

When the bit 16 is not inserted into the adjusting screw 17, the spring receiving sleeve 7
The bit 16 is returned to the center by the 5 pushing the boss 79, but is not pushed back to the opposite side beyond the center by the presence of the boss 77. That is, the Y-axis direction stopper 69 sets the absorption stroke of the maximum displacement of the Y-axis direction slider 56, and allows the movement of the drive shaft 46 and the bit 16 within the range. The X-axis direction stopper 68 shown in FIG. 6 has a similar function, and the stopper 68 can absorb the displacement of the drive shaft 46 and the bit 16 within the range of the maximum absorption stroke.

Next, a system configuration of a control system of such a rotation adjusting device will be described with reference to FIG. The X-axis movement rail 11, the Y-axis movement rail 12, and the Z-axis movement rail 13 include an X-axis movement motor 81, a Y-axis movement motor 82, and a Z-axis movement motor 83, respectively. It is connected to an output port 84 and is controlled by a computer 84. Further, the pulse motor 29 is controlled by a computer 84. Computer 8
The torque sensor 37 and the rotation detection sensor 4
9, the X-axis direction gap sensor 63 and the Y-axis direction gap sensor 65 are respectively connected.

As described above, the rotation adjusting device according to the present embodiment has the rotation adjusting unit 1 having the bit 16 at the distal end.
Reference numeral 5 is attached to an orthogonal robot that moves in the X-axis direction, the Y-axis direction, and the Z-axis direction. The work is mounted and fixed at a predetermined mounting position on the gantry 10.

The rotation adjusting unit 15 is provided with the Z of the robot.
When the bit 16 hits the adjusting screw 16, the suspension spring 26 is loosened, so that the bit 16 is lightly pressed against the adjusting screw 17.

The bit 16 is driven to rotate by a pulse motor 29, and an Oldham coupling 45 is interposed between the bit 16 and the output shaft 43 of the pulse motor 29. The Oldham coupling 45 transmits a rotational force due to its characteristics, but does not hinder movement of the bit 16 in a direction perpendicular to the axial direction, that is, in the X-axis direction and the Y-axis direction. A motor 29 is rotatably supported by the housing 23 via a bearing 33, and a torque sensor 37 is attached so as to prevent the rotation. With such a structure, the reaction force at the time of screw tightening is reduced by the torque sensor 37.
Is measured.

FIGS. 6 to 8 show a mechanism for correcting the displacement of the bit 16 and measuring the displacement. The bit 16 is connected to a drive shaft 46 by a coupling 47 and is held by a pair of upper and lower bearings 53. A displacement absorbing mechanism 52 is provided thereon. The displacement absorbing mechanism 52 has a two-stage configuration.
The upper part is a movement adjustment mechanism in the X-axis direction, and the lower part is a movement adjustment mechanism in the Y-axis direction. With this arrangement, the bit 16 is moved and adjusted in the X-axis direction and the Y-axis direction to absorb the deviation. I have to.

When the bit 16 is inserted, the adjusting screw 17
If there is a misalignment with the hole of
Due to the reaction force of the rotation of 6, the portion on the distal end side of the displacement absorbing mechanism 52 slides in the X-axis direction and / or the Y-axis direction. The X-axis direction detection dog 62 and / or the Y-axis direction detection dog 64 move together with the slide unit, and the position is detected by the X-axis direction gap sensor 63 or the Y-axis direction gap sensor 65.

As the gap sensors 63 and 65, it is possible to adopt a type capable of measuring a distance. Here, each of the gap sensors 63 and 65 is constituted by a single sensor, and is composed of "near", "medium", The robot that can determine “far” is used. When the “near” or “far” signal is output, the orthogonal robot moves in the X-axis direction while the bit 16 remains engaged with the adjusting screw 17. The rail 11 or the Y-axis moving rail 12 is moved until the gap sensors 63 and 65 generate signals on the opposite side. Then, the correct position of the adjusting screw 17 is determined based on the intermediate point of the moving distance.

The Y-axis direction stopper 69 shown in FIG. 9 and FIG.
6 is determined, and when the bit 16 is not engaged with the adjusting screw 17, the left and right springs 74 function to return the Y-axis direction slider 56 to an intermediate position in the sliding direction. .

Next, a description will be given of an operation when the specific operation of such a rotation adjusting device is applied to the adjustment of the band characteristic of a high-frequency filter of a relay station for mobile communication as shown in FIGS. This high-frequency filter is a filter of a relay station for mobile communication, and its casing 90 is divided into a plurality of small rooms by partition walls 91, and a cover plate 93 has an upper opening with a thin metal plate 92 interposed therebetween. It is attached to cover.

A plurality of adjusting screws 17 as shown in FIG. 17 are screwed into the cover plate 93.
By changing the amount of screwing of these adjusting screws 17, the amount of deformation of the thin plate 92 by the adjusting screws 17 is adjusted, and by changing the impedance of a small room in the casing 90 defined by the partition 91, the band of the filter is changed. It adjusts the characteristics.

Here, the partition 91 in the casing 90
Since the characteristics of a large number of small chambers defined by each other interfere with each other, the rotation of the screw 17 is adjusted by repeatedly inserting the bit 16 for the same screw 17 while measuring the change in the band characteristic, and This is achieved by adjusting the rotation of the angle screw.

Next, the rotation adjustment of the screw 17 for adjusting the band characteristic of such a high-frequency filter will be described step by step. First, the first adjustment, i.e., the coarse adjustment, will be described with reference to FIG. 14. At the start of the operation, the bit 16 is moved on the adjustment screw 17 on the X-axis direction moving rail 11 and the Y-axis Moving rail 12
The bit 16 is moved down to the upper end of the adjusting screw 17 at high speed by the Z-axis direction moving rail 13.
After that, it is lowered at a low speed to the adjustment height. When the bit 16 contacts the head of the adjusting screw 17, the suspension spring 26
Is slightly loosened, the bit 16 is lightly pressed against the head of the adjusting screw 17.

When the position of the bit 16 is shifted, correction is performed. After that, the bit 16 is reversed by the pulse motor 29. The reverse rotation is performed up to a maximum of 180 °. If it is detected by the torque sensor 37 that a specified torque is generated before the rotation by 180 °, it is determined that the bit 16 has fallen into the hole of the adjusting screw 17. To stop reverse rotation. If no torque is generated by turning the bit in the reverse direction by 180 ° or more, the bit 16 is rotated forward. In this case as well, it is rotated up to 180 °,
If it is detected by the torque sensor 37 that a certain torque is generated before turning, the bit 16 is determined to have fallen into the screw hole of the adjusting screw 17 and normal rotation is stopped.

Thereafter, the bit 16 is further rotated forward up to three rotations. If a torque is generated during this rotation, it stops there.

If the specified torque is not generated by the above-mentioned three rotations, a retry operation is performed. 5 and 6 show a retry operation. Since the correction amount of the shift amount of the shift absorbing mechanism 52 is ± 0.5 mm, the shift up to ± 2 mm is absorbed by performing retries in the order of the regions 2 to 5 shown in FIG. If the position of the bit 16 is shifted during this retry, the correction is performed as shown in FIG. Then, the angle of the bit 16 is detected by the rotation detection sensor 49, and the displacement in the X-axis direction and the Y-axis direction is stored.

That is, there is usually a play between the hole of the adjusting screw 17 and the bit 16, but since the screw 17 ends in a tightened state, the angle in which there is no play in the tightening direction is stored. You. In this apparatus, since the bit 16 is driven by the pulse motor 29, the angle of the bit 16 is stored as a pulse value. This value is called an adjustment angle. Then, in order to prevent the friction between the bit 16 and the adjusting screw 17 from occurring, the bit 16 is reversed at a retracting angle of, for example, about 7 °, and then the bit 1 is rotated.
6 is raised by the Z-axis direction moving rail 13. Thereafter, the process proceeds to adjustment of the next adjustment screw 17.

Next, the operation of converting the coordinates of the design data will be described with reference to FIG. When there are three or more target adjustment screws 17, this coordinate conversion is performed. This operation first measures the actual positions of the two adjustment screws 17. This measurement is the distance traveled by the X-axis moving rail 11 and the Y-axis moving rail 12 so as to detect the X-axis moving amount and the Y-axis moving amount when the bit 16 is engaged with the adjusting screw 17. Is detected from. In this case, it is desirable that the two adjustment screws 17 are two points having the longest distance therebetween.

The coordinate transformation is performed so that the measured center position of the two points and the angle of the straight line connecting the two points become the same as the design value. By such an operation, the position and angle deviation of the work are absorbed, so that in the subsequent insertion of the bit 16, the probability of being inserted in the first retry is increased.

Next, adjustment after the second time, that is, fine adjustment, will be described with reference to FIG. In this adjusting operation, the bit 16 is moved onto the adjusting screw 17 based on the corrected position data, and further, the bit 16 is rotated to the adjusting angle and then lowered to the upper end of the adjusting screw 17 at high speed. After that, the bit 16 is reversed in the retreat angle. Next, the bit 16 is lowered at a high speed to the height at the time of adjustment. Since the angle and the position are matched, the bit 16 is inserted into the screw hole of the adjusting screw 17 to the lower part.

After that, the rotation is adjusted. That is, the angle adjustment is performed based on the angle adjustment data of the adjustment screw 17. In the case of forward rotation, it is sufficient to turn the extra evacuation angle,
When the adjusting screw 17 is adjusted in the reverse direction, in addition to the adjusting angle, if the bit 16 and the screw hole of the adjusting screw 17 are turned over more than the backlash, and then returned to the excessively turned angle, the bit 16
Of the adjustment screw 17 is absorbed.

If the displacement of the bit 16 occurs again due to the eccentricity of the adjusting screw 17 or the like, the position is corrected here. Then, the angle and the position of the bit 16 are stored. In order to prevent the friction between the bit 16 and the adjusting screw 17 from being generated, the bit 16 is reversed at a fixed angle, that is, the retreat angle, and then the bit 16 is raised by the Z-axis moving rail 13 together with the rotation adjusting unit 15. Thereafter, the process proceeds to the next screw adjustment.

[0055]

As described above, according to the present invention, a bit engaged with a rotation-adjusted portion, a rotation adjustment unit having a rotation driving means for driving the bit to rotate, and a plane perpendicular to the axis of the rotation-adjusted portion are provided. X-axis direction moving means for moving the rotation adjustment unit in the X-axis direction above, and Y-axis direction movement means for moving the rotation adjustment unit in the Y-axis direction on the same plane;
A Z-axis direction moving means for moving the rotation adjustment unit in the Z-axis direction parallel to the axis of the rotation-adjusted portion, wherein the rotation adjustment unit is movable in the X-axis direction, the Y-axis direction, and the Z-axis direction. It is intended to be supported.

Accordingly, the bit can be freely moved in the X-axis direction, the Y-axis direction, and the Z-axis direction. Can be rotationally adjusted, and complete automation of the rotational adjustment is achieved.

According to the configuration in which the mechanism for moving the bit in the direction perpendicular to the axis of the bit and absorbing the displacement with respect to the rotation-adjusted portion is provided between the rotation driving means and the bit, Even if the position deviates from the design value, the deviation can be absorbed and the rotation can be adjusted.

According to the rotation adjusting mechanism in which the mechanism for absorbing the deviation is constituted by a guide mechanism for moving the bit in the X-axis direction and the Y-axis direction, the deviation of the rotation-adjusted portion from the design value is determined by the bit. Can be moved in the X-axis direction and the Y-axis direction to be absorbed.

According to the configuration in which the bit is driven by the rotation driving means via the Oldham coupling, the bit is driven to rotate via the Oldham coupling, and the tip is closer to the distal end than the Oldham coupling. The bit-side portion can be moved and adjusted in a direction orthogonal to the axial direction of the bit, whereby the bit can be rotationally driven while absorbing the displacement.

Still another aspect of the present invention is directed to a rotation adjusting unit having a bit engaged with a rotation-adjusted portion, a rotation driving means for rotating the bit, and an X-axis on a plane orthogonal to an axis of the rotation-adjusted portion. X-axis direction moving means for moving the rotation adjusting unit in the direction, Y-axis direction moving means for moving the rotation adjusting unit in the Y-axis direction on the same plane, and rotating in the Z-axis direction parallel to the axis of the rotation-adjusted portion. Z-axis direction moving means for moving the adjusting unit, detecting means for detecting a shift amount of the bit with respect to the rotation-adjusted portion in the X-axis direction and Y-axis direction when the bit is engaged with the rotated-adjustment portion, An adjusting means is provided for adjusting the X-axis direction moving means and the Y-axis direction moving means in accordance with the amount.

Therefore, according to such a configuration, the amount of displacement in the X-axis direction and the Y-axis direction when the bit is engaged with the rotation-adjusted portion is detected by the detecting means, and the detection of the detecting means is performed. , The X-axis direction moving means and the Y-axis direction moving means can be respectively adjusted according to the actual shift amount.

The invention relating to the rotation adjusting method is a rotation adjusting method in which a bit driven by a rotation driving means is engaged with a rotation-adjusted portion a plurality of times to perform rotation adjustment. X-axis direction and Y-axis on a plane orthogonal to the axial direction of the bit at the time of
The amount of displacement in the axial direction is measured, and the position of the rotation driving means is corrected in accordance with the measurement of the amount of displacement at the time of the second and subsequent bit engagement.

Therefore, when the bit is engaged for the second time and thereafter, the bit is engaged with the rotation-adjusted portion in a state where the positional deviation from the design value of the rotation-adjusted portion is corrected in advance. In other words, the second and subsequent bit engagement operations are performed smoothly.

When the bit is not engaged with the rotation-adjusted part at the time of the first engagement of the bit, the rotation driving means is set to X.
According to the configuration in which the engagement is attempted a plurality of times while being shifted in the axial direction and / or the Y-axis direction, even if the position of the rotation-adjusted portion deviates from the design value by more than the shift absorption amount of the shift absorbing mechanism, a plurality of times. Attempting the engagement allows the bit to be properly engaged for rotational adjustment.

Still another invention relating to a rotation adjusting method is as follows.
The design value is coordinate-transformed based on the positions of the two rotation-adjusting portions when the bit is engaged with the two rotation-adjustment portions that are spaced apart from each other. The engagement with the rotation adjustment unit is performed based on the coordinates converted into the rotation adjustment unit.

Therefore, according to such a configuration, the subsequent bit engagement can be performed more smoothly by performing coordinate conversion.

[Brief description of the drawings]

FIG. 1 is a plan view showing a rotation adjusting device.

FIG. 2 is a front view showing a rotation adjusting device.

FIG. 3 is a vertical sectional view of a rotation adjusting unit.

FIG. 4 is a plan view of the rotation adjustment unit.

FIG. 5 is a side view of the rotation adjustment unit.

FIG. 6 is a plan view showing a displacement absorbing mechanism.

FIG. 7 is a bottom view showing a displacement absorbing mechanism.

FIG. 8 is a longitudinal sectional view showing a displacement absorbing mechanism.

FIG. 9 is a front view showing a Y-axis direction stopper.

FIG. 10 is an enlarged front view of a main part of the stopper.

FIG. 11 is a block diagram showing a control system.

FIG. 12 is an exploded perspective view of a high-frequency filter.

FIG. 13 is an enlarged perspective view of a main part showing rotation adjustment of an adjustment screw by a bit.

FIG. 14 is a flowchart illustrating a coarse adjustment operation.

FIG. 15 is a flowchart showing a retry operation.

FIG. 16 is a plan view showing a retry operation area.

FIG. 17 is a flowchart illustrating an operation of coordinate conversion.

FIG. 18 is a flowchart illustrating a fine adjustment operation.

[Explanation of symbols]

10 ‥‥ stand, 11 ‥‥ X-axis moving rail, 12 ‥‥
Y-axis moving rail, 13 ‥‥ Z-axis moving rail, 1
5 ‥‥ rotation adjustment unit, 16 ‥‥ bit, 17 ‥‥ adjustment screw, 20 ‥‥ mover, 21 ‥‥ mounting base (guide rail), 22 ‥‥ slider, 23 ‥‥ housing, 24 ‥‥
Arm, 25 pins, 26 suspension spring, 29 pulse motor, 30 mounting plate, 31 holding frame, 32 sleeve, 33 bearing, 34
Bearing case, 35 ° stopper, 37 ° torque sensor, 38 ° rotating shaft, 39 ° coupling, 40
{Frame shaft, 43} Output shaft, 44} Tubular connection shaft, 45} Oldham coupling, 46} Drive shaft,
47 ‥‥ coupling, 48 ‥‥ disc, 49 ‥‥ rotation detection sensor, 52 ‥‥ displacement absorption mechanism, 53 ‥‥ bearing, 54 ‥‥ bearing case, 55 ‥‥ bottom plate, 56 ‥
{Y-axis direction slider, 57} Y-axis direction guide rail, 58
{Y-axis direction slider, 59} X-axis direction guide rail, 6
2 ‥‥ X-axis direction detection dog, 63 ‥‥ X-axis direction gap sensor, 64 ‥‥ Y-axis direction detection dog, 65 ‥‥ Y-axis direction gap sensor, 68 ‥‥ X-axis direction stopper, 69 ‥
{Y-axis direction stopper, 72} side plate, 73} rod,
74 ‥‥ spring, 75 ‥‥ spring receiving sleeve, 76 ‥‥ mounting plate, 77 ‥‥ boss, 78 ‥‥ mounting plate, 79 ‥‥ boss, 81 ‥‥ X-axis movement motor, 82 ‥‥ Y-axis movement Motor, 83 ‥‥ Z-axis movement motor, 84 ‥‥ computer, 90 ‥‥ casing, 91 ‥‥ partition, 92 ‥
‥ Thin plate, 93 ‥‥ Lid plate

Claims (8)

[Claims] 1. A bit engaged with a rotation-adjusted portion, a rotation adjustment unit having rotation driving means for driving the bit to rotate, and the X-axis direction on a plane orthogonal to an axis of the rotation-adjusted portion. X-axis direction moving means for moving the rotation adjustment unit; Y-axis direction movement means for moving the rotation adjustment unit in the Y-axis direction on the plane; and Z-axis direction parallel to the axis of the rotation-adjusted unit. And Z-axis direction moving means for moving the rotation adjustment unit, wherein the rotation adjustment unit is in the X-axis direction,
A rotation adjustment device supported movably in the Y-axis direction and the Z-axis direction. 2. A mechanism for moving the bit in a direction perpendicular to the axis of the bit between the rotation driving means and the bit to absorb a deviation from the rotation-adjusted portion is provided. The rotation adjusting device according to claim 1. 3. A mechanism for absorbing the displacement, comprising:
The rotation adjusting mechanism according to claim 2, further comprising a guide mechanism that moves in the axial direction and the Y-axis direction. 4. The rotation adjusting mechanism according to claim 2, wherein said bit is driven by said rotation driving means via an Oldham coupling. 5. A rotation adjusting unit having a bit engaged with the rotation-adjusted portion, a rotation driving means for driving the bit to rotate, and the X-axis direction on a plane orthogonal to the axis of the rotation-adjusted portion. X-axis direction moving means for moving the rotation adjustment unit; Y-axis direction movement means for moving the rotation adjustment unit in the Y-axis direction on the plane; and Z-axis direction parallel to the axis of the rotation-adjusted unit. A Z-axis direction moving means for moving a rotation adjusting unit, and detecting a shift amount of the bit in the X-axis direction and the Y-axis direction with respect to the rotation-adjusted portion when the bit is engaged with the rotation-adjusted portion. A rotation adjustment device comprising: a detection unit; and an adjustment unit that adjusts the X-axis direction movement unit and the Y-axis direction movement unit in accordance with the amount of deviation. 6. A rotation adjusting method in which a bit driven by a rotation driving means is engaged with a rotation-adjusted portion a plurality of times to perform rotation adjustment. The shift amount in the X-axis direction and the Y-axis direction on a plane orthogonal to the axial direction is measured, and the position of the rotary drive unit is corrected according to the measurement of the shift amount when the bit is engaged for the second time or later. A rotation adjustment method, characterized in that: 7. When the bit is not engaged with the rotation-adjusted part at the time of the first engagement of the bit, the rotation driving means is shifted in the X-axis direction and / or the Y-axis direction to shift the rotation driving means. 7. The rotation adjusting method according to claim 6, wherein rotation engagement is attempted. 8. A design value is coordinate-transformed based on the positions of the two rotation-adjusting portions when the bit is engaged with the two rotation-adjustment portions disposed at a distance from each other. A rotation adjusting method, characterized in that the bit is engaged with a rotation-adjusted portion based on coordinates converted when the bit is engaged.