JPS59224278A - Regulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an apparatus for automatically adjusting electrical equipment that needs to be electrically inspected and adjusted after being industrially produced, such as home appliances and measuring instruments. It is related to.

[Background of the invention]

FIG. 1 shows an example of a conventional adjusting device.

The item 1 to be adjusted is mounted on the grout 9 and conveyed by the conveyor 1°, and when it reaches a predetermined position, the positioning bin 13 is inserted into the positioning hole 12 provided in the grout 9 and the air cylinder 1
4, and the article to be adjusted 1 is stopped and positioned. A connector connection part 8 for exchanging signals with the outside, supplying power, etc. is provided on the back surface 7 of the product to be adjusted l, and a connector 16 connected to the test device 15 via a cable 18 connects to an air cylinder 17. When the product to be adjusted 1 is positioned at a predetermined position, the connector 16 moves forward and is inserted into the connector connection part 8, and the product to be adjusted and the test device 15 are electrically connected, and test signals and detection signals can be exchanged.

On the other hand, in front of the front panel 2 of the product 1 to be adjusted, a front/gunnel adjustment tool unit 5 is provided, and a drive device n such as a motor drives a slide pace 26 through a belt 28.
It has a structure that allows it to be moved forward and backward (to the left and right in the diagram) on top of it. The adjustment tool unit 5 includes tools 31 and 32 that correspond to the dials 3 and knobs 4 provided on the front panel 2.
They are arranged according to the arrangement of the respective target parts, and are driven by a driving source 4 via universal couplings 30, 30'. Therefore, when the item to be adjusted 1 is positioned at a predetermined position, the adjustment tool unit 5 moves forward, and the tools 31 and 32 move to the dial 3. It is combined with the knob 4, etc., and can be rotated. Further, above the item 1 to be adjusted, another adjustment tool unit) 2f) is provided which is moved up and down on the slide base 19 by a drive source 21, and this tool unit includes a A tool for operating an adjustment component 6 such as a semi-fixed resistor on the circuit board 5 is arranged corresponding to the arrangement of the adjustment component 6, and is connected via a universal connector 23, 23'. ,
It is driven by a drive source 22. When the item 1 to be adjusted is positioned at a predetermined position, the adjustment tool unit is lowered, and the tool unit is coupled with the adjustment parts 6, allowing them to rotate. As described above, when the item to be adjusted 1 is positioned at a predetermined position, the connector 16. Tools 24, 31, and 32 are respectively connected to the connector connection portion 8. Adjustment parts 6. Dial 3° connected to knob 4, test signal from test device 15.

Based on the detection signal, each adjustment component is rotated by a required angle according to a predetermined order to perform adjustment. In the above-mentioned conventional device, the arrangement of the tools 24, 31, and 32 is fixed based on the arrangement of the objects 3, 4, and 24 of each tool. If the arrangement of the target parts 3, 4.24 changes due to the change in the arrangement of the tools 24, 31, 32, it is necessary to replace the tool arrangement plates 33, 34 provided on the tool unit 20.25 and change the arrangement of the tools 24, 31, 32. In some cases, large-scale mechanical changes were required, including modifications to the tool unit and structural changes to the entire 25. Also,
The driving force of the drive unit 22.29 of each tool 24, 31, 32 is set to an operating force suitable for the adjustment part 6, 3.4 that is the target of each adjustment part 6.3.4, and the adjustment part 6.3.4 has a rTf movement range. Torque limiter (not shown) that suppresses the operating force within a predetermined value in order to prevent damage to the adjustment part 3゜4.6 due to an attempt to apply further rotational force when the end of the rotation force is reached.
The above-mentioned setting operation force and torque limiter limit torque have different appropriate values for each adjustment component, and the driving source n of each tool 24, 31, 32 is different.

These 29 values are each set to a different value.

Therefore, when changing the model of the product to be adjusted 1 or changing the installed adjustment parts, it is necessary to change the settings of these operating forces and limit torques.

That is, conventional adjustment devices are effective when dealing with a single machine, but are not suitable for high-mix, medium- to low-volume production where model changes are often made, as they lack flexibility in response to model changes. On the other hand, the number of types of home electronic products such as audio products has increased with the diversification of customer tastes, and a wide variety of products are produced in small quantities. Furthermore, this tendency has also appeared in measuring instruments such as oscilloscopes, and in the production process of these electronic products, there is a desire for an adjustment device that can flexibly respond to model switching. However, at present, there is no adjustment device that can meet this demand, and much of the adjustment work for these products is done manually. For this reason, variations in adjustment values and 16I alignment errors are likely to occur, which is a bottleneck in reducing costs.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and when the model of the equipment to be adjusted changes, it can quickly and smoothly adapt and automatically adjust without the need to replace or change the arrangement of components. The purpose is to provide all possible adjustment devices.

[Summary of the invention]

In order to achieve the above object, the adjustment device of the present invention includes a means for transporting and positioning a device to be adjusted, a tool for operating a component to be adjusted attached to the device to be adjusted, and a support for the tool. and a loget means for performing adjustment operations, a test means configured to be electrically connected to the above-mentioned wave harmonic component, and a mouth control means electrically connected to the above-mentioned test means. The present invention is characterized in that it includes means for detecting the operating force of the tool and controlling the operating force within a predetermined value.

[Embodiments of the invention]

Next, one embodiment of the present invention will be described with reference to FIGS. 2 to 9.

Figure 2 shows an audio cassette deck which is an example of the equipment to be adjusted in the adjustment device of this embodiment.
5 is a power supply unit 362, a mechanism unit 37. It consists of the electronic circuit section A, the electronic circuit section A, and the integrated circuit 39. Transistor 40. Semi-fixed resistor 42 for adjustment along with fixed resistor 41 etc.
(42a, 42b, 42c) are installed.

Further, a cassette holder 45 for storing a cassette tape 44 is mounted on the motherboard 43 on the front side of the deck 35. Power switch 16. Running tape 14, fast forwarding 1 rewind.

Operation method for recording, pausing, etc. 47 (47a~
47g), tape selection methane 48. Noise reduction function selection methane 49. Kerium knob W, level meter 51.

A head phone jack 52 and the like are provided. Also on the back of the deck is a jack for input and output plugs (
(not shown) is provided.

To adjust a cassette deck configured in this way,
Hold the cassette 44 of "Normalty" in the cassette holder 45.
Attach to. (It is assumed that the 'fIL source switch 46 has already been turned on.) A standard 7g level reference signal is input from a test device (not shown) connected to the input terminal and output terminal (both not shown) on the back of the deck. Enter and press the record button 747e
, and the play button 47c at the same time to record the reference signal onto the tape 44. After recording for a predetermined period of time, press the stop button 47b to end the recording, and press the rewind button 47a.
Press to return the tape 44 to the reference signal recording start position. Play next? The user presses the button 47c to reproduce the recorded reference signal, and performs IHI by turning the semi-fixed resistor 42a provided in the electronic circuit section so that the output becomes a predetermined value.

After completing the adjustment, press the stop button 47b to stop the tape 14 from running, and then press the tape eject button (E, TECT).
button (not shown) to open the cassette holder 45 and take out the tape 44. Further, a metal tape cassette 44' is installed, the tape selection methane 48 is changed to metal tape, and the above adjustment operation is repeated, and the tape is changed to chrome tape and the same operation is repeated. Audio cassette deck adjustment In addition to the above, there are many adjustments such as playback frequency characteristic adjustment, bias adjustment, Dolby effect check, etc.

In each case, the various switches provided on the front panel 43 of the deck 35 and the semi-fixed resistor 42 provided in the electronic circuit section are repeatedly operated in the same manner as the recording/playback output adjustment described above. Let's do it.

FIG. 3 shows an example of the apparatus of the present invention configured to automatically perform the adjustment operation described above.

The cassette deck described above with reference to FIG. 2 is mounted on a pallet 53, conveyed by a conveyor, and stopped at an adjustment station. At the adjustment station, a test equipment group is installed on the rear side of the audio cassette deck 35, and a connector for electrically connecting the deck 35 and the test equipment 55 moves forward, and a test equipment group is installed on the rear side of the audio cassette deck 35. A test signal is applied to the deck from the test device 55, and a detection signal is sent in the opposite direction.

On the other hand, a mouthpiece 57 is provided in front of the deck. Tools 60 (60a, 60b, 6
A tool unit 59 with 0c) is installed. In this embodiment, the jaw 57 has a six-degree-of-freedom articulated structure. That is, a shoulder portion 63 is attached to a rotating pace 62 mounted on a frame 61 so as to rotate around a vertical axis 64 (arrow 65), and one end 67 of an upper arm 66 is attached to the shoulder portion 63 so as to rotate around a horizontal axis. 68 (arrow 69) attached to the oJ function, the other end 7 of the upper arm 66
0, one end 72 of a forearm 71 is attached so as to be rotatable (arrow 74) about another horizontal axis 73 parallel to the horizontal axis 68 described above. Furthermore, a wrist portion 76 is attached to the other end 75 of the forearm 71 so that it can rotate around another horizontal axis 77 parallel to the horizontal axis 73 described above.

The wrist portion 76 rotates around the horizontal axis 77 (arrow 78
) That is, in addition to the bending motion of the wrist, the rotation around the axis 78 perpendicular to the horizontal axis 77 (arrow 8o), that is, the swinging motion of the wrist, and further the rotation around the axis 81 perpendicular to the rotation axis 79 (arrow 82). , that is, the total wrist twisting motion is 3
It has a degree of freedom. Therefore, the hand portion to which the tool unit 59 is attached rotates around the rotation axis 81.

Further, a cassette stand 83 is provided on the pedestal 61 near the robot 57 for locating the test cassette tape 44 therein.

In addition, as a tool unit of this embodiment, a semi-fixed resistor 42
A tool unit) 59b equipped with a sharpener 60b for gripping the test force set tape 44 for adjusting the driver mark for rotating the tape, a tool unit) 59c equipped with a sharpener 60C for pressing the tape operation button 47, etc. is being prepared.

These tool units 59b and 59c are positioned on the pedestal 61, and the jaws 57 are configured to automatically select and replace the required tool units. With this configuration, one robot 57 can perform various tasks.

Furthermore, even if the model of the device to be adjusted 35 changes, if the parts to be adjusted such as switches and variable resistors used in the device to be adjusted are common, which tool unit is dedicated to the part to be adjusted? If configured as a tool, it is possible to efficiently adjust various types of equipment 35 to be adjusted.

FIG. 4 is a front view of the tool unit of this embodiment with the cover removed, and FIG. 5 is a view taken in the direction of arrow A in FIG. 4.

The bases 84 and 85 are connected at an angle of 86.87. An original shaft 116 whose rotation is transmitted from a timing belt 94 to a DC motor 93 fixed to a bracket 112 is supported by a housing 113 and connected to a slave shaft 124 by a clutch 96. Slave shaft 124B
supported by the housing 125 and the timing belt 95
, 97, the rotation is transmitted to the left and right shaft systems. Furthermore, as shown in FIG. 6, rotation is transmitted from each of the original shaft 116 and the slave shaft 124 to two rotary encoders 133 and 134 fixed to the lower surface of the base with brackets 85. 11
5 and 130 are timing belts.

FIG. 6 is an explanatory diagram schematically depicting the state where the clutch 96 is in the "disengaged" state. A spring 135 is interposed and connected between the master shaft 116 and the slave shaft 124 so as to elastically interlock the master shaft 116 and the slave shaft 124 when the clutch 96 is disengaged.

As shown in FIG.
Rotation of 4 is d? - Rotate the Sugerein shaft 132 by transmitting the information to the Rusnorai/Bush 98. Bousings 123 and 131 support the spline bush 98. A bit 127 is fixed to one end of the spline shaft 132 via a flexible coupling 126. In addition, the other end of the spline shaft 132 is movable and is not fixed anywhere. The housing 114 is rotatably secured and axially slidable. This movable opening 114 is connected to the shaft 117. They are connected via a spring 119. The shaft 117 is fixed to the housing 114 and is movable in the axial direction through a hole in a nut 99. As a result, the motor 121 fixed to the bracket 122
The feed screw 120, whose rotation is transmitted by the timing belt 110, is supported at both ends by the bracket 122 and the nozzle housing 118 and rotates, thereby moving the nut 99. The nut 99 pushes the shaft 117 through the spring 119,
The spline shaft 132 is made to protrude forward through the opening 114. Further, the sedge line shaft 132 rotates as the rotation of the slave shaft 124 is transmitted to it, and rotates the semi-fixed resistor 42 inside the cassette deck shown in FIG. 2, thereby performing an adjustment operation.

At this time, the reason why the spline shaft 132 is projected forward and the bit 127 is rotated is so that only the bit 127 can be inserted even inside the narrow cassette deck 35 to perform the IAI adjustment operation, and normally it will interfere with other adjustment operations. , as shown in Figure 5. The adjustment operation procedure is to use the semi-fixed resistor 42.
The entire end is moved by the robot 57 to a distant point above, and the bit 127 is made to stick out.

After protruding to the forward end, rotate the bit 127 and lower the tool unit with the bit 57 to remove the bit 12.
7 and a semi-fixed resistor 42. Bit 127 is
Immediately after coupling with the semi-fixed resistor 42, the spring 11
Since the relief effect of 9 works, the semi-fixed resistor 42 can be connected without applying excessive force. Also, accuracy in determining the location of the descent stop point is not required.

Furthermore, the clutch 96 is disengaged, and the spring 135 causes the original shaft 1 to
16 and the slave shaft 124 are connected,
When the semi-fixed resistor 42 is turned by the bit 127 and reaches its rotation end, the load torque increases and the original shaft 116
and the slave shaft 124 are torsionally deformed, and a phase difference occurs between these two axes. This changes in proportion to the thick equation of the load torque.The phase difference is detected by the two rotary encoders 133 and 134, and the load torque is converted. Furthermore, when final positioning the semi-fixed resistor 42, the main shaft 116 and the slave shaft 124
If the spring 135 remains connected to the spring 135, vibration will occur and accuracy will not be achieved. Therefore, the clutch 96 is connected so that the rotation of the master shaft 116 is transmitted to the slave shaft 124 in a ratio of 1:1, and the precision is transferred to the pin (pi) 127. Transmit rotation angle. As a result, even if there are multiple semi-fixed resistors with different operating forces, the operating force and stall torque can be set simply by changing the programming, so there is no risk of damaging the semi-fixed resistors, and precision Rotational positioning can also be performed.

A shaft 128 supported at one end by a housing 129 fixed to a base 85 is connected to a slave shaft 1 by a timing belt 95.
The rotation of shaft 90.24 is transmitted to shaft 90.24 by bevel gears 92, 91. Clutch 88. Binion 10 via shaft 108
Rotation is transmitted to 6. Further, the rack 105 converts the rotation into a linear motion.

FIG. 7 is a view taken along arrow B in FIG. Two linear shafts 103 and 104 slidably support the block 102. The linear shafts 103 and 104 are! 5'
It is supported by a bracket 101 and fixed to a base 84 by a placket. Block 102 Kid, foot'/"r' 136 and slider 100 are fixed,
For Zotsusha, press the button switch 35°3 as shown in Figure 2.
6, '37, etc., and the slider 100 is moved by the slide switch 40. Operates a lever switch (not shown), etc. The method of detecting the operating force is the same as with the semi-fixed resistor described above. In the case of Zoscher, the push is the stop point of the tongue switch, and in the case of a slider, the push is the stop point of the slide switch or lever switch, and the load torque is detected at the end stop point of the slide switch or lever switch. increases, so
The rotary encoders 133 and 134 control the original axis 1.
16 and the slave shaft 124 and convert it into torque, it is possible to recognize that each switch is at the stop point E. In addition, the slide switch can be moved from the end stop point to
It may be operated to return to the central stopping point. At this time, the phenomenon that the load torque increases due to contact with one end cannot be utilized. Therefore, stop horns 137 and 138 fixed to the base 84 as shown in FIG. By positioning with the slider 100 and operating the slider 100, it is possible to stop not only at both end stopping points but also at a central stopping point or any arbitrary point. Since the bit rotation part is moved by a common drive system with the slider and the linear motion part of the 70 mm, depending on the movable range of the linear motion part,
In order to prevent the rotating part from rotating endlessly, a clutch 88 is provided between the shaft 90 and the shaft 1080 as shown in FIG.
When the linear motion part is not in use, the clutch 88 is disengaged to allow the rotary part to rotate endosysically.

Furthermore, since this embodiment is a hand for inspecting and adjusting a cassette tape deck, the testing cassette bracket 15 is
1, an air cylinder 152 is attached. A rack 150 is fixed to the tip of the rod 171 of the air cylinder 152, and the linear motion of the air cylinder 152 is converted into rotational motion by a pinion 149 to rotate the shaft 148. The shaft 48 is supported by a housing 141, and the shaft 48 is supported by a housing 141.
1 is attached to an angle 87 fixed to a base 84. When the shaft rotates 148 degrees, links 146, 1
47, and the blocks 142 and 143 supported by the linear shafts 144 and 145 are synchronously drawn inward. Fins 139 and 140 are fixed to the blocks 142 and 143, respectively.
, 143 inward, the fins become 139 , 14
Grip the cassette tape at 0.

Also, release the cassette tag by reversing the above operation. As described above, three types of tip tools can be driven and controlled by one drive source and one detector, so one tool unit can have multiple functions, and the external dimensions of the tool unit can be reduced.

There is no increase in weight. In addition, a detection function is linked to each tip tool, and control values can be set programmably, making it a versatile inspection and adjustment hand that can be used for any target workpiece.

FIG. 9 is a block diagram showing the control system of the apparatus of this embodiment described above.

The robot control device 168 that controls the robot 57' is
a central processing unit 160 and a storage device 161 .coupled to the central processing unit lCO by a path line 164; Interface 162. The interface 162 has a parallel interface 163, etc., which includes a CRT (cathode ray tube) display device and manual operation switch 16 used for creating operation programs for the robot 57 and monitoring during automatic operation.
7 etc. is connected. On the other hand, a control device 170 used to control the tool unit 59 includes a central processing unit 153 and a storage device 154 . Tool control ink face 157. Noya Nell Cassette Chiga Interface 156. The parallel interface 155Kl''l: test device 55' is configured with a parallel interface 155, and the panel/cassette tape interface 156 includes an operation panel 158 for operating the peripheral control device 170 and the peripheral control. The cassette tape devices 159, which are external storage devices that store control l11f programs for the device 170, are disconnected.

Further, the tool control interface 157 is connected to the robot 57'.
It is connected to the tool unit 59' attached to the tool unit 59' to drive and control various tools 6o provided in the tool unit 59', and is also connected to the parallel interface 163 of the robot control device 164 to control the operation of the robot 57'. and tools (
Synchronize with the operation of b). Furthermore, the tool control interface 157 is also connected to the drive control device of the auxiliary device 167 such as the conveyor 8 and the Tsukret positioning mechanism, so that the robot 5
7' and these auxiliary devices 167 are synchronized.

The operation of the adjusting device of this embodiment configured as above will be explained below.

Now, as shown in FIG.
When the positioning of the stop 9 at the adjustment station is completed, the connector 56 provided on the back side of the deck 35 moves forward, and the connector 56 provided on the back side of the deck 35 moves forward.

It is inserted into an output plug (not shown), and the deck 35 and the test device 55 are electrically connected. When this coupling is completed, a coupling completion signal is issued from the test device 55', and the parallel interface 155 of the peripheral control unit 170, the central processing unit 153. Through 157 tool control interfaces,
mouth? "A command to start the robot 57' is issued to the cut control device 168. The robot 57 moves from the standby position and switches the power switch of the deck 35 by the pusher 60C provided on the tool unit 59 attached to the hand 58. Press 4C to turn on the power, and then press cassette holder 4.
5 Press the release button to release the cassette holder 45. Next, the robot 57 moves to the position of the cassette stand 83, grips a predetermined test cassette 44 using the gripper 60b provided in the tool unit 59, takes it out from the cassette stand 83, and places the cassette 44 on the deck 3.
After conveying the grits to the cassette holder 45 of 5, the grits 60
b is opened and the cassette 44 is accommodated in the cassette holder 45. Furthermore, use the bushing 60c to attach the cassette holder 45.
Close it so that the tape can run. Next, the robot 57 moves to the front side of the front panel 43 of the deck 35,
Using the pusher 60c, press the recording button 4.7e to put the deck in recording mode. Here, robot control device 1
68 transmits a test start command to the peripheral control device 170 via its parallel interface 163, and the peripheral control device 170 instructs the test device 55' to perform a predetermined test operation (
In the description example, a reference signal is inputted from the testing device 55' to the deck A by the above-mentioned starting signal, and the reference signal is recorded for a predetermined time in the cassette channel f44 which is in the recording running state. After the specified time has passed,
The test device 55' transmits a reference signal recording completion signal to the peripheral control device 170, and based on this, the peripheral control device 170 issues a synchronization command to the ON knot control device 168 to start the next operation. C1+l? BBB (Foundation) Equipment 168
In response to the synchronization command, move the robot 57, use the C button to stop, press the d button 47b9, and rewind? tough 4
After rewinding the test tape 44 by pressing F a in sequence, the user presses the reproducing titanium 47c to put the tape 14 into a reproducing running state. O and H at the same time? The bit suppressing device 168 activates the regeneration level check on the test device 55' via the peripheral control device 170, and the robot 57 moves to detect the failure of the driver 60a provided in the tool unit 59. It is inserted into the recording/playback output adjustment semi-fixed resistor 42a provided in the electronic circuit section 35. Furthermore, the test device 55'
Then, the peripheral control device 17 detects the output level of the reference signal that can be reproduced completely, and rotates the semi-fixed resistor 42a for adjusting the recording and reproduction output so that the output level becomes a predetermined value.
The dry drive 60a provided in the tool unit 59' is driven through the tool control interface 157 of the tool unit 59'. When the output level of the reference signal reaches a predetermined value, the test device 55'
issues an adjustment completion signal 8, whereby the cap 57 separates the driver 60a from the semi-fixed resistor 42a, moves to the front of the deck I/in front of the channel 43 again, and closes the screwdriver 60.
c to press the stop button 747b to stop the door 44 from running. Furthermore, use the gripper 6oc to open the opening 57, press the button (EJECT titano - not shown) to open the cassette holder 45, open the grille 60b, and open the cassette key 7' in the cassette holder 45. After taking out the tape 44 and returning the chip 7' 44 to the cassette stand 83, insert a different type of cassette tape (for example, metal chip f) 44b to be used for the next adjustment operation.
is taken out and attached to the cassette holder 45, and the same adjustment operation as above is repeated. With this adjustment station, the actual mf
After completing all necessary adjustments, the peripheral control device 170
starts the auxiliary device drive control device 167 and connects the connector 5.
6 and separate the deck 35 and the test device 55.
- After releasing the positioning device (not shown) of the gullet 53, start the conveyor and transport the deck to the next station.

Figure 10 is the mouth? An example of a tool attachment/detachment mechanism configured to detachably attach a tool unit to the tip of the cutter 57 is shown. mouth? A casing 58' is fixed to the tip of the cutter 57, and a screw is attached to the inner circumference of the casing 58'.
7208 is incorporated together with the spring 207 and the stopper 209. Furthermore, a connecting member 1 is provided on the inner circumference of the piston 208.
04 is fixed, and in the second part of the connecting member 104, four release holes are provided from the outside at equal intervals around the circumference, and a ball 206 is fitted into each hole. In a normal state, the piston 208 is pushed by the spring 207 to the left side opposite to the drawing. When the connection part 105 on the tool closing side is pushed in there, the connection part 205 connects the cod.
- The ball 106 is pushed outward, and the connecting portion 205 is pushed deeper than the ball 206. Also, at the same time, bin 59
and connectors 202 and 203 are also connected. After that, when compressed air is injected from the air injection part 210, the piston 20
8 overcame the powerlessness of No. 9 and 107, resulting in the situation shown in the figure, and with the second part of the piston 208, ? - Pressing the tool 206 toward the center of the connecting surface, the tool connecting portion 105 moves in the axial direction with the taper of the connecting member 204? - fixed by the handle 206; Moreover, the pin 59 also fixes the movement in the circumferential direction and provides a strong attachment.

FIG. 11 shows an embodiment different from the above. In this figure, reference numerals 139 and 140 attached to the hands of the robot 57 are chucks for the cassette described in connection with FIG. In addition, in this figure, the positioning jig 2 provided on the pedestal 61
60d to 00g arranged above 13 are special tools designed to fit each type of parts to be adjusted.

〔Effect of the invention〕

As described in detail above, the adjustment device of the present invention includes a means for transporting and positioning the equipment to be adjusted, a tool for operating the part to be adjusted completely attached to the equipment to be adjusted, and a support for the tool. and a robot control means electrically connected to the test means; and By providing means for detecting the operating force of the tool and controlling the operating force within a predetermined value,
When the model of the equipment to be adjusted changes, it is possible to respond quickly and smoothly without the need to replace or change the arrangement of component parts, and to adjust the equipment for each model. This is particularly useful for adjustment work in multi-model production. It greatly contributes to labor saving.

[Brief explanation of drawings]

Fig. 1 is a partially cutaway side view showing an example of a conventional adjustment device, Fig. 2 is a perspective view of an example of a device to be adjusted, and Fig. 3 is a partially cutaway side view showing an example of a conventional adjustment device.
The figure is a perspective view of one embodiment of the adjustment device of the present invention, FIG. 4 is a front view with the cover of the hand portion removed, and FIG. 5 is a view in the direction of arrow A in FIG. 4, and an embodiment different from the above. FIG. 11 is a partial cross-sectional view of the tool attachment/detachment mechanism of FIG. 1, and a perspective view of a further different embodiment. 1... Product to be adjusted, 15, 55... Test device, i,
56... Connector, 57... Ropit, 59... Tool unit, ω... Tool, 168... Rodet control device, 170... Peripheral control device. Agent Patent Attorney Masaaki Akimoto Actual Second Indication Figure 3 Figure 4 Figure 5 Figure 27 Figure 6 93 Figure 7

Claims (1)

[Scope of Claims] 1. A means for transporting and positioning a device to be adjusted, a tool for adjusting a component to be adjusted mounted on the device to be adjusted, and a means for supporting the tool to perform an adjustment operation. 02 test means, a test means configured to be electrically connected to the part to be adjusted, and a robot control means electrically connected to the test means; An adjusting device comprising means for detecting an operating force and controlling the operating force within a predetermined value. 2. The adjustment device according to claim 1, wherein the tool is a dedicated tool that is compatible with parts to be adjusted of the same shape installed in a plurality of types of equipment to be adjusted. 3. There are a plurality of types of tools, and the gating means is configured to automatically select and attach/detach a desired one of the plurality of types of tools. An adjusting device according to claim 1, characterized in that: