JPH02270001A - Automatic working machine - Google Patents

Abstract

PURPOSE:To attain the automatic changes of other related work conditions even though a single work condition is set or changed by preparing a work condition control mechanism which performs the automatic control among work parameters in relation to the setting/changing operations of a work parameter setting means. CONSTITUTION:A work condition control mechanism 5 is used to previously describe the mutual relation among work conditions including the set welding power supply value 1, the set welding voltage value 2, the set welding speed 3, the set leg length, etc., in the form of a numerical formula, a graph, a table, etc. Then the mechanism 5 corrects other work conditions when a certain work condition is changed so that a certain evaluation function is set at the fixed value. The work quality, the workability, the work condition, etc., are properly selected for the evaluation function. Then the mutual relation of work conditions is always controlled so as to previously secure a fixed evaluation item. As a result, other work conditions are automatically changed even though a certain work condition is changed so that a fixed evaluation item is secured.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a V & setting that automatically sets and changes the working conditions in an automatic device that performs work defined by the working conditions of 7J[wll.

[Conventional technology]

Various automatic devices have been devised to perform continuous operations such as welding, sealing, deburring, and polishing. In cases such as the above, it is necessary to set multiple work conditions in order to adjust the work quality and workability.

For example, in 7-1 welding work using the consumption α formula, conditions such as welding current, welding voltage, welding speed, etc. must be set appropriately. It is necessary to determine this and set it in the automatic device.

In conventional automatic equipment, when handling working conditions,
The configuration was as shown in Figure 3. In this configuration, each working condition is treated completely separately, e.g.
Japanese Patent Laid-Open No. 58-189706 devises a method for achieving accurate speed. In such a conventional method, when the set speed is changed, other conditions such as welding current and welding voltage are directly maintained as they are.

[Problem to be solved by the invention]

The above-mentioned conventional technology does not take into consideration the proper relationship between working conditions. Therefore, there is a problem in that when one condition is set or changed, all other related conditions must be set or changed at the same time.

Specifically, σ1j of welding work will be explained. FIG. 4 is a graph showing the relationship between welding 'R flow and welding voltage.

The hatched area is the range under appropriate conditions. Suppose that one welding operation is being performed at welding flow I0 and welding voltage V0. At this time, the operator checks the welding quality and selects the set current +11. When the welding state changes from Po to Pl, the welding state changes from Po to Pl. However, since P is outside the range of appropriate conditions, there is a problem in that the quality of the welding deteriorates extremely and sometimes the welding itself becomes impossible to continue.

An object of the present invention is to automatically change other related working conditions when one working condition is set or changed.

[Means to solve the problem]

In order to achieve the above objectives, a working condition adjustment v1 structure was established.

The working line 1 kgJi alignment system can be achieved by using the following means.

Describe the relationship between working conditions in advance using mathematical formulas, graphs, tables, etc. When one working condition is changed, the other conditions are corrected so that the value of the river's evaluation function remains constant. As the number of evaluation intervals, select and use work quality, workability, work condition, etc. as appropriate.

You may also do the following. That is, a large amount of specific data is prepared to determine whether it is appropriate to change other conditions when one work condition is changed. Based on the second data, create something with human output characteristics so that the input and output are close to that data.

Specifically, this is realized using something with a learning function, such as a neural network.

[For 1] In the former case, always adjust the relationship between the working conditions so that the predetermined evaluation items are constant. Therefore, one l'l-! Even when conditions are changed, other work conditions are automatically changed so that the evaluation items remain constant.

In the latter case, the operator has learned in advance that if this working condition is changed in this way, the other conditions will be changed in this way, which is unfortunate, so if one condition is changed, the other conditions will also change. You can change it to what you had in mind beforehand.

[Embodiment 1] Hereinafter, one embodiment of the present invention will be explained using FIGS. 1 to 13.

This embodiment uses a welding robot that automatically performs consumable electrode type arc welding work.

FIG. 5 is an overall equipment configuration diagram. 20 is a robot control device, which controls all equipment.

21 is the robot body. This robot has a 6-axis configuration and is driven by 6 motors. A welding torch 29 is attached to the tip of the robot. A welding machine 22 generates welding current and voltage based on commands from the robot control device 20.

Furthermore, give a wire feeding command to the wire feeding device 28. 23 is a programming unit (PGU),
r! It has a crystal display and various keys.

This is used to set and change work conditions, teach the robot the work position, etc. 24; Breakback console (PBC). The start of robot welding work and switching to teaching mode are performed by the switch on this PBC. 25 is a gas cylinder, which supplies one shield scum for welding. 26 is a welding wire supply device. 27
is the target workpiece, which is to be welded using the equipment described above.

Next, the inside of the robot control device 20 and the robot main body 21ζ will be explained using FIG.

The interior of the robot control device 20 is roughly divided into three parts. First, 20a is a main CPU section, and the main parts of the present invention are processed here. Next, 20b is sir, f? C.P.
U is used to control the robot's movements. 20c is a servo amplifier.

Each will be explained in detail.

The main CPU section 20a is configured as follows.

30 is CP Ll-A, which handles overall equipment management processing and work condition adjustment processing, which is the core of the present invention, etc.
31 is RO Ki [-A, and when the power is turned on, the CPU -A
Stores programs that describe the processing that should be performed.

32 goes to Ro [-, is entered. Various processing programs stored in the bubble memory 35 are loaded here and executed by the CPU-A 30. In addition, intermediate results of calculations, etc. are also stored here. 33 is a communication interface (I/F). There are two channels in this I/F. One is for communicating with the PGU 23, and the other is for communicating with the PBC 24. PCU2
3. Conditions set in PBC 24, information on keys pressed in PBC 24, etc. are sent to the CPU via this over IFF i/F.
- Improved to A. 34 is a welding machine interface (i
/I). This is connected to iJ Welding 1!22, and can transmit commands from the CPU-A to the welding machine and tell the CPU-A the status of the welding machine.

3G is dual port RAM (DPRAM).

The main CPU section 20a and the servo CPU section 20b exchange information via this ram 36.The robot operation speed is determined by the CPU-A 30 writing the speed field into this DPR18M6, and transmitting the information to the servo CPU section. 20b and realize the robot's movement at that speed. A bus 43 connects each device of the main CP B1 section. 45 is a -r interface with a floppy disk, but it is not used in this embodiment.

Next, the servo CPU section 201) will be explained.

In the servo CPU section, the main CPU section 20a is DPR,
A, M Execute the instruction written to 36. 15 For example, from point A (not shown) to point B, the speed is 300 in a straight line.
It interprets commands such as "move in minutes" and moves each of the robot's motors accordingly.

37 is CPU-B. The CPU-B performs all processing of the servo leap 1 system. 38 is ROM-B, CP
Stores programs to be executed by the U-837. 39 is RAM-B, and CPU-837 is ROM-B.
The intermediate results of calculations when executing the 838 program are stored. 40 is a timer, which controls the CPU at a certain period of time.
Interrupt at -837. In this cycle, CPU-B57
issues a command to the servo motor. 41 is a D/A converter. The current commands for each motor calculated by the CPU-B are converted into analog 1-direct signals.

One of them is a servo amplifier 20 and a servo amplifier 20, c for driving each axis of the robot body 21.
drive several motors. 42 is a counter.

It contains 6 counters. Each counter corresponds to the encoder E1 to E6 of the encoder section 21b.
It is connected to the. The encoders E1 to E6 can output position signals for the respective axes of the robot body 21, and therefore, by reading the counter values, the CPU-837 can know the current position of the robot. A bus 44 connects each device of the servo CPU section.

21a is a part of the motor. There are six motors M1 to M6, each of which drives the rotation axis, upper arm axis, forearm, rotation axis, bending axis, and twisting axis of the robot body 21. Each motor has encoder section 21b from El to B6.
A rotary encoder is attached to measure the rotation angle of the motor.

The actual operation using the hardware described above is as follows.

First, the operator asked PBC to give the welding object 27.
Set the switch on 24 to teaching mode.

Next, by operating the keys on the PGU 23, the robot 21 is actually moved manually and the route to be moved is taught. When teaching this route, instructions for work such as starting and ending welding are also input at the same time. When the position teaching is completed, the PGU
23 to set the welding working conditions. This concludes the teaching.

Next, set the switch on PBC 24 to automatic mode. P
When the start switch on the BC 24 is pressed, the robot performs the work as instructed. While the robot is welding, the operator changes the welding conditions in real time using the PGU 23 while monitoring the welding state if necessary.

Welding work is carried out as described above.

Next, we will explain the conditional processing that is the center of the present invention.
Condition processing should be carried out when setting work conditions or changing conditions in real time. Condition processing is CPU-A 30
executed by

When the operator presses the key just before the condition on p c +: 23, the row 1 cow processing shown in FIG. 7 will be called up. First of all, 5
Condition adjustments are made. The second process is the process of the condition processing groove 5 in FIG. I will explain this in detail here. Next, perform scale conversion of 6 by 1 step. Here, we convert the units according to each device.

Next, at 50, a command is output. The commands are outputted to the welding machine for the welding voltage and wire feeding speed, and to the servo CPU section 20b for the welding speed.

FIG. 8 shows the processing details of row 1'+adjustment. Check whether the user is changing automatically at 51.

If the change is not automatic, change each work condition (current setting lli+, voltage setting V, welding speed V, etc.) independently in step 52. At this time, the leg length cannot be changed.Next; 53 to calculate the leg length.The calculation is performed using the following formula.

v, = a, XI + b, (Formula 1-1) S = φ
Xπcl”Xv, /v (Formula 1-2) L=FT
(Formula 1-3) where ■2 is around the flow setting V: Speed setting value v,: Wire feeding speed a, bl: Conversion coefficient S: Melting cross-sectional area
d: Wire diameter (radius) φ: Wearing rate L: Leg length.

Change the leg length setting according to the calculated value.

If the change is not automatic, the process ends now.

In the case of automatic change, determine what the changed setting (direction) is at step 54.

If the changed value is a current, perform one step of the current change process in step 55. In the case of speed, 56 speed change processes are performed, and in the case of leg length, 57 leg length change processes are performed.

Next, the current changing process will be explained using FIG. 9.

This process adjusts the welding speed so that the leg length, which is one of the conditions for determining the welding result, does not change when the set value of the welding current changes, and at the same time adjusts the voltage so that the balance between current and voltage is not lost. do.

First, the welding speed for the f4 flow value changed in step 60 is calculated. Calculation is done using the following formula.

y w = a(X T + I)! (Formula 1-1) 5=
−L2 (Formula 1-4) ~・=φπd2×v
,,M/S (Formula 1-5) Here, each symbol; yo (Formula 1
It is the same as that used in -1) to (1-3). ■ is the required welding speed.

Next, in step 61, the welding speed setting for the first shift is changed to V.

62. Then, find the voltage value for the changed current value.

This calculation is performed based on the graph shown in FIG. 2 stored in the form of a table.

■When the electrician changed from Io to Itechnical. Change it to Vl. On the graph, the state moves from Po to P-1.

If the initial voltage is v2, change the voltage to .

63, the voltage setting value is changed using the newly obtained welding voltage III.

At 64, it is checked whether the determined speed and voltage values are within the limits. If it is not within the limit range, a warning is outputted on the 7α crystal display cost on the PGU 23 at 65.

FIG. 10 explains the processing contents of the speed change processing. In the speed change process, the welding current and voltage are adjusted so that the leg length does not change when the set welding speed is changed.

70, the current value corresponding to the changed speed is calculated. Calculate by 1 using the following formula.

5=-LX (Formula 1-4) v, = sXv/(φπd2) (Formula 1-61-6)
1=(v+)/a+ (Formula 1-7) The symbols here are the same as those used in Formulas (1-1) to (1-3).

■ Find the current field. This calculation corresponds to the relationship shown in FIG. The set welding speed changes from VO to V,
When this happens, the welding current will be changed from 1° to 11°.

However, the way it changes depends on the length of your legs. In this case, since L=L, Qo changes to Q-□ as shown in FIG.

Next, in step 71, change the welding current setting to the newly found value.

72.73; Yo, perform the same process as 62.63 mentioned above to change the voltage 1st shift.

74, check whether the newly obtained current (case and voltage) are within the set limits. If they are outside the limits, output 1 notification in the same way as 75 and 65. .

FIG. 11 explains the leg length changing process.

In the leg length changing process, since there is no command condition that directly corresponds to the leg length, the set leg length is achieved by changing other conditions.

At 80, the current saliva corresponding to the leg length is calculated.

Calculate by 1 using the following formula.

5=-L" (Formula 1-4) v, = sXv/(φnd2) (Formula l-6) 1=
(Vw b+) /a+ (Formula l-7)I
Find it is the electric current.

Next, the current of 81 lever +1ITr is the maximum current of 1t! Check whether it exceeds I, and if it does, rub the constant current at 82 for a maximum of one shift. If not, check 83 if I is less than the minimum of 1 shift or 100.

If it is smaller than the minimum value, the set current for one shift is set to the minimum value at 84. 82. If the process of 84 is performed, 11
It is not possible to achieve the set leg length by simply changing the degree, so calculate the welding speed at 85. This is the same as 60 in terms of processing. Since the speed has changed due to the change in leg length, the content is as shown in the graph shown in Figure 12.

In other words, the legs are long. Due to the change from VO to L, the speed changes from VO to V. This curve changes depending on the current flow at that time.

At step 86, the speed setting position is changed by one shift of the calculated speed.

If the welding current calculated in 80 is within the limit range,
At step 87, the fa flow stage set value is changed.

After performing the above processing once, change the voltage value at step 88.89. The contents of this process are the same as those described in 62.63. Next, at 90, it is checked whether the welding speed and welding voltage exceed the set range. If you cross it, it's 91, 65
Output the revenge in the same way.

By carrying out the above process once :), even if one of the working conditions is changed, the balance between the working conditions will not be disturbed.

According to this embodiment, since only one work condition needs to be adjusted when a work is to be performed, the operation is easy. Further, even an operator who is not familiar with welding itself can adjust the conditions.

In general, according to this embodiment, the leg length can be directly set, which has the effect of shortening the time required to adjust working conditions.

Furthermore, even if the welding speed is changed, the work quality does not change, so work efficiency can be easily improved.

Next, regarding another embodiment of the present invention, FIGS.
This will be explained using FIGS. 12 and 12 to 18.

This embodiment uses the same hardware and host computer as the robot system used in the first embodiment. The program stored in the robot control device 20 is actually η11.
It is different from 1.

First, in the robot system measurement, we will explain the hardware that is different from the first implementation.

In FIG. 5, 30 is a floppy disk driver (F/DD). By inserting a floppy disk here, data created on another computer can be manually transferred to the robot control device.

Next, in No. 60, 45 is a floppy disk interface (F/D, 17F).

This is connected to F/D-D30. CPU-
A30 can read the contents of the floppy disk through this.

The hardware of other robot systems is the same as in the first embodiment.

Next, the host computer will be explained. FIG. 14 is a block diagram of the host computer 200.

100 is a CPU-C, which performs all the processing on this computer. 101 is ROM-C. R
○kirc: This stores a program that describes the morning conversion process that the CPU-C should perform when the power is turned on. 10
2 is RA-i-C. RAM-C is loaded with programs read from various auxiliary storage devices. Also, store the intermediate results of calculations in each program and the best calculation results here. 103 is a hard disk interface. The CPU-C reads and writes data to and from the hard disk 112 and loads programs through this. 104 is a keyboard interface, and information on pressed keys on the keyboard 105 is transmitted to the CPU-c via this. 106 is CRT
The CPU-C 100 displays information on the CRT 107 via this controller. Reference numeral 108 denotes a floppy disk interface, through which reading and writing are performed on the floppy disk inserted in the floppy disk driver 109.

Reference numeral 110 is a printer interface, through which information to be printed is printed by the printer 111.

Using the above-mentioned hardware, implementation 15 is realized in the following manner.

In this embodiment, a neural network is used as a means for realizing the row 1 adjustment machine groove 5 in FIG. A neural network is a multi-input, multi-output converter that is based on a neuron model and combines many of them.The details of the neural network can be found in (1) ) Perceptrons by Mar-
v '1 n M i n s k y a n
(I S e y m OLl rPapeyt
original pub-1i sh e
r T he M I T P r e s
s.

M a s s a c 11 u s e t t
s', a and a'Ndon, England
copy rig-ht 1969 (2) tri(, B, and Miyake.

S: Capabilities of three
-1ayered Parcel)troM+5
7iB Proc, of fEEEEIcNN
88. PP, T-641 (198B), etc.

Figure 15 shows the nerve, [l! One model is shown. 11'l
The neuron of U produces one output of 2 from this human power of n of Xl, X, ... xo. First, X1
Each human power of ~xn is multiplied by the weight of W1~w, l.

Then take the sum by 124.

Then, step 125 and activate the input/output link.

z=f (y) (Formula 2-2) In this example, a logistic coefficient is used as f.

In this model, ~Vi corresponds to the strength of synaptic connections, and learning ability can be achieved by changing this magnitude.

Next: Fig. 16 shows the condition adjustment mechanism 5 of Fig. 1 realized by combining a large number of these neuron models. In this configuration, nerve cells are arranged in layers, and three layers are stacked on top of each other. The circles in the figure represent neurons. The processing method described in the program will be described below.

First, electric current r. , voltage input V0, speed human power V. , given the long-legged human power L0, using g-g4 respectively,
Convert the scale.

Ex = gx (Io) = a, Ia + bl(
Equation 2-4) E2 = gz (Vo) = a, v.

+ bz (Formula 2-5) E3 = gx (Vo)
= at Vo + bt (Formula 2-6) E4=g4
(L2-6) E4=+b4 (Formula 2-7) a0 to a4, b
k~b4 is a conversion coefficient. Through this conversion, each input range is aligned.

Next, the input layer 150 is processed. In the human resource group, E1 to E
The value of 4 is output as is. 153 is called a bias and always outputs 1.

Next, the hidden layer 151 is processed.

J is a subscript that identifies each neuron in the hidden layer.

Equation 2-7 is calculated for the number of hidden layers to obtain A1 to A0. , : is the number of fine colors of the cover layer.

Here, Es=1.

Next, calculate the output layer.

(Formula 2-8) I( is a subscript that identifies each neuron in the output layer.

Since there are 5 cells in the output layer, 1( is calculated from 1 to 5. Al1m+1.

Now you can get outputs from S1 to S. S engineering to S
4. Change the scale by go-1~g, -1.ir L = (S, -bt) Ia1 (Equation 2-9)
", = (Sx - bz) / a2 (Formula 2-10)
V1= (S) b)) / ax (Formula 2-1
1) L1=(s4-b4) Ia4 (Formula 2-12) From these two, each adjusted output can be found. Regarding S, if this exceeds a certain acceptable value, 7 warnings are output.

In the process described above, Waig and \Vsjl
If ζ is determined appropriately, even if only one condition is changed manually, the other conditions will also be changed appropriately.

FIG. 17 shows the actual configuration. The upper computer 200; ~ Va ij and W s j
A learning process is performed to appropriately determine I<. Inside the robot control device 20, ~Vaij (weight from the input layer to the hidden layer) and Wsjk (weight from the hidden layer to the human layer) are obtained from the host computer using the floppy disk F/D (Equation 2-4) ~ (2-12) is calculated, and the conditional tone 12 garden structure 5 shown in FIG. 1 is realized. In other words, the weight W1 shown in FIG. 15 is applied to the floppy disk F/D.
~~vo is memorized.

Next, a method for determining Waij and ~Vsjk will be explained.

1Vaij, \VSJIC! Make a decision using the bank vacation method. This is done little by little using multiple concrete inputs and outputs.
ν'5Jl (is changed so that the result of human output becomes the desired characteristic. Figure 17 120 is a file of a specific example that describes the input of welding conditions and the output that should be like this at that time. Among them, E= (E,, Ez,
E,, E4): Input data Y = (Y engineering,
Y2. Y, Y4. Y, >: E of ideal output
and Y form one set, which stores thousands of characters. In this concrete 11, P in FIG. to P-, , Pl to Pl, Ro to Ryu in Fig. 12, Q in Fig. 13. Kara Q
Examples of changes such as -, etc. are stored.

A specific example is shown in FIG.

Next, the learning method will be explained using FIG. 19.

First, in step 201, ~Val j, Ws J k are initialized. Each Tsukuda is set to a random number from -0.3 to 0.3.

Next, in step 202, the allowable error ΔEIl is calculated manually. Use this to judge i-benko.

203 Pick up E and Y from the wooden file 120. In step 204, use E as an input and use (Equation 2-7) and (Equation 2-8) to obtain the output S.

Once S = (Sl, S,, S,, S4. S,).

Calculate the error by one word.

Dsk= (Sli-Yk)XSkX (1-5k)(
Equation 2-13) 1( is calculated from 1 to 5.

moreover, k=1 Calculate X(1-Aj) (Equation 2-14).

J goes up 1 Te from 1 to Na+1.

D s k corresponds to the error that each cell of the output layer has, and DAJ corresponds to the error that the hidden plane should apply line pressure accordingly.

Next, in step 206, \~'ai, i and \-'SjR are changed.

tVsjk=~Vs j k −@ ・D s kXA
j (Equation 2-15) %Equation % (Equation 2-16) Here, ε is a constant called the learning rate, and here,
ε=0.2.

207 tool I'4: Example: Determine whether it is the end of the file, and if it is not the end, use 208 to extract the next E and Y.
Repeat from step 04.

If it is the end of the file, the total error is calculated in step 210.

ΔE=Σ(SY)Z/N (Formula 2-17) N is a specific example.

At step 210, it is determined whether this ΔE is smaller than the allowable value ΔE. If it is not smaller, it is placed at the top of the concrete example file in step 211, and repeated from step 203. If ΔE is smaller than ΔEo, it is determined that the learning is complete, and step 212 is performed to write out Ili of Waij and ~Vsjk to Florabee.

As described above, the weight \Vai, i and 'iV s j
Find k.

This arc is tool 11: For example, depending on the given work, δ is 1
, if we give another specific example, we can handle completely different tasks.

According to the above embodiments, it is possible to achieve the same effect as in the case of implementation) Grid 1, and in a concrete example, even when the relationship between working conditions cannot be expressed by a mathematical formula, etc. as in Example 1, the row 1'+adjustment mechanism It has the effect of encouraging you to create something. It also has the effect of being able to handle a variety of tasks simply by replacing the weights stored on the floppy disk. FIG. 20 shows the case of deburring work, and FIG. 21 shows an example of input data and input data and output items for sealing work.

Note that the steps in Figures 9 and 10 (30, 61° 70
．． 71 affects work quality・Step 62゜63.7
2.73 influences the working condition, that is, the state of the arc, and FIG. 11 influences the workability, that is, the working time.

〔Effect of the invention〕

According to the present invention, the relationship between work conditions is automatically adjusted, so that even if one work collection is set or changed, the work collection throughout the song is also automatically changed. .

[Brief explanation of drawings]

Figure 1 is an information relationship diagram of the present invention, Figure 2.4 is a current-voltage relationship graph, Figure 3 is a conventional information relationship diagram, Figure 5 is an equipment configuration diagram of the embodiment, and Figure 6 is the hardware. Block diagram, Figures 7 to 11 are flowcharts showing the processing procedure of the embodiment, Figure 12 is a graph of the relationship between leg length and speed, Figure 13 is a 1.4 graph between speed and current, Figure 14 is the example The hardware block diagram of Figure 15 is a schematic diagram of the neuron model.
FIG. 16 is a network configuration diagram, FIG. 17 is an information related diagram of different embodiments, FIGS. 18, 20, and 21 are diagrams showing input and ideal output items of the neuronetwork,
FIG. 19 is a processing flow. 5...Condition adjustment groove N! ] 3rd P:i $4I21 7th Figure ε Figure Kyou /l Σ 12th Figure Name Pufferfish 311a! , 1 rhombus No. 14 Figure angle 4 No, 5 To convex No. ! 87

Claims (1)

[Scope of Claims] 1. An automatic work device comprising means for setting at least two or more work parameters, means for holding each work parameter, and work realization means for performing work specified by each work parameter, In connection with the setting change of the work parameter setting means, a work condition adjustment mechanism is provided that automatically adjusts each work parameter, and when one work parameter is set, at least one other work parameter is changed. An automatic work device characterized in that: is automatically changed. 2. The automatic work device according to claim 1, wherein the work condition adjustment mechanism changes other work parameters so as to keep a predetermined work evaluation standard constant. 3. The automatic work device according to claim 2, wherein the work evaluation criterion is work quality. 4. The automatic work device according to claim 2, wherein the work evaluation criterion is workability. 5. The automatic work device according to claim 2, wherein the work evaluation criterion is the work state. 6. The automatic working device according to claim 1, wherein the working condition adjustment mechanism is constituted by a conversion device for which a method for changing the working parameters has been established in advance according to a plurality of specific examples. 7. The automatic working device according to claim 6, wherein the establishment of the changing method is performed on a device different from the working condition adjusting mechanism, and only the establishment result is transferred to the working condition adjusting mechanism.