JPH07185075A - Nail regulating machine and nail regulating device for pachinko machine - Google Patents

Abstract

PURPOSE:To eliminate the ambiguity for the manual posture regulation of nails of a pachinko board and realize a precise regulation by automatic machine. CONSTITUTION:When the planting pattern of nails on a pachinko base A obtained by a CCD camera 5 is regulated so as to be conformed to standard image data, the regulating position and the regulating direction and regulating quantity of the nails present in the position are calculated with a required prize ratio inputted by a keyboard, and the posture regulating operation of nails D by a working arm 5 is controlled according to the result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nail adjusting machine for automating the work of adjusting the posture of a large number of nails planted on a board surface of a pachinko machine to set a winning rate, and the nail adjusting machine. The present invention relates to a nail adjusting device that realizes an unmanned nail adjusting system that sequentially and automatically adjusts a plurality of pachinko machines using a machine.

[0002]

2. Description of the Related Art A large number of check nails for properly restricting steel balls from entering a prize hole are planted in various patterns on the board surface of a pachinko machine. The positions of these nails, that is, the inclination and direction of the nails, are large, and pachinko parlors frequently adjust the position of each nail to set the winning rate. Conventionally, the position adjustment of the nails of the pachinko machine has been carried out by using a hammer or the like for each table by an experienced specialist called a nail artist, relying on his or her unique feeling.

[0003]

However, it is needless to say that the conventional nail adjustment manually performed by a nail master requires the skill of a nail master, and even if a skilled nail master performs the work. However, each pachinko machine requires considerable effort and time, and inevitably some ambiguity remains due to the intuition of the work. Also, it takes a considerable amount of time to complete the adjustment of all the pachinko machines in the store, and even in a standard-sized pachinko machine, all the pachinko machines can be used within the remaining time after closing. Currently, it is not possible to make adjustments.

The present invention has been made in order to solve such a problem, and eliminates the ambiguity of adjustment to realize accurate adjustment by an automatic machine, shorten the work time, and reduce It is an object of the present invention to provide a nail adjusting device for a pachinko machine that can significantly reduce labor costs, and a nail adjusting device that realizes an unmanned nail adjusting system that automatically adjusts a plurality of pachinko machines using the same. is there.

[0005]

In order to achieve the above object, in the nail adjusting machine of the present invention, a nail arrangement pattern for taking in the positions and postures of a plurality of nails implanted on the board surface of a pachinko machine as image data. It is assumed to include an input means, a nail attitude adjusting means for adjusting the attitude of each nail on the board surface, a level input means for setting an adjustment level of each nail, and a control means. An adjustment is made by the level input means on a portion that needs to be adjusted based on the comparison data between the image data obtained from the pattern input means and preset reference image data, the adjustment direction and the adjustment amount of the nails existing at that location. The operation is performed at a level and the operation of the nail adjusting mechanism is controlled based on the result of the operation.

In the above-mentioned structure, the nail posture adjusting means has an extensible and rotatable working arm having a chuck mechanism for gripping the head of the nail at the tip, and this working arm is XY.
It can be constituted by a guide means movable in the X and Y directions in the coordinate system.

The nail adjusting device of the present invention using the nail adjusting machine of the pachinko machine having the above-mentioned structure is arranged along the nail adjusting machine and a plurality of pachinko machines arranged in parallel, and the nail adjusting machine is operated. A guide rail that movably supports, and a moving unit that is disposed between the nail adjusting machine and the guide rail and that stops the nail adjusting machine at a position facing the desired pachinko machine that moves the nail adjusting machine to the desired pachinko machine. It is equipped with.

In the nail adjusting device having the above structure, preferably the nail adjusting machine is provided with an unlocking means for unlocking the glass door of the pachinko machine and an opening / closing means for opening and closing the glass door. The moving means includes means for moving the nail adjuster along the guide rails, and set moving means for moving the nail adjusting machine from a stop position facing the target pachinko machine to a set position on the entire surface of the pachinko machine. And

[0009]

According to the nail adjusting machine having the above-described structure, when adjusting the nail planting pattern on the pachinko machine obtained by the nail arrangement pattern inputting means so as to be along the reference image data, the adjusting place and the adjusting place The adjustment direction and the adjustment amount of the existing nail are calculated based on the desired adjustment level input by the level input means, and the adjustment operation of the nail posture adjusting means is controlled according to the result.

Therefore, since the posture adjustment of the nails of the pachinko machine is entirely performed by the automatic machine, the manual work can be omitted. Further, since the posture of the nail is performed according to preset reference image data, and the adjustment level thereof can be arbitrarily set by the level input means, it is possible to perform accurate adjustment without ambiguity by human and to be skilled It is also possible to make fine adjustments that are as good as those of the nail masters.

Further, according to the nail adjusting device having the above-mentioned structure, the process of moving the nail adjusting machine to the pachinko machine where the posture of the nail needs to be adjusted and performing the necessary adjustment on the pachinko machine can be automated unattended. The time is greatly reduced,
Nail adjustment of many pachinko machines can be performed as set without error.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. The nail adjusting machine for a pachinko machine according to this embodiment includes a mechanical device unit and a control device unit that controls the mechanical device unit. FIG. 1 shows a longitudinal side surface of the mechanical device section, and FIG. 2 shows a front surface thereof. As shown in FIG. 1, a pachinko machine A is usually provided with a board surface C covered with a glass door B on the front surface, and a large number of nails D are planted on the board surface C in various patterns. When adjusting the posture of each nail D on the board surface C, the glass door B is completely opened.

Machine unit 1 in the nail adjusting machine of this embodiment
Is provided with a rectangular box-shaped main body frame 2 having an open front side, which faces a region where a large number of nails D are planted on the board surface C of the pachinko machine base A. The guide rail 3 is erected vertically, the horizontal guide rail 4 is vertically movably mounted across both vertical guide rails 3, and a work arm 5 as a nail posture adjusting means is further mounted on the horizontal guide rail 4. While being mounted so as to be movable in the left-right direction along the lateral guide rail 4, CC as a nail arrangement pattern recognition means is provided substantially at the center of the back wall portion 2a of the main body frame 2.
The D camera 6 and the illumination light 7 for illuminating the board surface C of the pachinko machine A are arranged vertically.

As shown in FIG. 1, the machine unit 1 having such a configuration is used by being installed at a predetermined set position where the front open end of the main frame 2 faces the board surface C of the pachinko machine A. . At this set position, the irradiation area of the illumination light 7 almost covers the entire surface of the board C, and the lens 6a of the CCD camera 6 can image all the nails D on the board C.

The lateral guide rails 4 and the working arms 5 are controlled in operation by a control unit 18 which will be described later, and are configured so that they can freely reach the nail D on any target on the board surface C. There is. In this case, Cartesian coordinates are set on the board C, and the target position of the nail D on the coordinates is (x,
y), the mechanical approaching motion to reach the target is that the horizontal guide rail 4 is first guided by the pair of vertical guide rails 3 while maintaining the horizontal posture, and the vertical position (y) corresponding to the target coordinate is set. The work arm 5 then the horizontal guide rail 4
The target is reached by reaching the left and right position (x) corresponding to the coordinates of the target while being guided by.

3 (A) to 3 (C) show the positions of the working arm 5 reaching the nails D existing at various positions on the board C, and the working arm 5 is shown in the upper part of FIG. 3 (A). Corner section
(x ₁ , y ₁ ), almost central part (x ₂ , y ₂ ) shown in FIG. 2B, and lower corner part (x ₃ , y ₃ ) shown in FIG. Either position can be reached.

By the way, on the board surface C of the pachinko machine A, a large number of nails D, steel ball receiving portions, guides and the like are arranged at various places. For this reason, the working arm 5 needs to have a structure that does not interfere with the structures protruding from the board surface C during movement. In the present embodiment, as shown in FIGS. 5 is a telescopic cylinder,
The movable rod 5a is configured to project and retract with respect to the base end tubular portion 5b.

In such a working arm 5, the movable rod 5a is retracted and shortened in the base end cylindrical portion 5b as shown in FIG. Interference with is avoided. Further, at the time of work, as shown in FIG. 4C, the movable rod 5a projects from the proximal end cylinder portion 5b and extends, and the tip chuck mechanism 8 can grip the nail D. Further, in the middle of the work, when the nail D is once released and grasped again, the movable rod 5a is extended to the middle as shown in FIG. 4 (B).

FIGS. 5A to 5C show how the chuck mechanism 8 is opened and closed. As shown in these figures, the chuck mechanism 8 has a pair of chuck pieces 8b arranged facing each other on a guide base 8a attached to the tip of the movable rod 5a, and both chuck pieces 8b are arranged in opposite directions on the guide base 8a. It is designed to be driven at a constant speed at the same time, and can be opened and closed from the fully open state shown in FIG. 5 (A) to the closed state shown in FIG. 5 (C).
When the nail D is grasped, as shown in FIG. 5 (B), the nail D is clamped to the nail head with the head diameter of the nail D opened.

Further, depending on the inclination angle, arrangement, and attitude of the nails D implanted on the board surface C, the chuck mechanism 8 may not be gripped unless the angle is changed. Therefore, in the present embodiment, as shown in FIGS. 6A to 6D, the chuck mechanism 8 is set so that the chuck mechanism 8 can select the optimum angle when gripping the nail D. It is designed so that it can be rotationally displaced about the axis of. In addition, FIG. 6A shows the horizontal posture of the chuck mechanism 8,
FIG. 6B shows a posture rotated 45 ° clockwise, FIG. 6C shows a vertical posture, and FIG. 6D shows a posture rotated 45 ° counterclockwise. ing.

FIG. 7 shows an example of the nail posture adjusting means. In the structure shown in this figure, the left and right vertical guide rails 3 are formed by spiral shafts, the vertical guide members 9 are respectively screwed into the vertical guide rails 3, and the horizontal guides are provided between the left and right vertical guide members 9. A rail 4 is installed, and a lateral guide member 10 having a working arm 5 attached thereto is screwed onto the lateral guide rail 4.

Each vertical guide rail 3 is connected to the first motor 1
It is driven to rotate around the axis by 1 so that the vertical guide member 9 can be moved in the vertical direction along the vertical guide rail 3. On the other hand, the lateral guide rail 4 is rotationally driven about the axis by the second motor 12, and thereby the lateral guide member 10 can be moved in the left-right direction along the lateral guide rail 4. Reference numeral 13 is a guide groove member arranged in parallel with the lateral guide rail 4, and the sliding protrusion 14 provided on the lateral guide member 10 is slidably engaged with the lateral guide rail 4. The lateral guide member 10 is prevented from rotating with rotation.

Further, the extension / contraction operation of the working arm 5 is performed by the third motor 15 provided on the lateral guide member 10. In this case, the worm is attached to the output shaft of the third motor 15, and the worm that engages with the worm in a disengageable manner is provided on the movable rod 5a side of the working arm 5, thereby
The rotation of the motor 15 can be converted into the expansion / contraction motion of the work arm 5.

The gripping operation of the chuck mechanism 8 at the tip of the work arm is performed by the fourth motor 16 provided on the guide base 8a. In this case, each chuck piece 8b is provided with a worm whose groove cutting directions are opposite to each other, while the output shaft of the fourth motor 16 is provided with a worm having two forward and reverse grooves that mesh with the respective worms. Thus, the rotation of the fourth motor 16 can be converted into the gripping operation of each chuck piece 8b.

The working arm 5 is rotated by the lateral guide member 1.
It is performed by the fifth motor 17 provided at 0. In this case, a bevel gear that meshes with the output shaft of the fifth motor 17 and the base end cylindrical portion 5b of the working arm 5 are mounted, and the movable rod 5a rotates integrally with the base end cylindrical portion 5b. By doing so, the rotation of the fifth motor 17 can be converted into the rotation operation of the working arm 5.

Further, in order to make the work arm 5 reach the target nail D, before the work arm 5 is moved, position data of each part of the work arm at that time is required. Therefore, in the present embodiment, the first to fifth motors 11, 12, 15,
DC motors are used as 16 and 17, and position sensors 11a, 12a, 15a, 16a for detecting the rotation amounts of the motors 11, 12, 15, 16, 17 are used.
17a is provided. These position sensors 11a, 12
Each of a, 15a, 16a, and 17a is composed of a photo interrupter and a reading unit of its signal,
The read position detection information is sent to each control device of the control device unit 18 described later.

The motors 11, 12, 15, 1 are each
Stepping motors 6 and 17 may be used.
Further, the first to fifth motors 11, 12, 15, 16,
17 and the power transmission mechanism interposed between the driven parts thereof are not limited to those using the above-mentioned gears, but various designs such as those using other types of gear mechanisms, etc. It can be changed.

8A to 8G show the operation of the work arm 5 when the posture of the nail D is adjusted step by step. As for the operation of the work arm 5, first, as shown in FIG.
By the approaching motion of the vertical guide member 9 and the lateral guide member 10 to the target, the working arm 5 is moved while being held in the retracted state, and as shown in FIG. When it reaches a position opposite to the position, the work arm 5 is stopped at that position, and then the working arm 5 is extended as shown in FIG.

Further, after the chuck piece 8b is operated to grip the nail D as shown in FIG. 6D, the vertical and horizontal guide members 9 and 10 are operated as shown in FIG. The work arm 5 is moved in the required direction by adjusting the posture of the nail D. When the posture adjustment of the nail D is completed, the chuck piece 8b is opened and the working arm 5 is retracted as shown in FIG.

FIG. 9 shows the control unit 18 of this embodiment. The control unit 18 is a computer 19 and a CRT.
And the like, an external storage device 21 such as a floppy disk and a hard disk, and a keyboard 22 as a level input means.

The computer 19 is a central control unit (CP).
U) 23, an image memory (VRAM) 24 that outputs necessary image information to the monitor 20, a work RAM 25, and an external storage control device 2 that inputs and outputs information to and from the external storage device 21.
6, a key input control device 27 for controlling the input of the keyboard 22, an image data input device 28 connected to the CCD camera 6, and a control device group for controlling the operation of the work arm 5, that is, an arm vertical movement control device 29, an arm lateral direction. It is composed of a movement control device 30, an arm extension / contraction motion control device 31, an arm rotation motion control device 32, and a gripping motion control device 33 by a chuck mechanism.

The control devices 29 to 33 of the work arm 5 are respectively associated with the corresponding position sensors 11a, 12a, 15a and 1a.
While inputting the position detection information of 7a and 16a, CP
Based on the command of U23, the motors 11, 12, 15, 1
The rotation amounts of 7 and 16 are controlled. Further, as the computer used for the control unit 18, a computer specially made for the nail adjusting machine is used, but a computer having the function and capacity of a known personal computer can also be used.

FIG. 10 shows the flow of control operation by the CPU 23 of the computer 19. As shown in this figure, when the machine unit 1 is installed at a predetermined set position facing the pachinko machine A and the posture adjustment work of the nail D of the pachinko machine A is started, the keyboard 22 is operated in step # 5.
Enter the model of Pachinko machine A by operating the key of. Since the models of the pachinko machine A are usually limited to a plurality of types of patterns, if the pattern of each model is registered, the model can be entered simply by keying in the pattern number. be able to.

At step # 10, the adjustment information of the pachinko machine A is read from the external storage device 21. The external storage device 21 records general data necessary for adjusting the posture of the nail D, such as the arrangement pattern of the nail D serving as a reference in each model including the selected model, the nail adjusting method relating to the winning rate, and the like. ing.

At step # 15, the keyboard 22 is operated to input the adjustment level. This adjustment level specifically means setting the winning rate, and the content of the key operation is displayed on the monitor. Since the winning rate needs to be changed for each pachinko machine A, different values determined arbitrarily or according to a rule are input at the time of subsequent nail posture adjustment work of the pachinko machine A.

At step # 20, the image of the pachinko machine A is captured by the CCD camera 6. In this case, when the illumination light 7 is turned on and the CCD camera 6 is operated, the pachinko machine A is captured as an image by the CCD camera 6, and the CPU 2 is operated via the image data input device 28.
Sent to 3. Although the color of the nail D is different from that of the background of the pachinko machine A, the computer 19 determines the nail D based on the color difference from the image data obtained from the CCD camera 6 and stores the pattern.

In step # 25, movement data of the work arm 5 is calculated based on the information obtained in steps # 5 to # 20. In this case, the CPU 23
The control pattern of the working arm 5 is calculated based on the current position and the reference position of the nail D before the adjustment and the adjustment method data. This calculation calculates the coordinates where the nail D is located from the image data,
The movement level of the work arm 5 is obtained by calculating the nail adjustment location, the adjustment direction, and the adjustment amount at the adjustment level, that is, the winning rate set based on the calculation result.

In step # 30, the calculation result in step # 25 is compared with the posture of each nail D on the read image data, and when the postures of all nails D match the calculation result. Decides that no adjustment is necessary, step # 3
It ends at 5. If there is a nail D different from the calculation result, it is determined that adjustment is necessary, and the process proceeds to the next step.

From step # 40 to step # 85,
Adjustment is performed by moving the work arm 5 according to the movement pattern. That is, when the work arm 5 is at a different height position with respect to the vertical movement data obtained by the calculation in step # 40, the vertical movement control of the work arm 5 is performed based on the data in step # 45. Go to step # 50. When the work arm 5 is at the height position according to the data, the process proceeds to step # 50 without moving the work arm 5.

FIG. 11 shows the flow of motor control by the computer 19 at this time. As shown in this figure, at step # 105, the current height position of the working arm 5 is taken out by the position detection signal output from the first position sensor 11a, and at step # 110, the height obtained from the vertical movement data is obtained. If it is higher than the position, the first motor 11 is driven in reverse by the number of revolutions corresponding to the height difference in step # 115.

When the current height position of the working arm 5 is lower than the value of the vertical movement data, the first motor 11 is driven in the normal rotation by the number of rotations corresponding to the height difference in step # 120. When the work arm 5 reaches the position according to the data by causing the first motor 11 to perform any one of these operations, the rotation of the motor 11 is stopped in step # 125, and the process proceeds to the next step.

Returning to FIG. 10, when the work arm 5 is located at the left and right different positions with respect to the lateral movement data obtained by the calculation in step # 50, the lateral direction of the work arm 5 is determined based on the data in step # 55. After performing the movement control, the process proceeds to step # 60. Further, when the work arm 5 is at the left and right positions according to the data, the process proceeds to step # 60 without moving the work arm 5. The control of the second motor 12 at this time is performed in the same process as that of the first motor 11 shown in FIG.

In this way, when the working arm 5 is stopped at a position that correctly faces the nail D to be adjusted, if the chuck mechanism 8 is in a different angular phase with respect to the rotational movement data in step # 60, step # 60 is executed. At 65, the rotation operation of the chuck mechanism 8 is controlled based on the data, and then the process proceeds to step # 70. Further, when the chuck mechanism 8 is in the angular phase according to the data, the process proceeds to step # 70 without rotating the mechanism 8. In addition, the fifth at this time
The control of the motor 17 is similar to that of the first motor 11 shown in FIG.

Next, in step # 70, when the arm 5 is in the retracted state with respect to the extension / contraction operation data of the work arm 5, in step # 75 the work arm 5 is based on this data.
Is controlled to be extended, and the process proceeds to step # 80. Similarly, in steps # 80 and # 85, control according to the gripping operation data of the chuck mechanism 8 is performed.

That is, in step # 85, the chuck mechanism 8 grips the head of the nail D, and the first and second motors 11 and 12 are driven according to the calculation results while maintaining the gripped state. The arm 5 is moved to a desired position, and the posture of the nail D is adjusted as shown in FIG. However, in this case, the fourth motor 16 is driven in the same manner as the flow of the first motor 11 shown in FIG. 11 to grip the head of the nail D, and after the posture adjustment of the nail D is completed,
Again, a driven process is added to open the head of the nail D.

As described above, the CPU 23 issues a command to each control device of the work arm 5 so that each motor 11, 1
After one nail D is adjusted by driving the working arm 5 by driving 2, 15, 16, and 17, the process returns to step # 30 again, and the same process as described above requires adjustment. This is repeated for the other nails D to be used, and the posture adjustment of the nails D of one pachinko machine A is completed by repeating this.

As described above, in this embodiment, each control device of the working arm 5 receives a command from the CPU 23 based on the data obtained by converting the position into a numerical value, and the first value is obtained from the command value.
~ The direction of rotation of the fifth motors 11, 12, 15, 16, 17 is determined and these motors 11, 12, 15, 16, 17 are determined.
And the position sensors 11a, 12a, 15a, 16a, 17a provided corresponding to the respective motors read the current position of the working arm 5, so that when the commanded position is reached, the rotation of the motor is stopped. By stopping, the work arm 5 can be moved to the commanded position.

12 to 14 show an embodiment of the nail adjusting device according to the present invention. The apparatus of this embodiment uses a nail adjusting machine having all the functions of the nail adjusting machine of the above-mentioned embodiment to adjust the nail postures of all the pachinko machines A installed in the store without requiring human labor. FIG. 12 shows the overall configuration of the device, and FIGS. 13 and 14 show the configuration of the nail adjusting machine used in the device.

Generally, in a pachinko parlor, a large number of pachinko parlors A are provided in parallel on both sides of a strip E which is a structure for installation, and a plurality of strips E are installed in the store. In the present embodiment, as shown in FIG. 12, the nail adjusting machine F can be sequentially moved along all the pachinko machines A arranged on the respective stripes E, so that the nail adjusting machine F can be moved above the respective pachinko machines A by a certain height. A guide rail 34 is arranged in the inside of the store, and a nail adjusting machine F is movably suspended on the guide rail 34. The nail adjusting machine F is controlled by a computer to guide the guide rail 34.
By moving up, nails D of each pachinko machine A in the store
Are sequentially adjusted.

FIGS. 15 and 16 show an example of the moving device 35 of the nail adjusting machine F, FIG. 15 shows a vertical side surface, and FIG. 16 shows a vertical front surface. In the moving device 35 shown in these figures, the guide rail 34 is formed in a box-shaped cross section, and two rails 34a, 34b and a rack 34c are provided in parallel with each other on the lower side thereof. Between the guide rail 34 and the nail adjusting machine F, a setting moving mechanism 36 for moving the nail adjusting machine F in and out of contact with the pachinko machine A is interposed.

The setting moving mechanism 36 is provided with a moving structure 37 in which two rail bodies 37a and 37b and a rack 37c, which are arranged at a lower end with a space, are arranged in parallel. A motor 39 having an output shaft fitted with a driving gear 38 is attached to the moving structure 37.

A pair of wheels 40 rolling on both end rails 34a, 34b of the guide rail 34 are mounted on the upper end of the guide structure 37, and a braking gear 41 and a braking gear 41 meshing with the rack 34c are mounted. A driven gear 42 that meshes with the driving gear 38 is mounted coaxially with the wheel 40 on one side. The rails 37a, 37b and the rack 37c have both ends bent upward in order to prevent the wheels and gears from falling off, which will be described later.

On the other hand, the bracket 4 is provided on the top surface of the nail adjusting machine F.
3 is provided, and a motor 45 having a driving gear 44 mounted on an output shaft is attached to the bracket 43. Further, a pair of wheels 46 is provided on both sides of the upper end of the bracket 43, and a braking gear 47 and a driven gear 48 which meshes with the driving gear 44 are arranged in the middle portion at intervals along the same axis. There is. Each wheel 46 is rotatably suspended on the rail bodies 37a and 37b of the guide mechanism 36.

Thus, the guide mechanism 36 and the nail adjusting machine F are
In the configuration in which the whole is suspended on the guide rail 34, the wheel 40 rolls on the rails 34a and 34b by the drive of the motor 38, whereby the nail adjusting machine F is moved.
It moves in the form of going around the strip E while being hung on.
Further, when reaching the front of the designated pachinko machine A, the motor 45 operates, the wheels 46 roll on the rail bodies 37a and 37b of the setting moving mechanism 36, and the nail adjuster F faces the pachinko machine A. It is set in place.

When the nail posture adjusting work of the pachinko machine A is completed, the motor 45 reversely rotates and the nail adjusting machine F returns to the moving position. Then, the motor 38 is operated and the pachinko machine machine requiring the nail posture adjustment. Move to A.

By the way, usually, the pachinko machine A is locked on the glass door B. For this reason, in the device of this embodiment, an unlocking mechanism 49 for the glass door B and a door opening / closing device 50 for opening and closing the glass door B are added to the nail adjusting machine F. In addition, nail adjuster F
Since the configuration of 1 is the same as that of the above-described embodiment, common parts are denoted by common reference numerals, and description thereof will be omitted to avoid duplication.

Returning to FIG. 13 and FIG. 14, the unlocking mechanism 49 of the glass door B is provided at a position corresponding to the lock installation site of the pachinko machine A. In this embodiment, one side portion of the main body frame 2 is provided. Partly extended laterally, and the unlocking mechanism 4 is attached to the extended part.
I am equipped with 9.

In this unlocking mechanism 49, a pair of left and right vertical guide rails 51 are vertically erected, and a horizontal guide rail 52 is vertically movably mounted between the vertical guide rails 51. An unlocking arm 53 is mounted on 52. The unlocking arm 53 is the working arm 5.
Like the above, it is configured to be extendable and retractable and has a key attached to the tip in a detachable manner.

The operation of the unlocking mechanism 49 having such a configuration is controlled by the control unit 62, which will be described later, and the operation is almost the same as the operation of the working arm 5. That is,
From the state in which the nail adjusting machine F is stopped at a position facing the target pachinko machine A, the horizontal guide rails 52 move to the vertical guide rails 5.
1 and then the horizontal guide rail 52 moves,
After the unlocking arm 53 reaches the position facing the lock, the unlocking arm 53 extends and the key rushes into the key hole of the lock. From this state, the unlocking arm 53 is driven to rotate and the glass door B
Unlocked. After unlocking, the unlocking arm 53 retracts.

Further, all the posture adjustment work of the nail D is completed,
After the glass door B is closed again, the door B is automatically locked and locked.

As shown in FIG. 14, the door opening / closing device 50 is provided at the lower end portion of the nail adjusting machine F corresponding to the lower edge of the glass door B of the pachinko machine A, and in the present embodiment, the main body frame 2 is provided. The lower side part is partially extended to the side, and the door opening / closing device 50 is mounted on the lower side part. In this door opening / closing device 50, a horizontal guide rail 54 is horizontally arranged over the entire length of the lower side portion of the main body frame, a supporting member 55 is movably mounted on the horizontal guide rail 54, and further on the supporting member 55. The door opening / closing mechanism 56 is mounted.

17 to 20 show an example of the door opening / closing mechanism 56, FIG. 17 shows the overall appearance, FIG. 18 shows the plane, FIG. 19 shows the front, and FIG. 20 shows the side. As shown in these figures, in the door opening / closing mechanism 56, a motor 58 is mounted on an arm 57 whose base end is fixed to a supporting member 55, while the swing link 5 is attached to the top end of the arm 57.
9 is swingably mounted around a swing shaft 59a, a cylindrical working projection 60a is provided on the upper surface of one end of the swing link 59, and an elongated cylindrical working projection 60b is provided on the upper surface of the other end thereof. Output shaft 58a of motor 58 and swing link 59
Of the three gears 61a, 61 between the lower end of the swing shaft 59a and the
The gear reduction mechanism composed of b and 61c is interposed.

In this door opening / closing mechanism 56, the rotation of the motor 58 is transmitted to the swing link 59 through the gear reduction mechanism, which causes the swing link 59 to be parallel to the arm 57 as shown in FIG. 21 (A). 2 or a posture in which the arm 57 is inclined as shown in FIG.
As shown in FIG. 1C, the arm 57 is swingably displaced at a required angle such as a posture perpendicular to the arm 57.

FIG. 22 shows in sequence the process of opening the glass door B by the door opening / closing device 50 having the above structure. In this figure, the P row shows the relationship between the pachinko machine A and the nail adjusting machine F, and the Q row shows the pachinko machine A and the door opening / closing device 5.
The relationship with 0 is schematically shown. As shown in FIG. 22 (A), the process of opening the glass door B is as follows.
When the lock of the pachinko machine A is unlocked by the unlocking mechanism 49, the glass door B opens slightly by the spring function of itself, and the door opening / closing mechanism 56 can be inserted, as shown in FIG. 22 (B). There is room for

Next, as shown in FIG. 22 (C), the arm 57 (support member 55) moves leftward in the figure along the lateral guide rail 54, whereby the columnar action projection 60a of the swing link 59 is moved. The open door B enters between and the oblong columnar projection 60b. After this, as shown in FIG.
As the nail adjuster F moves rearward, the arm 57 further moves leftward during the movement, whereby the door B is pushed by the columnar action protrusion 60a and forcedly opened.

Then, as shown in FIG. 22E, when the arm 57 reaches the left end of the lateral guide rail 54, the door B is fully opened. After the door B is fully opened in this way, as shown in FIG. 22 (F), the nail adjusting machine F is brought close to the pachinko machine and the adjusting work is started.

FIG. 23 sequentially shows the process of closing the glass door B by the door opening / closing device 50 having the above structure. In this figure, as in FIG. 22, row P schematically shows the relationship between the pachinko machine A and the nail adjuster F, and row Q schematically shows the relationship between the pachinko machine A and the door opening / closing device 50. In the closing process of the glass door B, first, after the adjustment work shown in FIG. 23 (A) is completed, the nail adjusting machine F is retracted backward as shown in FIG. 23 (B).

Next, as shown in FIG. 23 (C), the arm 57 is moved to the right and at the same time the nail adjuster F is moved forward. After that, as shown in FIG. 23D, when the swing link 59 comes to the free end of the door B, the advance of the nail adjuster F is once stopped. Then, as shown in FIG. 23 (E), when the swing link 59 is swing-displaced, the elliptic cylindrical action protrusion 60 is formed.
b pushes the outer surface of the free end portion of the door B in the closing direction, and finally, as shown in FIG. 23 (F), the door B is closed and locked at the same time.

FIG. 24 shows the control unit 62 of this embodiment. This control device unit 62 is the same as the control device unit 18 of the above-described embodiment shown in FIG. 9, except for the control device group of the moving device 35, the unlocking mechanism 49, and the door opening / closing device 50, that is, the unlocking arm vertical movement control device 63, Lock arm lateral movement control device 64, unlocking arm rotation operation control device 65, unlocking arm extension / contraction operation control device 66, door opening / closing mechanism operation control device 67, swing link operation control device 68, moving mechanism advancing / retreating control device 69, movement It has a configuration in which a mechanism contact / separation operation control device 70 is added.

Further, each of the control device groups 63 to 70 is connected to a corresponding motor and a position sensor for detecting position data, and each is configured to drive and control the motor based on the position detection data read by the position sensor. Has been done.

In this embodiment, the controller 62 having such a structure moves the nail adjusting machine F to each pachinko machine, sets the nail adjusting machine F on the pachinko machine A, unlocks it, and opens and closes the glass door B. Also, the posture adjustment of the nail D by the nail adjuster F can be automatically performed. The mode of control is as described in the description of the operation of each device and mechanism, and the operation of the control device group newly added to the configuration of the above embodiment is a summary.
Since it is the same as that of the nail adjusting machine F, its explanation is omitted.

By the way, in the ordinary pachinko machine which is now popular, as is clear from the above-mentioned embodiment, the glass door B is used.
A single-opening type door is used in which a hinge is provided on one side and the hinge is used as a fulcrum to open and close. Instead of such a single-opening type glass door B, as shown in FIGS. 25 and 26. The parallel link mechanism 71 is used for the vertical opening / closing method, and as shown in FIG. 27, a driven gear 73 is provided on one of the links 72 constituting the parallel link mechanism 71 while the nail adjusting machine F is used.
The door opening / closing device 50 can be configured by a driving gear 74 that is disengageably engaged with the gear 73 and a motor 75 that rotationally drives the driving gear 74.

More specifically, as shown in FIGS. 25 and 26, vertical grooves 76 are formed on both sides of the board surface C of the pachinko machine A, and each vertical groove 76 is a parallel link consisting of a pair of links 72. The mechanism 71 is incorporated. Both side portions of the glass door B are connected to the free ends of the links 72 of the parallel link mechanism 71.

Then, as shown in FIG. 25 (A), when the link 72 is housed in the vertical groove 76, the door B is closed as shown in FIG. 26 (A), and as shown in FIG. 25 (B). When the link 72 becomes horizontal as shown, the door B is opened halfway as shown in FIG. 26 (B), and when the link 72 is displaced to the rotation limit as shown in FIG. 25 (C), As shown in FIG. 26 (C), the door B is configured to be fully opened.

As described above, another embodiment of the nail adjusting device according to the present invention is applicable to a pachinko machine A having a glass door opening / closing system as shown in FIG. 26. In the glass door B, as shown in FIG. 27, the driven gear 7 which is the fulcrum of the base end portion on the vertical groove 76 side of the upper link 72
Wear 3. On the other hand, on the door opening / closing device 50 side, a driving gear 74 that is disengageably engaged with the driven gear 73 is rotationally driven by a motor 75.

Further, as shown in FIG. 26, the pachinko machine A is provided with a receiving section 77 of an infrared remote control machine for sending a drive control signal to the motor 75. Also, FIG.
As shown in FIG. 8, the control device section 62 is provided with a control device 78 of the infrared remote control machine connected to the CPU 23 and a transmitting section 79 of the infrared remote control machine.

With such a structure, when the nail adjusting machine F is set on the pachinko machine base A, the driving gear 74 meshes with the driven gear 73, and in this state, the door B is opened from the transmitting portion 79 of the infrared remote control machine in the adjusting machine. When the door open signal for opening is sent, the motor 75 is driven to rotate normally and the door B is opened.
Opens. On the contrary, after the posture adjustment of the nail is completed, the transmitting unit 79
Is operated and a door close signal for closing door B is transmitted,
The motor 75 is reversely driven and the door B is closed.

[0078]

As described above, when the nail adjusting machine for a pachinko machine of the present invention is used, the nail planting pattern on the pachinko machine obtained by the nail arrangement pattern inputting means is made to follow the reference image data. When adjusting, the adjustment location, the adjustment direction and the adjustment amount of the nails present at that location,
It is calculated based on the desired adjustment level input by the level input means, and the adjusting operation of the nail attitude adjusting means is controlled according to the result, so that the attitude adjustment of the nails of the pachinko machine is entirely performed by an automatic machine. It is possible,
Basically, manual work can be eliminated.

Further, since the posture of the nail is carried out according to preset reference image data, and the adjustment level thereof can be arbitrarily set by the level input means, it is possible to perform accurate manual adjustment without ambiguity. In addition, it is possible to make subtle adjustments that are as good as those of a skilled nail master, and it has achieved epoch-making effects.

According to the nail adjusting device for a pachinko machine of the present invention, since the nail adjusting machine moves to the pachinko machine where the posture of the nail needs to be adjusted, the process of performing the necessary adjustment on the pachinko machine can be fully automated. Therefore, the nail adjustment time is greatly shortened, and the nail adjustments for a large number of pachinko machines can be performed exactly as they are set. In addition, the adjustment time can be shortened and the labor cost of the nail master can be reduced.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional side view of a machine unit in a nail adjusting machine for a pachinko machine according to an embodiment of the present invention.

FIG. 2 is a front view thereof.

FIG. 3 is a schematic front view showing the positions of the working arms that have reached the nails existing at various positions on the board surface.

FIG. 4 is a schematic side view showing how the working arm extends and contracts.

FIG. 5 is an enlarged side view of essential parts showing an aspect of opening / closing operation of the chuck mechanism.

FIG. 6 is an enlarged front view of an essential part showing a mode of rotational displacement of the chuck mechanism.

FIG. 7 is an enlarged perspective view of an essential part showing an example of a nail posture adjusting means.

FIG. 8 is an enlarged side view of essential parts showing the operation of the work arm in sequence when adjusting the posture of the nail.

FIG. 9 is a block diagram showing the configuration of a control device section.

FIG. 10 is a flowchart showing the flow of control operation by the CPU.

FIG. 11 is a flowchart showing the flow of motor control.

FIG. 12 is a plan view showing the overall configuration of a nail adjusting device according to an embodiment of the present invention.

FIG. 13 is a vertical sectional side view showing the configuration of the nail adjusting machine.

FIG. 14 is a front view of the same.

FIG. 15 is a vertical sectional side view showing an example of a moving device of the nail adjusting machine.

FIG. 16 is a front view of the same section.

FIG. 17 is an external perspective view showing an example of a door opening / closing mechanism.

FIG. 18 is a plan view thereof.

FIG. 19 is a front view thereof.

FIG. 20 is a side view thereof.

FIG. 21 is a front view of a main portion showing a displaced state of the swing link.

FIG. 22 is a schematic view showing the process of opening a glass door by a door opening / closing device in order.

FIG. 23 is a schematic view showing a process of closing a glass door by a door opening / closing device in order.

FIG. 24 is a block diagram showing a configuration of a control device section.

FIG. 25 is an enlarged side view of an essential part schematically showing the open / closed state of a glass door in a pachinko machine of a different mode.

FIG. 26 is a front view thereof.

FIG. 27 is a side view schematically showing a main part of a door opening / closing device in a nail adjusting device according to another embodiment of the present invention.

FIG. 28 is a block diagram showing a part of the configuration of the control device section.

[Explanation of symbols]

 1 Mechanical Device Section 2 Main Frame 3 Vertical Guide Rail 4 Horizontal Guide Rail 5 Working Arm 6 CCD Camera 7 Lighting Light 8 Chuck Mechanism 11 1st Motor 12 2nd Motor 15 3rd Motor 16 4th Motor 17 5th Motor 18 Control Device unit 19 Computer 20 Monitor 21 External storage device 22 Keyboard 23 CPU 34 Guide rail 35 Moving device 36 Moving mechanism for setting 39 Motor 45 Motor 49 Unlocking mechanism 50 Door opening / closing device 53 Unlocking arm 56 Door opening / closing mechanism 57 Arm 58 Motor 59 Swing Link 71 Parallel Link Mechanism 75 Motor 77 Infrared Remote Control Receiver Receiver 79 Infrared Remote Control Transmitter A Pachinko Stand B Glass Door C Board Surface D Nail E Stripe F Nail Adjuster

Claims (5)

[Claims] 1. A nail arrangement pattern input means for taking in the positions and postures of a plurality of nails planted on a board surface of a pachinko machine as image data, and a nail attitude adjustment for adjusting the attitude of each nail on the board surface. Means, level input means for setting the adjustment level of each nail, and a portion requiring adjustment based on the comparison data between the image data obtained from the nail arrangement pattern input means and preset reference image data, that portion And a control means for controlling the operation of the nail adjusting mechanism based on the calculation result of the adjustment direction and the adjustment amount of the existing nails at the adjustment level set by the level input means. Nail adjuster for the table. 2. The nail posture adjusting means is a retractable and rotatable work arm having a chuck mechanism for gripping the nail head at the tip, and the work arm is movable in the X and Y directions in an XY coordinate system. 2. A nail adjusting machine for a pachinko machine according to claim 1, wherein the nail adjusting machine is composed of various guide means. 3. A nail adjusting machine for a pachinko machine according to claim 1, a guide rail arranged along a plurality of pachinko machines arranged in parallel to movably support the nail adjusting machine, and the nail adjusting machine. A nail adjusting device provided with a guide rail, and moving means for stopping the nail adjusting machine at a position facing a desired pachinko machine for moving the nail adjusting machine to a target pachinko machine. 4. The nail adjusting device according to claim 3, wherein the nail adjusting machine comprises unlocking means for unlocking the glass door of the pachinko machine and opening and closing means for opening and closing the glass door. 5. The moving means comprises means for moving the nail adjusting machine along the guide rails, and set moving means for moving the nail adjusting machine from a stop position facing the target pachinko machine to a set position on the entire surface of the pachinko machine. The nail adjusting device according to claim 3, wherein