JPH04102478A - Automatic pin regulating machine for game board - Google Patents

Abstract

PURPOSE:To easily correct the slippage of a pin into an allowable range within a short time by providing a hammer system in such a manner as to be movable on a circumference with a video camera as the center, detecting the slippage direction and quantity of the pin by the video camera, and rotating the hammer system in the slippage direction to strike the head part of the defective pin according to the slippage quantity. CONSTITUTION:A video camera 205 is moved and stopped in front of a pin 502 on a game board 500 by operating a manipulator 200, and the pin position is detected by an image processing device 400. The position data of the pin is compared with the measured data to store the slippage quantity and direction, and whether the slippage quantity and direction is within an allowable range is judged. An actuator 213 is operated, and the head part of the defective pin is struck by a hammer 214 with a strength required to correct the slippage on the basis of the slippage quantity stored in the image processing device 400. The pin position is again measured by the video camera 205 and compared with the position data to detect the slippage quantity and direction, which are subjected to allowable range judgment. When not sufficient yet, the correction is again conducted.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic nail adjustment machine for a game board that measures and corrects the position of a nail driven into the game board of a pachinko machine.

[Conventional technology]

As is well known, the position and bending of the numerous nails driven into the game board of a pachinko machine greatly affect the winning rate of pachinko balls. For this reason, the winning rate is adjusted by hitting each nail on the game board with a hammer to adjust the degree of bending of the nail. However, the adjustment process conventionally involved passing a gauge with pachinko balls attached to the end of a stick through the ball passage between the nails, and then intuitively knowing how wide or narrow the spacing was and changing the spacing by delicately hitting it with a hammer, so it required skill. It was expensive, time-consuming, and inaccurate. Therefore, improvement has been desired for some time.

The present applicant has already filed patent applications such as Japanese Patent Application No. 1-53581, Japanese Patent Application No. 1-64172, and Japanese Patent Application No. 2-105956 regarding automatic nail adjustment machines for game boards. The outline of the automatic nail adjustment machine for game boards is to move vertically and horizontally (XY
A video camera and a cylindrical nail holder are installed on the manipulator so that the manipulator can move in the same direction (direction movement), and as shown in the flow chart of FIG. In step b, the actual measurement data of the image obtained by the video camera is compared with the position data stored in advance to detect the amount and direction of deviation, and in step C, the deviation is within an allowable range. If it is within the allowable range, the video camera is moved to the next nail on the game board surface, and if it is outside the allowable range, the nail holder is moved in front of that nail by moving the manipulator in the X and Y directions in step d. Then, in step e, the nail holder is lowered (moved in the Z direction) to fit the nail head into the nail holder, and then in step f, the nail holder is moved the required amount in the required correction direction. The nail holder is moved to correct the bending, and in step g, the nail holder is removed from the nail, and the process returns to step a, so that the measurement and correction are repeated.

[Problems with the Prior Art] As described above, the above-mentioned conventional automatic nail adjustment machine for game boards has a structure in which a nail holder is provided on the manipulator slightly to the side so as not to obstruct the view of the video camera.
Move the video camera to the front of the nail to measure the nail position, then move the video camera to the side, move the nail holder to the front of the nail position, perform a correction operation, and check whether the correction has been performed successfully. Therefore, I had to move the nail holder to the side again and move the video camera to the front again. For this reason, there was a problem in that in order to correct the book nails, it was necessary to frequently move both with a manipulator, and adjustment took time.

[Means to solve the problem]

The present invention aims to solve the above-mentioned problems, and includes a manipulator that operates according to commands from a main controller, a video camera that moves on the game board surface by the operation of the manipulator and measures the position of the nail, and a main controller. A game board comprising a hammer mechanism that is provided so as to be able to move on a circumference around the video camera in response to a command from the video camera, and an image processing device that digitizes image data of the nail obtained from the video camera. The automatic nail adjustment machine for use in game machines detects nails on a game board using the video camera, detects the direction and amount of deviation thereof, and rotates the hammer mechanism in the direction of deviation for defective nails whose deviation is outside an allowable range. The present invention is characterized in that the head of the defective nail is corrected by hitting it with an intensity based on the amount of deviation.

〔Example〕

Next, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the main parts constituting the automatic nail adjustment machine for game boards of the present invention, in which 100 is a main controller, 200 is a manipulator that operates according to instructions from the main controller, and 300 is the main controller 100. Personal computer inherited from 40
0 is an image processing device that supplies digitized image data to the main control device 100. As shown in FIG. 2, the manipulator 200 has a linear guide 202 fixed on the upper surface of a horizontally arranged board 201, and is moved perpendicularly to the linear guide 202 so as to be moved along the linear guide 202 by a servo motor. A linear guide 203 is provided, and the linear guide 2
A head 204 is provided on the 03 to be moved along the linear guide 203 by a servo motor, and a CCD video camera 205 is attached to the head 204 via a mounting piece so that its objective lens 206 faces downward. It is installed. A ring light 207 is attached concentrically around the objective lens 20G.

Furthermore, as shown in FIG. 3, a rotating member 208 is provided around the video camera 205 so as to be rotatable in a horizontal plane centering on the video camera 205. The rotary member 208 is configured to be rotated to a desired position and stopped by the operation of the servo motor 210 by synchronizing the pinions 211 of the servo motor 210, and the rotary member 208 is provided with a hammer mechanism 212. The hammer mechanism 212 includes an actuator 213 such as an electromagnetic coil, a pneumatic cylinder, a hydraulic cylinder, etc.
A hammer 214 that can be moved diagonally downward is provided on the holder, and when the hammer 214 moves forward, the game board 500
It is now possible to hit [503] of the nail 502 on the surface.

500 is a game board fixed immovably in a fixed position on the board 201 of the manipulator 200 by a clamp 501, and a large number of nails 502 have already been driven into the game board 500.
The objective lens 206 is the spherical head 5 of this nail 502.
03, as shown in Figure 3, the ring light 207
The light emitted toward the head 503 is imaged by the CCD video camera 205, and the video signal is input to the image processing device 400 and displayed on the monitor television 215.

The white circular part 216 in the image of FIG. 1 is the reflection of the light from the ring light 207 on the black nail head 503, and the center of gravity of the circle is the image processing bag? The center position of the head 503 can be accurately measured by calculating f400 by numerical processing, and the measurement result is the main side? i
The image data is input to the l device 100 as digitized image data. Then, the image processing device 400 digitizes and stores the amount of deviation of the head 503 in the X direction and the Y direction.

Note that the personal computer 300 teaches the main controller 100 the positional data of a large number of nails hit on the game board 500 and data on whether or not the eight nails need to be corrected.

Next, the present invention will be explained in detail according to the flowchart shown in FIG.

First, in step 1, the video camera 205 is moved and stopped in front of the nail 502 on the game board 500 by the operation of the manipulator 200, and the nail position is detected by the image-ear device 400. Then, in step 2, the position data of the nail is compared with the actual measurement data, and the amount of deviation and direction of deviation are memorized, and in step 3, it is determined whether the amount of deviation and the direction of deviation are within an allowable range. If it is outside the allowable range, the servo motor 210 is operated in step 4 to remove the rotating member 2.
By rotating the hammer mechanism 212, the hammer mechanism 212 is rotated in the direction of deviation and stopped. and step 5
The actuator 213 is actuated and the head of the defective nail is struck with the strength necessary to correct the deviation based on the deviation amount stored in the image processing device 400 in step 2 with the hammer 214. Then, the process returns to step 2 and the position of the nail is measured again using the video camera 205 and compared with the position data to detect the amount and direction of deviation, and step 3
The permissible range is determined, and if sufficient correction has not been made yet, the correction is made again in steps 4 and 5. In addition, in the case of repeated correction, if the rotational position adjustment of the hammer mechanism 212 is not required, step 3 to step 5
The hammer 214 jumps and is repeatedly struck by the hammer 214. Therefore, each time the nail head is struck by the hammer 214, the correction result is constantly measured by the video camera 205, and the striking correction can be repeated based on the measurement result.

Note that the intensity of the hammer 214 can be adjusted by controlling the voltage applied to the tm coil of the actuator 213, or the supply speed and pressure of hydraulic oil to a pneumatic cylinder, hydraulic cylinder, etc.

〔Effect of the invention〕

As described above, the automatic nail adjustment machine for game boards of the present invention is provided with a hammer mechanism so as to be able to move on the circumference around the video camera, detects the direction and amount of nail displacement using the video camera, A beneficial effect is that by rotating the hammer mechanism in the direction of the deviation and hitting the head of the defective nail according to the amount of deviation, the deviation can be easily corrected in a short period of time until it is within the allowable range. There is.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic nail adjustment machine for game boards according to the present invention, and FIG. 1 is a block diagram of the entire automatic nail adjustment machine for game boards, FIG. 2 is a plan view of the manipulator, and FIG. The figure is a side view of the video camera and the hammer mechanism, FIG. 4 is a flowchart of an automatic nail adjustment machine for a game board, and FIG. 5 is a flowchart of a conventional automatic nail adjustment machine for a game board. 100... Main controller, 200... Manipulator,
300... Barsonal computer, 400... Image processing device, 500... Game board, 205... Video camera, 208... Rotating member, 212... Hammer mechanism, 214... Hammer , 502... Nail, 503
···head. Patent application Hito Co., Ltd. Heitak Figure 4

Claims (1)

[Claims] 1. A manipulator that operates according to commands from the main controller;
A video camera that moves on the game board surface to measure the position of the nail by the operation of the manipulator, and a hammer mechanism that is provided so as to be able to move on a circumference around the video camera according to commands from a main controller. and an image processing device that digitizes the image data of the nails obtained from the video camera, the automatic nail adjustment machine for a game board detecting the nails on the game board using the video camera, and detecting the direction of deviation of the nails on the game board. The hammer mechanism is rotated in the direction of deviation and the head of the defective nail is struck with an intensity based on the amount of deviation to correct the defective nail whose deviation is outside the allowable range. Automatic nail adjustment machine for game boards.