JPH0691905B2 - Nail correction device for game board - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a game board nail correction device for bending and correcting a nail that has been driven into a game board of a pachinko machine.

[Conventional technology]

As is well known, the positions and bending states of a large number of nails driven into the game board of a pachinko machine have a great influence on the winning rate of pachinko balls. For this reason, individual nails on the game board are hit with a hammer to adjust the degree of bending of the nails and adjust the winning rate. However, in the past, the adjustment work involved passing a gauge with a pachinko ball on the tip of the rod through the ball passage between the nails and sensuously knowing the width of the gap, and changing it with a fine hammering condition. It was time-consuming and inaccurate. Therefore, the improvement has long been desired.

The present applicant has already filed Japanese Patent Application No. 1-53581, Japanese Patent Application No. 1-64172, and Japanese Patent Application No. 2-17 with regard to this type of game board nail correction device.
We have applied for patents such as -105956. The outline of the game board nail correction device is one in which a video camera and a cylindrical nail holder are provided in the manipulator so as to move vertically and horizontally (moving in the XY directions) on the game board surface. The direction of the nail is measured, and when correction is required, the manipulator moves in the XY directions to bring the nail holder to the front of the nail and lower the nail holder (moves in the Z direction) to move the nail head to the nail. After fitting in the holder, the nail holder is moved by a required amount in the required correction direction to correct the bending of the nail holder.

[Problems of conventional technology]

However, in the case where the nail head is held by the nail holder and the nail is bent by the movement of the manipulator in the XY direction like the above-mentioned correction device, for example, as shown in FIG. In a place where the nails a and b of the above are driven without a gap, for example, the adjacent nail a interferes in holding the nail b by the nail holder c, or the adjacent nail is further positioned in the correction direction. Since the nail holder c may collide with the nail when it is moved, there is a risk that the adjacent nail that does not require bending may be unnecessarily bent.

[Means for Solving the Problems]

The nail correcting device for a game board of the present invention is intended to solve the above-mentioned problems, and a head that moves vertically and horizontally on the game board surface by the operation of a manipulator and an in-plane parallel to the game board surface by the operation of a servomotor on the head. It is composed of a tubular nail holder provided so as to be rotated by, and the nail holder cuts out a part of the cylinder and the inner surface of the cylinder is along the outer circumference of the head of the nail erected on the game board surface. It is characterized in that it is formed in an arc shape.

〔Example〕

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

FIG. 1 shows the entire game board nail correction device of the present invention. In the figure, 100 is a main control device, 200 is a manipulator operated by a command of the main control device, and 300 is a personal computer succeeding to the main control device 100. A computer 400 is an image processing device that supplies digitized image data to the main control device 100. The manipulator 200 is a substrate 201 arranged horizontally as shown in FIG.
A linear guide 202 is fixedly mounted on the upper surface of the linear guide 202, and a linear guide 203 orthogonal to the linear guide 202 is provided so as to move along the linear guide 202 by a servo motor. The linear guide 203 is provided on the linear guide 203 by the servo motor. A head 204 is provided so as to move along 203, and a CCD video camera 205 is attached to the head 204 via a mounting piece.
The 206 is mounted so as to face downward, and the ring light 207 is concentrically mounted around the objective lens 206 as shown in FIG. Reference numeral 500 denotes a game board fixedly fixed to a fixed position on a substrate 201 of the manipulator 200 by a clamp 501, and a large number of nails 502 have already been hit on the game board 500, and the objective lens 206 has the nails 502. The spherical head 503
The light radiated from the ring light 207 toward the head 503 as shown in FIG.
The video signal is input to the image processing device 400 and is also displayed on the monitor television 208. The white circular portion 209 in the image of FIG. 1 is reflected by the light of the ring light 207 on the nail head 503 that looks black, and the center of gravity of the circle is obtained by the digitization process of the image processing device 400. By doing so, the center position of the head 503 can be accurately measured, and the measurement result is the main controller.
It is input to 100 as digitized image data. Then, the image processing apparatus 400 digitizes and stores the displacement amount of the head 503 in the X direction and the Y direction.

Then, 210 is a nail adjusting tool provided on the head 204. As shown in FIG. 4, the nail adjusting tool 210 firmly mounts the mini-silin 211 on the head 204 and moves it up and down by the operation of the mini-cylinder 211. The moving operating shaft 212 is further provided with a servo motor 213, and a nail holder 214 is provided at the tip of the rotating shaft of the servo motor 213. As shown in FIG. 5, the nail holder 214 has a notched tubular shape, and the inner surface thereof is formed in an arc shape along the outer circumference of the head of the nail. By operating the servo motor 213, the nail holder 214 can be rotated in a plane parallel to the game board 500 plane.

The personal computer 300 teaches the main controller 100 the position data of a large number of nails hit on the game board 500 and the correction necessity data of each nail.

Next, the operation of the present invention will be described with reference to the flowcharts of FIGS.

FIG. 6 shows the main routine of this automatic nail adjusting machine for game boards. In the figure, the initial setting and the movement of the head 204 of the manipulator 200 to the origin are made in steps 1 and 2, and the operation board 500 is temporarily stopped in step 3, so the game board 500 that needs to be corrected is replaced and clamped on the board 201. Fix at 501. As shown in the subroutine of FIG. 7, the nail condition detection process of step 4 is performed by first manipulating the manipulator at step 10.
200 is operated and CCD video camera 205 is moved to the 1st nail of game board 500. Then, in step 11, the image processing device 40
0 is commanded to start the nail position detection, and the CCD video camera 205 moves to the next nail and stands by for saving time while the image signal obtained by the CCD video camera 205 is processed at step 12. In step 13, it is judged whether or not the image processing has failed, and if it fails, the detection is retried up to three times, and if it still fails, the process returns in step 15. If the image processing is successful, whether or not the quality judgment is necessary for the nail and whether the deviation amount is within the allowable range are performed in steps 16 and 17, respectively, and when the quality judgment is not required and the deviation is within the allowable range. , At step 18, both the X and Y directions are stored as "good", and at step 26, it is judged whether or not the detection of all the nails on the game board 500 is completed, and if not completed, the processing returns to step 11. When the deviation is out of the allowable range, it is determined in Steps 19 and 22 whether the defect is in the X direction or the Y direction, respectively, and in Steps 21 and 24, the amount of additional bending in the X direction and the amount of additional bending in the Y direction are calculated. Remember. This additional bending amount means that when the nail head is held by the nail holder 214 and moved to a correct position (when bent), when the nail holder 214 is released, the nail returns to its original direction due to elasticity. This is the amount by which the nail holder 214 should be moved more than the correct position in consideration of the amount of return. in this case,
The bending increase amount is about 2 mm in both the X and Y directions. Then, the X-direction deviation amount and the Y-direction deviation amount already detected at steps 21 and 24 are stored. In this way, all the nails on the game board 500 are repeated until the detection is completed. In step 5, it is determined whether or not all the detections are successful. If not successful, the operation is stopped in step 6 and the nails are forgotten, and the head is stopped. A game board with missing parts etc. can be repelled here. If the detection is successful, it is further determined in step 7 whether or not there is a poorly adjusted nail, that is, a nail whose deviation amount is outside the allowable range. If there is a nail outside the allowable range, the nail is corrected in step 8. To do.
This nail correction process is performed by operating the nail correction tool 210 for a defective nail whose deviation amount is out of the allowable range and needs correction. That is, the operation of the manipulator 200 causes the head 204
Is moved vertically and horizontally on the surface of the game board 500 to stop the nail holder 214 just above the defective nail, and at the same time, the servo mote 213 is operated to rotate the nail holder 214 so that its inner surface faces the required bending direction. Then, the mini-cylinder 211 is operated to lower the nail holder 214 so that the inner surface of the nail holder 214 contacts the outer circumference of the head of the nail. Then, the defective nail is bent and corrected by moving the nail holder 214 in the XY directions by a correction movement amount obtained by adding the bending increase amount stored in steps 21 and 24 to the displacement amount stored in step 25. Then, such a temporary correction is made for all the defective nails. Thereafter, in step 9, the correction status is detected. As shown in FIG. 8, the correction status detecting step detects the amount of deviation again by image processing in steps 32 to 39 to determine whether it is within the allowable range or not, and if it is within the allowable range, proceeds to step 52. Move the treatment to the next nail, and if it is out of the allowable range, further step 41, 4
At 6, it is determined whether it is defective in the X direction or defective in the Y direction. And X
In both the case of bad direction and the bad direction of Y, whether the correction motion amount in the step 8 is excessive or insufficient is discriminated in the steps 43 and 48 for each of the X and Y directions, and is insufficient. In step 44,49, the amount of additional bending is reduced and stored, and if it is excessive, in steps 45,50 the amount of additional bending is increased and stored. For example, if the amount of additional bending at steps 21 and 24 is 2 mm and the additional amount of bending is insufficient, it is determined that the return is large because the elasticity of the nail is strong. On the contrary, if the nail is modified too much due to excessive bending increase, the new bending increase is set to 1.5 mm, which is smaller than before.
In this way, the new bending amount is calculated and stored in step 51, and the new deviation amount is stored in step 52. The correction status detection process of step 9 is completed by executing this for all the modified nails. Then, through the steps 5 and 7 and in the nail correction process of step 8, for the defective nail in which the new deviation amount is out of the allowable range, the nail correction tool 210 is moved again by a new correction movement amount obtained by adding a new bending increase amount to the new deviation amount. Bend and correct the defective nail. This will make the re-correction efficient. Then, the correction status detection process of step 9 is performed again.
In this way, steps 5 to 9 are repeated until the nails that need to be corrected are completely adjusted, and if there are no misadjusted nails, the process returns to step 23 to correct them.

〔The invention's effect〕

As described above, the nail correcting device for a game board of the present invention uses the notched tubular nail holder, and rotates the nail holder in a plane parallel to the game board surface so that the inner surface of the nail holder is nailed. Since it is designed to be crimped to the head of the head, unlike the conventional cylindrical holder, there is little risk of unnecessary bending of adjacent nails and there is little need to perform the necessary adjustment work. There are beneficial effects that enable it.

[Brief description of drawings]

The drawings show an embodiment of a nail correcting device for a game board according to the present invention. FIG. 1 is an overall block diagram, FIG. 2 is a plan view of a manipulator, and FIG. 3 is a side view of a video camera. FIG. 4 is a side view of the nail correction tool, FIG. 5 is a view taken along the line XX of FIG. 4, FIGS. 6 to 8 are flow charts, and FIG. 9 is an operation of a conventional nail holder. FIG. 100 ... Main controller, 200 ... Manipulator, 204 ... Head, 205 ... Video camera, 210 ... Nail fixer, 211 ...
… Mini cylinder, 213… Servo motor, 214… Nail holder, 300… Personal computer, 400… Image processing device, 500… Game board, 502… Nail, 503… Head.

Claims (1)

[Claims] 1. A head that moves vertically and horizontally on a game board surface by the operation of a manipulator, and a cylindrical nail holder provided on the head so as to rotate in a plane parallel to the game board surface by the operation of a servomotor. The gaming machine is characterized in that the nail holder is formed by notching a part of the cylinder and forming the inner surface of the cylinder in an arc shape along the outer circumference of the head of the nail erected on the game board surface. Nail correction device.