JPH04144580A - Automatic nail adjusting machine for game board - Google Patents

Abstract

PURPOSE:To surely grasp and correct only the relative shift of each nail required for a pinball machine by changing a necessary set point of each nail by its average shift portion, and bending the nail and correcting the shift from the necessary set point, in the case most of nails are shifted by about the same distance in about the same direction. CONSTITUTION:By moving and stopping a video camera 205 one by one to all or main nails on the surface of a game board 500 by an operation of a manipulator 200 and detecting a position of each nail by an image processor 400, a shift from a necessary set point is measured. In the case most of nails in many pieces of nails which are measured are shifted by about the same distance in about the same direction, the necessary set point is changed by its average shift amt. In other words, when the shift of many nails is in such a tendency, a probability that the nails are shifted because setting of a reference hole 504 is shifted is large, therefore, the necessary set point is changed by its shift amt.

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, each nail on the game board is stamped with a hammer to adjust the degree of curvature of the nail, thereby adjusting the winning rate. However, the adjustment work conventionally involved passing a gauge with pachinko balls attached to the end of a stick through the ball passage between the nails, intuitively knowing how wide or narrow the spacing was, and changing it 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.

Therefore, the present applicant has already published Japanese Patent Application Nos. 1-53581 and 164172 regarding this type of nail adjusting machine for game boards.
We have filed patent applications such as Japanese Patent Application No. 2-105956. The outline of this nail adjustment machine for game boards is that a manipulator is equipped with a video camera and a cylindrical nail holder so that it can move vertically and horizontally (moves in the XY directions), and a large number of nails are driven into desired positions using a well-known automatic nail driver. By fitting the attached game board into the reference hole for positioning on the machine base of the automatic nail adjustment machine for the game board, the IF will be accurately fixed. 17, measure each 61 from the video camera (5, -) to detect the deviation value and deviation direction of each nail from the required setting point, and check if the deviation is within the allowable range (the necessary When there is a problem, the manibu is moved in the 1st direction of 1/-X, and the 2nd twisted nail boulder is moved in the required correction direction/X to correct the bending.

By the way, in the conventional nail adjustment machine for game boards, reference holes marked L are made in the opposite corners of the game board, and the nail driver is used to set the required absolute coordinates using this base hole as the origin. At the same time as nailing each hole, in the case of a game board nail adjustment machine, use this reference hole to position the pin 1 of the machine. ) Fixed by Z-fitting J2, its respective nail removal-video camera 41~Image processing 5.
' to detect the deviation from the required setting point for each town.
5. I'm doing two.

(Problem R of the prior art) 12. or 1-1 As mentioned above, the method of detecting the displacement of the '8 nail by absolute countershading with the reference hole as the original, is Is there a problem with the accuracy or the habit of each 61-stroke machine? In other words, even if the needle amount accuracy is high, there may be a general deviation from the reference hole.By the way, in a pachinko rack, such an overall deviation of the nail is not very important, and it is 1 and 2 The alignment of the nails is important because it greatly affects the winning rate.However, in the past, the deviation of each town from the absolute position with the reference hole as the origin was within the permissible range. A] 9. Since the misalignment of each nail had to be corrected by bending, the number of nails required to be corrected increased, and the correction took an extremely long time, resulting in poor installation efficiency.

(F-stage for solving the problem) The present invention solves the above problem 17-),,! -J minute skill test 1. :Z The positions of the numerous nails driven were detected with a video camera, and the deviations of the 8 nails from the required setting point were measured and the deviations were found to be outside the allowable range.゛I bent the nail f6 correctly, yo...)?, shouted, but the automatic nail for the technique board is not 1 straight W! 4.9, and as a result of measuring the deviation of 8, at least the majority of the nails are almost in the same direction?1.'
If x is the same distance (, 3 zuwa Y), change the required 3 fixed points by the average deviation, and bend and correct each town's 41 from the changed required set point. It is characterized by the fact that it is made as follows.

(Example) Next, an embodiment of the xylophone and light will be explained with reference to the drawings.

Fig. 1 1Z 2 Overall overview of the automatic nail leveling machine for manual dispersion of the present invention 2 In the figure, 100 is the main controller, 200 is the manipulator that is operated according to the commands of the main controller, and 300 is the main controller. Personal combination futa connected to control device 100, 40
0 is the main controller 100? This is an image processing device that supplies digitized image data. When the manibb +--------- is 2 degrees O, the linear guide 202 is fixedly installed on the upper surface of the horizontally arranged board 201 as shown in FIG. A linear guide 203 is provided perpendicularly to the linear guide 202, and the head 20 is moved along the linear guide 203 by means of a bolt.
A CCD video camera 205 is connected to the radar 204 through a mounting piece 2, and an objective lens 206 is connected to the radar 204.
It is installed so that it is downwardly facing. , 2.7 is an iJ beam ring light attached concentrically around the objective lens 206.

The video camera 205 has a disc-shaped handle member 20.
13 is fixed horizontally, and 4 holes (=J member 20B has a CCD
Eight hammer mechanisms 209a to 209h are provided at equal angles around the video camera 205 in each rotation. ) Hammers 210a to 210h, which can move inward, are installed in actuators such as rings and hydraulic cylinders. Then r2 CD
A game board with a video camera 205; it is designed so that the heads 503 of STJ Q 2 on the 3゜0 side can be turned diagonally seven times into Uzuki.

500 is the base 2011 of the manib 1)-ri 200 and the clamp 501? . Second, it is fixed and is also a game board. Hong skewer holes 504 are dispersed at opposite corners of the game board 500, and the reference holes 5041. This is provided protrudingly on the base 201, and six positioning pins fit into it.
0 can be set accurately on the base 20i.

Wow, a large number of nails 502 have already been driven into the game board 500 by an automatic needle t1 grip (not shown at 4 inches). The objective lens 206 is a spherical head 503 of this nail 502.
As shown in FIG. 3, the light emitted from the ring light 207 toward the head 503 is imaged by the TGCCD video camera 205, and the video signal is input to the image processing device 400 and sent to the monitor television 215. It is now displayed. 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 determined by the numerical processing of the image processing device 400. This allows the center position of the head 503 to be accurately measured, and the measurement results are input to the main controller 100 as digitized image data. Then, the image processing device 400
The amount of deviation in the X direction and Y direction of No. 3 is digitized and stored.

Note that the personal computer 300 teaches the main controller 100 the positional data of the eight nails that should be on the game board 500, their permissible range, and the like.

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

First, in step 1, the manipulator 200 is operated to move and stop the video camera 205 on all or major nails on the game board 500 one by one, and the image processing device 400 detects the positions of the eight nails, thereby starting from the required set point. Measure the deviation. Then, the tendency of the deviation measured in step 2 is determined. In other words, it is determined whether or not a majority of the nails out of the many measured nails are deviated by approximately the same distance in approximately the same direction, and if there is a tendency for such deviation. Then, the required set point is changed by the average deviation. In other words, if a large number of nails tend to be misaligned, it is likely that the setting of the reference hole 504 is misaligned, so the required setting point is changed by the amount of misalignment. Then, the deviation of 8 nails from the required setting point changed in step 3 is corrected. That is, correction is made for nails whose deviation is still outside the allowable range even after changing the required setting point. To do this, the hammer mechanism located closest in the direction of displacement is selected from among the eight hammer mechanisms 209a to 209h. Then, the actuator of the selected hammer mechanism is operated to strike the head of the defective nail with the hammer, and the bending of the defective nail is corrected by the impact. In this case, the striking force may be adjusted in intensity according to the required amount of correction, or the number of repetitions of the hitting may be set to a predetermined number of times according to the required amount of correction, and necessary corrections may be made.

Then, the nail position is measured again using the video camera 205 and compared with the required set point to detect the amount and direction of deviation,
The permissible range is judged again, and if the correction is insufficient or if the correction is too much and the bend is excessively to the opposite side, the correction is made again. In this way, each time the nail head is hit with a hammer, the correction result is measured by the video camera 205,
Based on the measurement results, the hammer mechanism 209a~
If 209h is activated, the nail can be efficiently hammered and corrected.

Although this embodiment has been described as an example in which a hammer mechanism is provided, it goes without saying that the nail repairing device may employ bending means other than such a hammer mechanism.

〔Effect of the invention〕

As described above, the automatic nail adjustment machine for game boards of the present invention measures the deviations of the 8 nails on the game board, and if at least a majority of the nails are deviated by approximately the same distance in approximately the same direction, Since the required setting point is changed by the average deviation and the deviation from the changed required setting point is corrected by bending, even if the setting of the game board itself is incorrect with respect to the automatic nail adjustment machine for the game board. As a result, only the relative deviations of the eight nails necessary for a pachinko machine can be accurately grasped and corrected without having to correct a large number of nails, so that the correction work can be completed in a short time.

[Brief explanation of drawings]

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. 3 is a side view of the video camera and hammer mechanism, FIG. 4 is a sectional view taken along the line A--A in FIG. 3, and FIG. 5 is a flowchart. 100... Main controller, 200... Manipulator,
205... Video camera, 208... Mounting member, 2
09a -209h...Hammer IIefle, 30
0...Personal fun computer, 400...Image processing device, 5()0...Game board, 502...Nail, 50
3... Head, 504... Reference hole. human paper 7

Claims (1)

[Claims] 1. By detecting the position of many nails driven into the game board with a video camera, the deviation of each nail from the desired set point is measured, and the nails whose deviation is outside the allowable range are bent and corrected. In the automatic nail adjustment machine for game boards, if the result of measuring the deviation of each nail is that at least a majority of the nails are deviated by approximately the same distance in approximately the same direction, then the required setting point is adjusted by the average deviation. An automatic nail adjustment machine for a game board, characterized in that the deviation of each nail from the changed required setting point is corrected by bending.