JP2022127289A - Full automatic pinwheel fitting machine for game board - Google Patents

Abstract

To provide a full automatic pinwheel fitting machine for a game board capable of highly accurately and stably fitting a pinwheel onto a game board.SOLUTION: A full automatic pinwheel fitting machine 10 for game board includes: a nail gripping mechanism 44 gripping a nail NA; a pinwheel holding mechanism 46 holding a pinwheel PW; movement mechanisms 38, 52 moving the nail NA and the pinwheel PW; and a nailing mechanism 106 nailing the nail NA to a game board 12. The nail gripping mechanism 44 inserts the gripped nail NA in a hole part PW3 of the pinwheel PW. The pinwheel holding mechanism 46 holds the pinwheel PW in the state that the nail NA is inserted in the hole part PW3. The movement mechanisms 38, 52 move the nail gripping mechanism 44 and the pinwheel holding mechanism 46 so that the pinwheel PW contacts the game board 12. The nailing mechanism 106 fits the pinwheel PW to the game board 12 by temporary nailing to nail the nail NA in the state that the pinwheel PW is held and main nailing to nail the nail NA in the state that the pinwheel PW is released from the pinwheel holding mechanism 46 after the temporary nailing.SELECTED DRAWING: Figure 5A

Description

There is an application for the application of Article 30, Paragraph 2 of the Patent Law Sales location: Heiwa Co., Ltd. (2-1818 Kobayashi-cho, Isesaki City, Gunma Prefecture) Sales date: November 27, 2nd year of Reiwa

TECHNICAL FIELD The present invention relates to a fully automatic windmill mounting machine for a game board, particularly a pachinko machine.

A game board, for example, a game board for a pachinko machine, is provided with a plurality of components called windmills that rotate when pachinko balls collide on the board surface and distribute the collided pachinko balls. Conventionally, such a windmill was attached by an operator driving a windmill nail into the game board. It is also possible to install it. In general, these devices are supplied one by one with a plurality of windmills aligned and transported from a windmill feeder, and held at a predetermined position on the game board by a claw-shaped clamp at the collar of the windmill. be done. A nail supplied from a nail supply device is gripped above the gripped windmill. A hammer driven by a cylinder or the like strikes the gripped nail onto the game board through the windmill, and the grip of the nail and the windmill is released as the hammered nail descends.

However, in a game board such as a pachinko machine, the space between the pinwheel and the nails arranged along its outer periphery is often narrow. may be placed. When a device for holding a pinwheel with a claw-like clamp, such as the device described in Patent Document 1 or Patent Document 2, is applied to such a game board, nails can be driven. It may not be possible to lower the wind turbine to the height position. In addition to the above device, for example, it is conceivable to hold the windmill by magnetic force or air pressure, but the windmill used in the game board uses materials other than metal such as resin, A large number of holes may be formed in the disk portion, making it difficult to hold the windmill by magnetic force or air pressure. Therefore, in some cases, the windmill must be placed on the game board by allowing it to fall freely from a predetermined height position. Furthermore, a hammer driven by a cylinder cannot be stopped halfway once it starts driving toward the nail. For this reason, there is a possibility that the mounting accuracy will be degraded due to the displacement of the mounting position, and that the mounting may become unstable due to the mounting being displaced or tilted. Furthermore, correcting or redoing such attachments increases the number of man-hours and hours of work, and may also cause an increase in the number of parts due to the replacement of nails, pinwheels, and game boards.

JP-A-7-059913 Japanese Utility Model Laid-Open No. 60-184580

SUMMARY OF THE INVENTION An object of the present invention is to provide a fully automatic windmill mounting machine for a game board, which can mount a windmill on a game board with high precision and stability.

According to one aspect of the present invention, a fully automatic pinwheel mounting machine for a game board includes a nail gripping mechanism for individually gripping one or a plurality of nails supplied from a nail supply section, and one nail gripper supplied from the pinion supply section. A pinwheel holding mechanism for individually holding one or more pinwheels, one or more nails gripped by the nail gripping mechanism, and one or more pinwheels held by the pinwheel holding mechanism are provided on the game board. A fully automatic windmill mounting machine for a game board, comprising: a movement mechanism for moving to a position of the game board; The nail gripping mechanism inserts the gripped one or more nails into the holes formed through the one or more windmills along the axial direction, and the windmill holding mechanism inserts the nail gripped by the nail gripping mechanism. holds the pinwheel inserted into the hole, and the moving mechanism consists of a nail holding mechanism holding a nail and a pinwheel holding mechanism holding the pinwheel so that the pinwheel comes into contact with a predetermined position of the game board. One combination is individually moved, and the striking mechanism temporarily strikes the nail against the game board with the windmill held, and after the temporary striking, the nail is played with the windmill released from the windmill holding mechanism. The pinwheel is attached to the game board by the main hitting to the board.

According to another aspect of the present invention, the striking mechanism includes a pressure detecting mechanism for detecting the force with which the nail is struck against the game board, and a height detecting mechanism for detecting the height of the nail struck against the game board. and may be provided.

Furthermore, according to another aspect of the present invention, the wind turbine holding mechanism may hold the wind turbine by a wind turbine holding portion formed of a thin elastic body.

According to another aspect of the present invention, the driving mechanism is provided separately from the moving mechanism so as to vertically move independently of the vertical movement of the nail gripping mechanism and the pinwheel holding mechanism by the moving mechanism. It may have a vertical drive for striking.

Furthermore, according to another aspect of the present invention, the game board may include a pinwheel detection mechanism for detecting that the pinwheel is attached to a predetermined position.

According to one aspect of the present invention, the nail gripping mechanism individually grips a plurality of nails supplied from the nail supply unit, and the windmill holding mechanism inserts the nail gripped by the nail gripping mechanism into the hole. It can hold the wind turbine in the state of The nail and pinwheel are moved by the moving mechanism so as to abut on the game board, and the nail inserted into the pinwheel is struck against the game board by the striking mechanism. Therefore, the nail and the pinwheel can be moved in a stable state until the pinwheel comes into contact with the predetermined position of the game board, and after the nail is temporarily hammered, the nail is hammered with the pinwheel released. Thus, it is possible to stably strike the game board. As a result, the windmill can be mounted on the game board with high precision and stability.

Further, according to another aspect of the present invention, the pressure detection mechanism can detect the force with which the nail is struck against the game board, thereby detecting whether or not the nail is struck against the game board with sufficient force. be able to. In addition, the height detection mechanism can detect the height of the nail after hammering, so that the height of the nail after hammering is a predetermined height and the required length is hammered into the game board. You can check that As a result, the windmill can be mounted on the game board with high precision and stability.

Furthermore, according to another aspect of the present invention, since the wind turbine holding portion of the wind turbine holding mechanism is formed of a thin and thick elastic body, when the wind turbine is held, the wind turbine holding portion exerts no extra force on the wind turbine. It is possible to suppress the action of the wind turbine, prevent or suppress scratches, positional deviation, etc. of the wind turbine. Moreover, the wind turbine can be held without interfering with nails or the like arranged near the mounting position of the wind turbine. Therefore, the windmill can be stably mounted on the game board.

Further, according to another aspect of the present invention, the driving mechanism has a vertical driving device for driving, which vertically moves independently of the nail gripping mechanism that grips the nail and the windmill holding mechanism that holds the windmill. can be moved. Therefore, the height position of the nail to be hammered can be easily adjusted, so that the nail can be driven into the game board stably and efficiently. Further, even when the lengths (heights of nails) of the plurality of nails gripped by the nail gripping mechanism are different, it is possible to stably and efficiently strike the nails onto the game board.

Furthermore, according to another aspect of the present invention, the wind turbine detection mechanism can verify whether the installation position of the wind turbine is appropriate. As a result, the windmill can be mounted on the game board with high precision.

As described above, the fully automatic windmill mounting machine for a game board according to the present invention can mount the windmill on the game board with high accuracy and stability.

FIG. 1 is a plan view showing the overall configuration of a fully automatic windmill mounting machine for a game board according to this embodiment. FIG. 2 shows an enlarged plan view of the nail feeding mechanism according to this embodiment. FIG. 3 shows an enlarged plan view of the wind turbine supply mechanism according to this embodiment. FIG. 4A shows a side view of the nail windmill movement mechanism according to this embodiment. FIG. 4B shows a front view. FIG. 4C shows an enlarged side view of the nail gripping mechanism. FIG. 4D shows an enlarged front view. FIG. 4E shows an enlarged side view of the wind turbine holding mechanism. FIG. 4F shows an enlarged front view. FIG. 5A shows a side view of the striking mechanism according to this embodiment. FIG. 5B shows a front view. FIG. 6 shows a side view of the wind turbine detection mechanism according to this embodiment. FIG. 7A is a side view showing attachment of a nail and a wind turbine by an attachment machine according to the present embodiment in order of operation. FIG. 7B is a side view showing the operation order of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7C is a side view showing the operation order of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7D is a side view showing the order of operation of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7E is a side view showing the operation order of attaching the nail and the wind turbine by the attaching machine according to the present embodiment. FIG. 7F is a side view showing the operation order of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7G is a side view showing the operation order of attaching the nail and the wind turbine by the attaching machine according to the present embodiment. FIG. 7H is a side view showing the order of operation of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7I is a side view showing the operation order of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 7J is a side view showing the operation order of attaching the nail and the windmill by the attaching machine according to the present embodiment. FIG. 8A shows a side view of a first modification of the wind turbine holding mechanism. FIG. 8B shows a front view. FIG. 9 shows a side view of a second modification of the wind turbine holding mechanism.

Hereinafter, a fully automatic windmill mounting machine for a game board according to an embodiment will be described with reference to the accompanying drawings. Similar or corresponding elements are denoted by the same reference numerals, and overlapping descriptions are omitted. In order to facilitate understanding, the scale of the drawings may be changed for explanation. Further, the fully automatic windmill mounting machine for a game board shown in the attached drawings is only an example, and the fully automatic windmill mounting machine for a game board with different dimensions may be configured.

FIG. 1 shows a game board fully automatic windmill mounting machine 10 (hereinafter referred to as the mounting machine 10) for mounting a windmill PW on a game board 12 (see FIG. 6) for a pachinko machine (not shown). ) is a schematic plan view showing the overall configuration. Here, the mounting surface 12A (see FIG. 6) of the game board 12 placed on the mounting machine 10 is assumed to be the XY plane (horizontal plane). In the drawing, the longitudinal direction (X direction) and the lateral direction (Y direction) of the mounting machine 10 and the game board 12 are indicated by arrows. X in the drawing indicates the tip side in the longitudinal direction, and Y in the drawing indicates the outer side in the transverse direction. 2 and subsequent figures, the vertical direction (Z direction) of the mounting machine 10 is indicated by an arrow. Z in the figure indicates the upper side.

As shown in FIG. 1, a supply conveyor 14 for supplying a game board 12 (not shown) is provided on the rear side in the longitudinal direction of the mounting machine 10, and the pretreated game board 12 is , along the longitudinal direction of the machine 10 by the supply conveyor 14 to the central part of the machine 10 . The game board 12 moved to the central part is lifted from below by the work lifting part 16 arranged substantially in the central part of the mounting machine 10 . Thereby, the vertical position (height position) of the game board 12 is adjusted.

A nail supply mechanism 18 for supplying nails NA (see FIG. 2) is provided at one end in the short direction on the front side in the longitudinal direction of the attachment machine 10 . The nail feeding mechanism 18 includes a nail feeding section 20 for feeding a plurality of accommodated nails NA, and a nail separating and aligning section 22 for individually separating and aligning the plurality of nails NA. The nail supply unit 20 is constructed by connecting a linear nail feeder 26 to a nail part feeder 24 that stores nails NA.

A windmill supply mechanism 28 for supplying a windmill PW (see FIG. 3) is provided at the other end in the short direction on the front side in the longitudinal direction of the mounter 10 . The wind turbine supply mechanism 28 includes a wind turbine supply unit 30 that supplies the plurality of housed wind turbines PW, and a wind turbine separation and alignment unit 32 that individually separates and aligns the plurality of wind turbines PW. The windmill supply unit 30 is configured by connecting a windmill linear feeder 36 to a windmill parts feeder 34 that accommodates the windmill PW.

Further, at a substantially central portion of the attaching machine 10, one or a plurality of nails NA and a windmill PW are arranged on the side of the nail supply mechanism 18 and the windmill supply mechanism 28 as moving mechanisms for moving the nails NA and the windmill PW. a column moving mechanism 38 for moving from the top to the game board 12 side, and a nail windmill moving mechanism 52 for moving a set of nails NA and windmill PW to a predetermined position on the game board 12. . The operation of the moving mechanisms 38 and 52, the supply conveyor 14, and other mechanisms and movable parts of the mounting machine 10 is controlled by a controller CT provided in the mounting machine 10. FIG.

The column moving mechanism 38 includes a column portion 40 formed along the lateral direction of the mounter 10 and a support portion 42 provided on the column portion 40 . The support portion 42 is configured to support a nail gripping mechanism 44 for gripping the nails NA one by one and a windmill holding mechanism 46 for holding the windmills PW one by one. Further, the column moving mechanism 38 includes an X-direction moving mechanism 48 for moving the column portion 40 along the longitudinal direction of the mounting machine 10 , and a support portion 42 on the column portion 40 along the lateral direction of the mounting machine 10 . and a Y-direction moving mechanism 50 for moving by Furthermore, the column moving mechanism 38 includes a Z-direction moving mechanism 54 in the support portion 42 , and the Z-direction moving mechanism 54 laterally moves and moves the nail gripping mechanism 44 and the pinwheel holding mechanism 46 with respect to the support portion 42 . The nail windmill moving mechanism 52 for moving up and down is moved up and down.

The X-direction moving mechanism 48 has two X-axis rails 56 arranged along the longitudinal direction on both lateral sides of the mounter 10 . is bridged over. The column part 40 is configured to be movable along the longitudinal direction (X direction) of the mounting machine 10 on the X-axis rail 56 by ball screw drive (not shown) using a servomotor.

The Y-direction moving mechanism 50 includes a Y-axis rail 58 (see FIG. 4) arranged on the column portion 40 along the lateral direction of the mounting machine 10 . The support portion 42 is configured to be movable along the lateral direction (Y direction) of the mounting machine 10 on the Y-axis rail 58 by ball screw drive (not shown) using a servomotor. .

As shown in FIG. 4, the Z-direction moving mechanism 54 is connected to a first vertical driving device 60 having a motor-driven absolute encoder, and is arranged along the vertical direction. and a first linear guide 62 . The fixed portion side (rail side) of the first linear guide 62 is fixed to the support portion 42, and the moving portion side (block side) extends along the vertical direction on the longitudinal direction front side of the support portion 42. It is fixed to a substantially flat plate-like upper and lower member 63 . A nail pinwheel movement mechanism 52 , which includes a mechanism for laterally moving to select a nail gripping mechanism 44 , a pinwheel holding mechanism 46 , and one combination thereof, is coupled to the first linear guide 62 via upper and lower members 63 . The vertical movement of the first linear guide 62 by the first vertical driving device 60 can move the first linear guide 62 in the vertical direction (Z direction) with respect to the support portion 42 .

FIG. 2 shows an enlarged plan view of the nail feeding mechanism 18 in which a plurality of nails NA are aligned. A nail separating and aligning part 22 for individually separating and aligning a plurality of nails NA supplied from the nail supply part 20 includes a first nail stopper 64, a second nail stopper 66, and a nail push-out part 68. . In addition, the nail separating and aligning section 22 moves the nail aligning unit 70 that accommodates the nails NA delivered (extruded) by the nail push-out section 68 and the nail aligning unit 70 along the lateral direction of the attachment machine 10. and a nail alignment drive 72 .

The nail alignment driving part 72 aligns the nails between a nail storage position CN where the nails NA are stored in the nail alignment unit 70 and a nail extraction position TN where the nails NA stored in the nail alignment unit 70 are gripped by the nail gripping mechanism 44. Move the unit 70. Here, nail alignment unit 70 is configured to accommodate four nails. Also, the nail gripping mechanisms 44 (see FIG. 4A) are provided in the same number as the nails NA that can be accommodated in the nail alignment unit 70, and here, four nail gripping mechanisms 44 are provided. Although the nail alignment unit 70 is described here as being able to accommodate four nails NA, the nail alignment unit is not limited to this and may accommodate three nails or less, or Five or more nails may be accommodated.

The nails NA supplied one by one from the nail part feeder 24 are horizontally pushed out toward the nail separation and alignment section 22 through the linear nail feeder 26 with the upper part NA1 directed upward. The extruded nail NA is held at that position by the first nail stopper 64 . The second and subsequent nails NA among the extruded nails NA are stopped at their positions by a second nail stopper 66 inserted between the leading nail NA and the second nail NA. Only the leading nail NA is freed by returning the first nail stopper 64, and is pushed out by a nail (not shown) provided in the nail push-out portion 68, so that the nail arranged at the nail accommodation position CN is pushed out. Housed in alignment unit 70 . When the nail NA is accommodated, the nail alignment unit 70 is moved one pitch at a time toward the nail picking-up position TN by the nail alignment drive section 72, and then further accommodates the nail NA. When the nails NA are completely accommodated in all the accommodation locations (four locations) of the nail alignment unit 70, the nail alignment drive section 72 moves the nail alignment unit 70 to the nail picking position TN. The nail alignment unit 70 moved to the nail take-out position TN can lift the accommodated nails NA upward so that they can be gripped by the nail gripping mechanism 44 .

FIG. 3 shows an enlarged plan view of the wind turbine supply mechanism 28 in which a plurality of wind turbines PW are aligned. The windmill separating and aligning unit 32 that individually aligns the plurality of windmills PW supplied from the windmill supply unit 30 includes a first windmill stopper 74 , a second windmill stopper 76 , and a windmill pusher 78 . The wind turbine separating and aligning section 32 also includes a wind turbine aligning unit 80 that accommodates the wind turbines PW pushed out by the wind turbine pushing section 78 and a wind turbine alignment driving section 82 that moves the wind turbine aligning unit 80 along the lateral direction of the mounting machine 10 . And prepare. The windmill alignment unit 80 is arranged coaxially with the nail alignment unit 70 . Specifically, the wind turbine aligning unit 80 and the nail aligning unit 70 are arranged along the lateral direction of the attaching machine 10 . Thereby, the insertion of the nail NA into the wind turbine PW can be performed at high speed (efficiently).

As shown in FIG. 4D, the windmill PW supplied from the windmill supply unit 30 includes a shaft portion PW1 forming a rotation shaft and a disc portion PW2 integrally formed on one end side of the shaft portion PW1. , and is made of, for example, a resin material or the like to be lightweight. The shaft portion PW1 is formed so that its center coincides with the center of the disk portion PW2, and a hole portion PW3 is formed through the center of the shaft portion PW1 and the disk portion PW2 along the axial direction. It is Moreover, in order to make the wind turbine PW lighter, a plurality of holes (not shown) are formed through the disk portion PW2 along the thickness direction.

As shown in FIG. 3 , the wind turbine alignment drive unit 82 has a wind turbine storage position CP for storing the wind turbine PW in the wind turbine alignment unit 80 and a wind turbine extraction position CP for holding the wind turbine PW stored in the wind turbine alignment unit 80 by the wind turbine holding mechanism 46 . The wind turbine alignment unit 80 is moved between positions TP. Here, the wind turbine alignment unit 80 is configured to accommodate four wind turbines. The wind turbine holding mechanisms 46 (see FIG. 4A) are provided in the same number as the wind turbines PW that can be accommodated in the wind turbine alignment unit 80, and here, four wind turbine holding mechanisms 46 are provided. Here, the wind turbine aligning unit 80 is described as being able to accommodate four wind turbines PW, but the present invention is not limited to this, and the wind turbine aligning unit may accommodate three or less wind turbines, or Five or more windmills may be accommodated.

The wind turbines PW supplied one by one from the wind turbine parts feeder 34 are horizontally pushed out toward the wind turbine separation and alignment section 32 through the wind turbine linear feeder 36 . The pushed-out windmill PW is held at that position by the first windmill stopper 74 . Among the pushed-out windmills PW, the second and subsequent windmills PW are held in place by a second windmill stopper 76 inserted between the leading windmill PW and the second windmill PW. Only the leading wind turbine PW is released by returning the first wind turbine stopper 74, and pushed out to the wind turbine pushing part 78 to be housed in the wind turbine alignment unit 80 arranged at the wind turbine housing position CP. When the wind turbine aligning unit 80 accommodates the wind turbine PW, the wind turbine alignment driving unit 82 moves the wind turbine alignment unit 80 one pitch at a time toward the wind turbine extraction position TP, and then accommodates the wind turbine PW. When the accommodation of the wind turbines PW in all accommodation locations (four locations) of the wind turbine alignment unit 80 is completed, the wind turbine alignment drive section 82 moves the wind turbine alignment unit 80 to the wind turbine extraction position TP.

The nail gripping mechanism 44 (see FIG. 4A) grips the nail NA lifted from the nail alignment unit 70 moved to the nail extraction position TN, and pulls the nail NA into the hole PW3 of the wind turbine PW aligned with the wind turbine alignment unit 80. configured to insert.

4A to 4F show the nail gripping mechanism 44 and the pinwheel holding mechanism 46 that constitute the nail pinwheel moving mechanism 52. FIG. The attachment machine 10 can finely adjust the position of the nail NA and the pinwheel PW on the game board 12 by means of the pinwheel moving mechanism 52 . The nail windmill moving mechanism 52 is provided on the support portion 42, and is a lateral movement mechanism for moving in the lateral direction (transverse direction) to select one combination of the nail gripping mechanism 44 and the windmill holding mechanism 46. 84, and a vertical movement mechanism 86 for moving only a selected set of nail gripping mechanism 44 and pinwheel holding mechanism 46 in the vertical direction (Z direction).

The lateral movement mechanism 84 is connected to a lateral driving device 88 having a motor-driven absolute encoder, a guide groove 90 formed along the lateral direction of the mounting machine 10, and the lateral driving device 88. and a cam follower 92 slidable inside the guide groove 90 .

The number of cam followers 92 is the same as the number of combinations of the nail gripping mechanism 44 and the pinwheel holding mechanism 46 (four pairs in this embodiment). It is connected with a cam follower 92 via a second linear guide 94 arranged along the direction. Therefore, by sliding the cam follower 92 inside the guide groove 90 with the lateral driving device 88, the nail gripping mechanism 44 and the pinwheel holding mechanism 46 can be moved laterally (Y direction) with respect to the supporting portion 42. is configured to be

As shown in FIG. 4B, the vertical movement mechanism 86 is connected to a cylinder 96 with a guide disposed above the support part 42 and a cylinder 96 with a guide below the cylinder 96, and moves toward the fixed part (rail side). and a second linear guide 94 which is connected to the cam follower 92 at the upper end of the second linear guide 94 arranged along the vertical direction. The guide groove 90 is divided into left and right sides (both sides in the width direction) of the descending portion PD, and the descending portion PD is connected to a cylinder 96 with a guide so as to be vertically movable. Therefore, while the guide grooves 90 on both the left and right sides of the descending portion PD are fixed, the descending portion PD and the cam follower 92 moved to the descending portion PD are configured to be able to descend and ascend.

One combination of nail gripping mechanism 44 and pinwheel holding mechanism 46 has a cam follower 92 coupled thereto moved by lateral movement mechanism 84 to lower portion PD. The nail gripping mechanism 44 and the windmill holding mechanism 46 with the cam follower 92 laterally moved to the descending portion PD are descended toward the game board 12 side by descending the guide cylinder 96 into which air is injected. When the attachment of the pinwheel PW and the nail NA to the game board 12 is completed, the guide-equipped cylinder 96 is lifted, so that the nail gripping mechanism 44 and the pinwheel holding mechanism 46 can be lifted.

When all the pinwheels PW have been attached to the attachment surface 12A (see FIG. 6), the attaching machine 10 releases the support of the game board 12 from the work lifting section 16, and supplies the game board 12 for the next step. The conveyor 14 is configured to move the game board 12 toward the front side in the longitudinal direction of the mounting machine 10 .

As shown in FIG. 4C, the nail gripping mechanism 44 includes an air chuck 44C having two vertically extending arms 44A for gripping the nail NA. The two arm portions 44A are connected to both ends in the short direction of the air chuck 44C via their upper ends. Therefore, by injecting air into the clamping side of the air chuck 44C, the two arm portions 44A move inward in the transverse direction, so that the tip portion (lower side end portion) of the arm portion 44A does not move the nail NA. can be grasped. Also, by injecting air into the unclamping side of the air chuck 44C, the two arm portions 44A move laterally outward, so that the tips of the arm portions 44A can release the nail NA.

As shown in FIG. 4E , the wind turbine holding mechanism 46 is formed in a substantially plate shape with a thin thickness along the outer peripheral shape of the wind turbine PW in order to hold the wind turbine PW having the nail NA inserted into the hole PW3. wind turbine holder 100. Here, "formed with a small thickness" means that interference with other parts such as nails NA in the vicinity of the outer edge of the windmill PW while the windmill PW is held and when the windmill PW is released. It means that it is formed with a thin thickness to the extent that it does not The windmill holding part 100 is formed of an elastic body such as a leaf spring or resin, and can prevent or suppress scratches, displacement, and the like of the windmill PW when holding the windmill PW. The wind turbine holding mechanism 46 includes an air cylinder AC arranged along the longitudinal direction above the air chuck 44C, a connector 102 formed in an inverted L shape when viewed from the side, and directly connected to the air cylinder AC, Prepare. The wind turbine holding part 100 is rotatably connected to a connecting part 104 at the lower end of the connector 102 .

By injecting air into the air cylinder AC and pulling the connector 102 to the side opposite to the windmill PW side, the windmill holding portion 100 rotates around the connecting portion 104, so that the windmill holding portion 100 comes into contact with the windmill PW and pushes the windmill PW backward. Push to the side (see Figure 4A). Therefore, the windmill PW moves horizontally, and the nail NA comes into contact with the inner wall of the hole PW3 on the front side (the windmill holding portion 100 side). As a result, the wind turbine PW can be held by the wind turbine holder 100 and the nail NA. Further, by pushing the connector 102 forward, the wind turbine holder 100 also moves forward, so that the wind turbine holder 100 is released from contact with the wind turbine PW, and the wind turbine PW is released.

5A and 5B show a side view and a front view of a striking mechanism 106 provided in the mounting machine 10 for striking the nail NA onto the game board 12. FIG. The striking mechanism 106 is arranged along the vertical direction and connected to a second vertical driving device 108 as a vertical driving device for striking for vertically moving the striking mechanism 106 . and a third linear guide 110. The second vertical drive device 108 has a motor-driven absolute encoder, and is also configured as a height detection mechanism. The fixed portion side (rail side) of the third linear guide 110 is fixed to the support portion 42, and the movable portion side (block side) is arranged along the vertical direction, and the nail NA is attached to the game board 12. It is fixed to a hammer device 112 for striking. Therefore, the striking mechanism 106 can move in the horizontal direction (the X direction and the Y direction) together with the support portion 42 and can also move up and down by the second vertical drive device 108 . Further, by providing a second vertical driving device 108 separately from the first vertical driving device 60 for vertically moving the nail gripping mechanism 44 and the pinwheel holding mechanism 46, the striking mechanism 106 can be adjusted to the height of the shaft NA2 ( It is configured to be adjustable for wind turbines PW (nail NA) with different nail heights.

As shown in FIG. 5B, a hammer 114 for driving a nail NA is provided at the lower end of the hammer device 112. As shown in FIG. The center of the hammer 114 is configured to be coaxial with the nail NA lowered onto the game board 12 and the pinwheel PW. A spiral groove may be formed in the shaft portion NA2 of the nail NA, and when the nail NA is struck against the game board 12, the nail NA rotates. may occur. In order to prevent or suppress damage to the upper part NA1 of the nail NA and the hammer 114 due to this, the hammer 114 is detachably (exchangeably) attached to the rotary shaft 116, and the upper end of the rotary shaft 116 is It is configured to be rotatable by bearings 118 . Further, since the second vertical drive device 108 has a motor-driven absolute encoder, the height position (vertical position) of the hammer 114 can be detected. Therefore, it is possible to detect the height of the nail NA when the hammer 114 strikes the nail NA.

A load cell 124 as a pressure detection mechanism fixed to the lower surface side of a plate 122 via a bolt 120 is arranged above the rotating shaft 116 . Therefore, the force when driving the nail NA into the game board 12 can be transmitted to the load cell 124 via the bolt 120. - 特許庁A plate 122 to which a load cell 124 is fixed is connected via a connector 126 arranged on its upper side, and the plate 122 is connected to two linear bushes 128 separated from the third linear guide 110. there is Therefore, the load cell 124 and the plate 122 are configured to be vertically displaceable independently of the third linear guide 110 . A spring 130 is provided above each of the two linear bushes 128 . A spring constant of the spring 130 is set so as to balance the weight of the hammer 114 and the rotating shaft 116 . Therefore, the weight of the hammer 114 and the rotating shaft 116 can be canceled out and a force (load) for striking the nail NA can be applied to the load cell 124 . This makes it possible to accurately confirm whether or not the load for driving the nail NA is within a predetermined range that allows it to be determined that the nail NA is being driven normally. Here, to strike the nail NA normally means, for example, that the load is smaller than the required load due to factors such as not striking with a load larger than necessary, or the pre-drilled hole of the game board 12 is too large, etc. Including states such as not striking with a load.

FIG. 6 shows a side view of the wind turbine detection mechanism. Here, two types of sensors, a reflective fiber sensor 132 and a laser sensor 134, are provided as the windmill detection mechanism. These sensors 132 , 134 are fixed to the support section 42 behind the nail gripping mechanism 44 , the windmill holding mechanism 46 and the striking mechanism 106 . Since the surface of the windmill PW may be blackish or transparent, it is provided with two types of sensors so that at least one of the windmills can be detected. This is configured to detect the presence of the windmill PW at the position where the nail NA is to be driven, and issue an alarm and/or display a warning if there is an abnormality.

The action and effect of this embodiment will be described below.

Attachment of the nail NA and the windmill PW using the attachment machine 10 will be described with reference to FIGS. 7A to 7I. As shown in FIGS. 7A to 7C, the combination of the plurality of nail gripping mechanisms 44 and pinwheel holding mechanisms 46 is moved by the column moving mechanism 38 above the nail alignment unit 70 moved to the nail extraction position TN. (Fig. 7A). The plurality of nail gripping mechanisms 44 are lowered collectively by lowering the first linear guide 62 by the first vertical drive device 60 . Further, each nail gripping mechanism 44 grips the upper portion NA1 of the nail NA lifted upward by the nail alignment unit 70 using two arms 44A operated by air chucks 44C (FIG. 7B). The plurality of nail gripping mechanisms 44 gripping the nail NA are lifted together by the lift of the first linear guide 62 by the first vertical drive device 60 (FIG. 7C).

As shown in FIGS. 7D to 7F , the nail gripping mechanism 44 gripping the nail NA and the wind turbine holding mechanism 46 are moved by the column moving mechanism 38 to the wind turbine pick-up position TP above the wind turbine alignment unit 80 . is moved (Fig. 7D). The plurality of wind turbine holding mechanisms 46 are collectively lowered by lowering the first linear guides 62 by the first vertical drive device 60 . Furthermore, each wind turbine holding mechanism 46 uses the pin NA gripped by the nail gripping mechanism 44 and the pin NA gripped by the pin gripping mechanism 44 and the pin NA which is pushed out to the wind turbine PW side (rear side) by injecting air into the air cylinder AC. Hold PW (Fig. 7E). The plurality of wind turbine holding mechanisms 46 holding the wind turbines PW are collectively lifted by the lift of the first linear guides 62 by the first vertical drive device 60 (FIG. 7F).

As shown in FIGS. 7G to 7J, the nail gripping mechanism 44 gripping the nail NA and the pinwheel holding mechanism 46 holding the pinwheel PW are moved by the column moving mechanism 38 to the mounting position of the pinwheel PW on the game board 12. is moved (Fig. 7G). The cam follower 92, which is coupled with a pair of nail gripping mechanisms 44 and a pinwheel holding mechanism 46, is then moved by the lateral movement mechanism 84 to the lowered portion PD. The cam follower 92 laterally moved to the descending portion PD descends toward the game board 12 side as the descending portion PD descends together with the cylinder 96 with the guide into which air is injected. Therefore, the nail NA gripped by the nail gripping mechanism 44 and the pinwheel PW held by the pinwheel holding mechanism 46 are moved (arranged) onto the game board 12 . The windmill PW is lowered until it comes into contact with the surface of the game board 12, and the nail NA descended together with the windmill PW is moved by the hammer 114 of the hammer device 112 lowered by the second vertical drive device 108, for example, by about 2 mm on the game board. 12 (FIG. 7H). As a result, the nail NA and the pinwheel PW are fixed to the game board 12, and the holding of the nail NA and the pinwheel PW is released. By introducing air into the unclamping side of the air chuck 44C, the two arm portions 44A are pulled back, and by introducing air into the unclamping side of the air cylinder AC, the wind turbine holder 100 is pulled back. After that, the hammer 114 of the hammer device 112 hits the nail NA to a predetermined depth on the game board 12 (FIG. 7I). The nail gripping mechanism 44 and the windmill holding mechanism 46 with the nail NA and the windmill PW completely attached are lifted by the lift of the cylinder 96 with the guide. Further, the column moving mechanism 38 moves to the attachment position of the next nail NA and pinwheel PW on the game board 12, and repeats attachment of the pinwheel PW to the game board 12 (FIG. 7J).

According to this embodiment, the nail gripping mechanism 44 individually grips a plurality of nails NA supplied from the nail supply unit 20 , and the windmill holding unit 100 of the windmill holding mechanism 46 grips the nail NA by the nail gripping mechanism 44 . It is possible to individually hold the wind turbines PW with the nails NA inserted into the holes PW3. Further, the nail NA and the pinwheel PW are moved onto the game board 12 by the column moving mechanism 38 and the nail pinwheel moving mechanism 52, and the nail NA inserted into the pinwheel PW is moved to the game board by the striking mechanism 106. 12 is nailed down. At this time, the pin NA and the pinwheel PW are held on the game board 12 without interfering with the pin NA or the like near the mounting position of the pinwheel PW. Can be moved up. Therefore, until the windmill PW contacts a predetermined position on the game board 12, the nail NA and the windmill PW can be moved in a stable state, and the prepared hole of the nail NA on the game board 12 and the nail NA are aligned with each other. can be precisely aligned. Further, after the nail NA is temporarily driven to the game board 12 by about 2 mm, for example, and the pin NA and the pinwheel PW are fixed, the nail NA is fixed to the game board 12 to a predetermined depth in a state in which the holding of the pinwheel PW is released. By striking, the nail NA and the pinwheel PW can be stably moved to a predetermined position on the game board 12, and the nail NA can be stably struck onto the game board 12. - 特許庁Thereby, the nail NA can be nailed at an accurate position on the game board 12 while maintaining the postures of the windmill PW and the nail NA.

Further, according to the present embodiment, the load cell 124 can detect the force with which the nail NA is struck against the game board 12, so it can be detected whether the nail NA is struck with sufficient force. Further, the encoder of the second vertical driving device 108 of the nailing mechanism 106 can detect the height of the nail NA after nailing. is driven into the game board 12 by the required length. As a result, even if the heights of the plurality of nails NA to be driven into the game board 12 are varied and the heights of the pinwheels PW to be attached (the length of the shaft portion PW1) are varied, the windmill PW can be used as the game board. 12 with high precision and stability.

Furthermore, according to the present embodiment, the nail NA held by the nail gripping mechanism 44 and the pinwheel PW aligned by the pinwheel supply mechanism 28 are arranged coaxially along the lateral direction of the attaching machine 10. Therefore, the nail NA can be stably and quickly (efficiently) inserted into the hole PW3 of the wind turbine PW. Further, the driving mechanism 106, the nail NA held by the selected nail gripping mechanism 44, and the pinwheel PW held by the pinwheel holding mechanism 46 can be arranged coaxially along the vertical direction. A series of operations such as moving the NA and the windmill PW onto the game board 12 and hitting the nail NA inserted into the windmill PW against the game board 12 can be performed stably and at high speed (efficiently).

Further, according to this embodiment, the first vertical driving device 60 for vertically moving the nail gripping mechanism 44 and the pinwheel holding mechanism 46 and the second vertical driving device 108 for vertically moving the striking mechanism 106 are provided separately. there is As a result, interference with the striking mechanism 106 can be prevented or suppressed, and the nail gripping mechanism 44 and the pinwheel holding mechanism 46 can be laterally moved and vertically moved. Furthermore, the striking mechanism 106 can easily adjust the position of the hammer 114 according to the height (nail height) of the shaft portion NA2 of the windmill PW (nail NA), which can change for each mounting position.

Furthermore, according to the present embodiment, the windmill holding portion 100 is formed with a small thickness along the outer peripheral shape of the windmill PW. Therefore, the gap between the pinwheel PW and the nail NA arranged in the vicinity of the outer edge thereof is narrow, and the disk portion PW2 of the pinwheel PW does not interfere with the nail NA or the like, as in the case where the disk portion PW2 of the pinwheel PW is gripped with a claw or the like. Instead, the held windmill PW can be lowered onto the game board 12.例文帳に追加Further, even after the wind turbine PW is attached, the wind turbine holder 100 can be raised without interfering with other nails NA. Furthermore, since the structure is such that it is held by the pin NA inserted into the hole PW3 and the wind turbine holding portion 100, for example, when the wind turbine PW cannot be held by the magnetic force of resin or the like, or when the disk portion PW2 of the wind turbine PW does not hold the wind turbine PW. The wind turbine PW can be stably held even if vacuum suction or the like cannot be performed due to the holes provided for weight reduction. In addition, since the windmill holding portion 100 is made of an elastic material, when the windmill PW is held, the windmill holding portion 100 suppresses the application of excessive force to the windmill PW, thereby reducing the damage to the windmill PW and the position of the windmill PW. Displacement or the like can be prevented or suppressed.

Further, according to this embodiment, it is possible to test whether or not the installation position of the windmill PW is appropriate by the reflective fiber sensor 132 and the laser sensor 134 (windmill detection mechanism). Specifically, it is possible to detect the presence or absence of the wind turbine PW due to a mistake in picking up the wind turbine PW or a drop during transportation, and it is possible to detect whether or not the installation position of the wind turbine PW is appropriate. Additionally, an alarm can be issued and/or a warning displayed in the event of an anomaly. As a result, the windmill PW can be mounted on the game board 12 with high accuracy.

As described above, the mounting machine 10 according to the present embodiment can mount the windmill PW on the game board 12 with high precision and stability.

(First modification)
Modifications of the wind turbine holding mechanism 140 according to this embodiment will be described below. Elements similar or corresponding to those of this embodiment are denoted by the same reference numerals, and overlapping descriptions are omitted.

8A and 8B show a wind turbine holding mechanism 140 according to a first modified example. The wind turbine holding portion 142 according to the first modification is formed integrally with a holding arm 144 extending upward from the wind turbine holding portion 142, and two wind turbine holding portions 142 are provided so as to face each other in the radial direction of the wind turbine PW. . Further, the upper end side of the holding arm 144 is connected to the arm portion 44A of the nail gripping mechanism 44. As shown in FIG. Therefore, the two windmill holding portions 142 can move radially inward of the windmill PW and hold the windmill PW in accordance with the operation of the arm portion 44A of the nail gripping mechanism 44 by the air cylinder AC. .

According to this modification, the windmill holding portion 142 is formed with a small thickness along the outer peripheral shape of the windmill PW. Therefore, even if the gap between the windmill PW and the nail NA arranged near the outer edge thereof is narrow, the nail NA and the windmill PW are lowered onto the game board 12 without interfering with the nail NA or the like. can be made In addition, since two wind turbine holding portions 142 are provided so as to face each other in the radial direction of the wind turbine PW, the wind turbine PW can be stably held. Furthermore, since the windmill holding portion 142 is formed of an elastic material, when the windmill PW is held, the windmill holding portion 142 suppresses the application of excessive force to the windmill PW, thereby reducing the damage to the windmill PW and the position of the windmill PW. Displacement or the like can be prevented or suppressed. In addition, when releasing the holding of the wind turbine PW, it is possible to prevent or suppress damage to the adjacent nail NA or the like.

(Second modification)
FIG. 9 shows a wind turbine holding mechanism 150 according to a second modified example. Here, the wind turbine holder 100 is arranged along the vertical direction and fixed to an arm 152 , which is connected to a cylinder 154 with a direct-acting guide through the arm 152 . Therefore, the cylinder 154 with a direct-acting guide pushes out the arm 152 to horizontally move the wind turbine holder 100 to move horizontally toward the wind turbine PW.

According to this modification, the wind turbine holding part 100 is formed with a small thickness along the outer peripheral shape of the wind turbine PW. Therefore, even if the gap between the windmill PW and the nail NA arranged near the outer edge thereof is narrow, the nail NA and the windmill PW are lowered onto the game board 12 without interfering with the nail NA or the like. can be made Further, the windmill holding part 100 is fixed to the arm 152 and can hold the windmill PW by slightly horizontally moving it, so that the configuration can be simplified. Furthermore, since the windmill holding part 100 is formed of an elastic material, when the windmill PW is held, the windmill holding part 100 suppresses the application of excessive force to the windmill PW, thereby reducing the damage to the windmill PW and the position of the windmill PW. Displacement or the like can be prevented or suppressed. In addition, when releasing the holding of the wind turbine PW, it is possible to prevent or suppress damage to the adjacent nail NA or the like.

Although the mounting machine 10 according to the present embodiment has been described as a game board for a pachinko machine, it is not limited to this and may be used for a game board other than a pachinko machine.

REFERENCE SIGNS LIST 10 mounting machine 12 game board 20 nail supply unit 28 windmill supply mechanism 30 windmill supply unit 38 column moving mechanism (moving mechanism)
44 nail gripping mechanism 46 windmill holding mechanism 52 nail windmill moving mechanism (moving mechanism)
100 Wind turbine holder 106 Striking mechanism 108 Second vertical driving device (vertical driving device for striking, height detection mechanism)
124 load cell (pressure detection mechanism)
132 Reflective fiber sensor (windmill detection mechanism)
134 laser sensor (windmill detection mechanism)
140 Wind turbine holding mechanism (first modification)
142 Wind turbine holder (first modification)
150 Wind turbine holding mechanism (second modification)
NA Nail PW Windmill PW3 Hole

As shown in FIGS. 7G to 7J, the nail gripping mechanism 44 gripping the nail NA and the pinwheel holding mechanism 46 holding the pinwheel PW are moved by the column moving mechanism 38 to the mounting position of the pinwheel PW on the game board 12. is moved (Fig. 7G). The cam follower 92, which is coupled with a pair of nail gripping mechanisms 44 and a pinwheel holding mechanism 46, is then moved by the lateral movement mechanism 84 to the lowered portion PD. The cam follower 92 laterally moved to the descending portion PD descends toward the game board 12 side as the descending portion PD descends together with the cylinder 96 with the guide into which air is injected. Therefore, the nail NA gripped by the nail gripping mechanism 44 and the pinwheel PW held by the pinwheel holding mechanism 46 are moved (arranged) onto the game board 12 . The pinwheel PW is lowered until it comes into contact with the surface of the game board 12 (FIG. 7H). About 2 mm is provisionally struck on the game board 12 (Fig. 7I ). As a result, the nail NA and the pinwheel PW are fixed to the game board 12, and the holding of the nail NA and the pinwheel PW is released. By introducing air into the unclamping side of the air chuck 44C, the two arm portions 44A are pulled back, and by introducing air into the unclamping side of the air cylinder AC, the wind turbine holder 100 is pulled back. After that, the hammer 114 of the hammer device 112 hits the nail NA to a predetermined depth on the game board 12 (FIG. 7J ). The nail gripping mechanism 44 and the windmill holding mechanism 46 with the nail NA and the windmill PW completely attached are lifted by the lift of the cylinder 96 with the guide. Further, the column moving mechanism 38 moves to the attachment position of the next nail NA and pinwheel PW on the game board 12, and repeats attachment of the pinwheel PW to the game board 12 (FIG. 7J).

8A and 8B show a wind turbine holding mechanism 140 according to a first modified example. The wind turbine holding portion 142 according to the first modification is formed integrally with a holding arm 144 extending upward from the wind turbine holding portion 142, and two wind turbine holding portions 142 are provided so as to face each other in the radial direction of the wind turbine PW. . Further, the upper end side of the holding arm 144 is connected to the arm portion 44A of the nail gripping mechanism 44. As shown in FIG. Therefore, the two windmill holding portions 142 can move radially inward of the windmill PW and hold the windmill PW in accordance with the operation of the arm portion 44A of the nail gripping mechanism 44 by the air chuck AC. .

Claims (5)

a nail gripping mechanism for individually gripping one or more nails supplied from the nail supply;
a wind turbine holding mechanism that individually holds one or more wind turbines supplied from the wind turbine supply unit;
a moving mechanism for moving the one or more nails gripped by the nail gripping mechanism and the one or more pinwheels held by the pinwheel holding mechanism to predetermined positions on the game board;
a striking mechanism for striking the nail against the game board in order to attach the windmill moved to a predetermined position on the game board;
A fully automatic windmill mounting machine for a game board comprising
The nail gripping mechanism inserts the gripped one or more nails into holes formed through one or more of the wind turbines along the axial direction,
The windmill holding mechanism holds the windmill with the nail gripped by the nail gripping mechanism inserted into the hole,
The moving mechanism individually moves a combination of the nail gripping mechanism that grips the nail and the pinwheel holding mechanism that holds the pinwheel so that the pinwheel comes into contact with a predetermined position on the game board. let
The hammering mechanism temporarily strikes the nail against the game board while the pinwheel is held, and after the temporary hammering, the nail is hammered into the game board while the pinwheel is released from the pinwheel holding mechanism. A fully automatic windmill attachment machine for a game board, characterized in that the windmill is attached to the game board by a main strike to hit the board. The striking mechanism includes a pressure detecting mechanism for detecting force with which the nail is struck against the game board, and a height detecting mechanism for detecting the height of the nail struck against the game board. The fully automatic windmill mounting machine for a game board according to claim 1. 3. The fully automatic windmill mounting machine for a game board according to claim 1, wherein the windmill holding mechanism holds the windmill by a windmill holding portion formed of a thin elastic body. The driving mechanism includes a vertical driving device for driving that is provided separately from the moving mechanism so that the driving mechanism moves vertically independently of the vertical movement of the nail gripping mechanism and the wind turbine holding mechanism by the moving mechanism. The fully automatic windmill mounting machine for a game board according to any one of claims 1 to 3, characterized by comprising: 5. The fully automatic game board according to any one of claims 1 to 4, further comprising a windmill detection mechanism for detecting that the windmill is attached to a predetermined position on the game board. Windmill mounting machine.

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