JP2740441B2 - Playboard manufacturing equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for manufacturing a game board used for manufacturing various game boards which perform necessary operations with high accuracy, such as a nailing operation, such as a pachinko game board. It is.

[0002]

2. Description of the Related Art A nailing machine for automatically nailing a game board base material of a pachinko game board and various similar game boards has been known. In this apparatus, a substrate of a game machine to be supplied is positioned, and nailing is automatically performed in a predetermined pattern corresponding to the type of the game machine set therein.

[0003] Incidentally, the accuracy of nailing of a pachinko game board or the like greatly affects a game function, particularly a game performance, and is important from both a game provider and a game player. Therefore, nailing must be performed with high precision.

Conventionally, in order to satisfy this with various working machines such as an automatic nailing machine, a game board substrate as a work object to be received by the working machine is positioned, and a predetermined play board base is placed on the positioned game board base. Work.

[0005]

However, in order to achieve the above-described positioning with high precision, a sufficient fitting margin without play is secured in the fitting between the reference pin and the vertical reference hole. Therefore, the fitting for the positioning and the operation of releasing the positioning by removing the fitting are difficult if the play board base material is slightly inclined, such as by twisting, etc. It needs to be fitted and lifted.

If this operation is performed manually, the work is troublesome, and a large amount of labor is required for a large number of working machines, resulting in poor workability and high cost.

Therefore, it is conceivable that an articulated robot automatically handles and supplies and unloads the game board base material. However, there has not yet been provided an amusement board manufacturing apparatus suitable for achieving the above-mentioned operation easily and reliably and efficiently.

An object of the present invention is to provide an apparatus for manufacturing a game board in which the above-described high-precision positioning is performed, and the automatic supply and removal of the game board base material and the transfer to and from a working machine can be performed easily and reliably. Is the subject.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a supply conveyor that transports a game board base material to a base material supply unit and waits for a positioning state on a horizontal plane. The work of performing necessary operations such as nailing by receiving the game board base material in the positioning state on the horizontal plane by fitting the reference holes of the game board base material to the vertical positioning pins provided on the work table Machine, a take-out conveyor that receives the game board base material that has completed the operation in this work machine in a base material receiving section and transports it to a take-out position, the base material supply section and the base material receiving section, and the work machine. A game board manufacturing robot that transfers a game board base material between the robot and the robot, the robot has an articulated arm that can move the tip in parallel in the vertical direction, and a pair of left and right downward gripping claws at the tip. Horizontally facing each other The supply conveyor and the take-out conveyor are vertically overlapped with a predetermined space between them, and the base material supply part and the base material reception part are loaded from the supply conveyor and the take-out conveyor to the robot side and the unloading part. It has a loading section, these loading section and unloading section are provided in a laterally displaced manner when viewed from a plane, there are a plurality of robots and working machines, and the same number of substrate supply sections and substrate reception sections as the robots are provided. The main feature is that

[0010] Further, a supply conveyor for transporting the game board base material to the base material supply unit and waiting in a positioning state on a horizontal plane, and a vertical hole provided on a workbench with a reference hole of the supplied game board base material. A work machine that performs necessary operations such as nailing by engaging the play board base material in a positioning state on a horizontal plane by fitting with a positioning pin, and a play board base material that has finished work with this work machine. A take-out conveyor that receives the material at the material receiving section and transports it to a take-out position, and a robot for manufacturing a game board that transfers a game board base material between the base material supply section and the base material receiving section and the working machine. The robot has an articulated arm that can move the tip in parallel in the vertical direction, and has a hand with a pair of left and right downward gripping claws horizontally facing each other at the tip, and the supply conveyor and the takeout conveyor are The base material supply part and the base material receiving part have a loading part and an unloading part that protrude from the supply conveyor and the take-out conveyor to the robot side, and the loading part and the unloading part. Is provided in a laterally displaced manner as viewed from the plane, and the loading portion and the unloading portion have a length for receiving a plurality of game board base materials, and the loading portion has a play board base material at the tip. Means are provided for feeding the game board base material on the condition that there is no base material, and means for feeding the game board base material being conveyed to the base material supply unit by the supply conveyor so that the base side of the loading unit is full. In the unloading section, each time the game board base material is received at the tip, it is sent to the base side, and it is sent to the base side. And it is an current one, characterized in that the means for feeding the substrate receiving portion of the conveyor taken out game board substrate is provided.

[0011]

According to the above-mentioned constitution of the main feature of the present invention, first,
Hands with downwardly-facing gripping claws horizontally opposed to each other provided at the tip of the articulated arm of the robot are used for the base material supply unit and base material receiving unit of the supply and take-out conveyors, and the work table of the work machine By being moved, the game board base material is automatically gripped and carried, so that the game board base material is automatically transferred between the base material supply unit, the base material reception unit, and the work table. can do. Further, by following the movement of the tip of the articulated arm of the robot in parallel translation in the vertical direction, the hand approaches the base material supply unit, the base material reception unit, and the worktable in a vertical direction from directly above, Also, because you can move right up in the vertical direction,
The game board base positioned on the horizontal plane in the base supply section is automatically lifted, and the game board base carried in the horizontal state is not tilted from directly above to the predetermined position of the base receiving section, so that one side hit Of course, it will be transferred properly without doing anything like that,
Automatic transfer and lifting of the playboard base material with the vertical positioning in for horizontal positioning on the work table and the fitting of the reference hole, and the operation of removing this fitting. , Can be done without prying. In particular, the supply conveyor and the take-out conveyor which supply and take out the game board base material take up no space because they are vertically overlapped with each other, and the respective base material supply portions and the base material receiving portions are separated from the supply conveyor and the take-out conveyor. A loading section and an unloading section that protrude toward the robot are provided, and since the loading section and the unloading section are displaced in the horizontal direction, the supply of the game board base material by the supply conveyor and the removal conveyor. To take out the play board base material after the work, and to transfer the play board base material between the base material supply part and the base material receiving part by moving up and down in the vertical direction. It is possible to do it without doing anything. Second,
Since there are a plurality of base material supply units and base material receiving units of the supply conveyor and the take-out conveyor, and a plurality of corresponding robots and working machines, the supply conveyor and the take-out conveyor play with the work machine corresponding to one robot. It is possible to cope with parallel work by multiple robots and corresponding work machines without increasing the number of conveyors only by increasing the transport speed multiple times of the work cycle of transferring the board base material. it can.

[0012] According to the above-mentioned configuration of the present invention, the loading and unloading portions have a length for receiving a plurality of game board base materials in addition to exhibiting the first operation and effect of the configuration of the above-mentioned main features. Then, the loading section sends out the baseboard game board base material only when there is no playboard base material at the tip and provides it for the next work. The side can receive the next game board base material, so it is possible to send out the game board base material securely while eliminating the overlapping feeding of the game board base material at the tip, and the unloading part receives the worked game board base material at the tip While sending this to the base side so that the next game board base material can be received immediately, the work board base material after work sent to the base side is taken out to the base material receiving portion of the conveyor and taken out and conveyed. Since Uslu, the game board substrate sequentially supplied without fast addition confusion, also withdrawn, it is possible for high-speed work.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific example of a pachinko game board production line to which a robot as a position embodiment of the present invention is applied will be described below with reference to the drawings.

In the pachinko game board production line of this embodiment, a first to a sixth plurality of nailing machines 1 to 6 are arranged in a straight line so as to be arranged in a horizontal direction as shown in FIG. Have been. First and second robots 11 and 12 are arranged opposite to the front side of each of the first to sixth nailing machines 1 to 6, and both of the first to sixth robots 11 and 12 are suspended by a guide rail 13. It can move along the installation line of each nail driver 1-6.

Around the arrangement of the first to sixth nailers 1 to 6 and the first and second robots 11 and 12, the arrangement is formed so as to surround the arrangement in a rectangular shape. The conveyed conveyor is provided in a combination of the supply conveyor 14 and the take-out conveyor 15. The supply and unloading conveyors 14 and 15 are connected to the respective transfer end portions 14a and transfer start end portions 15a facing both the operation ranges 21 and 22 of the first and second robots 11 and 12 by a predetermined amount. The two parts are vertically overlapped with an interval therebetween to form a one-way transfer line indicated by an arrow in the figure, and the transfer end portion 14a and the transfer start end portion 15a form one side of the rectangle.

A pre-process line 14b, which is located at a right angle with respect to the conveying end portion 14a of the supply conveyor 14, is provided with a gauge press 23, a single-screw drilling machine 24 and a An axial drilling machine 25 is provided, and each processing operation is performed on the nailing target 31 as a game board base material to be conveyed by the first conveying means 14.

A base of a pachinko game board stocked in, for example, a vacuum stacker (not shown) is supplied to the supply conveyor 14 as a nailing target 31. The nailing object 31 is cut by a router machine (not shown), and a positioning hole 32 (FIG. 2) is provided at a predetermined position corresponding to the predetermined contour.

Hereinafter, the positioning holes 32 are used as a position reference when various processes are performed on the nailing object 31.
Thereby, also in the nailing machines 1 to 6, high-precision nailing required for a pachinko game board or the like is achieved.

The first robot 11 is provided at the transfer end portion 14a.
The first nailing target supply position 33 is located at substantially the center of the operation range 21 of the transfer end portion 14a side, and the second nailing position is located at substantially the center of the operation range 22 of the second robot 12 near the transfer end portion 14a. A loading section that projects toward the first and second robots 11 and 12 at the first and second nailing target supply positions 33 and 34, respectively. 35, 36, the nailing object 31 before nailing, which is conveyed by the supply conveyor 14,
At each of the second nailing target supply positions 33 and 34, a pusher 37 for distributing and feeding the loaded portions 35 and 36 is provided.

The first robot 11 is located at the transport start end 14b.
The first nailing target receiving position 38 located substantially at the center of the transfer start end 14b side of the movement range 21 of the second robot 12 and the second nailing position 38 located substantially at the center of the transfer start end 14b side of the movement range 22 of the second robot 12. A nailing target receiving position 39, and the first and second nailing target receiving positions 38 and 39 have unloading protruding toward the first and second robots 11 and 12, respectively. The first and second robots 1 are provided in the unloading units 41 and 42, respectively.
A puller 44 for taking out the nailing target object 31 transferred from each of the first to sixth nailing machines 1 to 6 and feeding it to the conveyor 15 is provided by 1 and 12 (FIG. 4).

A post-process line 15b which is a next side portion which is formed at a right angle to the transport start end portion 15a of the take-out conveyor 15
Is provided with a windmill driving machine 45 for mounting a windmill (not shown) on the nailing target 31 after nailing, so that the windmill is automatically driven.

The inspection process line 15c, which is formed at a right angle after the post-process line 15b, is provided with a nail bending inspection machine 46, and immediately after that, a rejector 47 for removing defective products is provided.

Both the supply conveyor 14 and the take-out conveyor 15 employ so-called driven roller conveyors including the loading sections 35 and 36 and the unloading sections 41 and 42, and convey the nailing target 31 as a whole. In order to do this, it is possible to drive one of the rollers in the range in which it comes into contact at the same time, and to freely control stopping or transporting the nailing object 31 at a predetermined position by turning on and off the roller. The nailing target 31 is always conveyed at a predetermined pitch or timing.

Then, the number of nailing objects 31 before nailing, which is supplied for a certain period of time, to the conveying end portion 14a of the supply conveyor 14 via the pre-process line 14b, and from the loading portions 35, 36 First and second robots 1
The nails are supplied to the nailing machines 1 to 6 by nails 1 and 12 and are nailed. Then, the nails are taken out through the unloading sections 41 and 42 to the transport start end 15a of the take-out conveyor 15 during the predetermined time. The nailing operation is performed so that the number of hitting objects 31 becomes equal.

A sensor (not shown) for detecting the presence or absence of the nailing object 31 is provided in each part of the supply conveyor 14 and the take-out conveyor 15 so that the nailing object 31 before and after the conveyance is not connected. Then, control for restricting the subsequent conveyance of the nailing target object 31 is performed. As a result of this control, if the nailing target object 31 conveyed from the pre-process line 14b becomes excessive, control is also performed to limit excessive work in the pre-process line 14b.

As a result, the proper number of nailing objects 31 without any excess or shortage is always supplied to the transfer end portion 14a of the supply conveyor 14 at appropriate timing.

A discharge conveyor 49 is provided beside the inspection line 15c of the take-out conveyor 15 to receive non-defective products from the inspection line 15c via the transfer conveyor 48 or the like and send it to a warehouse or the like.

Further, each of the first to sixth nails is moved from a host hopper 51 which is a nail supply source provided at a predetermined position by moving along the arrangement line of each of the first to sixth nailing machines 1 to 6. A moving replenishing means 52 for replenishing the nailers 1 to 6 with a nail is provided.

The first to sixth nailers 1 to 6, the first and second robots 11 and 12, the gauge press 23,
Single-axis drilling machine 24, multi-axis drilling machine 25, windmill driving machine 4
5. The inspection machine 46 and the moving replenishing means 52 have dedicated terminals 1a to 6a, 61 to 67 and 69, respectively, and are connected to the host computer 68 via these terminals 1a to 6a, 61 to 67 and 69. Connected, each terminal 1a-6a,
While utilizing the input data and programs at 61 to 67 and 69, the related control is performed according to the comprehensive program at the host computer 68, so that various types of amusement machines can be manufactured automatically.

As shown in FIG. 2, the gauge press 23 has a point gauge plate mounting surface 71a having a built-in electromagnet formed on the lower surface of the pressing plate 71, whereby the point gauge plate 72 made of a magnetic material is detachably sucked and held. Then, pinpointing is performed at each nailing position on the nailing surface of the nailing target 31.

The point gauge plate 72 is mounted in accordance with the type of the amusement machine, and the reference hole 73 is fitted to a reference pin 74 on the lower surface of the pressing plate 71 to perform positioning. Nailing object 3
1, the reference pin 74 moves the nailing target 31.
The nailing object 3 by fitting into the reference hole 32 of
Since the position 1 is positioned, pinpoint embossing corresponding to the amusement machine is accurately achieved. Since the gauge press 23 is also known, detailed illustration and description are omitted.

The point gauge plate 72 is selectively mounted on the pressing plate 71 by hand. However, a stacker that stocks a game machine corresponding to each amusement machine at a predetermined address position is employed, and a predetermined point is provided at a predetermined address. It is also possible to selectively and automatically attach the gauge plate 72 to the pressing plate 71 while taking the gauge plate 72 in and out.

As shown in FIG. 3, the single-screw drilling machine 24 is located downstream of the gauge press 23 in the pre-process line 14b of the supply conveyor 14, and temporarily doubles the conveyed nailing target 31. It has a double speed conveyor 81 which conveys and sends it at a speed. An XY robot 83 supports and provides a drill head 82 having a single-axis drill 82a on the double-speed conveyor 81 so that the drill head 82 can be moved in orthogonal XY2 directions. For this movement, the XY robot 83 has a Y-direction rail 84 for moving the drill head 82 in the Y direction, and an X-direction rail 85 for moving the Y-direction rail 84 in the X direction.

The single-axis drilling machine 24 temporarily stops the nailing object 31 received on the double-speed conveyor 81 at a predetermined position on the way, and places the drill head 82 at a plurality of predetermined positions on the stopped nailing object 31. Are sequentially moved to drill a predetermined number of holes at required positions.

The nailing target 31 is positioned by a front stopper 86 for stopping the nailing target 31 conveyed in the direction of the arrow by the double-speed conveyor 81 at a predetermined position and a rear end of the nailing target 31. After the provisional positioning by the contacting backup 87, the reference pin 88 rising from below the double-speed conveyor 81 fits into the reference hole 32 of the nailing target 31, and is finally positioned.

After positioning the nailing target 31, the single-screw drilling machine 24 drills a few holes in accordance with the control program. This drilling is sequentially performed for several holes that differ depending on the model of the hole in which the guide rail for guiding the pachinko ball of the game machine is fitted. With respect to a large number of common holes, the following multi-axis drilling machine 25 simultaneously performs the operations.

The multi-axis drilling machine 25 is provided with a drill head 25b having a plurality of drills 25a so that the positions of the drills 25a can be adjusted, and the number of drills 25a can be simultaneously drilled. However, when there are a plurality of holes having different positions for each model, it is too time-consuming to change the corresponding drill positions of the multi-axis drilling machine 25 to cope with them. For a plurality of holes with different positions depending on the model, it is better to change the information for specifying the drilling position of the single-axis drilling machine 24,
This is advantageous in that the time is shortened in the entire operation procedure.

However, the combined use of the single-screw drilling machine 24 and the multi-screw drilling machine 25 may be appropriately set in accordance with the actual use.

Therefore, the amusement machine manufacturing apparatus includes the single-axis drilling machine 24 and the multi-axis drilling machine 25, and it is convenient to use them separately at different times. Sometimes single-axis drilling machine 2
4 may be left stopped. Since the multi-axis drilling machine 25 is a known one, detailed illustration and description are omitted.

In the case of the pachinko game board to which this embodiment is applied, there are only a few holes having different positions for each model, so this is performed with the single-axis drilling machine 24, and the position is common depending on the model. The holes are made by the multi-axis drilling machine 25. The number of the common holes is, for example, about seven.

FIG. 4 shows the overlapping state of the transport end 14a of the supply conveyor 14 and the transport start end 15a of the take-out conveyor 15. Accordingly, the nailing object 31 before nailing, which has been conveyed to the conveyance end portion 14a by the supply conveyor 14 without forming a space and forming the same conveyance line in a plan view, is replaced with first and second nails. It is supplied to the first and second robots 11 and 12 at the hitting object supply positions 34 and 35, and is transferred by the first and second robots 11 and 12 to the transport start end 15a of the take-out conveyor 15. The operation of taking out the nailed object 31 after the nailing is carried out at the first and second nailing object receiving positions 38 and 39 of the take-out conveyor 15 and transporting it to the next process by the take-out conveyor 15 is another system. Can be achieved without confusion.

First and second nailing target supply positions 3
As shown in FIGS. 1 and 4, the loading portions 35 and 36 of the third and the 34 and the unloading portions 41 and 42 of the first and second nailing target receiving positions 38 and 39 are respectively shown in FIGS. It is formed to a length that can transport two nailing targets 31 and is displaced in the horizontal direction when viewed from a plane.

Thus, at the first and second nailing object supply positions 35 and 36 and the first and second nailing object receiving positions 38 and 39 which are vertically overlapped with each other, these are both upward. In the opened state, the loading sections 35, 3
6 and the unloading units 41 and 42, the first and second robots 11 and 12 may interfere with each other in exchanging the nailing target 31 before nailing and the nailing target after nailing. It can be done easily and reliably without confusion.

The pushers 37 provided in the respective loading sections 35 and 36 are guided by the guide 37a positioned so as to cross over the supply conveyor 14, and are conveyed to the conveyance end section 14a of the supply conveyor 14 by being guided by the guide 37a. And a slider 37b for pushing out the nailing target 31 to the base half position of the loading portions 35 and 36. The loading portions 35 and 36 are provided with stoppers provided at the distal end positions of the sent nailing target 31. The sheet is transported until it reaches 91. It is preferable to control the pin 37c of the slider 37b for pushing the nailing target 31 so as to protrude only at the time of the forward movement of pushing the nailing target 31. Thereby, the nailing target object 3 at the time of returning
1 can be reliably prevented from being caught.

As a result, the nailing object 31 sent out to the loading sections 35 and 36 is positioned at a position where it comes into contact with the stopper 91.
A pair of left and right positioning arms 92 provided on both sides of the distal end of the robot 6 are rotated inward in the left and right direction in synchronization with a sensor (not shown) detecting that the nailing target 31 has reached the position. Then, the nailing target 31 is centered in the left-right direction while the nailing target 31 in contact with the stopper 91 is sandwiched from the left and right.

Therefore, the nailing object 31 is accurately positioned in any direction at the leading end of each of the loading portions 35 and 36, and the first and second corresponding to this are positioned.
By specifying the address in the operation control of each of the robots 11 and 12,
The nailing target 31 sent to each of the loading sections 35 and 36 can be reliably gripped and supplied to a predetermined one of the corresponding first to sixth nailing machines 1 to 6. .

The subsequent nailing object 31 fed into the loading sections 35 and 36 is temporarily stopped by raising the stopper 93, and the first nailing object at the loading sections 35 and 36 is stopped. The first and second robot mechanisms 11 and 12 do not hinder the positioning of the nailing target 31 after positioning.

After the first nailing target 31 at the leading end of the loading sections 35, 36 is carried, the stopper 93 is temporarily lowered to release the stop of the subsequent nailing target 31, and the loading section 35 is stopped. , 36. Thereafter, the same operation is repeated.

Two of the loading sections 35 and 36 are:
The nailing target object 31 conveyed to the conveyance end portion 14a of the supply conveyor 14 is shared and received, and supplied to the first and second robots 11 and 12 individually. Therefore, even if it takes time to supply the nailing target 31 conveyed to the first nailing target supply position 33 to the first robot 11, the nailing target 31 is sent to the loading unit 35, Disturbing the subsequent nailing object 31 from being transported to the second nailing object supply position can be avoided, and the shared supply can be achieved without confusion.

The number of overhang portions can be set arbitrarily, and it is preferable to set the number so as not to be excessive or insufficient according to the processing capability for the nailing target 31 in the previous process. Also, two or more overhanging portions can correspond to one handling mechanism.

First and second nailing target receiving positions 3
The unloading portions 41, 42 of 8, 39 also have a length capable of receiving the two nailing targets 31, and after the nailing transferred to the distal end portion by the first and second robots 11, 12, respectively. The nailing target 31 is taken out and transported toward the transport start end 15a of the conveyor 15.

The puller 44 provided on the unloading portions 41, 42 is guided by the guide rails 44a, which are positioned on the base half of the unloading portions 41, 42 so as to cross the same, and guided by the guide rails 44a. hand,
A slider 44b for taking out the nailing target 31 conveyed to the base-side half of the unloading sections 41 and 42 and pulling the nailing target 31 into the conveyance start end 15a of the conveyor 15; A pin 44c for pushing the nailing target 31 of the slider 44b
As in the case of the pusher 37, it is preferable that the protrusions protrude only during the forward movement.

Since the unloading section 42 can receive two nailing objects 31, even if it takes time for the second robot 12 to transfer the nailing objects 31, this takes place immediately. 15 is not hung on the transport start end 15a of the take-out conveyor 15, and it is possible to prevent the nailing target 31 that is drawn into the transport start end 15a of the take-out conveyor 15 from the unloading unit 41 and conveyed. it can.

The first and second robots 11 and 12 are shown in FIG.
8 to FIG. First and second robots 1
The guide rails 13 for suspending the guide rails 1 and 12 are installed with sufficient strength and accuracy by a steel structure 101 as shown in FIGS. The guide rail 13 is suspended by a pair of left and right I-beams 13a so that the first and second robots 11 and 12 can move in the longitudinal direction of the robot, and is provided on the inner surface of the lower end of one I-beam 13a. Each pinion gear 103 provided in the first and second robots 11 and 12 meshes with the rack 102.

Thus, each of the first and second robots 1
By driving the pinion gear 103 via the reduction gear 105 by each of the motors 104 provided in 1 and 12,
Each of the second robots 11 and 12 is moved in the longitudinal direction of the guide rail 13 via the rack 102, and supplies the first to sixth nailers 1 to 6 and the first and second nailing objects. Loading portions 35, 36 at positions 33, 34,
The second nailing target receiving positions 38 and 39 can be moved to respective positions facing the unloading portions 41 and 42.

By the way, the work table of the nailing machines 1 to 6 is held, and the nailing object 31 is moved by the first and second robots 11 and 12, respectively.
The movable tables 1b to 6b which can be moved between a position for exchanging the nailing target 31 with the nailing target 12 and a work position are provided such that the reference holes 32 of the nailing target 31 are vertically aligned. A reference pin 10 as a vertical positioning pin to be fitted is provided on each of the work tables 1d to 6d so as to satisfy the high-precision positioning. For this highly accurate positioning, the reference pin 10 and the reference hole 32 are fitted with a sufficient fitting margin without play.

Therefore, the fitting for such positioning and the work of releasing the fitting and releasing the positioning are difficult if the nailing object 31 is slightly inclined, such as by twisting. It is necessary to fit it accurately without tilting in the direction and lift it up again.

In order to satisfy this, the first and second robots 11 and 12 in the present embodiment are provided with a first joint shaft 111 which can turn around vertically, as shown in FIGS.
The first arm 112 can pivot about a horizontal axis at the base of the first joint axis 111 with respect to the first joint axis 111.
A third joint axis 115 at which the second arm 114 can pivot around a horizontal axis parallel to the second joint axis 113 at the distal end of the first arm 112, and a third joint axis 115 at the distal end of the second arm 114. A fourth joint shaft 116 capable of pivoting about a parallel horizontal axis in a 180-degree range upward, forward, and downward, and a fifth joint shaft 117 capable of pivoting about a longitudinal axis of a second arm orthogonal to the fourth joint shaft 116. And the loading portions 35, 36 of the first and second nailing target supply positions 33, 34, respectively.
Unloading sections 41, 42 of the first and second nailing object receiving positions 38, 39, and the moving tables 1b to 6
b, the nailing target 31 can be exchanged and the tip of the fifth joint shaft 117, which is the tip of the multi-joint arm 110, can be translated in the vertical direction.

At the tip of the fifth joint shaft 117, the first and second hands 1, which are distributed to and supported by the target positions on both sides thereof, are provided.
21 and 122 are provided. Each of the first and second hands 121 and 122 has a pair of left and right gripping claws 121.
a, 121b and grip claws 122a, 122b are provided back to back so as to face front and back. Each hand 12
Reference numerals 1 and 122 denote respective gripping claws 121a and gripping 1s.
22a while the cylinder and link mechanism 25 remain parallel to each other.
1 is a so-called parallel hand. However, the present invention is not limited to this, and an appropriate one can be selected and used.

The first and second hands 121 and 122 are respectively provided with gripping claws 121 a and 121 b and gripping claws 122.
When a and 122b face each other in the horizontal direction and face downward, the nailing target 31 is sandwiched and gripped from both sides.

The first and second robots 11 and 12 move the first and second hands 121 and 122 to face the conveyor 13 by turning about the vertical axis by the first joint axis 111. And the first to third nailers 1 to 3 and the fourth to sixth nailers 4 to 6 can be selectively opposed to each other, and can be moved along the guide rail 13. , Each operating range 21 and 22 shown in FIG.

As a result, the first robot 11
A loading portion 35 of a nailing object supply position 33,
It is possible to move to a position opposing each of the unloading section 41 at the first nailing target receiving position 38 and each of the first to third nailing machines 1 to 3, and at each opposing position, the loading section 35. Object 3 before nailing supplied from
1 is transferred to the empty ones of the first to third nailing machines 1 to 3 for use in nailing work. The nailing target 31 after the hammering is taken out, transferred to the unloading section 41 and taken out by the take-out conveyor 15 to be driven by the windmill driving machine 4.
5 side.

The second robot 12 includes a loading section 36 at the second nailing target supply position 34 and an unloading section 42 at the second nailing target receiving position 39.
And each of the fourth to sixth nailers 4 to 6 can be moved to a position facing each of them.

As a result, the second robot 12
A loading portion 36 at a nailing object supply position 36,
The second nailing target receiving position 39 can be moved to a position facing the unloading section 42 at the second nailing target receiving position 39 and each of the fourth to sixth nailing machines 4 to 6. Object 3 before nailing supplied from
1 is held and transferred to the empty ones of the fourth to sixth nailing machines 4 to 6 for use in nailing work. The nailing target 31 after the driving is taken out, transferred to the unloading section 42 and taken out by the take-out conveyor 15 to the windmill driving machine 4.
5 side.

In each of the first and second robots 11 and 12, even if one of the two hands 121 and 122 is simply provided downward, the movement of the two hands 121 and 122 is caused by the parallel movement of the tip of the articulated arm 110 in the vertical direction. , The loading tables 35 and 36, the unloading sections 41 and 42, and the moving tables 1b to 6b at the transfer positions of the nailing target 31 approach vertically from directly above, and in the vertical direction. , So that the game board base material positioned on the horizontal plane by the loading portions 35 and 36 can be automatically lifted, as well as for horizontal positioning on the moving tables 1b to 6b. The fitting of the reference pin 10 and the reference hole 32 in the vertical direction,
Nail driving object 3 with this disengagement operation
The automatic transfer and lifting of 1 can be performed easily and reliably without twisting.

If only the function of moving the tip of the most articulated arm 110 in parallel in the vertical direction is satisfied, it is sufficient if there are mutually parallel joint axes rotating around the horizontal axis.

The first and second robots 11 and 12 described above
FIG. 7 shows the joint operation of the first and second robots 11 and 12 when the object 31 is transferred before and after nailing.

The first and second hands 121 and 122 can simultaneously hold the nailing target 31 before nailing and the nailing target 31 after nailing, and can move and articulate. After gripping the nailing target 31 before nailing with one hand, the nailing target 31 is moved to the nailing machine that has completed nailing while holding the nailing target 31 in the upward standby state in which the nailing object 31 is turned around the fifth joint axis 117 by 180 °. The nailing object 31 immediately after nailing with the other hand facing downward here
Can be grasped and taken out.

After the removal, the hand 12
1 and 122 are further turned 180 degrees around the fifth joint axis 117 to reverse the relationship between the up and down directions, and the nailing target 31 before nailing, which is gripped by the other hand that has turned downward again, is nailed. It can be immediately supplied to the driving machine.

For this reason, in order to take out the nailing object 31 after nailing and to supply the nailing object 31 before nailing, the nailing machine reciprocates between the nailing object supply position and the nailing machine. ,
The two reciprocations of reciprocating between the nailing machine and the nailing target receiving position are eliminated, and after the nailing target 31 after nailing is taken out, the hands 121 and 122 are turned upside down. Then, the operation of the nailing machine only needs to be stopped for a very short time to supply the nailing target 31 that has been turned downward before nailing.

Therefore, in one nailing machine, the nailing target 31 before nailing is supplied and nailed, and then the nailing target 31 after nailing is taken out and the next nailing target is taken out. The time lag between the supply of the nailing object 31 before nailing and the start of the next nailing is extremely short, and the work efficiency of the nailing machine is improved.

The windmill driving machine 45 is provided beside the post-process line 15b as shown in FIG.
It is operated in combination with the board supply / discharge mechanism 201 provided above. The board supply / discharge mechanism 201 also has a dedicated terminal 202, which is connected to the host computer 68 and operated and controlled according to a program for the terminal.

The board supply / discharge mechanism 201 automatically supplies the nailing target 31 after nailing conveyed on the post-process line 15b to the windmill driving machine 45 in units of two under the above-mentioned control. The nailing target 31 after the two windmills hit simultaneously by the windmill 45 in the post-process line 1
5b is automatically returned to the next inspection line 15c.

As shown in FIG. 1, the windmill driving machine 45 has windmill supply mechanisms 203 on the left and right sides, and a board supply / discharge mechanism 2
A windmill is supplied to each of the two nailing targets 31 fed by the drive unit 01 and the nailing is automatically performed. Detailed description is omitted.

As shown in FIGS. 9 to 11, a pair of right and left chain conveyors 131 for receiving and transporting the nailing target 31 after nailing and windmilling that reach the inspection line 15c, as shown in FIGS. And this chain conveyor 131
Lifted to a predetermined inspection height after reaching a predetermined position regulated by the fixed stopper 211 of the chain conveyor 131.
And an intermittent feed mechanism 161 for intermittent feed regardless of the fixed stopper 211.

The nailing object 31 intermittently fed at a predetermined height by the intermittent feeding mechanism 161 and the nailing target 31 after the windmill driving have an inspection field of view 137 crossing the nailing target object 31 in a direction orthogonal to the transport direction. With the four TV cameras 132 arranged in this manner, inspection is performed for each predetermined area in a stopped state after each intermittent feed, and the inspection is repeated over the entire area.

For the intermittent feeding, the chain conveyor 1
Immediately before the intermittent feeding mechanism 31, two vertically movable stoppers 162 and 163 for temporarily stopping the sequentially conveyed nailing target 31 are provided, and the nailing target of the intermittent feeding mechanism 161 is provided. 31 is ejected and it is detected that it is in an empty state, the front stopper 1
The first nailing object 31 that has been lowered and waited 62
Is transported to the intermittent feed mechanism 161.

However, at this time, the stopper 163 on the rear side is still kept in the raised state so that the subsequent nailing object 31 is not transported. This is the first nailing object 3
When the intermittent feed mechanism 161 is conveyed to a predetermined position, the intermittent feed mechanism 161 is lifted in the positioning state, and the intermittent feed is started. This does not hinder the positioning and lifting for the intermittent feeding.

When the leading nailing object 31 has passed through the front stopper 162, it is raised, and then the rear stopper 163 is lowered, so that the subsequent nailing object 3
1 is conveyed toward the front stopper 162 and waits for the next inspection, and further waits for the next nailing target 31 to stop and then raises the rear stopper 163. By doing so, it is possible to separate the nailing targets 31 before and after the next transport. Thereafter, the same operation is repeated.

The intermittent feed mechanism 161 includes a cylinder 16
The intermittent feed plate 166 is provided on a guide rail 165 that is moved up and down by the guide rail 165 so that the intermittent feed plate 166 can move along the guide rail 165.
Is connected to feed means such as a feed screw (not shown) provided in the
The sheet is intermittently fed by a predetermined amount of driving.

When the intermittent feed plate 166 is lifted to lift the nailing object 31 arriving at the predetermined position, the reference pin 167 provided therein fits into the reference hole 32 of the nailing object 31. The nailing target 3 is positioned by being intermittently driven in this state.
1 is intermittently fed four times so that the entire area of the nailing object 31 passes through the inspection visual field 137 in four steps so that the entire area is inspected.

For this inspection, illumination is performed by an illuminator 133 slightly ahead of the inspection position. The illumination from the front is caused by the nail 1 nailed to the nailing target 31.
34 corresponds to the inclination of about 5 ° toward the upper direction where the nailing target 31 is installed as shown in FIG. 13, and the head of the nail 134 is illuminated from the inclined side. I have to do it. The illumination light source is a fluorescent lamp, but the type is not particularly limited.
Diffusely reflected light is directed by 5 or ground glass.

As a result, a portion of the head of the nail 134 having a high luminance, particularly on the side of the nailing target 31 in the transport direction, has a size that is a fraction of the entire head, and is extremely smaller than the actual head. By comparing the position data of the small high-intensity image 134a with the reference data, it is possible to determine the suitability or unsuitability more accurately than when the entire head is imaged.

More specifically, the area of the high-intensity image 134a located in the window 137a indicating the proper head position range set in accordance with the head position of each nail 134 on the imaging surface of the inspection visual field 137 is determined. If the value is equal to or less than the predetermined value, when there is no nail, the nail 134 is tilted, bent, the head of the nail 134 is tilted, or it is determined that the nail 134 has not been hit, and it is determined that the nail 134 is defective, and the others are good. judge.

The principle of the discrimination and the possibility of the discrimination based on this principle will be described with reference to FIG.

FIG. 14A shows a high brightness image 134a.
Is entirely normal within the window 137a, and is clearly higher than the reference value, so that it can be determined to be good. In (b) and (c), the entire high-intensity image 134a is completely outside the window 137a, and thus can be determined to be defective. In (d), only a very small portion of the high-brightness image 134a is located within the window 137a. In (e), since half or more of the high-brightness image 134a is located in the window 137a, the value exceeds the reference value and can be determined as good.

(G), (h), (l) and (m) are high when the head is inclined at a predetermined angle or more when viewed from the side or front in the transport direction due to the bending of the nail 134. This indicates that the luminance image 134a can be determined to be defective by swinging toward the inclination side with respect to the window 137a. (I), (j), (n), and (o) indicate that the nail 134 has a bend, but the inspection cannot be performed because the head position and inclination are within the normal range on the side and front sides. I have. (F) and (k) show that the condition is normal from both the side surface and the front side, and that it can be determined as good.

At the rejector 47 of the inspection line 15c, when the nailing object 31 determined to be defective arrives, the lifting stopper 47c is lifted to temporarily stop the nailing object 31. The puller 47a works as a pair to stop the nailing. The nailed object 31 is taken out to the discharge conveyor 47b, and is discharged out of the line.

As shown in FIGS. 15 to 18, the moving replenishing means 52 is supported and guided by a guide rail 141 which is laid along the arrangement of the first to sixth nailers 1 to 6. The trolley 142 has a supply hopper 1
43 are provided.

The trirow 142 is moved in the longitudinal direction of the guide rail 141 by driving a drive wire 143a stretched along the guide rail 141. Trolley 14
2 and a position facing each of the first to sixth nailers 1 to 6 is the guide rail 1.
By facing the position displays 150 and 151 provided on the display 41, detection is performed mechanically or optically, or ultrasonically or magnetically. It can be detected mechanically. The trolley 142 is driven by the driving wire 1
The chain is not limited to 43a, and a chain or other suitable cable can be used. Further, another reciprocating mechanism can be employed.

In the home position set near one end of the guide rail 141 facing the first nailing machine 1,
It also faces the host hopper 51, where the nail is supplied from the host hopper 51. In order to supply the nails, the nails 134 sent out from the host hopper 51 by the vibrating feeder 143b are sent to the upper supply hopper 146 by various types of lift conveyors 145 such as bucket type, and the nails are supplied from the supply hopper 146 to the supply hopper 143. It is designed to be used.

The use of the vibrating feeder 143b facilitates the setting of the amount of the nail 134 to be sent out from the host hopper 51 per unit time, the feeding, and the stopping of the feeding by setting the frequency of the vibrating feeder 143b and starting and stopping the vibration. Can be done.

The host hopper 51 is installed at a low position so that the nail can be easily inserted into the host hopper 51 manually.

When the trolley 142 is moved to a position opposite to the nailing machine that has issued the empty signal of the nails, the supply hopper 143 into which the nails have been inserted moves the nails in the supply hopper 143 to the nailing machine. Make it available.

The supply of the nails is performed by opening the cover 147 provided on one side of the bottom of the supply hopper 143 by a pushing operation of the cylinder 148 on the guide rail 141 side via the opening lever 149.

Each of the first to sixth nailing machines 1 to 6 receives the replenishment of the nails in its own hopper 146a, and supplies the nails via a vibration type or appropriate aligning machines 1e to 6e.

Therefore, the first to sixth nailers 1 to 6
Can be replenished with nails whenever necessary, and the pachinko machine can be manufactured automatically as a whole.
In order to detect the necessity of replenishing nails, the aligning machines 1e to 6
e is provided with an empty detection sensor 231.

FIG. 19 is a schematic block diagram of a control circuit for controlling the above-mentioned pachinko game board manufacturing line. FIGS. 20 to 27 show main control examples based on the control circuit.

This will be described. As shown in FIG. 19, a keyboard 181 for making various settings for the CPU of the host computer 68 and for inputting an upper part is provided. The model of the pachinko game board manufactured on the pachinko game board manufacturing line of the present embodiment is input by the keyboard 181 each time. The model to be manufactured may be switched in units of hours, days, or months, as needed, or each time the required number of machines is satisfied.

The host computer 68 communicates with each of the terminal controllers 1a to 6a, 61 to 67, and 69 for the control, and inputs and outputs various necessary signals. FIG. 20 is a flowchart of a main routine showing main contents of such control. FIG. 21 shows a flowchart of an operation processing subroutine of the single-axis drilling machine 24. This subroutine is executed when it is confirmed by a sensor or the like that the nailing target 31 has been carried in.

First, when the positioning of the carried-in nailing object 31 is completed, it is determined what kind of model is to be manufactured and set in the input / output control shown in FIG.

When the model is A, three holes are drilled for A. If the type is B, three holes are drilled for B. If the model is C, three holes are drilled for C.

When the drilling is completed, the positioning is released so that the nailed object 31 after the drilling is conveyed to the next, and a sensor or the like detects that the nailed object 31 is discharged from the drilled position. When confirmed by the
Then, a preparatory positioning operation is performed to raise 6 and stop the nailing object 31 that is being conveyed next, and then return to the main routine.

FIG. 22 shows a flowchart of the object supply operation processing subroutine. This subroutine is executed when the supply flag is set to 1.
The supply flag is set when there is no nailing target 31 at the first nailing target supply position, and the nailing target 31 before nailing is supplied from the pre-process line 14b of the supply conveyor 14 to the terminal end portion 14a. Is the state when the supply of the data is started.

When it is confirmed by a sensor or the like that the nailing object 31 has arrived at the first nailing object supply position 33, the supply flag is reset to 0, and then the rail-shaped lifter 201 is lifted up. The arriving nailing object 31 is lifted up so as not to be affected by the supply conveyor 14, and when its completion is confirmed by a timer, a sensor or the like, the pusher 37 is operated to operate the arriving nailing object 31. To the loading unit 35.

When it is confirmed that the leading end of the loading section 35 is empty, the stopper 93 is lowered, and the nailing object 31 thus fed is moved to the loading section 35.
To the tip of the When it is confirmed by a sensor or the like that the nailing target 31 has reached a position where the nailing target 31 comes into contact with the stopper 91 at the leading end of the loading portion 35, centering is performed by operating the left and right positioning stopper 92.

As a result, the loading section 35 is ready to supply the nailing target 31, so that the supply enable signal is started.

Then, only when it is confirmed that the next nailing object 31 has been sequentially carried into both the first nailing object supply position 33 and the second nailing object supply position 34,
The supply flag is set to 1 and the process returns. When the next nailing target 31 reaches the first nailing target supply position, the nailing target 31 is loaded into the loading unit 35 and supplied.

The second nailing object supply position 3
The next nailing target object 31 that has reached 4 is carried into the loading unit 36 in the second supply position loading unit process following the above-described operation so that it can be supplied.

By repeating the above, at the first nailing target object supply position 33, the ambassador and the second are used to feed odd-numbered items from the preceding ones to the loading section 35 so that they can be supplied. Nailing target supply position 34
In this case, even-numbered items from the preceding ones that are conveyed are sent to the loading unit 36 so that they can be supplied.

FIG. 23 is a flowchart showing a subroutine of the first or second robot operation process, which is executed when the object gripping flag before nailing is reset to 0.

The gripping flag before nailing is set to 1 when gripping the nailing object 31 before nailing, and is reset to 0 in the initial state.

It is determined whether the first or second nailing target supply position has issued a supply enable signal, and if so, the first or second robot 11 or 12 can supply the signal. The nailing target 31 of the loading portion 35 or 36 is gripped.

Upon completion of the gripping, the object flag before nailing is set to 1, and it is confirmed whether there is a nailing completion machine by an operation signal of the nailing machine side. It is determined whether there is an empty machine having no nailing target object 31 and if there is an empty machine, it is sequentially supplied to each empty machine in accordance with the priority order.

This priority is assigned to each of the first and second robots 1.
In the initial state, for example, the three nailers in charge are designated in the same order as viewed in the same direction in order to prevent them from interfering with each other. It is good to supply.

When the supply is completed, the gripping flag of the object before nailing is reset to 0 so that the next gripping is performed. By repeating the above operation, each of the nailing machines 1 to 3,
The nailing objects 31 before nailing are sequentially supplied to 4 to 6,
A nailing operation can be performed.

Thus, the first to sixth nailing machines 1 to 6
In the nailing completion machine can be sequentially formed, and when the nailing completion machine is confirmed, the nailing target 31 after the nailing is removed, and after the removal is completed, the nailing machine becomes empty. On the other hand, the nailing object 31 after the nailing is supplied so that the next nailing operation is continued. Also in this case, when the supply is completed, the object gripping flag before nailing is reset to 0, and the nailing object 3 before the next nailing is set.
1 can be gripped.

Further, the nailed object 31 after the nailing that has been taken out is transferred to the first or second unloading section 41 or 42, and upon completion of this, the process returns to the main routine.

FIG. 24 is a flow chart showing a subroutine for processing for taking out an object.

This subroutine is executed when it is confirmed by a sensor or the like that the nailing object 31 after nailing has been transferred to the first or second nailing object receiving position 38 or 39, When the nailing target 31 is transferred to the first nailing target receiving position 38, the first puller 3
8 operates to take out the nailing object 31 and take out the conveyor 1
5 and is conveyed to the next step. When the nailing target 31 is transferred to the second nailing target receiving position 39, the second puller 38 operates. The nailing target object 31 is taken out and sent to the transport start end 15a of the conveyor 15 to be transported to the next step.

FIG. 25 shows a flowchart of a nail bending inspection operation processing subroutine.

This subroutine is executed when it is confirmed by the sensor that the nailing target 31 after nailing and windmilling has been carried into the inspection position.

When it is confirmed by a sensor or the like that the nailing object 31 has been carried in until the front stopper is brought into contact with the front stopper, the rear stopper is raised and then the front stopper is lowered. Now, one nailing target 31 is transported to the inspection position. When it is confirmed by a sensor or the like that the nailing target 31 has reached the fixed stopper 211 at the predetermined inspection position, the intermittent feeding plate of the intermittent feeding mechanism is used. Is lifted to raise the nailing object 31 to a predetermined height, and the reference pin 167 is inserted into the reference hole 32 of the nailing object 31.
The nailing target 31 is positioned with respect to the intermittent feed mechanism, and when this is completed, the intermittent feed mechanism drives the intermittent feed plate by a predetermined amount. As a result, when it is confirmed by a sensor or the like that the nailing target 31 has reached a predetermined inspection position, an inspection operation is performed on the distal end region corresponding to the inspection visual field 137. If the positioning accuracy is good and the nailing target 31 can be properly set at the initial inspection position, the driving of the intermittent feed mechanism for setting the nailing target 31 to the initial inspection position can be omitted. .

After the inspection, the counter is incremented, and the intermittent feed plate is driven by a predetermined amount and the inspection operation after this drive is performed until the count value of the counter becomes 4, and the nail driving gripping the intermittent feed plate is performed. , Object 31 after nailing
The inspection is performed four times per time while shifting the inspection position to the rear end side, and the inspection of the entire area is completed.

When it is confirmed that the count value of the counter is 4, the count value is reset to 0, and it is determined whether or not a failure signal is generated as a result of the inspection. In this case, with the return of the intermittent feed mechanism, the defective nailing target 31 is stopped at the position of the rejector to perform the rejection processing.

If there is no defect signal, the intermittent feed mechanism is returned and the normal nailing object 31 is inspected on the inspection process line 15.
Discharge behind c.

Finally, the front stopper is raised so that the above operation is repeatedly performed.

FIG. 26 is a flowchart of the subroutine of the inspection operation shown in FIG. 25. In the inspection field of view 137, imaging and image processing are sequentially performed. As a result, it is determined whether the area of the high-intensity image 134a in the window is equal to or smaller than a predetermined value. To determine if it is defective. If defective, a defective signal is generated, and the process returns to the subroutine of FIG.

FIG. 27 shows a flowchart of a nail supply operation processing subroutine. In this subroutine,
It is determined whether or not the host hopper is empty, and if so, a warning is continuously issued. When the empty state is eliminated, the process proceeds to the next step. If it is not empty, go to the next step.

Next, it is determined whether or not the supply hopper is empty. If so, the trolley is positioned at the home position and the lift conveyor is driven to supply the nails to the supply hopper, and when this is completed, the next control is performed. If the replenishing hopper is not empty, the process directly proceeds to the next control.

Subsequently, it is determined whether or not the nailing machine has an empty nailing machine. If there is no nailing machine, the nailing machine is returned without any change. And move the trolley to this position. When the movement is completed, the supply hopper is opened to supply the nails. When the supply is completed, the supply hopper is closed and the trolley is returned to the home position.

The specific operation and control of the pachinko game board production line of the present embodiment can be variously changed, and the present invention is not limited to the description of the embodiment.
Also, the supply conveyor 14 which forms a part of the one-way transfer line
In addition, as shown by phantom lines in FIG. 1, loading sections 131 and 13 projecting in opposite directions to those of the above-described embodiment at the transport end section 14 a and the transport start end section 15 a of the take-out conveyor 15.
2 and the unloading parts 133 and 134 are provided, with respect to the transport end part 14a of the supply conveyor 14 and the transport start end part 15a of the take-out conveyor 15, on the side opposite to the robots 11 and 12 shown by solid lines in the above embodiment. Distributing and supplying the nailing targets 31 on the one-way transport line also to the arranged robots and nailing machines, so as to achieve a complicated transport line for the nailing targets 31 for a large number of nailers. Can be.

In this way, the working capacity on the pre-process line 14a is reduced by the transfer end portion 14a and the transfer start end 1a.
This is particularly advantageous in the case where the capability of nailing work by the robots 11 and 12 and the nailing machines 1 to 6 provided on one side of 5a is almost doubled or more.

[0134]

According to the amusement board manufacturing apparatus of the present invention, a hand having horizontally opposed downward gripping claws provided at the tip of the articulated arm of the robot can supply the base material of the supply conveyor. Transfer unit and the work table of the work machine, and automatically grips and transports the game board base material on them to the base material supply unit and the base material supply unit. Since the play board base material is automatically transferred between the receiving unit and the work table, the work required for the manufacture of the play board can be achieved with little labor even with a large number of working machines without the need for manual labor. Thus, product costs can be reduced.

Further, since the supply conveyor and the take-out conveyor which supply and take out the game board base material are vertically overlapped with each other, no space is taken up, so that space can be saved, which also leads to a reduction in product cost. In addition, the hand follows the movement of the tip of the articulated arm in parallel in the vertical direction, and approaches the base material supply unit and the base material reception unit and the workbench of the work machine in a vertical direction from directly above. ,
In addition, the game board substrate positioned on the horizontal plane is automatically lifted away from the top of the game board substrate in the vertical direction, and the work board substrate after the work is horizontally moved to the substrate receiving section. Not only can it be placed without contact, but also the positioning pin and the reference hole can be fitted in the vertical direction for horizontal positioning on the work table, and the operation of removing this fitting can be performed without twisting. The loading and unloading sections, whose parts and base material receiving parts protrude from the supply conveyor and unloading conveyor to the robot side and are displaced in the horizontal direction, supply the playboard base material by the supply conveyor and the play board after the work by the unloading conveyor And transferring the play board base material between the base material supply unit and the base material receiving unit by moving up and down in the vertical direction, the overlapping of the supply conveyor and the take-out conveyor. Since there is no such thing as or confused or each other interfere with each other by, the automatic working can be achieved well easily and reliably efficiency, product cost can be reduced also in this respect.

Further, since there are a plurality of base material supply units and base material receiving units of the supply conveyor and the take-out conveyor, and a plurality of robots and working machines corresponding thereto, respectively,
The supply conveyor and the take-out conveyor only increase the transport speed multiple times of the work cycle in which one robot transfers the corresponding work machine and the game board base material, and therefore, without increasing the number of conveyors, It is possible to cope with parallel work by a plurality of working machines corresponding to this. Also,
The loading section and the unloading section have a length to receive a plurality of game board base materials, and the loading section sends out the base game board base material only when there is no play board base material at the front end for the next work. While the tip of the game board substrate is being used for the next work, the next game board base can be received on the base side. When the unloading part receives the play board base material after the work at the tip, it sends it to the base side so that the next play board base material can be received immediately, while the work is sent to the base side. The game board base material is taken out and transported to the base material receiving section of the conveyor, so that the game board base material can be supplied sequentially at high speed and without confusion, and can be taken out to cope with high-speed work. so That.

[Brief description of the drawings]

FIG. 1 is a plan view showing a pachinko production line to which the present invention is applied.

FIG. 2 is a partial perspective view showing a gauge press of the production line of FIG.

FIG. 3 is a perspective view of a single-axis drilling machine of the production line of FIG.

FIG. 4 is a perspective view showing a handling mechanism of a transport conveyor of the production line of FIG. 1 and a portion for exchanging an object to be nailed;

FIG. 5 is a side view showing a relationship among a handling mechanism, a conveyor and a nailing machine of the production line of FIG. 1;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a perspective view illustrating a joint axis of the robot.

FIG. 8 is a perspective view showing a hand portion of the robot.

FIG. 9 is a perspective view showing a nail bending inspection unit of the production line of FIG. 1;

FIG. 10 is a plan view of FIG. 9;

FIG. 11 is a side view of FIG. 9;

FIG. 12 is a plan view showing a nail bending inspection state.

FIG. 13 is a side view showing a nail bending inspection state.

FIG. 14 is an explanatory diagram showing an appropriate or unsuitable state of the nail bending inspection.

FIG. 15 is a perspective view showing a moving supply unit.

FIG. 16 is a perspective view showing a nail supply mechanism to the moving supply group of FIG. 14;

FIG. 17 is a perspective view of a trolley having the supply hopper of FIG. 14;

FIG. 18 is a side view of FIG.

FIG. 19 is a block diagram of a control circuit.

FIG. 20 is a flowchart of a main routine showing main operation control.

FIG. 21 is a flowchart of a single-axis drilling machine operation processing subroutine of FIG. 20;

FIG. 22 is a flowchart of an object supply operation processing subroutine of FIG. 20;

FIG. 23 is a flowchart of an object receiving operation processing subroutine of FIG. 20;

FIG. 24 is a flowchart of a first or second robot operation processing subroutine of FIG. 20;

FIG. 25 is a flowchart of a nail bending inspection operation processing subroutine of FIG. 20;

FIG. 26 is a flowchart of a test operation subroutine of FIG. 25.

FIG. 27 is a flowchart of a nail supply operation processing subroutine of FIG. 20;

[Explanation of symbols]

 1-6 Nailing machine 1a-6a Moving table 1d-6d Workbench 10 Reference pin 11,12 Robot 14 Supply conveyor 15 Take-out conveyor 21,22 Operating range 31 Target for nailing 32 Reference hole 33,34 Supply of nailing target Position 35, 36 Loading unit 64, 65 Terminal 68 Host computer 91 Stopper 92 Positioning arm 110 Articulated arm 111 First joint axis 112 First arm 113 Second joint axis 114 Second arm 115 Third joint axis 116 Fourth joint Axis 117 Fifth joint axis 121 First hand 121a, 121b 122 Second hand 122a, 122b Gripping claw

Claims (2)

(57) [Claims] 1. A supply conveyor which transports a game board base material to a base material supply unit and waits for positioning in a horizontal plane, and a vertical hole provided on a work bench with a reference hole of the supplied game board base material. A work machine that performs necessary operations such as nailing by engaging the play board base material in a positioning state on a horizontal plane by fitting with a positioning pin, and a play board base material that has finished work with this work machine. A take-out conveyor that receives the material at the material receiving section and transports it to a take-out position, and a robot for manufacturing a game board that transfers a game board base material between the base material supply section and the base material receiving section and the working machine. The robot has an articulated arm that can move the tip in parallel in the vertical direction, and has a hand with a pair of left and right downward gripping claws horizontally facing each other at the tip, and the supply conveyor and the takeout conveyor have a predetermined of The base material supply part and the base material receiving part have a loading part and an unloading part that protrude from the supply conveyor and the take-out conveyor to the robot side while keeping a distance therebetween, and these loading parts and unloading parts are The robot is provided so as to be displaced in the horizontal direction when viewed from the plane.
An amusement board manufacturing device , wherein the same number of robots and substrate receiving portions are provided . 2. A game board substrate is transported to a substrate supply section.
Conveyor to wait for positioning on a horizontal surface
And the reference hole of the supplied game board base material is provided on the workbench.
Play by fitting into the vertical positioning pin
Nail driving by receiving the board base material in the positioning state on the horizontal plane
Work equipment that performs necessary tasks such as
The game board base material received in the base material receiving section and taken out
Take-out conveyor for transporting to the position,
And transfer of play board base material between the base material receiving section and the work machine
And a robot for the game board manufacture to the robot, articulated that can be moved parallel to the tip in a vertical direction
With an arm and a pair of left and right
Provide a hand with the gripping claws horizontally facing each other.
The conveyor and take-out conveyor are vertically stacked with a predetermined space between them.
Each substrate supply unit and substrate reception unit
From the feed and unload conveyors to the robot side
Has a loading section and an unloading section
And the loading section and unloading
The mounting part is provided with a lateral displacement when viewed from the plane .
And the loading and unloading sections
It has a length to accept multiple play board substrates,
Base part, provided that there is no play board base material at the tip
Means for feeding the game board base material and the supply conveyor
Loading the game board material transported to the material supply section
And a means for feeding the base so that the base side is full.
The unloading section receives the playboard base material at the tip.
Means to send this to the base side each time
Means for taking out the game board base material and sending it to the base material receiving part of the conveyor
And a game board manufacturing apparatus.