JP3310626B2 - Game board nailing machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nail driving machine for driving a nail into a game board such as a pachinko machine, and more particularly to an improvement in a nail feeding device.

[0002]

2. Description of the Related Art Conventionally, as this type of nailing machine, there is, for example, a "game machine nailing machine and an automatic game machine transporting device" disclosed in Japanese Patent Application Laid-Open No. 8-38696. In the above-mentioned conventional apparatus, the game board supported on the XY table is moved, and the nails sent out from the nail supply apparatus are supported by the tip of an openable nail holder, and the nail head is hit with a hammer apparatus. It is to be driven into the game board.

[0003] Specifically, the above-mentioned conventional device is disposed above the nail holder and at the tip of the nail supply device, and has a slot for nail passage formed on the side surface of the main body on the nail supply device side. A nail feeding mechanism that feeds the nail into the slot of the guide cylinder one by one while keeping the nail aligned with the tip end of the nail feeding device pressed and held, and the nail holding part at the tip with the axis of the guide cylinder. And a nail holder that supports the nail dropped from the guide cylinder on the axis of the guide cylinder with the nail holding part closed, and opens and retreats after the nail driving is completed.

When the game board is moved to the nail driving position by the XY table, the nails arranged at the tip of the nail feeder are held in pressure contact by the nail feeding mechanism, and the guides located above the nail holder are held. One by one is fed into the slot of the cylinder. At this time, the nail holder at the distal end advances to the axis of the guide tube and is closed, and the nail dropped in the guide tube is supported in the nail holder. In this state, the head of the nail is hit with a hammer device and driven into the game board.

Next, after the nail holder is opened and the nail holder is retracted, the XY table is operated and the game board is moved to the next nail driving position. In addition to the above-mentioned conventional apparatus, for example, Japanese Patent Laid-Open No. 6-254220,
95083, JP-A-7-178704, JP-A-7-112403, JP-A-7-112404
JP, JP-A-7-112405, JP-A-7-5
No. 9915, JP-A-6-114147, JP-A-48-69171, JP-A-2-35587, JP-A-2-35588, JP-A-2-3719
Related art described in Japanese Patent Publication No. 3 (JP-A) No. 3 is known.

[0006]

However, in the above-mentioned conventional apparatus, the nail feeding mechanism is driven by the air cylinder, and thus has the following problems. First, there is a problem that sound is generated. That is, although air is controlled by the electromagnetic valve, there is a drawback that a loud noise is generated when the electromagnetic valve is opened and closed. Second, there is a problem that vibration occurs. That is, a large vibration occurs when the air cylinder operates. For this reason, there was a disadvantage that the alignment of the nails was disturbed by the vibration. Third, there is a problem that the speed is slow. That is, since the electromagnetic valve is opened and then the air cylinder enters the air cylinder to operate, there is a drawback that the nail feeding speed is low.

Accordingly, the present invention has been proposed in view of the above-mentioned problems of the prior art, and has the following objects. (Claim 1) That is, the invention according to claim 1 is to reduce the operating noise by using a plunger, which is an electromagnetic solenoid. Also,
Since the vibration can be reduced, it is possible to prevent the nail from being disturbed. Further, the supply speed of the nail can be increased. In addition, manufacturing and maintenance can be easily performed.

[0008] The invention described in claim 1 further has the following object. That is, the invention according to claim 1 is such that the nail extraction operation can be performed reliably.

(Claim 2 ) The invention described in claim 2 has the following object in addition to the object of the invention described in claim 1 . That is, the claims
The invention described in 2 is to provide a nail removing device having a simple structure.

[0010]

Means for Solving the Problems (Features) The present invention is to achieve the above-mentioned object, and its contents will be described below with reference to embodiments shown in the drawings. (Claim 1) The invention according to claim 1 is characterized by the following three points. First, a nailing machine (100) of a game board (10) includes an XY table (300), a nail feeding device (600), a nail clamping device (700), a hammer device, as shown in FIGS. (500),
An electronic control unit (210) is provided.

The XY table (300) is, for example, shown in FIGS.
As shown in FIG. 6, the game board (10) is moved. The nail supply device (600) supplies nails (1000) one by one as shown in FIGS. 1 and 9 to 18, for example.

The nail holding device (700) holds a nail (1000) supplied by a nail supply device (600) as shown in FIGS. 1, 19 to 29, for example. For example, as shown in FIGS. 1, 7, and 8, the hammer device (500) is used to move a nail (1000) held by a nail holding device (700) to a game board (10) moved by an XY table (300). ).

The electronic control unit (210) includes an XY table
(300) is controlled to move to the position of the nail holding device (700) (see FIG. 40).

Second, the nail feeding device (600) has two chute forming plates (801, 802) as shown in FIG. 12, for example.
And a nail supply base (620), a nail supply slider (630),
Nail supply slide shaft (631) and nail supply plunger (632)
And The two chute forming plates (801, 802)
For example, as shown in FIG. 12, they are provided to face each other so as to form a nail supply path (800) having a gap larger than the thickness of the nail (1000). The nail supply base (620) is, for example, shown in FIG.
As shown in FIG. 14, the nails (1000) in the nail supply path (800) are aligned in a line. The nail supply slider (630)
12 and 14, for example, as shown in FIGS.
The nail (1000) is supplied to the hammer device (500) one by one, facing the end in the nail supply path (800) of 20). The nail supply slide shaft (631) slidably supports the nail supply slider (630) with respect to the nail supply base (620), as shown in FIGS. The nail supply plunger (632) drives a nail supply slide shaft (631), for example, as shown in FIGS.

Third, as shown in FIG. 40, for example, the electronic control unit (210) includes a control means (2) for a nail supply plunger.
24). Control means for the nail supply plunger (224)
Is for controlling the driving of the nail supply plunger (632).

Further, the nail supply slider (630) is provided with a nail removal device (650), for example, as shown in FIG. The nail removal device (650) locks the nail supply slider (630) at a position outside the nail supply path (800), as shown in FIG. 16, for example. At this time, the nail
The feeding slider (630) is pulled out by a pressing spring (662).
The removal slider (660) is in contact with the nail
Slide the feeding slider (630) out of the nail feeding path (800).
It is formed so that the nail supply slide
Between the slider (630) and the nail removal slider (660).
Is formed so that a nail extraction groove (670) for
You.

(Claim 2 ) The invention according to claim 2 has the following features in addition to the features of the invention described in claim 1 . That is, the nail removal device (650) includes a lock pin (651) and a lock lever (654), for example, as shown in FIG. The lock pin (651) is for sliding as the nail supply slider (630) slides. The lock lever
(654) is a lock pin (651) as shown in FIG.
Are provided with a lock groove (653) to be engaged.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (Explanation of FIGS. 1 to 3) FIGS.
1 illustrates an example of an embodiment of the present invention. Figures 1-3
Shows a nailing machine of a game board, FIG. 1 is a perspective view, FIG.
3 shows a right side view, and FIG. 3 shows a front view. (Nailing Machine) In FIGS. 1 to 3, reference numeral 100 denotes a nailing machine.

As shown in FIGS. 1 to 3, the nailing machine 100 is provided with a game board 10 (see FIG. 2) above a box-shaped control board 200.
Is placed in the width direction of the nailing machine 100 (hereinafter referred to as “X-axis direction”).
That. XY table 300 movable in the front-rear direction of the nailing machine 100 (hereinafter, referred to as “Y-axis direction”) and a main body frame 400 provided so as to straddle the control panel 200 in the width direction. A hammer device 500 that is attached and faces the XY table 300 from above, a nail supply device 600 that supplies nails to the hammer device 500, and a nail supplied by the nail supply device 600
And a nail holding device 700 for holding the 1000.

As shown in FIG. 3, a part feeder 900 for storing nails 1000 faces the nail supply device 600 via a nail supply path 800, as shown in FIG. (Control panel) As shown in FIGS.
An operation panel 201 for setting the operation of the nailing machine 100 and the like, and a setting display device 202 for displaying the set operation contents and the like are provided on the upper front part.

An electronic control unit 210 for controlling the operation of the nailing machine 100 is installed inside the control panel 200 (see FIG. 40). And, on the front of the control panel 200, FIG.
As shown in (3) to (3), an openable door 203 is provided so that maintenance of the electronic control device 210 (see FIG. 40) installed therein can be performed. (Description of FIGS. 4 to 6) Next, the XY table 300 will be described with reference to FIGS.

FIGS. 4 to 6 show XY tables.
4 is a plan view, FIG. 5 is a right side view, and FIG. 6 is a rear view. (XY Table) As shown in FIGS. 1 to 6, the XY table 300 is provided on the upper surface of the control panel 200, and moves the gaming panel 10 in the X-axis direction.
A Y-axis moving base 320 for moving in the axial direction.

As shown in FIG. 4, the X-axis moving table 310 is movably mounted in the X-axis direction on a pair of front and rear X-axis rails 311, 311 arranged on the upper surface of the control panel 200 in the X-axis direction. I have. Also, between the two X-axis rails 311 and 311
As shown in FIGS. 4 and 5, an X-axis moving screw 313 that moves the X-axis moving table 310 in the X-axis direction along a plurality of rail guides 312 provided on the lower surface of the X-axis moving table 310, Screw 313
And an X-axis motor 314 for rotating the motor.

As shown in FIGS. 4 and 6, the Y-axis moving base 320 is movable in the Y-axis direction on a pair of front and rear Y-axis rails 321, 321 arranged on the upper surface of the X-axis moving base 310 in the Y-axis direction. Attached to. As shown in FIGS. 4 and 5, between the two Y-axis rails 321, 321 along a plurality of rail guides 322 provided on the lower surface of the Y-axis carriage 320.
And a Y-axis motor 324 for rotating the Y-axis moving screw 323.

As shown in FIG. 5, a mounting table 325 for mounting and fixing the game board 10 is provided on the Y-axis moving table 320. Therefore, when the X-axis motor 314 is driven, the X-axis moving screw 313 rotates, and the X-axis moving table 310 can be moved in the X-axis direction. The Y-axis motor 324
Is driven, the Y-axis moving screw 323 is rotated, and the Y-axis moving table 320 can be moved in the Y-axis direction.

As described above, by combining the movement of the X-axis moving table 310 and the movement of the Y-axis moving table 320, the game board 10 mounted on the mounting table 325 can be moved in the XY axis directions. it can. (Description of FIGS. 7 and 8) Next, the hammer device 500 will be described with reference to FIGS.

FIGS. 7 and 8 show a hammer device.
FIG. 7 is a partial cross-sectional view of the hammer device viewed from the side,
FIG. 8 is a partial sectional view showing the internal structure and a side view of the vibrating cam, respectively. (Hammer Device) As shown in FIGS. 7 and 8, the hammer device 500 is provided in a hammer device frame 510 provided above the main body frame 400 (see FIG. 1).

As shown in FIGS. 7 and 8, the above-mentioned hammer device 500 moves the nail driver 100 (see FIG. 1) in the vertical direction (hereinafter, referred to as the nail driving device 100).
It is referred to as “Z-axis direction”. ) Z-axis rail 520
And a Z-axis moving upper portion 530 and a Z-axis moving lower portion 5 which are respectively mounted on the Z-axis rail 520 so as to be movable in the Z-axis direction.
40, a vibration driving device 550 provided below the Z-axis moving lower portion 540, and a female screw 560 provided on the Z-axis moving upper portion 530, and the Z-axis moving upper portion 530 and the Z-axis moving lower portion 540 are moved along the Z-axis. A Z-axis moving screw 570 for moving in the direction, and a Z-axis motor 580 connected to the upper end of the Z-axis moving screw 570 via a belt 581 to rotate the Z-axis moving screw 570.

The Z-axis moving upper part 530 and the Z-axis moving lower part 540 are connected by connecting bolts 531 as shown in FIGS. As shown in FIGS. 7 and 8, the connection bolt 531 has an upper end fixed to the Z-axis moving upper portion 530, a lower end inserted into the Z-axis moving lower portion 540, and a locking nut 532 at a lower end. Attached. Also, connecting bolt 531
Has a buffer spring 533 attached thereto.

Therefore, the Z-axis moving upper part 530 and the Z-axis moving lower part 540 can move integrally in the Z-axis direction. Further, when the downward movement of the Z-axis moving lower part 540 is restricted, the Z-axis moving lower part 540 can approach the Z-axis moving upper part 530 against the repulsive force of the buffer spring 533. . As shown in FIGS. 7 and 8, the vibration driving device 550 includes a hexagonal vibration cam 551 that is rotatable and has a straight portion slightly arcuate, and a vibration cam housing portion that houses the vibration cam 551. 552.

As shown in FIGS. 7 and 8, a hammer 553 is detachably attached to the lower part of the vibration driving device 550 downward. As shown in FIG. 7, a rod for controlling the lowering position of the hammer 553 and operating the expanding device 1300 is provided on the rear surface of the hammer 553.
554 are provided. As shown in FIGS. 1 and 8, a drive shaft 556 of the vibration motor 555 is attached to the rotation shaft of the vibration cam 551.
Connect the tip of.

The vibration motor 555 is mounted on the upper part of the main frame 400 as shown in FIG. Therefore, when the vibration motor 555 is driven, the drive shaft 556 rotates and the vibration cam 551 rotates, so that the hammer 553 whose upper end is in contact with the vibration cam 551 can be slightly vibrated in the Z-axis direction. (Description of FIGS. 9 to 16) Next, the nail feeding device 600 will be described with reference to FIGS.

9 to 11 show a nail feeding device at the time of feeding a nail. FIG. 9 is a plan view, FIG. 10 is a front view, and FIG. 11 is a sectional view taken along line XI-XI in FIG. Show. FIG.
Reference numerals 2 to 14 denote nail feeding devices at the time of taking in nails.
2 is a plan view, FIG. 13 is a front view, and FIG. 14 is XIV-X in FIG.
The sectional views along the IV line are shown. Further, FIGS.
6 shows a nail feeder at the time of nail removal, FIG. 15 is a plan view, and FIG. 16 is a front view. (Nail Supply Apparatus) The nail supply apparatus 600 is an apparatus attached to a nail supply apparatus frame 610 fixed to the outer surface of a hammer apparatus frame 510 (see FIG. 7) as shown in FIGS. As shown in FIG.
00 is sent downward.

More specifically, the above-mentioned nail feeding device 600 is the same as that shown in FIG.
As shown in FIGS. 11 to 11, 2 are provided opposite to each other so as to form a nail supply path 800 having a gap slightly larger than the thickness of the nail 1000.
The two chute forming plates 801, 802, the nail supply base 620 for aligning the nails 1000 in the nail supply path 800 from the parts feeder 900 in a line, and the nail 1000 facing the end of the nail supply path 800 of the nail supply base 620. Supply slider 630 for supplying the nails one by one to the hammer device 500, a nail supply slide shaft 631 for supporting the nail supply slider 630 slidably with respect to the nail supply base 620, and a nail supply slide shaft And a plunger 632 for driving the nail.

The gap between the nail supply path 800 and the nail 100
It is formed so as to be smaller than the outer diameter of the head of 0. Therefore, in the nail supply path 800, as shown in FIG. 11, the nails 1000 can be aligned in a line with the distal end thereof facing downward. As shown in FIGS. 9 and 10, the nail supply slider 630 is provided with a nail supply groove 633 vertically penetrating on one side of the nail supply base 620 facing the end of the nail supply path 800.

The gap between the nail supply grooves 633 is
Is formed to be smaller than the outer diameter of the head and larger than the outer diameter of the shaft portion. Therefore, the nails 1000 can be held one by one in the nail supply groove 633. As shown in FIGS. 9 and 10, the nail supply device frame 610 is provided at the base end side of the nail supply slider 630 via a slide connection shaft 634 movable in the slide direction of the nail supply slider 630, as shown in FIGS. Is connected to a nail supply slide shaft 631 slidably supported.

As shown in FIG. 9, a nail supply plunger 632 is connected to one end of the nail supply slide shaft 631 via a connection piece 635. On the other hand, when the nail supply plunger 632 is turned off, the nail supply slider 630 is pressed rightward in FIGS.

Therefore, when the nail supply plunger 632 is off, the nail supply slider 630 closes the nail supply path 800 as shown in FIGS. 9, 10 and 11 (FIGS. 9 and 10). In the right direction), nail 1000
Stops in the nail supply path 800. On the other hand, when the nail supply plunger 632 is turned on, as shown in FIGS.
The nail supply slider 630 slides to the left in FIGS. 12 and 13 so that the nail supply path 800 coincides with the nail supply groove 633, and one nail 1000 is taken into the nail supply groove 633 and held. Is done.

When the nail supply plunger 632 is turned off again, as shown in FIGS. 9 and 10, the nail supply slider 630 moves in the direction of closing the nail supply path 800 (to the right in FIGS. 9 and 10). Slide back. At this time, the nail supply groove 63
As shown in FIG. 14, the nail 3 is located above the nail supply pipe 640, and the nail 1000 held in the nail supply groove 633 falls into the nail supply pipe 640. (Nail Extraction Device) On the other hand, as shown in FIG. 16, a nail extraction device 650 for locking the nail supply slider 630 at a position off the nail supply path 800 is provided at the base end of the nail supply slider 630. Have been

As shown in FIG. 16, the nail removing device 650 has a lock pin 651 that slides as the nail supply slider 630 slides, and a lock lever 654 that has a lock groove 653 with which the lock pin 651 engages. It is composed of Then, when all the nails 1000 are to be extracted, the nail extracting device 650 engages the lock pin 651 with the lock lever 654 as shown in FIG. Nail removal groove 670 generated from the nail 1000
Is extracted.

As shown in FIGS. 15 and 16, the lock pin 651 is attached to the nail supply slider 630 and the spring receiver 652.
Are fixed to the nail feeder frame 610, respectively.
Also, the tip side of the nail supply slider 630 is shown in FIGS.
As shown at 0, a nail removal slider 660 is provided which is in contact with the nail supply slider 630 and is slidable together with the nail supply slider 630.

The nail removal slider 660 is shown in FIGS.
As shown in FIG. 3, a pair of upper and lower nail removal slider support shafts 66 are provided.
1 supports the nail supply slider 630. In addition, the lower nail removal slider support shaft 661 has
As shown in FIG. 13, a pressing spring 662 that biases the nail removal slider 660 toward the nail supply slider 630 is attached.

During normal nailing, the nail pulling slider 660 is moved by the urging force of the pressing spring 662.
It is pressed against 630 and slides with the nail supply slider 630. When the nail supply slider 630 is moved to a position outside the nail supply path 800 as shown in FIGS. 15 and 16, the lock pin 651 is locked by the lock groove of the lock lever 654 as shown in FIG. Engage with 653 to lock nail feed slider 630 in that position.

At this time, as shown in FIGS. 15 and 16, the nail supply slider 630 and the nail extraction slider 660 are separated from each other, and the nail extraction groove is interposed between the nail supply slider 630 and the nail extraction slider 660. 670 results. Therefore, in this state,
The nail in the nail supply path 800 can be extracted through the nail extraction groove 670.

When the lock lever 654 is operated to release the engagement between the lock pin 651 and the lock groove 653, FIG.
As shown in FIG. 10, the bias of the buffer spring 636 causes the nail supply slider 630 to return to the position facing the nail supply base 620. At this time, as shown in FIGS. 9 and 10, the nail supply slider 630 and the nail extraction slider 660 come into contact with each other, and the nail supply slider 630 and the nail extraction slider 660 slide together. Return to (Description of FIGS. 17 and 18) Next, the nail transport device 1100 will be described with reference to FIGS.

FIG. 17 is a longitudinal sectional view of the nail conveying device, and FIG.
Shows longitudinal sectional views of the buffer device. (Nail Conveying Apparatus) As shown in FIG. 17, an upper end of a nail supplying pipe 640 for supplying the nail 1000 to the hammer apparatus 500 faces the nail supplying apparatus 600.

In the middle of the nail supply pipe 640, FIG.
As shown in the figure, a nail transport device 1100 for transporting the nail 1000 to the hammer device 500 and a buffer device 1200 for controlling the supply timing of the nail 1000 are provided. Also,
At the lower end of the nail supply pipe 640, as shown in FIG.
The tip of the hammer 553 enters, and an expanding cylinder 1500 for performing a nailing operation faces.

As shown in FIG. 17, the nail conveying device 1100 includes a branch pipe 1110 having a branch path 1111 branched upward, and an air pipe 1120 for supplying air from an open upper end of the branch path 1111. Prepare. Above air pipe 1120
Is connected to the air compressor 1130 shown in FIG.
Air is blown inside.

The air compressor 1130 is the same as that shown in FIG.
As shown in the figure, it is arranged on the back of the control panel 200,
It may be placed anywhere inside or outside the control panel 200. Further, the inner diameter of the branch path 1111 is configured such that the nail supply pipe 640 side is narrower than the air blowing side. Therefore, when air is blown into the nail supply pipe 640 from the branch pipe 1110, a negative pressure is generated in the nail supply pipe 640, and the nail 1000 can be supplied from the nail supply device 600 to the hammer device 500. (Buffer Apparatus) The buffer apparatus 1200 shown in FIG.
As shown in FIG. 17, a buffer pin 1210 which is located downstream of the branch path 1111 (see FIG. 17), can appear in the branch pipe 1110, and always projects into the branch pipe 1110, and this buffer pin 1210 And a buffer plunger 1220 that protrudes and retracts in the branch pipe 1110.

Therefore, when the buffer pin 1210 protrudes into the branch pipe 1110, as shown in FIG. 18, the lower surface of the head of the nail 1000 hits the buffer pin 1210, and the supply of the nail 1000 is blocked. On the other hand, when the buffer plunger 1220 is turned on, the buffer pin 1210
Is retracted from the inside of the branch pipe 1110, and the nail 1000 falls toward the hammer device 500.

Thus, the nail 1 in the nail supply pipe 640 is
000 can be supplied to the hammer device 500 one by one. (Description of FIGS. 19 to 29) Next, the nail holding device 700 will be described with reference to FIGS. 19 to 23
FIG. 19 shows a nail holding device, and FIG.
FIG. 20 is a plan view at the time of release, FIG. 21 is a plan view showing a detailed structure, FIG. 22 is a sectional view taken along line XXII-XXII of FIG.
3 is a sectional view taken along line XXIII-XXIII in FIG.

FIG. 24 is a front view of the nail holding device and the expanding cylinder opening / closing device when the nail is being held, and FIG. 25 is a front view of the nail holding device and the expanding cylinder opening / closing device when the nail is released. 26 to 29 are plan views showing the opening / closing operation of the holding pieces. FIG. 26 shows the nail open state, FIG. 27 shows the holding state, FIG. 28 shows the retracted state of the nail, and FIG. 29 shows the moving state of the game board. Show. (Nail holding device) As shown in FIGS. 19 and 20, the nail holding device 700 includes a pair of holding pieces 710 and 720 which are opposed to each other and move toward and away from each other by moving one with respect to the other.

The pair of holding pieces 710 and 720 are shown in FIGS.
As shown in FIG. 0, a fixed-side holding piece 710 fixed to a nail holding base 730 (see FIG. 23) abutting on the surface of the game board 10;
Opposite to the fixed side holding piece 710, the movable side holding piece 720 rotatably supported by the shaft 721 with respect to the nail holding base 730.
It is composed of As shown in FIGS. 19 and 20, an extension 722 extending from the base end of the movable-side holding piece 720 is provided at the base end of the movable-side holding piece 720.

As shown in FIGS. 19 and 20, the extension portion 722 has a spring mounting portion 723 facing the inside of the nail holding device 700.
And a sensor contact piece 724 is provided toward the outside of the nail holding device 700. 19 and 20 are provided between the spring mounting portion 723 and the nail holding base 730 (see FIG. 23).
As shown in the figure, a holding spring 725 for urging the movable holding piece 720 in a direction to close the movable holding piece 720, that is, a direction in which the tip of the movable holding piece 720 approaches the tip of the fixed holding piece 710. Attach.

When the movable holding piece 720 is opened,
At the position where the sensor contact piece 724 moves, a sensor 726 including a proximity sensor or the like for detecting the sensor contact piece 724 is provided as shown in FIGS. The sensor 726
Is not limited to the proximity sensor, and for example, a microswitch or the like may be used.

Therefore, as shown in FIGS. 19 and 24, the two holding pieces 710 and 720 are always in a state where the tip is closed by the urging of the holding spring 725, that is, a state where the nail 1000 can be held between the tips. Has become. At this time, the sensor contact piece 72
19, as shown in FIG. 19, since the sensor 726 is separated from the sensor 726, the sensor 726 does not detect the sensor contact piece 724, and it is possible to recognize that both the holding pieces 710 and 720 are in the nail holding state. (Nipping piece opening / closing device) As shown in FIGS. 21, 24 and 25, an expanding roller is provided on the upper surface of the tip of the movable-side holding piece 720.
727 is rotatably mounted.

The expanding roller 727 has the configuration shown in FIGS.
As shown in FIG. 25, one side surface of the front end of the expanding device 1300 is in contact. The expanding device 1300 is shown in FIGS.
As shown in the figure, it is mounted on the nail holding base 730 so as to be located above the holding pieces 710 and 720 and to be able to swing forward and backward in the vertical direction of the nail holding device 700 with the rear as a rotation axis.

When the front end of the expanding device 1300 is located at the raised position, as shown in FIG.
When 0 is closed and the nail 1000 is grasped, and when the nail 1000 is lowered, the nail holding device 700 is opened to open the nail 1000 as shown in FIG. As shown in FIGS. 24 and 25, one side surface of the front end of the expanding device 1300 is inclined obliquely inward from the upper part to the lower part.

The expanding roller 727 and the expanding device 130
“0” functions as a holding piece opening / closing device that opens and closes both holding pieces 710 and 720 of the nail holding device 700. Therefore, as shown in FIG. 24, when the front end of the expanding device 1300 is at the ascending position, the movable holding piece 720 is biased by the holding spring 725 so that the front end of the movable holding piece 720 is fixed to the front end of the fixed side holding piece 710. Is approaching.

In the above state, the front end of the expanding device 1300 does not act on the expanding roller 727, and as shown in FIGS.
The nail 1000 can be held between the tips of the holding pieces 710 and 720. On the other hand, the front end of the spreader 1300 is
When pressed down by 554, the front end of the expanding device 1300 acts on the expanding roller 727 to push the movable holding piece 720 in a direction away from the fixed holding piece 710, and as shown in FIGS. The gap between the distal ends of the holding pieces 710 and 720 is opened, and the held nail 1000 is released.

In the above state, the nail 1000 can be inserted between the tips of the holding pieces 710 and 720. By repeating the above operation and moving the XY table 300 in the XY directions, as shown in FIGS.
Nail 1000 can be sequentially driven onto the board. (Nipping Piece Locking Device) FIGS. 21 and 2 show a state in which a base end of the fixed-side holding piece 710 and a base end of the movable-side holding piece 720 are provided.
As shown in FIG. 3, a pair of left and right lock rollers 740 are provided so as to be movable in the width direction of the nail pinching device 700, respectively.
Both lock rollers 740 are each a lock roller pressing spring 7
By 41, it is urged in the approaching direction.

As shown in FIG. 22, a lock shaft 750 attached to the rear end of the expanding device 1300 faces from above the pair of lock rollers 740. On the outer peripheral surface of the lock shaft 750, as shown in FIG. 22, narrow concave portions 751 and 751 into which the lock rollers 740 fit are provided.
The expanding device 1300 is configured such that when the front end acting on the expanding roller 727 is located at the ascending position, the rear end provided with the lock shaft 750 is located at the descending position.

Therefore, as shown in FIG. 38, when the front end of the expanding device 1300 is pushed down by the rod 554, the front end of the expanding device 1300 acts on the expanding roller 727, and the two holding pieces 710, 720 The gap between the tips opens. In the above state, the lock shaft 750 is at the raised position, and the tip of the lock shaft 750 faces between the lock rollers 740 as shown in FIG.

At this time, the lock rollers 740 are urged in a direction approaching each other by the lock roller pressing spring 741, so that the lock shaft 750 cannot enter between the lock rollers 740, and the leading ends of the holding pieces 710, 720. With the clubs open,
That is, the nail holding device 700 can be locked in the open state. On the other hand, the rear end of the spreader 1300 is
When the push-down projection 1310 (see FIG. 22) located above the abutment 00 is pressed down, as shown in FIG.
The front end of 1300 rises, and the space between the front ends of both holding pieces 710 and 720 is closed.

At this time, the lock shaft 750 is lowered, the two concave portions 751 of the lock shaft 750 are fitted between the two lock rollers 740, and the gap between the tips of the two holding pieces 710 and 720 is closed, that is, the nail holding device 700 Is locked in a pinched state. (Description of FIGS. 30 to 39) Next, the elevating device 1400 of the nail pinching device 700 will be described with reference to FIGS.

30 to 34 show a state in which the hammer of the hammer device is raised, FIG. 30 is a right side view of the main part of the nailing machine, FIG. 31 is a rear view of the main part of the nailing machine, and FIG. 33 is an enlarged vertical cross-sectional view of the lifting device of the nail holding device as viewed from the right side, FIG. 33 is an enlarged vertical cross-sectional view of the lifting device of the nail holding device as viewed from the front, and FIG. The figures are shown respectively.

FIGS. 35 and 36 show a state in which the hammer of the hammer device is in the process of descending. FIG. 35 is a right side view of the main part of the nailing machine, and FIG. 36 is a rear view of the main part of the nailing machine. Shown respectively. 37 to 39 show a state where a nail is driven by a hammer, FIG. 37 is an enlarged vertical sectional view of the elevation device of the nail holding device as viewed from the front, and FIG. 38 is a main part of the nailing machine. FIG. 39 is a right side view, and FIG. 39 is a rear view of a main part of the nailing machine. (Elevating device) As shown in FIGS. 21 to 23, the nail holding device 700 is provided with three support columns 760 upward from the upper surface of the nail holding base 730.

Further, the main body frame 400 has the structure shown in FIGS.
As shown in FIG. 1, by inserting the support post 760,
A support box 770 that supports the nail holding device 700 so as to be able to move up and down is fixed. In FIG. 30, the game board 10 is depicted as being inclined, but in reality, the game board 10 is placed horizontally and the hammer device 500 is slightly inclined forward toward the front. . The same applies to FIGS. 35 and 38.

As shown in FIGS. 30 to 33, a lifting device 1400 is attached to the nail holding device 700. The elevating device 1400 includes a support box as shown in FIGS.
A plurality of lifting columns 141 provided upward from the upper surface of 770
.. (See FIG. 31), an elevating part 1420 attached to the elevating column 1410 so as to be able to elevate and lower, and rotatably supported by the main body frame 400 by a shaft 1431, and an engaging roller 1432 at one end.
Lifting rod 1430 for raising the lifting section 1420
The engagement roller 1432 of the elevating rod 1430 is engaged with the dog 1440 connected to the upper part of the elevating part 1420, and a buffer spring 1441 as a cushioning material when the nail holding device 700 is raised.
And a lifting device 1450 that acts on the other end of the lifting rod 1430 to rotate the lifting rod 1430 against its own weight of the nail pinching device 700, thereby pushing up the lifting unit 1420.

As shown in FIGS. 32 and 33, the upper portion of the support column 760 of the nail holding device 700 has a slidable stopper plate.
It is fixed to the lower part of the elevating unit 1420 of the elevating device 1400 via 761. As shown in FIGS. 32 and 33, between the dog 1440 and the lifting rod 1430, an engagement roller 1432 of the lifting rod 1430 is provided.
A connecting shaft 1442 that moves up and down integrally with the connecting shaft 1442 is connected, and the buffer spring 1441 passes through the connecting shaft 1442.

Also, below the dog 1440, FIGS.
As shown in FIG. 7, a tapered surface inclined downward in a truncated conical shape is formed, and a pair of right and left fitting rollers 1443 face each other. As shown in FIG. 33, the fitting roller 1443 is urged toward the tapered surface of the dog 1440 by a fitting spring 1444.

For this reason, the tapered surface of the dog 1440 is
As shown in FIG. 3, by being pushed up by the pair of right and left fitting rollers 1443, the nail holding device 70
The lower surface of 0 slightly rises from the game board 10. Therefore, when the game board 10 is moved by the XY table 300, the surface of the game board 10 can be prevented from being damaged by the lower surface of the nail holding device 700.

As shown in FIGS. 30 and 31, the lifting device 1450 has a lifting shaft 1451 attached to the main body frame 400 so as to be vertically movable. At the lower end of the push-up shaft 1451, as shown in FIGS. 30 and 31, a push-up roller 1452 is provided which comes into contact with the other end of the elevating rod 1430 from above. Also,
At the upper end of the push-up shaft 1451, an action portion 1453 whose diameter is reduced upward is provided, and further above, a buffer spring 1454 is provided.

As shown in FIGS. 30 and 31, a pair of left and right working rods 1460 are provided on both sides of the working portion 1453 of the push-up shaft 1451 so as to contact the working portion 1453 and push the working portion 1453 downward. Provided. The operating rod 1460 is rotatably attached to the main body frame 400 by a shaft 1461 as shown in FIG.

Further, the lower end of the working rod 1460 is provided at the lower end of FIG.
As shown at 31, a pair of left and right working rollers 1462 sandwiching the working portion 1453 of the push-up shaft 1451 from both sides is provided. Further, between both upper ends of the operating rod 1460, as shown in FIG. 31, an operating spring 1463 for urging the both upper ends toward each other is attached so that the both operating rods 1460 are substantially parallel to each other. I have.

As shown in FIGS. 30 and 31, on the front surface of the upper end of the working rod 1460, a pair of left and right push rollers 1464 which are in contact with the operating portion 1472 and which are spread by the lowering of the operating portion 1472 are attached. ing. On the other hand, the Z-axis moving frame 59
30, a working rod operating member 1470 that opens and closes both ends of both working rods 1460 in conjunction with each other as shown in FIG.

As shown in FIG. 30, the operating rod operating member 1470 has a magnet 1 on its front surface facing the Z-axis moving frame 590.
471 are provided. As shown in FIGS. 30 and 31, an operating portion 1472 having a diameter reduced downward is provided on the back surface of the operating rod operating member 1470. The operating part 1472 is the same as that shown in FIG.
As shown in FIG. 7, by interposing between the push-opening rollers 1464 of the both action rods 1460, the both action rods 1460 can be opened and closed right and left.

The operating rod operating member 1 of the main body frame 400
As shown in FIG. 30, a fixed magnet 1473 is attached to the position where the 470 faces. When the operating rod operating member 1470 is at the highest position, the fixed magnet 1473 has the same polarity as the magnet 1471 and applies a repulsive force to the magnet 1471 to cause the operating rod operating member 1470 to move as shown in FIG. It is pushed out to the rear of the Z-axis moving frame 590. In contrast, the fixed magnet 1473 is
When the operating rod operating member 1470 is at the lowest position, the magnet 1471
The polarity is opposite to the above, and an attractive force is applied to the magnet 1471 to cause the operating rod operating member 1470 to move the Z-axis moving frame 59 as shown in FIG.
Attract toward the front of 0.

On the other hand, as shown in FIG. 30, on the upper part on the back side of the Z-axis moving frame 590, the operating rod operating member 1470 is engaged with the front surface of the upper end of the operating rod operating member 1470, and A stopper 1480 that locks in a state of being pulled toward the front is rotatably provided. As shown in FIG. 30, the stopper 1480 is supported by a pair of equilibrium springs 1481 orthogonal to each other, and has a lock release projection 1482 protrudingly provided on the Z-axis moving frame 590 side.

As shown in FIG. 30, the stopper 1480 is attached to the main body frame 400 by the Z-axis moving frame 590.
When it rises along with the rise, it comes into contact with the unlocking projection 1482, and rotates the stopper 1480 to move the operating rod operating member 14
An unlocking piece 1483 for unlocking 70 is provided. (Nail clamping device: Operation at the highest position of the hammer)
When the hammer 553 rises in the driving state, FIG.
As shown in (5), the Z-axis moving frame 590 moves to the highest position, the operating rod operating member 1470 also moves to the highest position, and the locking of the operating rod operating member 1470 by the stopper 1480 is released.

At this time, the operating portion 14 of the operating rod operating member 1470
As shown in FIGS. 30 and 31, 72 does not act on the push-open roller 1464 of the two operating rods 1460, so that the two operating rods 1460 are in a substantially parallel state. In the above state, both operating rods 14
Between the 60 working rollers 1462, as shown in FIG.
The working part 1453 of the 1451 is in a state of entering.

The lifting roller 1452 of the lifting shaft 1451 is
As shown in FIGS. 30 and 31, since it does not act on the other end of the lifting rod 1430, the dog 1440 and the lifting / lowering portion 1420 of the lifting / lowering device 1400
Is lowered by its own weight including the nail holding device 700. At this time, as shown in FIG. 30, the expanding device 1300 has its front end lowered and its rear end raised. For this reason, the state in which the tip portions of both holding pieces 710 and 720 are open, that is, the nail holding device 700 is locked in the open state. (Nail holding device: operation during descent of the hammer)
When the hammer 553 descends, as shown in FIG. 35, the operating rod operating member 1470 moves toward both operating rods 1460 due to the repulsive action of the magnet 1471 and the fixed magnet 1473.

At this time, the operating portion 14 of the operating rod operating member 1470
Reference numeral 72 denotes a push-open roller of the double acting rod 1460 as shown in FIG.
When interposed between 1464, both working rods 1460 are open at the upper ends and closed at the lower ends. In the above state, the action part 1453 of the push-up shaft 1451 is
As shown in the figure, by the action roller 1462 of both action rods 1460,
It is pushed down against its own weight including the nail holding device 700.

For this reason, the push-up roller 1452 of the push-up shaft 1451
Pushes down the other end of the lifting rod 1430, so that the lifting device 14
The lifting section 1420 of 00 rises against its own weight, and the nail holding device 700 connected to the lifting section 1420 also rises. At this time, as shown in FIG. 35, since the upper surface of the rear end of the expanding device 1300 is pushed down by the pressing projection 1310, the front end rises and the rear end descends.

Therefore, the state in which the end portions of the holding pieces 710 and 720 are closed, that is, the nail holding device 700 is in the nail holding state. Then, when the operating rod operating member 1470 further descends,
As shown in FIG. 39, the operating portion 1472 passes between the pair of left and right push-open rollers 1464 of the both working rods 1460, and
Return to a state parallel to each other.

Working rod operating member lowered to the lowest position
1470, as shown in FIG. 38, the magnet 1471 and the fixed magnet 1473
Is moved toward the Z-axis moving frame 590 and locked by the stopper 1480. (Nail holding device: Operation at the hammering position of the hammer)
The hammer 553 descends, and the tip of the hammer 553 contacts the head of the nail 1000, and the nail 1000 is driven into the game board 10, as shown in FIG. At this time, the rotation of the vibration cam 551 causes the hammer 553 to vibrate, so that the nail 1000 can be driven into the game board 10 smoothly.

In the above state, although the operating rod operating member 1470 is also at the lower end, as shown in FIGS.
Do not act on the push-open roller 1464 of the two action rods 1460, so that the two action rods 1460 are in a substantially parallel state. At this time, it is pushed upward by the inclination of the lifting / lowering rod 1430, and as shown in FIG. 39, the operating portion 1453 of the lifting shaft 1451 enters between the operating rollers 1462 of the both operating rods 1460. I have.

At this time, the lower surface of the nail pinching device 700 is in contact with the board surface of the game board 10 as shown in FIG. Then, after the nail 1000 is driven to some extent, as shown in FIG. 38, the upper surface of the front end of the expanding device 1300 is pushed down by the rod 554, so that the front end is lowered and the rear end is raised. I do.

As a result, the state in which the distal ends of the two holding pieces 710 and 720 are open, that is, the nail holding device 700 is locked in the open state, and the driving of the nail 1000 is completed. (Opening / Closing Device of Expanding Cylinder) As shown in FIG. 24, the tip of the hammer 553 is located in the expanding tube 1500 that can be opened and closed right and left.

As shown in FIGS. 24, 25, and 34, the expanding cylinder 1500 is supported by the main body frame 400 so as to be able to open and close left and right, and is opened and closed by an expanding cylinder opening and closing device 1600. As shown in FIG. 34, the expanding cylinder opening and closing device 1600 is supported by a plurality of suspension columns 1610... Provided downward from the main body frame 400.

More specifically, the expanding cylinder opening / closing device 1600 includes:
As shown in FIG. 34, the suspension frame 1620
A downwardly U-shaped guide slide base 1630 suspended from 400, and a guide moving unit 1650 attached to the left and right inner surfaces of the guide slide base 1630 via a plurality of guide shafts 1640 so as to be movable left and right, respectively. 1650, a guide return spring 1660 attached to the guide shaft 1640 and biasing each guide moving portion 1650 toward the inside of the guide slide base 1630, and a circle provided to project from the side surface of each guide moving portion 1650, respectively. Column-shaped guide pin 1670
And fixed guide cams 1680 each having a downwardly extending inclined surface 1681 that is fixed to the main body frame 400 and in contact with each guide pin 1670.

Each of the guide moving portions 1650 is connected to the left and right expanding cylinders 1500, respectively. As shown in FIGS. 30 and 34, the other end of the crank member 1700 whose one end is rotatably attached to the main body frame 400 is in contact with the upper surface of the guide slide base 1630. As shown in FIG. 30, a link member 1800 faces between the upper surface of the crank member 1700 and the link pressing portion 541.

The link member 1800 is connected to the link pressing portion 541.
And the timing of the opening of the expanding cylinder 1500 is taken. Specifically, the link member 1800 is shown in FIG.
As shown in the figure, it has a substantially T-shape,
It is rotatably attached to 400 via a link shaft 1810. Further, as shown in FIG. 30, a link operating section 1820 is provided at the upper end of the link member 1800.
Reference numeral 1820 indicates the lowered position of the link pressing unit 541.

Further, as shown in FIG. 30, a link roller 1830 extends from the middle of the length of the link member 1800, and the link roller 1830 is in contact with the upper surface of the crank member 1700. As shown in FIG. 30, the main body frame 400 includes a pressing member 1900 which comes into contact with the upper surface of the crank member 1700 and presses down the crank member 1700.
And an operation lever 2000 for operating the. (Opening / Closing Operation of Expanding Cylinder) Therefore, as shown in FIG. 30, when the link roller 1820 is at the raised position, the link roller 1830 of the link member 1800 is in contact with the upper surface of the crank member 1700. , The crank member 1700 is not depressed.

For this reason, the guide slide base 1630 is
As shown in FIG. 24, the suspension spring 1620 is positioned upward by the urging force of the suspension spring 1620. At this time, the guide pin 1670 is
The guide moving unit 1650 is located above the 1680 inclined surface 1681.
However, due to the bias of the guide return spring 1660, it is in a state of protruding toward the inside of the guide slide base 1630.

In the above state, as shown in FIG. 34, since the left and right expansion cylinders 1500 connected to the guide moving unit 1650 approach each other, the expansion cylinder 1500 is closed. On the other hand, the link operating unit 1820 is pressed by the lowering of the link pressing unit 541,
When the link member 1800 rotates about the link shaft 1810, the upper surface of the crank member 1700 is pushed down by the link roller 1830 as shown in FIG.

For this reason, the guide slide base 1630
As shown in FIG. 25, the suspension spring 1620 is pushed down against the bias. At this time, the guide pin 1670 moves to the lower part of the inclined surface 1681 of the fixed guide cam 1680, and the guide moving unit 16
50 is pushed out of the guide slide base 1630 against the bias of the guide return spring 1660. In the above state, as shown in FIG. 25, the left and right expanding cylinders 1500 connected to the guide moving unit 1650 are separated from each other.
00 is open.

On the other hand, even if the operating lever 2000 is operated, the pressing member 1900 similarly pushes down the crank member 1700, so that the expanding cylinder 1500 can be forcibly opened. (Nail driving operation by nailing machine) Next, the outline of the nail driving operation by the nail driving machine 100 will be described. In order to drive the nail 1000 into the game board 10, first, the game board 10 is mounted on the mounting table 325 of the XY table 300 as shown in FIG.

The nails 1000 stored in the nail supply path 800 of the parts feeder 900 are supplied into the nail supply pipe 640 by the nail supply device 600 as shown in FIG. As shown in FIG. 17, the nail supply pipe 640 includes a nail transport device 1100,
The buffer device 1200 faces and supplies the nails 1000 one by one to the hammer device 500. As shown in FIG. 38, the nail 1000 conveyed to the hammer device 500 is pinched by the nail pinching device 700 and driven into the surface of the game board 10 by the hammer 553.

At this time, the nail holding device 700 moves up and down in conjunction with the raising and lowering of the hammer device 500, and the holding pieces 710, 7
The opening / closing operation of 20 and the opening / closing operation of the expanding cylinder 1500 are performed. That is, the hammer device 500 rises, and at this time, the nail holding device 700 is at the lower position. Next, the hammer device 5
When 00 is lowered, the nail holding device 700 is raised, and the holding pieces 710, 7
20 closes and clamps nail 1000. At this time, the expanding cylinder 1500 is opened by the expanding cylinder opening and closing device 1600.

During the above operation, the XY table 300 is operated, and the game board 10 is moved so that the hammer device 500 and the nail holding device 700 are at the nail driving position. After the operation of the XY table 300 is completed, in a state where the nail 1000 is driven by the hammer 553, the nail holding device 700 once comes into contact with the surface of the game board 10 as shown in FIG.

When the nail 1000 is driven, the nail holding device 700 is in an open state for releasing the nail 1000.
500 is open. Thus, when the nail driving operation is completed, the hammer device 500 is raised, and at this time,
The nail pinching device 700 is configured such that the tapered surface of the dog 1440 is pushed up by a pair of right and left fitting rollers 1443, thereby providing a game board.
It rises slightly from the surface of 10.

After the nail pinching device 700 is slightly raised, as shown in FIG. 28, the game board 10 is slightly retracted, that is, advanced in the Y-axis direction by the XY table 300. At this time, since the nail holding device 700 is slightly elevated from the surface of the game board 10, the surface of the game board 10 can be prevented from being damaged by the lower surface of the nail holding device 700 when the game board 10 is evacuated.

In addition, due to the retraction, the nail 1000 driven immediately before retreats from within the gap between the opened holding pieces 710 and 720 of the nail holding device 700 as shown in FIG. For this reason, it is possible to prevent the nail 1000 driven immediately before from hindering the movement of the next nail 1000 'to the driving position. After the nail driving operation is completed, the hammer device 500 is raised.

At this time, the nail pinching device 700 is in a lowered state, but is slightly raised from the surface of the game board 10 as described above. Then, the nail holding device 700 moves up while the hammer device 500 moves down. The above operations are controlled by the electronic control unit 210, and the nails 1000 can be driven into the board of the game board 10 by operating each apparatus according to a procedure programmed in advance. (Description of FIGS. 40 to 48) Next, the electronic control unit 210
Will be described with reference to FIGS.

FIG. 40 shows a block diagram of the electronic control unit. 41 to 47 each show a program list, FIG. 41 shows a main program, and FIGS. 42 to 47 show each subprogram. FIG. 48 shows a list of common variables. (Electronic control device) The electronic control device 210 includes a CPU, an R
As described later, various units are configured by executing a program stored in the ROM or the like, mainly including an AM or a ROM.

The input of the electronic control unit 210 is
As shown in FIG. 0, an operation panel 201 (see FIG. 1), a setting display device 202 (see FIG. 1), X-axis limiters 315 and 316 (see FIG. 4), Y-axis limiters 326 and 327 (see FIG. 4), a sensor 726
(See FIGS. 19 and 20). On the output side of the electronic control unit 210, as shown in FIG. 40, an X-axis motor 314 (see FIG. 4), a Y-axis motor 324 (see FIG. 4),
Z-axis motor 580 (see FIG. 7), vibration motor 555 (see FIG. 1), nail supply plunger 632 (see FIG. 9), parts feeder 900 (see FIG. 2), air compressor 1130 (see FIG. 2)
Plunger 1220 for buffer (see FIG. 18),
An external computer 260 and the like are connected.

The setting display device 202 is connected to the input side and the external computer 260 is connected to the output side. However, the setting display device 202 and the external computer 260 are connected to both input and output. As shown in FIG. 40, the electronic control unit 210 is roughly divided into a device drive control unit 220, a storage unit 230, a display control unit 240, and a communication control unit 250. (Equipment drive control means) As shown in FIG. 40, the equipment drive control means 220 includes the following seven means.

First, as shown in FIG. 40, XY table control means 221 is provided.
Is for individually controlling the driving of the X-axis motor 314 and the Y-axis motor 324 shown in FIG. The XY table control means 221 receives the limit signals from the X-axis limiters 315 and 316 and the Y-axis limiters 326 and 327 shown in FIG.
The overrun of the axis motor 314 and the Y axis motor 324 is prevented.

Secondly, as shown in FIG. 40, a driving control means 222 controls the driving of the Z-axis motor 580 shown in FIG. In addition,
The driving control unit 222 detects that the nail holding device 700 is closed without pinching the nail 1000 by inputting a sensor signal from the sensor 726 shown in FIGS. Third, as shown in FIG. 40, a vibration motor control means 223, which controls the driving of the vibration motor 555 shown in FIG.

Fourth, the control means 22 for the nail supply plunger.
The control unit 224 controls the driving of the nail supply plunger 632 shown in FIG. Fifth, as shown in FIG. 40, there is a parts feeder control means 225, which controls the drive of the parts feeder 900 shown in FIG.

Sixth, as shown in FIG. 40, is an air compressor control means 226. The air compressor control means 226 controls the driving of the air compressor 1130 shown in FIG. Seventh, as shown in FIG. 40, is a buffer plunger control means 227. The buffer plunger control means 227 controls the driving of the buffer plunger 1220 shown in FIG. (Storage Unit) As the storage unit 230, although not shown, a RAM, a ROM, or the like is used.

Note that the storage means 230 may be a RAM or R
Not only the OM, but also a recording unit (not shown) of the external computer 260, a hard disk, an FD, a CD-ROM,
External storage means such as O may be used. The storage means 23
0 has the following three means as shown in FIG.
The first is, as shown in FIG. 40, a main program storage means 231.
A main program illustrated in FIG. 41 is stored.

Second, as shown in FIG. 40, a subprogram storage means 232 is provided.
32 stores various sub-programs and the like illustrated in FIGS. Third, as shown in FIG. 40, is a data storage means 233.
Common variables and the like illustrated in FIG. 48 are stored. (Display control means) The display control means 240 is for controlling the display on the display (not shown) of the setting display device 202. (Communication Control Unit) The communication control unit 250 controls communication with the external computer 260. (Description of FIGS. 49 to 53) Next, the electronic control unit 210
The various programs will be described with reference to FIGS.

FIG. 49 is a flowchart showing a schematic operation of the nailing machine, FIG. 50 is a flowchart of a main program, and FIGS. 51 to 53 are flowcharts of a subprogram (1). (Schematic operation of nailing machine) First, in step 1 (S1),
As shown in FIG. 49, a worker turns on a power switch (not shown) of the external computer 260 shown in FIG. This allows the external computer 260
Is turned on.

Thereafter, the operator starts communication software (not shown) of the external computer 260 by a required operation. Thus, communication software (not shown) of the external computer 260 starts up. Of course, external computer 26
0 communication software (not shown) may be automatically started when the external computer 260 is turned on.

Next, the process proceeds to step 2 (S2), and FIG.
As shown in FIG. 9, an operator turns on a power switch (not shown) on the operation panel 201 of the nailing machine 100 shown in FIG. Thus, the power of the nailing machine 100 shown in FIG. 1 is turned on. Thereafter, an operator pushes down an origin switch (not shown) on the operation panel 201 shown in FIG.

As a result, the XY table 300 shown in FIG. 1 returns to the origin, that is, the reference point. In addition,
When there is no nail, the lamp with nail (not shown) on the operation panel 201 shown in FIG. 1 is turned off. For this reason, workers
Set the nail 1000 on the parts feeder 900 (see Fig. 2),
The lighting of a nail-equipped lamp (not shown) on the operation panel 201 shown in FIG. 1 is checked.

Next, the process proceeds to step 3 (S 3), and FIG.
As shown in FIG. 9, the operator searches the gauge on the F0 screen (not shown) of the setting display device 202 shown in FIG. When the gauge is not registered in the nailing machine 100, the host (external computer 260) and the communication control means 250 (FIG. 4)
0), the gauge is registered, and the search is performed again.

Next, the process proceeds to step 4 (S 4), and FIG.
As shown in FIG. 9, a worker, that is, a game board 10, is manually set on a mounting table 325 of the nailing machine 100, for example, as shown in FIG. Note that, instead of the operator, for example, the setting may be automatically performed using a manipulator or the like.

Next, the operation proceeds to step 5 (S5), and FIG.
As shown in FIG. 9, an operator pushes down a start button (not shown) of the nailing machine 100 shown in FIG. Thereby, in the case of automatic operation, the following steps are automatically executed. At this time, a position confirmation operation or the like can be performed after the start and press. Next, the process proceeds to step 6 (S6), and as shown in FIG. 49, the program of the nailing machine 100, in this embodiment, FIG.
1 is executed.

Then, the process proceeds to a step S7 (S7), and FIG.
As shown in FIG. 9, the nailing is completed. This step 7 (S
7) is “M” in the main program list shown in FIG.
7 "block. The above “M7” means completion of nailing. Next, the process proceeds to step 8 (S8), and FIG.
As shown in FIG. 9, the XY table 300 shown in FIG. 1 is returned to the reference point.

The step 8 (S8) is performed in accordance with “G91 G28 X0” in the main program list shown in FIG.
The block “Y0” corresponds to this. The above “G28” is a command to return to the reference point, followed by “X0 Y0”
Indicates the coordinates of the reference point on the XY axes. Next, the process proceeds to step 9 (S9), and the processing is completed as shown in FIG. This step 9 (S9) corresponds to the block "M2" in the main program list shown in FIG.

"M2" means the end of the main program shown in FIG. Thereafter, the game board 10 in which nailing is completed is removed from the mounting table 325 of the nailing machine 100 shown in FIG. 5, and after a new game board 10 is set on the mounting table 325, the worker presses a start button (FIG. (Not shown) again, the next nailing operation is started. In step 9 (S9), in order to call attention of a worker,
Although not shown, a buzzer sounds and a patrol light is turned on. (Main Program) Next, the main program will be described with reference to FIG.

First, in step 10 (S10), as shown in FIG. 50, the operator pushes down a power switch (not shown) on the operation panel 201 of the nailing machine 100 shown in FIG. Thereby, the power of the nailing machine 100 is turned on. Next, proceeding to step 11 (S11), as shown in FIG. 50, the operator pushes down the origin switch (not shown) on the operation panel 201 shown in FIG.

As a result, the XY table 300 shown in FIG. 1 returns to the origin, that is, the reference point. Next, proceeding to step 12 (S12), as shown in FIG. 50, the operator visually judges whether or not a ready lamp (not shown) on the operation panel 201 shown in FIG. 1 is turned on. .

The lighting condition of the ready lamp (not shown) is when the XY table 300 and the hammer 553 are located at the origin and the nail 1000 is present. And the worker
After confirming that the ready lamp (not shown) is turned on, as shown in FIG. 50, the next step 13 (S13)
Proceed to. In the above step 13, as shown in FIG.
An operator turns on a start switch (not shown) on the operation panel 201 shown in FIG.

Thus, the main program shown in FIG. 41 is started. Next, the process proceeds to step 14 (S14), and a coordinate system is set as shown in FIG. The setting of the coordinate system is executed by the block of the sequence number “N900” in the main program list shown in FIG.

The block of “N900” includes FIG.
, "G90 G54 G0" is described. The “G90” is an “absolute value” command. The “G54” is a “coordinate system setting” command.

"G0" is a "positioning (rapid feed)" command. Next, the process proceeds to step 14 (S14), and FIG.
As indicated by 0, the processing of “Z # 500” is performed. The processing of "Z # 500" is executed by the block of the sequence number "N901" in the main program list shown in FIG.

In the block of “N901”, FIG.
, "Z # 500" is described. “Z # 500” is a “common variable setting” command. As shown in FIG. 48, the common variable “# 500” is set at an intermediate position of, for example, “31” mm. Note that “31” mm at the intermediate position is an example, and is not limited to the numerical value.

Therefore, the driving control means 222 shown in FIG.
7, the Z-axis motor 580 is driven to move the hammer 553 to an intermediate position of, for example, "31" mm. Next, the process proceeds to step 16 (S16), where the G code macro is set as shown in FIG.

The setting of the G code macro is performed by setting the sequence number “N90” in the main program list shown in FIG.
2 ". In the block of “N902”, “G100” is described as shown in FIG.

The "G100" is a "call G code macro" command, and the program number "099999901" of the subprogram (1) shown in FIG. 42 is set as a parameter. Therefore, each time each block shown in FIG. 41 is executed, the subprogram (1) is called and executed. After the execution of the subprogram (1), the process proceeds to the block next to the previously executed block.

Then, the process proceeds to a step S17 (S17),
As shown in FIG. 50, it is determined whether or not to resume. The determination as to whether or not to resume is performed by the block of the sequence number "N904" in the main program list shown in FIG. In the block of “N904”, FIG.
As shown in the figure, “IF [# 1000 EQ1] GOT
O # 1033 ".

The above “IF” is a “conditional branch”,
In the system variable “# 1000”, information on whether or not “resume” is stored. As a result, if the stored value of the system variable “# 1000” is “0”, “restart” does not have to be performed, and if “1”, the “restart” is performed.
Subsequently, a “resume sequence number” is stored in the system variable “# 1033”.

Therefore, when the value of the system variable of “# 1000” is “1”, the “GOTO” command causes
The “resume sequence No.” stored in the system variable “# 1033” is read. Step 17 above
In (S17), when the storage value of the system variable of “# 1000” is “0”, that is, when it is not necessary to perform “restart”, as shown in FIG.
8 (S18).

In the step 18 (S18), FIG.
The positioning is performed as shown in FIG. The above positioning is
This is executed by the block of the sequence number “N □□□” in the main program list shown in FIG. In addition, a numerical value is entered in the above “□”.

As shown in FIG. 41, the above “N □□□” includes “X □□□. □□ Y □□□. □□ Z # 500
T1 ". The above “X □□□. □□”
This shows the coordinate position on the X-axis of the driving position of the nail 1000.

Therefore, the X-axis motor 314 shown in FIG. 4 is driven via the XY table control means 221 shown in FIG.
The game board 10 is moved to the coordinate position of “X □□□. □□”. The “Y □□□. □□” indicates the coordinate position on the Y-axis of the driving position of the nail 1000. Therefore, X shown in FIG.
The Y-axis motor 324 shown in FIG. 4 is driven via the Y-table control means 221 to move the game board 10 to the coordinate position of “Y □□□. □□”.

The “Z # 500” is the Z of the hammer 553.
Indicates the coordinate position in the axial direction. The above “# 500” corresponds to FIG.
Indicates an intermediate position of, for example, "31" mm.
Therefore, as shown in FIG. 7, the Z-axis motor 580 is driven through the driving control means 222 shown in FIG.
Move the hammer 553 to an intermediate position of 1 "mm.

"T1" is a "nail driving" command.
Next, the process proceeds to step 19 (S19), and the macro program is executed as shown in FIG. In particular,
The subprogram (1) shown in FIG. 42 is called, and the “nail driving” command is executed in the subprogram (1).

After the execution of the subprogram (1), FIG.
The process proceeds to the block next to the previously executed block shown in FIG. Then, the subprogram (1) is sequentially executed for each block, and after executing the subprogram (1) of the last block, step 19 (S19) shown in FIG.
Proceed to.

In the last block, “X □□□. □”
□ Y □□□. □□ Z # 500 T0 ”. The first row shows the XYZ coordinate position, and the last “T
"0" means a "nail skipping" command, and the actual nailing operation of the nail 1000 is not performed.

Note that the last block “X □□□.
□□ Y □□□. The coordinate position of “□□” indicates a dummy point. That is, step 21 shown in FIG.
The return to the reference point in (S21) is usually performed at a low speed. On the other hand, the feed speed of each block is set to a high speed.

For this reason, by setting the dummy point at a coordinate position close to the reference point, it is possible to shorten the time required to return to the reference point. Thereby, the nailing operation of the nailing machine 100 can be speeded up. The above-mentioned “T0” is inserted not only in the last block but also between other blocks, and when the XY table 300 is moved to the coordinate position of the next block, the nail 1
It can also be used to prevent interference between the 000 and the nail holding device 700.

Thereafter, the flow advances to step 20 (S20),
The return from the subprogram (1) shown in FIG. 42 to the main program in FIG. 41 is performed. The return is performed by the sequence number "N93" of the subprogram (1) shown in FIG.
1 ". As shown in FIG. 42, “M99” is described in the block “N931”.

"M99" is a return instruction to the main program in FIG. 41, and the return destination is the block of "M7". The above “M7” means completion of nailing. Thereafter, the process proceeds to step 21 (S21), and as shown in FIG. 50, the return to the reference point is performed.

The return to the reference point is executed by the block "G91" in the main program list in FIG. As shown in FIG. 41, “G91 G28 X0 Y0” is described in the block “G91”.

"G91" is an "increment value" command. “G28” is a return command to the reference point, and “X0 Y0” indicates the coordinates of the reference point on the XY axes. Therefore, the driving control means shown in FIG.
The X-axis motor 314 shown in FIG. 4 is driven via 222 to move the game board 10 to the coordinate position of “X0”.

Similarly, the Y-axis motor 324 shown in FIG.
To move the game board 10 to the coordinate position of “Y0”. Thereafter, the process proceeds to “M2” of the next block, and the program ends. "M2" means the end of the main program shown in FIG.

On the other hand, if the ready lamp (not shown) is not lit in the previous step 12 (S12), as shown in FIG.
Proceed to 2). In step 22 (S22), the worker or maintenance / repair personnel determines the cause of the failure of the ready lamp (not shown), and performs a measure such as removing the cause.

After the above treatment, as shown in FIG. 50, the process returns from step 22 (S22) to the previous step 11, and the operator again operates the origin switch (not shown) on the operation panel 201 shown in FIG. Pressing down resumes work. On the other hand, in the case of resumption in the previous step 17 (S17), as shown in FIG.
Proceed to 3).

In step 23 (S23), FIG.
"N" of the sequence number in the main program list shown in
The “restart sequence number” written in the system variable of “# 1033” specified in the block of “904” is read. Thereafter, the read “restart sequence N”
o. Go to ". (Subprogram (1)) Next, the subprogram (1) will be described with reference to FIGS.

First, as shown in FIG.
Proceeding to (S31), "dwell" is executed. The above “dwell” is executed by the block of the sequence number “N920” of the subprogram (1) shown in FIG. As shown in FIG. 42, “G4” is described in the block “N920”.

The “G4” is a “dwell” command, and the dwell time is set to, for example, 10 mSec. Next, after the “dwell” ends, as shown in FIG. 51, the process proceeds to step 32 (S32). Step 3 above
In 2 (S32), as shown in FIG. 51, it is determined whether or not "position confirmation (hour)".

The determination of “position confirmation (hour)” is made according to FIG.
"N9" of the sequence number of subprogram (1) shown in
21 ". The above “N921”
As shown in FIG. 42, “IF [# 1
003 EQ1] GOTO932 ”.

The above “IF” is “conditional branch”.
In the system variable “# 1003”, information as to whether or not “position confirmation (hour)” is stored. as a result,
If the stored value of the system variable “# 1003” is “0”, “position check (hour)” need not be performed, and “1”
In the case of, "position check (hour)" is performed.

Therefore, when the value of the system variable of “# 1003” is “1”, the “GOTO” command causes
The process proceeds to the sequence number “N932” of the subprogram (1) shown in FIG. In the above step 32 (S32), the stored value of the system variable “# 1003” is
If it is “0”, that is, if it is not necessary to perform “position confirmation (hour)”, as shown in FIG.
Proceed to 3 (S33).

In the above step 33 (S33), FIG.
As shown in (2), it is determined whether or not "stop (at the time of command)". The determination of the "stop (at the time of command)" is made by the sequence number "N922" of the subprogram (1) shown in FIG.
Is executed by the following block. As shown in FIG. 42, the “N922” block includes “IF [# 1001
EQ1] GOTO941 ".

The above “IF” is “conditional branch”.
In the system variable of “# 1001”, information on whether or not “stop (at the time of command)” is stored. as a result,"#
If the stored value of the system variable of “1001” is “0”, “stop (at the time of a command)” need not be performed, and if “1”, “stop (at the time of a command)” is performed.

Therefore, if the value of the system variable of “# 1001” is “1”, the “GOTO” command causes
The process proceeds to the sequence number “N941” of the subprogram (1) shown in FIG. In step 33 (S33), the stored value of the system variable “# 1001” is
In the case of “0”, that is, when it is not necessary to “stop (at the time of command)”, as shown in FIG.
4 (S34).

In step 34 (S34), FIG.
As shown in (2), a determination is made as to whether or not "Nail Tohashi (hour)". The judgment of the above “nail tohashi (hour)” is based on the sequence number “N923” of the subprogram (1) shown in FIG.
Is executed by the following block. As shown in FIG. 42, the “N923” block includes “IF [# 1002
EQ1] GOTO931 ".

The above “IF” is a “conditional branch”.
In the system variable of “# 1002”, information as to whether or not “Nail Tohashi (hour)” is stored. as a result,
If the stored value of the system variable of “# 1002” is “0”, “Nail Tohashi (hour)” need not be performed, and “1”
In the case of, "Nail Tobashi (time)" is performed.

Therefore, when the value of the system variable of “# 1002” is “1”, the “GOTO” command causes
The sequence proceeds to the sequence number of "N931" of the subprogram (1) shown in FIG. 42, that is, step 40 (S40) described later and shown in FIG. In step 34 (S34), the stored value of the system variable “# 1002” is
In the case of “0”, that is, when it is not necessary to perform “Nail Tohashi (hour)”, as shown in FIG.
Proceed to 5 (S35).

In step 35 (S35), FIG.
As shown in (2), a determination is made as to whether or not "no temporary nail" (when there is no nail). The judgment of the above “no temporary nail” (when there is no nail) is shown in FIG.
"N" of the sequence number of the subprogram (1) shown in FIG.
924 ". The above “N92
In the block of “4”, as shown in FIG.
[# 1006 EQ1] GOTO920 ".

The above “IF” is a “conditional branch”.
In the system variable of “# 1006”, information as to whether or not “temporary nail pear (when there is no nail)” is stored. as a result,"#
When the storage value of the system variable of “1006” is “0”, “no temporary nail” (when there is no nail) need not be performed, and “1”
In the case of, "temporary nail pear (when there is no nail)" is performed.

Therefore, if the value of the system variable of “# 1006” is “1”, the “GOTO” command causes
The sequence number of "N920" of the subprogram (1) shown in FIG. 42, that is, the previous step 31 shown in FIG.
It returns to (S31). In step 35 (S35), the storage value of the system variable of “# 1006” is “0”.
In other words, if it is not necessary to perform “no temporary nail” (when there is no nail), as shown in FIG.
Proceed to (S36).

In step 36 (S36), FIG.
As shown in (2), the "drive-in" process of the nail 1000 is performed.
That is, the above-mentioned “drive-in” processing is executed by the block of the sequence number “N925” of the subprogram (1) shown in FIG. In the block of “N925”, “Z # 502 M10” is described as shown in FIG.

The above “Z # 502” indicates the coordinate position of the hammer 553 shown in FIG. 7 in the Z-axis direction. The above "# 502"
Indicates a lowermost position of, for example, "58.5" mm as shown in FIG. In addition, "58.5" mm of the lowest position
Is an example, and is not limited to the numerical value.

For this reason, the driving control means 222 shown in FIG.
38, the Z-axis motor 580 shown in FIG.
As shown in the figure, the hammer 553 is lowered to the lowest position of, for example, “58.5” mm, and the nail 1000 is driven into the game board 10. The above “M10” means the lower end of the auxiliary function. After the “drive-in” processing, the process proceeds to the next step 37 (S37) as shown in FIG.

In step 37 (S37), FIG.
As shown in the figure, "implant dwell" is performed.
The above “implant dwell” is executed by the block of the sequence number “N926” of the subprogram (1) shown in FIG. In the block of “N926”, “G4” is described as shown in FIG.

The above "G4" is "dwell", which is, for example, an increase value command having a duration of 10 mSec. Specifically, the stability of the height after the nail 1000 is driven by the hammer 553 is considered. After the above “implantation dwell” processing, as shown in FIG. 51, the next step 38 (S38)
Proceed to.

In step 38 (S38), FIG.
As shown in the figure, this is an execution step of the "increment of the increment value command Z0Y" process. Above "Increment value command Z0 Y escape"
Is executed by the block of the sequence number "N928" of the subprogram (1) shown in FIG. In the block of “N928”, as shown in FIG.
"G91 Z # 506 Y # 507".

"G91" is an "increment value" command. "Z # 506" indicates the coordinate position of the hammer 553 shown in FIG. 7 in the Z-axis direction. The above “# 506” corresponds to FIG.
As shown in FIG. 8, for example, the highest position of “−58.5” mm is shown. In addition, "-58.5" mm of the highest position is an example, and is not limited to the numerical value.

Therefore, the driving control means 222 shown in FIG.
7, the Z-axis motor 580 shown in FIG. 7 is driven, and the hammer 553 is raised to the highest position of, for example, "-58.5" mm. The above “Y # 507” indicates the coordinate position in the Y-axis direction of the XY table 300 shown in FIG.

As shown in FIG. 48, "Y # 507" indicates a retreat position of, for example, "-10" mm. Note that “−10” mm at the retracted position is an example, and is not limited to the numerical value. For this reason, the Y-axis motor 324 of the XY table 300 shown in FIG. 1 is driven via the XY table control means 221 shown in FIG. 40, and as shown in FIG.
The game board 10 is moved to the refuge position of 0 "mm, that is, is advanced.

After the above processing, as shown in FIG. 51, the flow advances to the next step 39 (S39). Step 39 (S3
In 9), as shown in FIG. 51, "dwell for nail drop" is executed. The above-mentioned “dwell for nail drop” is executed by the block of the sequence number “N929” of the subprogram (1) shown in FIG.

In the block of “N929”, FIG.
, "G4 X0.1" is described.
The “G4” is a “dwell”, which is an increase value command that sets a time by “X0.1” and has a duration of 100 mSec. Specifically, the falling time of the nail 1000 is secured.

After the above-mentioned “dwell for nail drop” treatment, FIG.
As shown in FIG. 1, the process proceeds to the next step 40 (S40).
In the step 40 (S40), as shown in FIG.
“G90” is executed. “G90” is the sequence number “N93” of the subprogram (1) shown in FIG.
This is executed by the block "0".

In the block of “N930”, FIG.
, "G90" is described. The above "G
“90” is a command for changing the “increment value” to the “absolute value”. After the execution of the above “G90”, the process proceeds to the next step 41 (S41) as shown in FIG.

In step 41 (S41), FIG.
"M99" is executed as shown in FIG. The above “M9
"9" is executed by the sequence number "N931" block of the subprogram (1) shown in FIG. In the block of “N931”, as shown in FIG.
It is described as "M99".

"M99" is a return command to the main program shown in FIG. At this time, the process proceeds to the sequence number of the block next to the already executed block. (Explanation of Steps in FIG. 52) On the other hand, in the previous step 32
In (S32), when the storage value of the system variable of “# 1003” is “1”, that is, “position confirmation (hour)”
In the case of, the "GOTO" command advances to the sequence number "N932" of the subprogram (1) shown in FIG. 42, and as shown in FIG. 52, the next step 51 (S5).
Proceed to 1).

In the above step 51 (S51), FIG.
As shown in (1), “# 1101 = 1” is executed. The above-mentioned "# 1101 = 1" is executed by the block of the sequence number "N932" of the subprogram (1) shown in FIG. In the block of “N932”, FIG.
As shown in FIG. 2, "# 1101 = 1" is described.

The above “# 1101 = 1” is replaced by “# 1101”.
This command sets the bit of the system variable of "1". After the execution of “# 1101 = 1”, the process proceeds to the next step 52 (S52), as shown in FIG. Step 52 above
In (S52), "confirmation of Z-axis position" is executed as shown in FIG.

The "confirmation of the Z-axis position" is executed by the block of the sequence number "N933" of the subprogram (1) shown in FIG. As shown in FIG. 42, “G1Z # 501F” is included in the block “N933”.
5000 ".

"G1" is a "cutting feed" command, and the execution speed is set to be slow. The "Z # 50"
“1” indicates the coordinate position of the hammer 553 shown in FIG. 7 in the Z-axis direction. "# 501" indicates a position confirmation position of, for example, "38" mm as shown in FIG. In addition, "38" mm of the position confirmation position is an example, and is not limited to the numerical value.

Therefore, the driving control means 222 shown in FIG.
7 to drive the hammer 553 to a position confirmation position of, for example, "38" mm. The “F5000” is a feed speed, for example, 500
0 mm / min. After the above-mentioned “confirmation of the Z-axis position”, as shown in FIG. 52, the next step 53 (S53)
Proceed to.

In the above step 53 (S53), FIG.
As shown in (2), it is determined whether or not "position confirmation (hour)". The determination of the "position confirmation (hour)" is performed by the sequence number "N934" of the subprogram (1) shown in FIG.
Is executed by the following block. As shown in FIG. 42, the “N934” block includes “IF [# 1003
EQ1] GOTO932 ”.

The above “IF” is “conditional branch”,
In the system variable “# 1003”, information as to whether or not “position confirmation (hour)” is stored. as a result,
If the stored value of the system variable “# 1003” is “0”, “position check (hour)” need not be performed, and “1”
In the case of, "position check (hour)" is performed.

For this reason, when the value of the system variable of “# 1003” is “1”, the “GOTO” command causes
The sequence number of "N932" of the subprogram (1) shown in FIG. 42, that is, the previous step 5 shown in FIG.
1 (S51). In the above step 53 (S53), the stored value of the system variable of "# 1003" is
In the case of "0", that is, when it is not necessary to perform "position confirmation (hour)", as shown in FIG.
4 (S54).

In the step 54 (S54), FIG.
As shown in (2), the "Z-axis intermediate position" is executed. The "Z-axis intermediate position" is executed by the block of the sequence number "N935" of the subprogram (1) shown in FIG. In the block of “N935”, FIG.
As shown in FIG. 2, “G1 Z # 500 F10000”
It is described.

"G1" is a "cutting feed" command, and the execution speed is set to be slow. The "Z # 50"
“0” indicates the coordinate position of the hammer 553 shown in FIG. 7 in the Z-axis direction. The above “# 500” indicates an intermediate position of, for example, “31” mm as shown in FIG.

Therefore, the driving control means 222 shown in FIG.
7 is driven to raise the hammer 553 to an intermediate position of, for example, "31" mm. The “F10000” is a feed speed, for example, 100
00 mm / min. After the processing of the “Z-axis intermediate position”, as shown in FIG. 52, the next step 55 (S55)
Proceed to.

In the above step 55 (S55), FIG.
As shown in (1), "fast forward" is executed. The “fast-forward” is executed by the block of the sequence number “N936” of the subprogram (1) shown in FIG. In the block of “N936”, as shown in FIG.
"G0" is described.

"G0" is a "fast-forward" command.
After the execution of the “fast forward”, the process proceeds to the next step 56 (S56) as shown in FIG. The above step 56 (S5
In 6), as shown in FIG. 52, “# 1101 = 0” is executed.

"# 1101 = 0" is the sequence number "N937" of the subprogram (1) shown in FIG.
Is executed by the following block. As shown in FIG. 42, “# 1101 = 0” is described in the block “N937”.

The above “# 1101 = 0” is replaced with “# 1101”.
This is a command to lower the bit of the system variable of “1”. After the execution of “# 1101 = 0”, the process proceeds to the next step 57 (S57) as shown in FIG. Step 57 above
In (S57), as shown in FIG. 52, it is determined whether or not "stop (at the time of command)".

The determination of "stop (at the time of command)" is made according to FIG.
"N9" of the sequence number of subprogram (1) shown in
38 ". The above “N938”
As shown in FIG. 42, “IF [# 1
001 EQ1] GOTO 944 ".

The above “IF” is “conditional branch”,
In the system variable of “# 1001”, information on whether or not “stop (at the time of command)” is stored. as a result,"#
If the stored value of the system variable of “1001” is “0”, “stop (at the time of a command)” need not be performed, and if “1”, “stop (at the time of a command)” is performed.

For this reason, when the value of the system variable of “# 1001” is “1”, the “GOTO” command causes
The sequence proceeds to the sequence number of “N944” of the subprogram (1) shown in FIG. 42, that is, step 64 (S64) shown in FIG. Step 57 (S57)
, The stored value of the system variable “# 1001” is
If it is “0”, that is, if it is not necessary to perform “stop (at the time of command)”, as shown in FIG.
8 (S58).

In the above step 58 (S58), FIG.
"GOTO 920" is executed as shown in FIG. The above “GOTO 920” is executed by the block of the sequence number “N939” of the subprogram (1) shown in FIG. In the block of “N939”, FIG.
2, it is described as "GOTO920".

By the above-mentioned "GOTO" command, the sequence number "N92" of the subprogram (1) shown in FIG.
0 ”, that is, step 31 (S3
Return to 1). (Description of Steps in FIG. 53) On the other hand, the previous step 33
In (S33), when the storage value of the system variable of “# 1001” is “1”, that is, “stop (at the time of command)”
In this case, the sequence proceeds to the sequence number “N941” of the subprogram (1) shown in FIG. 42 by the “GOTO” command, and as shown in FIG. 53, the next step 61 (S6).
Proceed to 1).

In the above step 61 (S61), FIG.
As shown in (1), “# 1100 = 1” is executed. The above-mentioned "# 1100 = 1" is executed by the block of the sequence number "N941" of the subprogram (1) shown in FIG. In the block of “N941”, FIG.
As shown in FIG. 2, “# 1100 = 1” is described.

The above “# 1100 = 1” is replaced with “# 110
This command sets a bit of a system variable of “0”. After the execution of “# 1100 = 1”, as shown in FIG. 53, the process proceeds to the next step 62 (S62). Step 62 above
In (S62), as shown in FIG. 53, it is determined whether or not "position confirmation (hour)".

The determination of “position confirmation (hour)” is made according to FIG.
"N9" of the sequence number of subprogram (1) shown in
42 ". The above “N942”
As shown in FIG. 42, “IF [# 1
003 EQ1] GOTO932 ”.

The above “IF” is a “conditional branch”.
In the system variable “# 1003”, information as to whether or not “position confirmation (hour)” is stored. as a result,
If the stored value of the system variable “# 1003” is “0”, “position check (hour)” need not be performed, and “1”
In the case of, "position check (hour)" is performed.

For this reason, when the value of the system variable of “# 1003” is “1”, the “GOTO” command causes
The sequence number of "N932" of the subprogram (1) shown in FIG. 42, that is, the previous step 5 shown in FIG.
1 (S51). In the above step 62 (S62), the stored value of the system variable of "# 1003" is
If it is “0”, that is, if it is not necessary to perform “position confirmation (hour)”, as shown in FIG.
Proceed to 3 (S63).

In the above step 63 (S63), FIG.
As shown in (2), it is determined whether or not "stop (at the time of command)". The determination of "stop (at the time of command)" is made by the sequence number "N943" of the subprogram (1) shown in FIG.
Is executed by the following block. As shown in FIG. 42, the “N943” block includes “IF [# 1001
EQ1] GOTO941 ".

The above “IF” is “conditional branch”,
In the system variable of “# 1001”, information on whether or not “stop (at the time of command)” is stored. as a result,"#
If the stored value of the system variable of “1001” is “0”, “stop (at the time of a command)” need not be performed, and if “1”, “stop (at the time of a command)” is performed.

For this reason, when the value of the system variable of “# 1001” is “1”, the “GOTO” command causes
The sequence number of "N941" of the subprogram (1) shown in FIG. 42, that is, the previous step 5 shown in FIG.
6 (S56). In the above step 63 (S63), the stored value of the system variable “# 1001” is
In the case of “0”, that is, when it is not necessary to perform “stop (at the time of command)”, as shown in FIG.
4 (S64).

In the above step 64 (S64), FIG.
"# 1100 = 0" is executed as shown in FIG. The above “# 1100 = 0” is executed by the block of the sequence number “N944” of the subprogram (1) shown in FIG. In the block of “N944”, FIG.
As shown in FIG. 2, “# 1100 = 0” is described.

The above “# 1100 = 0” is replaced with “# 110
This is a command to lower the bit of the system variable “0”. After the execution of “# 1100 = 0”, the process proceeds to the next step 65 (S65) as shown in FIG. Step 65 above
In (S65), as shown in FIG. 53, "GOTO92
0 "is executed.

"GOTO 920" is the sequence number "N945" of the subprogram (1) shown in FIG.
Is executed by the following block. In the block of “N945”, “GOTO920” is described as shown in FIG.

In response to the "GOTO" command, the subprogram (1) shown in FIG.
0 ”, that is, step 31 (S3
Return to 1).

[0216]

[Brief description of the drawings]

FIG. 1 is a perspective view of a nailing machine.

FIG. 2 is a right side view of the nailing machine.

FIG. 3 is a front view of the nailing machine.

FIG. 4 is a plan view of an XY table.

FIG. 5 is a right side view of the XY table.

FIG. 6 is a rear view of the XY table.

FIG. 7 is a partial cross-sectional view of the hammer device viewed from a side.

FIG. 8 is a partial sectional view showing the internal structure of the hammer device and a side view of the vibrating cam.

FIG. 9 is a plan view of the nail supply device during nail feeding.

FIG. 10 is a front view of the nail supply device during nail feeding.

FIG. 11 is a sectional view taken along the line XI-XI in FIG. 9;

FIG. 12 is a plan view of the nail supply device when nails are taken.

FIG. 13 is a front view of the nail supply device when nails are taken.

14 is a sectional view taken along the line XIV-XIV in FIG.

FIG. 15 is a plan view of the nail supply device during nail removal.

FIG. 16 is a front view of the nail supply device during nail removal.

FIG. 17 is a longitudinal sectional view of the nail transport device.

FIG. 18 is a longitudinal sectional view of a buffer device.

FIG. 19 is a plan view of the nail holding device when the nail is held.

FIG. 20 is a plan view of the nail holding device when the nail is released.

FIG. 21 is a plan view showing a detailed structure of the nail holding device.

FIG. 22 is a sectional view taken along the line XXII-XXII of FIG. 21;

FIG. 23 is a sectional view taken along lines XXIII-XXIII in FIG. 21;

FIG. 24 is a front view of the nail holding device and the expanding cylinder opening / closing device when the nail is held.

FIG. 25 is a front view of the nail holding device and the expanding cylinder opening / closing device when the nail is released.

FIG. 26 is a plan view of a holding piece showing a nail opened state.

FIG. 27 is a plan view of a holding piece showing a nail holding state.

FIG. 28 is a plan view of a holding piece showing a retracted state of a nail.

FIG. 29 is a plan view of a holding piece showing a moving state of the game board to a next nail driving position.

FIG. 30 is a right side view of a main part of the nailing machine with the hammer of the hammer device raised.

FIG. 31 is a rear view of the main part of the nailing machine with the hammer of the hammer device raised.

FIG. 32 is an enlarged vertical sectional view of the lifting device of the nail pinching device in a state where the hammer of the hammer device is raised, as viewed from the right side surface.

FIG. 33 is an enlarged vertical cross-sectional view of the elevating device of the nail pinching device in a state where the hammer of the hammer device is raised, as viewed from the front.

FIG. 34 is a front view of the expanding cylinder opening / closing device in a state where the hammer of the hammer device is raised.

FIG. 35 is a right side view of a main part of the nailing machine in a state where the hammer of the hammer device is being lowered.

FIG. 36 is a rear view of a main part of the nailing machine in a state where the hammer of the hammer device is being lowered.

FIG. 37 is an enlarged vertical sectional view of the elevation device of the nail holding device in a state where the nail is driven by a hammer when viewed from the front.

FIG. 38 is a right side view of a main part of the nailing machine in a state where the nail is being driven by a hammer.

FIG. 39 is a rear view of a main part of the nailing machine in a state where the nail is being driven by a hammer.

FIG. 40 is a block diagram showing an electronic control device.

FIG. 41 is a list showing a main program.

FIG. 42 is a list showing a subprogram (1).

FIG. 43 is a list showing a subprogram (2).

FIG. 44 is a list showing a subprogram (3).

FIG. 45 is a list showing a subprogram (4).

FIG. 46 is a list showing a subprogram (5).

FIG. 47 is a list showing a subprogram (6).

FIG. 48 is a list showing common variables.

FIG. 49 is a flowchart showing a schematic operation of the nailing machine.

FIG. 50 is a flowchart of a main program.

FIG. 51 is a flowchart of a subprogram (1).

FIG. 52 is a flowchart of a subprogram (1).

FIG. 53 is a flowchart of a subprogram (1).

[Explanation of symbols]

10 game board 100 nailing machine 200 control panel 201 operation panel 202 setting display device 203 opening and closing door 210 electronic control device 220 device drive control means 221 XY table control means 222 driving control means 223 vibration motor control means 224 nail supply plunger Control means 225 parts feeder control means 226 air compressor control means 227 buffer plunger control means 230 storage means 231 main program storage means 232 subprogram storage means 233 data storage means 240 display control means 250 communication control means 260 external computer 300 XY table 310 X-axis moving base 311 X-axis rail 312 Rail guide 313 X-axis moving screw 314 X-axis motor 315,316 X-axis limiter 320 Y-axis moving base 321 Y-axis rail 322 Rail guide 323 Y-axis moving screw 324 Y-axis motor 325 Mounting table 326,327 Y-axis limiter 400 Main frame 500 Hammer device 510 Hammer device Arm 520 Z-axis rail 530 Z-axis movement upper part 531 Connecting bolt 532 Lock nut 533 Buffer spring 540 Z-axis movement lower part 541 Link pushing part 550 Vibration driving device 551 Vibration cam 552 Vibration cam housing part 553 Hammer 554 Rod 555 Vibration motor 556 Drive shaft 560 Female screw 570 Z-axis moving screw 580 Z-axis motor 581 Belt 590 Z-axis moving frame 600 Nail supply device 610 Nail supply device frame 620 Nail supply base 630 Nail supply slider 631 Nail supply slide shaft 632 Nail supply plunger 633 Nail supply groove 634 Slide connection shaft 635 Connection piece 636 Buffer spring 637,638 Rubber 640 Nail supply pipe 650 Nail removal device 651 Lock pin 652 Spring receiver 653 Lock groove 654 Lock lever 655 Return spring 660 Nail removal slider 661 Nail removal slider support Shaft 662 Pressing spring 670 Nail removal groove 700 Nail holding device 710 Fixed side holding piece 720 Movable side holding piece 721 Shaft 722 Extension 723 Spring mounting part 724cm Contact piece 725 Holding spring 726 Sensor 727 Spreading roller 730 Nail holding base 740 Lock roller 741 Lock roller pressing spring 750 Lock shaft 751 Recess 760 Support post 761 Lock plate 770 Support box 800 Nail supply path 801,802 Chute forming plate 900 Parts feeder 1000 Nail 1100 Nail transport device 1110 Branch pipe 1111 Branch line 1120 Air pipe 1130 Air compressor 1200 Buffer device 1210 Buffer pin 1220 Buffer plunger 1300 Expanding device 1310 Pressing projection 1400 Lifting device 1410 Lifting column 1420 Lifting section 1430 Lifting rod 1431 Shaft 1432 Engagement Roller 1440 Dog 1441 Buffer spring 1442 Connection shaft 1443 Fitting roller 1444 Fitting spring 1450 Push-up device 1451 Push-up shaft 1452 Push-up roller 1453 Working part 1454 Buffer spring 1460 Working rod 1461 Shaft 1462 Working roller 1463 Working spring 1464 Push-open roller 1470 Working rod Actuator 1471 Magnet 1472 Actuator 1473 Fixed magnet 1480 Stopper 1481 Balancing bar F 1482 Lock release projection 1483 Lock release piece 1500 Expansion cylinder 1600 Expansion cylinder opening / closing device 1610 Suspension support 1620 Suspension spring 1630 Guide slide base 1640 Guide shaft 1650 Guide moving unit 1660 Guide return spring 1670 Guide pin 1680 Fixed guide cam 1681 Inclined surface 1700 Crank member 1800 Link member 1810 Link shaft 1820 Link operating part 1830 Link roller 1900 Pressing member 2000 Operating lever

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-7-178704 (JP, A) JP-B 5-51838 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) A63F 7/02 312 B27F 7/13

Claims (2)

(57) [Claims] An XY table for moving a game board; a nail supply device for supplying nails one by one; a nail clamping device for clamping the nail supplied by the nail supply device; Place the nail in the XY
A nailer for a game board, comprising: a hammer device for driving the game board moved by a table; and an electronic control device for controlling the XY table and moving the XY table to a position of the nail pinching device. A supply device, two chute forming plates provided to face each other so as to form a nail supply path having a gap larger than the thickness of the nail; and a nail supply for aligning the nails in the nail supply path in a line. A base, facing the end of the nail supply path of the nail supply base,
A nail supply slider that supplies the nail supply slider to the hammer device, a nail supply slide shaft that slidably supports the nail supply slider with respect to the nail supply base, and a nail supply that drives the nail supply slide shaft A plunger, and the electronic control unit includes a nail supply plunger control means for controlling the driving of the nail supply plunger .
The slider is in contact with the
Is formed so as to be lockable at a position deviated from the nail supply path.
So that there is a nail extraction groove for extracting the nail between
A nailing machine for a game board characterized by being formed . 2. The nail pulling device slides with a slide of the nail feeding slider.
A lock lever having a lock pin and a lock groove engaged with the lock pin
The game device according to claim 1, further comprising:
A nailing machine for a technical board.