JP3761063B2 - Game board automatic assembly machine for bullet ball machines - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic assembly machine for a game board of a ball game machine. More particularly, the present invention relates to an automatic game board assembly machine for a ball game machine for assembling a metal belt-like rail used on a game board of a ball game machine such as a pachinko game machine or a smart game machine.
[0002]
[Prior art]
On the surface of a game board such as a pachinko game machine or smart game machine, an outer rail and an inner rail made of a metal plate for guiding a game ball that has been launched are arranged. FIG. 20 is a front view of the pachinko gaming machine. Various decorative members and prize-winning devices are arranged on the board surface 8 of the game board 1 on which a decorative acrylic board printed on a plywood substrate is glued. That is, a variable display member 2 for displaying numbers, characters, and the like is disposed at the center of the game board 1 and a game area 7 is disposed above the variable display member 2.
[0003]
Below the variable display member 2, a start port 3 that drives the display of the variable display member 2 when a game ball enters is disposed. Further, a variable prize ball device 4 is disposed at a lower position of the start port 3. Further, on the outer periphery of the game board 1, plate-like metal outer rails 5 and 6 that are bent and arranged in an arc shape for guiding game balls are arranged.
[0004]
The inner and outer rails 6 and 5 need to be bent with a predetermined curvature in design and attached to the board surface 8 of the game board 1. In this mounting method, the head of a split pin-shaped fixing pin is attached to one side of the inner and outer rails 6, 5, and the lower end of this fixing pin is inserted into a mounting hole at a predetermined position opened on the panel surface 8. The inner and outer rails 6 and 5 are fixed to the board surface 8.
[0005]
Among these, the assembly of the outer rails 6 and 5 to the board surface 8 is performed by an operator by bending the inner rails 6 and 5 by hand or using a jig so that the outer rails 6 and 5 are aligned with the fixing pins at the positions of the mounting holes. While doing the insertion work. At this time, since there are a plurality of mounting holes, an assembling work into the mounting holes can be performed efficiently only by an experienced worker. In particular, in order to improve the productivity of assembling the game board 1, the work of assembling the inner and outer rails 6 and 5 to the board surface 8 is a neck, and it is necessary to improve the work efficiency.
[0006]
[Problems to be solved by the invention]
The present invention has been made based on the technical background as described above, and achieves the following object.
SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic game board assembly machine for a ball game machine in which a belt-like plate member is bent with a predetermined curvature and attached to a board surface in an automated manner.
Another object of the present invention is to provide an automatic game board assembly machine for a ball game machine that speeds up the work of attaching a belt-like plate member to a board surface by bending it with a predetermined curvature.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the present invention employs the following means.
A game board automatic assembly machine for a ball game machine according to the present invention includes a carry-in station for taking in a pallet containing a belt-like material that is a flexible assembly part;
A workpiece separation station for taking out and separating the accommodated strip-like material in a unit of one sheet by a first transfer unit;
A second transfer unit for taking out the strip-shaped material separated and transporting the strip-shaped material while bending it into an arc ;
In order to fix the strip material bent in the arc shape to the board surface of the game board, a fixing pin integrated into the strip material is inserted into an attachment hole on the board surface of the game board with an assembly machine and assembled. In an automatic game board assembly machine for a ball game machine comprising an assembly station for
The belt-like material is a rail (5) provided on the game board,
The second transfer unit (13)
The rotary shaft (60) provided at the tip of the arm (12) of the second transfer unit (13) is provided with a hand body (61),
The hand body (61) is provided with a finger member (63, 63) swingably via a support shaft (62, 62),
A gripping claw (64, 64) is provided at the tip of the finger member (63, 63). The claw (64, 64) is for gripping the rail (5), and has a drive mechanism. The rail (5) is detached and attached by
One end of a cylinder (65) is rotatably connected to the finger member (63) by a first shaft (66), and a piston rod (67) of the cylinder (65) is connected to the other finger member (63). The tip of is rotatably provided by the second shaft (68),
When the cylinder (65) is driven, the finger members (63, 63) are swung around the support shafts (62, 62),
The rail (5) held by the claws (64, 64) is bent in an arc shape during transfer to the next station by swinging of the finger members (63, 63) .
[0009]
The third means is a carry-in station for taking in a pallet containing a belt-like material that is a flexible assembly part;
A workpiece separation station for taking out and separating the accommodated strip-like material by a transfer unit in units of one sheet;
In order to fix the separated parts to be assembled to the board surface of the game board, a fixing pin integrated into the belt-like material is inserted into the mounting holes on the board surface of the game board by the assembling machine and assembled. It is a game board automatic assembly machine for a ball and ball game machine composed of an assembly station.
[0010]
The fourth means is a carry-in station for taking in a pallet containing a belt-like material that is a flexible assembly part;
A workpiece separation station for taking out and separating the accommodated strip-like material by a transfer unit in units of one sheet;
The belt-shaped material is transferred while being bent in an arc shape by the second transfer unit,
In order to fix the strip-shaped material bent in an arc shape to the board surface of the game board, a fixing pin integrated into the belt-like material is inserted into an attachment hole on the board surface of the game board with an assembly machine and assembled. It is a game board automatic assembly machine for a ball game machine comprising an assembling station.
[0011]
[Action]
The pallet on which the assembly parts to be assembled to the game board of the elastic gaming machine are stacked is taken in at the carry-in station, the pallet is transferred to the next take-out station, and the stacked assembly parts are taken out. The assembly board is assembled to the board surface of the game board at the assembly station, and the game board of the ball game machine is automatically assembled.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an embodiment when an automatic assembly machine for a game board of a ball game machine is applied to the assembly of an outer rail 5, and is a plan view showing the main part. FIG. 2 is an oblique axis projection view showing the appearance of the workpiece separation station # 3. FIG. 3 is an oblique projection showing the appearance of the charging station # 4 for bending the outer rail 5. As shown in FIG.
[0013]
4A and 4B are plan views of the loading jig 11. 5A and 5B are plan views of the second transfer robot. FIG. 6 is an oblique axis projection view showing the appearance of the fixed pin posture alignment jig. FIGS. 7A and 7B are explanatory views showing the function of the sliding tool of the fixed pin posture alignment jig. FIG. 8 is an oblique axis projection view showing the appearance of the charging robot. FIG. 9 is a front view of the fixed pin press-fitting machine. FIG. 10 is a partially enlarged cross-sectional view of the press-fitting tool of the fixed pin press-fitting machine.
[0014]
The automatic assembly machine for the outer rail 5 of the game board 1 includes a setup station # 1, a loading station # 2, a separation station # 3, a loading station # 4, a fixed pin posture alignment station # 5, an insertion station # 6, and It consists of approximately 7 stations of press-fitting station # 7 (see FIGS. 9 and 10). The setup station # 1 is a station for mounting the outer rail 5 stacked on the empty pallet 9. The carry-in station # 2 is a station for taking in the outer rail 5 mounted on the empty pallet 9 at the setup station # 1 for assembly.
[0015]
The separation station # 3 is a station for separating the outer rails 5 stacked by the first transfer robot 10 into one sheet. The charging station # 4 is a station for preliminarily bending the outer rail 5 separated at the separation station # 3 and placing the outer rail 5 at a predetermined position. The fixed pin posture alignment station # 5 is a station for aligning or correcting the posture of the fixed pin 92 (see FIG. 7) for fixing the outer rail 5 to the board surface 8 of the game board 1.
[0016]
The insertion station # 6 is a station for assembling by inserting the fixing pin 92 of the outer rail 5 into the board surface 8 of the game board 1. The press-fitting station # 7 is a station for press-fitting the outer rail 5 into the board surface 8 and finally assembling it. Hereinafter, the detailed function and structure of each station will be described.
[0017]
Setup station # 1
The setup station # 1 is a station for carrying in an empty pallet 9 and mounting the outer rail 5 on the pallet 9. The mounting of the outer rail 5 on the pallet 9 is performed manually. The conveyor 15 that transports the pallet 9 includes a plurality of transport rollers 16. Each transport roller 16 is rotationally driven by a rotational drive mechanism (not shown). The pallet 9 is mounted on the transport roller 16 and is transported by the rotation of the transport roller 16.
[0018]
A large number of positioning pins 17 are fixed on the pallet 9, and the outer rails 5, which are plate-like workpieces to be assembled, are positioned by the positioning pins 17 and stacked and mounted. Eventually, this setup station # 1 is a station for carrying in an empty pallet 9 and mounting the outer rail 5 on the pallet 9. Two push buttons 18 and 19 are arranged at the side surface position of the conveyor 15. One push button 18 is used to call up an empty pallet 9 by operating a lifter (not shown) from a pallet conveyor (not shown) arranged below.
[0019]
The other push button 19 is for pushing when mounting of the outer rail 5 on the pallet 9 is completed. The push button 19 is used to send a signal indicating that the setup is completed to the control device of the automatic assembly machine of the game board 1, and the control device can send the pallet 9 to the next station at any time by this signal. A flag indicating that is in the memory.
[0020]
Carry-in station # 2
The carry-in station # 2 is a station that takes in the outer rail 5 mounted on the empty pallet 9 at the setup station # 1 for assembly. The pallet 9 on the carry-in station # 2 is driven by the rotation of the transport roller 21 of the conveyor 20 and moves to the next station. On this loading station # 2, the pallet 9 stands by until it is called from the next station.
[0021]
Separation station # 3
The separation station # 3 is a station for taking out the outer rails 5 stacked and mounted on the pallet 9 one by one. The pallet 9 is transferred at the separation station # 3 by transfer rollers 22 and 22 arranged on both sides. The conveyance rollers 22 and 22 have a retracting mechanism (not shown) so as not to be an obstacle when the empty pallet 9 is lowered. The pallet 9 is positioned and fixed at a predetermined position by a positioning dog 23 at the front and rear.
[0022]
In the separation station # 3, an upper and lower lifter 24 (dotted line in FIG. 1) is further arranged. When the outer rail 5 disappears from the pallet 9 and the pallet 9 becomes empty, the empty pallet 9 is moved downward by the upper and lower lifter 24. Evacuated. The empty pallet 9 withdrawn below the separation station # 3 is further conveyed by a conveyance roller (not shown) on the upper and lower lifters 24 and a conveyance roller (not shown) arranged below the loading station # 2. It passes under the loading station # 2 and is returned to the lower position of the setup station # 1.
[0023]
FIG. 2 is an oblique projection showing a situation in which the separation station # 3 takes out one unit from the stacked outer rails 5 by the first transfer robot 10, that is, a separation situation. The first transfer robot 10 is a general-purpose robot having a known structure having a scarler-type arm 31. A hand 33 is provided at the tip of the arm 31 of the first transfer robot 10 via a shaft 32, and two fingers 34 a and 34 b for gripping the outer rail 5 are provided at two ends of the hand 33. ing. The two fingers 34a and 34b are each provided with two gripping claws 35a and 35b.
[0024]
One outer rail 5 is pinched and held between the two claws 35a and 35b. The two claws 35a and 35b are driven by an air-driven actuator built in the fingers 34a and 34b. This drive mechanism is well known and will not be described.
Hereinafter, the operation of the first transfer robot 10 will be described. In response to a command from the control device of the first transfer robot 10, the arm 31 is driven to place the hand 33 on the side surface of the laminated outer rail 5. At this time, air is adsorbed by the hand 33 from two adsorption holes (not shown) arranged at both ends of the outer rail 5. Since the center of the outer rail 5 is supported by the positioning pins 17 fixed to the pallet 9, the outer rail 5 is slightly raised from the stacking position so that only both ends of the outer rail 5 are bent.
[0025]
In this state, the claws 35a, 35b of the fingers 34a, 34b at both ends of the hand 33 grip only one outer rail 5. The above operation is the separation operation of the outermost outer rails 5 that are eventually stacked. The outer rail 5 separated by the first transfer robot 10 is transferred by the hand 33 of the first transfer robot 10 onto the charging jig 11 of the charging station # 4 which is the next station. The separation operation of the outer rail 5 by the first transfer robot 10 is programmed so that the separation position differs for each sheet. This is because the positions are different because they are stacked as shown in FIG.
[0026]
Charging station # 4
The charging station # 4 is a station for preliminarily bending the outer rail 5 separated at the separation station # 3 and placing the outer rail 5 at a predetermined position. 3 is an oblique projection showing details of the charging jig 11, and FIGS. 4 (a) and 4 (b) are plan views thereof. The main body plate 40 of the loading jig 11 is rectangular and plate-shaped, and a plurality of work restricting pins 41 are arranged on the upper part. The work regulation pin 41 is for guiding and positioning the outer rail 5 and is fixed to the main body plate 40 with a bolt through a pin fixture 42 so that the position can be freely adjusted.
[0027]
A fixed V block 43 and a movable V block 44 are disposed at both ends of the main body plate 40. The fixed V block 43 is formed with a contact surface 45 which is a V-shaped notch and is fixed on the main body plate 40 with bolts. The contact surface 45 of the fixed V block 43 is for contacting one end of the outer rail 5. Similarly, the movable V block 44 is formed with a contact surface 46 that is a V-shaped cutout and moves along the upper surface of the main body plate 40. The contact surface 46 is for contacting the other end of the outer rail 5.
[0028]
One end of a rod 47 is fixed to the movable V block 44. The rod 47 is slidably inserted into a block 48 fixed to the main body plate 40. The other end of the rod 47 is fixed to one end of the link 49. The other end of the link 49 is connected to the tip of a piston rod 51 of a cylinder 50 that is operated by air pressure. After all, when the cylinder 50 is driven, the piston rod 51, the link 49, the rod 47, and the movable V block 44 move. For this reason, the outer rail 5 sandwiched between the fixed V block 43 and the movable V block 44 is bent at both ends and bent as shown in FIG.
[0029]
A light projector 52 and a light receiver 53 are further disposed at both ends of the center of the main body plate 40 (see FIGS. 4B and 4B). Red light emitted from a projector 52 made of an infrared light emitting diode is received by a light receiver 53. When the outer rail 5 is placed at a predetermined position of the main body plate 40, the outer rail 5 blocks infrared light, so that the light receiver 53 does not receive it. Thereby, it can be determined whether or not the loading jig 11 has the outer rail 5. The outer rail 5 bent with the set curvature is transferred by the second transfer robot 13 to the next fixed pin posture alignment station # 5.
[0030]
Second transfer robot 13
FIGS. 5A and 5B are diagrams illustrating the structure and function of the hand 59 of the second transfer robot 13. A hand body 61 is provided on the rotary shaft 60 corresponding to the wrist provided at the tip of the arm 12 of the second transfer robot 13. Finger members 63 and 63 are swingably provided on the hand main body 61 via support shafts 62 and 62. At the tips of the finger members 63 and 63, grip claws 64 and 64 having the same structure as the first transfer robot 10 are provided. The claws 64 are for gripping the outer rail 5, and the outer rail 5 is attached and detached by a drive mechanism (not shown).
[0031]
One finger member 63 is rotatably connected to one end of a cylinder 65 by a shaft 66. The other finger member 63 is provided with a tip end of a piston rod 67 of a cylinder 65 rotatably by a shaft 68. After all, when the cylinder 65 is driven, the finger members 63 and 63 are swung around the support shafts 62 and 62. By the swinging of the finger members 63, 63, the outer rail 5 held by the claws 64, 64 is bent into an arc shape during transfer to the next station (see FIG. 5B). The outer rail 5 is transferred to the next fixed pin posture alignment station # 5 in a state of being bent in an arc shape.
[0032]
Fixed pin posture alignment station # 5
The fixed pin posture alignment station # 5 is a station for setting the mounting posture of the fixed pin 92 (see FIG. 7) attached in advance to the outer rail 5 so that it can be inserted. FIG. 6 is an oblique axis projection view showing the external appearance of the fixed pin posture alignment jig 70. The outer rail 5 transferred from the charging station # 4 by the second transfer robot 13 is placed on the fixed pin posture alignment jig 70. On the jig main body plate 71, a plurality of positioning pins 72 for restricting the outer peripheral side surface of the outer rail 5 are arranged along an arc line.
[0033]
A fixed V block 73 is disposed on the jig body plate 71, and this V groove is formed as an abutment surface 74, and one end of the outer rail 5 is abutted against the abutment surface 74 for positioning. . On the other hand, a movable V block 76 that can move is disposed on the jig body plate 71. A V-groove of the movable V block 76 is formed as an abutment surface 77, and the other end of the outer rail 5 is abutted against the abutment surface 77 to be positioned.
[0034]
A tip of a piston rod 79 of a cylinder 78 is fixed to the movable V block 76. Since the base end of the cylinder 78 is fixed on the jig body plate 71, the movable V block 76 eventually presses the other end of the outer rail 5 with the contact surface 77. By this pressing, one end of the outer rail 5 is brought into contact with the contact surface 74 of the fixed V block 73 and the outer peripheral side surface is brought into contact with the positioning pin 72 and bent at a predetermined curvature. Fixed.
[0035]
Clamp mechanisms 80 for fixing the outer rail 5 on the jig body plate 71 are arranged at two locations on the outer periphery of the outer rail 5. The fixing clamp 81 is fixed on the jig body plate 71. The outer rail 5 is fixed between the fixed clamp 81 and the movable clamp 82. The movable clamp 82 is fixed to the tip of the piston rod 84 of the cylinder 83. The cylinder 83 is driven, the piston rod 84 is moved, the movable clamp 82 is driven, and the outer rail 5 is clamped.
[0036]
The sliding tool 90 is a jig for aligning the posture of the fixing pin 92 for fixing the outer rail 5 to the board surface 8 of the game board 1. The cross-sectional structure of the fixing pin 92 is shown in FIGS. A pin mounting hole 91 for mounting the fixing pin 92 is formed on one side in the width direction of the outer rail 5. The fixing pin 92 attached to the pin attachment hole 91 is processed in the state shown in the figure in advance, but it is not necessarily oriented perpendicular to the longitudinal direction of the outer rail 5. The posture of the fixing pin 92 is aligned by the sliding tool 90 so that it can be easily inserted.
[0037]
The sliding tool 90 is disposed below the jig body plate 71. The holding tools 93a and 93b of the sliding tool 90 are formed with sliding surfaces 94a and 94b which are concave portions. As shown in FIG. 7A, the two clippers 93a and 93b perform a rectangular motion such as ab-c-d-a in synchronization with a drive mechanism (not shown). For this reason, the posture of the fixing pin 92 is aligned so as to be suspended from the side surface of the outer rail 5. By this posture alignment, the fixed pin 92 can be inserted into the mounting hole of the board surface 8 of the game board 1. In this state, the outer rail 5 is gripped by the insertion robot 14 and transferred to the next insertion station # 6.
[0038]
Insertion robot 14
FIG. 8 shows the insertion robot 14. An insertion hand 97 is attached to the shaft 96 at the tip of the arm 95 of the insertion robot 14. The hand main body 98 of the insertion hand 97 is provided with a plurality of finger mechanisms 99 at circumferential positions. The claws 101a and 101b of the finger mechanism 99 are opened and closed by a claw driving mechanism 100 using air, and this opening and closing is for holding the outer rail 5 therebetween. This sandwiching posture is a state in which the claws 101a and 101b are aligned with the posture of the fixing pin 92 as shown in FIG.
[0039]
The finger mechanism 99 is suspended from the hand main body 98 by a shaft 102 so as to be movable up and down. A coil spring 103 is interposed between the hand main body 98 and the claw driving mechanism 100. Accordingly, when the fixing pin 92 of the outer rail 5 is inserted into the board surface 8 of the game board 1, the coil spring 103 absorbs even if the insertion hand 97 is displaced too much from the insertion position due to a control error, a processing error, etc. .
[0040]
Insertion station # 6
The insertion station # 6 is a station for inserting the fixed pin 92 into the mounting hole of the board surface 8 of the game board 1 after aligning the posture of the fixed pin 92 with the sliding tool 90. FIG. 8 shows a state when the fixing pin 92 is inserted into the board surface 8 of the game board 1 by the insertion robot 14. The insertion station # 6 is a station for assembling the outer rail 5 to the game board 1.
[0041]
The game board 1 is sent to the insertion station # 6 by the conveyor 105. The game board 1 is stopped by a stopper 106 and positioned on a conveyor by a positioning mechanism (not shown). Thereafter, the insertion operation of the fixing pin 92 is performed by the insertion robot 14.
[0042]
Press-fitting station # 7
The press-fitting station # 7 is for finally fixing the outer rail 5 and the inner rail 6 (station not shown) inserted into the board surface 8 of the game board 1. FIG. 9 is a front view of the fixed pin press-fitting machine 110. FIG. 10 is a partially enlarged view of FIG. The press-fitting machine body 111 is a frame serving as a box-shaped base.
[0043]
Columns 112 are fixed vertically at four positions on the upper surface of the press-fitting machine body 111. An upper plate 113 is fixed to the top of the column 112. The upper plate 113 is provided with guide rods 115 at four positions via linear bearings 114 so as to be freely movable up and down. A coil spring 116 is interposed between the guide rod 115 and the linear bearing 114. Therefore, the guide rod 115 is always urged above the upper plate 113.
[0044]
A movable plate 117 is attached to the lower ends of the four guide bars 115. The lower end of the piston rod 119 of the hydraulic cylinder 118 is connected to the upper end of the movable plate 117. Further, four rods 120 are fixed on the upper surface of the press-fitting machine body 111. A fixed plate 121 is fixed to the upper end of the rod 120. A work table 122 is provided in the middle of the rod 120 so as to be movable up and down.
[0045]
The upper and lower positions of the work table 122 are determined by driving means (not shown) depending on the size of the game board 1 of the game table to be assembled. A press-fit tool 123 is disposed below the movable plate 117. The press-fit tool 123 is a tool for press-fitting the fixing pin 92 into the board surface 8 of the game board 1 while holding the side surface of the outer rail 5 or the inner rail 6. The two rods 124 are connected to each other at their upper ends and are movable up and down on a movable plate 117 via linear bearings 125.
[0046]
A holding claw 126 is detachably inserted and fixed to the lower end of the rod 124. A groove 127 is formed at the lower end of the holding claw 126. A side surface of the outer rail 5 is inserted into the groove 127 to hold the outer rail 5. An auxiliary claw 128 is further held on the rod 124 via a coil spring 129 for assistance. The holding claw 126 and the auxiliary claw 128 jointly press the outer rail 5 and the inner rail 6 into the board surface 8 of the game board 1. Moreover, since the press-fitting position is different between the outer rail 5 and the inner rail 6, the press-fitting tool 123 is also different.
[0047]
Operation Hereinafter, the movement of the outer rail 5 and the pallet 9 at each station will be described for each station.
[0048]
Setup station # 1 to carry-in station # 2
FIG. 11 is a flowchart showing the operation from the setup station # 1 (hereinafter referred to as # 1 process) to the carry-in station # 2 (hereinafter referred to as # 2 process). The operator sets a predetermined number of outer rails 5 on the empty pallet 9 (in this example, a total of 50 in 25 rows x 2 rows), and when the operation is completed, pushes the push button 19 for completing the work. When the push button 19 for work completion is pressed, an “automatic operation mode” is started in which the transport roller 16 is automatically operated when the pallet 9 is removed in the # 2 process. In addition, when the push button 19 for work completion is pushed, you may provide the sound and display lamp which alert | report that (S10).
[0049]
In the # 2 process, the presence / absence of the pallet 9 is detected by a light emitting / receiving photoelectric switch (not shown), and when the pallet 9 is not present in the # 2 process, the conveying roller 16 is rotated and the pallet 9 is moved from the # 1 process to the # process. It is transferred to two steps (S20-S50).
[0050]
From loading station # 2 to charging station # 3
FIG. 12 is a flowchart showing an outline of the operation from the # 2 process to the charging station # 3 (hereinafter referred to as the # 3 process).
[0051]
When the first transfer robot 10 (hereinafter referred to as “# 1 transporter”) that transfers the outer rail 5 from the # 3 process to the # 4 process performs the work for one pallet, that is, the assembly work of the outer rail 5 50 times. The control device for the # 1 transporter issues a work completion signal (S100). Next, the positioning dog 23 is opened so that the pallet 9 can enter the step # 3 (S110). The retraction mechanism of the conveyance rollers 22 and 22 (or # 3 conveyance roller) for conveying the pallet 9 in the # 3 step is operated to move the conveyance rollers 22 and 22 (# 3 conveyance roller) from the conveyance path to the pallet. Retreat to a position where no interference occurs even when 9 is lowered (S120).
[0052]
The upper and lower lifters 24 (or # 3 lifters) using the air cylinder as a drive source are lowered (S130). The lower end of the upper and lower lifters 24 is detected by LS (limit switch) (S140). When the descending end of the upper and lower lifters 24 is detected, the retracted transport rollers 22 and 22 (# 3 transport rollers) in the # 3 step move forward (S150). Next, the transport roller 21 (or # 2 transport roller) in the # 2 process rotates to carry the next pallet 9 into the # 3 process (S160). When the next pallet 9 in the # 3 process is carried in, the positioning of the pallet 9 in the # 3 process is performed, that is, the positioning dog 23 is prevented from entering the # 3 process (S170).
[0053]
On the other hand, at the same time when the upper and lower lifters 24 reach the descending end, the conveying rollers arranged on the upper and lower lifters 24 (# 3 lifter) start to rotate (S180). By this rotation of the conveying roller, the pallet 9 is sent from the lower part of the # 1 process to the # 2 process side. Next, when the sensor confirms that there is no pallet 9 on the upper and lower lifters 24 (# 3 lifter) (S190), the upper and lower lifters 24 are raised (S200).
[0054]
From loading station # 3 to charging station # 4
FIG. 13 is a flowchart showing the transfer operation of the first transfer robot 10 (hereinafter referred to as # 1 transport machine) from the carry-in station # 3 to the insertion station # 4 (hereinafter referred to as # 4 process). Due to the presence of the pallet 9 in the # 3 step, the descending OK signal is transferred to the # 1 transport machine (S300). The # 1 transporter descends (S310), and the # 1 transporter reaches the descending end (S320).
[0055]
The # 1 transporter is programmed to stop at a predetermined lower end position, but may be stopped by detecting the position using an LS (limit switch). Next, the outer rail 5 is detected by a sensor provided in the # 1 transport machine (S330). The outer rail 5 is sucked by a vacuum generator and a suction pad (not shown) (S340). The outer rail 5 is attracted and lifted (S350). The outer rail 5 is clamped by the claws 35a and 35 during the ascending (S360).
[0056]
The # 1 transporter advances to step # 4, and the hand 33 descends after reaching the forward end and stops at the lower end (S370-S420). The # 1 transporter unclamps the outer rail 5 and moves up to return to the original position (S430-S460).
[0057]
Positioning of charging station # 4 FIG. 14 shows the positioning operation of charging station # 4 (hereinafter referred to as # 4 step). The cylinder 50 shown in FIG. 4 is operated to move the movable V block 44. As a result, the movable V block 44 pushes the outer rail 5, and the outer rail 5 is positioned with a certain curvature (S520). When the second transfer robot 13 (hereinafter referred to as # 2 transporter) is lowered and clamped (in a state where the outer rail 5 is gripped), a take-out OK signal is output to the # 4 process (S550). When a take-out OK signal is input from the # 2 transport device, the movable V block 44 is retracted so that the # 2 transport device only rises and does not interfere.
[0058]
From loading station # 4 to pin posture alignment station # 5
FIG. 15 is a flowchart showing an operation from the charging station # 4 to the pin posture alignment station # 5 (hereinafter referred to as # 5 process). When the movable V block 44 is operated and positioning of the outer rail 5 is completed, a descending OK signal is output from the # 4 process to the # 2 transport machine (S600).
[0059]
When the # 2 transporter grips the outer rail 5, the positioning restriction is retracted in the # 4 process, and when the operation is completed, the outer rail 5 is gripped with a gentle curvature from the # 4 process. Before setting, the outer rail 5 is bent until it becomes almost circular. Specifically, the # 2 transporter grips both ends of the outer rail 5 and drives the cylinder 65 (FIGS. 5A and 5B) to bring the gripping claws 64 and 64 close to each other to increase the curvature and curve ( S690). The descent OK in the # 5 process means that a descent OK signal is output to the # 2 transport machine when the clamp mechanism 80 in the # 5 process is unclamped and the sliding tool 90 is also open (S710). With this OK signal, the # 2 transport machine descends, and the outer rail 5 is placed on the fixed pin posture alignment jig 70 (S720-S770).
[0060]
Pin posture alignment station # 5
FIG. 16 is a flowchart showing the operation of the positioning station of the pin attitude alignment station # 5 (hereinafter referred to as # 5 process). The outer rail 5 carried by the # 2 carrier is detected (photoelectric switch) (S800). When the # 2 transporter sets the outer rail 5 and retreats to the rising end, a retreat OK signal is output (S810). The # 5 process clamp is an operation in which the clamp mechanism 80 of FIG. 6 operates to fix the outer rail 5 (S820).
[0061]
The fixed pin posture alignment operation is the operation shown in FIG. 7, but normally, when the clippers 93a and 93b are open, the sliding tool 90 is lifted and closed in the open state, and when it is lowered as it is, FIG. 7 (b). As shown in the figure, the sliding tool 90 is in a state of pulling the fixing pin 92, and the posture is aligned (S830). When the outer rail 5 is clamped and the posture alignment of the fixing pin 92 is completed, a downward OK signal is output to the insertion robot 14 (hereinafter referred to as # 3 transporter) (S840), and the clamp mechanism 80 and the like are unclamped (S850). -S860).
[0062]
From step # 5 to insertion station # 6
FIG. 17 is a flowchart showing the operation of the # 3 transport machine from the # 5 process to the insertion station # 6 (hereinafter referred to as the # 6 process). When the # 5 process is ready, the # 3 transporter is lowered and the outer rail 5 is gripped by the insertion hand 97 (S900-S940). The outer rail 5 is grasped and raised and transferred to the # 6 process (S950-S990). If the # 6 step is ready, the insertion hand 97 is lowered to reach the descending end and the fixing pin 92 is inserted (S1000-S1030). When the insertion of the fixing pin 92 is completed, it rises again and returns to the original position (S1040-S1060).
[0063]
Insertion station # 6
FIG. 18 is a flowchart showing the operation of step # 6. In step # 6, first, the stopper 106 is operated (S1100), and it is detected whether or not the game board 1 is present. If there is, the descending OK signal is output to the # 3 transporter (S1120). When the insertion operation of the fixing pin 92 is completed, the # 3 transporter is raised. Next, the stopper 106 is opened to release the game board 1 and flow to the next process (S1130-S1160).
[0064]
Press-fitting station # 7
FIG. 19 is a flow diagram showing an outline of the transport of the game board 1 and the operation of the fixed pin press-fitting machine 110 at the press-fitting station # 7 (hereinafter referred to as # 7 step). Game board 1 is sent from step # 6. The game board 1 is taken into the fixed pin press-fitting machine 110, a positioning pin (not shown) is inserted into the game board 1 and positioned, and it is confirmed whether or not it is in a predetermined position by the LS sensor (S1200-S1210).
[0065]
The hydraulic cylinder 118 of the fixed pin press-fitting machine 110 is operated, the press-fitting tool 123 is machined and inserted into the side surface of the outer rail 5, and the outer rail 5 is press-fitted into the game board 1 (S1230). Thereafter, the hydraulic cylinder 118 is raised to a position where it does not interfere, and the game board 1 is slightly moved to be positioned at the press-fitting position of the inner rail 6. Thereafter, the press-fitting operation of the inner rail 6 is finished (S1250-S1290).
[0066]
[Other embodiments]
In the above-described embodiment, the fixing pin insertion station and the fixing pin press-fitting station are separated from each other. However, both the stations are not necessarily separated, and may be the same station. The above embodiment relates to the outer rail insertion assembly, but the inner rail insertion assembly is also performed by the same principle and structure.
[0067]
In the above-described embodiment, the setup station # 1 is arranged immediately before the carry-in station # 2. However, the setup station # 1 may be set up at another position or an external factory from the nature of the setup station # 1. Moreover, although the to-be-assembled parts of the present embodiment are rails, other parts shown in FIG. 20 may be used.
[0068]
【The invention's effect】
As described above in detail, the automatic assembly machine for a game board according to the present invention can automatically assemble a band-like metal plate which is difficult to assemble without using a manual.
[Brief description of the drawings]
FIG. 1 is a plan view of a game board automatic assembly machine for a ball game machine according to the present invention;
FIG. 2 is an oblique axis projection view showing an appearance of a carry-in station.
FIG. 3 is an oblique axis projection view showing an appearance of a charging station.
4 (a) and 4 (b) are plan views showing details of the structure of the charging jig.
FIGS. 5A and 5B are plan views showing functions of the second transfer robot. FIG.
FIG. 6 is an oblique axis projection view showing an external appearance of a pin posture alignment jig.
FIGS. 7A and 7B are cross-sectional views showing functions of the sliding tool. FIGS.
FIG. 8 is an oblique projection showing the appearance of the insertion station.
FIG. 9 is a front view of the press-fitting machine.
FIG. 10 is an enlarged cross-sectional view of a press-fitting jig portion of the press-fitting machine.
FIG. 11 is a flowchart showing an outline of a pallet loading operation from the setup station # 1 to the loading station # 2.
FIG. 12 is a flowchart showing an outline of a pallet loading operation from loading station # 2 to charging station # 3.
FIG. 13 is a flowchart showing an outline of the operation of the first transfer robot (# 1 transfer machine) when transferring the outer rail from the loading station # 3 to the charging station # 4.
FIG. 14 is a flowchart showing an outline of the operation of charging station # 4.
FIG. 15 is a flowchart showing an outline of the operation of the second transfer robot (# 2 transporter) when the outer rail is transferred from the charging station # 4 to the pin posture alignment station # 5.
FIG. 16 is a flowchart showing an outline of the operation of the pin attitude alignment station # 5.
FIG. 17 is a flowchart showing an outline of an operation when the outer rail is transferred from the pin attitude alignment station # 5 to the charging station # 6.
FIG. 18 is a flowchart showing an outline of the operation of the charging machine at charging station # 6.
FIG. 19 is a flowchart showing the operation of the press-fitting machine.
FIG. 20 is a plan view showing an example of a board surface of the pachinko gaming machine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Game board 5 ... Outer rail 9 ... Pallet 10 ... 1st transfer robot 11 ... Insertion jig 14 ... Insertion robot 16 ... Transfer roller 17 ... Positioning pin 33 ... Hand 43 ... Fixed V block 44 ... Movable V block 50 ... Cylinder 63 ... Finger 70 ... Fixing pin posture alignment jig 90 ... Sliding tool 92 ... Fixing pin 97 ... Insertion hand 99 ... Finger mechanism 100 ... Nail drive mechanism

Claims (1)

A carry-in station for taking in a pallet containing a belt-like material that is a flexible assembly part;
A workpiece separation station for taking out and separating the accommodated strip-like material in a unit of one sheet by a first transfer unit;
A second transfer unit for taking out the separated strip-shaped material and transporting the strip-shaped material while bending it into an arc ;
In order to fix the strip material bent in the arc shape to the board surface of the game board, a fixing pin integrated into the strip material is inserted into an attachment hole on the board surface of the game board with an assembly machine and assembled. In an automatic game board assembly machine for a ball game machine comprising an assembly station for
The strip is a rail provided on the game board,
The second transfer unit includes:
The rotating shaft provided at the tip of the arm of the second transfer unit is provided with a hand body,
A finger member is swingably provided on the hand body via a support shaft,
A gripping claw is provided at the tip of the finger member, the claw is for gripping the rail, and the rail is attached and detached by a drive mechanism.
One end of a cylinder is rotatably connected to the finger member by a first shaft, and the tip of a piston rod of the cylinder is rotatably provided to the other finger member by a second shaft,
When the cylinder is driven, the finger member is swung around the support shaft,
Due to the swing of the finger member, the rail held by the nail is bent in an arc shape during transfer to the next station.
A game board automatic assembly machine for a ball game machine.

Images