JPH04102477A - Pin correcting device for game board - Google Patents

Abstract

PURPOSE:To certainly give an impact to only a target pin to correct it without obstructing other pins stood in adjacent positions on a game board as a conventional cylindrical pin holder by striking the head of the pin obliquely from above by a hammer system to correct the curve of the pin by its impact. CONSTITUTION:A video camera 205 is moved and stopped in front of a pin 502 on a game board 500 by operating a manipulator 200, and the pin position is detected by an image processing device 400. In step 2, the position data of the pin is compared with the measured data to store the slippage quantity and direction, and whether the slippage quantity and direction is within an allowable range is judged. When it is out of the allowable range, a servo motor 210 is operated to rotate a rotating member 208, whereby a hammer system 212 is rotated in the slippage direction and stopped therein. An actuator 213 is operated, and the head of the defective pin is struck by a hammer 214 to correct the curve of the defective pin by its impact.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a nail repairing device for a game board for hammering and correcting the bending of nails driven into the game board of a pachinko machine.

[Conventional technology]

As is well known, the position and bending of the numerous nails driven into the game board of a pachinko machine greatly affect the winning rate of pachinko balls. For this reason, each nail on the game board is stamped with a hammer to adjust the degree of curvature of the nail, thereby adjusting the winning rate. However, the adjustment work conventionally involved passing a gauge with pachinko balls attached to the end of a stick through the ball passage between the nails, intuitively knowing how wide or narrow the spacing was, and changing it by delicately hitting it with a hammer, so it required skill. It was expensive, time-consuming, and inaccurate. Therefore, improvement has been desired for some time.

The present applicant has already filed patent applications such as Japanese Patent Application No. 1-53581, Japanese Patent Application No. 1-64172, and Japanese Patent Application No. 2-105956 regarding this type of nail correction device for game boards.

The outline of the nail correction device for game boards is as follows:
The manipulator is equipped with a video camera and a cylindrical nail holder so that the manipulator can move in the By moving the nail holder, bring it in front of the nail and lower the nail holder.
After the head of the nail is fitted into the nail holder by moving the nail in the Z direction, the nail holder is moved a required amount in the desired correction direction to correct the bending of the nail holder.

[Issues with conventional technology]

However, with the correction device described above, which holds the head of the nail with a nail holder and bends the nail by moving the manipulator in the X and Y directions, multiple nails are driven into the game board surface in series without any gaps. In places where the nail holder is holding the target nail, an adjacent nail may get in the way, or if the nail holder is located in the correction direction, the nail holder may collide with that nail when moving. Because of this, there was a risk of unnecessarily bending the nail next to it.

In addition, since the nail holder was installed on the manipulator slightly to the side so as not to obstruct the view of the video camera, the video camera was moved to the front of the nail and the position of the nail was measured, and then the video camera was removed. Move the nail holder sideways to the front of the nail position, perform a correction operation, and then move the nail holder sideways again and move the video camera to the front again to check whether the correction was successful. Therefore, there was a problem in that it was necessary to frequently move both nails with a manipulator to correct one nail, and it took time for adjustment.

[Means for Solving the Problems] The present invention aims to solve the above-mentioned problems, and consists of a video camera that can measure the position of a nail on a game board surface, rotated by the operation of a servo motor, and stopped at a required rotation position. The invention is characterized in that the rotary member is provided with a hammer mechanism capable of striking the head of the nail diagonally from above by actuating an electric, hydraulic, or pneumatic actuator.

〔Example〕

Next, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the entirety of the game board nail repair device of the present invention, in which 100 is a main controller, 200 is a manipulator that operates according to instructions from the main controller, and 300 is the main controller io.
A personal computer 400, which is a successor to the main control device 100, is an image processing device that supplies digitized image data to the main control device 100. As shown in FIG. 2, the manipulator 200 has a linear guide 202 on the top surface of a horizontally arranged board 201.
A linear guide 203 is provided perpendicular to the linear guide 202 so as to be moved along the linear guide 202 by a servo motor, and a linear guide 203 is provided on the linear guide 203 so as to be moved along the linear guide 203 by a servo motor. A head 204 is provided on the head 204, and a CCD video camera 205 is attached to the head 204 via a mounting piece so that its objective lens 206 faces downward. A ring light 207 is attached concentrically around the objective lens 206.

Furthermore, as shown in FIG. 3, a rotating member 208 is provided around the video camera 205 so as to be rotatable in a horizontal plane centering on the video camera 205. The rotary member 208 is configured to be able to rotate and stop at a desired position by engaging a pinion 211 of a servo motor 210 and operating the servo motor 210, and the rotary member 208 is provided with a hammer mechanism 212. The hammer mechanism 212 includes an actuator 213 such as a tm coil, a pneumatic cylinder, a hydraulic cylinder, etc.
A hammer 214 that can move diagonally downward and inward is provided on the top of the board, and when the hammer 214 moves forward, the game board 500
The head 503 of the nail 502 on the surface can be struck.

500 is a game board fixed immovably in a fixed position on the board 201 of the manipulator 200 by a clamp 501, and a large number of nails 502 have already been driven into the game board 500.
The objective lens 206 is the spherical head 5 of this nail 502.
03, as shown in Figure 3, the ring light 207
The light emitted toward the head 503 is imaged by the CCD video camera 205, and the video signal is input to the image processing device 400 and displayed on the monitor television 215.

The white circular part 216 in the image of FIG. 1 is the reflection of the light from the ring light 207 on the black nail head 503, and the center of gravity of the circle is determined by the numerical processing of the image processing device 400. This allows the center position of the head 503 to be accurately measured, and the measurement results are input to the main controller 100 as digitized image data. Then, the image processing device 400 digitizes and stores the amount of deviation of the head 503 in the X direction and the Y direction.

Note that the personal computer 300 teaches the main controller 100 the positional data of a large number of nails hit on the game board 500 and the necessity/need-for-correction data of each company.

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

First, in step 1, the video camera 205 is moved and stopped in front of the nail 502 on the game board 500 by the operation of the manipulator 200, and the nail position is detected by the image processing device 400. Then, in step 2, the position data of the nail is compared with the actual measurement data, and the amount of deviation and direction of deviation are memorized, and in step 3, it is determined whether the amount of deviation and the direction of deviation are within an allowable range. If it is outside the allowable range, the servo motor 210 is operated in step 4 to remove the rotating member 2.
By rotating 0B, the hammer mechanism 212 is rotated in the direction of deviation and stopped. and step 5
The actuator 213 is operated to strike the head of the defective nail with the hammer 214, and the bending of the defective nail is corrected by the impact. Then, the process returns to step 2 and the nail position is measured again using the video camera 205 and compared with the position data to detect the amount and direction of deviation, and the allowable range in step 3 is determined. Corrections are made in steps 4 and 5.

In the case of repeated correction, if the rotational position adjustment of the hammer mechanism 212 is not required, the process jumps from step 3 to step 5, and the hammer 214 is repeatedly struck. Therefore, each time the nail head is struck by the hammer 214, the correction result is constantly measured by the video camera 205, and the striking correction can be repeated based on the measurement result.

〔Effect of the invention〕

As described above, the game board nail repair device of the present invention uses a hammer mechanism to strike the nail head diagonally from above and bends the nail using the impact. Even if the nail holder stands upright, it can reliably impact and correct only the target nail without getting in the way unlike the conventional cylindrical nail holder. Since the hammer mechanism can be moved to a desired rotational position on the circumference around the video camera and stopped, the video camera detects the deviation of the nail and the hammer mechanism is rotated in the direction of the deviation and stopped. For example, by operating the hammer mechanism, the deviation can be easily corrected in a short time.

[Brief explanation of the drawing]

The drawings show an embodiment of the game board nail repair device according to the present invention, and FIG. 1 is an overall block diagram of the game board nail repair device, FIG. 2 is a plan view of the manipulator, and FIG. 4 is a side view of the video camera and hammer mechanism, and FIG. 4 is a flowchart. 100... Main controller, 200... Manipulator,
205... Video camera, 208... Rotating member, 2
1.2...Hammer mechanism, 214...Hammer, 3
00...Personal computer, 400...Image processing device, 500...Game board, 502...Nail, 50
3...Head. Patent applicant: Heitatsu Co., Ltd. Patent attorney Tsuyoshi Ito Figure 2

Claims (1)

[Claims] 1. A rotating member that can be rotated by the operation of a servo motor and stopped at a required rotational position is installed around a video camera that can measure the position of a nail on the game board surface, and the rotating member is equipped with an actuator such as an electric, hydraulic, or pneumatic actuator. A nail repairing device for a game board, characterized in that it is provided with a hammer mechanism capable of hitting the head of a nail diagonally from above by the operation of the hammer mechanism.