JPH06343739A - Automatic assembly method of playing board for pachinko playing machine and machine therefor - Google Patents

Abstract

PURPOSE:To automate the operation to fix outer rails to board faces of playing boards by taking in a pallet piling up with parts to be fixed to the playing boards and taking such parts out and fixing them to the board faces of the playing boards. CONSTITUTION:At the setup station #1, piled up outer rails 5 are loaded on the empty pallet 9 and at the delivery station #2, outer rails 5 loaded on the empty pallet 9 at the setup station #1 are taken in for assembly. At the dividing station #3, piled up outer rails 5 are separated by unit by the first transferring robot 10, at the fixing station #4, outer rails 5 are placed at the specified position of the fixing jig 11, being curved preliminarily, and at the fixing pin position adjusting station #5, the position of the fixing pins to fix the outer rails 5 to the board faces of the playing boards are aligned or modified. Further at the fixing station #6, the fixing pins of the outer rails 5 are inserted into the board faces of the playing boards and at the pushing in station #7, the outer rails 5 are pushed in with pressure to the board faces for the final fixing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically assembling a game board of a ball game machine and its machine. For more details,
The present invention relates to a game board automatic assembly method for a ball game machine for assembling a metal band-shaped rail used in a game board of a ball game machine such as a pachinko game machine and a smart game machine, and the machine.

[0002]

2. Description of the Related Art On a board surface of a game board such as a pachinko game machine or a smart game machine, an outer rail and an inner rail made of a metal plate are arranged for guiding a shot game ball. FIG. 20 is a front view of a pachinko gaming machine. Various decorative members and winning devices are arranged on the board surface 8 of the game board 1 to which an acrylic board for makeup printed on a plywood board is glued. That is, in the center of the game board 1, a variable display member 2 for displaying numbers, characters and the like is provided, and a game area 7 is arranged above the variable display member 2.

At the lower part of the variable display member 2, there is arranged a starting opening 3 for driving the display of the variable display member 2 when a game ball enters. Further, a variable winning ball device 4 is arranged at a lower position of the starting opening 3. Further, on the outer periphery of the game board 1, a plate-shaped metal outer rail 5 and an inner rail 6 which are bent and arranged in an arc shape for guiding the game balls are arranged.

The inner and outer rails 5 and 6 must be attached to the board surface 8 of the game board 1 by being curved with a predetermined curvature in design. In this mounting method, the head of a split pin-shaped fixing pin is attached to one hole on one side of the inner and outer rails 5 and 6, and the lower end of this fixing pin is inserted into a mounting hole at a predetermined position opened on the board surface 8. Then, the inner and outer rails 5 and 6 are fixed to the board surface 8.

When assembling the inner and outer rails 5 and 6 to the board surface 8 by an operator, the operator bends the inner and outer rails 5 by hand or by using a jig so as to match the fixing pins at the positions of the mounting holes. Inserting work while bending. At this time, since there are a plurality of mounting holes, only an experienced worker can efficiently perform the assembly work into the mounting holes. In particular, in order to improve the productivity of assembling the game board 1, the work of assembling the inner and outer rails 5, 6 on the board surface 8 is a bottleneck, and it is necessary to improve the work efficiency.

[0006]

The present invention has been made based on the above technical background, and achieves the following objects.

An object of the present invention is to provide a game board automatic assembling method for a ball game machine and its machine in which an assembling work for bending a belt-like plate member with a predetermined curvature and attaching it to a board surface is automated. .

Another object of the present invention is to provide a game board automatic assembling method for a ball game machine and a machine therefor in which the work of bending a belt-like plate member with a predetermined curvature and attaching it to the board surface is speeded up. It is in.

[0009]

The present invention adopts the following means in order to achieve the above object.

The first means includes at least a carrying-in step for taking in a pallet in which the assembled parts to be assembled to the game board of the ball game machine are stacked, and an unloading step for taking out the stacked assembled parts. It is a game board automatic assembling method of a ball game machine, which comprises an assembling step of assembling the taken out assembled parts to a board surface of the game board.

The second means is a carrying-in step for taking in the pallet in which the strip-shaped materials which are flexible parts to be assembled are loaded, and taking out the stacked strip-shaped materials one by one by the first transfer unit. And a workpiece separating step for separating and separating the workpiece, a charging step for preliminarily bending the belt-shaped material separated in the workpiece separating step into a charging jig and placing it at a predetermined position, and the belt-shaped material. A fixing pin posture aligning step for correcting the posture of a fixing pin integrally incorporated in the band-shaped material for fixing to the board surface of the game board by taking out from the charging step by the second transfer unit, and the fixing A method for automatically assembling a game board of a ball game machine, which comprises an assembling process of inserting a pin into a mounting hole on a board surface of the game board with an inserting machine and assembling.

A third means is at least a carry-in station for taking in a pallet in which the assembled parts to be assembled to the game board of the ball game machine are stacked, and an take-out station for taking out the stacked assembled parts. It is a game board automatic assembly machine of a ball game machine comprising an assembly station for assembling the taken out assembled parts on a board surface of the game board.

The fourth means is a carrying-in station for taking in the pallet in which the strip-shaped materials which are flexible parts to be assembled are loaded, and the stacked belt-shaped materials are taken out one by one by the first transfer unit. A work separating station for separating and separating, a charging station for preliminarily bending the belt-shaped material separated by the work separating station into a charging jig and placing it at a predetermined position, and the belt-shaped material. A fixing pin posture aligning station for correcting the posture of a fixing pin that is integrally incorporated in the belt-shaped material to be taken out from the charging station by the second transfer unit and fixed to the board surface of the game board, and the fixing pin. Is an automatic game board assembly machine for a ball game machine, which comprises an assembly station for inserting and fixing the assembly machine into the board surface of the game board.

[0014]

[Operation] A pallet in which the assembled parts to be assembled on the game board of the elastic game machine are stacked is taken in at the carry-in station, this pallet is transferred to the next unloading station, and the stacked assembled parts are taken out, and further The assembled parts taken out are assembled on the board surface of the game board at the assembly station to automatically assemble the game board of the ball game machine.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment in which an automatic assembly machine for a game board of a ball game machine is applied to the assembly of the outer rail 5,
It is a top view showing this important section. FIG. 2 is a perspective view showing the external appearance of the work separation station # 3. Figure 3
FIG. 11 is a perspective view showing the appearance of a charging station # 4 for bending the outer rail 5.

FIGS. 4A and 4B are plan views of the charging jig 11. 5A and 5B are plan views of the second transfer robot. FIG. 6 is an oblique-axis projection view showing the external appearance of the fixed pin posture alignment jig. 7A and 7B are explanatory views showing the function of the sliding tool of the fixed pin posture alignment jig. FIG. 8 is a perspective view showing the appearance of the charging robot. FIG. 9 is a front view of the fixed pin press-fitting machine. Figure 10
FIG. 7 is a partially enlarged sectional view of a press-fitting tool of a fixed pin press-fitting machine.

The automatic assembly machine for the outer rails 5 of the game board 1 includes a setup station # 1, a loading station # 2, a separation station # 3, a loading station # 4,
The fixed pin posture alignment station # 5, the insertion station # 6, and the press-fitting station # 7 (see FIGS. 9 and 10) are roughly seven stations. Setup station # 1
Is a station for mounting the outer rails 5 stacked on the empty pallet 9. The loading station # 2 is
This is a station for taking in the outer rails 5 mounted on the empty pallets 9 for assembly at the setup station # 1.

The separating station # 3 is a station for separating the outer rails 5 stacked by the first transfer robot 10 into a unit. Charging station # 4
Is a station for preliminarily bending the outer rail 5 separated by the separation station # 3 into the charging jig 11 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 fixing pin 92 (see FIG. 7) for fixing the outer rail 5 to the board surface 8 of the game board 1.

The insertion station # 6 is a station for inserting the fixing pin 92 of the outer rail 5 into the board surface 8 of the game board 1 and assembling it. The press-fitting station # 7 is a station for press-fitting the outer rail 5 to the board surface 8 and finally assembling it. The detailed function and structure of each station will be described below.

Setup station # 1 The setup station # 1 is a station for loading an empty pallet 9 and mounting the outer rail 5 on the pallet 9. The outer rail 5 is mounted on the pallet 9 manually. The conveyor 15 that transfers the pallet 9 is composed of a plurality of transport rollers 16. Each transport roller 16 is rotationally driven by a rotary 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.

A large number of positioning pins 1 are provided on the pallet 9.
7 is fixed, and the outer rail 5, which is a plate-like work of the component to be assembled, is positioned by the positioning pin 17 and is stacked and mounted. After all, the setup station # 1 is a station for carrying in an empty pallet 9 and mounting the outer rail 5 on the pallet 9. Conveyor 15
Two push buttons 18 and 19 are arranged on the side surface position of. The one push button 18 is for activating the empty pallet 9 by operating a lifter (not shown) from a pallet conveyor (not shown) arranged at the bottom.

The other push button 19 is for pushing when the mounting of the outer rail 5 on the pallet 9 is completed.
The push button 19 is for sending a signal to the control device of the automatic assembly machine of the game board 1 indicating that setup has been completed, and the control device can send the pallet 9 to the next station at any time by this signal. A flag indicating that is set in the memory.

Carrying-in station # 2 The carrying-in station # 2 is a station for taking in the outer rails 5 mounted on the empty pallets 9 at the setup station # 1 for assembly. The pallet 9 on the carry-in station # 2 is driven by the rotation of the carrying roller 21 of the conveyor 20 and moves to the next station. On the loading station # 2, the pallet 9 waits until it is called from the next station.

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 transfer of the pallet 9 at the separation station # 3 is carried by the transport rollers 22, 22 arranged on both sides. The transport rollers 22 and 22 have a retracting mechanism (not shown) so as not to become an obstacle when the empty pallet 9 descends.
Have. The front and rear of the pallet 9 are positioned and fixed at a predetermined position by a positioning dock 23.

An upper and lower lifter 24 (dotted line in FIG. 1) is further arranged at the separation station # 3, and the pallet 9
When the outer rail 5 disappears from above and the pallet 9 becomes empty,
The upper and lower lifters 24 retract the empty pallet 9 downward. The empty pallet 9 evacuated 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 carry-in station # 2. It passes under the loading station # 2 and is returned to the lower position of the setup station # 1.

FIG. 2 is a perspective view of the separation station # 3 showing a situation where the first transfer robot 10 takes out the stacked outer rails 5 one by one, that is, a separation situation. The first transfer robot 10 has a scaler type arm 3
1 is a general-purpose robot having a known structure. A hand 33 is provided at the tip of the arm 31 of the first transfer robot 10 via a shaft 32, and two hands 34a and 34b for gripping the outer rail 5 are provided at two positions at both ends of the hand 33. ing. The two fingers 34a and 34b are respectively provided with two gripping claws 35a and 35b.

One outer rail 5 is sandwiched and held between the two claws 35a and 35b. Two claws 35a, 35b
Is driven by an air-driven actuator incorporated in the fingers 34a and 34b. This drive mechanism is well known and will not be described.

The operation of the first transfer robot 10 will be described below. According to a command from the control device of the first transfer robot 10,
The arm 31 is driven to position the hand 33 on the side surface of the stacked outer rail 5. At this time, the hand 33 sucks air from two suction 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 pin 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.

In this state, the fingers 34a on both ends of the hand 33,
The claws 35a and 35b of 34b grip only one outer rail 5. The above operation is the separating operation of the outermost outer rails 5 which are finally laminated. 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 separating operation of the outer rail 5 by the first transfer robot 10 is programmed so that the separating position is different for each sheet. This is because the positions are different because they are stacked as shown in FIG.

Charging station # 4 The charging station # 4 is a station for preliminarily bending the outer rail 5 separated by the separating station # 3 on the charging jig 11 and placing it in a predetermined position. Figure 3
FIG. 4 is a perspective view showing details of the charging jig 11, and FIG.
(A), (b) is the top view. The main body plate 40 of the charging jig 11 is rectangular and plate-shaped, and a plurality of work restricting pins 41 are arranged on the upper part thereof. The work restricting pin 41 is for guiding and positioning the outer rail 5, and is attached to and detached from the main body plate 40 by a bolt through a pin fixing tool 42 and is positionally adjustable.

Fixed V blocks 43 and movable V blocks 44 are arranged at both ends of the body plate 40. The fixed V block 43 has a contact surface 45, which is a V-shaped cutout, and is fixed to the main body plate 40 with a bolt. 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 notch, and moves along the upper surface of the body plate 40. The contact surface 46 is for contacting the other end of the outer rail 5.

One end of a rod 47 is fixed to the movable V block 44. The rod 47 is a body plate 40.
It is slidably inserted in a block 48 fixed to the. 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 pneumatically operated. After all, when the cylinder 50 is driven, the piston rod 51, the link 49, the rod 47, and the movable V block 44.
Moves. Therefore, the outer rail 5 sandwiched between the fixed V block 43 and the movable V block 44 is pushed at its both ends and is bent as shown in FIG. 4B to change its curvature.

A light projector 52 and a light receiver 53 are further arranged at both ends of the center of the body plate 40 (FIG. 4).
(See (b) and (b)). The red light emitted from the light projector 52 formed of an infrared light emitting diode is received by the light receiver 53. When the outer rail 5 is placed at a predetermined position on the body plate 40, the outer rail 5 blocks infrared light, and the light receiver 43 does not receive the infrared light. Thereby, it can be determined whether or not the charging jig 11 has the outer rail 5. The outer rail 5 bent with the set curvature is used by the second transfer robot 1.
3 is transferred to the next fixed pin posture alignment station # 5.

Second Transfer Robot 13 FIGS. 5A and 5B are views for explaining 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 on the tip of the arm 12 of the second transfer robot 13. Fingers 63, 63 are swingably provided on the hand body 61 via support shafts 62, 62. On the tips of the finger members 63, 63, gripping claws 64, 64 having the same structure as the first transfer robot 10 are provided. The claws 64, 64 are for gripping the outer rail 5, and the outer rail 5 is attached and detached by a drive mechanism (not shown).

One end of a cylinder 65 is rotatably connected to one finger 63 by a shaft 66. The other finger 63
The tip of the piston rod 67 of the cylinder 65 is attached to the shaft 6
It is rotatably provided by 8. After all, cylinder 6
When 5 is driven, the fingers 63, 63 swing around the support shafts 62, 62. By the swinging of the fingers 63, 63, the claw 6
The outer rail 5, which is gripped by 4, 64, is bent into an arc during transfer to the next station (see FIG. 5 (b)).
The outer rail 5 is transferred to the next fixed pin posture alignment station # 5 while being bent in an arc shape.

Fixing pin posture aligning station # 5 The fixing pin posture aligning station # 5 is a station for making the attaching posture of the fixing pin 92 (see FIG. 7) previously attached to the outer rail 5 into the insertable posture. . 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 attitude alignment jig 70. On the jig body plate 71, a plurality of positioning pins 72 for restricting the outer peripheral side surface of the outer rail 5 are arranged along the arc line.

A fixed V block 73 is arranged on the jig body plate 71, and this V groove is formed as an abutment surface 74. One end of the outer rail 5 abuts on this abutment surface 74. Positioned. On the other hand, on the jig body plate 71, a movable V block 77 that can move is arranged. The V groove of the movable V block 76 is formed as an abutting surface 77, and the other end of the outer rail 5 is abutted and pressed against the abutting surface 77 to be positioned.

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 79 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 to be bent with a predetermined curvature, so that the outer rail 5 is temporarily placed on the jig body plate 71. Fixed.

Clamping 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 fixed 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 a piston rod 84 of the cylinder 83. The cylinder 83 is driven to move the piston rod 84 to drive the movable clamp 82 to drive the outer rail 5
Clamp.

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 sectional structure of the fixing pin 92 is shown in FIG.
Shown in (a) and (b). 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. Although the fixed pin 92 attached to the pin attachment hole 91 is processed in the state shown in the figure in advance, it does not necessarily face at right angles to the longitudinal direction of the outer rail 5. The position of the fixing pin 92 is such that the sliding tool 9
Aligned with 0.

The sliding tool 90 is arranged below the jig body plate 71. A clip 93a for the sliding tool 90,
The sliding surface 94a, 94b which is a recess is formed in 93b. As shown in FIG. 7A, the two clippers 93a and 93b are a- by a drive mechanism (not shown).
Rectangular motions such as b-c-d-a are performed synchronously. For this reason, the fixing pins 92 are aligned in such a manner that they are suspended from the side surface of the outer rail 5. By this posture alignment, the fixing pin 92 is ready to 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.

Inserting Robot 14 FIG. 8 shows the inserting 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 body 98 of the hand 97 has a plurality of finger mechanisms 99 arranged at circumferential positions. The claws 101a and 101b of the finger mechanism 99 are air-based claw drive mechanisms 100.
The outer rail 5 is gripped by sandwiching the outer rail 5. This sandwiching posture is defined by the claws 101a, 1
01b is a state in which the postures of the fixing pins 92 are aligned as shown in FIG. 7 (b).

The finger mechanism 99 is suspended by a shaft 102 so as to be vertically movable on the hand body 98. Hand body 9
A coil spring 103 is interposed between the claw drive mechanism 8 and the claw drive mechanism 100. Therefore, when the fixing pin 92 of the outer rail 5 is inserted into the board surface 8 of the game board 1, the insertion hand 97 absorbs the coil spring 103 even if the insertion hand 97 is excessively lowered due to a deviation due to a control error, a processing error, or the like. .

Inserting Station # 6 The inserting station # 6 uses a sliding tool 90 and a fixing pin 92.
Is a station for inserting the fixing pin 92 into the mounting hole of the board surface 8 of the game board 1 after aligning the postures. Figure 8
This fixed pin 92 is inserted into the game board 1 by the robot 14.
The state at the time of inserting in the board surface 8 of is shown. The insertion station # 6 is a station for assembling this outer rail 5 to the game board 1.

The game board 1 is sent to the insertion station # 6 by the conveyor 105. The game board 1 is stopped by the stopper 106 and positioned on the conveyor by a positioning mechanism (not shown). After that, the insertion work of the fixing pin 92 is performed by the insertion robot 14.

Press-fitting station # 7 The press-fitting station # 7 is for finally fixing the outer rail 5 and the inner rail 6 (stations not shown) inserted in 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 main body 111 is a box-shaped base frame.

Columns 112 are vertically fixed to four places on the upper surface of the press-fitting machine main body 111. An upper plate 113 is fixed to the uppermost part of the column 112. There are four linear bearings 114 on the upper plate 113.
A guide rod 115 is vertically provided via the. A coil spring 116 is interposed between the guide rod 115 and the linear bearing 114. Therefore, the guide rod 115 is always biased above the upper plate 113.

A movable plate 117 is attached to the lower ends of the four guide rods 115. Movable plate 117
The lower end of the piston rod 119 of the cylinder 118 is connected to the upper end of the. Further, four rods 120 are fixed to the upper surface of the press-fitting machine main body 111. Rod 12
A fixed plate 121 is fixed to the upper end of 0.
A work table 122 is vertically movable between the rods 120.

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-fitting tool 123 is arranged below the movable plate 117. Press-fitting tool 123
Is a tool for holding the side surface of the outer rail 5 or the inner rail 6 and press-fitting the fixing pin 92 into the board surface 8 of the game board 1. The upper ends of the two rods 124 are connected to each other, and the rods 124 are vertically movable on the movable plate 117 via linear bearings 125.

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. The outer rail 5 is held by inserting the side surface of the outer rail 5 into the groove 127. An auxiliary claw 128 is further held on the rod 124 via a coil spring 128 for auxiliary purposes. The holding claw 126 and the auxiliary claw 128 jointly press fit the outer rail 5 and the inner rail 6 to the board surface 8 of the game board 1. Further, since the outer rail 5 and the inner rail 6 have different press-fitting positions, the press-fitting tools 123 are also different.

Operation The operation of the outer rail 5 and the pallet 9 at each station will be described below for each station.

Loading station from setup station # 1
® emission # 2 11, setup station # 1 (hereinafter, # of 1 step.) Input station # 2 from a flow diagram illustrating the operation (hereinafter, # of 2 steps.) To. The operator has a predetermined number of outer rails 5 on the empty pallet 9 (25 in this example x 2
Set a total of 50 pieces in a row, and press the work completion push button 19 when it is completed. When the work completion push button 19 is pressed, when the pallet 9 is exhausted in the # 2 process, the "automatic operation mode" in which the transport roller 16 is automatically operated is activated. It should be noted that when the work completion button 19 is pressed, a sound or a display lamp may be provided to inform the user of the completion (S ₁₀ ).

In the step # 2, the presence / absence of the pallet 9 is detected by a light emitting / receiving type photoelectric switch (not shown). When the pallet 9 is not present in the step # 2, the transport roller 16 is rotationally driven to move the pallet 9 to the # 1. Transfer from process to # 2 process (S ₂₀
-S _50).

From the loading station # 2 to the charging station
Emissions # 3 12, the charger station # 3 and # 2 step (hereinafter,
It is called # 3 process. 2) is a flowchart showing an outline of the operation of FIG.

The transfer robot 10 (hereinafter referred to as the # 1 carrier) for transferring the outer rail 5 from the # 3 step to the # 4 step carried out the work for one pallet, that is, the outer rail 5 was assembled 50 times. a work completion signal # 1 transfer device of the control device issues when (S _100). Next, the positioning dog 23 is opened so that the pallet 9 can enter the # 3 process (S
₁₁₀ ). The retracting mechanism of the transport rollers 22, 22 (or # 3 transport rollers) for transporting the pallet 9 in the # 3 step is operated to move the transport rollers 22, 22 (# 3 transport roller) from the transport path to the pallet. Even if 9 is lowered, it is retracted to a position where it does not interfere ( _S120 ).

Lifter 24 using an air cylinder as a drive source
(Or # 3 lifter) is lowered (S ₁₃₀ ). LS by (limit switch) for detecting the falling edge of the lifter 24 (S _140). When the lower end of the lifter 24 is detected, the retracted transport rollers 22 and 22 (# 3 transport roller) in the # 3 step move forward ( _S150 ). Next, the transport roller 21 (or # 2 in the # 2 process)
It is called a transport roller. ) Rotates to move the next pallet 9 to # 3
It is brought into the process (S ₁₆₀ ). When the pallet 9 next to the # 3 step is carried in, the pallet 9 in the # 3 step is positioned, that is, the positioning dog 23 prevents the pallet 9 from entering the # 3 step (S ₁₇₀ ).

On the other hand, at the same time when the lifter 24 reaches the lower end, the transport rollers arranged on the lifter 24 (# 3 lifter) start to rotate (S ₁₈₀ ). By the rotation of the carrying 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 lifter 24 (# 3 lifter) (S
₁₉₀₎ , the lifter 24 rises ( ^S200 ).

From the loading station # 3, the charging station
Emissions # 4 13 inserting station # from input station # 3
Transfer robot 10 to 4 (hereinafter referred to as # 4 step)
FIG. 7 is a flow chart showing a transfer operation of (hereinafter, referred to as # 1 carrier). Owing to the pallet 9 in the # 3 process, descending O
The K signal is transferred to the # 1 carrier machine ( _S300 ). The # 1 carrier descends ( _S310 ), and the # 1 carrier reaches the descending end ( _S320 ).

The # 1 carrier is programmed so as to stop at a predetermined lower end position.
The position may be detected and stopped using a (limit switch). Next, the outer rail 5 is detected by the sensor provided in the # 1 carrier ( _S330 ). The outer rail 5 is sucked by a vacuum generator and a suction pad (not shown) (S
₃₄₀ ). The outer rail 5 is adsorbed and rises ( _S350 ). The outer rail 5 is clamped by the claws 35a and 35 while rising (S
₃₆₀ ).

[0060] # 1 conveyor is advanced to # 4 step, the hand 33 is stopped at the falling edge descends from reaching the front end (S ₃₇₀ -S _420). The # 1 carrier unclamps the outer rail 5 and moves up to return to the original position ( _S430-
S ₄₆₀ ).

Positioning of Charging Station # 4 FIG. 14 shows the positioning operation of the charging station # 4 (hereinafter referred to as the # 4 step). Cylinder 5 shown in FIG.
0 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 in a shape having a constant curvature ( _S520 ). When the second transfer robot 13 (hereinafter, referred to as # 2 carrier) descends and is clamped (a state in which the outer rail 5 is gripped),
A signal of "OK" is output for the # 4 process ( _S550 ).
When the take-out OK signal is input from the # 2 carrier, the movable V block 44 is moved so that the # 2 carrier only moves up and does not interfere.
To evacuate.

From the charging station # 4, the pin posture alignment slide
Station # 5 FIG. 15 is a flowchart showing the operation from the charging station # 4 to the pin posture alignment station # 5 (hereinafter referred to as the # 5 step). Operate the movable V block 44,
When the positioning of the outer rail 5 is completed, the descending OK signal is output from the # 4 process to the # 2 carrier (S ₆₀₀ ).

When the # 2 carrier grips the outer rail 5, the positioning regulation is retracted in the # 4 step, and when the operation is completed, the outer rail 5 is grabbed with a gentle curvature from the # 4 step. Before setting in 5 steps, bend the outer rail 5 until it becomes substantially circular. Specifically, the # 2 carrier grips both ends of the outer rail 5 and drives the cylinder 65 (see FIG.
(A), (b)) The gripping claws 64, 64 are brought close to each other to increase the curvature and bend ( _S690 ). # 5 process descent OK
Means that the clamp mechanism 80 in the # 5 process is unclamped,
When the sliding tool 90 is also in the open state, it outputs a descending OK signal to the # 2 carrier machine ( _S710 ). By this OK signal # 2 conveyor is lowered to place the outer rails 5 to the fixing pin posture alignment jig 70 (S ₇₂₀ -S _770).

Pin Posture Alignment Station # 5 FIG. 16 shows a pin posture alignment station # 5 (hereinafter referred to as # 5).
It is called a process. 4) is a flowchart showing the operation of the positioning station in FIG. The outer rail 5 conveyed by the # 2 conveyor is detected (photoelectric switch) ( _S800 ). When the # 2 carrier sets the outer rail 5 and retracts to the rising end, a retract OK signal is output ( _S810 ). The # 5 step clamp is an operation in which the clamp mechanism 80 of FIG. 6 operates to fix the outer rail 5 (S ₈₂₀ ).

The fixing pin posture aligning operation is the operation shown in FIG. 7. Normally, the sliding tools 93a and 93b are opened, and when the sliding tool 90 is raised, the sliding tool 90 is closed and then lowered. As shown in FIG. 7B, the sliding tool 90 pulls the fixing pin 92 and the postures are aligned (S ₈₃₀ ). When the outer rail 5 is clamped and the alignment of the fixing pins 92 is completed, a descending OK signal is output to the insertion robot 14 (hereinafter, referred to as # 3 carrier) ( _S840 ), and the clamp mechanism 80 and the like are unclamped ( S ₈₅₀ -S _860).

From Step # 5 to Insertion Station # 6 FIG.
It is called # 6 process. 7 is a flowchart showing the operation of the # 3 carrier machine of FIG. When the step # 5 is ready, the # 3 conveyor is lowered and the hand 97 holds the outer rail 5 ( _S900-
S ₉₄₀ ). The outer rail 5 gripping is raised, transferring the # 6 step (S ₉₅₀ -S _990). If the # 6 step is ready, the hand 97 is lowered to reach the lower end and the fixing pin 92 is reached.
Is inserted (S1000-S1030). When the fixing pin 92 is completely inserted, it rises again and returns to the original position ( _S1040-
S ₁₀₆₀ ).

Inserting Station # 6 FIG. 18 is a flow chart showing the operation of the # 6 process. # 6
In the process, first, the stopper 106 is operated ( _S1100 ),
It is detected whether or not the game board 1 is present, and if there is, a down OK signal is issued to the # 3 carrier machine (S ₁₁₂₀ ). When the work of inserting the fixing pin 92 is completed, the # 3 carrier is lifted. Then release the game board 1 and the stopper 106 in the open, flow to the next step (S ₁₁₃₀ -S _1160).

Press-Fit Station # 7 FIG. 19 is a flow chart showing an outline of the transfer of the game board 1 and the operation of the press-fit machine 110 at the press-fit station # 7 (hereinafter referred to as the # 7 step). The game board 1 is sent from the # 6 process. The game board 1 is taken into the press-fitting machine 110, a positioning pin (not shown) is inserted into the game board 1, and the positioning is performed LS.
Check with the sensor whether or not it is in the specified position ( _S1200
~ S ₁₂₁₀ ).

The hydraulic cylinder 118 of the press-fitting machine 110 is operated and the press-fitting tool 113 is processed and inserted into the side surface of the outer rail 5, and the outer rail 5 is press-fitted into the game board 1 (S ₁₂₃₀ ). After that, the hydraulic cylinder 106 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 terminated (S ₁₂₅₀ -S _1290).

[Other Embodiments] In the above embodiment, the fixing pin insertion station and the fixing pin press-fitting station are separated, but the two stations do not necessarily have to be separated and may be the same station. Although the above embodiment relates to the insertion and assembly of the outer rail, the insertion and assembly of the inner rail is also performed according to the same principle and structure.

Although the setup station # 1 is arranged immediately before the loading station # 2 in the above-mentioned embodiment, it may be set up at another position or in an external factory due to the nature of the setup station # 1. Further, although the parts to be assembled in this embodiment are rails, they may be other parts shown in FIG.

[0072]

As described above in detail, the automatic assembling machine for a game board according to the present invention can automatically assemble a band-shaped metal plate that is difficult to assemble without manpower.

[Brief description of drawings]

FIG. 1 is a plan view of an automatic game board assembly machine for a ball game machine according to the present invention.

FIG. 2 is a perspective view showing the appearance of a carry-in station.

FIG. 3 is a perspective view showing the external appearance of the charging station.

4A and 4B are plan views showing the details of the structure of the charging jig.

5 (a) and 5 (b) are plan views showing the function of the second transfer robot.

FIG. 6 is an oblique-axis projection view showing the external appearance of the pin posture alignment jig.

7A and 7B are cross-sectional views showing the function of the sliding tool.

FIG. 8 is a perspective view 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 the loading station # 2 to the loading station # 3.

FIG. 13 is a flowchart showing an outline of the operation of the first transfer robot (# 1 carrier) when transferring the outer rail from the loading station # 3 to the loading station # 4.

FIG. 14 is a flowchart showing an outline of the operation of the charging station # 4.

FIG. 15 is a flowchart showing an outline of the operation of the second transfer robot (# 2 carrier) 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 posture alignment station # 5.

FIG. 17 is a flowchart showing an outline of an operation when the outer rail is transferred from the pin posture 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 a pachinko gaming machine.

[Explanation of symbols]

 1 ... Game board 5 ... Outer rail 9 ... Pallet 10 ... First transfer robot 11 ... Inserting jig 14 ... Inserting robot 16 ... Conveying 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 ... Inserting hand 99 ... Finger mechanism 100 ... Claw driving mechanism

Claims (4)

[Claims] 1. A carrying-in step for taking in at least a pallet in which assembled parts to be assembled to a game board of a ball game machine are stacked, an unloading step for taking out the stacked assembled parts, and a taken out step. A method for automatically assembling a game board of a ball-and-ball game machine, comprising an assembling step of assembling the parts to be assembled on a board surface of the game board. 2. A carrying-in step for taking in the pallet in which the strip-shaped materials that are flexible parts to be assembled are loaded, and the stacked strip-shaped materials are taken out and separated by a first transfer unit in units of one sheet. And a loading step for preliminarily bending the strip-shaped material separated in the work-separating step into a loading jig and placing the strip-shaped material at a predetermined position. A fixing pin posture aligning step for correcting the posture of the fixing pin integrally incorporated in the band-shaped material to be taken out by the second transfer unit from the inserting step and fixed to the board surface of the game board, and the fixing pin is inserted A method of automatically assembling a game board of a ball game machine, which comprises an assembling process of inserting the machine into a mounting hole of a board surface of the game machine and assembling the machine. 3. A carrying-in station for taking in at least a pallet in which assembled parts to be assembled to a game board of a ball game machine are stacked, an take-out station for taking out the stacked assembled parts, and a taken-out station. A game board automatic assembly machine for a ball game machine, comprising an assembly station for assembling the parts to be assembled on a board surface of the game board. 4. A carrying-in station for taking in the pallet in which the strip-shaped materials which are flexible parts to be assembled are loaded, and the stacked strip-shaped materials are taken out and separated by the first transfer unit one by one. And a loading station for preliminarily bending the strip-shaped material separated by the work-separation station into a loading jig and placing the strip-shaped material at a predetermined position. A fixed pin posture aligning station for correcting the posture of a fixed pin that is integrally incorporated in the strip for fixing the fixed pin to the board surface of the game board taken out from the entry station by the second transfer unit, and the fixed pin is assembled. An automatic game board assembly machine for ball and ball game machines, which consists of an assembly station for assembly by inserting the machine into the board surface of the game board and fixing it.