JPH0683741B2 - Nail correction device for game board - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a game board nail correcting device for hitting and correcting a nail that has been driven into a game board of a pachinko machine.

[Conventional technology]

As is well known, the positions and bending states of a large number of nails driven into the game board of a pachinko machine have a great influence on the winning rate of pachinko balls. For this reason, individual nails on the game board are hit with a hammer to adjust the degree of bending of the nails and adjust the winning rate. However, in the past, the adjustment work involved passing a gauge with a pachinko ball on the tip of the rod through the ball passage between the nails and sensuously knowing the width of the gap, and changing it with a fine hammering condition. It was time-consuming and inaccurate. Therefore, the improvement has long been desired.

The applicant has already filed Japanese Patent Application No. 1-53581, Japanese Patent Application No. 1-64172, and Japanese Patent Application No. 2-1059 regarding this type of nail correction device for game boards.
We have applied for patents such as No. 56. The outline of the nail correction device for the game board is that the manipulator is provided with a video camera and a cylindrical nail holder so as to move vertically and horizontally (moving in the XY direction) on the surface of the game board. The direction of the manipulator is measured if it needs to be corrected.
Bring the nail holder to the front of the nail by moving in the XY directions, lower the nail holder (move in the Z direction) to fit the head of the nail into the nail holder, and then correct the nail holder as required. The nail holder is bent and corrected by moving the nail holder in the required direction.

[Problems of conventional technology]

However, in the case where the nail head is held by the nail holder and the nail is bent by the movement of the manipulator in the XY directions like the above-mentioned correction device, a plurality of nails are driven in series on the game board surface without a gap. In such a place, the next nail gets in the way to make the nail holder hold the target nail,
Alternatively, if the adjacent nail is positioned in the correction direction, the nail holder may collide with the nail when the nail moves, so that the adjacent nail may be unnecessarily bent.

Further, since the nail holder is provided on the manipulator a little sideways so as not to obstruct the view of the video camera, the video camera is moved to the front of the nail to measure the nail position, and then the video camera is moved. If the nail holder is moved laterally to the front of the nail position to perform a correction operation, and the nail holder is laterally displaced again to confirm whether the correction is successful, the video camera must be moved to the front again. Since it did not happen, there was a problem that it was necessary to move both nails frequently with the manipulator to correct one nail, and it took time to adjust.

[Means for Solving the Problems]

SUMMARY OF THE INVENTION The present invention is intended to solve the above-mentioned problems, and an actuator for electric, hydraulic, pneumatic, etc. is provided around the video camera capable of measuring the position of the nail on the game board surface by placing the head of the nail directly below the video camera. Is provided with at least four hammer mechanisms that can be tapped obliquely from above.

〔Example〕

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

FIG. 1 shows the entire game board nail correction device of the present invention. In the figure, 100 is a main control device, 200 is a manipulator operated by a command of the main control device, and 300 is a personal computer succeeding to the main control device 100. A computer 400 is an image processing device for supplying digitized image data to the main control device 100. The manipulator 200 is a substrate 201 arranged horizontally as shown in FIG.
A linear guide 202 is fixedly mounted on the upper surface of the linear guide 202, and a linear guide 203 orthogonal to the linear guide 202 is provided so as to move along the linear guide 202 by a servo motor. The linear guide 203 is provided on the linear guide 203 by the servo motor. A head 204 is provided so as to move along 203, and a CCD video camera 205 is attached to the head 204 via a mounting piece.
Installed so that 206 is facing down. A ring light 207 is concentrically mounted around the objective lens 206.

A disc-shaped mounting member 208 is horizontally fixed to the video camera 205, and eight hammer mechanisms 209a to 209h are equiangularly arranged so as to surround the CCD video camera 205 on the mounting member 208. Each of the hammer mechanisms 209a to 209h is provided with an actuator such as an electromagnetic coil, a pneumatic cylinder, or a hydraulic cylinder provided with hammers 210a to 210h capable of advancing diagonally inward. When the hammers 210a to 210h advance, a CCD video Head 503 of nail 502 on the game board 500 surface directly under camera 205
You can hit each from diagonally above.

500 is a game board fixedly fixed in place by a clamp 501 on a substrate 201 of the manipulator 200, and a large number of nails 502 have already been hammered on the game board 500, and the objective lens 206
The light radiated from the ring light 207 toward the head 503 as shown in FIG. 3 facing the spherical head 503 of the nail 502 is picked up by the CCD video camera 205, and its image signal is Input to the image processing device 400 and monitor TV 215
It is supposed to be projected on. The white circular portion 216 in the image of FIG. 1 is reflected by the light of the ring light 207 on the nail head 503 that looks black, and the center of gravity of the circle is obtained by the digitization process of the image processing device 400. As a result, the center position of the head 503 can be accurately measured, and the measurement result is input to the main controller 100 as digitized image data. Then, the image processing apparatus 400 digitizes and stores the shift amount of the head 503 in the X and Y directions.

The personal computer 300 teaches the main controller 100 the position data of a large number of nails hit on the game board 500 and the correction necessity data of each nail.

Next, the operation of the present invention will be described with reference to the flow chart of FIG.

First, in step 1, the manipulator 200 is operated to stop the movement of the video camera 205 in front of the nail 502 on the surface of the game board 500, and the image processing device 400 detects the nail position. Then, in Step 2, the nail position data and the actual measurement data are compared to store the deviation amount and the deviation direction, and in Step 3, it is determined whether the deviation amount and the deviation direction are within the allowable range. When it is out of the allowable range, in step 4, the hammer mechanism located closest to the displacement direction among the eight hammer mechanisms 209a to 209h is selected. Then, in step 5, the actuator of the selected hammer mechanism is operated to strike the head of the defective nail with the hammer, and the impact corrects the bending of the defective nail. In that case, the beating force may be adjusted in strength according to the measured deviation amount, or the necessary number of times of beating may be corrected as a predetermined number according to the measured deviation amount. And step 2
Then, the nail position is measured again by the video camera 205 and compared with the position data to detect the deviation amount and the deviation direction, and the allowable range of the step 3 is judged. If it looks like you have made a turn, correct it again with steps 4 and 5. In that case, the hammer mechanisms 209a and 209e, the hammer mechanisms 209b and 209f, the hammer mechanisms 209c and 209g, and the hammer mechanisms 209d and 209h are in diagonal positions centered on the nails respectively, so that, for example, the hammer mechanism 209a.
If it is bent too much at, the hammer mechanism 209e at the diagonal position can hit it back to correct it immediately. Thus, each time the nail head is tapped by the hammer, the correction result is measured by the video camera 205, and if the hammer mechanisms 209a to 209h are repeatedly operated based on the measurement result, the nail can be tapped and corrected efficiently.

In this embodiment, an example in which eight hammer mechanisms are provided has been described, but the number of hammer mechanisms may be smaller than this. However, at least four nails are necessary so that the nail can be bent and corrected in any direction. Needless to say, the bending direction can be controlled more finely if more hammer mechanisms are provided than in the embodiment.

〔The invention's effect〕

As described above, the game board nail correction device of the present invention taps the head of the nail obliquely from above by the hammer mechanism to bend and correct the nail by the impact, so that another nail is positioned at the adjacent position on the game board surface. Even when the nail is upright, it is possible to surely apply an impact to the target nail without any trouble as in the case of the conventional cylindrical nail holder, so that the nail can be corrected. Since at least four hammer mechanisms are installed around the video camera, the misalignment of the nails can be corrected in the required direction simply by selecting the required hammer mechanism, and the correction results can be immediately corrected by the video camera. Since the check can be performed and the re-correction can be quickly performed, the correction work can be more efficiently performed in a short time.

[Brief description of drawings]

The drawings show an embodiment of a nail correcting device for a game board according to the present invention. FIG. 1 is a block diagram of the entire nail correcting device for a game board, FIG. 2 is a plan view of a manipulator, and FIG. Is a side view of the video camera and hammer mechanism, and FIG. 4 is A of FIG.
A sectional view taken along the line A in FIG. 5, and FIG. 5 is a flow chart. 100 ... Main control device, 200 ... Manipulator, 205 ... Video camera, 208 ... Mounting member, 209a to 209h ... Hammer mechanism, 300 ... Personal computer, 400 ... Image processing device, 500 ... Game board , 502 ... nail, 503 ... head.

Claims (1)

[Claims] 1. A head of a nail directly below the video camera around the video camera capable of measuring the position of the nail on a game board surface is tapped obliquely from above by actuation of an actuator such as electric, hydraulic or pneumatic pressure. A game board nail correction device characterized in that at least four hammer mechanisms are provided.