JP2589927B2 - Nail hitting work line for ball game machines - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nailing operation line for a ball-and-ball game machine, for example, a ball-and-ball game machine represented by a pachinko game machine, in which a ball such as a steel ball moves between nails. The present invention relates to a nailing operation line used for automatically nailing a substrate.

[0002]

2. Description of the Related Art A nailing machine for automatically nailing a substrate of a game machine has been known. In this apparatus, a substrate of a game machine to be supplied is positioned, and nailing is automatically performed in a predetermined pattern corresponding to the type of the game machine set therein.

[0003] For this nailing, the nailing machine is provided with an alignment and supply mechanism for the nails, which automatically aligns the nails housed in its own hopper and sequentially supplies the nails.

Many nails are nailed in a complicated pattern on a substrate of a game machine. Therefore, the work is complicated. It is convenient to perform this automatically by the nailing machine, and the work efficiency is improved.

[0005]

Recently, the development of new models of amusement machines has been actively carried out, and the number of models has been increasing. As a result, the number of game machines manufactured has been increasing.

For this reason, even if the nailing machine automatically performs nailing, an object to be nailed is supplied to each nailing machine, and after nailing, the work is replaced with the next one. If a large amount of nails are replenished manually by a hammer, a large amount of labor is required, resulting in poor workability and high cost.

Therefore, it is conceivable that an articulated robot automatically supplies an object to be nailed and exchanges it with the next one. However, automatic replenishment of nails cannot be achieved simply by automatically performing the above-mentioned operation by one robot per nailer. Also, since one robot is required for one nailing machine, a large number of robots are required, and a nailing machine and the same number of robots are provided to each of the robots before nailing. Since the nailing target is transported so as to supply it, and the nailing target after nailing is transferred and arranged along with the transporting means for transporting it to the next process, the line configuration is complicated and occupies a large flat space On the contrary, equipment costs and running costs are rather increased.

It is also conceivable to assign a plurality of nailers to one robot. However, this requires a large and complicated joint operation mechanism for one robot, and also complicates operation control. This does not reduce the cost and is not suitable for practical use.

The present invention relates to a complicated nailing operation such as a ball-and-ball game machine, a supply of an object to be nailed therefor, a replacement with a nailing machine, and a supply of nails to each nailing machine. It is an object of the present invention to provide a nailing operation line of a ball game machine that can automatically perform a series of complicated operations with a small line configuration of a simple and dedicated space and can solve the above-mentioned problems. Things.

[0010]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a nailing operation line of a ball game machine according to the present invention is a transporting machine for transporting a nailing object of a ball game machine in one direction. A conveyor, a plurality of nailing machines arranged in parallel with the conveyor, and a conveyor and a plurality of nailing machines that can move between the conveyor and the nailing machine array line in parallel with these. An articulated handling mechanism that transfers objects to be nailed between them, and a predetermined amount of nails that move along the nailing machine array line and collectively collect a predetermined amount of nails from a nail supply source at a predetermined position to a position corresponding to each nailing machine And a moving replenishing means for distributing and supplying a predetermined amount to each nailing machine while carrying the nailing machine.

Further, the transport conveyor has a nailing target supply position at a transport end portion for supplying a nailing target before nailing to a corresponding handling mechanism, and transports the nailing target to this position. A supply / conveyance means, and a take-out / conveyance means having a nailing target receiving position for receiving a nailing target after nailing from a corresponding handling mechanism at a conveyance start end, and conveying the nailing target from this position to the next process. It is characterized by having.

Further, the transport end of the supply transport means and the transport start end of the take-out transport means are vertically arranged, and project from the nailing target supply position of the supply transport means to the handling mechanism side, thereby forming the nail drive target. A loading unit that receives the nailing target before nailing conveyed to the supply position and supplies the nailing target to the handling mechanism, and extends from the nailing target receiving position of the unloading / transporting means to the handling mechanism side and is transferred by the handling mechanism. And an unloading section for taking out the nailing target object after the nailing and sending the object to the transporting means to be transported, and the loading section and the unloading section are each displaced in the horizontal direction when viewed from a plane. Is preferred.

[0013]

In the above configuration of the present invention, the handling mechanism is
Located between the conveyor and the installation line of the nailers, the nailing target before nailing of the ball game machine, which is transported in one direction by the conveyor, is used for the nailers. Each of them is supplied to the nailing operation, and the nailing target nailed by each nailing machine is transferred to a conveyor to be transferred to the next step in the one direction. Then, nailing work on the nailing target object,
By means of a one-way line conveyor, one handling mechanism and a plurality of nailers corresponding thereto, complicated nailing of a ball game machine can be efficiently and automatically achieved. . In addition, since the moving replenishing means collectively carries a predetermined amount of nails from a nail supply source at a predetermined position and automatically distributes and supplies a predetermined amount to each nailer,
Only one nailing machine can be accommodated by replenishing the nailing machine with one moving replenishing means at predetermined time intervals for each nailing machine in an amount corresponding to the consumption of nails during this interval time. With a simple replenishment structure, it is possible to supply nails to all nailing machines regardless of the number of nailing machines installed, without any excess or shortage, so that nailing work can be successfully completed without delay. .

In addition, the handling mechanism moves between the nailing machine and each nailing machine in parallel with the arrangement line of the nailing machine.
Before and after the nailing, the object to be nailed is exchanged after the nailing, so that a small and simple joint operation corresponding to the exchange operation between one nailing machine and a plurality of nailing machines is performed. , Can be transmitted and received.

[0015] Further, a transport conveyor for transporting the nailing object in one direction, a plurality of nailing machines, and moving between them, the nailing object before nailing and after nailing between both are nailed. The feeding and receiving mechanism is adjacent to each other with an arrangement or an operating range parallel to each other, and the moving replenishing means for moving the nailing source to the position of each nailing machine and replenishing them with nails is provided by each nailing machine. Since it is sufficient if it is provided so as to move along the arrangement line, the entire line configuration can be made simple and fit in a small plane space.

In particular, in the conveyor, the supply / conveyance means and the take-out / conveyance means are provided independently of each other, together with the conveyance end portion and the conveyance start end portion. The nailing object before nailing is conveyed and supplied to a corresponding handling mechanism, and after the nailing is transferred from the handling mechanism corresponding to the nailing object receiving position at the transport start end of the unloading and transporting means. By transporting the nailing target to the next process, supply of the nailing target before nailing by the one-way line conveyor, removal of the nailing target after nailing, and transport to the next process are performed. This can be achieved without confusion such as mutual interference by individual transport handling.

Further, the nailing object conveyed to the nailing object supply position by the supply / conveyance means is sent out to a loading section which protrudes toward the handling mechanism, and is supplied to the handling mechanism by the loading section. Crawls out the nailing target taken out from each nailing machine from the nailing target receiving position of the take-out / transportation means vertically stacked with the supply / transportation means to the handling mechanism side and the loading portion is flat. The transfer end portion of the supply means vertically stacked so as to form a unidirectional line by receiving the unloading part which is displaced in the horizontal direction and sending it out to the transfer means so that it can be transferred to the next process. And at the starting end of the unloading and transporting means, in the individual supply and unloading each transport handling state without interference Further, the supply and reception of the nailing object are not affected by the conveyance of the other nailing object by the supply conveyance means and the unloading conveyance means, and both the loading portion and the unloading portion are opened upward. And can be easily performed.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a production line for a pachinko game machine to which the present invention is applied will be described below with reference to the drawings.

In the pachinko game machine production line of this embodiment, a first to a sixth plurality of nailing machines 1 to 6 are arranged in a straight line so as to be arranged in the horizontal direction as shown in FIG. Have been. First and second robots 11 and 12 as a handling mechanism are arranged opposite to the front side of each of the first to sixth nailers 1 to 6, and the first and second robots 11 and 12 are both suspended by a guide rail 13. To the sixth nailer 1 to 6 along the arrangement line.

Around the arrangement of the first to sixth nailers 1 to 6 and the first and second robots 11 and 12, the arrangement is formed so as to surround the arrangement in a rectangular shape. The conveyed conveyor is provided in a combination of the supply conveyor 14 and the take-out conveyor 15. The supply and unloading conveyors 14 and 15 are connected to the respective transfer end portions 14a and transfer start end portions 15a facing both the operation ranges 21 and 22 of the first and second robots 11 and 12 by a predetermined amount. The two parts are vertically overlapped with an interval therebetween to form a one-way transfer line indicated by an arrow in the figure, and the transfer end portion 14a and the transfer start end portion 15a form one side of the rectangle.

A pre-process line 14b, which is located at a right angle with respect to the conveying end portion 14a of the supply conveyor 14, is provided with a gauge press 23, a single-screw drilling machine 24 and a An axial drilling machine 25 is provided, and the nailing target 31 conveyed by the first conveying means 14 is subjected to each processing.

The supply conveyor 14 is supplied with a base 31 of a pachinko game machine stocked in, for example, a vacuum stacker (not shown) as a nailing target 31. The nailing object 31 is cut by a router machine (not shown), and a positioning hole 32 (FIG. 2) is provided at a predetermined position corresponding to the predetermined contour.

Hereinafter, the positioning holes 32 are used as a position reference when various processes are performed on the nailing object 31.

The first robot 11 is provided at the transfer end portion 14a.
The first nailing target supply position 33 is located at substantially the center of the operation range 21 of the transfer end portion 14a side, and the second nailing position is located at substantially the center of the operation range 22 of the second robot 12 near the transfer end portion 14a. A loading section that projects toward the first and second robots 11 and 12 at the first and second nailing target supply positions 33 and 34, respectively. 35, 36, the nailing object 31 before nailing, which is conveyed by the supply conveyor 14,
At each of the second nailing target supply positions 33 and 34, a pusher 37 for distributing and feeding the loaded portions 35 and 36 is provided.

The first robot 11 is located at the transport start end 14b.
The first nailing target receiving position 38 located substantially at the center of the transfer start end 14b side of the movement range 21 of the second robot 12 and the second nailing position 38 located substantially at the center of the transfer start end 14b side of the movement range 22 of the second robot 12. A nailing target receiving position 39, and the first and second nailing target receiving positions 38 and 39 have unloading protruding toward the first and second robots 11 and 12, respectively. The first and second robots 1 are provided in the unloading units 41 and 42, respectively.
A puller 44 for taking out the nailing target object 31 transferred from each of the first to sixth nailing machines 1 to 6 and feeding it to the conveyor 15 is provided by 1 and 12 (FIG. 4).

A post-process line 15b which is a next side portion which is formed at a right angle to the transport start end 15a of the take-out conveyor 15
Is provided with a windmill driving machine 45 for mounting a windmill (not shown) on the nailing target 31 after nailing, so that the windmill is automatically driven.

An inspection process line 15c, which is formed at a right angle after the post-process line 15b, is provided with a nail bending inspection machine 46, and immediately after that, a rejector 47 for removing defective products is provided.

Both the supply conveyor 14 and the take-out conveyor 15 employ so-called driven roller conveyors including the loading sections 35, 36 and the unloading sections 41, 42, and convey the nailing object 31 as a whole. In order to do this, it is possible to drive one of the rollers in the range in which it comes into contact at the same time, and to freely control stopping or transporting the nailing object 31 at a predetermined position by turning on and off the roller. The nailing target 31 is always conveyed at a predetermined pitch or timing.

Then, the number of the nailing objects 31 before nailing, which is supplied for a certain period of time to the conveying end portion 14a of the supply conveyor 14 via the pre-process line 14b, and from the loading portions 35, 36 First and second robots 1
The nails are supplied to the nailing machines 1 to 6 by nails 1 and 12 and are nailed. Then, the nails are taken out through the unloading sections 41 and 42 to the transport start end 15a of the take-out conveyor 15 during the predetermined time. The nailing operation is performed so that the number of hitting objects 31 becomes equal.

A sensor (not shown) for detecting the presence or absence of the nailing target 31 is provided in each part of the supply conveyor 14 and the take-out conveyor 15 so that the nailing target 31 before and after the conveyance is not connected. Then, control for restricting the subsequent conveyance of the nailing target object 31 is performed. As a result of this control, if the nailing target object 31 conveyed from the pre-process line 14b becomes excessive, control is also performed to limit excessive work in the pre-process line 14b.

As a result, the proper number of nailing objects 31 with no excess or shortage is always supplied to the transport end portion 14a of the supply conveyor 14 at an appropriate timing.

On the side of the inspection line 15c of the take-out conveyor 15, there is provided a discharge conveyor 49 for receiving non-defective products from the inspection line 15c via the transfer conveyor 48 or the like and sending it to a warehouse or the like.

Further, each of the first to sixth nails is moved from the host hopper 51 which is a nail supply source provided at a predetermined position by moving along the arrangement line of each of the first to sixth nailing machines 1 to 6. A moving replenishing means 52 for replenishing the nailers 1 to 6 with a nail is provided.

The first to sixth nailers 1 to 6, the first and second robots 11 and 12, the gauge press 23,
Single-axis drilling machine 24, multi-axis drilling machine 25, windmill driving machine 4
5. The inspection machine 46 and the moving replenishing means 52 have dedicated terminals 1a to 6a, 61 to 67 and 69, respectively, and are connected to the host computer 68 via these terminals 1a to 6a, 61 to 67 and 69. Connected, each terminal 1a-6a,
While utilizing the input data and programs at 61 to 67 and 69, the related control is performed according to the comprehensive program at the host computer 68, so that various types of amusement machines can be manufactured automatically.

As shown in FIG. 2, the gauge press 23 has a point gauge plate mounting surface 71a having a built-in electromagnet formed on the lower surface of the pressure plate 71, thereby detachably holding the point gauge plate 72 made of a magnetic material. Then, pinpointing is performed at each nailing position on the nailing surface of the nailing target 31.

The point gauge plate 72 is mounted according to the type of the amusement machine, and its reference hole 73 is fitted to a reference pin 74 on the lower surface of the pressing plate 71 to perform positioning. Nailing object 3
1, the reference pin 74 moves the nailing target 31.
The nailing object 3 by fitting into the reference hole 32 of
Since the position 1 is positioned, pinpoint embossing corresponding to the amusement machine is accurately achieved. Since the gauge press 23 is also known, detailed illustration and description are omitted.

The point gauge plate 72 is selectively mounted on the pressing plate 71 by hand. However, a stacker that stocks a game machine corresponding to each amusement machine at a predetermined address position is employed, and a predetermined point is provided at a predetermined address. It is also possible to selectively and automatically attach the gauge plate 72 to the pressing plate 71 while taking the gauge plate 72 in and out.

As shown in FIG. 3, the single-screw drilling machine 24 is located downstream of the gauge press 23 on the pre-process line 14b of the supply conveyor 14, and temporarily doubles the conveyed nailing target 31. It has a double speed conveyor 81 which conveys and sends it at a speed. An XY robot 83 supports and provides a drill head 82 having a single-axis drill 82a on the double-speed conveyor 81 so that the drill head 82 can be moved in orthogonal XY2 directions. For this movement, the XY robot 83 has a Y-direction rail 84 for moving the drill head 82 in the Y direction, and an X-direction rail 85 for moving the Y-direction rail 84 in the X direction.

The single-screw drilling machine 24 temporarily stops the nailing object 31 received on the double-speed conveyor 81 at a predetermined position on the way, and places the drill head 82 at a plurality of predetermined positions on the stopped nailing object 31. Are sequentially moved to drill a predetermined number of holes at required positions.

The nailing target 31 is positioned by a front stopper 86 for stopping the nailing target 31 conveyed in the direction of the arrow on the double speed conveyor 81 at a predetermined position, and a rear end of the nailing target 31. After the provisional positioning by the contacting backup 87, the reference pin 88 rising from below the double-speed conveyor 81 fits into the reference hole 32 of the nailing target 31, and is finally positioned.

After positioning the nailing target 31, the single-screw drilling machine 24 drills a few holes in accordance with the control program. This drilling is sequentially performed for several holes that differ depending on the model of the hole in which the guide rail for guiding the pachinko ball of the game machine is fitted. With respect to a large number of common holes, the following multi-axis drilling machine 25 simultaneously performs the operations.

The multi-axis drilling machine 25 is provided with a drill head 25b having a plurality of drills 25a so as to be able to adjust their positions, and the number of drills 25a can be simultaneously drilled. However, when there are a plurality of holes having different positions for each model, it is too time-consuming to change the corresponding drill positions of the multi-axis drilling machine 25 to cope with them. For a plurality of holes with different positions depending on the model, it is better to change the information for specifying the drilling position of the single-axis drilling machine 24,
This is advantageous in that the time is shortened in the entire operation procedure.

However, the combined use of the single-screw drilling machine 24 and the multi-screw drilling machine 25 may be appropriately set in accordance with the actual use.

Therefore, the amusement machine manufacturing apparatus is provided with a single-axis drilling machine 24 and a multi-axis drilling machine 25, and it is convenient to use them at different times.
4 may be left stopped. Since the multi-axis drilling machine 25 is a known one, detailed illustration and description are omitted.

In the case of the pachinko amusement machine to which the present embodiment is applied, there are only a few holes having different positions depending on the model, so this is performed by the single-axis drilling machine 24, and the position is common depending on the model. The holes are made by the multi-axis drilling machine 25. The number of the common holes is, for example, about seven.

FIG. 4 shows the overlapping state of the transport end 14a of the supply conveyor 14 and the transport start end 15a of the take-out conveyor 15. Accordingly, the nailing object 31 before nailing, which has been conveyed to the conveyance end portion 14a by the supply conveyor 14 without forming a space and forming the same conveyance line in a plan view, is replaced with first and second nails. It is supplied to the first and second robots 11 and 12 at the hitting object supply positions 34 and 35, and is transferred by the first and second robots 11 and 12 to the transport start end 15a of the take-out conveyor 15. The operation of taking out the nailed object 31 after the nailing is carried out at the first and second nailing object receiving positions 38 and 39 of the take-out conveyor 15 and transporting it to the next process by the take-out conveyor 15 is another system. Can be achieved without confusion.

First and second nailing target supply positions 3
As shown in FIGS. 1 and 4, the loading portions 35 and 36 of the third and the 34 and the unloading portions 41 and 42 of the first and second nailing target receiving positions 38 and 39 are respectively shown in FIGS. It is formed to a length that can transport two nailing targets 31 and is displaced in the horizontal direction when viewed from a plane.

Thus, the first and second nailing target supply positions 35 and 36 and the first and second nailing target receiving positions 38 and 39 which are vertically overlapped with each other, are both upward. In the opened state, the loading sections 35, 3
6 and the unloading units 41 and 42, the first and second robots 11 and 12 may interfere with each other in exchanging the nailing target 31 before nailing and the nailing target after nailing. It can be done easily and reliably without confusion.

A pusher 37 provided in each of the loading sections 35 and 36 is guided by the guide 37a so as to cross the supply conveyor 14, and is conveyed to the conveyance end section 14a of the supply conveyor 14 by being guided by the guide 37a. And a slider 37b for pushing out the nailing target 31 to the base half position of the loading portions 35 and 36. The loading portions 35 and 36 are provided with stoppers provided at the distal end positions of the sent nailing target 31. The sheet is transported until it reaches 91. It is preferable to control the pin 37c of the slider 37b for pushing the nailing target 31 so as to protrude only at the time of the forward movement of pushing the nailing target 31. Thereby, the nailing target object 3 at the time of returning
1 can be reliably prevented from being caught.

As a result, the nailing object 31 sent out to the loading sections 35 and 36 is positioned at a position where it comes into contact with the stopper 91.
A pair of left and right positioning arms 92 provided on both sides of the distal end of the robot 6 are rotated inward in the left and right direction in synchronization with a sensor (not shown) detecting that the nailing target 31 has reached the position. Then, the nailing target 31 is centered in the left-right direction while the nailing target 31 in contact with the stopper 91 is sandwiched from the left and right.

Therefore, the nailing object 31 is accurately positioned in any direction at the leading end position of each of the loading portions 35 and 36, and the first and second corresponding to this are positioned.
By specifying the address in the operation control of each of the robots 11 and 12,
The nailing target 31 sent to each of the loading sections 35 and 36 can be reliably gripped and supplied to a predetermined one of the corresponding first to sixth nailing machines 1 to 6. .

The following nailing object 31 sent to the loading sections 35 and 36 is temporarily stopped by raising the stopper 93, and the first nailing object at the loading sections 35 and 36 is stopped. The first and second robot mechanisms 11 and 12 do not hinder the positioning of the nailing target 31 after positioning.

After the first nailing object 31 at the leading end of the loading sections 35, 36 is carried, the stopper 93 is temporarily lowered to release the stop of the subsequent nailing object 31, and the loading section 35 is released. , 36. Thereafter, the same operation is repeated.

Two of the loading sections 35 and 36 are:
The nailing target object 31 conveyed to the conveyance end portion 14a of the supply conveyor 14 is shared and received, and supplied to the first and second robots 11 and 12 individually. Therefore, even if it takes time to supply the nailing target 31 conveyed to the first nailing target supply position 33 to the first robot 11, the nailing target 31 is sent to the loading unit 35, Disturbing the subsequent nailing object 31 from being transported to the second nailing object supply position can be avoided, and the shared supply can be achieved without confusion.

Incidentally, the number of overhangs can be set arbitrarily, and it is preferable to set the number so as not to be excessive or insufficient according to the processing capacity for the nailing object 31 in the previous step. Also, two or more overhanging portions can correspond to one handling mechanism.

First and second nail receiving target receiving positions 3
The unloading portions 41, 42 of 8, 39 also have a length capable of receiving the two nailing targets 31, and after the nailing transferred to the distal end portion by the first and second robots 11, 12, respectively. The nailing target 31 is taken out and transported toward the transport start end 15a of the conveyor 15.

The puller 44 provided on the unloading sections 41, 42 is guided by the guide rails 44a positioned on the base-side half of the unloading sections 41, 42 so as to cross the same, and guided by the guide rails 44a. hand,
A slider 44b for taking out the nailing target 31 conveyed to the base-side half of the unloading sections 41 and 42 and pulling the nailing target 31 into the conveyance start end 15a of the conveyor 15; A pin 44c for pushing the nailing target 31 of the slider 44b
As in the case of the pusher 37, it is preferable that the protrusions protrude only during the forward movement.

Since the unloading section 42 can receive two nailing objects 31, even if it takes time to transfer the nailing objects 31 by the second robot 12, this is immediately taken out of the conveyor. 15 is not hung on the transport start end 15a of the take-out conveyor 15, and it is possible to prevent the nailing target 31 that is drawn into the transport start end 15a of the take-out conveyor 15 from the unloading unit 41 and conveyed. it can.

The first and second robots 11 and 12 are shown in FIG.
8 to FIG. First and second robots 1
The guide rails 13 for suspending the guide rails 1 and 12 are installed with sufficient strength and accuracy by a steel structure 101 as shown in FIGS. The guide rail 13 is suspended by a pair of left and right I-beams 13a so that the first and second robots 11 and 12 can move in the longitudinal direction of the robot, and is provided on the inner surface of the lower end of one I-beam 13a. Each pinion gear 103 provided in the first and second robots 11 and 12 meshes with the rack 102.

Thus, the first and second robots 1
By driving the pinion gear 103 via the reduction gear 105 by each of the motors 104 provided in 1 and 12,
Each of the second robots 11 and 12 is moved in the longitudinal direction of the guide rail 13 via the rack 102, and supplies the first to sixth nailers 1 to 6 and the first and second nailing objects. Loading portions 35, 36 at positions 33, 34,
The second nailing target receiving positions 38 and 39 can be moved to respective positions facing the unloading portions 41 and 42.

The moving tables 1b to 6b serving as working positions of the nailing machines 1 to 6 are provided with reference pins as vertical positioning pins into which reference holes 32 of the nailing object 31 are fitted vertically. 10 so as to satisfy the high-precision positioning. For this highly accurate positioning, the reference pin 10 and the reference hole 32 are fitted with a sufficient fitting margin without play.

Therefore, the fitting for such positioning and the work of releasing the fitting and releasing the positioning are difficult if the nailing object 31 has a slight inclination due to twisting or the like. It is necessary to fit it accurately without tilting in the direction and lift it up again.

In order to satisfy this, the first and second robots 11 and 12 in this embodiment are provided with the first joint shaft 111 which can turn around the vertical as shown in FIGS.
The first arm 112 can pivot about a horizontal axis at the base of the first joint axis 111 with respect to the first joint axis 111.
A third joint axis 115 at which the second arm 114 can pivot around a horizontal axis parallel to the second joint axis 113 at the distal end of the first arm 112, and a third joint axis 115 at the distal end of the second arm 114. A fourth joint shaft 116 capable of pivoting about a parallel horizontal axis in a 180-degree range upward, forward, and downward, and a fifth joint shaft 117 capable of pivoting about a longitudinal axis of a second arm orthogonal to the fourth joint shaft 116. And the loading portions 35, 36 of the first and second nailing target supply positions 33, 34, respectively.
Unloading sections 41, 42 of the first and second nailing object receiving positions 38, 39, and the moving tables 1b to 6
b, the nailing target 31 can be exchanged and the tip of the fifth joint shaft 117, which is the tip of the multi-joint arm 110, can be translated in the vertical direction.

At the end of the fifth joint shaft 117, the first and second hands 1, which are distributed and supported at the target positions on both sides thereof, are provided.
21 and 122 are provided. Each of the first and second hands 121 and 122 has a pair of left and right gripping claws 121.
a, 121b and grip claws 122a, 122b are provided back to back so as to face front and back. Each hand 12
Reference numerals 1 and 122 denote respective gripping claws 121a and gripping 1s.
22a while the cylinder and link mechanism 25 remain parallel to each other.
1 is a so-called parallel hand. However, the present invention is not limited to this, and an appropriate one can be selected and used.

The first and second hands 121 and 122 are
Each gripping claw 121a, 121b and gripping claw 12
When the nails 2a and 122b face downward, the nailing target 3
1 is gripped from both sides.

The first and second robots 11 and 12 move the first and second hands 121 and 122 toward the conveyor 13 by turning about the vertical axis by the first joint shaft 111. And the first to third nailers 1 to 3 and the fourth to sixth nailers 4 to 6 can be selectively opposed to each other, and can be moved along the guide rail 13. , Each operating range 21 and 22 shown in FIG.

As a result, the first robot 11
A loading portion 35 of a nailing object supply position 33,
It is possible to move to a position opposing each of the unloading section 41 at the first nailing target receiving position 38 and each of the first to third nailing machines 1 to 3, and at each opposing position, the loading section 35. Object 3 before nailing supplied from
1 is transferred to the empty ones of the first to third nailing machines 1 to 3 for use in nailing work. The nailing target 31 after the hammering is taken out, transferred to the unloading section 41 and taken out by the take-out conveyor 15 to be driven by the windmill driving machine 4.
5 side.

The second robot 12 includes a loading section 36 at the second nailing target supply position 34 and an unloading section 42 at the second nailing target receiving position 39.
And each of the fourth to sixth nailers 4 to 6 can be moved to a position facing each of them.

As a result, the second robot 12
A loading portion 36 at a nailing object supply position 36,
The second nailing target receiving position 39 can be moved to a position facing the unloading section 42 at the second nailing target receiving position 39 and each of the fourth to sixth nailing machines 4 to 6. Object 3 before nailing supplied from
1 is held and transferred to the empty ones of the fourth to sixth nailing machines 4 to 6 for use in nailing work. The nailing target 31 after the driving is taken out, transferred to the unloading section 42 and taken out by the take-out conveyor 15 to the windmill driving machine 4.
5 side.

In the first and second robots 11 and 12, even if one of the two hands 121 and 122 is provided only downward, the movement of the two hands 121 and 122 in parallel with the vertical movement of the tip of the articulated arm 110. , The loading tables 35 and 36, the unloading sections 41 and 42, and the moving tables 1b to 6b at the transfer positions of the nailing target 31 approach vertically from directly above, and in the vertical direction. , So that the game board base material positioned on the horizontal plane by the loading portions 35 and 36 can be automatically lifted, as well as for horizontal positioning on the moving tables 1b to 6b. The fitting of the reference pin 10 and the reference hole 32 in the vertical direction,
Nail driving object 3 with this disengagement operation
The automatic transfer and lifting of 1 can be performed easily and reliably without twisting.

The first and second robots 11 and 12 described above
FIG. 7 shows the joint operation of the first and second robots 11 and 12 when the object 31 is transferred before and after nailing.

Further, in this case, the first and second hands 1
Since the nailing objects 21 and 122 can simultaneously grasp, move and articulate the nailing object 31 before nailing and the nailing object 31 after nailing, the nailing object 31 before nailing
Is gripped by one hand, and is then moved to the fifth joint shaft 11.
While being in an upright standby state, which is 180 ° inverted around 7, the nailing machine is moved to the nailing machine where nailing is completed, and the nailing target 31 after nailing is immediately gripped by the other hand facing downward. Can be taken out.

After the removal, the hand 12
1 and 122 are further turned 180 degrees around the fifth joint axis 117 to reverse the relationship between the up and down directions, and the nailing target 31 before nailing, which is gripped by the other hand that has turned downward again, is nailed. It can be immediately supplied to the driving machine.

Therefore, in order to take out the nailing object 31 after nailing and to supply the nailing object 31 before nailing, the nailing machine reciprocates between the nailing object supply position and the nailing machine. ,
The two reciprocations of reciprocating between the nailing machine and the nailing target receiving position are eliminated, and after the nailing target 31 after nailing is taken out, the hands 121 and 122 are turned upside down. Then, the operation of the nailing machine only needs to be stopped for a very short time to supply the nailing target 31 that has been turned downward before nailing.

Therefore, in one nailing machine, the nailing object 31 before nailing is supplied and nailed, and then the nailing object 31 after nailing is taken out and the next nailing object is taken out. The time lag between the supply of the nailing object 31 before nailing and the start of the next nailing is extremely short, and the work efficiency of the nailing machine is improved.

The windmill driving machine 45 is provided beside the post-process line 15b as shown in FIG.
It is operated in combination with the board supply / discharge mechanism 201 provided above. The board supply / discharge mechanism 201 also has a dedicated terminal 202, which is connected to the host computer 68 and operated and controlled according to a program for the terminal.

The board supply / discharge mechanism 201 automatically supplies the nailing target 31 after nailing conveyed on the post-process line 15b to the windmill driving machine 45 in units of two under the above-described control. The nailing target 31 after the two windmills hit simultaneously by the windmill 45 in the post-process line 1
5b is automatically returned to the next inspection line 15c.

As shown in FIG. 1, the windmill driving machine 45 has windmill supply mechanisms 203 on the left and right sides, and a board supply / discharge mechanism 2
A windmill is supplied to each of the two nailing targets 31 fed by the drive unit 01 and the nailing is automatically performed. Detailed description is omitted.

As shown in FIGS. 9 to 11, the nail bending inspection machine 46 is a pair of left and right chain conveyors 131 for receiving and transporting the nailing target 31 that has reached the inspection line 15c after nailing and windmilling. And this chain conveyor 131
Lifted to a predetermined inspection height after reaching a predetermined position regulated by the fixed stopper 211 of the chain conveyor 131.
And an intermittent feed mechanism 161 for intermittent feed regardless of the fixed stopper 211.

The nailing object 31 intermittently fed at a predetermined height by the intermittent feeding mechanism 161 and the nailing object 31 after the windmill driving have an inspection field of view 137 which crosses the nailing object 31 in a direction orthogonal to the transport direction. With the four TV cameras 132 arranged in this manner, inspection is performed for each predetermined area in a stopped state after each intermittent feed, and the inspection is repeated over the entire area.

For the intermittent feeding, the chain conveyor 1
Immediately before the intermittent feeding mechanism 31, two vertically movable stoppers 162 and 163 for temporarily stopping the sequentially conveyed nailing target 31 are provided, and the nailing target of the intermittent feeding mechanism 161 is provided. 31 is ejected and it is detected that it is in an empty state, the front stopper 1
The first nailing object 31 that has been lowered and waited 62
Is transported to the intermittent feed mechanism 161.

However, at this time, the stopper 163 on the rear side is still kept in the raised state so that the subsequent nailing object 31 is not transported. This is the first nailing object 3
When the intermittent feed mechanism 161 is conveyed to a predetermined position, the intermittent feed mechanism 161 is lifted in the positioning state, and the intermittent feed is started. This does not hinder the positioning and lifting for the intermittent feeding.

When the leading nailing object 31 has finished passing through the front stopper 162, it is raised, and then the rear stopper 163 is lowered, so that the subsequent nailing object 3
1 is conveyed toward the front stopper 162 and waits for the next inspection, and further waits for the next nailing target 31 to stop and then raises the rear stopper 163. By doing so, it is possible to separate the nailing targets 31 before and after the next transport. Thereafter, the same operation is repeated.

The intermittent feed mechanism 161 includes a cylinder 16
The intermittent feed plate 166 is provided on a guide rail 165 that is moved up and down by the guide rail 165 so that the intermittent feed plate 166 can move along the guide rail 165.
Is connected to feed means such as a feed screw (not shown) provided in the
The sheet is intermittently fed by a predetermined amount of driving.

When the intermittent feed plate 166 rises to lift the nailing object 31 arriving at the predetermined position, the reference pin 167 provided therein fits into the reference hole 32 of the nailing object 31. The nailing target 3 is positioned by being intermittently driven in this state.
1 is intermittently fed four times so that the entire area of the nailing object 31 passes through the inspection visual field 137 in four steps so that the entire area is inspected.

For this inspection, illumination is performed by an illuminator 133 slightly ahead of the inspection position. The illumination from the front is caused by the nail 1 nailed to the nailing target 31.
34 corresponds to the inclination of about 5 ° toward the upper direction where the nailing target 31 is installed as shown in FIG. 13, and the head of the nail 134 is illuminated from the inclined side. I have to do it. The illumination light source is a fluorescent lamp, but the type is not particularly limited.
Diffusely reflected light is directed by 5 or ground glass.

As a result, a high-luminance portion of the head of the nail 134, particularly on the side in which the nailing object 31 is conveyed, is formed in a size several times smaller than that of the entire head. By comparing the position data of the small high-intensity image 134a with the reference data, it is possible to determine the suitability or unsuitability more accurately than when the entire head is imaged.

More specifically, the area of the high-intensity image 134a located in the window 137a showing the proper head position range set in accordance with the head position of each nail 134 on the imaging surface of the inspection visual field 137 is If the value is equal to or less than the predetermined value, when there is no nail, the nail 134 is tilted, bent, the head of the nail 134 is tilted, or it is determined that the nail 134 has not been hit, and it is determined that the nail 134 is defective, and the others are good judge.

The principle of the discrimination and the possibility of discrimination based on this principle will be described with reference to FIG.

FIG. 14A shows a high brightness image 134a.
Is entirely normal within the window 137a, and is clearly higher than the reference value, so that it can be determined to be good. In (b) and (c), the entire high-intensity image 134a is completely outside the window 137a, and thus can be determined to be defective. In (d), only a very small portion of the high-brightness image 134a is located within the window 137a. In (e), since half or more of the high-brightness image 134a is located in the window 137a, the value exceeds the reference value and can be determined as good.

(G), (h), (l), and (m) are high when the head is inclined at a predetermined angle or more when viewed from the side or front in the transport direction due to the bending of the nail 134. This indicates that the luminance image 134a can be determined to be defective by swinging toward the inclination side with respect to the window 137a. (I), (j), (n), and (o) indicate that the nail 134 has a bend, but the inspection cannot be performed because the head position and inclination are within the normal range on the side and front sides. I have. (F) and (k) show that the condition is normal from both the side surface and the front side, and that it can be determined as good.

In the rejector 47 of the inspection line 15c, when the nailing object 31 determined to be defective arrives, the nailing object 31 is temporarily stopped by raising the elevation stopper 47c, and the puller 47a works in pairs to stop the nailing. The nailed object 31 is taken out to the discharge conveyor 47b, and is discharged out of the line.

As shown in FIGS. 15 to 18, the moving replenishing means 52 is supported and guided by a guide rail 141 which is laid horizontally along the arrangement of the first to sixth nailers 1 to 6. The trolley 142 has a supply hopper 1
43 are provided.

The trirow 142 is moved in the longitudinal direction of the guide rail 141 by driving a drive wire 143a stretched along the guide rail 141. Trolley 14
2 and a position facing each of the first to sixth nailers 1 to 6 is the guide rail 1.
By facing the position displays 150 and 151 provided on the display 41, detection is performed mechanically or optically, or ultrasonically or magnetically. It can be detected mechanically. The trolley 142 is driven by the driving wire 1
The chain is not limited to 43a, and a chain or other suitable cable can be used. Further, another reciprocating mechanism can be employed.

In the home position set near one end of the guide rail 141 facing the first nailing machine 1,
It also faces the host hopper 51, where the nail is supplied from the host hopper 51. In order to supply the nails, the nails 134 sent out from the host hopper 51 by the vibrating feeder 143b are sent to the upper supply hopper 146 by various types of lift conveyors 145 such as bucket type, and the nails are supplied from the supply hopper 146 to the supply hopper 143. It is designed to be used.

The use of the vibrating feeder 143b facilitates setting, feeding, and stopping the feeding of the nail 134 from the host hopper 51 per unit time by setting the frequency of the vibrating feeder 143b and starting and stopping the vibration. Can be done.

The reason why the host hopper 51 is installed at a low position is that the nail can be easily inserted into the host hopper 51 manually.

When the trolley 142 is moved to a position opposite to the nailing machine that has issued the empty signal of the nail, the supply hopper 143 into which the nail has been put is moved to the nailing machine by the nail in the supply hopper 143. Make it available.

The supply of the nails is performed by opening the cover plate 147 provided on one side of the bottom of the supply hopper 143 by the pushing operation of the cylinder 148 on the guide rail 141 side via the opening lever 149.

Each of the first to sixth nailing machines 1 to 6 receives the supply of the nails in its own hopper 146a, and supplies it to the nailing machine through a vibration type or an appropriate aligning machine.

Therefore, the first to sixth nailing machines 1 to 6
Can be replenished with nails whenever necessary, and the pachinko machine can be manufactured automatically as a whole.
In order to detect the necessity of replenishing nails, the aligning machines 1e to 6
e is provided with an empty detection sensor 231.

FIG. 19 is a schematic block diagram of a control circuit for controlling the production line of the above-mentioned pachinko game machine, and main control examples based on the control circuit are shown in FIGS.

This will be described. As shown in FIG. 19, a keyboard 181 for making various settings for the CPU of the host computer 68 and for inputting an upper part is provided. The model of the pachinko game machine manufactured on the pachinko game machine production line of this embodiment is input by the keyboard 181 each time. The model to be manufactured may be switched in units of hours, days, or months, as needed, or each time the required number of machines is satisfied.

The host computer 68 communicates with each of the terminal controllers 1a to 6a, 61 to 67, and 69 for the control, and inputs and outputs various necessary signals. FIG. 20 is a flowchart of a main routine showing main contents of such control. FIG. 21 shows a flowchart of an operation processing subroutine of the single-axis drilling machine 24. This subroutine is executed when it is confirmed by a sensor or the like that the nailing target 31 has been carried in.

First, when the positioning of the carried-in nailing object 31 is completed, it is determined what kind of model is to be manufactured and set in the input / output control of FIG.

When the model is A, three holes are drilled for A. If the type is B, three holes are drilled for B. If the model is C, three holes are drilled for C.

When the drilling is completed, the positioning is released so that the nailing target 31 after the drilling is conveyed to the next position, and a sensor or the like detects that the nailing target 31 is discharged from the drilling position. When confirmed by the
Then, a preparatory positioning operation is performed to raise 6 and stop the nailing object 31 that is being conveyed next, and then return to the main routine.

FIG. 22 shows a flowchart of the object supply operation processing subroutine. This subroutine is executed when the supply flag is set to 1.
The supply flag is set when there is no nailing target 31 at the first nailing target supply position, and the nailing target 31 before nailing is supplied from the pre-process line 14b of the supply conveyor 14 to the terminal end portion 14a. Is the state when the supply of the data is started.

When it is confirmed by a sensor or the like that the nailing object 31 has arrived at the first nailing object supply position 33, the supply flag is reset to 0, and then the rail-shaped lifter 201 is lifted up. The arriving nailing object 31 is lifted up so as not to be affected by the supply conveyor 14, and when its completion is confirmed by a timer, a sensor or the like, the pusher 37 is operated to operate the arriving nailing object 31. To the loading unit 35.

When it is confirmed that the leading end of the loading section 35 is empty, the stopper 93 is lowered, and the nailing object 31 thus fed is moved to the loading section 35.
To the tip of the When it is confirmed by a sensor or the like that the nailing target 31 has reached a position where the nailing target 31 comes into contact with the stopper 91 at the leading end of the loading portion 35, centering is performed by operating the left and right positioning stopper 92.

As a result, the loading section 35 is ready to supply the nailing target 31, so that the supply permitting signal is started.

Only when it is confirmed that the next nailing object 31 has been sequentially carried into both the first nailing object supply position 33 and the second nailing object supply position 34,
The supply flag is set to 1 and the process returns. When the next nailing target 31 reaches the first nailing target supply position, the nailing target 31 is loaded into the loading unit 35 and supplied.

The second nailing object supply position 3
The next nailing target object 31 that has reached 4 is carried into the loading unit 36 in the second supply position loading unit process following the above-described operation so that it can be supplied.

By repeating the above, at the first nailing object supply position 33, the ambassador and the second are used to send odd-numbered articles from the preceding ones to the loading section 35 so that they can be supplied. Nailing target supply position 34
In this case, even-numbered items from the preceding ones that are conveyed are sent to the loading unit 36 so that they can be supplied.

FIG. 23 is a flowchart showing a subroutine of the first or second robot operation process, which is executed when the object gripping flag before nailing is reset to 0.

This gripping flag before nailing is set to 1 when the nailing object 31 is gripped before nailing, and is reset to 0 in the initial state.

It is determined whether the first or second nailing object supply position has issued a signal indicating that supply is possible, and if so, the supply is enabled by the first or second robot 11 or 12. The nailing target 31 of the loading portion 35 or 36 is gripped.

When the gripping is completed, the object flag before nailing is set to 1, and it is confirmed whether there is a nailing completion machine by an operation signal on the nailing machine side. It is determined whether there is an empty machine having no nailing target object 31 and if there is an empty machine, it is sequentially supplied to each empty machine in accordance with the priority order.

This priority is assigned to each of the first and second robots 1.
In the initial state, for example, the three nailers in charge are designated in the same order as viewed in the same direction in order to prevent them from interfering with each other. It is good to supply.

When the supply is completed, the object gripping flag before nailing is reset to 0 so that the next gripping is performed. By repeating the above operation, each of the nailing machines 1 to 3,
The nailing objects 31 before nailing are sequentially supplied to 4 to 6,
A nailing operation can be performed.

Thus, the first to sixth nailing machines 1 to 6
In the nailing completion machine can be sequentially formed, and when the nailing completion machine is confirmed, the nailing target 31 after the nailing is removed, and after the removal is completed, the nailing machine becomes empty. On the other hand, the nailing object 31 after the nailing is supplied so that the next nailing operation is continued. Also in this case, when the supply is completed, the object gripping flag before nailing is reset to 0, and the nailing object 3 before the next nailing is set.
1 can be gripped.

Further, the nailed object 31 after nailing taken out is transferred to the first or second unloading section 41 or 42, and upon completion thereof, the process returns to the main routine.

FIG. 24 is a flow chart showing a subroutine for processing for taking out an object.

This subroutine is executed when it is confirmed by a sensor or the like that the nailing object 31 after nailing has been transferred to the first or second nailing object receiving position 38 or 39, When the nailing target 31 is transferred to the first nailing target receiving position 38, the first puller 3
8 operates to take out the nailing object 31 and take out the conveyor 1
5 and is conveyed to the next step. When the nailing target 31 is transferred to the second nailing target receiving position 39, the second puller 38 operates. The nailing target object 31 is taken out and sent to the transport start end 15a of the conveyor 15 to be transported to the next step.

FIG. 25 shows a flowchart of a nail bending inspection operation processing subroutine.

This subroutine is executed when it is confirmed by the sensor that the nailing object 31 after nailing and windmilling has been carried into the inspection position.

When it is confirmed by a sensor or the like that the nailing object 31 has been carried in until the front stopper is brought into contact with the front stopper, the rear stopper is raised, and then the front stopper is lowered. Now, one nailing target 31 is transported to the inspection position. When it is confirmed by a sensor or the like that the nailing target 31 has reached the fixed stopper 211 at the predetermined inspection position, the intermittent feeding plate of the intermittent feeding mechanism is used. Is lifted to raise the nailing object 31 to a predetermined height, and the reference pin 167 is inserted into the reference hole 32 of the nailing object 31.
The nailing target 31 is positioned with respect to the intermittent feed mechanism, and when this is completed, the intermittent feed mechanism drives the intermittent feed plate by a predetermined amount. As a result, when it is confirmed by a sensor or the like that the nailing target 31 has reached a predetermined inspection position, an inspection operation is performed on the distal end region corresponding to the inspection visual field 137. If the positioning accuracy is good and the nailing target 31 can be properly set at the initial inspection position, the driving of the intermittent feed mechanism for setting the nailing target 31 to the initial inspection position can be omitted. .

After the inspection, the counter is incremented, and the intermittent feed plate is driven by a predetermined amount and the inspection operation after this drive is performed until the count value of the counter becomes 4, and the nail driving gripping the intermittent feed plate is performed. , Object 31 after nailing
The inspection is performed four times per time while shifting the inspection position to the rear end side, and the inspection of the entire area is completed.

Then, when it is confirmed that the count value of the counter is 4, the count value is reset to 0, and it is determined whether or not a failure signal is generated as a result of the inspection. In this case, with the return of the intermittent feed mechanism, the defective nailing target 31 is stopped at the position of the rejector to perform the rejection processing.

If there is no defect signal, the intermittent feeding mechanism is returned and the normal nailing object 31 is inspected on the inspection process line 15.
Discharge behind c.

Finally, the front stopper is raised so that the above operation is repeated.

FIG. 26 is a flowchart of a subroutine of the inspection operation shown in FIG. 25, in which imaging and image processing are sequentially performed in the inspection visual field 137. As a result, whether the area of the high-intensity image 134a in the window is equal to or smaller than a predetermined value is determined. To determine if it is defective. If defective, a defective signal is generated, and the process returns to the subroutine of FIG.

FIG. 27 shows a flowchart of the nail supply operation processing subroutine. In this subroutine,
It is determined whether or not the host hopper is empty, and if so, a warning is continuously issued. When the empty state is eliminated, the process proceeds to the next step. If it is not empty, go to the next step.

Next, it is determined whether or not the supply hopper is empty. If so, the trolley is positioned at the home position and the lift conveyor is driven to supply the nails to the supply hopper, and when this is completed, the next control is performed. If the replenishing hopper is not empty, the process directly proceeds to the next control.

Subsequently, it is determined whether or not the nailing machine has an empty nailing machine. If there is no nailing machine, the nailing machine is returned without any change. And move the trolley to this position. When the movement is completed, the supply hopper is opened to supply the nails. When the supply is completed, the supply hopper is closed and the trolley is returned to the home position.

The specific operation and control relating to the production line of the pachinko game machine of the present embodiment can be variously changed, and the present invention is not limited to the description of the embodiment.
Also, the supply conveyor 14 which forms a part of the one-way transfer line
In addition, as shown by phantom lines in FIG. 1, loading sections 131 and 13 projecting in opposite directions to those of the above-described embodiment at the transport end section 14 a and the transport start end section 15 a of the take-out conveyor 15.
2 and the unloading parts 133 and 134 are provided, with respect to the transport end part 14a of the supply conveyor 14 and the transport start end part 15a of the take-out conveyor 15, on the side opposite to the robots 11 and 12 shown by solid lines in the above embodiment. Distributing and supplying the nailing targets 31 on the one-way transport line also to the arranged robots and nailing machines, so as to achieve a complicated transport line for the nailing targets 31 for a large number of nailers. Can be.

In this way, the working capacity on the pre-process line 14a is reduced by the transfer end portion 14a and the transfer start end 1a.
This is particularly advantageous in the case where the capability of nailing work by the robots 11 and 12 and the nailing machines 1 to 6 provided on one side of 5a is almost doubled or more.

[0138]

According to the present invention, the handling mechanism comprises:
The nailing object before nailing of the ball game machine which is transported in one direction by the transport conveyor on one side is automatically supplied to each of a plurality of nailing machines arranged on the other side,
The nailing target nailed by each nailing machine is automatically transferred to the conveyor and transported to the next process. By moving the nail from the nail supply source by a predetermined amount at a time by moving the nail to the corresponding position with the driving machine, and automatically distributing and supplying a predetermined amount to each nail driving machine, the supply of the nail is included. Efficient operation of nailing on a nailing object without manpower, and with a simple and inexpensive mobile replenishing means having a supply form to one nailing machine, without the influence of the number of nailing machines installed. Achieved well and well, so that the complicated nailing operation of the ball game machine can be performed without any delay.

The movement of the handling mechanism itself in parallel with the arrangement line of each nailing machine allows the handling mechanism to move between the nailing machine and each other.
Before and after the nailing, give and receive the nailing object after nailing,
Since the transfer can be performed by a small and simple joint operation corresponding to the transfer operation between one nailer and a plurality of nailers, the structure and the control are simple and inexpensive. In addition, the supply and removal of the nailing target to and from a plurality of nailing machines can be achieved by a small and small handling mechanism with a small dedicated space, and the cost can be reduced.

Further, a conveyor for transporting the nailing object in one direction, a plurality of nailing machines, and the simpler for moving between these and transferring the nailing object after nailing between the two. And with a small space handling mechanism and adjacent to each other with a parallel arrangement or operating range,
The moving replenishment means for moving from the nail supply source to the position corresponding to each nailing machine and replenishing them with nails may be provided so as to move along each nailing machine installation line, and the entire line configuration is reduced. Can be easily and simply fit in a small plane space, so that the cost of the entire line can be significantly reduced and space can be saved.

The feeding and conveying means for supplying the object to be nailed to the handling mechanism and the take-out and conveying means for receiving the object to be nailed from the handling mechanism are independent of each other, together with their transporting end and transport starting end, and are provided with nailing. It is easy and reliable to transport and supply the previous nailing object and to receive and transport the nailing object after nailing to the next process without confusion such as mutual interference by individual transport handling In this way, the nailing target can be exchanged in various ways, and the decrease in yield due to the failure of the exchange can be solved.

Further, the supply of the nailing target at the nailing target supply position and the reception of the nailing target at the nailing target receiving position are extended to the handling mechanism side and are laterally viewed in plan. When performing through the loading part and the unloading part which are displaced in the direction, supply of the nailing object at the end part of the supply conveyance means and the start end of the take-out conveyance means which are vertically stacked so as to form a one-way line, The receiving can be easily performed without affecting the transport of other nailing objects by the supply transporting unit and the unloading transporting unit, and in a state where both the loading unit and the unloading unit are open upward. The operation of the handling mechanism for exchanging nailing objects is simplified to further reduce costs and ensure the work of exchanging nailing objects. It is possible to improve the sex.

[Brief description of the drawings]

FIG. 1 is a plan view showing a pachinko production line to which the present invention is applied.

FIG. 2 is a partial perspective view showing a gauge press of the production line of FIG.

FIG. 3 is a perspective view of a single-axis drilling machine of the production line of FIG.

FIG. 4 is a perspective view showing a handling mechanism of a transport conveyor of the production line of FIG. 1 and a portion for exchanging an object to be nailed;

FIG. 5 is a side view showing a relationship among a handling mechanism, a conveyor and a nailing machine of the production line of FIG. 1;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a perspective view illustrating a joint axis of the robot.

FIG. 8 is a perspective view showing a hand portion of the robot.

FIG. 9 is a perspective view showing a nail bending inspection unit of the production line of FIG. 1;

FIG. 10 is a plan view of FIG. 9;

FIG. 11 is a side view of FIG. 9;

FIG. 12 is a plan view showing a nail bending inspection state.

FIG. 13 is a side view showing a nail bending inspection state.

FIG. 14 is an explanatory diagram showing an appropriate or unsuitable state of the nail bending inspection.

FIG. 15 is a perspective view showing a moving supply unit.

FIG. 16 is a perspective view showing a nail supply mechanism to the moving supply group of FIG. 14;

FIG. 17 is a perspective view of a trolley having the supply hopper of FIG. 14;

FIG. 18 is a side view of FIG.

FIG. 19 is a block diagram of a control circuit.

FIG. 20 is a flowchart of a main routine showing main operation control.

FIG. 21 is a flowchart of a single-axis drilling machine operation processing subroutine of FIG. 20;

FIG. 22 is a flowchart of an object supply operation processing subroutine of FIG. 20;

FIG. 23 is a flowchart of an object receiving operation processing subroutine of FIG. 20;

FIG. 24 is a flowchart of a first or second robot operation processing subroutine of FIG. 20;

FIG. 25 is a flowchart of a nail bending inspection operation processing subroutine of FIG. 20;

FIG. 26 is a flowchart of a test operation subroutine of FIG. 25.

FIG. 27 is a flowchart of a nail supply operation processing subroutine of FIG. 20;

[Explanation of symbols]

 1-6 Nailing machine 1a-6a Terminal device 11, 12 Robot 13 Guide rail 14 Supply conveyor 14a Transfer start end 14b Pre-process line 14c Transfer start end 15 Take-out conveyor 15a Transfer start end 15b Post-process line 15c Inspection line 21,22 Operating range 31 Nail hitting object 32 Reference hole 33, 34 Nail hitting object supply position 35, 36 Loading part 37 Pusher 38, 39 Nail hitting object receiving position 41, 42 Unloading part 51 Host hopper 52 Moving replenishing means 64, 65, 69 Terminal 68 Host computer

Claims (2)

(57) [Claims] 1. A transport conveyor for transporting a nailing object of a ball and ball game machine in one direction, a plurality of nailers arranged in parallel with the transport conveyor, a transport conveyor and a nailer arrangement line. And a multi-joint handling mechanism for transferring objects to be nailed between the conveyor and the plurality of nailing machines, and moving along the nailing machine arrangement line and at a predetermined position. from the nail supply source with each nailing machine
Carry a predetermined amount of nails to the corresponding position and drive each nail
And a moving replenishing means for replenishing was partitioned by a predetermined amount to the machine, the transport conveyor, corresponding nailing before nailing the object
Supply position of the nailing target to be supplied to the handling mechanism
At the transport end, transports the nailing target to this position
Supply and conveyance means and the nailing target after nailing
The receiving position of the nailing object received from the handling mechanism
At the starting end of the transfer
And a take-out / transport means for transporting to
Nail hitting work line for bullet game machines . 2. A transfer end portion of the supply transfer means and a take-out transfer.
The device is placed vertically above the transport start end of the
Handling mechanism side from the nailing target supply position of the feeding means
Nails that are overhanging and transported to the nailing target supply position
Accepts the nailing target before driving and supplies it to the handling mechanism.
Loading unit to be supplied and nailing target of unloading and transporting means
From the object receiving position to the handling mechanism side,
The nailing target after nailing transferred by the ring mechanism
An antenna that is sent to the unloading and transporting means so that it is transported
A loading section is provided, and the loading section and unloading
The bearings are displaced in the horizontal direction when viewed from the plane.
And pinball game machine nailing work line of claim 1 has.