EP2363288A1 - Device and method for aligning objects - Google Patents
Device and method for aligning objects Download PDFInfo
- Publication number
- EP2363288A1 EP2363288A1 EP11156755A EP11156755A EP2363288A1 EP 2363288 A1 EP2363288 A1 EP 2363288A1 EP 11156755 A EP11156755 A EP 11156755A EP 11156755 A EP11156755 A EP 11156755A EP 2363288 A1 EP2363288 A1 EP 2363288A1
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- EP
- European Patent Office
- Prior art keywords
- holding device
- article
- aligned state
- predetermined
- holding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/08—Machines
- B41F15/0895—Machines for printing on curved surfaces not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/08—Machines
- B41F15/10—Machines for multicolour printing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/08—Machines
- B41F15/12—Machines with auxiliary equipment, e.g. for drying printed articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
- B41F17/006—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on curved surfaces not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
- B41F17/08—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces
- B41F17/14—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of finite length
- B41F17/18—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for for printing on filamentary or elongated articles, or on articles with cylindrical surfaces on articles of finite length on curved surfaces of articles of varying cross-section, e.g. bottles, lamp glasses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F19/00—Apparatus or machines for carrying out printing operations combined with other operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F19/00—Apparatus or machines for carrying out printing operations combined with other operations
- B41F19/02—Apparatus or machines for carrying out printing operations combined with other operations with embossing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
- B65C9/067—Devices for presenting articles in predetermined attitude or position at labelling station for orienting articles having irregularities, e.g. holes, spots or markings, e.g. labels or imprints, the irregularities or markings being detected
Definitions
- the invention relates to a device for aligning objects according to the preamble of claim 1.
- Such devices are used in particular for preparing a decorating operation in a printing machine or a labeling operation in a labeling device.
- a spring-loaded finger is usually provided on an end face of the holding device, which is movably arranged about an axis and which is rotated during the insertion of the object until it engages in an associated recess on the front side portion of the object, which comes to rest on the end face of the holding device to rest.
- the finger is fixed and the article rotates in the receptacle until the stop in the article rests on the finger.
- Such a device for aligning articles usually comprises a plurality of such holding devices, each of these holding devices must have such described spring-loaded fingers in order to align the object in the holding device and, for example, to prepare it for subsequent printing on the periphery of the article.
- further special format parts must be in the holding device for the described Alignment can be used. This design of conventional devices is costly.
- a camera device which captures a portion, in particular a front side portion of the gripping arm of the robot image object, and an image processing device for detecting the position of a predetermined mark on the front side portion of the object, wherein a data-connected to the image processing means control device in dependence the position of the detected mark on the front side portion of the object drives the means for adjusting an aligned state of the object.
- the device according to the invention has the advantage over known devices that no special format parts in the device are more necessary for aligning the objects. In particular, it is also unnecessary to provide a finger-facial expression on the holding device in order to detect the position of the object in the holding device.
- the invention provides, the end face portion, for example, a bottom portion of an object, which has a predetermined mark such as a special geometric design to capture and use this information in the subsequent orientation and orientation, so that the object either in an aligned state in the Holding device is used or the known orientation in the other Rotation of the article in the recording is taken into account.
- the object is also captured during orientation and orientation, and this information is used, for example, for further orientation and alignment.
- the pictorial detection of the front side portion is not limited to the end face portion itself. Rather, the camera device detects the object from the front side portion and thus can, for example, the image of the interior of the object and thus possibly located there markings from the front side portion. In this case, the capture of the image can be done simultaneously with the loading of the machine without additional devices and almost no loss of time.
- the device according to the invention is particularly suitable for objects which are to be aligned in the device for preparing a decorating process, an embossing process or a labeling process.
- the subsequent decorating can be carried out, for example, by a screen printing, flexographic or digital printing method.
- the device according to the invention is not limited to a particular form of objects to be aligned; These may be, for example, bottles, glasses and cups, but also crucibles or bottles.
- the device according to the invention can align articles of a large number of materials such as glass, plastic or metal.
- the device according to the invention is designed for the treatment of objects which are to be decorated, for example, after their alignment at a certain point on the circumference.
- objects have at least at a portion as on an end face, in particular on the ground one or more markings, for example, a raised mark or a trough, which means the camera device are detected so that the object can be aligned.
- the device according to the invention is particularly suitable as part of the transport device of a printing machine or a labeling machine, etc.
- markings can be arranged in the region of the front side of the objects, which in particular comprise recessed or raised structures such as grooves, holes, wedges, points, etc., but also symbols, texts or images.
- an interpretation for example in the form of a text recognition, can also take place.
- the marking of the object recognized by the device according to the invention itself has information which can be detected and used for subsequent alignment of the article and / or beyond for subsequent decoration of the article.
- the tag may comprise encoded information which is decoded and subsequently used for the alignment or decoration, such as the printing of the item.
- the respective object can be oriented differently and / or printed with different colors or labeled with different labels.
- a mark can also serve the outline of an object, in particular on the end face, which also allows unambiguous conclusions about the angular position of the object in non-cylindrical objects as in an oval basic shape of the object.
- the means for adjusting an aligned condition of the article may comprise means for rotating the article in the gripping arm of the robotic device.
- This means can for example be realized in that the robot device is arranged for rotating the held in a robot hand object to the axis of this object, for example by providing a rotary arm with a correspondingly driven axis of rotation.
- the orientation or alignment of the object is performed by the robot, which then uses the aligned object in the holding device.
- a movement of the object in the holding device itself can be dispensed with.
- the means for adjusting the aligned state of the object is integrated in the holding device itself.
- the holding means may comprise means for rotating the article such as a drive, i. the article is rotated in the holding device after being inserted therein.
- both the robot arm and the means for rotating the object in the holding device may be actuated as a function of the front side section detected by the camera device in order to bring the object into the desired aligned state in the holding device.
- the holding device of the device according to the invention may, for example, have a mandrel receptacle, so that the object bears against the holding device with an end face. It is particularly useful, however, if the holding device has two end side receptacles, which are designed as a bottom receptacle and tip holder, wherein the inserted into the holding device subject with a bottom portion of the bottom receptacle and with a tip portion of the tip holder.
- the respective object can be clamped between the bottom receptacle and the tip receptacle and can thus be firmly fixed and aligned with the subsequent processes, such as a printing or a labeling process.
- a particularly simple construction results when the optical axis of the camera device is substantially parallel to the axis of the holding device. This ensures that after camera recording a simple movement of the robot arm is sufficient to insert the object in the holding device. In addition, it can be facilitated during the camera recording a flat focus on the front page section.
- the optical axis of the camera device may also be appropriate to arrange the optical axis of the camera device obliquely to the axis of the holding device, so that the object in this case not from above or below, i. is absorbed by one of the two end faces, but this is recorded obliquely.
- it can also be provided to make the viewing direction of the camera adjustable, so that the alignment can be carried out in each case optimized for the respective object.
- the above object is achieved by a method for aligning objects, in particular for preparing a decorating process in a printing press or a labeling operation in a labeling device, wherein the object is gripped by a gripper arm of a robot and subsequently inserted into a holding device, so that a front side portion of the Object bears against an end face of the holding device, wherein a predetermined, aligned state of the object used in the holding device is adjusted.
- the inventive method is characterized in that prior to insertion of the article in the holding device, a portion, in particular a front side portion of the object is captured and image processing is performed to detect the position of a predetermined mark on the front side portion of the article and depending on the means the image processing detected position of the predetermined mark on the end face portion of the object is moved so that it is arranged in the predetermined aligned state in the holding device.
- the orientation of the object can then take place, on the one hand characterized in that the robot orients the object before insertion into the holding device in the desired position, in particular rotates or in that the Object is first inserted into the holding device and then rotated in this to set a predetermined rotational position of the object in the holding device, which corresponds to the aligned state of the article in the holding device.
- the predetermined marking on a front side portion of the article may have coded information which is used after the decoding for the specific orientation and / or decoration of this article.
- a control with respect to the orientation of the object a control with respect to the subsequent processing stations or finally a control of the entire device can be carried out. This makes it possible for every single object to orientate individually and / or, for example, subsequently to decorate individually depending on the information attached by means of the marking on the object.
- FIG. 1 shows in a section of an apparatus 1 for aligning bottle-shaped objects, which are aligned for a subsequent decorating process. Shown is just an operating position in which the gripper arm 2 of the robot, the bottle 3 with its bottom on a camera device 4 aligns for imaging of the bottom portion. The captured image is processed in a microcomputer device to determine the location of a given image To detect mark on the bottom portion of the bottle 3. With knowledge of the location of this mark now calculated a control device, the necessary steps to allow the bottle 3 comes to rest in a predetermined aligned state in the holding device, wherein in the figure alone a bottom receptacle 5 is shown, which after insertion of the bottle 3 through the Gripper arm 2 of the robot rests against the bottom of the bottle 3.
- the tip receptacle of the holding device is not shown, which abuts axially after insertion of the bottle 3 in the holding device on the opposite side of the bottom of the bottle 3.
- the orientation of the bottle 3 is performed by rotating the bottle 3 in the holding device.
- a motor drive is mounted on the bottom receptacle 5, which is controlled by a control device as a function of the position of the previously detected mark on the bottom of the bottle 3 and the necessary steps calculated therefrom so that the predetermined aligned state of the bottle 3 in preparation for the subsequent printing process is set.
- the printing process itself is then carried out in a printing station, not shown, wherein the bottle 3 remains in the described holding device.
- the bottle 3 is rotated in response to the detected position of the mark on the bottom of the bottle 3 by the robot device.
- the robot device is equipped with the corresponding degrees of freedom. A subsequent movement of the bottle 3 after insertion into the holding device can be dispensed with.
- the camera is in relation to the device elements, such as arranged the gripper arm of the robot device so that the orientation of the object can be recorded with the camera without the object must be held with a front side in a special process step in front of the camera, but can during the movement of the object between the recording and the insertion are automatically detected in the holder device, so that no further cycle times are necessary. In this way, image acquisition, calculation and positioning can take place during the time during which the object is picked up and inserted into the holding device.
- the device elements such as arranged the gripper arm of the robot device so that the orientation of the object can be recorded with the camera without the object must be held with a front side in a special process step in front of the camera, but can during the movement of the object between the recording and the insertion are automatically detected in the holder device, so that no further cycle times are necessary. In this way, image acquisition, calculation and positioning can take place during the time during which the object is picked up and inserted into the holding device.
- FIG. 2 shows the in FIG. 1 illustrated device 10 in an overall view.
- the objects to be aligned, here bottles 3, are fed to the device 10 by means of a feeding conveyor belt 20.
- the robot device comprises left and right gripper arm segments 12a, b, whose hand-removed end is articulated in each case to an associated articulation element 11a, b.
- Left and right Greifarmsegmente 12a, b are hinged at its other end to the gripping hand 13, which is designed for gripping and carrying the bottles 3.
- FIG. 2 shows in a representation of three different operating situations A, B and C of the gripper arm.
- the robot device is controlled so that the gripping hand grasps the bottle 3 arranged on the conveyor belt 20 at the front, operating situation A.
- the gripper arm segments are controlled so that the bottle 3 is arranged with its bottom to the optical axis of the camera 14 (operating situation B) in order to capture this front side portion of the bottle 3, from which in the described embodiment, the rotational orientation of the bottle 3 is determined due to an associated mark at the bottom of the bottle.
- the bottle is then inserted by the robot device in the holding device 15, operating situation C of the gripper arm.
- the holding device 15 comprises a bottom receptacle 16 and a neck receptacle 18, wherein first the bottle is applied to the bottom receptacle by means of the robot device and subsequently the neck receptacle 18 with its centering part 19 starting from a position E in a further operating position D of the neck receptacle 18 to the bottle is used to fix the bottle in the holding device 15. Thereafter, the gripper arm 13 opens, this operating situation is in FIG. 2 not shown anymore.
- the bottle can be rotated axially over the attacking on the bottom receptacle 16 motor 17.
- This rotation is performed by a control, not shown, taking into account the detected in the operating position B of the gripping arm rotational orientation of the bottle, such that the bottle is aligned, for example, for a subsequent decorating in a predetermined manner with respect to their rotational position.
- the movement path of the gripping hand is shown in the figure by the trajectory S.
- FIG. 3 and 4 show the in FIG. 2 illustrated device each in a slightly modified form.
- the same components are provided with the same reference numerals.
- the camera is arranged in the immediate vicinity of the feeding conveyor belt 20, so that the imaging of the bottom section of the bottle 3 takes place directly after the bottle is picked up by the belt.
- the trajectory S of the robot arm is substantially identical to that of the FIG. 2 , Since the image detection of the front side portion of the bottle is made at the beginning of the trajectory, the time for moving the bottle into the holding device 15 for performing the image processing and thus for the detection the rotational orientation of the bottle can be used.
- FIG. 4 shows an embodiment in which not the bottom portion of the bottle, but the opposite end portion, ie, the area of the bottle neck is captured by the camera 14, wherein in the illustrated embodiment, the camera axis is again arranged in parallel and aligned with the bottle axis.
- FIG. 5 shows the integration of one of the in the Figures 2-4 illustrated device for aligning objects in a here designed as a screen printing machine 100 decorating device.
- the screen printing machine 100 is constructed in a carousel-like manner and initially comprises an input station 130, as in the Figures 2-4 is shown. Further, in the described embodiment, the screen printing machine 100 has four printing stations 110a-d and correspondingly four drying stations 120a-d. After passing through the individual processing stations for carrying out a four-color screen printing, the bottle 3 is removed from the holding device at the output station by means of a second robot device and placed on the discharging conveyor belt 25 for removal. The described orientation of the bottle within the input station 130 serves to prepare the orientation of the bottle for subsequent four-color printing.
- the in Fig. 5 shown machine depending on the specific application for example, be designed as a printing machine with 8 printing stations or decorating station, each with 3 printing and drying stations and with an embossing and a labeling station. In all cases, a device according to the invention is included.
- the object here the bottle
- the robot device is designed to rotate the bottle along the bottle axis. This rotation can then be performed after the imaging of the face portion and subsequent image processing during transport of the bottle into the holding device 15. This eliminates the provision of a drive on all floor shots 16, see for example FIG. 2 ,
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Abstract
Description
Die Erfindung betrifft eine Vorrichtung zum Ausrichten von Gegenständen nach dem Oberbegriff von Anspruch 1.The invention relates to a device for aligning objects according to the preamble of
Derartige Vorrichtungen werden insbesondere zur Vorbereitung eines Dekoriervorgangs in einer Druckmaschine oder eines Etikettiervorgangs in einer Etikettiervorrichtung verwendet. Bei der gattungsbildenden Vorrichtung ist an einer Stirnseitenaufnahme der Halteeinrichtung in der Regel ein federbelasteter Finger vorgesehen, welcher bewegbar um eine Achse angeordnet ist und der während des Einsetzens des Gegenstandes so lange gedreht wird, bis er in eine zugeordnete Ausnehmung an dem Stirnseitenabschnitt des Gegenstandes eingreift, welcher zur Anlage an der Stirnseitenaufnahme der Halteeinrichtung zum Liegen kommt. Alternativ steht der Finger fest und der Artikel dreht sich in der Aufnahme, bis der Anschlag im Artikel am Finger anliegt. Da eine solche Vorrichtung zum Ausrichten von Gegenständen in der Regel eine Vielzahl von derartigen Halteeinrichtungen umfasst, muss jede dieser Halteeinrichtungen solch beschriebene federbelastete Finger aufweisen, um den Gegenstand in der Halteeinrichtung auszurichten und beispielsweise damit für eine nachfolgende Bedruckung am Umfang des Gegenstandes vorzubereiten. Je nach auszurichtendem Gegenstand müssen ferner spezielle Formatteile in der Halteeinrichtung für die beschriebene Ausrichtung verwendet werden. Diese Gestaltung herkömmlicher Vorrichtungen ist kostenintensiv.Such devices are used in particular for preparing a decorating operation in a printing machine or a labeling operation in a labeling device. In the generic device, a spring-loaded finger is usually provided on an end face of the holding device, which is movably arranged about an axis and which is rotated during the insertion of the object until it engages in an associated recess on the front side portion of the object, which comes to rest on the end face of the holding device to rest. Alternatively, the finger is fixed and the article rotates in the receptacle until the stop in the article rests on the finger. Since such a device for aligning articles usually comprises a plurality of such holding devices, each of these holding devices must have such described spring-loaded fingers in order to align the object in the holding device and, for example, to prepare it for subsequent printing on the periphery of the article. Depending on the object to be aligned further special format parts must be in the holding device for the described Alignment can be used. This design of conventional devices is costly.
Demnach liegt der Erfindung die Aufgabe zugrunde, eine herkömmliche Vorrichtung zum Ausrichten von Gegenständen in ihrem Aufbau zu vereinfachen oder entfallen zu lassen und damit eine kostengünstigere Herstellung bereitzustellen.Accordingly, it is the object of the invention to simplify or eliminate a conventional device for aligning objects in their construction and thus to provide a more cost-effective production.
Diese Aufgabe wird auf überraschende Weise schon durch eine Vorrichtung mit den Merkmalen von Anspruch 1 gelöst. Bei der erfindungsgemäßen Vorrichtung ist eine Kameraeinrichtung vorgesehen, welche einen Abschnitt, insbesondere einen Stirnseitenabschnitt des vom Greifarm des Roboters ergriffenen Gegenstandes bildlich erfasst, sowie eine Bildverarbeitungseinrichtung zur Erfassung der Lage einer vorgegebenen Markierung am Stirnseitenabschnitt des Gegenstandes, wobei eine mit der Bildverarbeitungseinrichtung datenverbundene Steuereinrichtung in Abhängigkeit der Lage der erfassten Markierung am Stirnseitenabschnitt des Gegenstandes das Mittel zur Einstellung eines ausgerichteten Zustandes des Gegenstandes ansteuert.This object is achieved in a surprising manner by a device having the features of
Die erfindungsgemäße Vorrichtung weist gegenüber bekannten Vorrichtungen den Vorteil auf, dass zum Ausrichten der Gegenstände keine speziellen Formatteile in der Vorrichtung mehr notwendig sind. Insbesondere erübrigt sich auch das Vorsehen einer Fingermimik an der Halteeinrichtung, um die Lage des Gegenstandes in der Halteeinrichtung zu erfassen. Dagegen ist erfindungsgemäß vorgesehen, den Stirnseitenabschnitt, beispielsweise einen Bodenabschnitt eines Gegenstandes, welcher eine vorgegebene Markierung wie eine besondere geometrische Gestaltung aufweist, bildlich zu erfassen und diese Information bei der nachfolgenden Orientierung und Ausrichtung zu verwenden, sodass der Gegenstand entweder in einem ausgerichteten Zustand in der Halteeinrichtung eingesetzt ist oder die bekannte Ausrichtung bei der weiteren Drehung des Artikels in der Aufnahme Berücksichtigung findet. Hierbei kann vorgesehen sein, dass der Gegenstand auch während der Orientierung und Ausrichtung bildlich erfasst wird und diese Informationen beispielsweise zur weiteren Orientierung und Ausrichtung genutzt wird.The device according to the invention has the advantage over known devices that no special format parts in the device are more necessary for aligning the objects. In particular, it is also unnecessary to provide a finger-facial expression on the holding device in order to detect the position of the object in the holding device. In contrast, the invention provides, the end face portion, for example, a bottom portion of an object, which has a predetermined mark such as a special geometric design to capture and use this information in the subsequent orientation and orientation, so that the object either in an aligned state in the Holding device is used or the known orientation in the other Rotation of the article in the recording is taken into account. In this case, it may be provided that the object is also captured during orientation and orientation, and this information is used, for example, for further orientation and alignment.
Die bildliche Erfassung des Stirnseitenabschnittes ist nicht auf den Stirnseitenabschnitt selbst beschränkt. Vielmehr erfasst die Kameraeinrichtung den Gegenstand von dem Stirnseitenabschnitt aus und kann somit beispielsweise auch das Innere des Gegenstandes und damit sich möglicherweise dort befindliche Markierungen von dem Stirnseitenabschnitt aus bildlich erfassen. Dabei kann das Erfassen des Bildes gleichzeitig mit der Beladung der Maschine ohne zusätzliche Vorrichtungen und nahezu ohne zeitlichen Verlust erfolgen.The pictorial detection of the front side portion is not limited to the end face portion itself. Rather, the camera device detects the object from the front side portion and thus can, for example, the image of the interior of the object and thus possibly located there markings from the front side portion. In this case, the capture of the image can be done simultaneously with the loading of the machine without additional devices and almost no loss of time.
Die erfindungsgemäße Vorrichtung eignet sich insbesondere bei Gegenständen, welche in der Vorrichtung zur Vorbereitung eines Dekoriervorgangs, eines Prägevorgangs oder eines Etikettiervorgangs ausgerichtet werden sollen. Das nachfolgende Dekorieren kann beispielsweise durch ein Siebdruck-, Flexodruck- oder ein Digitaldruckverfahren ausgeführt werden. Die erfindungsgemäße Vorrichtung ist nicht auf eine besondere Form von auszurichtenden Gegenständen beschränkt; es kann sich dabei beispielsweise um Flaschen, Gläser und Tassen, aber auch um Tiegel oder Flakons handeln. Die erfindungsgemäße Vorrichtung kann Gegenstände einer großen Anzahl von Materialien wie Glas, Kunststoff oder Metall ausrichten.The device according to the invention is particularly suitable for objects which are to be aligned in the device for preparing a decorating process, an embossing process or a labeling process. The subsequent decorating can be carried out, for example, by a screen printing, flexographic or digital printing method. The device according to the invention is not limited to a particular form of objects to be aligned; These may be, for example, bottles, glasses and cups, but also crucibles or bottles. The device according to the invention can align articles of a large number of materials such as glass, plastic or metal.
Grundsätzlich ist die erfindungsgemäße Vorrichtung zum Behandeln von Gegenständen ausgebildet, welche beispielsweise nach deren Ausrichtung an einer bestimmten Stelle auf dem Umfang zu dekorieren sind. Diese Gegenstände weisen zumindest an einem Abschnitt wie an einer Stirnseite, insbesondere am Boden eine oder mehrere Markierungen auf, beispielsweise eine erhabene Markierung oder eine Mulde, die mittels der Kameraeinrichtung erfasst werden, sodass der Gegenstand ausgerichtet werden kann. Die erfindungsgemäße Vorrichtung eignet sich insbesondere als Bestandteil der Transportvorrichtung einer Druckmaschine bzw. einer Etikettiermaschine etc.In principle, the device according to the invention is designed for the treatment of objects which are to be decorated, for example, after their alignment at a certain point on the circumference. These objects have at least at a portion as on an end face, in particular on the ground one or more markings, for example, a raised mark or a trough, which means the camera device are detected so that the object can be aligned. The device according to the invention is particularly suitable as part of the transport device of a printing machine or a labeling machine, etc.
Erfindungsgemäß können solche Markierungen im Bereich der Stirnseite der Gegenstände angeordnet sein können, die insbesondere vertiefte oder erhabene Strukturen wie Nuten, Löcher, Keile, Punkte etc., jedoch auch Symbole, Texte oder Abbildungen umfassen. Bei der Verarbeitung einer erkannten Markierung kann auch eine Interpretation, beispielsweise in Form einer Texterkennung erfolgen. Beispielsweise ist es möglich, dass die mit der erfindungsgemäßen Vorrichtung erkannte Markierung des Gegenstandes selbst Information aufweist, welche erfasst und zur nachfolgenden Ausrichtung des Gegenstandes und/oder darüber hinaus zur nachfolgenden Dekoration des Gegenstandes verwendet werden kann. Insofern kann die Markierung codierte Information umfassen, welche dekodiert und nachfolgend für die Ausrichtung bzw. die Dekoration wie die Bedruckung des Gegenstandes verwendet wird. Beispielsweise kann in Abhängigkeit von der erfassten Markierung bzw. der dekorierten Information der jeweilige Gegenstand unterschiedlich orientiert und/oder mit unterschiedlichen Farben bedruckt oder unterschiedlichen Etiketten gekennzeichnet werden.According to the invention, such markings can be arranged in the region of the front side of the objects, which in particular comprise recessed or raised structures such as grooves, holes, wedges, points, etc., but also symbols, texts or images. During the processing of a recognized mark, an interpretation, for example in the form of a text recognition, can also take place. For example, it is possible that the marking of the object recognized by the device according to the invention itself has information which can be detected and used for subsequent alignment of the article and / or beyond for subsequent decoration of the article. As such, the tag may comprise encoded information which is decoded and subsequently used for the alignment or decoration, such as the printing of the item. For example, depending on the detected marking or the decorated information, the respective object can be oriented differently and / or printed with different colors or labeled with different labels.
Als eine solche Markierung kann auch der Umriss eines Gegenstandes insbesondere an dessen Stirnseite dienen, welcher bei nichtzylindrischen Gegenständen wie bei einer ovalen Grundform des Gegenstandes auch eindeutige Rückschlüsse auf die Winkellage des Gegenstandes erlaubt.As such a mark can also serve the outline of an object, in particular on the end face, which also allows unambiguous conclusions about the angular position of the object in non-cylindrical objects as in an oval basic shape of the object.
Vorteilhafte Ausführungsformen der Erfindung sind in den Unteransprüchen angegeben.Advantageous embodiments of the invention are specified in the subclaims.
Zweckmäßigerweise kann das Mittel zur Einstellung eines ausgerichteten Zustandes des Gegenstandes ein Mittel zum Drehen des Gegenstandes im Greifarm der Robotereinrichtung aufweisen. Dieses Mittel kann beispielsweise dadurch realisiert sein, dass die Robotereinrichtung zum Drehen des in einer Roboterhand gehaltenen Gegenstandes zur Achse dieses Gegenstandes eingerichtet ist, beispielsweise durch das Vorsehen eines Dreharms mit entsprechend angetriebener Drehachse. Insofern wird die Orientierung bzw. Ausrichtung des Gegenstandes durch den Roboter durchgeführt, der dann den ausgerichteten Gegenstand in die Halteeinrichtung einsetzt. Eine Bewegung des Gegenstandes in der Halteeinrichtung selbst kann damit entfallen.Conveniently the means for adjusting an aligned condition of the article may comprise means for rotating the article in the gripping arm of the robotic device. This means can for example be realized in that the robot device is arranged for rotating the held in a robot hand object to the axis of this object, for example by providing a rotary arm with a correspondingly driven axis of rotation. In this respect, the orientation or alignment of the object is performed by the robot, which then uses the aligned object in the holding device. A movement of the object in the holding device itself can be dispensed with.
In einer anderen zweckmäßigen Ausführungsform der erfindungsgemäßen Vorrichtung kann vorgesehen sein, dass das Mittel zur Einstellung des ausgerichteten Zustandes des Gegenstandes in der Halteeinrichtung selbst integriert ist. Beispielsweise kann die Halteeinrichtung ein Mittel zum Drehen des Gegenstandes wie einen Antrieb aufweisen, d.h. der Gegenstand wird in der Halteeinrichtung gedreht, nachdem er in diese eingesetzt ist.In another expedient embodiment of the device according to the invention it can be provided that the means for adjusting the aligned state of the object is integrated in the holding device itself. For example, the holding means may comprise means for rotating the article such as a drive, i. the article is rotated in the holding device after being inserted therein.
Besonders zweckmäßig kann es jedoch sein, dass sowohl der Roboterarm als auch das Mittel zum Drehen des Gegenstandes in der Halteeinrichtung in Abhängigkeit des von der Kameraeinrichtung erfassten Stirnseitenabschnittes angesteuert werden, um den Gegenstand in den gewünschten ausgerichteten Zustand in der Halteeinrichtung zu bringen.However, it may be particularly expedient for both the robot arm and the means for rotating the object in the holding device to be actuated as a function of the front side section detected by the camera device in order to bring the object into the desired aligned state in the holding device.
Die Halteeinrichtung der erfindungsgemäßen Vorrichtung kann beispielsweise eine Dornaufnahme aufweisen, sodass der Gegenstand mit einer Stirnseite an der Halteeinrichtung anliegt. Besonders zweckmäßig ist es jedoch, wenn die Halteeinrichtung zwei Stirnseitenaufnahmen aufweist, die als Bodenaufnahme und Spitzenaufnahme ausgebildet sind, wobei der in die Halteeinrichtung eingesetzte Gegenstand mit einem Bodenabschnitt an der Bodenaufnahme und mit einem Spitzenabschnitt an der Spitzenaufnahme anliegt. Durch eine solche Gestaltung kann der jeweilige Gegenstand zwischen Bodenaufnahme und Spitzenaufnahme eingespannt werden und kann somit fest fixiert und ausgerichtet den nachfolgenden Prozessen wie einem Druck oder einem Etikettierprozess zugeführt werden.The holding device of the device according to the invention may, for example, have a mandrel receptacle, so that the object bears against the holding device with an end face. It is particularly useful, however, if the holding device has two end side receptacles, which are designed as a bottom receptacle and tip holder, wherein the inserted into the holding device subject with a bottom portion of the bottom receptacle and with a tip portion of the tip holder. By means of such a design, the respective object can be clamped between the bottom receptacle and the tip receptacle and can thus be firmly fixed and aligned with the subsequent processes, such as a printing or a labeling process.
Eine besonders einfache Konstruktion ergibt sich, wenn die optische Achse der Kameraeinrichtung im Wesentlichen parallel zur Achse der Halteeinrichtung verläuft. Hierdurch wird erreicht, dass nach der Kameraaufnahme eine einfache Bewegung des Roboterarms ausreicht, um den Gegenstand in die Halteeinrichtung einzusetzen. Darüber hinaus kann dadurch während der Kameraaufnahme ein flächiger Fokus auf den Stirnseitenabschnitt erleichtert werden.A particularly simple construction results when the optical axis of the camera device is substantially parallel to the axis of the holding device. This ensures that after camera recording a simple movement of the robot arm is sufficient to insert the object in the holding device. In addition, it can be facilitated during the camera recording a flat focus on the front page section.
Darüber hinaus kann es auch zweckmäßig sein, die optische Achse der Kameraeinrichtung schräg zur Achse der Halteeinrichtung anzuordnen, sodass der Gegenstand in diesem Fall nicht von oben oder unten, d.h. von einer der beiden Stirnseiten aufgenommen wird, sondern dieser schräg aufgenommen wird. Darüber hinaus kann auch vorgesehen sein, die Blickrichtung der Kamera einstellbar zu gestalten, sodass die Ausrichtung jeweils optimiert für den jeweiligen Gegenstand durchgeführt werden kann.In addition, it may also be appropriate to arrange the optical axis of the camera device obliquely to the axis of the holding device, so that the object in this case not from above or below, i. is absorbed by one of the two end faces, but this is recorded obliquely. In addition, it can also be provided to make the viewing direction of the camera adjustable, so that the alignment can be carried out in each case optimized for the respective object.
Verfahrensseitig wird die obige Aufgabe gelöst durch ein Verfahren zum Ausrichten von Gegenständen, insbesondere zur Vorbereitung eines Dekoriervorgangs in einer Druckmaschine oder eines Etikettiervorgangs in einer Etikettiervorrichtung, wobei der Gegenstand von einem Greifarm eines Roboters ergriffen und nachfolgend in eine Halteeinrichtung eingesetzt wird, sodass ein Stirnseitenabschnitt des Gegenstandes an einer Stirnseitenaufnahme der Halteeinrichtung anliegt, wobei ein vorgegebener, ausgerichteter Zustand des in die Haltevorrichtung eingesetzten Gegenstandes eingestellt wird. Das erfindungsgemäße Verfahren zeichnet sich dadurch aus, dass vor dem Einsetzen des Gegenstandes in die Halteeinrichtung ein Abschnitt, insbesondere ein Stirnseitenabschnitt des Gegenstandes bildlich erfasst wird und eine Bildverarbeitung durchgeführt wird zur Erfassung der Lage einer vorgegebenen Markierung am Stirnseitenabschnitt des Gegenstandes und wobei in Abhängigkeit der mittels der Bildverarbeitung erfassten Lage der vorgegebenen Markierung am Stirnseitenabschnitt des Gegenstandes dieser so bewegt wird, dass er in dem vorgegebenen ausgerichteten Zustand in der Haltevorrichtung angeordnet ist.In terms of the method, the above object is achieved by a method for aligning objects, in particular for preparing a decorating process in a printing press or a labeling operation in a labeling device, wherein the object is gripped by a gripper arm of a robot and subsequently inserted into a holding device, so that a front side portion of the Object bears against an end face of the holding device, wherein a predetermined, aligned state of the object used in the holding device is adjusted. The inventive method is characterized in that prior to insertion of the article in the holding device, a portion, in particular a front side portion of the object is captured and image processing is performed to detect the position of a predetermined mark on the front side portion of the article and depending on the means the image processing detected position of the predetermined mark on the end face portion of the object is moved so that it is arranged in the predetermined aligned state in the holding device.
Nach der Erfassung der Lage der vorgegebenen Markierung am Stirnseitenabschnitt des Gegenstandes mittels der Bildverarbeitung kann danach die Ausrichtung des Gegenstandes erfolgen, einerseits dadurch, dass der Roboter den Gegenstand vor dem Einsetzen in die Halteeinrichtung in die gewünschte Lage orientiert, insbesondere dreht oder dadurch, dass der Gegenstand zunächst in die Halteeinrichtung eingesetzt wird und danach in dieser gedreht wird, um eine vorgegebene Drehlage des Gegenstandes in der Halteeinrichtung einzustellen, die dem ausgerichteten Zustand des Gegenstandes in der Halteeinrichtung entspricht.After the detection of the position of the predetermined marking on the front side portion of the object by means of image processing, the orientation of the object can then take place, on the one hand characterized in that the robot orients the object before insertion into the holding device in the desired position, in particular rotates or in that the Object is first inserted into the holding device and then rotated in this to set a predetermined rotational position of the object in the holding device, which corresponds to the aligned state of the article in the holding device.
Vorteilhafterweise kann die vorgegebene Markierung an einem Stirnseitenabschnitt des Gegenstandes eine codierte Information aufweisen, welche nach der Dekodierung zur spezifischen Ausrichtung und/oder Dekorierung dieses Gegenstandes verwendet wird. Auf die beschriebene Weise kann letztlich mittels der dekodierten Information der Markierung eine Steuerung bezüglich der Ausrichtung des Gegenstandes, eine Steuerung bezüglich der nachfolgenden Bearbeitungsstationen bzw. letztlich eine Steuerung der gesamten Vorrichtung durchgeführt werden. Damit ist es möglich, jeden einzelnen Gegenstand individuell zu orientieren und/oder beispielsweise nachfolgend individuell zu dekorieren in Abhängigkeit der mittels der Markierung am Gegenstand angebrachten Information.Advantageously, the predetermined marking on a front side portion of the article may have coded information which is used after the decoding for the specific orientation and / or decoration of this article. In the described manner, finally, by means of the decoded information of the marking, a control with respect to the orientation of the object, a control with respect to the subsequent processing stations or finally a control of the entire device can be carried out. This makes it possible for every single object to orientate individually and / or, for example, subsequently to decorate individually depending on the information attached by means of the marking on the object.
Die Erfindung wird im Folgenden durch das Beschreiben einiger Ausführungsformen einer erfindungsgemäßen Vorrichtung unter Bezugnahme auf die beiliegenden Zeichnungen erläutert, wobei
Figur 1- einen Ausschnitt einer erfindungsgemäßen Vorrichtung zum Ausrichten von flaschenförmigen Gegenständen,
Figur 2- die in
dargestellte Ausführungsform in einer ausführlicheren Prinzipdarstellung,Figur 1 Figur 3- eine weitere Ausführungsform einer erfindungsgemäßen Vorrichtung in einer Prinzipdarstellung,
Figur 4- eine weitere erfindungsgemäß ausgebildete Vorrichtung in einer Prinzipdarstellung und
Figur 5- eine der in den
Figuren 1 - 4 dargestellte Vorrichtung im Einsatz in einer Druckmaschine
- FIG. 1
- a detail of a device according to the invention for aligning bottle-shaped objects,
- FIG. 2
- in the
FIG. 1 illustrated embodiment in a more detailed schematic diagram, - FIG. 3
- a further embodiment of a device according to the invention in a schematic representation,
- FIG. 4
- a further device designed according to the invention in a schematic representation and
- FIG. 5
- one of the in the
Figures 1 - 4 illustrated device in use in a printing press
In einer nicht dargestellten Ausführungsform kann auch vorgesehen sein, dass die Flasche 3 im Ansprechen auf die erfasste Lage der Markierung am Boden der Flasche 3 durch die Robotereinrichtung gedreht wird. Bei dieser Ausführungsform ist die Robotereinrichtung mit den entsprechenden Freiheitsgraden ausgestattet. Eine nachfolgende Bewegung der Flasche 3 nach dem Einsetzen in die Halteeinrichtung kann damit entfallen.In an embodiment, not shown, it may also be provided that the
In einer weiteren, nicht dargestellten Ausführungsform ist die Kamera in Bezug auf die Vorrichtungselemente, wie beispielsweise den Greifarm der Robotereinrichtung so angeordnet, dass die Orientierung des Gegenstandes mit der Kamera aufgenommen werden kann, ohne dass der Gegenstand mit einer Stirnseite in einem besonderen Verfahrensschritt vor die Kamera gehalten werden muss, sondern kann während der Bewegung des Gegenstandes zwischen der Aufnahme und dem Einsetzen in die Haltereinrichtung automatisch erfasst werden, sodass keine weiteren Zykluszeiten notwendig sind. Auf diese Weise können Bildaufnahme, Berechnung und Positionierung während der Zeit erfolgen, während welcher der Gegenstand aufgenommen und in die Halteeinrichtung eingesetzt wird.In another embodiment, not shown, the camera is in relation to the device elements, such as arranged the gripper arm of the robot device so that the orientation of the object can be recorded with the camera without the object must be held with a front side in a special process step in front of the camera, but can during the movement of the object between the recording and the insertion are automatically detected in the holder device, so that no further cycle times are necessary. In this way, image acquisition, calculation and positioning can take place during the time during which the object is picked up and inserted into the holding device.
Nachdem die Flasche nun in der Halteeinrichtung fixiert ist, kann die Flasche über den an der Bodenaufnahme 16 angreifenden Motor 17 axial gedreht werden. Diese Drehung wird von einer nicht dargestellten Steuerung unter Berücksichtigung der in der Betriebsposition B des Greifarms erfassten Drehorientierung der Flasche durchgeführt, derartig, dass die Flasche beispielsweise für einen nachfolgenden Dekoriervorgang in vorgegebener Weise bezüglich ihrer Drehlage ausgerichtet ist.After the bottle is now fixed in the holding device, the bottle can be rotated axially over the attacking on the
Der Bewegungspfad der Greifhand ist in der Figur durch die Trajektorie S dargestellt.The movement path of the gripping hand is shown in the figure by the trajectory S.
Die
Andererseits kann die in
In einer nicht dargestellten, aber ähnlich zu einer in den
- 11
- Vorrichtungcontraption
- 22
- Greifarmclaw arm
- 33
- Flaschebottle
- 44
- Kameraeinrichtungcamera means
- 55
- Bodenaufnahmesoil ingestion
- 1010
- Vorrichtungcontraption
- 11a,11a,
- b Anlenkelementb connecting element
- 12a, b12a, b
- Greifarmsegmente (links, rechts)Gripper arm segments (left, right)
- 1313
- Greifhandgripping hand
- 1414
- Kameracamera
- 1515
- Halteeinrichtungholder
- 1616
- Bodenaufnahmesoil ingestion
- 1717
- Motorantriebmotor drive
- 1818
- Halsaufnahmeneck receiving
- 1919
- Zentrierteilcentering
- 2020
- Förderband (Zuführung)Conveyor belt (feeder)
- 2525
- Förderband (Abführung)Conveyor belt (removal)
- 100100
- Siebdruckmaschinescreen printing machine
- 110a,b, c,d110a, b, c, d
- Druckstationprinting station
- 120a,b, c,d120a, b, c, d
- Trocknungsstationdrying station
- 130130
- Eingabestationinput station
- 140140
- Ausgabestationoutput station
- A, B, CA, B, C
- Greifarmstellunggripper arm position
- D, ED, E
- Stellung der HalsaufnahmePosition of the neck
- SS
- Trajektorietrajectory
Claims (10)
gekennzeichnet durch eine Kameraeinrichtung (4, 14), welche einen Abschnitt, insbesondere einen Stirnseitenabschnitt des vom Greifarm (2) ergriffenen Gegenstandes (3) bildlich erfasst, eine Bildverarbeitungseinrichtung zur Erfassung der Lage einer vorgegebenen Markierung an dem Abschnitt des Gegenstandes, wobei eine mit der Bildverarbeitungseinrichtung datenverbundene Steuereinrichtung in Abhängigkeit der Lage der erfassten Markierung an dem Abschnitt des Gegenstandes das Mittel zur Einstellung eines ausgerichteten Zustandes des Gegenstandes ansteuert.
characterized by a camera device (4, 14) which image captures a portion, in particular a front side portion of the gripping arm (2) object, an image processing device for detecting the position of a predetermined mark on the portion of the object, one with the Image processing device data-connected control device as a function of the situation the detected mark on the portion of the object drives the means for adjusting an aligned state of the object.
dadurch gekennzeichnet, dass vor dem Einsetzten des Gegenstandes (3) in die Halteeinrichtung (15) ein Abschnitt, insbesondere ein Stirnseitenabschnitt des Gegenstandes bildlich erfasst wird und eine Bildverarbeitung durchgeführt wird zur Erfassung der Lage einer vorgegebenen Markierung an dem Abschnitt des Gegenstandes und wobei in Abhängigkeit der mittels der Bildverarbeitung erfassten Lage der vorgegebenen Markierung an dem Abschnitt des Gegenstandes dieser so bewegt wird, dass er in dem vorgegebenen ausgerichteten Zustand in der Haltevorrichtung (15) angeordnet ist.Method for aligning objects, in particular for preparing a decorating process in a printing machine (100), wherein the object (3) is gripped by a gripper arm (2) of a robot and subsequently inserted into a holding device (15) a front side portion of the object bears against a front side receptacle of the holding device, wherein a predetermined, aligned state of the object inserted into the holding device (15) is adjusted,
characterized in that before inserting the article (3) into the holding device (15) a portion, in particular a front side portion of the object is image-captured and image processing is performed to detect the position of a predetermined mark on the portion of the article and wherein in dependence the position of the predetermined mark detected by the image processing is moved at the portion of the object thereof so as to be arranged in the predetermined aligned state in the holding device (15).
Applications Claiming Priority (1)
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DE201010010226 DE102010010226A1 (en) | 2010-03-03 | 2010-03-03 | Device and method for aligning objects |
Publications (1)
Publication Number | Publication Date |
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EP2363288A1 true EP2363288A1 (en) | 2011-09-07 |
Family
ID=43896645
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP11156755A Withdrawn EP2363288A1 (en) | 2010-03-03 | 2011-03-03 | Device and method for aligning objects |
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EP (1) | EP2363288A1 (en) |
DE (1) | DE102010010226A1 (en) |
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CN105346263A (en) * | 2012-07-25 | 2016-02-24 | 耐克创新有限合伙公司 | Graphic alignment for printing to an article using a first display device and a second display device |
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DE102014218308A1 (en) * | 2014-09-12 | 2016-03-17 | Kba-Kammann Gmbh | Transport device for processing in a processing machine and / or processed there objects |
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DE102014218310A1 (en) * | 2014-09-12 | 2016-03-17 | Kba-Kammann Gmbh | Transport device for processing in a processing machine and / or processed there objects |
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DE102016220970A1 (en) | 2016-10-25 | 2018-04-26 | Kba-Kammann Gmbh | Printing machine for printing at least one print image on a printing substrate surface |
DE102017206936A1 (en) | 2017-04-25 | 2018-10-25 | Kba-Kammann Gmbh | Method for printing on each of a lateral surface and a base surface having bodies and apparatus for transferring at least one such body from a first processing position to a second processing position |
US10239346B2 (en) | 2010-03-05 | 2019-03-26 | Unilin Bvba | Method of manufacturing a floor board |
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