DE102016112268A1 - Device and method for positioning a flat glass unit - Google Patents

Abstract

The invention relates to a device (E) and a method for positioning a flat glass unit (GS) for cutting in a glass processing plant, the flat glass unit (GS) being positioned according to a straight cut line (SL) specified for the blank. In order to position the flat glass unit (GS) as automatically as possible even for oblique blanks, the device (E) has the following devices or aids: a marking device (MK) having a first end point (E1) of the cutting line (SL) on a surface the flat glass unit (GS) marked; - a conveying device, which conveys the flat glass unit (GS) in the conveying direction (V) towards a cutting device (BR) which is movable along a cutting axis (A); A first manipulator (MP, MP ') which fixes the flat glass unit (GS) against translatory displacements at a point of the cutting line (SL), in particular at a second end point (E2) of the cutting line (SL), but rotatory movements of the flat glass unit (GS) in its plane, wherein by the fixation, a pivot point (DP) is formed, which is in a congruent position with a point on the cutting axis (A) of the cutting device (BR); - An opto-electrical device (KAM), by means of which is concluded for terminating a rotational movement (D) of the flat glass unit (GS) about the pivot point (DP), whether the marked end (E1) also in a congruent position with a point the cutting axis (A) of the cutting device (BR) is located.

Description

The invention relates to a device and a method for positioning a flat glass unit for processing, in particular the blank, the same in a glass processing plant.

In particular, the invention relates to a device and a method for positioning flat glass or laminated glass sheets for cutting according to a predetermined, straight cutting line on a cutting device, in particular on a cutting bridge.

In conventional glass processing plants, in particular in plants having machines for cutting flat glass and the like, larger flat glass units are broken up by multiple, successive cutting into individual glass sheets. A cutting process can consist of several steps, such as scratches, turning, positioning and / or breaking; with laminated safety glass, the film race is added. In particular for cutting, so-called cutting plans are provided which specify exactly which cuts are to be made in which order and at which locations. If the cuts are made in different geometrical directions, the individual cutting directions are referred to as X, Y, and Z cuts. Such a system is z. B. in the EP 0 807 609 A2 disclosed. When cutting, traverses (partial blanks) are first cut off from a flat glass unit (glass blank) by means of first cuts (X-cuts), from which individual glass panes are separated by further cuts (Y-cuts and possibly Z-cuts). For this purpose, it may be necessary to rotate and / or reposition the flat glass unit or disk under the machining tool. This is the case in particular when cutting laminated safety glass. During the cutting processes, aids for transporting and positioning the flat glass unit (glass blank or partial blank or mourning) to be cut are usually used in the form of movable holding clips, holding suckers, stop blocks or the like. The exact positioning is often done manually by operators optimally align the flat glass unit according to the respective predetermined cutting line on the cutting device. This is particularly the case when the cutting lines are not perpendicular to each other. Also, to verify cutting dimensions and to achieve the most accurate slice size, electronic measuring systems are used on the system. It would be desirable devices and methods that can perform automatic positioning of flat glass units to be cut even if not rectangular geometry as possible without manual intervention.

It is therefore an object of the present invention, a device and a method for positioning a flat glass unit for processing, in particular the blank to improve so that the above-mentioned disadvantages of the prior art are overcome and a fast and accurate working, at least semi-automatic positioning non-rectangular geometries can be realized on a glass processing plant. The present invention is intended in particular to be suitable for positioning flat glass and laminated safety glass panes which are not to be cut at right angles, with the smallest possible manual intervention, precisely and efficiently in the context of flat glass processing.

The object is achieved by a device having the features of claim 1 and by a method having the features of the independent claim.

Accordingly, a device for positioning a flat glass unit is presented here, which has the following devices:

• A marking device that marks a reference point (eg, a first end point) of the processing line (eg, cut line) on a surface or on an edge of the flat glass unit;
• A device which performs or supports the transport of the flat glass unit in the conveying direction to a processing device (eg cutting device), wherein the processing device is movable along a processing axis (eg cutting axis);
• A first manipulator which fixes the flat glass unit at a point of the machining or cutting line, in particular at a second end point of the machining or cutting line, or flat along the machining or cutting line against displacements along the transport direction, but rotational and translational Movements of the flat glass unit in its plane allows, wherein the fulcrum is formed by the fixation, which is in a congruent position with a point on the processing or cutting axis of the processing or cutting device. The translational movement is limited to the direction of the cutting line and makes it possible to position the diagonal cutting length below the machining width of the cutting device;
• An optoelectrical device, by means of which, in order to complete a rotary movement of the flat glass unit about the pivot point, it is determined whether the marked reference point or the marked one End is also located in a congruent position with a point on the cutting or cutting axis of the processing or cutting device.

The device which carries out and / or supports the transport of the flat glass unit may be any type of transport or conveying device which is suitable for moving the flat glass unit manually, semi-automatically or fully automatically within the installation and / or between installation areas , These include, in particular, air cushions, freewheeling or actively driven rollers, rollers, conveyor belts and the like.

The invention is also suitable for assisting a completely manual positioning of the flat glass unit under the machining tool. In this application, first a reference point for the pivot point on the flat glass unit is marked, in particular the opposite end of the processing line (see E2 in FIG 1 ). Subsequently, the opto-electrical device can be used to position the flat glass unit in its plane so that the pivot point is formed at the correct location. In the further course of the further features of the invention, as described, are used.

• 110: Markieren eines Bezugspunktes, insbesondere eines ersten Endpunktes, der Bearbeitungs- bzw. Schnittlinie auf einer Oberfläche der Flachglaseinheit mittels eines automatischen oder manuellen Markiergerätes;
• 120a: Befördern der Flachglaseinheit zu einer Bearbeitungs- bzw. Schneidvorrichtung, die entlang einer Bearbeitungs- bzw. Schnittachse bewegbar ist, oder;
• 120b: Manuelle Beförderung der Flachglaseinheit unter die Bearbeitungs- bzw. Schneidvorrichtung, wobei die korrekte Positionierung zum Anbringen der drehbeweglichen, translatorisch beweglichen Fixierung durch die optoelektronische Vorrichtung unterstützt wird.
• 130: Drehbewegliche, translatorisch bewegliche Fixierung der Flachglaseinheit mittels eines ersten Manipulators an einem Punkt der Bearbeitungs- bzw. Schnittlinie, insbesondere an einem zweiten Endpunkt der Schnittlinie oder flächig entlang der Schnittlinie, wobei der durch die drehbewegliche, Fixierung gebildete Drehpunkt sich in einer deckungsgleichen Position mit einem Punkt auf der Bearbeitungs- bzw. Schnittachse der Bearbeitungs- bzw. Schneidvorrichtung befindet. Die translatorische Bewegung ist auf die Richtung der Bearbeitungs- bzw. Schnittlinie beschränkt und ermöglicht es, die diagonale Bearbeitungs- bzw. Schnittlänge unterhalb der Bearbeitungsbreite der Bearbeitungs- bzw. Schneidvorrichtung zu positionieren;
• 140: Drehen und translatorisches Schieben der Flachglaseinheit um den Drehpunkt bis mittels einer opto-elektronischen Vorrichtung festgestellt wird, dass der markierte Bezugspunkt bzw. das markierte Ende sich ebenfalls in einer deckungsgleichen Position mit einem Punkt auf der Bearbeitungs- bzw. Schnittachse der Bearbeitungs- bzw. Schneidvorrichtung und innerhalb der Bearbeitungsbreite der Bearbeitungs- bzw. Schneidvorrichtung befindet.
• 150: Lösen der drehbeweglichen, translatorisch beweglichen Fixierung ehe der Bearbeitungs- bzw. Schneidprozess durchgeführt wird.

The method proposed here is feasible by means of the positioning device, wherein the device may be part of a glass processing plant and z. B. is realized in a cutting device. The method comprises the following steps:

• 110 : Marking a reference point, in particular a first end point, of the cutting line on a surface of the flat glass unit by means of an automatic or manual marking device;
• 120a : Conveying the flat glass unit to a cutting device that is movable along a cutting axis, or;
• 120b : Manual transport of the flat glass unit under the processing or cutting device, wherein the correct positioning for attaching the rotatable, translationally movable fixation is supported by the optoelectronic device.
• 130 : Rotatable, translationally movable fixation of the flat glass unit by means of a first manipulator at a point of the processing or cutting line, in particular at a second end point of the cutting line or flat along the cutting line, wherein the formed by the rotatable, fixing pivot point in a congruent position with a point on the cutting axis of the cutting device. The translational movement is limited to the direction of the cutting line and makes it possible to position the diagonal cutting length below the machining width of the cutting device;
• 140 In that turning and translational sliding of the flat glass unit about the fulcrum until it is detected by means of an opto-electronic device that the marked reference point or the marked end is also in coincident position with a point on the machining or cutting axis of the machining or cutting axis. Cutting device and is located within the processing width of the processing or cutting device.
• 150 : Release the rotatable, translationally movable fixation before the machining or cutting process is carried out.

Accordingly, the flat glass unit is provided with at least one optically detectable marking and is monitored automatically or manually by means of an opto-electronic device or sensor, the positioning including the rotation, whereby the achievement of the desired end position is reliably and accurately determined.

The marking is made on at least one reference point for the processing line, d. H. the marking can be made at any point on the processing line, in particular at a first end point. However, it does not necessarily have to be done at one end of the processing line. You can z. B. also on the entire processing line or sections of it done (for example, by running the upper Ritz / cut in advance). The mark can z. B. also at both ends or at a fixed location on the disc beyond the processing line or the end points, if the reference point has a unique relation thereto, ie z. B. a distance (eg., 10 cm offset) to the processing line or with a distance of z. B. 2 cm following the cut into the glass is added.

The invention is suitable for various processing devices, in particular for cutting devices. As a marking device, a cutting head of the cutting device or cutting bridge is preferably used; but it can also be z. B. to act the cutting head of a grinding device. In the following, particular reference will be made to the use of the invention in cutting devices, without thereby restricting the possibilities of application to other processing devices.

Further advantageous embodiments of the invention will become apparent from the dependent claims.

Accordingly, the marking of the first end point on the surface of the flat glass unit can preferably be carried out by means of a marking device mounted in or on the cutting device, wherein a cutting head of the cutting device or grinding device is preferably used as the marking device.

Furthermore, the positioning or conveyance (translational positioning along the X-axis and / or Y-axis) of the flat glass unit and / or the rotation (rotational positioning) of the flat glass unit can be performed by means of at least one further manipulator. In this context, preferably at least two manipulators are used, which each support with a translational force and in an alternating manner, the rotation of the flat glass unit or even perform completely themselves. The use of two or more such manipulators and the transfer of the flat glass unit from one manipulator to the other u. a. the advantage that a flat glass unit can be reliably and accurately rotated to the desired end position even if the flat glass unit is located below a cutting device, in particular a cutting bridge. This is particularly advantageous if, for mechanical reasons, the translation axis (s) must not intersect with the cutting axis (s).

In the following, the invention and the advantages resulting therefrom are described in detail by means of exemplary embodiments and with reference to the attached drawing, which show the following:

1 schematically illustrates the structure of a device for positioning of a flat glass unit to be supplied to the blank;

2 shows the starting position of the flat glass unit before positioning for an oblique blank;

3A -C show in snapshots individual situations in the positioning, in particular rotation and translational alignment, the flat glass unit, in the end position for the oblique blank, wherein according to a first embodiment of the invention, the positioning by means of a rotatable, translationally movable manipulator takes place at the edge the flat glass unit is attached to one end of the cutting line;

4A B show as an alternative snapshots in which, according to a second embodiment of the invention, the positioning is carried out by means of a rotatable, translationally movable manipulator mounted on the top and / or bottom of the flat glass unit at a point on the cutting line; and

5 shows a schematically illustrated flow chart for the inventive method.

The 1 shows the area of a glass processing plant, in which a device E for positioning a flat glass unit GS, here a flat glass pane or panel, is installed. These are, for example, the area that has a cutting device, here in the form of a cutting bridge BR, with which straight cuts can be made on the respective flat glass unit GS. For cutting, the flat glass unit GS which can be moved by the conveying device in the conveying direction V (here equal to the x-axis) must be positioned or aligned exactly on the cutting bridge. This makes in a blank along a transverse in the 90 ° degree angle (in the direction y-axis) extending cutting line SL no major difficulties, since the flat glass can be accurately aligned with the usually existing stops / guides. However, if oblique cuts are to be made that are not aligned in the 90 ° degree angle, an exact positioning of the flat glass unit GS on the cutting bridge BR designed as significantly more difficult.

The 1 shows an example of such a situation in which a blank along a slanted cutting line SL running and the flat glass unit GS this optimally and ideally should be fully automatically positioned. According to the invention, the following devices or devices (devices or components) are used for this: a marking device MK, at least one manipulator MP and at least one optoelectronic sensor system, in particular a camera KAM. These aids are preferably mounted on the cutting bridge BR, as in 1 is shown, but can also be mounted separately from the cutting bridge at other suitable locations of the system. The aids work according to the method of the invention 100 as follows (see also flowchart in 5 ):

Starting from an obliquely to be executed blank along the section line SL, which extends from a first end E1 to a second end E2 (each at the edge region of the flat glass unit), the flat glass unit GS is initially brought with its leading edge up to the cutting bridge BR (s. 2 ), so that the leading edge is aligned with the cutting axis A. Then, with the aid of the marking device MK, the first end E1 is marked on the flat glass unit GS. This happens in a first step 110 the method and is preferably by attaching a small scratch achieved with the cutting head of the cutting bridge BR. This is then a terminal (see E1 in 1 ) of the cut to be performed safely marked.

However, the marking can also be achieved at other reference points and by any type of optically recognizable marking. This is then a terminal (see E1 in 1 ) of the cut to be performed safely marked. Also, in the step 110 performed marking in front of the cutting bridge BR in the area of the conveyor are performed, for. B. by means of a marking device or manually. In the case of a VSG pane, it is advantageous for efficient automation to carry out the marking on the grinding bridge in front of the cutting bridge BR with the aid of the cutting head for cutting float glass present there. Furthermore, it may be useful in the context of the step 110 additionally to mark also the second end point E2 of the section line SL; but this is not mandatory. The marking or the markings can also be done in a manual processing step in advance.

The marked flat glass unit GS is now ready for the positioning or alignment for the execution of the oblique blank on the cutting bridge BR. The 3A -C illustrate this process.

First, in one step 120 the flat glass unit GS further transported in the feed direction V (s. 3A ), to the extent that the second end point E2 is located on the cutting axis A. The transport can be done automatically or manually. Then (s. 3B ) attached there at the end point E2 of the flat glass unit GS a manipulator MP, which is preferably formed as a component of the cutting device and the cutting bridge BR. If the transport is done manually, the opto-electronic device can be used to verify the correct positioning. The manipulator MP is preferably a rotatable gripper, suction cup or the like mounted on the cutting bridge BR, with which the flat glass unit GS can be rotatably fixed about the vertical axis (Z axis), so that only pivoting about the end point E2 and shifting along the y-axis is possible. The end point E2 thus becomes the pivot point DP for the flat glass unit GS, whereby it can be aligned very accurately and reliably for the blank, because thus the cutting line SL can be brought into the desired end position simply but exactly in alignment with the cutting axis A. In the case of a fixed pivot point E2, it could happen that the end point E1 only comes to coincide with the cutting axis A outside the machining area of the cutting bridge BR. The translational freedom of movement of the manipulator MP along the Y-axis prevents this. Thus, a dynamic pivot point DP is formed, which is fixed in the conveying or transporting direction (X-axis), but is designed to be displaceable in the machining direction (Y-axis).

How the particular 3A and 3B illustrate it, there is a rotatable, translationally movable fixation of the flat glass unit GS by means of a first manipulator MP at a point of the section line SL (here in the example shown at the second end point E2). Thus, the pivot point formed by the rotatable, translationally movable fixation DP is in a congruent position with a point on the cutting axis A. The rotatable fixing of the flat glass unit GS is done in step 130 of the procedure (s. 5 ).

In a further step 140 then takes place the rotation or pivoting of the flat glass unit GS to the translationally movable pivot point (here vertex E2), in addition to moving means such. As the manual support of an operator or other manipulators (grippers, suckers or the manipulators of the conveyor) can be used. The turning of the flat glass unit GS is carried out until the marked end E1 is also in a congruent position with a point on the cutting axis A of the cutting device BR (see FIG. 3C ). The achievement of this end position can be checked and determined by means of an opto-electronic device or sensor, here by means of the camera KAM.

In a further step 150 the rotatable, translationally movable fixation is released again before the singulation process is performed.

The rotation of the flat glass unit GS can indeed be carried out purely manually; but it can also be supported by other manipulators (not shown) or even executed fully automatically. For example, manipulators in the form of grippers, suckers and / or movable abutment elements are used, which attach at such locations of the flat glass unit GS to be rotated, on which a perpendicular to the cutting line SL force acting a sufficiently high torque (by leverage) exerts, so that the Flat glass unit GS can easily turn until it reaches the desired end position (s. 4B ).

If the mentioned further manipulators are not used along the transport direction V (X-axis), the rotation must be performed manually by an operator. In this case, the fixed pivot point DP facilitates the exact alignment of the cutting line SL along the Cutting axis A. The operator can concentrate entirely on the positioning of the end point EI; All other freedom of movement of the flat glass unit GS are prevented by the fixed pivot point DP. The display of the camera KAM is used in this case to show the operator whether the marked end point E1 is in alignment with the cutting axis A and within the processing range of the cutting bridge BR. In this case, the process steps take place 110 - 130 and 150 automatically, during process step 140 supported by the machine only.

If the mentioned further manipulators along the transport direction V (X-axis) are used, all steps 110 - 150 of the method can be carried out automatically with the aid of said aids (marking device, manipulators, camera) without the flat glass unit GS having to be manually moved or touched. The exact positioning up to the desired optimal end position ( 3C ) can be realized quickly and efficiently without human intervention.

Based on 4A and 4B Another embodiment is shown and illustrated that the manipulator MP does not necessarily have to be attached to an end point of the flat glass unit GS, but can be mounted at any point that is located on the desired cutting line SL. For this purpose, at least manipulator MP ', for example, a sucker, brought from above or below to the flat glass unit GS; It can also be two manipulators (top / bottom) are used or a manipulator consists of several parts together form a pivot point DP along the cutting axis A. In this case, a pivot point DP is then formed, which is not located at the edge of the flat glass unit GS, but in the middle thereof, as a result of which the force required for rotating the flat glass unit GS can be significantly reduced.

The monitoring of the turning process, in particular the detection of the end position, is performed by the camera KAM or a comparable sensor. As soon as the marked end point E1 is congruent with the cutting axis A, the cutting line SL is exactly in the same orientation as the cutting axis A. Thus, the ideal orientation for the cut to be performed is then achieved. The camera CAM or sensor system is preferably connected to a computing unit installed in the system in order to evaluate and / or display the image and / or sensor data there. The arithmetic unit is preferably realized by the computer already available for the control of the system (Industrial Personal Computer). This computer PC thus controls both the transport (the conveyance), the processing (the scribing, cutting, breaking, foil racing) of the flat glass plate as well as the positioning of the glass material to be cut during the entire processing process. The detection and detection of the end position can be displayed in real time on a display connected to the camera KAM or the computer PC; Similarly, a possibly performed measurement data evaluation can be visualized there user-friendly. Tests have shown that in most cases the light conditions present on the system are sufficient for adequate detection and monitoring of the position of the flat glass unit. If it should be necessary to better illuminate the areas covered by the sensor system or camera, a lighting device can be provided which illuminates the flat glass units and / or possibly even radiographs.

The positioning, in particular rotation, of the flat glass unit GS can be further improved by means of additional manipulators (not shown) so that the rotation is assisted or even fully automatic. In this case, flat glass unit GS is rotated by means of a first additional manipulator by this manipulator exerts a translational force on the flat glass unit, whereby the flat glass unit GS is rotated about the pivot point DP. This first additional manipulator MP1 (for example a gripper, a sucker or even just a stop) can be integrated in the conveying device and can move in a translatory manner along the x-axis on substantially the one (right) side of the cutting bridge BR. As soon as the gripper substantially exceeds the cutting axis A of the cutting bridge BR, it switches to the other manipulator, which moves essentially on the other (left) side of the cutting bridge BR. This is also a translationally moving manipulator, which now exerts the force F on the flat glass unit GS after the transfer, so that the rotation can be carried out further until the desired end position (see FIG. 3C ) is reached.

Accordingly, a translational force is exerted by the at least two further manipulators in an alternating manner on the flat glass unit GS, whereby this is preferably rotated automatically about the pivot point DP. In this case, the distance of the respective gripper acts to the fulcrum of the first manipulator as a lever, whereby the force to be applied can be kept as low as possible. The alternating access and the transfer from the first gripper to the second gripper solves the problem that, for mechanical reasons, the translational axis and the cutting axis must not intersect.

The manipulation described could also be done by a single gripper whose Translation axis is arranged so that it does not cross the working area of the cutting bridge BR - for example, above the cutting bridge or in front of the cutting bridge.

It would also be possible to operate the other manipulators along the cutting axis (Y-axis), and to introduce the necessary force for turning in the Y-direction in the flat glass plate GS. However, this solution is considered less technically advantageous because the distance between the point of rotation and point of introduction of force is relatively small, which has a considerable additional power requirement.

The device according to the invention is preferably realized as part of the glass processing system, specifically in the region in front of a cutting bridge, ie in the region in which the blank or the uncut raw disk is fed to the cutting bridge (see also FIG 1 ). As a rule, a blanking plan for the sheet glass panes to be produced is specified for the blank. If after a cut still coherent pieces, so still not completely isolated discs, remain, one speaks of traverses. These are then cut in further steps until you finally get the desired individual slices. If oblique blanks are to be carried out, the present invention makes a considerable improvement in the required positioning of the raw disc or the respective grief, in particular as regards precision and speed.

The invention is also suitable for optimally positioning flat glass units, such as panes and plates made of flat glass, in particular laminated safety glass (VSG), for processing operations other than cutting. Thus, the invention can also be used to optimally position or align flat glass units for any printing to be carried out, sandblasting, edge processing or similar processing steps on a corresponding device. This is especially true for oblique, linear machining contours, which are inserted or applied in the surface of the glass material, for. B. by ablation / milling / sandblasting / printing / etching / Hemming the surface coating.

• – einer Markierungsvorrichtung (MK), die als Bezugspunkt einen ersten Endpunkt (E1) der linienförmige Entschichtungskontur auf einer Oberfläche der Flachglaseinheit (GS) markiert;
• – einer Beförderungsvorrichtung, die die Flachglaseinheit (GS) in Förderrichtung (V) hin zu einer Entschichtungsvorrichtung befördert, die entlang einer Bewegungsachse bewegbar ist;
• – einen ersten Manipulator (MP; MP'), der die Flachglaseinheit (GS) an einem Punkt der Schnittlinie (SL), insbesondere an einem zweiten Endpunkt (E2) der linienförmige Entschichtungskonturen, gegen translatorische Verschiebungen entlang der Förderrichtung (V) fixiert, aber rotatorische Bewegungen und translatorische Verschiebung entlang der Bearbeitungsrichtung (Y-Achse) der Flachglaseinheit (GS) in ihrer Ebene zulässt, wobei durch die Fixierung sich ein Drehpunkt (DP) ausbildet, der sich in einer deckungsgleichen Position mit einem Punkt auf der Bewegungsachse der Bearbeitungsvorrichtung befindet;
• – eine opto-elektrische Vorrichtung (KAM), mittels der zum Beenden einer Drehbewegung (D) der Flachglaseinheit (GS) um den Drehpunkt (DP) festgestellt wird, ob das markierte Ende (E1) sich ebenfalls in einer deckungsgleichen Position mit einem Punkt auf der Bewegungsachse der Bearbeitungsvorrichtung befindet.

For this purpose, the device is then equipped with the following devices or aids:

• - A marking device (MK), which marks as a reference point, a first end point (E1) of the line-shaped Entschichtungskontur on a surface of the flat glass unit (GS);
• - a conveying device, which conveys the flat glass unit (GS) in the conveying direction (V) towards a decoating device, which is movable along a movement axis;
• A first manipulator (MP, MP ') which fixes the flat glass unit (GS) against translational displacements along the conveying direction (V) at a point of the cutting line (SL), in particular at a second end point (E2) of the linear stripping contours; rotatory movements and translational displacement along the processing direction (Y-axis) of the flat glass unit (GS) in its plane, wherein the fixation, a pivot point (DP) is formed, which is in a congruent position with a point on the axis of movement of the processing device ;
• - An opto-electrical device (KAM), by means of which is concluded for terminating a rotational movement (D) of the flat glass unit (GS) about the pivot point (DP), whether the marked end (E1) also in a congruent position with a point the movement axis of the processing device is located.

Thus, the device according to the invention is generally designed for positioning a flat glass unit for machining operations that are aligned on oblique lines, such. As cutting lines, line-shaped machining contours, etching and Säumlinien, and the like.

Depending on the application, it may be advantageous to mount the sensor system or the camera KAM and the other aids (manipulators, markers) on one or more different, moving parts of the installation, such as, for example, B. on the carriage of the cutting tool or a processing device.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 0807609 A2 [0003]

Claims (15)

Device (E) for positioning a flat glass unit (GS) for processing, in particular cutting, in a glass processing plant, the flat glass unit (GS) being positioned according to a straight machining line, in particular a cutting line (SL), intended for processing, characterized in that the device (E) comprises the following devices: - a marking device (MK) which marks at least one reference point for the processing line (SL), in particular a first end point (E1) of the processing line (SL), the flat glass unit (GS) unless the marking is made manually; - A device which performs the transport of the flat glass unit (GS) in the conveying direction (V) towards a processing device (BR) or supported, wherein the processing device (BR) along a machining axis (A) is movable; A first manipulator (MP, MP ') which fixes the flat glass unit (GS) against translational displacements along the conveying direction (V) at a point of the processing line (SL), in particular at a second end point (E2) of the processing line (SL) , but allows translational movements of the flat glass unit (GS) along the machining direction (X direction) and rotational movements of the flat glass unit (GS) in its plane, wherein by fixing a pivot point (DP) is formed, which is in a congruent position with a Point on the machining axis (A) of the processing device (BR) is located; and - an optoelectrical device (KAM), by means of which, for terminating a positioning movement, in particular rotational movement (D), of the flat glass unit (GS) about the pivot point (DP) it is determined whether the marked reference point, in particular the marked end (E1) , is also in a congruent position with a point on the machining axis (A), or a corresponding reference point, and within the working range of the processing device (BR). Device (E) according to claim 1, characterized in that the marking device (MK) as part of a processing bridge (BR) and / or as a cutting head, in particular as a cutting head of a cutting device, cutting bridge and / or grinding device is formed. Device (E) according to claim 1 or 2, characterized in that the positioning movement (D) takes place independently of the processing device (BR) in a separate step and the flat glass unit (GS) of the processing device (BR) is already supplied in the correct orientation. Device (E) according to one of the preceding claims, characterized in that the marking device (MK) is arranged at an upstream position in the processing step, in particular on a grinding device. Device (E) according to one of the preceding claims, characterized in that the first manipulator as a gripper (MP) or as a sucker (MP ') is formed. Device (E) according to one of the preceding claims, characterized in that the opto-electrical device has an opto-electronic sensor and / or camera (KAM) and / or a lighting device for illuminating the flat glass unit (GS). Device (E) according to one of the preceding claims, characterized in that the opto-electrical device (KAM) is used to determine whether the flat glass unit (GS) is correctly positioned to form the pivot point (DP). Device (E) according to one of the preceding claims, characterized in that the device (E) one or more further manipulators, in particular gripper, suction and / or movable stop elements, by means of which the rotational movement (D) of the flat glass unit (GS) executed or at least supported. Device (E) according to claim 8, characterized in that the device (E) has at least two further manipulators, by means of which the rotational movement (D) of the flat glass unit (GS) is performed or at least supported by the at least two further manipulators in a partially alternating manner in each case with a distance acting as a lever to the pivot point (DP) on the flat glass unit (GS) exert a translational force, whereby the flat glass unit (GS) rotates about the pivot point (DP). Device (E) according to one of the preceding claims, characterized in that the function of the device (E) by the interaction of one or more devices or machinery is achieved. Procedure ( 100 ) for positioning a flat glass unit (GS) for processing, in particular the blank in a glass processing plant, wherein the flat glass unit (GS) is positioned in accordance with a straight machining line (SL) predetermined for the machining, in particular the shaving, characterized in that Method comprises the following steps: 110 : Marking at least one reference point for the processing line (SL), in particular one first end point (E1) of the processing line (SL), on a surface and / or edge of the flat glass unit (GS) by means of a marking device (MK); 120 : Conveying the flat glass unit (GS) to a first manipulator (MP), in particular mounted on a processing device (BR), which is movable along a machining axis (A); 130 Rotationally movable fixation of the flat glass unit (GS) by means of a first manipulator (MP) at a point of the processing line (SL), in particular at a second end point of the cutting line (SL), wherein the pivot point (DP) formed by the rotatable fixing is in a congruent one Position with a point on the machining axis (A) of the processing device (BR) is located; 140 Turning the flat glass unit (GS) about the pivot point (DP) until it is detected that the marked reference point, in particular the marked end (E1), also in a congruent position with a point on the machining axis (A), or a corresponding thereto Reference point, and located within the working range of the processing device (BR). 150 : Release the fixation of the pivot point (DP). Procedure ( 100 ) for positioning a flat glass unit according to claim 11, characterized in that in step 110 the marking of the first end point (E1) on the surface of the flat glass unit (GS) is carried out by means of a marking device (MK) mounted on the processing device (BR). Procedure ( 100 ) for positioning a flat glass unit according to claim 11 or 12, characterized in that in step 120 conveying the flat glass unit (GS) and / or in the step 140 the positioning of the flat glass unit (GS) is supported by means of at least one further manipulator. Procedure ( 100 ) for positioning a flat glass unit according to claim 13, characterized in that the method further comprises at least one of the following steps or substeps: fixing the flat glass unit (GS) against translational displacement along the conveying direction (V) by means of a first manipulator at a point on the flat glass unit in particular at a point on the processing line (SL), but allowing rotational movements of the flat glass unit (GS) in its plane and translational movement along the processing axis (Y-axis), wherein a fulcrum (DP) is formed by the fixation, in particular a pivot point (DP), which is movable along the machining axis (Y-axis); Executing or at least supporting the rotational movement (D) of the flat glass unit (GS) by means of at least one further manipulator by a translational force is exerted by the at least one further manipulator in acting as a lever to the point of the first manipulator on the flat glass unit (GS) , whereby the flat glass unit (GS) is rotated about the pivot point (DP). Glass processing plant or device comprising at least one device (E) according to any one of claims 1-10.

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