HRP990356A2

HRP990356A2 - Device and method for setting up pins on a bowling alley

Info

Publication number: HRP990356A2
Authority: HR
Inventors: Erich Pokorny
Original assignee: Vollmer Werke Maschf
Priority date: 1998-11-17
Filing date: 1999-11-17
Publication date: 2000-12-31
Also published as: DE19853081C1; PL336570A1; EP1002558A2; EP1002558A3

Description

Poznato je kod kuglana, kugle vise na užetu, pri čemu će čunjevi biti podignuti uzetima, pomoću složenog uređaja razmješteni u tuljke za centriranje i sa spuštanjem užeta razmješteni na površinu slaganja čunjeva. It is known in bowling alleys, the balls hang on a rope, where the cones will be picked up, placed in the centering sleeves using a complex device, and with the lowering of the rope placed on the cone stacking surface.

Također su poznati i uređaji bez užeta, kod kojih će, nakon izvršenog bacanja kugle, pomoću brisača, svi čunjevi i kugla biti počišćeni sa površine postave čunjeva u jamu za čunjeve, nakon čega će biti svi čunjevi sa kuglom podignuti podizačem prema gore. Tamo će se razvrstati, nakon čega će biti odvezeni transportnim uređajem do jednog od položaja čunjeva sa odgovarajućim predspremištem. Ispod predspremišta nalazi se glavno spremište i pomoću njega, čunjevi će biti spušteni i postavljeni na površinu slaganja čunjeva. U tom se slučaju nalaze dva kompleta čunjeva u opticaju, kako bi se, iz vremenskih razloga, mogli obaviti transport i sortiranje čunjeva za vrijeme sljedećeg bacanja kugle. Kugla se u ovom slučaju vodi jednim odvojenim kanalom do povratnog kanala za kuglu. Devices without a rope are also known, in which, after throwing the ball, all the cones and the ball will be cleaned from the surface of the cones in the pit for cones by means of a wiper, after which all the cones with the ball will be lifted up by the lifter. There they will be sorted, after which they will be taken by a transport device to one of the positions of the cones with a suitable pre-storage. Underneath the pre-storage is the main storage, and using it, the cones will be lowered and placed on the cone stacking surface. In this case, there are two sets of cones in circulation, so that, for time reasons, the cones can be transported and sorted during the next throw. In this case, the ball is guided through a separate channel to the return channel for the ball.

Ovi poznati uređaji za postavljanje čunjeva pokazuju jednu ogromnu mehaniku koja, osim toga, treba veliki prostor za transportni uređaj. K tome dolazi lako do uklještenja čunjeva i smetnji koje se mogu odstraniti pomoću odgovarajućeg stručnog osoblja. Naknadno opremanje postojećih postrojenja (kuglane) takvim uređajem zahtijeva veliki trošak, pogotovo na građevinskim preinakama. These known devices for placing cones show a huge mechanism which, in addition, needs a large space for the transport device. In addition, it is easy to get jammed cones and obstacles that can be removed with the help of the appropriate professional staff. The subsequent equipping of existing facilities (bowling alley) with such a device requires a large cost, especially for construction modifications.

Kao temeljni zadatak izuma je, tako oblikovati postupak i uređaj za namještanje čunjeva na postolje čunjeva, da je izvedba namještanja čunjeva bez skupe mehanike i da je kompaktnog oblika konstrukcije i to bez užeta, tako da se postojeće kuglane mogu rekonstruirati bez naročitih građevinskih troškova i da ih je moguće prilagoditi raznim oblicima čunjeva i sustavima igara. The basic task of the invention is to design a procedure and a device for setting the cones on the cone stand, so that the execution of the cone setting is without expensive mechanics and has a compact design and without a rope, so that the existing bowling alleys can be reconstructed without special construction costs and that they can be adapted to various cone shapes and game systems.

Taj će zadatak biti riješen u smislu izuma i u glavnom u znaku zahtjeva 1 i 3. Kroz to što će biti obuhvaćeno polje čunjeva kao i površina na kojoj stoje čunjevi, a okolno područje, na kojem se mogu nalaziti, kako još stojeći, tako i oboreni čunjevi, i to optički obuhvaćeno i optički podatci o čunjevima snimljeni i u uređaju za obradu slika uspoređeni sa unaprijed umetnutim optičkim podacima, nakon čega će odgovarajući rezultat usporedbe biti upućen u uređaj za postavljanje čunjeva, koji će čunjeve uzeti sa polja za čunjeve i opet uputiti na površinu na kojoj stoje čunjevi, ili otpremiti u skladište čunjeva, i tako se može mehanički trošak postavljanja čunjeva, smanjiti na minimum, jer uređaj za postavljanje čunjeva dobiva sve potrebne podatke o uzimanju i postavljanju čunjeva preko uređaja za obradu slika. This task will be solved in terms of the invention and mainly in terms of requirements 1 and 3. Through the fact that the field of cones will be covered, as well as the surface on which the cones stand, and the surrounding area, where they can be located, both still standing and knocked down cones, optically captured and the optical data on the cones recorded and in the image processing device compared with the pre-loaded optical data, after which the corresponding result of the comparison will be sent to the cone placement device, which will take the cones from the cone field and send them back to the surface on which the cones are standing, or sent to the cone warehouse, and thus the mechanical cost of placing the cones can be reduced to a minimum, because the device for placing the cones receives all the necessary data about picking up and placing the cones via the image processing device.

Izum će biti pobliže objašnjen primjerice na nacrtima. Oni pokazuju: The invention will be explained in detail, for example, in the drawings. They show:

Fig. 1 u shematskom nacrtu sprijeda, polje na kojem stoje čunjevi i nad njim smješten uređaj za namještanje čunjeva Fig. 1 in the schematic drawing from the front, the field on which the cones stand and the device for adjusting the cones located above it

Fig. 2 bokocrt uređaja iz Fig. 1 Fig. 2 side view of the device from Fig. 1

Fig. 3 tlocrt uređaja prema Fig. 1 i 2 Fig. 3 floor plan of the device according to Fig. 1 and 2

Fig. 4 bokocrt koji odgovara Fig. 2 i drugom radnom položaju uređaja Fig. 4 side view corresponding to Fig. 2 and another working position of the device

Fig. 5 nacrt hvatača sa vodilicama Fig. 5 draft of the catcher with guides

Fig. 6 nacrt hvatača u položaju hvatanja glave cunja Fig. 6 drawing of the catcher in the position of catching the head of the chip

Fig. 7 bokocrt hvatača iz Fig. 6 Fig. 7 side view of the catcher from Fig. 6

Fig. 8 nacrt položaja čunjeva sa spuštenom branom za ulaz kugle Fig. 8 diagram of the position of the cones with the lowered barrier for the entrance of the ball

Fig. 9 nacrt položaja čunjeva s podignutom branom za ulaz kugle Fig. 9 diagram of the position of the cones with the ball inlet dam raised

Fig. 10 shema tijeka postupka Fig. 10 process flow diagram

U Fig. 2 i 3 prikazano je uobičajeno polje čunjeva koje pokraj polja na kojem stoje čunjevi sa Fig. 3 na kojem su primjerice opet prikazani čunjevi 2 i jama za čunjeve 3 za prihvat oborenih čunjeva i područje 4 koje leži ispred polja na kojem stoje čunjevi i na kojem mogu ostati ležati oboreni čunjevi nakon jedne bačene kugle. Ovo će polje čunjeva 1 biti snimljeno barem sa jednim uređajem za snimanje 5, odnosno, nadgledano kako je to prikazano na Fig. 1 i 2 crtkanim linijama, koje prikazuju smjer zraka koje izlaze iz kamere 5. Može se dodati kameri 5, ili umjesto kamere 5, još dvije kamere 5' (Fig. 2) primjerice u smjeru dužinske osi polja čunjeva, od kojih svaka snima oko polovine polja čunjeva 1. Mogući su još i drugi položaji kamera. In Fig. 2 and 3 shows a usual field of cones, which next to the field where the cones from Fig. 3, which for example again shows the cones 2 and the cone pit 3 for the reception of knocked down cones and the area 4 that lies in front of the field on which the cones stand and on which knocked down cones can remain lying after one thrown ball. This field of cones 1 will be recorded with at least one recording device 5, that is, monitored as shown in Fig. 1 and 2 with dashed lines, which show the direction of the rays coming out of the camera 5. It is possible to add to the camera 5, or instead of the camera 5, two more cameras 5' (Fig. 2), for example in the direction of the longitudinal axis of the field of cones, each of which records around half of the field of cones 1. Other camera positions are also possible.

Kao uređaj za snimanje može se predvidjeti CCD-kamera kao i video kamera. Na mjesto nepokretno smještene kamere, može se predvidjeti kao uređaj za snimanje primjerice i CCD-linijska kamera, koja se pokreće iznad polja čunjeva. A CCD camera as well as a video camera can be envisaged as a recording device. Instead of a stationary camera, a CCD-line camera, which moves above the field of cones, can be provided as a recording device, for example.

Uređaj za obradu slika može biti i tako oblikovan, da je na svakoj glavi cunja smješten reflektirajući sloj, ili nešto slično, tako da bi se, primjerice, mogao napipati pomoću zraka lasera, l na taj se način može točno odrediti položaj glave cunja za hvatač. The image processing device can also be designed in such a way that a reflective layer or something similar is placed on each head of the cog, so that, for example, it could be felt using a laser beam, and in this way the position of the cog head can be accurately determined for the catcher .

I sljedeći način je uređaj za snimanje slika izrađen tako, da će pomoću ultra zvučnog senzora označiti gdje se na polju čunjeva nalazi jedan čunj. And in the following way, the device for recording images is made in such a way that, using an ultra sound sensor, it will mark where one cone is located on the field of cones.

Prema jednom sljedećem oblikovanju, može svaki čunj imati predviđen i ugrađen odašiljač, koji se može pronaći pomoću uređaja za primanje, koji je smješten iznad polja čunjeva. Ovdje se može, primjerice, za određivanje pozicije glave cunja, u njegovu glavu ugraditi odašiljač, dok se za određivanje smjera njegove osovine, predvidi jedan odašiljač na donjem dijelu tijela cunja. According to one further embodiment, each cone may have a transmitter provided and embedded, which can be found by a receiving device, which is located above the field of cones. Here, for example, to determine the position of the head of the cog, a transmitter can be installed in its head, while for determining the direction of its axis, one transmitter can be provided on the lower part of the body of the cog.

Kod tih oblika izvedbe . slijedi pronalaženje pomoću pomičnog uređaja za snimanje, sa prednošću snimanja u obliku linija u oba smjera osi, koji su predodređeni uzdužnim i poprečnim tračnicama, pri čemu dobiveni podaci slika su nacrtani i dovedeni do obrade slika, kao što je to slučaj kod kamere 5. With those forms of performance. followed by retrieval using a movable recording device, with the advantage of recording in the form of lines in both axis directions, which are predetermined by longitudinal and transverse rails, whereby the obtained image data are drawn and brought to image processing, as is the case with camera 5.

Kroz uređaj za snimanje 5 bit će obuhvaćeni čunjevi 2 na polju čunjeva 1, iako ti leže ili stoje. Snimljene slike bit će dalje obrađene u uređaju za obradu slika 6 (Fig. 10), koji može biti priključen na uređaj za snimanje, odnosno kameri 5. U uređaju za obradu slika 6 bit će od kamere 5 snimljene slike čunjeva uspoređene u uređaju za usporedbu 7 sa memoriranim slikama čunjeva, usto, kroz uređaj 8 utvrđivanje pozicije svakog pojedinog snimljenog cunja slijedit će uz prednost takvog postupka, da će središte glave cunja, u slučaju ležećeg cunja, biti određen položaj osovine cunja. Time će se upravljati pomoću uređaja za upravljanje 9 i općenito sa 10 označenog uređaja za postavljanje čunjeva, kroz pale čunjeve pojedinačno zahvatiti i postaviti na polje gdje stoje čunjevi ili odložiti u skladište čunjeva. Through the recording device 5, the cones 2 in the field of cones 1 will be covered, even though they are lying or standing. The recorded images will be further processed in the image processing device 6 (Fig. 10), which can be connected to the recording device, i.e. the camera 5. In the image processing device 6, images of the cones will be recorded from the camera 5 and compared in the comparison device 7 with memorized images of the cones, however, through the device 8 the determination of the position of each recorded cone will follow with the advantage of such a procedure, that the center of the cone head, in the case of a lying cone, will be determined by the position of the cone axis. This will be managed by means of the control device 9 and generally with the device marked 10 for setting the cones, through the fallen cones they are individually grasped and placed on the field where the cones stand or deposited in the cone storage.

Figure (nacrti) pokazuju pretpostavljeni primjer izvedbe jednog uređaja za postavljanje čunjeva 10, koji obuhvaća dvije uzdužne tračnice sa obje strane polja čunjeva 1, i jedna na njima vođena pokretna poprečna tračnica 12 i na njoj pomično vođena vodilica hvatača 13, na kojoj je vođen i u okomitom smjeru pokretan i oko svoje osi okretan hvatač 14. The figures (drawings) show an assumed example of the implementation of a device for placing cones 10, which includes two longitudinal rails on both sides of the field of cones 1, and one movable transverse rail 12 guided on them and a movable guide of the catcher 13, on which it is guided and in gripper 14, movable in a vertical direction and rotating around its axis.

U Fig. 3 je sa 15 označen el. motor koji pokreće, primjerice, remen sa zubima uzduž mirujuće uzdužne tračnice 11 za pokretanje poprečne tračnice 12 iznad polja sa čunjevima 1. Sa 16 označen je el. motor na vodilici hvatača, koji pokreće bubanj za uže 17, na koji se namata uže 18 čiji su krajevi pričvršćeni na gornjem i donjem kraju okomite tračnice 19 za podizanje. Na vodilicama 13 okomito je smještena ploča 20 i pričvršćena sa 21 naznačenim kotačima vodilicama, između kojih je okomito pokretna tračnica za dizanje 19. Elektromotorom 16 može se podizati i spuštati preko bubnja za uže 17 hvatač 14 s tračnicom za dizanje 19 u vodilicama na ploči 20. In Fig. 3 is marked with 15 el. motor that drives, for example, a belt with teeth along the stationary longitudinal rail 11 to drive the transverse rail 12 above the field with cones 1. 16 is marked el. motor on the guide of the catcher, which drives the rope drum 17, on which the rope 18 is wound, the ends of which are attached to the upper and lower ends of the vertical rail 19 for lifting. A plate 20 is placed vertically on the guides 13 and attached with the designated guide wheels 21, between which there is a vertically moving lifting rail 19. The electric motor 16 can be used to raise and lower the catcher 14 with the lifting rail 19 in the guides on the plate 20 over the rope drum 17. .

Na jednoj strani prema van, preko polja čunjeva 1 produljenim poprečnim tračnicama 12 na samom kraju, smješten je pogonski motor 15', koji pokreće, pomoću remena sa zubima, vodilice dizanja 13 uzduž poprečne tračnice 12. Vodilice za dizanje mogu se na taj način dovesti u blizinu postranog zida polja čunjeva 1, kako pokazuje Fig. 1. On one side towards the outside, over the field of cones 1 with the elongated transverse rails 12 at the very end, there is a drive motor 15', which drives, by means of a belt with teeth, the lifting guides 13 along the transverse rail 12. The lifting guides can be brought in this way in the vicinity of the side wall of the field of cones 1, as shown in Fig. 1.

Na vodilicama hvatača 13, odnosno, na ploči 20 (Fig. 5) tako je smješten okretni bubanj za uže 17, da do krajnje donje točke spuštene vodilice za dizanje 19 gornji ovjes užeta legne na mjesto bubnja za uže gdje dolazi prvi navoj užeta, tako da, tek u Fig. 5 prikazanom, podignutom položaju tračnice dizanja 19, uže 18 dolazi u kosi položaj prema bubnju za uže 17, dok u donjem krajnjem položaju uže 18 leži uglavnom okomito na osovinu bubnja za uže. On the guides of the catcher 13, that is, on the plate 20 (Fig. 5), a rotating rope drum 17 is placed in such a way that up to the lowermost point of the lowered lifting guide 19, the upper suspension of the rope rests on the place of the rope drum where the first thread of the rope comes, so yes, only in Fig. 5, in the raised position of the lifting rail 19, the rope 18 comes in an oblique position towards the rope drum 17, while in the lower end position the rope 18 lies mainly perpendicular to the shaft of the rope drum.

Tračnica za dizanje 19, može primjerice biti izvedena u cjevastoj formi, gdje je u šupljini tračnice za dizanje 19, vidi Fig. 6, naznačena osovina 23, koja se može vrtjeti i koja je na donjem kraju spojena hvatačem 14 a na gornjem kraju s el. motorom sa planetarnim reduktorom 22, koji daje potrebno zakretanje. Pomoću toga može se okretati hvatač 14 oko svoje osi pomoću elektromotora 22 neovisno o podizanju - spuštanju tračnice dizanja 19. The lifting rail 19 can, for example, be made in tubular form, where in the cavity of the lifting rail 19, see Fig. 6, indicated shaft 23, which can be rotated and which is connected at the lower end with the gripper 14 and at the upper end with el. engine with planetary reducer 22, which provides the necessary rotation. With this, the gripper 14 can be rotated around its axis by means of the electric motor 22, independently of the raising and lowering of the lifting rail 19.

Fig. 6 i 7 pokazuju pojedinosti hvatača 14. Na tračnice za dizanje 19 je primjerice spojen pomoću prstena opruge 24 jedan okvir ili loncu sličan dio 25, koji se dade zaokrenuti oko svoje osi i koji se, čvrsto spojen s osovinom 23, pomoću pokretnog učvršćenja 26, koja se pak pomoću motora 22 može okretati unutar tračnice za dizanje. U tom lončastom dijelu 25 ugrađena su dva dvokraka elementa za hvatanje 27 koja se, na dvije osovine 28 mogu njihati. Između dva unutra ležeća kraka 29, smještena je opruga 30 koja će biti stisnuta kod otvorenog hvatača 14, i upravljački greben 31 okretan oko svoje osi, a koji se može zakrenuti jednim pogonom, npr. motorom koji ima magnetsku kočnicu 32 (Fig. 7), a koji je smješten na vanjsku stranu dijela 25. U Fig. 6 prikazani upravljački greben 31 u položaju hvatanja (cunja) može se pomoću motora sa magnetskom kočnicom 32 kao u Fig. 5 prikazani položaj postići zakretanjem istog i opruga 30 držat će elemente hvatača 27 otvorenim. Fig. 6 and 7 show the details of the gripper 14. A frame or pot-like part 25 is connected to the lifting rails 19 by means of a spring ring 24, for example, which can be rotated around its axis and which, firmly connected to the shaft 23, is connected by means of a movable fixture 26, which can be turned inside the lifting rail by means of the motor 22. In that potted part 25, two two-pronged gripping elements 27 are installed, which can swing on two shafts 28. Between the two inner arms 29, there is a spring 30 that will be compressed when the gripper 14 is open, and a control cam 31 rotating around its axis, which can be rotated by a single drive, for example, a motor with a magnetic brake 32 (Fig. 7) , which is placed on the outside of part 25. In Fig. 6, the control cam 31 shown in the gripping position can be operated using a motor with a magnetic brake 32 as in Fig. 5, the position shown can be reached by rotating it, and the spring 30 will keep the catch elements 27 open.

Elementi hvatača 27 tako su oblikovani da će djelomične površine glavu cunja obuhvatiti, da čunj 2 neće biti samo obuhvaćen u okomitom položaju, već će i u ležećem položaju okomiti na svoju površinu biti u zahvatnom položaju učvršćen. Zato su elementi hvatanja 27 predviđeni odgovarajućom konkavnom površinom 33 nalijeganja, koja odgovara površini glave cunja i koje su prikazane šrafirano na Fig...7, -Elementi hvatača pokazuju na svojem donjem dijelu, na svakom po dva, prema unutra savinuta nastavka 34, koji zahvaćaju glavu cunja na prijelazu na vrat i tada čunj u visećem položaju centriraju okomito na njegovu uzdužnu osovinu i u tom centriranom položaju čvrsto drže. Ako hvatač mora uhvatiti jedan čunj u ležećem položaju, bit će prvo pomoću uređaja za upravljanje 9 (Fig, 10) pokrenut el. motor 15 za postupak poprečne tračnice 12 i el. motor 15' za postupak vodilica hvatača 13, tako da se hvatač 14 postavi nad središte glave cunja, a to će se odrediti pomoću komore 5 i uređaju za pozicioniranje. U isto će se vrijeme utvrditi položaj ležećeg cunja pomoću uređaja za pozicioniranje 8 u vezi s uređajem za usporedbu slika 7, pri čemu će motor 22 na tračnici dizanja 19 biti upravljan da se hvatač 14 zakrene u položaj u kojem će oba elementa za hvatanje 27 zahvatiti na suprotnim stranama glave ležećeg cunja. Nakon tog namještanja hvatača 14, relativno spram glavi cunja, bit će upućen elektro motor 16 spustiti hvatač 14. The elements of the gripper 27 are designed in such a way that partial surfaces will cover the head of the cone, so that the cone 2 will not only be covered in a vertical position, but also in a lying position, perpendicular to its surface, will be fixed in the gripping position. That is why the catching elements 27 are provided with a corresponding concave surface 33 of abutment, which corresponds to the surface of the head of the auger and which are shown hatched in Fig...7, - The catching elements show on their lower part, on each two, an inwardly bent extension 34, which they grasp the head of the cone at the transition to the neck and then center the cone in a hanging position perpendicular to its longitudinal axis and firmly hold it in that centered position. If the catcher has to catch one cone in a lying position, it will first be activated by the control device 9 (Fig, 10). motor 15 for the procedure of the transverse rail 12 and el. the motor 15' for the process guides the gripper 13, so that the gripper 14 is placed over the center of the pin head, and this will be determined by the chamber 5 and the positioning device. At the same time, the position of the recumbent chip will be determined by the positioning device 8 in relation to the image comparison device 7, whereby the motor 22 on the lifting rail 19 will be controlled to rotate the gripper 14 to a position where both gripper elements 27 will engage on opposite sides of the head of a lying rag. After this adjustment of the catcher 14, relative to the head of the pin, the electric motor 16 will be instructed to lower the catcher 14.

U hvataču 14 ugrađen je senzor približavanja 35, koji registrira približavanje hvatača glavi čunja i kod predviđenog razmaka senzora 35 ka glavi cunja upravlja motorom sa magnetskom kočnicom 32 i grebenom 31. Ovdje neće biti greben 31 postupno zaokrenut kao na Fig 6, već samo u jedan međupoložaj, pa će oba elementa hvatača 27 dodirnuti samo vrat cunja i ograničeno obuhvatiti glavu cunja, tako da će na temelju zaobljenja na elementima hvatača 27 slobodno obuhvatiti glavu cunja i podignuti ga, ali čunj sam neće biti fiksiran. Za podizanje cunja moći će se on okomito između nepotpuno zatvorenih elemenata hvatača 27 uslijed sile teže ili u nekom slučaju pod lakim pritiskom na elemente hvatača 28 protiv sile opruge 30, tako da će njegova os ležati približno u dužinskoj osi hvatača 14. U tako podignutom položaju u hvataču 14 visećeg cunja, daljnjim okretanjem grebena 31, hvatač će biti potpuno zatvoren, pri čemu će se elementi hvatača 27 priljubiti na glavu cunja i na taj način centrirati čunj prema hvataču 14. Za vrijeme postupka hvatanja motor sa magnetskom kočnicom 32 je stalno pod naponom. Kroz to, bit će postignuto stalno držanje i kraj stabilizacije pomoću oblika grebena. Ako treba, električnim upravljanjem se, u smislu sile, može djelovati na okretni magnet. In the gripper 14, an approach sensor 35 is installed, which registers the approach of the gripper to the head of the cone and at the predicted distance of the sensor 35 to the head of the cone controls the motor with the magnetic brake 32 and the cam 31. Here the cam 31 will not be turned gradually as in Fig. 6, but only in one intermediate position, so both elements of the catcher 27 will only touch the neck of the cone and cover the head of the cone to a limited extent, so that based on the rounding on the elements of the catcher 27, they will freely cover the head of the cone and lift it, but the cone itself will not be fixed. To lift the cleat, it will be able to move vertically between the incompletely closed elements of the catcher 27 due to the force of gravity or in some cases under light pressure on the elements of the catcher 28 against the force of the spring 30, so that its axis will lie approximately in the longitudinal axis of the catcher 14. In such a raised position in the catcher 14 of the hanging cone, by further turning the cam 31, the catcher will be completely closed, whereby the elements of the catcher 27 will stick to the head of the rake and thus center the cone towards the catcher 14. During the catching process, the motor with the magnetic brake 32 is constantly under voltage. Through this, a constant hold and end of stabilization will be achieved through the shape of the ridge. If necessary, the rotating magnet can be affected by electric control, in terms of force.

Ovako uhvaćeni čunj može se odgovarajućim upravljanjem pojedinih elektromotora pozicionirati na polje čunjeva, ili, npr. za vrijeme kuglanja, odvesti u skladište čunjeva 36, kako je to prikazano na Fig. 2, 3 i 4. The cone caught in this way can be positioned on the cone field by appropriate control of individual electric motors, or, for example, during bowling, taken to the cone storage 36, as shown in Fig. 2, 3 and 4.

Kod prikazanog primjera izvedbe, smješteno je skladište čunjeva 36 na unutarnju stranu već poznate brane za ulaz kugli 37, koja je vođena po duljini vodilica 39 sa obje strane polja čunjeva 1 i može se dignuti i spustiti pomoću pogonskog motora 38 (Fig. 4). Na unutarnjoj strani brane za ulaz kugli 37 oblikovani su džepovi za čunjeve 40, koji su sa razlogom, s jednim razmakom jedna od druge razmaknute kako pokazuju Fig 8. i 9. U te džepove za čunjeve 40, mogu se pomoću hvatača 14 nepotrebni čunjevi 2 odložiti prije nego će se do kraja kuglanja čunjevi opet pomoću hvatača 14 pozicionirati na površinu za čunjeve. In the example shown, the storage of cones 36 is placed on the inside of the well-known barrier for the entrance of the balls 37, which is guided along the length of the guides 39 on both sides of the field of cones 1 and can be raised and lowered using the drive motor 38 (Fig. 4). On the inner side of the dam for the entrance of the balls 37, pockets for cones 40 are formed, which are, for a reason, separated from each other by one distance as shown in Figs. 8 and 9. In these pockets for cones 40, unnecessary cones 2 can be inserted using the catch 14 put away before the end of bowling, the cones will be positioned again on the surface for the cones by means of the gripper 14.

Za umetanje i zahvaćanje cunja u jednom džepu za čunjeve, bit će spuštena brana za ulaz kugli 37, kako to pokazuje Fig 8. Brana za ulaz kugli pokretana je preko užeta 41 sa motorom 38, a kao bubnjevi za uže djeluje vratilo 42 na koje je uže 41 pričvršćeno i to tako, da je uže 41 spojeno sa branom 37, i kada je brana 37 spuštena uže stoji koso, kako pokazuje Fig. 8, dok je u podignutom položaju Fig 9, mjesto pričvršćenja užeta 41 na brani leži na zadnjem navoju užeta na vratilu tako da u uzdignutom položaju zahvaća uže 41 okomito na branu. To insert and catch a cone in one pocket for cones, the ball entrance gate 37 will be lowered, as shown in Fig. 8. The ball entrance gate is driven by a rope 41 with a motor 38, and a shaft 42 acts as a drum for the rope, on which the rope 41 is attached in such a way that the rope 41 is connected to the barrier 37, and when the barrier 37 is lowered, the rope stands obliquely, as shown in Fig. 8, while in the raised position of Fig. 9, the attachment point of the rope 41 on the weir rests on the last thread of the rope on the shaft so that in the raised position it engages the rope 41 perpendicular to the weir.

Tračnice 11 i 12 opisanog uređaja za namještanje čunjeva 10 moraju biti tako položene da bi se mogao hvatati hvatač 14 koji nosi jedan čunj nesmetano iznad čunjeva koji stoje na polju gdje stoje čunjevi. Time se postiže mala visina uređaja za namještanje čunjeva 10. Ta se visina može tako smanjiti, kad bi uređaj za obradu slike 6 u vezi sa dobivenim slikama o položaju još stojeći čunjeva 2, dao nalog za upravljanje hvataču 14, koji bi samo sa malo podignutim čunjem - vidi Fig 1 - mogao proći među njima. Tu će, od kamera 5 dobiveni podaci o slici stojećih čunjeva 2, biti obrađeni. Pri tome se može raditi uglavnom na jednoj ravnini neposredno iznad polja čunjeva 1, kraj čega leži spremište čunjeva 36 na istoj ravnini, nakon toga što je brana za ulaz kugli uvijek zatvorena kada se aktivira uređaj za postavljanje čunjeva 10. The rails 11 and 12 of the described device for adjusting the cones 10 must be laid in such a way that the catcher 14 carrying one cone can be gripped unhindered above the cones standing on the field where the cones stand. This achieves a low height of the device for adjusting the cones 10. This height can be reduced if the image processing device 6, in connection with the obtained images of the position of the still standing cones 2, would give a control order to the catcher 14, which would only with a slightly raised by ear - see Fig 1 - could pass between them. There, the data obtained from the cameras 5 about the image of the standing cones 2 will be processed. In doing so, it is possible to work mainly on one plane directly above the field of cones 1, next to which lies the store of cones 36 on the same plane, since the dam for the entrance of the balls is always closed when the device for placing the cones 10 is activated.

Mogući su daljnji razvoji opisanog načina gradnje. Tako se može postaviti kamera na hvatač 14 kako bi se npr. potpomoglo obuhvaćanje glave cunja ili bi se postavljanje oborenih čunjeva moglo što brze opet postaviti. Further developments of the described construction method are possible. Thus, a camera can be placed on the catcher 14 in order to, for example, support the grasping of the cone head, or the placement of fallen cones could be set up again as quickly as possible.

Dalje je moguće, primjerice, iznad duljine poprečne tračnice predvidjeti jednu linijsku kameru, pa kod prijevoza polja čunjeva 1 i pomoću poprečne tračnice 12 dobiti jednu optičku naznaku polja čunjeva 1. Isto tako je moguće namjestiti kameru 5 iznad polja čunjeva 1, koja bi se njihala ili bila pokretna. Furthermore, it is possible, for example, to provide one line camera above the length of the transverse rail, so when transporting the field of cones 1 and using the transverse rail 12 to obtain an optical indication of the field of cones 1. It is also possible to set the camera 5 above the field of cones 1, which would oscillate or was mobile.

Na mjesto uređaja za postavljanje čunjeva 10 neko drugačije postrojenje predvidjeti koje bi pomoću uređaja snimanja, slika 5, uhvatilo čunj 2 i sa jednim uređajem za obradu slike upravljanom mehanikom, odvozilo i onda opet postavljalo taj čunj na mjesto gdje stoje čunjevi. Primjerice, može uređaj za snimanje slika 5 samo čunjeve koji leže u jami za čunjeve optički napipati i pomoću uređaja sa hvatačem usmjeriti da neke čunjeve prenese u spremište za čunjeve i da kroz spuštanje iznad mjesta za čunjeve opet postavi čunjeve. Ovdje bi se moglo raditi sa jednom grupom čunjeva. Ukupno, optička kontrola polja sa čunjevima nudi različite mogućnosti oblikovanja mehanike postavljanja. In place of the device for placing the cones 10, a different plant should be provided, which would capture the cone 2 using the recording device, Figure 5, and with an image processing device controlled by mechanics, take it away and then place that cone again in the place where the cones stand. For example, the image recording device 5 can only optically sense the cones lying in the cone pit and, using a device with a catcher, direct it to transfer some cones to the cone storage and to place the cones again by lowering it above the place for the cones. Here one could work with one group of cones. In total, the optical control of the cone array offers various possibilities for shaping the mechanics of the setup.

U smislu izuma oblik konstrukcije sa optičkom kontrolom polja sa čunjevima omogućuje promjenom programa ili zamjenom programa primjenu na sve moguće konfiguracije rasporeda čunjeva, neovisno od toga, radi li se o kuglani ili bowlin-kuglani ili bilo kojoj drugoj vrsti igre sa čunjevima, opisani uređaj može naći primjenu skoro kod svih oblika konstrukcije prije svega i bez daljnjega kod postojećih kuglana umjesto ugrađenih automata sa uzetima, bez da su potrebne velike pregradnje i preinake. In terms of the invention, the shape of the construction with optical control of the field with cones allows, by changing the program or replacing the program, to apply to all possible configurations of the arrangement of cones, regardless of whether it is a bowling alley or a bowling alley or any other type of game with cones, the described device can find application in almost all forms of construction, first of all and without further ado in existing bowling alleys instead of built-in machines with taken ones, without the need for major reconstructions and modifications.

Optička kontrola polja sa čunjevima 1 nudi k tome mogućnost provesti i ocijeniti pozicije čunjeva, primjerice kroz primjenu slika i vrednovanje prolaza kugle, i vrednovanje prolaza. The optical control of the field with cones 1 also offers the possibility to implement and evaluate the positions of the cones, for example through the application of images and the evaluation of the passage of the ball, and the evaluation of the passage.

Na mjesto opisanog uređaja za namještanje čunjeva 10, može biti predviđen jednoruki zglobi roboter, koji uhvati jedan čunj i prenese ga na predviđenu poziciju. Isto tako može biti predviđeno i nekoliko takvih ruku robota sa hvatačem. Moguće je predvidjeti i više robota sa određenim zadacima. Isto tako se mogu kombinirati određeni automatski postupci sa mehaničkim postupcima, kao npr., čišćenje stajališta čunjeva sa ralicom, dok će snimanje slika čunjeva slijediti u jami čunjeva. In place of the described device for adjusting the cones 10, a one-arm jointed robot can be provided, which grabs one cone and transfers it to the intended position. Likewise, several such robot arms with a gripper can be provided. It is possible to foresee several robots with certain tasks. It is also possible to combine certain automatic procedures with mechanical procedures, such as, for example, clearing the cone stand with a plow, while taking pictures of the cones will follow in the cone pit.

Kod 43 (Fig. 10) je uređaja za obradu slike 6, odnosno, uređaja za upravljanje 9 predviđen kod uređaja umetanje ili izdavanje predviđeno u obliku tipke, kako bi pomoću ručnog umetanja predumetnuta jedna određena konfiguracija čunjeva, a koja bi bila izvedena pomoću uređaja za postavljanje čunjeva. Sa računarom osi, servopojačalom i pogonom osovine sa inkrementalnim davačem navedeni su još potrebni elementi, koji su potrebni za izvođenje pojedinih pokreta na uređaju za namještanje čunjeva. At 43 (Fig. 10) of the image processing device 6, that is, of the control device 9, an insertion or release device is provided in the form of a button, in order to pre-insert a certain configuration of cones by manual insertion, which would be performed using a device for placement of cones. Along with the axis computer, the servo amplifier and the axis drive with the incremental encoder, the necessary elements are also listed, which are necessary to perform certain movements on the device for adjusting the cones.

Prednost opisanog uređaja i dalje, da čunjevi koji su ostali stajati nakon kraja igre kuglanja nisu očišćeni i moraju opet biti postavljeni, kako je to slučaj u poznatom uređaju. Uređaj za obradu slike obuhvati čunjeve koji su ostali stajati i pozicionira samo još dodane čunjeve na položaju stajanja čunjeva. Ako prilikom postavljanja jednog cunja on opet padne, može se pomoću kontrolne snimke, osobito pomoću hvatača 14, samostalno navedena kamera taj čunj opet postaviti, l ako za vrijeme igre jedan čunj ostane stajati ili ako je kuglom samo pomaknut ili drugim čunjem, pozicija će se ustanoviti na jednostavan način pomoću obrade slike i bit će obaviješten uređaj za namještanje cunja 10. Može se predvidjeti i više hvatača čunjeva, gdje se primjerice mogu predvidjeti naročiti hvatači za izvođenje ispravaka. The advantage of the described device is still that the cones left standing after the end of the bowling game are not cleaned and must be placed again, as is the case in the known device. The image processing device captures the cones that have remained standing and positions only the still added cones at the position of the cones. If, during the placement of one pin, it falls down again, using a control shot, especially with the help of the catcher 14, the independently specified camera can place that pin again, and if during the game one pin remains standing or if it is only moved by the ball or another pin, the position will be can be established in a simple way by means of image processing and will be notified to the device for adjusting the pin 10. Several pin catchers can be provided, where, for example, special catchers can be provided for carrying out corrections.

Kao pogonski motori mogu se predvidjeti kod uređaja za namještanje čunjeva AC -servomotori integriranim inkremental davačima ili motori čija rotacija ide postupno. Uređaj za namještanje čunjeva može raditi sa više CNC - upravljanim osovinama kao i upravljanje trakom. AC-servomotors with integrated incremental encoders or motors whose rotation is stepwise can be used as drive motors for cone adjusting devices. The cone setting device can work with multiple CNC-controlled axes as well as tape control.

Claims

1. A method for placing cones on a bowling alley or bowling lane, characterized by the fact that at least one part of the cone field (1) is optically described with the help of at least one recording device (5); image data that includes cones (2) that have been knocked down and/or are still standing; the captured data is processed in the image processing device (6) and compared with the given image data, after which the image processing device instructs the cone placement device (10), which will take the cones and place them on the cone field (1) or in store of cones (36).

2. The method according to claim 1, characterized in that the control device (9) has a set or replaceable program, which controls the cone placement device (10) depending on the predetermined course of the game.

3. A method for placing cones on a bowling alley or bowling lane, characterized by the fact that it comprises at least one image recording device (5) located above the field of cones and an image processing device (6) with a container for image data and a flow control program games, wherein the control image processing device makes control data available to the pin placement device (10), which captures the pin and places it in a designated location on the pin field (1) or in the pin store (36).

4. Device according to claim 3, characterized in that one or more cameras (5) are located above the field of cones (1).

5. Device according to claim 3, characterized in that above the field of cones (1) is placed at least one movable camera that moves slidingly and/or oscillates.

6. The device according to claims 3 and 5, characterized in that the device for adjusting the cones (10) moves on longitudinal rails and above the field of cones (1) of movable sliding rails (12) on which there are movable guides of the gripper (13) that carry the gripper which is movable up and down.

7. Device according to claim 6, characterized in that the gripper (14) can rotate in its lifting axis.

8. The device according to claim 3, characterized in that the device for adjusting the cones 810) has at least one one-armed articulated robot, which catches the cone, transfers it and places it again.

9. Device according to claims 3 to 8, indicated by the fact that the storage of cones (36) is performed on the dam for the entrance of the ball (37) which rises and falls.

10. Device according to claims 5 and 6, characterized in that a camera is placed on the gripper (14) or some movable part (12) of the device for adjusting the cones (10).

11. Device according to claim 3, characterized in that the device for recording images is designed as a moving laser beam above the field of cones (1) that feels on each individual head of the cone on which a reflective layer or reflector is applied.

12. Device according to claim 3, characterized in that the image recording device is provided as an ultrasonic sensor, which records, with the help of ultrasound, the condition of the cones in the field of cones (1) and sends the usual data to the image processing device.

13. Device according to claim 1, characterized in that the device for recording images is made in such a way that a built-in transmitter is provided in each cone that can be felt with the help of a mobile receiver that moves above the field of cones (1).