EP2067725B1 - Procédé de correction d'axe dans une machine de traitement et machine de traitement - Google Patents

Procédé de correction d'axe dans une machine de traitement et machine de traitement Download PDF

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Publication number
EP2067725B1
EP2067725B1 EP08018275.1A EP08018275A EP2067725B1 EP 2067725 B1 EP2067725 B1 EP 2067725B1 EP 08018275 A EP08018275 A EP 08018275A EP 2067725 B1 EP2067725 B1 EP 2067725B1
Authority
EP
European Patent Office
Prior art keywords
web tension
web
driven
tension section
inertia
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.)
Not-in-force
Application number
EP08018275.1A
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German (de)
English (en)
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EP2067725A2 (fr
EP2067725A3 (fr
Inventor
Stephan Schultze
Holger Schnabel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2067725A2 publication Critical patent/EP2067725A2/fr
Publication of EP2067725A3 publication Critical patent/EP2067725A3/fr
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Publication of EP2067725B1 publication Critical patent/EP2067725B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/30—Kinetic energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/37—Elasticity modulus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/60—Details of processes or procedures
    • B65H2557/63—Optimisation, self-adjustment, self-learning processes or procedures, e.g. during start-up
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices
    • B65H2801/21—Industrial-size printers, e.g. rotary printing press

Definitions

  • the present invention relates to a method for axis correction in a processing machine and a corresponding processing machine, a corresponding computer program and a corresponding computer program product.
  • the invention is not limited thereto, but rather directed to all types of processing machines in which a web is processed.
  • the invention can be used in particular in printing presses such as, for example, newspaper printing presses, commercial printing machines, gravure printing machines, inline flexographic printing machines, packaging printing presses or securities printing machines.
  • the web can be made of paper, cloth, cardboard, plastic, metal, rubber, in foil form, etc.
  • a web along driven axes such as Bahntransportachsen
  • Pull rolls or feed rolls and non-driven axes such as e.g. Deflection, guide, drying or cooling rollers moved.
  • the web is simultaneously processed by usually also driven processing axes, for example.
  • the web tension of the web is influenced by so-called. Clamps that clamp the web frictionally, positively or non-positively. These are usually driven transport or processing plants. In a gravure printing machine, a nip is usually formed by a printing unit, in which a frictional unit between the driven pressure cylinder, the impression roller and the material web consists. The web is subdivided into web tension sections, wherein a web tension section is limited by two terminal points. Within a web tension section, further driven and / or non-driven axles may be arranged.
  • the machines are set up at low processing speed (set-up speed) to minimize waste.
  • the subsequent acceleration until the production speed is reached results in register and web voltage deviations which must be corrected.
  • a method according to the invention for axis correction which in particular results in web tension and / or register control or adjustment, during a rotation speed change of a clamping point delimiting a web tension section
  • precontrol of this clamping point delimiting the web tension section and / or a machining axis present in this web tension section takes place taking into account the modulus of elasticity the material of the web and an inertial moment of at least one non-driven axis present in this web tension section, wherein the modulus of elasticity of the material of the web is automatically determined becomes.
  • One way to determine the modulus of elasticity of the material of a web is, for example, in the DE 10 2005 056 802 A1 disclosed.
  • no production-dependent material data must be entered or made known by retrieving earlier productions, since the data can be determined independently or automatically. It is possible to carry out the determination of the settings of the acceleration compensation when the machine is at a standstill, whereby no waste is generated.
  • the pilot control according to the invention represents a significant improvement over the prior art, since now a predictive feedforward control of the expected error can be provided instead of having to react to an error that has already occurred. Due to the axis correction in the sense of a web tension adjustment or regulation, web tension changes of an acceleration or deceleration phase are reduced, which directly translates into a reduction of the reject. Due to the lower web tension changes register deviations are also reduced, which by the also described Axis correction in terms of register control or control can be further reduced. Due to the additional pre-control, more effective control strategies can be designed, since greater influence on the material web is possible. If, for example, the printing press has reached the steady state, longitudinal register deviations can be compensated more quickly by means of stationary control strategies, in which the feedforward control is included. If the machine is in a dynamic transitional phase, such as changes in the train tension setpoint or web speed in the machine, the feedforward control provides faster dynamic register control.
  • the inventive measure a greater decoupling of the web is achieved in register and / or web tension controls and lowered the influence of the inertia and friction moments of the non-driven axles.
  • the stationary and dynamic error between the individual processing or printing units decreases.
  • a faster compensation of register errors can take place.
  • the retroactive effect of an acceleration or deceleration phase on the web tension is reduced, which makes possible in particular faster or more dynamic acceleration or deceleration processes.
  • waste or waste is significantly reduced, which among other things leads to a reduction in production costs.
  • the pilot control of all affected axes of the web tension section takes place.
  • a feedforward of the web tension section limiting clamping points and for controlling or setting the register of a processing axis within a web tension section a pre-control of the machining axis and / or the web tension limiting terminal points performed.
  • additive velocities In the case of web transport axes or machining axes, additive velocities, multiplicative velocity factors (so-called fine adjustment, gear ratios) and / or additive angle offsets are precontrolled.
  • the moment of inertia to be considered also include the friction moments of the axes.
  • the effective moments of inertia of the non-driven axles can be determined in particular by a measuring run. It can be calculated back from an evaluation of the register error of the products on the effective moments of inertia of the non-driven axles.
  • an online evaluation of the measured register errors can be carried out.
  • the moment of inertia can also be calculated knowing the mechanical parameters such as diameter, material, material distribution, etc. of the non-driven axes. Since the mechanical structure of a processing machine usually does not or only rarely changes, the determination of the moments of inertia is only once or rarely necessary. The specific values will be then saved and can be used for all subsequent productions.
  • the precontrol takes place taking into account the respective (effective) moment of inertia of all non-driven axes present in a web tension section.
  • the quality of the feedforward control can be further increased.
  • the respective moment of inertia of all non-driven axles present in this web tension section are concentrated to a total moment of inertia to be taken into account for this web tension section. It is an easy-to-perform, yet good-results measure.
  • By a fictional "emphasis" is only a total moment of inertia to consider. This total moment of inertia can be determined, for example, in one of the above-mentioned ways (test drive, etc.).
  • precontrol values for the precontrol of the clamping point and / or the machining axis for decoupling at clamping points and / or machining axes of adjacent web tension sections are statically and / or dynamically cascaded.
  • the cascading can take place with different factors, for example inverse, proportional, proportionate or dynamic, etc., in order to decouple adjacent web tension sections from the precontrol in the relevant web tension section.
  • the precontrol is additionally taking into account the rotation speed change the nip. Since the expected error is proportional to the occurring rotational speed change, ie positive or negative acceleration of the axis, this acceleration is advantageously also taken into account in the pilot control.
  • the acceleration can be determined, for example, by deriving certain transmitter values, for example two times the derivative of the position encoder values or a one-time derivative of the speed sensor values. For the position or speed measurement, for example, a scan of printed on the web information such as brands, perforation, etc. take place. Also, the determination by means of an accelerator is possible.
  • the arithmetic unit of the processing machine according to the invention is set up in an advantageous development to carry out the steps described above.
  • the arithmetic unit and the motion control (motion control) of the drive's own axes and / or the machine sequence control are integrated in a common control hardware.
  • Such processing machines are available in a compact form and offer a simplified handling, since no combination with external components is required.
  • the invention additionally relates to a computer program with program code means in order to carry out all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a processing machine according to the invention.
  • the inventively provided computer program product with program code means which are stored on a computer-readable data carrier is designed to perform all the steps of a method when the computer program is executed on a computer or a corresponding computing unit, in particular in a processing machine.
  • Suitable data carriers are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • FIG. 1 is a preferred embodiment of a designed as a printing press, processing machine according to the invention generally designated 100.
  • a printing material for example paper 101
  • the paper 101 is through as printing units 111, 112, 113, 114 formed clamping points and printed and output by a pull-out unit 115 again.
  • the input, extraction and printing units 110 to 115 are positionable, in particular cylinder or angle correctable arranged.
  • the printing units 111 to 114 are located in a web-tension-controlled area between the intake unit 110 and the extension unit 115.
  • the printing units 111 to 114 each have a printing cylinder 111 'to 114', against which a respective impression roller 111 "to 114" is set with strong pressure
  • the printing cylinders 111 'to 114' are individually and independently drivable
  • the impression rollers 111 "to 114" are freely rotatable, and the drawing-in and drawing-out units 110 and 115 each have two counter-rotating cylinders which guide the paper 101 Feed and withdrawal units 110 and 115 can be driven individually by a drive 110 '' 'or 115' ''
  • the feed and withdrawal unit 110, 115 and the printing units 111 to 114 together with the continuous paper 101 form a frictional engagement
  • the infeed unit 110, the extension unit 115 and the printing units 111 to 114 each represent a nip.
  • the paper 101 is guided over unspecified explained roles, which are designated 102.
  • rollers are provided with reference numeral 102. It may in particular be pulleys, drying, trimming equipment, etc.
  • the web 101 is guided after a printing step in one of the printing units 111 to 114 via cooling rollers.
  • a cooling roller 121 in the web section between the first printing unit 111 and the second printing unit 112
  • a cooling roller 122 in the section between the third printing unit 113 and the fourth printing unit 114
  • a cooling roller 123 and in the section between the fourth printing unit 114 and the extension unit 115
  • a fourth cooling roller 124 is arranged.
  • the cooling rollers 121 to 124 and the rollers 102 each have an effective moment of inertia, which adversely affects an acceleration phase of the printing press.
  • all clamping points are piloted during an acceleration phase taking into account the modulus of elasticity of the material of the web and the effective moments of inertia of the cooling rollers 121 to 124 and the rollers 102.
  • the effective moments of inertia are determined beforehand, usually once, by means of a measuring run and a subsequent evaluation.
  • the modulus of elasticity is determined automatically.
  • a precontrol taking into account the modulus of elasticity, the effective moments of inertia and the acceleration is carried out.
  • the precontrol can be carried out with dynamic timers, for example with the aid of a DTI element (differentially delaying element), wherein T1 is chosen to be proportional to the track length / machine speed.
  • the feedforward control can comprise additive angle values.
  • the feed unit 110 is detected and the subsequent printing unit 111 is moved by a predeterminable angle ⁇ .
  • ⁇ it is preferably possible to make a setting by means of an angular movement in the position control.
  • the angular movement can be carried out incrementally in small increments in order to prevent excessive stretching of the material into the plastic area.
  • an adjustment can be carried out by means of an angular movement in the speed control.
  • adjustment can be made by means of an angular movement in the torque control.
  • the force .DELTA.F can be determined by means of a load cell (not shown) arranged in the web section between infeed unit 110 and first printing unit 111.
  • the length l 0 and the area A of the web between the feed train 110th and the first printing unit 111 are known or can be measured in a simple manner.
  • the change in length .DELTA.l can be determined as the product of angular displacement .DELTA..phi. And radius of the pressure roller or by means of a position sensor (for example, the motor encoder).
  • a voltage change can also be brought about by predetermining a web tension by means of the force of a dancer roller in the feeder and / or extension unit.
  • the applied engine torque can be used as a force variable.
  • friction effects on the other hand tensile forces outside the web tension path to be considered, since these each affect the applied engine torque. The latter can then be neglected if the material web outside of the two clamps clamping the web of material, in the selected example infeed unit 110 and first printing unit 111, is almost completely relaxed during the measurement. Otherwise, a web tension before or after the measuring section falsifies the web tension determined from the measured engine torque.
  • the inertial masses are not known or are permanently stored in the acceleration compensation as constants, these can be determined with a known modulus of elasticity of the web by means of a measuring run, with two variants being proposed.
  • the resulting web tension change for example by means of a load cell, can be determined during an acceleration phase.
  • the effective inertia mass is then calculated with the aid of the known E modulus on the basis of the web tension change and the machine acceleration.
  • the resulting register error can be determined.
  • the resulting web tension change can be determined based on the registration error. Together with the machine acceleration, in turn, the effective inertial mass can be determined.
  • FIG. 2 the course of a web tension in a dynamic case in the prior art is plotted against time in a diagram 10, in which two web tension curves 13 and 14 are shown.
  • the web tension is plotted in the diagram 10 on a y-axis 12 against the time t on an x-axis 11.
  • FIG. 2 shows the web tension curve in a dynamic case in which an acceleration of the rollers involved takes place.
  • two web tension curves 13 and 14 are shown, which are to be assigned to different web tension subsections.
  • a web tension section which is driven by a non-driven Axis, in the example shown a chill roll, is divided into two adjacent web tension subsections.
  • a nip driven axis
  • a driven pressure roller At the ends of the web tension section is in each case a nip (driven axis), in the example shown a driven pressure roller.
  • a web tension section can be identified between the printing couple 112 and the printing couple 113, which is subdivided by the cooling roll 122 into two web tension subsections. It should be noted at this point that the figure according to FIG.
  • FIG. 1 shows a printing machine according to the invention, in which both the modulus of elasticity of the material of the web and the effective moment of inertia of the cooling roller 122 is taken into account for a pilot control, whereas the FIG. 2 refers to a printing press, in which such a pilot control is not provided.
  • the web tension in the region between a nip and a subsequent non-driven axis regularly has a lower value than in the area between said non-driven axis and a subsequent nip.
  • an acceleration phase 15 For example, a dynamic force 16 corresponding to the difference of the web tension courses 13 and 14 is used to drive the non-driven roller.
  • the web is accelerated within 30 s from 30 m / min to 200 m / min.
  • the moment of inertia and the friction, ie the effective moment of inertia, the non-driven axles must be applied.
  • the web tension drops behind a nip and rises before the subsequent nip, as the non-driven rollers are accelerated.
  • a friction torque of the non-driven axle must be applied. This leads to a higher web tension behind a non-driven axle and the subsequent nip in the web path, since the nip has to exert a force to drive the non-driven axle. This force corresponds to a difference 17 between the illustrated web tension 13 and 14.
  • FIG. 3 By way of example, a resulting register error is shown on a processing plant.
  • a diagram 20 the course of a register deviation versus time is plotted, wherein two graphs 23 and 24 are shown, which are to be assigned to different moduli of elasticity.
  • the register deviation is plotted in the diagram 20 on a y-axis 22 against the time t on an x-axis 21. It is an acceleration phase from 30 m / min to 250 m / min in 90 Seconds with materials with different modulus of elasticity.
  • the acceleration as well as the effective moment of inertia to be considered are identical for both curves.
  • the material of the web, which is associated with the curve 23, has an E-modulus of about 8.6 ⁇ 10 9 N / m 2 .
  • the material of the web which is associated with the curve 24, has an E-modulus of about 3.6 ⁇ 10 9 N / m 2 . It is the different influence of the dynamic register error at the same moment of inertia of the non-driven rollers and the same acceleration clearly.
  • FIG. 4 Finally, the curve 33 of a register error resulting from the use of the invention is shown on a processing unit.
  • the register deviation is plotted on a y-axis 32 against the time t on a x-axis 31 in a diagram 30. It is an acceleration phase over 30 seconds shown. It becomes clear that the register deviation almost disappears.

Landscapes

  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Numerical Control (AREA)

Claims (11)

  1. Procédé de correction d'axe dans une machine de traitement (100), qui comporte au moins deux axes de transport entraînés (110, 115), au moins un axe de traitement non entraîné ou entraîné (111, 112, 113, 114) et au moins un autre axe non entraîné (102, 121, 122, 123, 124) pour le transport et le traitement d'une bande d'articles (101),
    dans lequel la bande d'articles (101) peut être subdivisée en au moins une partie de tension de bande, dans lequel une partie de tension de bande est délimitée par deux points de serrage (110-115) réalisés en tant qu'axes de transport ou de traitement entraînés,
    dans lequel, pendant une variation de vitesse de rotation d'un point de serrage (110-115) adjacent à une partie de tension de bande, une commande préliminaire dudit point de serrage (110-115) adjacent à la partie de tension de bande et/ou d'un axe de traitement (111-114) présent dans ladite partie de tension de bande est effectuée en tenant compte du module d'élasticité du matériau de la bande d'articles et d'un moment d'inertie d'au moins un axe non entraîné (102, 121-124) présent dans ladite partie de tension de bande, dans lequel le module d'élasticité du matériau de la bande d'articles (101) est déterminé automatiquement, dans lequel la commande préliminaire s'effectue en tenant compte du moment d'inertie respectif de tous les axes non entraînés (102, 121-124) présents dans ladite partie de tension de bande,
    caractérisé en ce que les moments d'inertie respectifs de tous les axes non entraînés (102, 121-124) présents dans ladite partie de tension de bande sont concentrés en un moment d'inertie total à prendre en compte pour ladite partie de tension de bande.
  2. Procédé selon la revendication 1, dans lequel la commande préliminaire s'effectue en outre en tenant compte de la variation de vitesse de rotation.
  3. Procédé selon l'une quelconque des revendications précédentes, dans lequel le module d'élasticité du matériau de la bande d'articles (101) est déterminé automatiquement sur la base d'une variation d'allongement et d'une variation de tension de bande.
  4. Procédé selon l'une quelconque des revendications précédentes, dans lequel le moment d'inertie à prendre en compte de l'au moins un axe non entraîné (102, 121-124) est déterminé au moyen d'une course de mesure.
  5. Machine de traitement (100) comportant au moins deux axes de transport entraînés (110-115), au moins un axe de traitement non entraîné ou entraîné (111-114) et au moins un autre axe non entraîné (102, 121-124) pour le transport et le traitement d'une bande d'articles (101), dans lequel la bande d'articles (101) peut être subdivisée en au moins une partie de tension de bande, dans lequel une partie de tension de bande est délimitée par deux points de serrage (110-115) réalisés en tant qu'axes de transport ou de traitement entraînés,
    dans lequel la machine de traitement (100) comporte une unité de calcul (200) qui est conçue pour déterminer le module d'élasticité du matériau de la bande d'articles et, pendant une variation de vitesse de rotation d'un point de serrage (110-115) adjacent à une partie de tension de bande, pour effectuer une commande préliminaire dudit point de serrage (110-115) adjacent à la partie de tension de bande et/ou d'un axe de traitement (111-114) présent dans ladite partie de tension de bande au moyen de valeurs de la commande préliminaire en tenant compte du module d'élasticité déterminé du matériau de la bande d'articles (101) et d'un moment d'inertie d'au moins un axe non entraîné (102, 121-124) présent dans ladite partie de tension de bande,
    dans lequel l'unité de calcul (200) est conçue pour déterminer les valeurs de la commande préliminaire en tenant compte du moment d'inertie respectif de tous les axes non entraînés (102, 121-124) présents dans ladite partie de tension de bande et
    caractérisé en ce que l'unité de calcul est en outre conçue pour concentrer les moments d'inertie respectifs de tous les axes non entraînés (102, 121-124) présents dans ladite partie de tension de bande en un moment d'inertie total à prendre en compte pour ladite partie de tension de bande.
  6. Machine de traitement (100) selon la revendication 5, dans laquelle l'unité de calcul (200) est conçue pour déterminer les valeurs de la commande préliminaire en tenant compte de la variation de vitesse de rotation.
  7. Machine de traitement (100) selon l'une quelconque des revendications 5 à 6, dans laquelle l'unité de calcul (200) et l'unité de commande de déplacement des axes entraînés (110 - 115) et/ou l'unité de commande de machine sont mises en oeuvre de manière intégrée dans un matériel de commande commun.
  8. Machine de traitement (100) selon l'une quelconque des revendications 5 à 7, dans laquelle l'unité de calcul (200) est conçue pour déterminer une variation d'allongement et une variation de tension de bande et pour déterminer le module d'élasticité du matériau de la bande d'articles sur la base de ladite variation déterminée de l'allongement et de ladite variation déterminée de la tension de bande.
  9. Machine de traitement (100) selon l'une quelconque des revendications 5 à 8, dans laquelle l'unité de calcul (200) est conçue pour déterminer au moyen d'une course de mesure le moment d'inertie à prendre en compte de l'axe non entraîné (102, 121-124).
  10. Programme d'ordinateur comportant des moyens à code de programme destinés à mettre en oeuvre toutes les étapes d'un procédé selon l'une quelconque des revendications 1 à 4 lorsque le programme d'ordinateur est exécuté sur un ordinateur ou sur une unité de calcul (200) correspondante, notamment sur une machine de traitement (100) selon l'une quelconque des revendications 5 à 9.
  11. Produit de programme d'ordinateur comportant des moyens à code de programme qui sont stockés sur un support de données lisible par ordinateur afin de mettre en oeuvre toutes les étapes d'un procédé selon l'une quelconque des revendications 1 à 4 lorsque le programme d'ordinateur est exécuté sur un ordinateur ou sur une unité de calcul (200) correspondante, notamment sur une machine de traitement (100) selon l'une quelconque des revendications 5 à 9.
EP08018275.1A 2007-12-07 2008-10-18 Procédé de correction d'axe dans une machine de traitement et machine de traitement Not-in-force EP2067725B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007059066A DE102007059066A1 (de) 2007-12-07 2007-12-07 Verfahren zur Achskorrektur bei einer Verarbeitungsmaschine sowie Verarbeitungsmaschine

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EP2067725A2 EP2067725A2 (fr) 2009-06-10
EP2067725A3 EP2067725A3 (fr) 2010-11-10
EP2067725B1 true EP2067725B1 (fr) 2018-01-03

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US (1) US20090145943A1 (fr)
EP (1) EP2067725B1 (fr)
CN (1) CN101450544B (fr)
DE (1) DE102007059066A1 (fr)

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DE102008053406A1 (de) * 2008-10-27 2010-04-29 Robert Bosch Gmbh Verfahren zur automatischen Achskorrektur bei einer Bearbeitungsmaschine zur Bearbeitung einer Warenbahn
DE102009056293B4 (de) * 2009-11-30 2012-03-29 Eastman Kodak Company Vorrichtung und Verfahren zum Regeln der Spannung einer Substratbahn
DE102011101842A1 (de) * 2011-05-17 2012-11-22 Robert Bosch Gmbh Verfahren zum Regeln der Bahnspannung in einer Bahnbearbeitungsmaschine
DE102012013435A1 (de) * 2012-04-04 2013-10-10 Robert Bosch Gmbh Verfahren zur Vorregistrierung einerBearbeitungsstation
DE102021120371A1 (de) * 2021-08-05 2023-02-09 Multivac Sepp Haggenmüller Se & Co. Kg Verpackungsmaschine mit folientransporteinrichtung sowie verfahren

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EP1505025A2 (fr) * 2003-08-06 2005-02-09 MAN Roland Druckmaschinen AG Méthode et dispositif pour contrôler la tension d'une bande et le répérage de coup d'une imprimante rotative

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EP2067725A2 (fr) 2009-06-10
DE102007059066A1 (de) 2009-06-10
CN101450544A (zh) 2009-06-10
EP2067725A3 (fr) 2010-11-10
CN101450544B (zh) 2012-08-08
US20090145943A1 (en) 2009-06-11

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