VARIO-TIP SYSTEM

Abstract

The invention relates to a packaging method and to an associated packaging device (1) for packaging injection-molded plastic parts (2), which are pipette tips or medical reaction vessels, the injection-molded plastic parts (2) being arranged in cavity-pure subgroups (6) and then subjected to lateral inspection sub-subgroup (10) per sub-subgroup (10).

Claims

1. A packaging method for packaging injection-molded plastic parts (2) in final package units, the injection-molded plastic parts (2) being pipette tips or medical reaction vessels and each having a longitudinal center axis (L.sub.A), which preferably extends centrally through an opening (3), the method comprising the steps of: simultaneously removing multiple shots of K injection-molded plastic parts (2) from K respective cavities, evenly distributing the K injection-molded plastic parts (2) in a cavity-pure manner over U cavity-pure subgroups (6) in a first storing plane (4), filling up the final package units in a cavity-pure or cavity-sorted manner until the final package units each contain A injection-molded plastic parts (2), wherein the injection-molded plastic parts (2) of the subgroups (6) are subjected to an optical lateral inspection in a lateral inspection device (9), which comprises at least one digital camera (11), before the final packages are filled up, and wherein the subgroups (6) are each divided into S sub-subgroups (10) of injection-molded plastic parts (2) disposed one behind the other and the S sub-subgroups (10) are transported through the lateral inspection device (9) one after the other by means of transfer means (14) and are subjected to the lateral inspection there, and wherein the S sub-subgroups (10) are arranged in inspected cavity-pure subgroups in a second storing plane (7) after having passed through the lateral inspection device (9), and the second storing plane (7) being formed either directly by the final package units or by a stationary or adjustable intermediate storage and the inspected subgroups being moved from the intermediate storage into the final package units.

2. The packaging method according to claim 1, wherein the sub-subgroups (10) are transported through the lateral inspection device (9) along an inspection track (13) by means of the transfer means (14) in such a manner that an optical axis of the at least one camera (11) intersect(s) perpendicularly, the longitudinal center axis (L.sub.A) of one of the injection-molded plastic parts (2) in an inspection position (23) located on the inspection track (13).

3. The packaging method according to claim 1, wherein the transfer means (14) comprise a first and a second work piece support (15, 16) each serving to receive one of the S sub-subgroups (10), the work piece supports (15, 16) being moved back and forth along a transfer axis (T.sub.A) between respective loading positions, in which they are loaded with one of the S sub-subgroups (10), and respective unloading positions, from which the respective sub-subgroups (10) are transferred into the second storing plane (7) after optical inspection, and wherein the first and the second work piece support (15, 16) are conveyed through the lateral inspection device (9) along a shared inspection track (13) with one of the S sub-subgroups (10) while being transferred from the respective loading positions to the respective unloading positions.

4. The packaging method according to claim 3, wherein the transfer means (14), which comprise a belt drive (17), move the work piece supports (15, 16) back and forth between the respective loading and unloading positions in an electronically or mechanically coupled movement.

5. The packaging method according to claim 3, wherein at least one of the work piece supports (15, 16) is moved relative to the transfer axis T.sub.A by means of moving means (27) in such a manner that the work piece supports (15, 16) are moved past each other in the lateral inspection device (9) while one work piece support (15, 16) of the work piece supports (15, 16) which is filled with one of the S sub-subgroups (10) is located on the inspection track (13).

6. The packaging method according to claim 3, wherein the work piece supports (15, 16) each have a lateral opening (19, 20) into which the injection-molded plastic parts (2) of a sub-subgroup (10) disposed in the work piece support (15, 16) in question protrude, the injection-molded plastic parts (2) vertically extending through the lateral opening (19, 20), and the work piece supports (15, 16) are optically inspected by the at least one digital camera (11) through the lateral opening (19, 20).

7. The packaging method according to claim 6, wherein at least one camera (11) of the lateral inspection device (9) is disposed in such a manner that the injection-molded plastic parts (2) in the first work piece support (15) are optically inspected through the lateral opening (19, 20) of the second work piece support (16) and/or in such a manner that the injection-molded plastic parts (2) in the second work piece support (16) are optically inspected through the lateral opening (19, 20) of the first work piece support (15).

8. The packaging method according to claim 1, wherein injection-molded plastic parts (2) with defects detected during the optical inspection are sorted out and replaced with non-defective injection-molded plastic parts (2) from the same cavity or a subgroup with a defective injection-molded plastic part (2) is sorted out entirely.

9. A packaging device (1) for packaging injection-molded plastic parts (2) in final package units, the injection-molded plastic parts (2) being pipette tips or medical reaction vessels, the packaging device (1) being configured to implement a packaging method according to claim 1 and to interact with an injection molding device disposed adjacent to the packaging device (1) and configured to produce pipette tips or medical reaction vessels, the packaging device (1) comprising: at least one removing gripper configured and controlled by control means to simultaneously remove multiple shots of K injection-molded plastic parts (2) from K respective cavities of an injection molding device, the K cavities being distributed evenly over C clusters, subgroup forming means configured and controlled by control means to evenly distribute the K injection-molded plastic parts (2) in a cavity-pure manner over U cavity-pure subgroups (6) in a first storing plane (4) until each subgroup contains L injection-molded plastic parts (2), the number L of the injection-molded plastic parts (2) of one subgroup corresponding to the maximum number A of injection-molded plastic parts (2) that can be contained in one final package unit or to an integer divisor of A, means configured to fill up the final package units in a cavity-pure and/or cavity-sorted manner until the final package units each contain A injection-molded plastic parts (2), wherein the packaging device (1) has a lateral inspection device (9) comprising at least one digital camera (11), the lateral inspection device (9) being configured and controlled to subject the injection-molded plastic parts (2) of the subgroups (6) to an optical lateral inspection before the final packages are filled up, and wherein the packaging device (1) has first sub-sub-subgroup grippers for dividing each of the subgroups (6) into S sub-subgroups (10) of injection-molded plastic parts (2) disposed one behind the other linearly, and transfer means (14) for transferring the S sub-subgroups (10) one after the other, the transfer means (14) being configured to transport the S sub-subgroups (10) through the lateral inspection device (9) one after the other for lateral inspection, and wherein the packaging device (1) has second sub-sub-subgroup grippers configured and controlled by control means in such a manner that the S sub-subgroups (10) are arranged in inspected cavity-pure subgroups in a second storing plane (7) after having passed through the lateral inspection device (9), their composition corresponding to the composition of the subgroups (6) of the first storing plane (4) in the event that no individual injection-molded plastic parts have been sorted out because of defects detected, and wherein the second storing plane (7) is formed either directly by the final package units or by a stationary or adjustable horizontal intermediate storage and the inspected subgroups are movable from the intermediate storage into the final package units by gripper means.

10. The packaging device according to claim 9, wherein an optical axis (K.sub.A) of the at least one digital camera (11) of the inspection device is disposed at an angle in particular perpendicular to a vertical axis of the inspection device, the vertical axis preferably running through an inspection position (23) for the injection-molded plastic parts (2) which is located on the inspection track (13).

11. The packaging device according to claim 10, wherein the packaging device (1) has transfer means (14) for conveying the S sub-subgroups (10) through the lateral inspection device (9) along a shared inspection track (13), and the transfer means (14) comprise a first and a second work piece support (15, 16) each serving to receive one of the S sub-subgroups (10), the work piece supports (15, 16) being configured to be moved back and forth along a transfer axis between respective loading positions, in which they are loaded with one of the S sub-subgroups (10), and respective unloading positions, from which the respective sub-subgroups (10) are transferred into the second storing plane (7) after optical inspection.

12. The packaging device according to claim 11, wherein moving means (27) are assigned to at least one of the work piece supports (15, 16), the moving means (27) being configured to move at least one of the work piece supports (15, 16) relative to the transfer axis (T.sub.A) in such a manner that the work piece supports (15, 16) can be moved past each other without collision in the inspection device while one of the work piece supports (15, 16) is located on the inspection track (13).

13. The packaging device according to claim 12, wherein the transfer means (14) are configured to move the work piece supports (15, 16) back and forth between the respective loading and unloading positions in an electronically or mechanically coupled movement.

14. The packaging device according to claim 11, wherein the work piece supports (15, 16) have lateral openings (19, 20) for receiving the injection-molded plastic parts (2) of a sub-subgroup (10), the openings (19, 20) being disposed in such a manner that they are traversed by the optical axis (K.sub.A) of the at least one digital camera (11) when the work piece supports (15, 16) are transported past each other in the lateral inspection device (9).

15. An injection molding system comprising an injection molding device configured to produce pipette tips or medical reaction vessels, with K cavities, which are distributed evenly over C clusters, and a packaging device (1) according to claim 9.

16. The packaging method of claim 1, wherein the K cavities are distributed evenly over C clusters, and wherein the evenly distributing step is carried out until each subgroup contains L injection-molded plastic parts (2), the number L of the injection-molded plastic parts (2) of one subgroup (6) corresponding to the maximum number A of injection-molded plastic parts (2) that can be contained in one final package unit or to an integer divisor of A.

17. The packaging method of claim 1, wherein the optical lateral inspection is for shape and/or surface defects, wherein the at least one digital camera comprises multiple digital cameras (11) spaced apart in a circumferential direction.

18. The packaging method of claim 1, wherein composition of the inspected cavity-pure subgroups corresponds to the composition of the subgroups (6) of the first storing plane (4) in the event that no individual injection-molded plastic parts have been sorted out because of defects detected.

19. The packaging device according to claim 9, wherein the at least one digital camera comprises multiple digital cameras (11) spaced apart in a circumferential direction, and wherein the optical lateral inspection is for shape and/or surface defects.

20. The packaging device of claim 14, wherein the at least one digital camera comprises multiple digital cameras (11) and wherein the openings (19, 20) are disposed in such a manner that they are traversed by multiple optical axes of the multiple cameras (11) spaced apart in the circumferential direction.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Further advantages, features and details of the invention will be apparent from the following description of a preferred embodiment and from the drawings.

[0044] FIG. 1a is a plan view of part of a packaging device with an optical lateral inspection device, FIG. 1a showing both part of a first storing plane with cavity-pure subgroups and part of a second storing plane, in which cavity-pure subgroups inspected sub-subgroup by sub-subgroup are formed, the second storing plane in the shown example being formed by a static or adjustable intermediate storage, from which final package units (not shown) are then each loaded with one or more inspected cavity-pure subgroups each, direct loading being alternatively possible, in which case the second storing plane is formed directly by the final package units;

[0045] FIG. 1b is a perspective side view of the illustration according to FIG. 1a;

[0046] FIG. 2a to FIG. 2c show different views of the optical lateral inspection device and the transfer means during loading of a first work piece support;

[0047] FIG. 3a to FIG. 3c show different illustrations of the units according to FIG. 2a to FIG. 2c with a loaded work piece support at the beginning of the transfer;

[0048] FIG. 4a to FIG. 4d show partially enlarged views of the units according to FIG. 3a to FIG. 3c during inspection of the injection-molded plastic parts as they are passing through the lateral inspection device by means of the work piece support filled with a sub-subgroup on a shared inspection track for the work piece supports;

[0049] FIG. 5a to FIG. 5c show different illustrations of the units according to the preceding figures as the work piece support (still) filled with an inspected sub-subgroup is being moved out of the shared inspection track and the work piece support to be filled in the next step is being moved into the shared inspection track; and

[0050] FIG. 6a to FIG. 6c shows the units from the preceding figures during alternate loading and unloading of the work piece supports.

[0051] In the figures, identical elements and elements with the same function are marked with the same reference signs.

DETAILED DESCRIPTION

[0052] The figures, in particular FIGS. 1a and 1b, show part of a packaging device 1 for preferably rotationally symmetrical injection-molded plastic parts 2, which are pipette tips or medical reaction vessels. They each have a longitudinal center axis L.sub.A which is preferably vertical and, in the example shown in FIG. 1, oriented perpendicular to the drawing plane. The respective longitudinal center axes L.sub.A run centrally through respective, in this case upper, openings 3, which are filling openings.

[0053] FIG. 1a shows part of a first storage plane 4 in the form of a horizontal intermediate store comprising seats 5 for the injection-molded plastic parts 2. An injection molding device that does not belong to the packaging device but to the injection molding system and is preferably disposed upstream of the packaging device is not shown. At least one removing gripper and control means for controlling the removing gripper (and other functional units) for simultaneously removing multiple shots of K injection-molded plastic parts from K respective cavities of the injection molding device, the K cavities preferably being evenly distributed over C clusters, are not shown either. Subgroup forming means configured and controlled by control means to evenly and cavity-purely distribute the K injection-molded plastic parts (individually or in sub-subgroups) to U cavity-pure subgroups 6 in the first storing plane 4 are not shown either. Means for cavity-pure or cavity-sorted filling of the final package units are not shown either.

[0054] With regard to concrete options for realizing the elements or units and functional means not shown, reference is made to the applicant's earlier applications and patents mentioned in particular in the introduction to the description.

[0055] FIG. 1a shows a second storing plane 7 in the form of a horizontal intermediate storage to the right of the first storing plane 4; the second storing plane 7 can alternatively be formed directly by final packages (not shown). The second storing plane 7 also has seats 8 for seating injection-molded plastic parts 2 inspected for sporadic defects, in this case by means of an optical lateral inspection device 9. In the second storing plane 7, the inspected injection-molded plastic parts 2, or more precisely sub-subgroups 10 of injection-molded plastic parts 2 disposed linearly one behind the other, are reassembled to form cavity-pure subgroups, in this case k inspected subgroups, the composition of the inspected subgroups in the second storing plane 7 corresponding to the composition of the cavity-pure subgroups not yet inspected in the first storing plane 4, at least in the case of a successful inspection, i.e., if no defects are detected. In principle, it is conceivable that the rows in the inspected subgroups are arranged identically to the corresponding subgroups in the first storing plane 4, although the rows, in particular the sub-subgroups of the subgroup in question, can alternatively be arranged in a different order, in particular in reverse order. The composition remains the same (in principle, i.e., independently of the embodiment shown), i.e., the sub-subgroups belonging to one of the subgroups in the first storing plane are reassembled to form the same subgroup, although individual injection-molded plastic parts can be replaced after a defect has been detected.

[0056] FIG. 1a shows that the subgroups 6 in the first storing plane 4 and later the inspected subgroups in the second storing plane 7 are geometrically formed as fields, each field having a rectangular envelope contour. Each subgroup 6 in the first storing plane 4 and later each inspected subgroup 6 in the second storing plane 7 consists of several rows of injection-molded plastic parts 2 disposed linearly one behind the other, presently from left to right and parallel to a transfer axis T.sub.A, which is to be discussed later, each row forming a sub-subgroup 10 to be inspected, which is transferred through the lateral inspection device 9 along the transfer axis T.sub.A.

[0057] In the embodiment shown, the lateral inspection device 9 comprises four digital cameras 11 evenly spaced (here at a 90? angle) in the circumferential direction for detecting the lateral or circumferential surface 12 of the injection-molded plastic parts 2 extending around the longitudinal center axis L.sub.A of each injection-molded plastic part 2. The digital cameras 11 are distributed on two sides of a shared inspection track 13 (cf. for example FIG. 3b).

[0058] The packaging device 1 comprises transfer means 14 for transferring cavity-pure sub-subgroups 10 through the lateral inspection device 9.

[0059] In the embodiment shown, the transfer means 14 comprise a first 15 and a second work piece support 16 each serving to receive a sub-subgroup 10. The two work piece supports 15, 16 are movable back and forth between respective loading positions (on the left in FIG. 1a and FIG. 1b) and respective unloading positions (on the right in FIG. 1a and FIG. 1b) in a mechanically coupled movement, presently by means of a belt drive 17 comprising a shared electromotive drive. In the loading position, an empty work piece support 15the first work piece support 15 in the case at handis loaded with a sub-subgroup 10 of injection-molded plastic parts 2 disposed linearly one behind the other, each sub-subgroup 10 corresponding to a row of injection-molded plastic parts 2 of an associated subgroup 6. The division of the subgroups 6 into sub-subgroups 10 and the loading of the work piece supports 15, 16 with the sub-subgroups 10 is carried out by means of a first sub-subgroup gripper (not shown), while the unloading of the work piece support 15, 16 located in an unloading position is carried out by means of a second sub-subgroup gripper (not shown), by means of which the sub-subgroups 10 are reassembled in the second storing plane 7 to form inspected cavity-pure subgroups.

[0060] Preferably provided replacement means controlled by and cooperating with the inspection logic of the lateral inspection device and comprising sorting-out means for sorting out injection-molded plastic parts 2 recognized as defective and for replacing the vacated space by non-defective, preferably already inspected plastic parts which are cavity-pure, i.e., belong to the respective subgroup or originate from the same cavity, and which can be taken from a corresponding supply, are not shown.

[0061] The Figures show that the work piece supports 15, 16 are open laterally, i.e., perpendicular to the transfer axis T.sub.A; i.e., they have lateral openings 19, 20, into which the injection-molded plastic parts 2 to be inspected of a respective sub-subgroup 10 protrudein this case, they protrude through themin order to then be laterally detected by the cameras 11 through the lateral openings 19, 20. According to a preferred embodiment, the lateral openings 19, 20 are formed as through holes, i.e., passage openings, in a respective work piece support frame 21, 22.

[0062] As shown in FIG. 4a to FIG. 4d, the injection-molded plastic parts 2 of a sub-subgroup 10 to be inspected are inspected by the cameras 11 through the lateral openings 19, 20, the cameras 11 viewing the respective circumferential surfaces, namely in an inspection position 23 shown in FIG. 4b, in which camera axes K.sub.A of the digital cameras 11 meet and intersect the longitudinal center axis L.sub.A of the injection-molded plastic part 2 of a sub-subgroup 10 located in the inspection position 23 at an angle, in this case vertically.

[0063] The inspection position 23 is located on a shared inspection track 13 for both work piece supports 15, 16, which the work piece supports 15, 16 pass through in order for the respective received sub-subgroups 10 to be inspected.

[0064] FIG. 4a to FIG. 4d in particular also show that the work piece supports 15, 16 are moved past each other in the inspection device 9. In the embodiment shown, the injection-molded plastic parts 2 located on the first work piece support 15 are inspected through its lateral opening 19 and through the lateral opening 20 in the passing second work piece support 16, which is aligned with lateral opening 19. The lateral openings 19, 20 in the work piece supports 15, 16 are aligned perpendicular to the transfer axis T.sub.A when the work piece supports are moved past each other in the inspection device 9.

[0065] In the specific embodiment, the transfer means 14 comprise, in addition to the shared inspection track 13, a first return track 25 for the first work piece support 15 and a second return track 26 for the second work piece support 16. The work piece supports 15, 16 can be moved between the shared inspection track 13 and the respective return track 25, 26 perpendicularly to the transfer axis by means of moving means 27.

[0066] In the specific embodiment example, the moving means 27 for each work piece support 15, 16 comprise a first and a second slide 28 and 29, respectively, which can be actuated pneumatically in the case at hand. Each slide 28, 29 is firmly connected to a respective side of the belt drive 17 via an associated support 30, 31.

[0067] Alternatively, it is also conceivable to move only one of the work piece supports 15, 16 between the shared inspection track 13 and a parallel track spaced therefrom, for example by means of a slide 28, 29.

[0068] It is essential that a single work piece support 15, 16 or both work piece supports 15, 16 is/are moved in such a manner that they can be moved past each other without colliding despite the fact that one of the work piece supports 15, 16 is located on the shared inspection track 13 in the inspection device.

[0069] It can also be varied whether the respective loading position is disposed, for example, on the shared inspection track 13 or inspection axis or on a track parallel thereto, in particular a return track 25, 26. The same applies analogously to the unloading position for each work piece support 15, 16, which can alternatively be disposed on the shared inspection track 13 or axis or in a track parallel thereto, in particular a return track 25, 26. Depending on the loading position, the associated gripper, i.e., the first or the second sub-subgroup gripper, must merely be controlled accordingly.

[0070] FIGS. 2a to 2c show the method step of loading, in this case the first, work piece support 15 with a cavity-pure sub-subgroup 10 of injection-molded plastic parts 2 disposed one behind the other along the transfer axis T.sub.A by means of the first sub-subgroup gripper (not shown), the injection-molded plastic parts 2 being inserted into the work piece support 15 along arrow 32, i.e., in the vertical direction from top to bottom, and then extending through its lateral opening 19. FIG. 2b shows the associated loading position of the first work piece support 15. In the case at hand, the loading position is located at the left end of the shared inspection track 13 as an example. FIG. 2b shows the possibility of moving the first work piece support 15 with the moving means 27, in this case the first slide 28, perpendicular to the transfer axis T.sub.A in arrow directions 33, specifically between the shared inspection track 13 and the associated return track 25. Similarly, the second work piece support 16 can also be moved by means of the moving means 27, specifically the second slide 29, perpendicular to the transfer axis T.sub.A, specifically between the shared inspection track 13 and the second return track 26 associated with the second work piece support 16. For this purpose, the work piece support 16 can be moved in arrow directions 34 by means of the moving slide 19.

[0071] It can be seen that the unloading position of the second work piece support 16 is located on its return track 26 as an example.

[0072] FIGS. 3a to 3c essentially correspond to FIGS. 2a to 2c with the difference that the first work piece support 15 has already been loaded with a sub-subgroup 10 and, as indicated by the arrows in FIG. 3a, the work piece supports 15, 16 are moved in opposite directions along the transfer axis T.sub.A, in this case in the direction of the lateral inspection device 9, by means of the belt drive 17. In contrast to the situation in FIGS. 3a to 3c, the work piece supports 15, 16 in the situation in FIGS. 4a to 4d are located in the lateral inspection device 9 and the injection-molded plastic parts 2 are being inspected for shape and/or surface defects by means of the digital cameras 11, which record their circumference. The first work piece support 15 is located on the shared inspection track 13, while the empty second work piece support 16 passes the first work piece support 15 on its return track 26. One after the other, the injection-molded plastic parts 2 of the sub-subgroup 10 on the first work piece support 15 thus pass through the inspection position 23 and are inspected by the analysis of the circumferential surface.

[0073] In the situation according to FIGS. 5a to 5c, the sub-subgroup 10 located on the first work piece support 15 has been inspected. The work piece supports 16 are located in an end position; specifically, the second work piece support 16 is located in its loading position and the first work piece support 15 is located in its unloading position. A track change has taken place in the end positions. It can be seen that the second work piece support 16 is now located on the inspection track 13, on which its loading position is also realized as an example. The first work piece support 15 has been moved to its return track 25 with the aid of its (moving) slide 27. This is indicated by movement arrows depicted in the drawing. It is preferred for the work piece supports 15, 16 to be moved perpendicular to the transfer axis T.sub.A in the respective end positions of the work piece supports 15, 16 alternatively when moving means 27 for only one work piece support 15, 16 are provided in the end positions of this work piece support 15, 16; alternatively, the work piece supports 15, 16 may also be moved along the transfer axis T.sub.A during the movement or the transfer.

[0074] In the situation according to FIGS. 6a to 6c, the second work piece support 16, which is located in its loading position, is loaded with a sub-subgroup 10 of injection-molded plastic parts 2 yet to be inspected by means of a first sub-subgroup gripper (not shown), while the first work piece support 15, which is located in its unloading position, is unloaded by means of a second sub-subgroup gripper (not shown) and then placed on or in the second storage plane 7 in such a manner by means of the second sub-subgroup gripper that inspected, cavity-pure subgroups are formed.

[0075] Subsequently, the second work piece support 16 with its sub-subgroup 10 to be inspected is moved through the lateral inspection device 9 on the shared inspection track 13, and the first work piece support 15, which has been emptied, is moved past it in the direction of its loading position, which can coincide with the loading position of the second work piece support 16 or offset parallel thereto.

REFERENCE SIGNS

[0076] 1 packaging device [0077] 2 injection-molded plastic parts [0078] 3 opening [0079] 4 first storing plane [0080] 5 seats [0081] 6 cavity-pure subgroups [0082] 7 second storing plane [0083] 8 seats [0084] 9 optical lateral inspection device [0085] 10 sub-subgroups [0086] 11 digital cameras [0087] 12 circumferential surface [0088] 13 shared inspection track [0089] 14 transfer means [0090] 15 first work piece support [0091] 16 second work piece support [0092] 17 belt drive [0093] 18 electric motor drive [0094] 19 lateral openings [0095] 20 lateral openings [0096] 21 work piece support frame [0097] 22 work piece support frame [0098] 23 inspection position [0099] 25 first return track [0100] 26 second return track [0101] 27 moving means for the work piece supports [0102] 28 first (moving) slide [0103] 29 second (moving) slide [0104] 30 support [0105] 31 support [0106] 32 arrow direction [0107] 33 arrow directions [0108] 34 arrow directions [0109] L.sub.A longitudinal center axis [0110] T.sub.A transfer axis [0111] K.sub.A camera axes