EP1093899A1 - Verfahren und Anlage zur automatischen Herstellung von Schieferplatten aus Restschiefermaterial - Google Patents

Verfahren und Anlage zur automatischen Herstellung von Schieferplatten aus Restschiefermaterial Download PDF

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Publication number
EP1093899A1
EP1093899A1 EP00402869A EP00402869A EP1093899A1 EP 1093899 A1 EP1093899 A1 EP 1093899A1 EP 00402869 A EP00402869 A EP 00402869A EP 00402869 A EP00402869 A EP 00402869A EP 1093899 A1 EP1093899 A1 EP 1093899A1
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EP
European Patent Office
Prior art keywords
slate
fendi
rounding
transfer means
installation
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Granted
Application number
EP00402869A
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English (en)
French (fr)
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EP1093899B1 (de
Inventor
Jaques Jean Vedie
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Sovemine Ingenierie
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Sovemine Ingenierie
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Publication of EP1093899A1 publication Critical patent/EP1093899A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/30—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor to form contours, i.e. curved surfaces, irrespective of the method of working used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/32—Methods and apparatus specially adapted for working materials which can easily be split, e.g. mica, slate, schist
    • B28D1/327—Methods and apparatus specially adapted for working materials which can easily be split, e.g. mica, slate, schist for cutting or shearing easily splittable working materials

Definitions

  • the present invention relates to a manufacturing process automatic slate from cleavage from small blocks, in particular of rejects of traditional manufacture, as well as an automatic manufacturing facility slates from fendis.
  • shale blocks which are generally unusable in known installations, and constitute releases. It's about small rough blocks weighing 50 to 100 kg of shale slate, recovered from mine and workshop rejects Manufacturing. Their circumference is arbitrary and two faces are parallel to the fissile plane.
  • Sawing blocks consists of sawing one side in a plane perpendicular to the fissile plane to allow their processing in the tierceuse machine.
  • the transport of the blocks, from their preparation, is done usually by a roller conveyor.
  • the present invention aims to develop a process and installation for automatically manufacturing slates from reject blocks, of dimensions too small to be used economically in known installations.
  • the shape analysis device allows you to define for each fendi the form of slate achievable according the shape of the fendi and the demand for the product.
  • This shape is defined automatically by comparison between the outline of the fendi and a library of predefined shapes stored in a memory.
  • the shape thus chosen is associated individually for each fendi.
  • This form of deposit or setpoint contour is associated with the fendi in the different stages of slate manufacturing as well as for control of the manufacturing result.
  • the device rounding allowing to treat all contours, whether be rectilinear or curved, thus allows to realize, piloted through the processing and control circuit, successively virtually any slate shapes without that it is not necessary to classify the slates beforehand in groups and to treat each group separately in different lines (e.g. rectangular slates, rounded slates, etc.).
  • the control of the manufactured slate is also done automatically. This control is simpler than initial form analysis, since the target form what slate should present is already known and it is simply to check the concordance between the real form of the manufactured slate and the deposit form.
  • the processing circuit can be used at all instant position of the slate in space and in particular when this slate is placed on the receiving surface of the control device. This greatly accelerates the processing and simplifies calculations once the form of the slate detected.
  • the automatic slate manufacturing facility supports splitting and provides leaving slates classified according to the shapes produced.
  • the choice of shapes can be limited by the operator by depending on demand requirements (type of slate, quantities).
  • the installation according to the invention can be automated also for the parts upstream of those mentioned above and in particular by the tiering machine.
  • the optical analyzer working by scanning allows a sufficiently precise definition of the outline of the fendi to know its shape automatically. This recognition form is also simplified by the fact that one side of the fendi is spotted.
  • the installation works automatically, is possible to isolate the optical analyzer from the device of form analysis and that of the control device for avoid disturbing the analysis by stray lights.
  • This optical analyzer preferably comprises a transmitter mounted on an oscillating support which controls scanning transverse.
  • Transmitters / receivers of optical analyzers are advantageously protected against dust by blowing filtered air, which scans the outside of the analyzers, especially at the entry and exit lenses, to avoid the deposit of dust.
  • this way of roughing up the fendi then cutting it and rounding it to the final shape avoids multiple passes of the same fendi in a machine or in multiple machines.
  • the optical control analyzer comprises a transmitter emitting a light brush for sweeping the slate and a receiver optical receiving the scan image to provide a signal detection to the processing and control circuit.
  • the first and third means of transfer consist by a robot comprising a column carrying a completed arm by a suction cup whose position and orientation is defined, the action ranges of the two robots do not intersect.
  • the second transfer means is preferably a movable plate in translation.
  • This tray moves between the receiving position and control of the slate at the end of manufacturing and a removal position for the evacuation of the slate or its passage through the punching installation for drilling, if necessary, the nailing holes before removal of slate.
  • An advantageous device based on suction cups allows keep the slate in position during movement.
  • the installation can be completed as an input by a tiercer, automatic, and different block sawing equipment itself preceded by peeling devices.
  • a manufacturing facility automatic slate from fendis includes a input conveyor 1, with motorized rollers in sections again called a conveyor, to transport and store so intermediate of the piles of fendis 12 resulting from a splitting work done upstream manually or semi-automatic or automatic.
  • the input conveyor 1 feeds a device form 2 analysis consisting of a receiving surface or roller table 21 also called a receiving roller a pile of cloves 12.
  • the shape analysis device 2 includes an optical analyzer 22 for detecting the contour fendi 12 on top of the stack placed on the surface reception 21.
  • This optical analyzer 22 is composed a 22E transmitter and a 22R receiver.
  • the 22E transmitter transmits a very fine beam such as a laser beam and the receiver 22R receives the image of each scan of the beam the transmitter 22E to provide an exploited detection signal and then giving the shape of the outline of each fendi and its oriented position with respect to the receiving surface 21.
  • the receiving surface 21 is constituted by a lifting table so that the fendi 12f, from above, submitted in shape analysis, is always in the same plane horizontal. This positioning is done by the enslavement of table 21 and an infrared rangefinder for example detecting the upper surface of the fendi 12f each time on the above the stack.
  • the 22E transmitter scans the surface of the fendi 12f following a transverse or longitudinal scan, corresponding at a certain resolution (spacing of scanning lines).
  • the 22R receiver fitted with an optical filter in function of the wavelength of the beam light the transmitter receives the image of each scan line. This image is different depending on whether the light beam is found on the surface of the fendi 12f or upstream or downstream of this surface, at the start and end of each scan trace.
  • Control circuit 3 also controls the installation of a new pile of fendis.
  • These batteries can be regular or irregular since the shape analysis device 2 detects always the top fendi in the plane analysis. This positioning is essential to obtain detection signals S1 representative of an exact shape and not of a homothetic form.
  • the processing circuit 3 defines the contour of the fendi 12f analyzed and compared to forms of slate contained in a slate library. It optimizes the use of fendi by choosing the slate which fits best in the available area of the fendi. This choice is also takes into account the needs of slates to be manufactured.
  • the fendi 12a which has just been analyzed, is not only defined by its outline but also by its position and by its angular orientation as shown by the vector Vi and the point of origin Of.
  • the installation Downstream of the form 2 analysis device, the installation includes a cutting device 4 cutting the shape of the slate and rounding its outline.
  • These measures of rounding 4 comprises an associated cutting member to a nibbler.
  • the cutting member 41 cuts the contour coarse slate in the fendi 12f according to the form of setpoint defined by the processing and control circuit 3 and the nibbler 42 ensures the finishing of the shape and the rounding of the slate blank to give a slate 12g from the fendi 12f.
  • a transfer device 5, constituted by a robot carried by a column 51 with an arm 52 and a suction head 53, ensures the transfer of the fendi 12f from the top of the stack of the shape analysis device 2 to the rounding device 4 then from this device to a control device 6 for the 12g slate thus manufactured.
  • the transfer device 5 is connected to the processing circuit and control 3 which controls the transfer device 5 (first transfer means) so that its suction cup head 53 take the fendi 12d in the analysis device 2 at a place and following a defined orientation.
  • the control circuit 3 supplies control signals SC2 to the device for transfer 5 so that it presents the fendi 12f to be cut and to round in the rounding machine 4 and move it to make the outline of the slate according to the outline of setpoint defined by the control and processing circuit 3.
  • the rounding device acts at a fixed point and the fendi is moved relative to this fixed point according to a trajectory specific to each model which is memorized in the system to make the slate having the desired outline.
  • a cutting speed is associated with each element trajectory allowing better quality cutting.
  • the transfer device 5 moves by its arm 52 and head 53 while maintaining at all times information relating to the exact position of the fendi (or slate in progress).
  • control circuit 3 controls the transfer device 5 so that it transfers the 12g slate in the control device 6, in a precise orientation position.
  • the control device 6 comprises a table receipt 61 on which the 12g slate is deposited by the transfer device 5 and an optical analyzer 62 formed by a transmitter 62E and a receiver 62R.
  • the transmitter provides a thin beam such as a laser beam to scan the 12g slate and the 62R receiver receives the images from scan the 12g slate and give an S2 analysis signal transmitted to the processing and control circuit 3. This establishes the actual outline of the 12g slate and compares it to the setpoint outline used to make the slate in the rounding device 4. As the rounding may possibly cause local bursting, this type of fault is detected by the control circuit 6.
  • the control device 6 also includes a transfer means 63 which moves the plate 61 from the position control in a removal position 61E, shown with dots. In this position, the slate can be picked up by a third transfer device 7.
  • This transfer device 7 is preferably a robot comprising a column 71 carrying an arm 72 provided with a head 73 to suction cups.
  • This device 7 is also controlled by the circuit processing and control 3 which controls it synchronized with upstream operations and the passage of 12g slate to one of the F1, F2, F3 ... outputs nature and / or quality of the 12g slate produced.
  • Figure 2A shows the shape of a 12m fendi with a 12mC1 side is straight because resulting from the sawing of the block, comes from the 12m fendi; the other sides 12mC2, 12mC3, 12mC4 have a more or less regular rounded shape.
  • Figure 2B shows another form of fendi 12n also having a straight 12nC1 side, resulting from sawing and two sides 12nC2, 12nC3, irregular.
  • fendi we have represented the outline of a so-called “tortoise shell” (schuppen) having two straight sides and a rounded side.
  • Figure 3 shows schematically the device form 2 analysis including the receiving surface in form of roller table or conveyor 21 mounted on a lifting device shown schematically by scissor rods 23 but which can be any rack and pinion device or with mechanical or electric jack, even pneumatic.
  • the conveyor 21 is provided with an edge 210 forming a reference side, for example for slits having a right side resulting from sawing.
  • the transmitter 22E is shown pivoting. This transmitter can be controlled in rotation by a 220E motor which ensures pivoting in the direction of the curved arrow as well as the transverse tilt to draw the scan lines.
  • the receiver 22R is preferably fixed. He covers an area larger than the largest possible area of a fendi to analyze and receives each time the image of a trace of analysis of the transmitter 22E.
  • the fendi 12f from above the pile of fendis 12 carried by the conveyor 21, is at a reference height H0.
  • This reference height can be defined by a mechanical probe which controls the lifting mechanism 23 or by an infrared detector, placed above the battery of fendis 12.
  • This defined position, identical for all splits to be detected, is advantageously chosen so that the form 2 analysis device can provide not only an image of the outline of the fendi except for a homothety but a exact image of the size of the fendi and define the outline of instructions for slate to be cut in this fendi 12f.
  • Figure 4A shows in a coordinate system (OX, OY), traces of the transverse scan of the fendi 12f. These traces carry the reference yi, associated with the coordinate of each scan line along the Y axis. scan trace allows to define the xi coordinate of the scan line yi along the OX axis and by cumulative points (xi, yi), the outline of the outline Ci of the fendi 12f.
  • Figure 4A like the previous figures, shows a fendi 12f with a right side of sawing aligned with the OY axis.
  • the receiver 22R receives the image of the line yi on the fendi.
  • This line is straight on the surface of the fendi and due to the thickness of the fendi and the inclination of the beam emitted by the emitter 22E, this line is deformed at the ends of the fendi.
  • Each line Yi has two discontinuity points Ci 1 and Ci 2 of abscissa xi 1 , xi 2 which see the image of the edges of the fendi. Their interpolation between these points constitutes the outline of the fendi.
  • the left side of the fendi is aligned on a mark at plus or minus ten degrees, so that all the first discontinuity points of the lines yi are aligned and correspond for their abscissa to the origin O of contact information.
  • This detection is extremely fast and it takes done in masked time, during the realization of the contour of the slate from the previous fendi in the rounding device 4.
  • Figures 5A, 5B show an example of a device 4.
  • This device consists of a cutout 41 and a rounding tool 42, both mounted coaxially on the same axis 43 of an electric motor 44.
  • the disc of the rounding tool 42 is a toothed disc such a saw disc while the cutting tool 41 is composed of radial arms 411 carrying weights 412. These weights hit the fendi to break it along a line beyond the final outline of the slate; the latter is achieved by the rounding tool 42 which at the same time ensures the final layout and rounding.
  • the fendi 12dr being processed in the device 4 is supported at the line of action (LA) of the rounding or nibbling tool 42 by a support in disc shape 45, free in rotation which, by ensuring a relatively punctual contact with the underside of the fendi, contributes to the quality of the spall (bevel given to split by the rounding machine).
  • LA line of action
  • a conveyor 46 for removing debris.
  • the device 4 is also covered by a protective cover 47 against projections and forming hood for dust extraction and sound insulation.
  • Figure 5B shows in more detail the work of the rolling device 4 on a fendi 12dr, held by the suction cup 53 of the arm 52 of the first transfer device 5.
  • the transfer device 5 holds the fendi 12dr during the entire cutting operation and and presents it appropriately to guide it during this operation, the cutting tools 41 and rounding 42 being fixed.
  • the cutting tool 41 ( Figure 5B) roughs the shape of the fendi by removing the most important part corresponding to the band z1, leaving no subsistence that a thin strip z2 beyond the 12dr1 contour that we want give this place to the slate.
  • the cutting tool 41 strike the part of the fendi in the z1 strip to break the large pieces.
  • Band z2 is a protection zone for avoid any cracks, which could occur in the band z1 of the fendi, does not propagate beyond the definitive contour 12dr1.
  • the rounding is carried out by the rounding tool 42 which is in fact a nibbler; this one works in a much finer and less brutal way, too, in progressing, does this tool 42 not risk creating cracks propagating beyond the line 12dr1, towards inside the slate, the support 45 prohibiting this spread.
  • the vector Vi plotted on the suction cup 53 of the device transfer 5 shows that the fendi 12dr is oriented precisely.
  • the fendi 12dr is moved in the AR direction.
  • FIG. 6 shows an example of installation of automatic production of slates according to the invention. This installation consists of the same elements as those already described above which have the same references. The differences will be discussed below in more detail while the common parts will simply be cited.
  • the input conveyor 1, ensuring storage is preceded by a roller conveyor 101, powered from an automatic tiering machine 9 or from a manual slitting machine 91.
  • the tiercer 9 is for example made like the one shown Figures 9 and 10 and its description will be made later.
  • the semi-automatic slitting machine 91 receives jets or double jets for split by hand.
  • Such a machine is known per se and does not no detailed description required. She generally works by depression and impaction.
  • the suction cups have been specially modified for this application, which consists in splitting slits of any shape whereas all the fendis treated so far by de such machines are rectangular slits.
  • the overall shape suction cups has been reduced to be able to attach to splits of any shape, even reduced.
  • the slits obtained in this machine 91 are deposited on a tray of a translation table 102 which inserts the piles of cloves loaded on the trays in the conveyor 1.
  • the figure shows the different segments of the conveyor 1 driven by motors 103.
  • the first transfer means 6 is simply shown by a circle. It supplies the rounding device 4.
  • the first transfer means 6 deposits the slates on table 63 hence the third transfer means 7, also schematized simply by a circle, takes the slates to pass them either to the discharge discharge F5 which brings the rejected products back to the entry level semi-automatic station 91 to carry out any treatment manual to recover a slate in a fendi having a default.
  • the third transfer means 7 also passes slates according to the classification carried out by the processing circuit of the control device not shown, to outputs F1, F2, F3, F4 ... corresponding to the different types of slate to make. Then the slates are recovered to be packaged.
  • the installation includes a cabinet power 300 for the various electrical circuits.
  • FIG. 7 The sectional view of Figure 7 shows more particularly the input conveyor 1 and its various motors 103 as well as the form 2 analysis device with the plate cleavage elevator.
  • the waste conveyor 46 is shown. It leads to the evacuation conveyor 200, housed in this place in a false 201 so that the waste conveyor 46 can travel in a horizontal position, above from the workshop floor.
  • the evacuation conveyor 200 is in fact inclined. It leaves the false 201 to rise above a grab.
  • Figure 8 is a side view of the device form analysis showing the plate 21 and the device elevator.
  • the plate 21 is carried by a console 211 mounted on a guide column 212, the assembly being actuated by a screw jack controlled by an electric motor 213.
  • Figures 9 and 10 show an exemplary embodiment a tiercer machine 9. It is intended to operate automatically to tier slate blocks previously peeled and having at least one sawn side.
  • the machine has two parts, a slot system 92 and a block 93 holding system.
  • the slot system includes an impact cylinder 921 carrying a slot chisel 922, the assembly being mounted on a plate 923 driven by a displacement vertical defined.
  • the horizontal 922 slot chisel is associated with a vertical shield 924 against which is pushed the sawn face of the block to be tiered, not shown. Tiering starts from the top and at each operation the plate 922, carried by columns 925, descends one notch. Movement vertical of the plate 923 is ensured by a ball screw, driven by a brushless motor.
  • the other parts of installation, upstream, in particular saws for cutting the blocks are not described in detail.
  • the block placed on a roller track 932 is held by the holding system 93 formed of a set of independent cylinders 931 (FIG. 10), pushing the block forward, with its sawn face resting against the shield 924.
  • This machine is controlled by the automaton of part 34 of the processing circuit and ordered.
  • the tiercer machine 9 receives a shale block, peeled and sawn. This block is presented horizontally; he rests on its fissile plane. After its installation, the cylinders 931 block it against the shield 924 which is placed at the proper height to make the first slit. Then, the clamping by the cylinders 931 is released then the plate step down to split the throw or double throw next. This machine delivers a block per minute in a single jet, or a jet every two seconds.
  • the positioning of the block is done by hand or automatically by slaving the support conveyor to a block positioning device. at the start of operations, and the height of the block is identified by the detection of the higher fissile plane. Then the operation of the tiercer machine is done automatically.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Fertilizers (AREA)
  • Laser Beam Processing (AREA)
  • Curing Cements, Concrete, And Artificial Stone (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Treatment Of Fiber Materials (AREA)
EP00402869A 1999-10-19 2000-10-17 Verfahren und Anlage zur automatischen Herstellung von Schieferplatten aus Restschiefermaterial Expired - Lifetime EP1093899B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9913014 1999-10-19
FR9913014A FR2799683B1 (fr) 1999-10-19 1999-10-19 Procede et installation de fabrication automatique d'ardoises a partir de fendis

Publications (2)

Publication Number Publication Date
EP1093899A1 true EP1093899A1 (de) 2001-04-25
EP1093899B1 EP1093899B1 (de) 2004-05-12

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EP00402869A Expired - Lifetime EP1093899B1 (de) 1999-10-19 2000-10-17 Verfahren und Anlage zur automatischen Herstellung von Schieferplatten aus Restschiefermaterial

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Country Link
EP (1) EP1093899B1 (de)
AT (1) ATE266511T1 (de)
DE (1) DE60010619D1 (de)
ES (1) ES2220364T3 (de)
FR (1) FR2799683B1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10236583B3 (de) * 2002-08-08 2004-02-05 Schiefergruben Magog Gmbh & Co. Kg Verfahren und Vorrichtung zur automatischen, computergestützten Zurichtung von Schieferplatten
WO2006113157A2 (en) 2005-04-14 2006-10-26 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
US7854097B2 (en) 2004-01-16 2010-12-21 Jeld-Wen, Inc. Simulated divided light products and processes and systems for making such products
EP3040172A1 (de) * 2014-12-05 2016-07-06 Remo Pisetta Anlage und verfahren zum bearbeiten eines blocks

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4221974A (en) * 1979-02-02 1980-09-09 The Bendix Corporation Lumber inspection and optimization system
FR2585982A1 (fr) * 1985-08-06 1987-02-13 Angers Ardoisieres Installation de fabrication de produits ardoisiers, tels que des ardoises, des elements de revetement ou de decoration
FR2610564A1 (fr) * 1987-02-10 1988-08-12 Renvoye Exploit Dispositif de coupe pour rectifier les bords de pieces en ardoises
EP0496968A1 (de) * 1991-01-30 1992-08-05 Rosenthal Aktiengesellschaft Verfahren und Vorrichtung zur Erzeugung einer Sollkontur an einem Werkstück

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4221974A (en) * 1979-02-02 1980-09-09 The Bendix Corporation Lumber inspection and optimization system
FR2585982A1 (fr) * 1985-08-06 1987-02-13 Angers Ardoisieres Installation de fabrication de produits ardoisiers, tels que des ardoises, des elements de revetement ou de decoration
FR2610564A1 (fr) * 1987-02-10 1988-08-12 Renvoye Exploit Dispositif de coupe pour rectifier les bords de pieces en ardoises
EP0496968A1 (de) * 1991-01-30 1992-08-05 Rosenthal Aktiengesellschaft Verfahren und Vorrichtung zur Erzeugung einer Sollkontur an einem Werkstück

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10236583B3 (de) * 2002-08-08 2004-02-05 Schiefergruben Magog Gmbh & Co. Kg Verfahren und Vorrichtung zur automatischen, computergestützten Zurichtung von Schieferplatten
EP1388401A1 (de) * 2002-08-08 2004-02-11 Schiefergruben Magog GmbH & Co. KG Verfahren und Vorrichtung zur automatischen, computergestützten Zurichtung von Schieferplatten
WO2004020166A1 (de) * 2002-08-08 2004-03-11 Schiefergruben Magog Gmbh & Co. Kg Verfahren und vorrichtung zur automatischen, computergestützten zurichtung von schieferplatten
US7854097B2 (en) 2004-01-16 2010-12-21 Jeld-Wen, Inc. Simulated divided light products and processes and systems for making such products
WO2006113157A2 (en) 2005-04-14 2006-10-26 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
WO2006113157A3 (en) * 2005-04-14 2007-02-22 Jeld Wen Inc Systems and methods of identifying and manipulating objects
US7640073B2 (en) 2005-04-14 2009-12-29 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
AU2006236946B2 (en) * 2005-04-14 2010-07-01 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
US7801638B2 (en) 2005-04-14 2010-09-21 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
EP3040172A1 (de) * 2014-12-05 2016-07-06 Remo Pisetta Anlage und verfahren zum bearbeiten eines blocks

Also Published As

Publication number Publication date
ES2220364T3 (es) 2004-12-16
FR2799683B1 (fr) 2001-12-07
DE60010619D1 (de) 2004-06-17
EP1093899B1 (de) 2004-05-12
ATE266511T1 (de) 2004-05-15
FR2799683A1 (fr) 2001-04-20

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