JP2012187642A - Method for chamfering glass plate, device for the same, and glass plate - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for chamfering a glass plate, a method by which a glass plate having squareness deviated from a tolerance value is efficiently machined into a glass plate having satisfactory squareness, and to provide a chamfering device and a glass plate.SOLUTION: In the chamfering device 10 for a glass plate, a CPU 40 changes an attitude of a glass plate 12 by controlling an attitude changing device 26 so that a reference side S1 of the glass plate 12 may be orthogonal to a moving direction A of grinders 28. As a result, the squareness of the sides S2, S3 to be chamfered by the grinders 28, 28 with reference to the reference side S1 becomes roughly a right angle. When the chamfering of the sides S2, S3 and machining for correcting squareness by the grinders 28, 28 are finished, the attitude of the glass plate 12 is varied at 90 degrees in a plan view, thereby chamfering the remaining sides S1, S4.

Description

  The present invention relates to a glass plate chamfering method, a chamfering apparatus, and a glass plate.

  Glass plates for FPD used in liquid crystal displays, plasma displays, etc. are formed by forming molten glass into a plate shape, and then cut into a glass plate of a predetermined rectangular size by a cutting device in the cutting process, and then chamfered in the chamfering process. The edge surface is chamfered by the chamfering grindstone of the apparatus. Chamfering devices are known as disclosed in Patent Documents 1 and 2.

JP 2006-326785 A JP 2008-49449 A

  By the way, the glass plate cut | disconnected by the said cutting device may have the squareness of two sides which cross | intersect at a corner | angular part remove | deviate from a predetermined | prescribed tolerance. Conventionally, a glass plate whose perpendicularity deviates from an allowable value is cut again by a cutting device so that the perpendicularity falls within the allowable value.

  However, the above-described conventional method has a problem in that the efficiency of the production of the glass plate is poor because the glass plate must be retransmitted to the cutting device.

  The squareness is the squareness (x) of the two sides 2 and 3 intersecting at the corner C in the glass plate 1 shown in FIG. 9, and is represented by x = tan θ (mm / M). is there.

  The present invention has been made in view of such circumstances, and a glass plate chamfering method and a chamfering apparatus capable of efficiently processing a glass plate whose perpendicularity deviates from an allowable value into a glass plate having a good perpendicularity. An object of the present invention is to provide a glass plate.

  In order to achieve the above object, the present invention provides a method for chamfering a glass plate in which the side is chamfered by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate. Provided is a method for chamfering a glass plate, wherein the angle of the glass plate is changed based on squareness information of the corner of the glass plate, and the squareness is corrected by grinding the side with the grindstone. To do.

  In order to achieve the above object, the present invention provides a glass plate chamfering apparatus for chamfering the side by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate. A chamfering device for a glass plate, comprising: squareness information obtaining means for obtaining squareness information of a corner of the glass plate; and posture changing means for changing the posture of the glass plate based on the squareness information. I will provide a.

  In order to achieve the above object, the present invention is a glass plate chamfered by the method for chamfering a glass plate of the present invention, wherein the squareness of the corner is ± 0.1 mm / M or less. Provide a glass plate.

  In order to achieve the above object, the present invention is a glass plate chamfered by the glass plate chamfering apparatus of the present invention, wherein the squareness of the corner is 0.1 mm / M or less. Provide a board.

  A feature of the present invention is that a glass plate whose perpendicularity deviates from a permissible value is not returned to the cutting device, but the squareness is 0.1 mm / M or less by a chamfering device disposed at the subsequent stage of the cutting device. It is to process into a glass plate. That is, according to the present invention, the original chamfering process is performed by the grindstone of the chamfering apparatus and the perpendicularity correction process is simultaneously performed. That is, squareness correction processing is performed within a range of grinding allowance with a chamfering grindstone. Therefore, in the chamfering apparatus according to the present invention, since the glass plate whose perpendicularity deviates from the allowable value is processed into a glass plate having a favorable perpendicularity, the perpendicularity is allowable as compared with the conventional method of returning to the cutting device. A glass plate deviating from the value can be efficiently processed into a glass plate having a good squareness.

  Specifically, the squareness information of the corners of the glass plate is obtained by the squareness information obtaining means, and after changing the posture of the glass plate by the posture changing means based on the squareness information, the side is ground by the grindstone. To do.

  As the perpendicularity information acquisition means, it may be acquired from image information of a corner portion of a glass plate imaged by an imaging means described later, and two adjacent sides are imaged by the imaging means, and four-point coordinates are obtained from this image information. May be obtained from the angle at which the two sides intersect, that is, the angle of the corner of the glass plate. That is, any perpendicularity information acquisition means may be used as long as it can acquire the perpendicularity of the glass plate. The gist of the present invention is to change the glass plate positioning method based on the acquired squareness information, and then perform a squareness correction process using a grindstone of a chamfering device.

  In order to achieve the above object, the present invention provides a method for chamfering a glass plate in which the side is chamfered by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate. Based on the first step of acquiring the squareness of the four corners by imaging the four corners of the glass plate and obtaining the coordinate position of each corner, the glass plate A second step of changing the attitude of the glass plate so that the reference side of the four sides is in a predetermined direction, and a side adjacent to the reference side by relatively moving the glass plate or the grindstone And a third step of chamfering the glass plate.

  In order to achieve the above object, the present invention provides a glass plate chamfering apparatus for chamfering the side by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate. Imaging means for imaging the four corners of the glass plate, and calculating the squareness of the four corners by obtaining the coordinate position of each corner based on the image information captured by the imaging means Calculating means, and based on the coordinate position, the attitude changing means for changing the attitude of the glass plate so that the reference side of the four sides of the glass plate is in a predetermined direction, and the glass plate or the A driving means for chamfering a side adjacent to the reference side by relatively moving a grindstone; and an imaging means, the computing means, the posture changing means, and a control means for controlling the driving means. Providing chamfering apparatus for a glass plate according to claim.

  According to the present invention, first, the four corners of the glass plate are imaged by the photographing means, the coordinate positions of the respective corners based on this image information, and the four corners based on this coordinate position. The perpendicularity and dimensional information are calculated by the calculation means. Next, the posture changing means changes the posture of the glass plate based on the coordinate position so that the reference side serving as a reference among the four sides of the glass plate is in a predetermined direction. Next, the driving means relatively moves the glass plate or the grindstone to chamfer the side adjacent to the reference side, thereby manufacturing a glass plate having a squareness of 0.1 mm / M or less.

  Thereby, this invention can process a substantially parallelogram glass plate with a bad squareness into a glass plate with a good squareness efficiently using the grindstone for chamfering.

  In the chamfering method of the present invention, in the second step, when the attitude change amount of the glass plate is within an allowable range, the reference side is perpendicular to the relative movement direction. It is preferable to change the attitude of the glass plate.

  In the chamfering apparatus of the present invention, the control means stores an allowable value of the posture change amount of the glass plate, and the control means changes the posture change when the posture change amount is within the allowable value range. It is preferable to change the posture of the glass plate by controlling the means so that the reference side is perpendicular to the direction of the relative movement.

  According to the present invention, when the attitude change amount is within the allowable range, the attitude of the glass plate is changed so that the reference side is orthogonal to the direction of relative movement between the glass plate and the grindstone. . Thereby, the perpendicularity between the side chamfered by the grindstone and the reference side becomes substantially a right angle.

  In the chamfering method of the present invention, in the second step, when the grindstones are respectively disposed on the two opposite sides of the glass plate, the glass plate is set so that the grinding amount by the two grindstones becomes equal. It is preferable to change the posture.

  The grindstones of the chamfering apparatus of the present invention are respectively arranged on two opposite sides of the glass plate, and the posture changing means changes the posture of the glass plate so that the grinding amount by the two grindstones becomes equal. It is preferable.

  According to the present invention, since the burden on each of the two whetstones becomes equal, the service life of the whetstone can be extended.

  The chamfering method of the present invention includes a fourth step of changing the attitude of the glass plate so that one of the two sides chamfered in the third step is in a direction orthogonal to the direction of the relative movement. And a fifth step of chamfering two sides adjacent to the one side by relatively moving the glass plate or the two whetstones.

  When the chamfering of the two opposite sides of the glass plate is completed by the two grindstones, the control means of the chamfering apparatus of the present invention first controls the posture changing means to control the chamfering of the two sides. Changing the attitude of the glass plate so that one side is orthogonal to the direction of the relative movement, and then controlling the driving means to chamfer two sides adjacent to the one side. preferable.

  According to the present invention, chamfering of the four sides of the glass plate can be performed with two grindstones.

  In the chamfering method of the present invention, in the second step, when the amount of change in the attitude of the glass plate deviates from an allowable value, first, the attitude of the glass plate is changed by the limit value of the allowable value. 3. Next, the posture of the glass plate is changed again so that the side chamfered in the third step is perpendicular to the direction of the relative movement, and then the glass plate Alternatively, it is preferable to chamfer a side adjacent to the side by relatively moving the grindstone.

  The control means of the chamfering apparatus of the present invention, when the posture change amount deviates from an allowable value, first controls the posture change means to change the posture of the glass plate by the limit value of the allowable value. Next, the driving means is controlled to chamfer the sides of the glass plate, and then the attitude changing means is controlled to cause the chamfered sides to be orthogonal to the direction of the relative movement. It is preferable that the orientation of the glass plate is changed again so as to be, and then the drive means is controlled to chamfer the side adjacent to the side.

  The present invention refers to the perpendicularity correction processing when the attitude change amount of the glass plate by the attitude changing means deviates from the allowable value.

  In this case, first, the control means controls the attitude changing means to change the attitude of the glass plate by the limit value of the allowable value. That is, the reference side of the glass plate after the posture change is out of the direction perpendicular to the relative movement direction of the glass plate and the grindstone, and in this state, the side adjacent to the reference side is ground with the grindstone. However, the perpendicularity between the side and the reference side does not satisfy a desired value. That is, in order to satisfy the squareness, a step of changing the posture of the glass plate again is necessary. Therefore, the control unit controls the posture changing unit again, and changes the posture of the glass plate again so that the chamfered side is in a direction orthogonal to the direction of the relative movement. Thereafter, the driving means is controlled to chamfer the side adjacent to the side with a grindstone.

  Thereby, even if it is a glass plate when the attitude | position change amount of a glass plate remove | deviates from an allowable value, it can be processed into a glass plate with a favorable squareness.

  The allowable value according to the chamfering method of the present invention is preferably a value not less than a lower limit grinding allowance of a grinding allowance by the grindstone and not more than an upper limit allowance.

  The allowable value by the chamfering apparatus of the present invention is preferably a value that is not less than a lower limit grinding allowance of a grinding allowance by the grindstone and not more than an upper limit allowance.

  If the grinding allowance with the grinding wheel is less than the lower limit grinding allowance, it is not preferable because a chamfered unprocessed part occurs on the side of the glass plate, and if the grinding allowance exceeds the upper limit grinding allowance, chipping is performed on the side of the glass plate. This is because such a grinding failure occurs. The grindstone is selected with a count (granularity) that does not cause processing defects such as chipping and burning during grinding.

  According to the chamfering method and the chamfering apparatus for a glass plate according to the present invention, a glass plate whose perpendicularity is out of an allowable value can be efficiently processed into a glass plate having a good perpendicularity.

The conceptual diagram for demonstrating the chamfering method and chamfering apparatus of the glass plate of this invention The block diagram which showed the structure of the chamfering apparatus of embodiment The top view which showed the chamfering form in the chamfering apparatus of embodiment The flowchart which showed operation of the chamfering device of an embodiment Explanatory drawing showing perpendicularity correction when the perpendicularity is less than or equal to the allowable inclination angle Explanatory drawing showing perpendicularity correction processing in ST1 when the perpendicularity exceeds the allowable inclination angle Explanatory drawing showing perpendicularity correction processing in ST2 when the perpendicularity exceeds the allowable inclination angle The graph which showed the squareness measurement data of the corner | angular part of 20 glass plates which chamfered by the chamfering apparatus of embodiment, and the squareness correction process was carried out Illustration of definition of perpendicularity

  Hereinafter, preferred embodiments of a glass plate chamfering method, a chamfering apparatus, and a glass plate according to the present invention will be described in detail according to the accompanying drawings.

  FIG. 1 is a conceptual diagram for explaining a glass plate chamfering method and a chamfering apparatus according to the present invention. FIG. 1 (a) shows a procedure for correcting the squareness only by a stage 1 (to be referred to as ST1 hereinafter), and FIG. 1 (b) shows ST1 and a stage 2 to be described later. (Hereinafter referred to as ST2) shows a procedure for correcting the squareness. FIG. 2 is a block diagram illustrating a configuration of the chamfering device 10 according to the embodiment. FIG. 3 is a plan view showing a chamfering form of the glass plate 12 in the chamfering apparatus 10. In the embodiment, the glass plate 12 for a liquid crystal display having a size of G8 (2500 × 2200 mm) or G10 (3300 × 2830 mm) and a thickness of 0.7 mm is exemplified. As shown in FIG. 2, the ST1 polishing apparatus is denoted by reference numeral 10, and the ST2 polishing apparatus is denoted by reference numeral 10A. Both polishing apparatuses are the same.

  As shown in FIG. 1, a substantially parallelogram (rectangular) glass plate 12 having a variation in perpendicularity is carried into the chamfering device 10 from a cutting device 14 disposed in the front stage of the chamfering device 10. In the embodiment, between the cutting device 14 and the chamfering device 10, as shown in FIG. 2, an electronic camera unit (imaging means) 16A that images the four corners C1, C2, C3, and C4 of the glass plate 12, 16B, 16C, and 16D are arranged.

  The electronic camera units 16A to 16D include an imaging unit (not shown) such as a CCD having an optical system and an illumination window (not shown). The illumination window is connected to the light source unit 20 via the light guide 18, and light from the light source unit 20 is supplied to the illumination window via the light guide 18 and emitted toward the corners C1 to C4. Thereby, each corner | angular part C1-C4 is illuminated and it images by the said imaging part.

  In the embodiment, a computing unit that calculates the squareness of the corners C1 to C4 by obtaining the coordinate positions of the corners C1 to C4 based on image information captured by the electronic camera units 16A to 16D. (Calculation means) 22 is provided. In other words, the image information is output to the calculator 22 via the camera controller 24. In addition, since the technique which acquires a coordinate position based on image information, and the technique which calculates a squareness based on a coordinate position are well-known, description is abbreviate | omitted here.

  Furthermore, in the embodiment, in the chamfering apparatus 10 shown in FIG. 3, the reference side S1 serving as a reference among the four sides S1, S2, S3, and S4 of the glass plate 12 is set in a predetermined direction based on the coordinate position. A posture changing device (posture changing means) 26 for changing the posture of the glass plate 12 is provided. Further, a driving device (driving means) 30 that chamfers the sides S2 and S3 adjacent to the reference side S1 by linearly moving the glass plate 12 or the chamfering grindstone 28 linearly is also provided.

  In addition, although embodiment demonstrates the example which fixes the glass plate 12 and moves the grindstone 28, the form which fixes the grindstone 28 and moves the glass plate 12 may be the form which moves both. In FIG. 3, the two grindstones 28, 28 are arranged so as to grind the opposite sides S <b> 2, S <b> 3 of the glass plate 12 at the same time, but a chamfering device having only one grindstone 28 is also a chamfering device of the present invention. To include. Further, in FIG. 3, the posture of the glass plate 12 is changed by the posture changing device 26 so that the reference side S <b> 1 is orthogonal to the moving direction A of the grindstone 28. Further, reference numeral 32 in FIG. 2 is a mouse, reference numeral 34 is a display, reference numeral 36 in FIG. 3 is a grindstone before finishing, and reference numeral 38 is a grindstone for finishing. The grindstones 36 and 38 are moved by a driving device (not shown) along a movement direction B parallel to the movement direction A. The count of the grindstone 28 is # 170 to # 450, the count of the grindstone 36 is # 450 to 600, and the count of the grindstone 38 is # 600 to 1000. The count is an example. The electronic camera units 16 </ b> A to 16 </ b> D, the arithmetic unit 22, the posture changing device 26, and the driving device 30 described above are centrally controlled by a CPU (control unit) 40 of the chamfering device 10.

  As shown in FIG. 3, the posture changing device 26 is disposed at a symmetrical position with respect to the center Ce1 of the side S2, and a pair of pads 26A that press the side S2 toward the side S3 by air pressure of an air cylinder (not shown). , 26B, a pair of pads 26C, 26D that are arranged symmetrically with respect to the center Ce2 of the side S3, press the side S3 toward the side S2 by the power of a servo motor (not shown), and an air cylinder (not shown). ), The pads 26E and 26E that press the side S1 toward the side S4 by air pressure, and the pads 26F and 26F that press the side S4 toward the side S1 by the power of a servo motor (not shown). .

  Based on the coordinate positions of the corners C <b> 1 to C <b> 4 obtained by the calculator 22, the CPU 40 drives and controls the above-described servo motor of the attitude changing device 26 to change the attitude of the glass plate 12. That is, the glass plate 12 is positioned so that the sides S2 and S3 are inclined with respect to the moving direction A with the centers Ce1 and Ce2 as fulcrums, and the sides S1 and S4 are orthogonal to the moving direction A. The posture of the plate 12 is changed. Further, the CPU 40 calculates the grinding amount (the maximum value of the grinding allowance) of each of the grindstones 28 and 28 based on the coordinate positions of the corners C1 to C4, and the posture changing device 26 so that the grinding amounts are equal. The above-mentioned servo motor is driven and controlled. Thereby, since each burden of the two grindstones 28 and 28 becomes equal, the service life of the grindstones 28 and 28 can be extended.

  Next, the operation of the chamfering apparatus 10 will be described based on the flowchart shown in FIG.

  First, the four corners C1 to C2 of the glass plate 12 are imaged by the electronic camera units 16A to 16D, and the calculator 22 calculates the coordinate positions of the corners C1 to C2 from these image information (S100). The squareness (D) of the four corners C1 to C4 is calculated (S110). The computing unit 22 calculates a grinding allowance for the central portions Ce1 and 2 of the sides S2 and S3 of the glass plate 12 from the image information (S120).

  The CPU 40 stores the product standard value (0.1 mm / M) of the squareness, and the CPU 40 compares the squareness (D) of the corners C1 to C4 calculated in S110 with the product standard value. (S130). When the CPU 40 determines that the squareness (D) of the corners C1 to C4 is within the product standard value, normal processing is performed by ST1 and ST2 (S140).

  In normal processing, in ST1, the reference side S1 of the glass plate 12 is positioned in a direction orthogonal to the moving direction A, and then the grindstones 28 and 28 are driven to perform chamfering of the sides S2 and S3. Thereafter, in ST2, the posture of the glass plate 12 is changed by 90 degrees in plan view, and the remaining sides S1 and S4 are chamfered by the grindstones 28 and 28. The product standard value = 0.1 mm / M is an example, and is a value that can be changed by setting the chamfering device. However, it is preferably substantially 0.20 mm / M or less.

  Next, returning to S130, when the CPU 40 determines that the squareness (D) of the corners C1 to C4 is out of the product standard value, the CPU 40 determines that the glass is glass based on the squareness (D) of the corners C1 to C4. An inclination angle (= perpendicular angle D) with respect to the movement direction A of the sides S2 and S3 when the reference side S1 of the plate 12 is positioned in a direction orthogonal to the movement direction A is calculated (S150).

  Here, the CPU 40 has an upper limit grinding allowance (H = 1.0 mm) and a lower limit grind allowance (L = 0.2 mm) for calculating the allowable inclination angle (Dc) of the sides S2 and S3 in the glass plate 12 of FIG. Is remembered. That is, when the grinding allowance by the grindstone 28 is less than the lower limit grinding allowance, a chamfered unprocessed portion is generated on the side of the glass plate 12, and when the grinding allowance exceeds the upper limit grinding allowance, the glass plate This is because a grinding failure such as chipping occurs on the 12 sides.

  The CPU 40 is configured to position the reference side S1 of the glass plate 12 in a direction orthogonal to the moving direction A based on the upper limit grinding allowance (H = 1.0 mm) and the lower limit grinding allowance (L = 0.2 mm). An allowable inclination angle (Dc) with respect to the moving direction A of the sides S2 and S3 is calculated (S160).

  Then, the CPU 40 compares the tilt angle (D) calculated in S150 with the allowable tilt angle (Dc) calculated in S160 (S170). When the inclination angle (D) is equal to or smaller than the allowable inclination angle (Dc), the squareness correction processing is performed only in ST1 (S180), and the inclination angle (D) exceeds the allowable inclination angle (Dc). In this case, squareness correction processing is performed using both ST1 and ST2 (S190).

  In S180, as shown in FIG. 5, the CPU 40 controls the posture changing device 26 so that the reference side S1 of the glass plate 12 is perpendicular to the moving direction A of the grindstone 28, thereby changing the posture of the glass plate 12. change. As a result, the perpendicularity between the sides S2 and S3 chamfered by the grindstones 28 and 28 and the reference side S1 becomes substantially a right angle. When the chamfering of the sides S2 and S3 and the squareness correction processing by the grindstones 28 and 28 are completed, the posture of the glass plate 12 is changed by 90 degrees in plan view, and the remaining sides S1 and S4 are chamfered by the grindstones 28 and 28. . Thereby, the glass plate 12 whose perpendicularity deviates from the allowable value can be efficiently processed into the glass plate 12 having a favorable perpendicularity.

  On the other hand, in S190, the attitude of the glass plate 12 is changed at the limit value of the allowable inclination angle (Dc) in ST1 as shown in FIG. The reference side S1 of the glass plate 12 after the posture change is out of the direction orthogonal to the moving direction A. In this state, the sides S2 and S3 adjacent to the reference side S1 are ground by the grindstones 28 and 28. Even so, the perpendicularity between the sides S2 and S3 and the reference side S1 does not satisfy the product standard value. That is, in order to satisfy the squareness with respect to the product standard value, a step of changing the posture of the glass plate 12 again is required.

  Therefore, in ST2, the glass plate 12 is rotated 90 degrees counterclockwise in plan view, and the chamfered side S2 'is perpendicular to the moving direction A as shown in FIG. 12 postures are changed again. Thereafter, chamfering and perpendicularity correction of the sides S1 and S4 adjacent to the side S2 ′ are performed by the grindstones 28 and 28.

  Thereby, even if it is the glass plate 12 when the attitude | position change amount of the glass plate 12 remove | deviates from an allowable inclination angle, it can be processed into the glass plate 12 of a favorable squareness.

  FIG. 8 is a graph showing the squareness measurement data of the corner portions 1L, 2L, 1R, and 2R of the 20 glass plates 12 of G10 size that have been chamfered and squareness corrected by the chamfering device 10 of the embodiment. It is.

  As shown in the figure, the maximum absolute value of the squareness of the corner 1L is about 0.04 mm / M, the maximum absolute value of the squareness of the corner 2L is about 0.05 mm / M, and the straightness of the corner 1R. The maximum absolute value of the angle was about 0.04 mm / M, and the maximum absolute value of the squareness of the corner 2R was also about 0.04 mm / M. Therefore, according to the chamfering apparatus 10 of the embodiment, a glass plate having a squareness of ± 0.05 mm / M or less can be manufactured.

  The chamfering device of the present invention is not limited to a glass plate for a liquid crystal display, and can be applied to a chamfering of a general glass plate such as a building material or a mirror. Moreover, it is not limited to a glass plate, It can apply also to the chamfering of a metal-made or resin-made plate-shaped object.

  DESCRIPTION OF SYMBOLS 10 ... Chamfering device, 12 ... Glass plate, C1, C2, C3, C4 ... Corner, S1, S2, S3, S4 ... Side, 14 ... Cutting device, 16A, 16B, 16C, 16D ... Electronic camera unit, 18 ... Light guide, 20 ... light source unit, 22 ... calculator, 24 ... camera controller, 26 ... posture change device, 28 ... grinding stone, 30 ... drive device, 32 ... mouse, 34 ... display, 36 ... grinding stone, 38 ... grinding stone, 40 ... CPU

Claims (16)

In the chamfering method of the glass plate that chamfers the side by relatively moving the rectangular glass plate and the chamfering grindstone along the side of the glass plate,
A method for chamfering a glass plate, wherein the squareness of the glass plate is changed by changing the posture of the glass plate on the basis of the squareness information of the corner of the glass plate and grinding the side with the grindstone. In the chamfering method of the glass plate that chamfers the side by relatively moving the rectangular glass plate and the chamfering grindstone along the side of the glass plate,
A first step of acquiring the squareness of the four corners by imaging the four corners of the glass plate and determining the coordinate position of each corner;
Based on the coordinate position, a second step of changing the attitude of the glass plate so that the reference side of the four sides of the glass plate is in a predetermined direction;
A third step of chamfering a side adjacent to the reference side by relatively moving the glass plate or the grindstone;
A chamfering method for a glass plate, comprising:   In the second step, when the attitude change amount of the glass plate is within an allowable range, the attitude of the glass plate is changed so that the reference side is perpendicular to the direction of the relative movement. The glass plate chamfering method according to claim 2.   The said 2nd process WHEREIN: When the grindstone is each arrange | positioned at the two opposite sides of the said glass plate, the attitude | position of the said glass plate is changed so that the grinding amount by these two grindstones may become equal. 3. A method for chamfering a glass plate according to 3. A fourth step of changing the posture of the glass plate so that one of the two sides chamfered in the third step is in a direction orthogonal to the direction of the relative movement;
A fifth step of chamfering two sides adjacent to the one side by relatively moving the glass plate or the two whetstones;
The chamfering method of the glass plate of Claim 4 provided with these.   In the second step, when the posture change amount of the glass plate is out of the allowable value, first, the posture of the glass plate is changed at the limit value of the allowable value, and the process proceeds to the third step. Next, the posture of the glass plate is changed again so that the side chamfered in the third step is orthogonal to the direction of the relative movement, and then the glass plate or the grindstone is relatively moved. The chamfering method of the glass plate of Claim 2 which chamfers the edge | side adjacent to the said edge | side.   The said allowable value is a chamfering method of the glass plate of Claim 3 or 6 whose grinding allowance with the said grindstone is a value more than a lower limit grinding allowance and below an upper limit grinding allowance. In a chamfering device for a glass plate that chamfers the side by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate,
A chamfering of a glass plate, comprising: squareness information obtaining means for obtaining squareness information of a corner of the glass plate; and posture changing means for changing the posture of the glass plate based on the squareness information. apparatus. In a chamfering device for a glass plate that chamfers the side by relatively moving a rectangular glass plate and a chamfering grindstone along the side of the glass plate,
Imaging means for imaging the four corners of the glass plate;
Arithmetic means for calculating the squareness of the four corners by determining the coordinate position of each corner based on the image information captured by the imaging means;
Based on the coordinate position, a posture changing means for changing a posture of the glass plate so that a reference side serving as a reference among the four sides of the glass plate is in a predetermined direction;
Driving means for chamfering the side adjacent to the reference side by relatively moving the glass plate or the grindstone;
Control means for controlling the imaging means, the computing means, the posture changing means, and the driving means;
A chamfering device for a glass plate, comprising: In the control means, an allowable value of the attitude change amount of the glass plate is stored,
The control means controls the attitude changing means when the attitude change amount is within an allowable value range so that the reference side is perpendicular to the direction of the relative movement. The glass plate chamfering apparatus according to claim 9, wherein the position of the glass plate is changed. The grindstones are respectively disposed on two opposite sides of the glass plate,
The said chamfering apparatus of the glass plate of Claim 10 which changes the attitude | position of the said glass plate so that the said attitude | position change means may equalize the grinding amount by the two said grindstones.   When the chamfering of the two opposite sides of the glass plate is completed by the two grindstones, the control means first controls the posture changing means so that one of the chamfered two sides is the relative movement. The glass plate according to claim 11, wherein the orientation of the glass plate is changed so as to be orthogonal to the direction, and then the driving means is controlled to chamfer two sides adjacent to the one side. Chamfering device.   When the attitude change amount is outside the allowable value, the control means first controls the attitude change means to change the attitude of the glass plate with the limit value of the allowable value, and then the drive Chamfering the side of the glass plate by controlling the means, and then controlling the posture changing means to control the glass so that the chamfered side is perpendicular to the direction of the relative movement. The glass plate chamfering apparatus according to claim 9, wherein the orientation of the plate is changed again, and then the driving unit is controlled to chamfer a side adjacent to the side.   The chamfering device for a glass plate according to claim 10 or 13, wherein the allowable value is a value in which a grinding allowance by the grindstone is not less than a lower limit grinding allowance and not more than an upper limit grinding allowance.   A glass plate chamfered by the method for chamfering a glass plate according to any one of claims 1 to 7, wherein the squareness of the corner is ± 0.1 mm / M or less. Board.   A glass plate chamfered by the glass plate chamfering device according to any one of claims 8 to 14, wherein a squareness of a corner portion is 0.1 mm / M or less. .

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