WO1995000299A1 - Method for treatment of a piece - Google Patents

Method for treatment of a piece Download PDF

Info

Publication number
WO1995000299A1
WO1995000299A1 PCT/FI1994/000271 FI9400271W WO9500299A1 WO 1995000299 A1 WO1995000299 A1 WO 1995000299A1 FI 9400271 W FI9400271 W FI 9400271W WO 9500299 A1 WO9500299 A1 WO 9500299A1
Authority
WO
WIPO (PCT)
Prior art keywords
piece
treatment
planar
external form
processing unit
Prior art date
Application number
PCT/FI1994/000271
Other languages
French (fr)
Inventor
Mika Laitinen
Timo Rautarinta
Ari Antola
Harri Laine
Unto Vainio
Original Assignee
Pii-Robotics Oy
Nordlamex Safety Glass Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pii-Robotics Oy, Nordlamex Safety Glass Oy filed Critical Pii-Robotics Oy
Priority to AU69732/94A priority Critical patent/AU6973294A/en
Publication of WO1995000299A1 publication Critical patent/WO1995000299A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4205—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a drawing is traced or scanned and corresponding data recorded
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37556—Camera detects fictive contour of workpiece, by reflection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37563—Ccd, tv camera
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45074—Edge treating robot, machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50151—Orient, translate, align workpiece to fit position assumed in program

Definitions

  • the invention relates to a method for determining the external form, particularly the border line of a piece for treatment of the same, wherein the determination of the external form of the piece is carried out without contact by the optical observation means of an identifying device, - the determination data is transferred to a data processing unit, data corresponding to the external form, particular ⁇ ly the border line of the piece is generated in the data processing unit, and - for treatment of the piece, the data generated in the data processing unit is transferred to a device for treatment of the piece, such as a control unit for controlling a robot.
  • edge grinding of particularly planar pieces such as metal plates or glass sheets
  • a variety of arrangements for edge grinding of particularly planar pieces such as metal plates or glass sheets
  • the edges of relatively small metal plates are chamfered manually with an abrasive disc.
  • a grinding line of several grinding devices it is conventional to use e.g. a grinding line of several grinding devices, due to the great risk of breaking the glass.
  • the treatment of relatively large metal pieces requires a certain degree of automation, due to the large mass of the metal pieces.
  • edge grinding is:
  • cross-belt grinding is currently used, wherein the edge of the glass is ground by re ⁇ moving it against a crosswise moving grinding belt.
  • diamond grinding is used, and further for a more sophisticated use, e.g. CNC-controlled diamond grinding is used.
  • a grinding device comprising four separate abrasive discs reinforced with diamond, one disc for each side to be ground.
  • a grinding device of this type is problematic inter alia for the reason that it must be preadjusted for each glass type in the begin ⁇ ning of the series.
  • the adjusting takes an excessively long time.
  • the so-called lazy arm sanding machine generally in use cannot follow difficult glass shapes to a sufficient degree, whereby difficulties are caused not only by the starting point but also by the variation of the grinding force on curved as well as forward and reversed inclined surfaces. This is largely due to the fact that in conventional solutions, the grinding arm is formed long and massive when as long an extension as possible is aimed at.
  • the purpose of the method according to the present invention is to provide a decisive improvement to the disadvantages described above and thus to substantial ⁇ ly improve the prior art in the field.
  • the method of the invention is primarily characterized in that the method is applied in determining the external form, par ⁇ ticularly the border line of a planar piece, and that the treatment carried out by the treating device is directed at the edge of a planar piece.
  • the most important advantages of the method according to the invention include simplicity, reliability and flexibility.
  • the method of the invention it is possible e.g. to identify the external form of the piece to be treated by a so-called intelligent system, whereby the programming of the treatment, such as edge grinding, can be carried out automatically on the basis of the external form of the piece fed into the line at a time.
  • the application of the method does not require a large memory capacity, because it is not necessary to store e.g. different treatment programs in its memory for reprogramming on the basis of each different piece to be manufactured.
  • Fig. 1 shows an advantageous assembly of the apparatus applying the method according to the invention
  • Fig. 2 is a schematic diagram illustrating an advantageous operating principle of the device of Fig. 1, and
  • Fig. 3 shows an advantageous arrangement intended particularly for the treatment of trans ⁇ parent pieces.
  • Method for the treatment of a piece wherein for rendering it possible to treat a piece 1 on the basis of one physical property, such as external form, dimension and/or the like, said property of the piece 1 is defined in a preparing phase into a data processing unit 2, such as a microprocessor, analogous circuit and/or the like, after which the piece 1 is treated in a treating phase by means of a treating device 3, such as a positioning, further processing, machining device and/or the like, in at least a data transmitting connection with the data processing unit 2.
  • a data processing unit 2 such as a microprocessor, analogous circuit and/or the like
  • the physical property of the piece 1 is determined by an identifying device 4 which is in at least a data transmitting connection with the data processing unit 2 and by means of which said property of the piece 1 at least can be carried out by examining said property of the piece 1 mechanically, electrically, by a pressurized-mediu drive, and/or optically.
  • the method shown in Fig. 1 is particularly applied in treating the edge of a planar piece 1, such as in edge grinding.
  • the external form, such as the border line or the like, of the piece 1 transferred to a treatment center I is defined in the preparing phase at least partly numerically into the data pro- cessing unit 2, under whose control the treatment of the edge of the piece 1 is carried out in the treating phase by a treating device 3.
  • the external form of the piece 1 is defined by an automatic identification device 4 operating preferably by a contact-free principle, such as an optical observation means 4a.
  • the preparation phase and the treating phase are carried out in the same treatment center I, whereby the piece 1 to be treated is fixed for the time of the preparation phase and the treating phase in a stationary manner onto a support table 5a in the treatment center I.
  • each piece following the first piece 1 and corresponding to it in form is positioned in the treatment center I by means of a mechanical, electrical and/or optical positioning arrangement into a known basic position, point or the like for treatment to be repeated in the treating phase.
  • This operating principle is not shown more clearly in the drawings, because for this purpose a large variety of existing arrangements can be used, including e.g. mechanical contact surfaces and/or electrical and/or optical sensors and/or counters monitoring the movement of the piece.
  • the operating principle of the method applied in Fig. 1 can be advantageously carried out e.g. according to the schematic diagram shown in Fig. 2.
  • the piece 1 to be treated is recorded with an observation means 4a, such as one or several cameras or the like, on the basis of which the border line defining the external form of the piece 1 is generated into the data processing unit 2.
  • the calculated border line is unpacked to the control unit 3b of the treating device 3 and from there further to a robot 3a carrying out the treatment.
  • An apparatus which is suitable particularly for edge grinding of a planar piece, comprises, as shown in Fig. 1, in its simplest form a data processing unit 2, such as a micropro ⁇ cessor, an analogous circuit and/or the like, and a treating device 3 in connection with the data pro ⁇ cessing unit 2, such as a positioning, further pro ⁇ cessing, machining device and/or the like for the actual treatment of the piece 1.
  • a data processing unit 2 such as a micropro ⁇ cessor, an analogous circuit and/or the like
  • a treating device 3 in connection with the data pro ⁇ cessing unit 2, such as a positioning, further pro ⁇ cessing, machining device and/or the like for the actual treatment of the piece 1.
  • the observation means 4a is preferably formed of e.g. one matrix camera, CCD camera or the like.
  • the border line representing the external form of the piece 1 can be generated into the data processing unit 2 and subsequently unpacked further e.g. to a robot control unit 3b of the treating device 3 and from there further to a robot 3a.
  • Figure 3 shows an advantageous arrangement in connec ⁇ tion with such an embodiment, wherein for defining the border line of the transparent piece la, a dif ⁇ ference in shade is arranged between the support surface 5 of the treatment center I and the piece la, arranged by a light cover 6 covering the treatment center I.
  • a light cover 6 By means of the light cover 6 it is possible to reflect the piece la entirely lighter than the support surface 5 for imaging. Thanks to this arrange- ment, it is possible to distinguish the border line of the transparent piece from the support surface, which is known to be difficult in practice.
  • the treatment center can thus be formed e.g. of two physically different parts, wherein the identification of the shape of the piece is carried out in the first one and the actual treatment phase in the second one.
  • the fixing of the piece in a stationary manner onto the support surface of the treatment center, as described above, can thus be modified e.g. so that the piece is fixed in a stationary manner e.g. into a conveyor arrangement or a movable table surface, the control and positioning thereof being carried out using e.g. conventional control automatics, for example by optical and/or electrical sensors and counters.
  • the construction of the treatment device can be substan ⁇ tially different from that presented in the descrip- tion, whereby it can be formed e.g. according to the portal principle of a treatment head coupled to a carriage moving in a rail arrangement in the treatment center. It is naturally possible to combine the data processing unit and/or the robot control means to form an integrated unit e.g. directly in connection with the treatment device or solely the control means in an integrated manner in connection with the treat ⁇ ment device.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)

Abstract

The invention relates to a method and apparatus for treatment of a piece, wherein for rendering it possible to treat the piece (1) on the basis of one physical property, such as external form, dimension and/or the like, said property of the piece (1) is defined in a preparing phase into a data processing unit (2), such as a microprocessor, analogous circuit and/or the like, after which the piece (1) can be treated in a treating phase by means of a treating device (3) in at least a data transmitting connection with the data processing unit (2). At least one physical property of the piece (1) is determined by an identifying device (4) which is in at least a data transmitting connection with the data processing unit (2) and by means of which said property of the piece (1) at least can be carried out by examining said property of the piece (1) mechanically, electrically, using a pressurized medium, and/or optically.

Description

METHOD FOR TREATMENT OF A PIECE
The invention relates to a method for determining the external form, particularly the border line of a piece for treatment of the same, wherein the determination of the external form of the piece is carried out without contact by the optical observation means of an identifying device, - the determination data is transferred to a data processing unit, data corresponding to the external form, particular¬ ly the border line of the piece is generated in the data processing unit, and - for treatment of the piece, the data generated in the data processing unit is transferred to a device for treatment of the piece, such as a control unit for controlling a robot.
It is known to use a variety of arrangements for edge grinding of particularly planar pieces, such as metal plates or glass sheets, ranging from manual sanding machines to fully automatic grinding lines. Conven¬ tionally, the edges of relatively small metal plates are chamfered manually with an abrasive disc. Parti¬ cularly in a production process handling glass, it is conventional to use e.g. a grinding line of several grinding devices, due to the great risk of breaking the glass. In a corresponding manner, the treatment of relatively large metal pieces requires a certain degree of automation, due to the large mass of the metal pieces.
Particularly in glass manufacture, the purpose of edge grinding is:
-• to remove sharp burrs arisen e.g. in connection with removing the surrounding glass edges, to chamfer the glass edges so that the further treatment of the glass sheet can be carried out with bare hands and/or that the edges of the glass sheet do not wear silk excessively,
to remove from the edge any cracks exposing the glass sheet to breaking and thus also to reinforce the semifinished product and the final product, and
to form the edge of the glass sheet to a ground surface with a uniform appearance.
Particularly in glass manufacture of the above-men- tioned type, e.g. cross-belt grinding is currently used, wherein the edge of the glass is ground by re¬ moving it against a crosswise moving grinding belt. For achieving a finish of better quality, diamond grinding is used, and further for a more sophisticated use, e.g. CNC-controlled diamond grinding is used.
In conventional diamond grinding of a glass sheet, a grinding device is used comprising four separate abrasive discs reinforced with diamond, one disc for each side to be ground. A grinding device of this type is problematic inter alia for the reason that it must be preadjusted for each glass type in the begin¬ ning of the series. Thus particularly upon grinding a short series or glass pieces of varying shapes after one another, the adjusting takes an excessively long time. Furthermore, particularly the so-called lazy arm sanding machine generally in use cannot follow difficult glass shapes to a sufficient degree, whereby difficulties are caused not only by the starting point but also by the variation of the grinding force on curved as well as forward and reversed inclined surfaces. This is largely due to the fact that in conventional solutions, the grinding arm is formed long and massive when as long an extension as possible is aimed at.
The application of CNC techniques for the said purpose would raise the manufacturing costs excessively; furthermore, with the present technology it is not possible to carry out programming and the handling of short series in a sufficiently flexible manner.
The purpose of the method according to the present invention is to provide a decisive improvement to the disadvantages described above and thus to substantial¬ ly improve the prior art in the field. For achieving this aim, the method of the invention is primarily characterized in that the method is applied in determining the external form, par¬ ticularly the border line of a planar piece, and that the treatment carried out by the treating device is directed at the edge of a planar piece.
The most important advantages of the method according to the invention include simplicity, reliability and flexibility. By the method of the invention, it is possible e.g. to identify the external form of the piece to be treated by a so-called intelligent system, whereby the programming of the treatment, such as edge grinding, can be carried out automatically on the basis of the external form of the piece fed into the line at a time. The application of the method does not require a large memory capacity, because it is not necessary to store e.g. different treatment programs in its memory for reprogramming on the basis of each different piece to be manufactured. On the other hand, in view of particularly glass manufacture, in an advantageous application of the method it is not necessary to tune in the grinding programme, generated automatically on the basis of the first glass, during treatment of a so-called long series, because the corresponding treatment can be repeated on the next glass sheets by positioning them on a known basic position on the support surface of the treating center. According to an advantageous method of the invention, it is further possible to integrate the functions related to the treatment to be carried out automatical¬ ly at the same treatment center, whereby extra work stages related to conventional methods are avoided. The method is thus very important particularly in view of rationalization.
Other dependent claims on the method disclose ad¬ vantageous embodiments of the method according to the invention.
In the following description, the invention will be illustrated in detail with reference to the appended drawings, in which
Fig. 1 shows an advantageous assembly of the apparatus applying the method according to the invention,
Fig. 2 is a schematic diagram illustrating an advantageous operating principle of the device of Fig. 1, and
Fig. 3 shows an advantageous arrangement intended particularly for the treatment of trans¬ parent pieces.
Method for the treatment of a piece, wherein for rendering it possible to treat a piece 1 on the basis of one physical property, such as external form, dimension and/or the like, said property of the piece 1 is defined in a preparing phase into a data processing unit 2, such as a microprocessor, analogous circuit and/or the like, after which the piece 1 is treated in a treating phase by means of a treating device 3, such as a positioning, further processing, machining device and/or the like, in at least a data transmitting connection with the data processing unit 2. The physical property of the piece 1 is determined by an identifying device 4 which is in at least a data transmitting connection with the data processing unit 2 and by means of which said property of the piece 1 at least can be carried out by examining said property of the piece 1 mechanically, electrically, by a pressurized-mediu drive, and/or optically.
The method shown in Fig. 1 is particularly applied in treating the edge of a planar piece 1, such as in edge grinding. Thus the external form, such as the border line or the like, of the piece 1 transferred to a treatment center I is defined in the preparing phase at least partly numerically into the data pro- cessing unit 2, under whose control the treatment of the edge of the piece 1 is carried out in the treating phase by a treating device 3. The external form of the piece 1 is defined by an automatic identification device 4 operating preferably by a contact-free principle, such as an optical observation means 4a.
In the advantageous embodiment shown in Fig. 1, the preparation phase and the treating phase are carried out in the same treatment center I, whereby the piece 1 to be treated is fixed for the time of the preparation phase and the treating phase in a stationary manner onto a support table 5a in the treatment center I.
Upon partly applying the conventional techniques known particularly from glass manufacture, it is possible to treat after the first piece 1 the next similar pieces by programming the treating device 3 e.g. by means of the data processing unit 2 to repeat the treatment carried out on the first piece 1 on the next pieces. Thus each piece following the first piece 1 and corresponding to it in form is positioned in the treatment center I by means of a mechanical, electrical and/or optical positioning arrangement into a known basic position, point or the like for treatment to be repeated in the treating phase. This operating principle is not shown more clearly in the drawings, because for this purpose a large variety of existing arrangements can be used, including e.g. mechanical contact surfaces and/or electrical and/or optical sensors and/or counters monitoring the movement of the piece.
The operating principle of the method applied in Fig. 1 can be advantageously carried out e.g. according to the schematic diagram shown in Fig. 2. Thus the piece 1 to be treated is recorded with an observation means 4a, such as one or several cameras or the like, on the basis of which the border line defining the external form of the piece 1 is generated into the data processing unit 2. After this, the calculated border line is unpacked to the control unit 3b of the treating device 3 and from there further to a robot 3a carrying out the treatment.
An apparatus according to the invention, which is suitable particularly for edge grinding of a planar piece, comprises, as shown in Fig. 1, in its simplest form a data processing unit 2, such as a micropro¬ cessor, an analogous circuit and/or the like, and a treating device 3 in connection with the data pro¬ cessing unit 2, such as a positioning, further pro¬ cessing, machining device and/or the like for the actual treatment of the piece 1. It is thus possible to carry out the treatment of the piece 1 even in a fully automated manner by means of an identifying de¬ vice 4 connected with the data processing unit 2, by means of which also the edge form of the piece 1 can be defined automatically, mechanically, by a pressur- ized-medium drive and/or optically by examining the edge form of the piece 1.
Particularly when treating a transparent, planar piece la, the observation means 4a is preferably formed of e.g. one matrix camera, CCD camera or the like. On the basis of the identification of form by the camera, the border line representing the external form of the piece 1 can be generated into the data processing unit 2 and subsequently unpacked further e.g. to a robot control unit 3b of the treating device 3 and from there further to a robot 3a.
Figure 3 shows an advantageous arrangement in connec¬ tion with such an embodiment, wherein for defining the border line of the transparent piece la, a dif¬ ference in shade is arranged between the support surface 5 of the treatment center I and the piece la, arranged by a light cover 6 covering the treatment center I. By means of the light cover 6 it is possible to reflect the piece la entirely lighter than the support surface 5 for imaging. Thanks to this arrange- ment, it is possible to distinguish the border line of the transparent piece from the support surface, which is known to be difficult in practice.
It is obvious that the invention is not limited to the embodiments presented or explained above, but it can be modified within the basic idea even consider¬ ably, due to the large extent of the method and the apparatus for applying the same. The treatment center can thus be formed e.g. of two physically different parts, wherein the identification of the shape of the piece is carried out in the first one and the actual treatment phase in the second one. The fixing of the piece in a stationary manner onto the support surface of the treatment center, as described above, can thus be modified e.g. so that the piece is fixed in a stationary manner e.g. into a conveyor arrangement or a movable table surface, the control and positioning thereof being carried out using e.g. conventional control automatics, for example by optical and/or electrical sensors and counters. Naturally, it is possible to use two or several cameras for the treat¬ ment of at least partly three-dimensional pieces, whereby, in a corresponding manner, a three-dimensional pattern representing the piece to be treated must be generated into the data processing unit. Moreover, the construction of the treatment device can be substan¬ tially different from that presented in the descrip- tion, whereby it can be formed e.g. according to the portal principle of a treatment head coupled to a carriage moving in a rail arrangement in the treatment center. It is naturally possible to combine the data processing unit and/or the robot control means to form an integrated unit e.g. directly in connection with the treatment device or solely the control means in an integrated manner in connection with the treat¬ ment device.

Claims

Claims :
1. Method for determining the external form, par¬ ticularly the border line of a piece for treatment of the same, wherein the determination of the external form of the piece (1) is carried out without contact by the optical observation means (4a) of an identifying device (4) , - the determination data is transferred to a data processing unit (2) , data corresponding to the external form, particular¬ ly the border line of the piece (1) is generated in the data processing unit (2) , and - for treatment of the piece (1) , the data generated in the data processing unit (2) is transferred to a device (3) for treatment of the piece (1) , such as a control unit (3b) for controlling a robot (3a) , characterized in that the method - is applied in determining the external form, par¬ ticularly the border line of the planar piece (1) , and that - the treatment carried out by the treatment de¬ vice (3) is directed at the edge of the planar piece (1) .
2. Method according to claim 1, characterized in that the treatment device (3) is used for grinding the edge of the planar piece.
3. Method according to claim 1, characterized in that the method is applied in the treatment of a planar, transparent piece, such as a plastic or glass sheet (la) .
4. Method according to claim 3, characterized in that for defining the external form, particularly the border line of the transparent, planar piece (1) , a difference in shade is arranged between the support surface (5) of the treatment center (I) , in which the piece (1) is placed, and the piece (1) , by reflecting the piece (1) preferably on the side of the observation means (4a) entirely lighter than the support sur- face (5) by means of a lighting arrangement (6) , such as a light cover, hood or the like, preferably covering at least part of the treatment center (I) .
5. Method according to claim 1, characterized in that after treatment of the edge of the first planar piece (1) , for treatment of one or several identical planar pieces, the treatment device (3) is programmed by means of the data processing unit (2) to repeat the treatment carried out on the first planar piece (1) on the next one or several pieces.
6. Method according to claim 1 or 5, characterized in that the identical planar pieces following the first planar piece (1) are positioned by means of a mechanical, electric and/or optical positioning arrangement in a basic position or the like in the treatment center (I) for treatment by the treatment device (3) .
7. Method according to claim 1, characterized in that the planar piece (1) is imaged by at least one matrix or CCD camera used as the observation means (4a) .
8. Method according to claim 1, characterized in that the determination of the external form of the planar piece (1) and the treatment to be carried out on the edge by the treatment device (3) are carried out in the treatment center (I) where the piece (1) is fixed substantially for the time of applying the method in a stationary manner in relation to at least one support surface (5) , such as a base or table (5a) , in the treatment center (I) .
PCT/FI1994/000271 1993-06-17 1994-06-17 Method for treatment of a piece WO1995000299A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU69732/94A AU6973294A (en) 1993-06-17 1994-06-17 Method for treatment of a piece

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI932781 1993-06-17
FI932781A FI101689B1 (en) 1993-06-17 1993-06-17 Procedure for processing an object

Publications (1)

Publication Number Publication Date
WO1995000299A1 true WO1995000299A1 (en) 1995-01-05

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Application Number Title Priority Date Filing Date
PCT/FI1994/000271 WO1995000299A1 (en) 1993-06-17 1994-06-17 Method for treatment of a piece

Country Status (4)

Country Link
AU (1) AU6973294A (en)
EE (1) EE9400450A (en)
FI (1) FI101689B1 (en)
WO (1) WO1995000299A1 (en)

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WO2013113931A1 (en) 2012-02-03 2013-08-08 Dsm Ip Assets B.V. Polymer, process and composition
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AU6973294A (en) 1995-01-17
EE9400450A (en) 1996-06-17
FI932781A (en) 1994-12-18
FI101689B (en) 1998-08-14
FI932781A0 (en) 1993-06-17
FI101689B1 (en) 1998-08-14

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