(19)

(11)

EP 0 491 711 A1

(12)

(43) Date of publication: 01.07.1992 Bulletin 1992/27 (21) Application number: 90911687.0 (22) Date of filing: 09.08.1990

(51) International Patent Classification (IPC):  B25J 9/ 10( . ) B25J 9/ 18( . ) G05B 19/ 418( . ) B25J 9/ 16( . ) G05B 19/ 4155( . ) G05B 19/ 42( . ) (86) International application number: PCT/FI1990/000190 (87) International publication number: WO 1991/004521 (04.04.1991 Gazette 1991/08)

(84) Designated Contracting States: AT BE CH DE DK ES FR GB IT LI LU NL SE (30) Priority: 12.09.1989 FI 19890004305 (71) Applicant: AITEC OY SF-00750 Helsinki (FI)	(72) Inventor: HAIPUS, Ilpo SF-03100 Nummela (FI) (74) Representative: Hall, Graeme Keith  Frank B. Dehn & Co. Imperial House 15-19 Kingsway London WC2B 6UZ London WC2B 6UZ (GB)