CN113983028A - Balance cylinder system and balance cylinder control method - Google Patents
Balance cylinder system and balance cylinder control method Download PDFInfo
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- CN113983028A CN113983028A CN202111399991.1A CN202111399991A CN113983028A CN 113983028 A CN113983028 A CN 113983028A CN 202111399991 A CN202111399991 A CN 202111399991A CN 113983028 A CN113983028 A CN 113983028A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005484 gravity Effects 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000003466 welding Methods 0.000 claims description 10
- 230000036544 posture Effects 0.000 abstract description 7
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a balance cylinder system and a balance cylinder control method. A balance cylinder system according to an embodiment of the present invention includes a balance cylinder; the actuating mechanism is connected with the output end of the balance cylinder; and the sensor acquires the attitude and/or the gravity component of the actuating mechanism, wherein the output end of the balance cylinder outputs according to the attitude and/or the gravity component. According to the balance cylinder system and the balance cylinder control method provided by the embodiment of the invention, the gravity influence of the equipment in various postures can be balanced, so that the equipment is stable in operation, accurate in positioning and free from impact vibration.
Description
Technical Field
The invention relates to the technical field of balance cylinder control, in particular to a balance cylinder system and a balance cylinder control method.
Background
In the prior art, a balance system formed by combining a balance cylinder and a proportional valve gives a fixed signal through a robot, and different air pressures are output through the proportional valve, so that the pressure difference of front and rear cavities of the balance cylinder is controlled, and the self weight of a welding tongs and torques in different postures are overcome by the tension or pressure of the cylinder. But in the case of the existing balancing system,
the proportional valve is large in size, a large amount of calibration, debugging and setting work needs to be carried out in advance on the output force of the balance cylinder, and an upper computer is required to give out a plurality of groups of signals; each device needs to be calibrated, programmed and debugged independently, so that the workload is large; when the equipment is in different postures, different values are required to be set by the upper computer, and the data volume and the signals of the upper computer are complex; requiring the operator to have programming skills.
Accordingly, it is desirable to have a new balancing cylinder system and balancing cylinder control method that overcomes the above-mentioned problems.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a balance cylinder system and a balance cylinder control method, so as to balance the gravity influence of the equipment in various postures, make the equipment operate stably, position accurately, and have no impact vibration.
According to an aspect of the present invention, there is provided a balance cylinder system, comprising a balance cylinder; the actuating mechanism is connected with the output end of the balance cylinder; and the sensor acquires the attitude and/or the gravity component of the actuating mechanism, wherein the output end of the balance cylinder outputs according to the attitude and/or the gravity component.
Preferably, the balance cylinder system further comprises an arithmetic unit connected with the sensor to obtain the attitude and/or the gravity component, and obtain control information according to the attitude and/or the gravity component, wherein the control information controls the output of the balance cylinder; the balance cylinder is connected with the operation unit to acquire the control information.
Preferably, the balance cylinder system further comprises a proportional valve connected with the balance cylinder and controlling the output of the balance cylinder.
Preferably, the balancing cylinder comprises a first chamber and a second chamber; the balance cylinder system also comprises a first proportional valve connected with the first chamber; and a second proportional valve connected to the second chamber, wherein the first and second proportional valves control the output of the balancing cylinder.
Preferably, the sensor comprises a gravity sensor which acquires a gravity component of the actuator.
Preferably, the balancing cylinder system further comprises a controller; the controller is connected with the gravity sensor to acquire the gravity component; the controller is connected with the first proportional valve to provide a third control signal to the first proportional valve to control the first proportional valve; the controller is connected with the second proportional valve to provide a fourth control signal for controlling the second proportional method for the second proportional valve, wherein the third control signal and the fourth control signal are obtained according to the gravity component acquired by the gravity sensor.
Preferably, the balance cylinder system further comprises an air source connected with the balance cylinder to drive the balance cylinder; and the power supply is connected with the balance cylinder and/or the actuating mechanism and/or the sensor to provide electric energy.
Preferably, the sensor also acquires the attitude and/or the gravity component of the balancing cylinder and/or the equipment needing to balance the self weight of the equipment; and the output end of the balance cylinder is output according to the acquired attitude and/or gravity component.
Preferably, the actuator comprises a welding tongs; the sensor comprises a gravity sensor; the gravity sensor acquires the gravity component of the welding tongs; and the balance cylinder outputs according to the gravity component.
According to another aspect of the present invention, there is provided a balance cylinder control method, including acquiring a posture and/or a gravity component of an actuator; and determining the output of the balancing cylinder from the attitude and/or gravity component.
According to the balance cylinder system and the balance cylinder control method provided by the embodiment of the invention, the attitude and/or the gravity component of the actuating mechanism is obtained through the sensor, and the output of the balance cylinder is controlled according to the obtained attitude and/or the gravity component, so that the self weight of the actuating mechanism is balanced, the torques under different attitudes are overcome, and the accuracy and the stability of the output of the balance cylinder are improved.
According to the balance cylinder system and the balance cylinder control method provided by the embodiment of the invention, the gravity sensor obtains the gravity component of the welding tongs floating system according to the current posture of the welding tongs, and the controller forms a control signal to control the output air pressure of the two proportional valves after processing the gravity component, so that the self-adaptive control on the output force and direction of the balance cylinder is achieved, and the balance cylinder system and the balance cylinder control method are simple in structure, accurate in control and convenient.
According to the balance cylinder system and the balance cylinder control method provided by the embodiment of the invention, the calculation and driving can be completed in the balance cylinder system in the balancing process, the signal is simple, other programming, calibration and other work are not needed, the early preparation work is saved, the work efficiency is improved, and the operation difficulty of equipment is reduced.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 shows a schematic block diagram of a balancing cylinder system according to an embodiment of the invention;
FIG. 2 shows a schematic structural diagram of a balancing cylinder system according to an embodiment of the invention;
FIG. 3 shows an arrangement schematic of a balancing cylinder system according to an embodiment of the invention;
FIG. 4 illustrates a control flow diagram of a balancing cylinder system according to an embodiment of the present invention;
FIG. 5 illustrates a method flow diagram of a balancing cylinder control method according to an embodiment of the present invention.
Detailed Description
Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by the same or similar reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
It will be understood that when a layer, region or layer is referred to as being "on" or "over" another layer, region or layer in describing the structure of the component, it can be directly on the other layer, region or layer or intervening layers or regions may also be present. Also, if the component is turned over, one layer or region may be "under" or "beneath" another layer or region.
FIG. 1 shows a schematic block diagram of a balancing cylinder system according to an embodiment of the invention. As shown in fig. 1, the balancing cylinder system according to the embodiment of the present invention includes a balancing cylinder 10, an actuator 20, and a sensor 30.
In particular, the balancing cylinder 10 is, for example, a balancing cylinder, or other type of cylinder. Optionally, the balancing cylinder 10 comprises a rod chamber and a rodless chamber. There is a rod (shaft) in the rod cavity as the output end.
An actuator 20, which may be a welding clamp, a robotic arm, etc., is connected to the output end of the balancing cylinder 10. Optionally, the actuator 20 is connected to the output end of the balancing cylinder 10 and moves under the driving of the output end of the balancing cylinder 10. Alternatively, the actuator 20 is connected to the output end of the balance cylinder 10, and outputs a force with a specific magnitude/direction by the output end of the balance cylinder 10.
The sensor 30 acquires the attitude and/or the gravity component of the actuator 20. The output of the balancing cylinder 10 is output as a function of the attitude and/or the gravitational component (of the actuator 20). Alternatively, the sensor 30 acquires the attitude and/or the gravity component of the actuator 20 and/or the balance cylinder 10 and/or other equipment that needs to balance the own weight of the equipment, and the output end of the balance cylinder 10 is output according to the acquired attitude and/or gravity component.
In an alternative embodiment of the invention, the balancing cylinder system further comprises an arithmetic unit. The arithmetic unit is connected to the sensor 30 to acquire the attitude (information) and/or the gravity component (information), and obtains control information according to the attitude and/or the gravity component. The control information controls the output (of the output) of the balancing cylinder 10. The balancing cylinder 10 is connected to an arithmetic unit for obtaining control information. Optionally, the control information controls the magnitude and direction of the cylinder output force. Alternatively, the sensor 30 acquires the attitude of the actuator 20. The gravity component of the actuator 20 is obtained from the attitude of the actuator 20.
In an alternative embodiment of the invention, the balance cylinder system further comprises a proportional valve. The proportional valve is connected to the balance cylinder 10 and controls the output of the balance cylinder 10. Optionally, a proportional valve is connected to the arithmetic unit to obtain control information and control the output of the balancing cylinder 10 according to the control information.
In the above embodiment of the present invention, the balance cylinder system controls the magnitude and direction of the output force of the balance cylinder 10 according to the attitude and/or gravity component of the actuator 20 and/or other devices requiring the gravity of the balance device, so as to balance the weight of the devices, overcome the torques in different attitudes, and make the output of the balance cylinder system more stable and accurate without being affected by the actuator and the like.
Fig. 2 shows a schematic structural view of a balance cylinder system according to an embodiment of the present invention. As shown in fig. 2, the balancing cylinder system according to the embodiment of the present invention includes a balancing cylinder 10, a gravity sensor 31, a first proportional valve 41, a second proportional valve 42, and a controller 50. Therein, the balancing cylinder 10 comprises a first chamber 11 and a second chamber 12.
Specifically, the balancing cylinder 10 includes a first chamber 11 and a second chamber 12. The first chamber 11 and the second chamber 12 are not communicated with each other and are separated by a movable partition plate. Alternatively, the first chamber 11 is a rodless chamber, the second chamber 12 is a rod chamber, and the rods in the second chamber 12 are output rods (output ends).
The first proportional valve 41 is connected to the first chamber 11. A second proportional valve 42 is connected to the second chamber 12. The first and second proportional valves 41 and 42 control the output of the balance cylinder 10. Optionally, a first proportional valve 41 is connected to the first chamber 11 to adjust/maintain the gas pressure in the first chamber 11, the first proportional valve 41 controlling the output of the balancing cylinder 10, for example by inputting/outputting gas into/from the first chamber 11. A second proportional valve 42 is connected to the second chamber 12 to adjust/maintain the gas pressure in the second chamber 12, the second proportional valve 42 controlling the output of the balancing cylinder 10, for example, by inputting/outputting gas into/from the second chamber 12.
The sensor comprises a gravity sensor 31. The gravity sensor 31 acquires the gravity component of the actuator.
The controller (control circuit) 50 is connected to the gravity sensor 31 to acquire a gravity component (a first control signal derived from the gravity component). Optionally, the controller 50 is connected with the gravity sensor 31 to provide a second control signal for controlling the gravity sensor 31 to the gravity sensor 31. The controller 50 is connected with the first proportional valve 41 to provide a third control signal to the first proportional valve 41 to control the first proportional valve 41. The controller 50 is connected with the second proportional valve 42 to provide a fourth control signal to the second proportional valve 42 to control the second proportional valve 42. Wherein, the fourth control signal of the third control signal is obtained according to the gravity component obtained by the gravity sensor 31. Optionally, the controller 50 further comprises a first voltage terminal and a second voltage terminal. The first voltage terminal receives a first voltage V1, the first voltage V1 is 24V, for example. The second voltage terminal receives a second voltage V2, the second voltage V2 is 0V, for example.
In an alternative embodiment of the invention, the balancing cylinder system further comprises a gas source and a power source. The air source is connected with the balance cylinder to drive the balance cylinder. The power source is connected to the balancing cylinder and/or the actuator and/or the sensor to provide electrical energy. Alternatively, as shown in fig. 2, the gas source 60 is connected to (the first chamber 11 of) the balancing cylinder 10 through the first proportional valve 41 and to (the second chamber 12 of) the balancing cylinder 10 through the second proportional valve 42 to drive the balancing cylinder 10.
FIG. 3 shows an apparatus schematic of a balancing cylinder system according to an embodiment of the invention. Fig. 4 shows a control flow diagram of the balancing cylinder system according to an embodiment of the invention. A description will be given of a balance cylinder system and control thereof according to an embodiment of the present invention with reference to fig. 3 and 4.
As shown in fig. 3, the balancing cylinder system according to the embodiment of the present invention includes a balancing cylinder 10, a sensor 30, a first proportional valve 41, a second proportional valve 42, a controller 50, and an air source 60. An actuator (not shown) is connected to (the output of) the balancing cylinder 10.
Specifically, the sensor 30 (e.g., a gravity sensor) obtains (measures) a gravity component of the floating system of the electrode holder according to the current attitude of the actuator (e.g., the electrode holder). After the controller (control circuit) 50 processes the gravity component, it forms a proportional voltage control signal to control the output air pressure of the first proportional valve 41 and the second proportional valve 42, so as to achieve the self-adaptive control of the output force of the balance cylinder 10. The air supply 60 is connected to the balance cylinder 10 through the first and second proportional valves 41 and 42, respectively, to drive the balance cylinder 10.
In the above embodiment of the present invention, the balancing cylinder system may measure the force to be balanced by the gravity sensor, and process the signal (gravity component/force to be balanced) by the controller to form the voltage control signal. The voltage control signal controls the output air pressure of the proportional valve to drive the balance cylinder to act, so that the balance of the equipment is realized. The balance process is completely calculated and driven in the balance cylinder system, and the upper computer only needs to provide a 24V power supply signal, so that the signal is simple; other programming, calibration and other work are not needed, the early-stage preparation time is saved, and the work efficiency is improved; the operator does not need programming, and the requirement on the technical level of the operator is reduced.
In an alternative embodiment of the invention, the actuator comprises a soldering tweezers. The sensor comprises a gravity sensor. The gravity sensor acquires the gravity component of the welding tongs. The balance cylinder outputs according to the gravity component. Alternatively, the actuator may be other devices that require balancing of the weight of the device itself, i.e., at least one of a balancing cylinder, a sensor, a proportional valve, a controller, etc., is mounted on the device that requires balancing of the weight of the device itself.
In the above embodiment of the present invention, the balancing cylinder system includes a gravity sensor, a controller, a proportional valve, a balancing cylinder, a power supply, and the like, and is installed on the welding tongs of the robot, or on other devices that require the gravity of the balancing device itself, for controlling the magnitude and direction of the output force of the balancing cylinder, thereby balancing the weight of the device and overcoming the torques in different postures.
The balance cylinder system according to the embodiment of the present invention is controlled, for example, according to the control flowchart shown in fig. 4. As shown in fig. 4, the control flow of the adaptive balancing system includes the following steps:
in step S101: the circuit is communicated with the gas circuit;
and connecting the circuit in the balance cylinder system with the gas circuit.
In step S102: judging whether to start balance;
and judging whether the balance cylinder system is in starting balance or not.
When the balance cylinder system is judged to be in starting balance, the following steps are executed:
in step S103: the controller initiates a "float" mode;
the controller starts a 'floating' mode and carries out corresponding control.
In step S104: starting a sensor and outputting a proportional signal;
the sensor is started, the attitude and/or the gravity component of the actuating mechanism are/is acquired, and a proportional signal for control is output.
In step S105: the proportional valve is started by obtaining a proportional signal, and the air pressure of the front cavity and the rear cavity of the balance cylinder is adjusted;
the proportional valve obtains the proportional signal and starts, and the proportional valve adjusts the air pressure of the front cavity and the rear cavity (the first cavity and the second cavity) of the balance cylinder according to the proportional signal.
In step S106: the balancing cylinder is in a floating state.
The balancing cylinder is in a floating state. In this state, the actuator performs a corresponding action.
When the balance cylinder system is judged to be in starting unbalance, the following steps are executed:
in step S107: the controller initiates a "floating off" mode;
the controller starts a 'floating closing' mode and carries out corresponding control.
In step S108: the proportional valve is locked on one side;
and controlling the proportional valve to be locked on one side.
In step S109: the balance cylinder is locked on one side.
And controlling the balance cylinder to be locked on one side.
FIG. 5 illustrates a method flow diagram of a balancing cylinder control method according to an embodiment of the present invention. As shown in fig. 5, the balancing cylinder control method according to the embodiment of the present invention includes the steps of:
in step S201, the attitude and/or gravity component of the actuator is acquired;
the attitude and/or the gravitational component of the actuator is acquired, for example, by a sensor.
In step S202, the output of the balancing cylinder is determined from the attitude and/or the gravity component.
And determining the output of the balance cylinder according to the acquired attitude and/or gravity component, such as determining the magnitude and direction of the output force of the balance cylinder.
The balance cylinder control method according to the embodiment of the invention is used for the control of the balance cylinder system described above, for example.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A balance cylinder system, comprising:
a balancing cylinder;
the actuating mechanism is connected with the output end of the balance cylinder; and
a sensor that acquires a posture and/or a gravity component of the actuator,
wherein the output end of the balance cylinder is output according to the attitude and/or the gravity component.
2. The balance cylinder system of claim 1, further comprising:
an arithmetic unit connected with the sensor to acquire the attitude and/or the gravity component and obtain control information according to the attitude and/or the gravity component,
wherein the control information controls an output of the balancing cylinder;
the balance cylinder is connected with the operation unit to acquire the control information.
3. The balance cylinder system of claim 1, further comprising:
and the proportional valve is connected with the balance cylinder and controls the output of the balance cylinder.
4. The balance cylinder system of claim 1, wherein the balance cylinder comprises a first chamber and a second chamber;
the balance cylinder system further comprises:
a first proportional valve connected to the first chamber; and
a second proportional valve connected to the second chamber,
wherein the first and second proportional valves control the output of the balancing cylinder.
5. The balance cylinder system of claim 4, wherein the sensor comprises a gravity sensor that captures a gravity component of the actuator.
6. The balance cylinder system of claim 5, further comprising a controller;
the controller is connected with the gravity sensor to acquire the gravity component;
the controller is connected with the first proportional valve to provide a third control signal to the first proportional valve to control the first proportional valve;
the controller is coupled to the second proportional valve to provide a fourth control signal to the second proportional valve to control the second proportional method,
and obtaining the third control signal and the fourth control signal according to the gravity component obtained by the gravity sensor.
7. The balance cylinder system of claim 1, further comprising:
the air source is connected with the balance cylinder to drive the balance cylinder; and
a power source connected to the balancing cylinder and/or the actuator and/or the sensor to provide electrical energy.
8. The balance cylinder system of claim 1 wherein the sensor also acquires attitude and/or gravity components of the balance cylinder and/or equipment requiring the balance equipment's own weight; and the output end of the balance cylinder is output according to the acquired attitude and/or gravity component.
9. The balance cylinder system of claim 1, wherein the actuator comprises a welding tongs; the sensor comprises a gravity sensor;
the gravity sensor acquires the gravity component of the welding tongs; and the balance cylinder outputs according to the gravity component.
10. A balance cylinder control method, characterized by comprising:
acquiring the attitude and/or gravity component of an actuating mechanism; and
determining an output of the balancing cylinder from the attitude and/or gravity component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111399991.1A CN113983028A (en) | 2021-11-19 | 2021-11-19 | Balance cylinder system and balance cylinder control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111399991.1A CN113983028A (en) | 2021-11-19 | 2021-11-19 | Balance cylinder system and balance cylinder control method |
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| CN113983028A true CN113983028A (en) | 2022-01-28 |
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| CN202111399991.1A Pending CN113983028A (en) | 2021-11-19 | 2021-11-19 | Balance cylinder system and balance cylinder control method |
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|---|---|---|---|---|
| JPH07100659A (en) * | 1993-09-30 | 1995-04-18 | Obara Kk | Balancing cylinder controller of c-shaped welding gun |
| US6337456B1 (en) * | 1998-12-16 | 2002-01-08 | Dengensha Manufacturing Company Limited | Welding machine and method for assembling same |
| DE102004063463B3 (en) * | 2004-12-23 | 2006-03-30 | Norgren Gmbh | Process for establishing weight equalizing of electrode arms of a welding device having a double acting equalizing cylinder unit useful for ultrasonic welding uses a proportioal valve in the working position of the welding device |
| CN203409447U (en) * | 2013-08-20 | 2014-01-29 | 李永昌 | Manual welding gun gesture detecting device |
| CN103955207A (en) * | 2014-04-24 | 2014-07-30 | 哈尔滨工业大学 | Capture tolerance capacity testing system and method of three-jaw type space end effector in microgravity environment |
| CN105382396A (en) * | 2015-12-08 | 2016-03-09 | 天津七所高科技有限公司 | Integrated welding tongs with balance cylinder |
| CN206643931U (en) * | 2017-03-28 | 2017-11-17 | 大科机械(厦门)有限公司 | Applied to Pneumatic balance crane or the full counterweight balance device of air assisted manipulator |
| CN108817634A (en) * | 2018-07-12 | 2018-11-16 | 尼玛克焊接技术(北京)有限公司 | control method and control system |
| CN112462598A (en) * | 2020-11-30 | 2021-03-09 | 河北工业大学 | Flexible polishing end effector force control method |
-
2021
- 2021-11-19 CN CN202111399991.1A patent/CN113983028A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07100659A (en) * | 1993-09-30 | 1995-04-18 | Obara Kk | Balancing cylinder controller of c-shaped welding gun |
| US6337456B1 (en) * | 1998-12-16 | 2002-01-08 | Dengensha Manufacturing Company Limited | Welding machine and method for assembling same |
| DE102004063463B3 (en) * | 2004-12-23 | 2006-03-30 | Norgren Gmbh | Process for establishing weight equalizing of electrode arms of a welding device having a double acting equalizing cylinder unit useful for ultrasonic welding uses a proportioal valve in the working position of the welding device |
| US20070295697A1 (en) * | 2004-12-23 | 2007-12-27 | Florian Braun | Method for Controlling a Compensation Cylinder Unit, in Particular for a Welding Device and Associated Compensation Cylinder Unit |
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| CN103955207A (en) * | 2014-04-24 | 2014-07-30 | 哈尔滨工业大学 | Capture tolerance capacity testing system and method of three-jaw type space end effector in microgravity environment |
| CN105382396A (en) * | 2015-12-08 | 2016-03-09 | 天津七所高科技有限公司 | Integrated welding tongs with balance cylinder |
| CN206643931U (en) * | 2017-03-28 | 2017-11-17 | 大科机械(厦门)有限公司 | Applied to Pneumatic balance crane or the full counterweight balance device of air assisted manipulator |
| CN108817634A (en) * | 2018-07-12 | 2018-11-16 | 尼玛克焊接技术(北京)有限公司 | control method and control system |
| CN112462598A (en) * | 2020-11-30 | 2021-03-09 | 河北工业大学 | Flexible polishing end effector force control method |
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