| 摘要 |
PURPOSE: An air balancing apparatus and method using position control of a cylinder rod are provided to control a work piece in real time without sensing the weight of the work piece. CONSTITUTION: An air balancing apparatus using position control of a cylinder rod comprises an air cylinder(110), a rod position sensor(115), an attachment(130), an indicator(135), a multi-arm(120), an air unit(150), and a controller(140). The air cylinder is driven with pneumatic pressure to create power corresponding to a work piece. The rod position sensor senses the rod position of the air cylinder. The indicator indicates the target handle position for lifting the work piece. The multi-arm, one end of which is provided with the attachment and the other is connected to the air cylinder, maintains the work piece in the balanced state by the power of the air cylinder and raises and transfers the work piece using the attachment according to the operation of a worker. The air unit controls the controls the pneumatic pressure of air according to a control signal and supplies the controlled pneumatic pressure to the air cylinder. The controller comprises a matching unit for matching the positions of a handle and the rod and, when the target handle position is indicated through the indicator, converts the target handle position to the target rod position using the matching unit and compares the target rod position with the current rod position detected by the rod position sensor. |
