| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling an air servo gun cylinder which alleviates an impact when clamping a workpiece and also can pressurize the clamped workpiece with appropriate force in a short period of time. SOLUTION: The air servo gun cylinder is equipped with a pressure cylinder 10 composing a welding gun, servo valves 20 and 30 which control the supply and exhaust of compressed air to pressure chambers 11 and 12 on the head side and rod side of the pressurizing cylinder, pressure sensors 23 and 33 which detect the pressures of both pressure chambers, a position sensor 25 which detects the acting position of the pressure cylinder, and a controller 40 which controls both servo valves on the basis of detection signals from the sensors. In determining a clamping position, the servo valve on the head side is pressure-controlled, and the servo valve on the rod side is brought to an opening degree according to a deviation▵X between the current position of a piston and the clamping position so that the piston is smoothly decelerated as it approaches the clamping position. COPYRIGHT: (C)2006,JPO&NCIPI
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