CONTROLLING METHOD FOR BALANCE CYLINDER

摘要

PROBLEM TO BE SOLVED: To provide a controlling method for a balance cylinder capable of coping with the fluctuations of the moment of around a supporting point. SOLUTION: The displacement quantity Dvar of a tool 12 is acquired with the zero position of the tool 12 where the center of gravity of a shaft member 13 overlaps on the shaft center of a horizontal shaft 20 as reference. A balance cylinder 10 is made to exert assistance force F1 based on the acquired displacement magnitude Dvar. The moment resulted from the bias of the center of gravity is canceled by moment generated by the assistance force F1. Consequently, a control motor fluctuating a quill 15 around the horizontal shaft 20 can control the fluctuation quantity and fluctuation speed of the quill 15 with minimum driving force.