| 摘要 |
<p>PROBLEM TO BE SOLVED: To make it possible to rapidly and exactly control the flow of a discharge fluid material by forming a tool speed signal as a function of a change in fluid viscosity, forming a feedback signal to indicate a fluid pressure having a correlative relation with the low flow rate of the fluid and controlling a metering valve so as to discharge the fluid of the desired flow. SOLUTION: A converter 36 continuously detects the pressure drop in a nozzle 29 and generates a pressure signal 37 relating to the flow rate of the fluid discharged from a nozzle outlet 31. The pressure signal 37 is inputted via a preamplifier 110 to the minus input 112 of an addition connection section 113 and a comparator 115. The tool speed signal 128 from a robot is inputted via an amplifier 127 to the addition connection section 113 which outputs an error signal 130. The signal is converted to an analog voltage signal 139 and is further made into an analog control current signal 146 by a current driving device 140. The current signal is supplied to an electro-pneumatic type servo valve 24 of a gun 10 to control a metering valve assembly 26.</p> |
