CN114953474A - Integrated control unit for ultrasonic plastic welding machine - Google Patents
Integrated control unit for ultrasonic plastic welding machine Download PDFInfo
- Publication number
- CN114953474A CN114953474A CN202210662209.9A CN202210662209A CN114953474A CN 114953474 A CN114953474 A CN 114953474A CN 202210662209 A CN202210662209 A CN 202210662209A CN 114953474 A CN114953474 A CN 114953474A
- Authority
- CN
- China
- Prior art keywords
- unit
- data line
- motor
- driving unit
- cpu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004023 plastic welding Methods 0.000 title claims abstract description 19
- 238000006243 chemical reaction Methods 0.000 claims abstract description 43
- 238000003466 welding Methods 0.000 claims abstract description 31
- 230000003321 amplification Effects 0.000 claims description 25
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 abstract description 6
- 239000012071 phase Substances 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 238000003754 machining Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
- B29C65/08—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure using ultrasonic vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C66/00—General aspects of processes or apparatus for joining preformed parts
- B29C66/90—Measuring or controlling the joining process
- B29C66/95—Measuring or controlling the joining process by measuring or controlling specific variables not covered by groups B29C66/91 - B29C66/94
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Resistance Welding (AREA)
Abstract
An integrated control unit for an ultrasonic plastic welding machine relates to the technical field of ultrasonic welding equipment, and is used for controlling a motor and comprises a CPU (central processing unit) arithmetic unit and a power amplifier driving unit; the CPU operation unit is connected with the ADC number-of-turns conversion unit, the ADC number-of-turns conversion unit is connected with the pressure sensor, the CPU operation unit is connected with the linear position sensor, and digital anti-interference signals are transmitted among the CPU operation unit, the ADC number-of-turns conversion unit and the linear position sensor; the CPU arithmetic unit is connected with the power amplifier driving unit, the power amplifier driving unit is connected with the motor, the motor is connected with the encoder, and the encoder is connected with the CPU arithmetic unit. The integrated controller of the invention is only an integral structure, does not need signal conversion between the controller and the driver, and shortens the conversion time difference between the digital signal and the analog signal as much as possible, thereby improving the running speed of the integrated controller.
Description
Technical Field
The invention relates to the technical field of ultrasonic welding equipment, in particular to an integrated control unit for an ultrasonic plastic welding machine.
Background
The ultrasonic welding machine is a solid phase welding machine, and the connection between welding pieces is realized by the high-frequency elastic vibration of an acoustic system and the clamping action of static pressure between workpieces. The electric energy is converted into high-frequency electric energy by a power source (a control box), the high-frequency electric energy is converted into mechanical vibration by a transducer, the vibration is transmitted to a welding head by a concentrator (an amplitude transformer), and welded pieces are rubbed together at a high speed under the vibration of the welding head. The combination of this high frequency vibration and the downforce of the gas pressure removes the film and oxides from the surface of the weldment, thus forming a strong weld. When the atoms between the weldments are mixed together, a metallurgical fusion of the metals is produced.
At present, the place where the welding machine carries out actual welding operation is a welding frame, the welding frame is provided with a machine head, a welding head (ultrasonic generation), a fixed base, a workpiece fixture, a welding module and other structures, the welding head is arranged on the machine head, the traditional mode adopted by the movement of the welding head is that a cylinder is used as a pressure unit to control the distance and acting force between the welding head and the workpiece fixture, if the air source of the cylinder is unstable, the pressure of the welding head is unstable, so that the final machining precision is unstable, if the driving mode is changed into a standard servo motor driver, the servo motor driver needs to be provided with a controller for controlling the servo motor driver due to the use of the servo motor driver, the controller control needs to convert the control command into a standard common mode, such as a pulse or voltage command, and the driver needs to convert an internal command after receiving the pulse or voltage command, time delay is caused by layer-by-layer conversion, so that the response of a welding head is not fast enough, and further the final machining precision is unstable.
As shown in fig. 1, the conventional control method of the servo motor driver and the controller has the following disadvantages:
1. the controller module and the driver module belong to 2 independent units, the driver is controlled only after the controller output command is converted into a format conforming to the format accepted by the driver, and the time required for converting digital to analog-to-digital conversion causes inaccurate control precision.
2. In addition, the pressure sensor generates analog signals during working, is easy to be interfered and is not suitable for long-distance transmission.
Accordingly, there is a need for an improved integrated control unit for an ultrasonic plastic welding machine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an integrated control unit for an ultrasonic plastic welding machine, and the specific scheme is as follows:
an integrated control unit for an ultrasonic plastic welding machine is disclosed, wherein a welding head on the ultrasonic plastic welding machine is driven by a motor, the integrated controller is used for controlling the motor, and the integrated controller comprises a CPU arithmetic unit and a power amplifier driving unit;
the CPU operation unit is connected with the ADC number-of-turns conversion unit, the ADC number-of-turns conversion unit is connected with the pressure sensor, the CPU operation unit is connected with the linear position sensor, and digital anti-interference signals are transmitted among the CPU operation unit, the ADC number-of-turns conversion unit and the linear position sensor;
the CPU arithmetic unit is connected with the power amplifier driving unit, the power amplifier driving unit is connected with the motor, the motor is connected with the encoder, and the encoder is connected with the CPU arithmetic unit.
Furthermore, the power amplifier driving unit comprises a first amplification driving unit, a second amplification driving unit and a third amplification driving unit which respectively correspond to the U phase, the V phase and the W phase of the motor, and the first amplification driving unit, the second amplification driving unit and the third amplification driving unit are respectively connected with the U phase, the V phase and the W phase of the motor.
Furthermore, current sensors are arranged between the first amplification driving unit, the second amplification driving unit and circuits connected with the motor and connected with the CPU operation unit.
Furthermore, the ADC analog-to-digital conversion unit comprises a first SPI serial communication interface, a CS data line, a CLK data line, a DI data line and a DO data line, wherein one end of the CS data line, one end of the CLK data line, one end of the DI data line and one end of the DO data line are connected with the first SPI serial communication interface;
and ADC analog-to-digital conversion signals between the pressure sensor and the ADC analog-to-digital conversion unit are transmitted to the CS data line, the CLK data line, the DI data line and the DO data line through the SPI serial communication interface.
Furthermore, the CPU arithmetic unit is provided with a second SPI serial communication interface, and the second SPI serial communication interface is connected with the other ends of the CS data line, the CLK data line, the DI data line and the DO data line.
Compared with the prior art, the invention has the following beneficial effects:
(1) compared with the traditional control mode, the controller and the driver belong to two independent units, the integrated controller of the invention is only of an integral structure, signal conversion between the controller and the driver is not needed, and compared with the signal conversion time between two different devices of the controller and the driver, the invention shortens the conversion time difference between a digital signal and an analog signal as much as possible because of operation in the same CPU operation unit, thereby improving the operation speed of the integrated controller and having no conversion error.
In detail, an ADC analog-to-digital conversion unit is directly used beside a pressure sensor, an analog-to-digital conversion module directly converts a pressure electric signal monitored by the pressure sensor into an anti-interference digital signal, and the anti-interference digital signal is transmitted back to a CPU (central processing unit) for use by the CPU, moreover, a signal fed back to an encoder by a motor is also directly transmitted back to the CPU for use by the CPU, the CPU directly outputs a command to a power amplifier driving unit according to an instruction of an upper computer, and the command controls the motor to do corresponding work.
Drawings
FIG. 1 is an architectural diagram of the present invention showing a conventional control scheme for a motor;
FIG. 2 is an architecture diagram of the motor control mode of the integrated controller according to the present invention;
fig. 3 is an architecture diagram showing a specific connection relationship between the power amplifier driving unit and the motor according to the present invention;
FIG. 4 is a diagram showing the structure of the ADC to realize digital anti-interference signal.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
In the ultrasonic plastic welding machine, as known from the background art, the structure of the ultrasonic welding operation between the ultrasonic welding machine and the welded part is a welding head, the welding head firstly needs to contact and apply pressure to the welded part, and then the mechanical vibration generated by high-frequency electric energy drives the welding head and the welded part to generate high-speed friction, so as to realize firm welding. The power for applying pressure to the welding head generally comprises an air cylinder and a motor, and the control work of the motor is taken as the prior art aiming at the driving mode that the motor drives the welding head to approach or leave a welded part and apply pressure to the welded part.
As shown in fig. 1, in the prior art, the conventional control mode occurs between a controller, a servo motor driver, a motor, an encoder, a pressure sensor and a linear position sensor, the controller is actually a motion control module in the ultrasonic plastic welding machine, as shown in the figure, the pressure sensor and the linear displacement sensor are connected with the motion control module, the motion control module is further connected with the servo motor driver, the servo motor driver is further connected with the motor, and the motor is further connected with the encoder. The motion control module specifically comprises a CPU (central processing unit) arithmetic unit, a pulse wave generator and a sensor conversion unit, wherein the sensor conversion unit is used for receiving signals of the pressure sensor and the linear position sensor and transmitting the converted signals to the CPU arithmetic unit, the CPU arithmetic unit calculates corresponding to the pressure sensor and the linear position sensor according to the signals fed back by the sensor conversion unit to obtain DAC (digital-to-analog converter) digital-to-analog signals, meanwhile, the CPU arithmetic unit can also control the pulse wave generator to generate pulse signals according to instructions of an upper computer, and at the moment, the working logic of the motion control module is completed. As for the servo motor driver, the servo motor driver specifically comprises a pulse wave converter, an arithmetic unit and a power amplifier driving unit, wherein the pulse wave converter is connected with the pulse wave generator, the pulse wave converter receives a pulse signal generated by the pulse wave generator and then converts the pulse signal, the converted pulse signal is transmitted to the arithmetic unit, the arithmetic unit is connected with the power amplifier driving unit, the arithmetic unit outputs a command to the power amplifier driving unit, the power amplifier driving unit is connected with the motor and transmits the output command to the motor, the motor performs corresponding work according to the command, meanwhile, the encoder monitors the motor in real time and feeds the monitored speed signal back to the arithmetic unit, so that a cycle is formed among the arithmetic unit, the power amplifier driving unit, the motor and the encoder in the working process of the motor.
When the motion control module and the servo motor driver are matched with each other in a control process, DAC digital-to-analog signals are converted into ADC digital-to-analog signals between the motion control module and the servo motor driver, and the ADC digital-to-analog signals are transmitted to an operation unit in the servo motor driver and are used by the operation unit, so that different control over the motor is facilitated. It should be noted that the conversion process of the signal occurs between two different structures, and it takes a certain time to convert the digital to analog-to-analog conversion digital related to the signal in two independent units, which results in low accuracy of the control precision of the butt joint.
In the whole control process, the motion control module and the servo motor driver belong to two independent units, a CPU (central processing unit) and an arithmetic unit are respectively adopted in the two independent units, the two arithmetic units belong to different processing devices, the output command of the motion control module is converted into a format which is in accordance with the acceptance of the servo motor driver, and the servo motor driver is controlled so as to control the motor.
For example, some ultrasonic plastic welding machines including the U.S. imported brands in the industry use a controller + driver control method, which requires continuous switching of control signals, resulting in slow response and inaccurate control speed of butt joints.
Therefore, the invention provides an integrated control unit for an ultrasonic plastic welding machine, which can adjust the pressure of a welding head from 0-100KG to 0.5KG within 0.2 second, and is convenient for pressure control in cooperation with the welding head for different operations.
Because the welding head on the ultrasonic plastic welding machine is driven by the motor, the motor is controlled by adopting two devices of a motion control module and a servo motor driver in the prior art, only one integrated controller is adopted for controlling the motor in the invention, and signal conversion between a similar controller and the driver is not required to be generated, and the specific description is as follows:
with reference to fig. 2 and 3, the integrated controller includes a CPU operation unit and a power amplifier driving unit, the CPU operation unit is connected to the ADC analog-to-digital conversion unit, the ADC analog-to-digital conversion unit is connected to the pressure sensor, the CPU operation unit is connected to the linear position sensor, and the CPU operation unit transmits digital anti-interference signals to the ADC analog-to-digital conversion unit and the linear position sensor.
The ADC analog-to-digital conversion unit is an independent structure and can be arranged near the pressure sensor, the ADC analog-to-digital conversion unit is directly used beside the pressure sensor, and the analog-to-digital conversion module directly converts a pressure electric signal monitored by the pressure sensor into an anti-interference digital signal and transmits the anti-interference digital signal back to the CPU operation unit for the CPU operation unit to use. It should be noted that, because the pressure sensor outputs an analog signal, which is easily interfered and not suitable for long-distance transmission, in the present invention, by providing the ADC analog-to-digital conversion unit, the analog signal output by the pressure sensor can be quickly converted by the ADC analog-to-digital conversion unit, and the analog signal does not need to be input into the integrated controller for conversion.
The CPU operation unit is connected with the power amplifier driving unit, the power amplifier driving unit is connected with the motor, specifically, the power amplifier driving unit comprises a first amplification driving unit, a second amplification driving unit and a third amplification driving unit which respectively correspond to the U phase, the V phase and the W phase of the motor, and the first amplification driving unit, the second amplification driving unit and the third amplification driving unit are respectively connected with the U phase, the V phase and the W phase of the motor. Meanwhile, the motor is connected with the encoder, and the encoder is connected with the CPU operation unit.
The control operation of the integrated controller of the invention is centralized in the same CPU operation unit, and does not involve the conversion of signals, so that the time delay of the signal conversion is avoided, the working precision of the motor is improved, and the control precision of the butt joint is also improved, wherein the control precision comprises the precision in the adjustment of the motion position and the precision in the adjustment of the pressure value.
Preferably, current sensors are arranged among the circuits connected with the first amplification driving unit, the second amplification driving unit and the motor, the current sensors can sense information of the current to be detected and convert the sensed information into electric signals meeting certain standard requirements or information in other required forms to be output according to a certain rule, and the current sensors are connected with the CPU operation unit and output the electric signals to the CPU operation unit so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. In the present embodiment, the current sensor monitors the operating currents of the three phases of the motor, thereby monitoring whether the operating state of the motor is stable.
As shown in fig. 4, in detail, the ADC ac-dc converting unit includes a first SPI serial communication interface, a CS data line, a CLK data line, a DI data line, and a DO data line, one end of the first SPI serial communication interface is connected to the first CS data line, the first CLK data line, the first DI data line, and one end of the second DO data line, and an ADC ac-dc signal between the pressure sensor and the ADC ac-dc converting unit is transmitted to the first SPI serial communication interface, the first CLK data line, the first DI data line, and the second DO data line through the first SPI serial communication interface.
The CPU arithmetic unit is provided with a second SPI serial communication interface which is connected with the other ends of the CS data line, the CLK data line, the DI data line and the DO data line.
Through the cooperation of a plurality of data lines, the pressure electric signal that will monitor pressure sensor transmits smoothly to CPU arithmetic element with the form of anti-interference digit signal after the conversion, and in the same way, the transmission mode of straight line position sensor, CPU arithmetic element is unanimous with the transmission mode between pressure sensor, the CPU arithmetic element.
Preferably, the CS data line, the CLK data line, the DI data line, and the DO data line all use twisted-pair shielding wires, and the twisted-pair shielding wires refer to a metal shielding layer between a twisted-pair wire and an outer insulating envelope. The shielding layer can reduce radiation, prevent information from being intercepted, and also can prevent external electromagnetic interference from entering, so that the shielded twisted pair has higher transmission rate than the similar unshielded twisted pair.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.
Claims (5)
1. An integrated control unit for an ultrasonic plastic welding machine, wherein a welding head on the ultrasonic plastic welding machine is driven by a motor, and the integrated control unit is used for controlling the motor and comprises a CPU arithmetic unit and a power amplifier driving unit;
the CPU operation unit is connected with the ADC analog-to-digital conversion unit, the ADC analog-to-digital conversion unit is connected with the pressure sensor, the CPU operation unit is connected with the linear position sensor, and digital anti-interference signals are transmitted among the CPU operation unit, the ADC analog-to-digital conversion unit and the linear position sensor;
the CPU arithmetic unit is connected with the power amplifier driving unit, the power amplifier driving unit is connected with the motor, the motor is connected with the encoder, and the encoder is connected with the CPU arithmetic unit.
2. The integrated control unit for the ultrasonic plastic welding machine according to claim 1, wherein the power amplifier driving unit comprises a first amplification driving unit, a second amplification driving unit and a third amplification driving unit which respectively correspond to a U phase, a V phase and a W phase of the motor, and the first amplification driving unit, the second amplification driving unit and the third amplification driving unit are respectively connected with the U phase, the V phase and the W phase of the motor.
3. The integrated control unit for the ultrasonic plastic welding machine according to claim 2, characterized in that current sensors are arranged among the first amplification driving unit, the second amplification driving unit, lines connecting the amplification driving units and the motor, and the current sensors are connected with the CPU operation unit.
4. The integrated control unit for an ultrasonic plastic welding machine according to claim 1, characterized in that the ADC analog-to-digital conversion unit comprises a first SPI serial communication interface, a CS data line, a CLK data line, a DI data line and a DO data line, and one end of the CS data line, the CLK data line, the DI data line and the DO data line is connected with the first SPI serial communication interface;
and ADC analog-to-digital conversion signals between the pressure sensor and the ADC analog-to-digital conversion unit are transmitted to the CS data line, the CLK data line, the DI data line and the DO data line through the SPI serial communication interface.
5. The integrated control unit for ultrasonic plastic welding machine according to claim 4, characterized in that the CPU operation unit is provided with a second SPI serial communication interface, and the second SPI serial communication interface is connected with the other ends of the CS data line, the CLK data line, the DI data line and the DO data line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210662209.9A CN114953474A (en) | 2022-06-13 | 2022-06-13 | Integrated control unit for ultrasonic plastic welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210662209.9A CN114953474A (en) | 2022-06-13 | 2022-06-13 | Integrated control unit for ultrasonic plastic welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114953474A true CN114953474A (en) | 2022-08-30 |
Family
ID=82960942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210662209.9A Pending CN114953474A (en) | 2022-06-13 | 2022-06-13 | Integrated control unit for ultrasonic plastic welding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114953474A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204882468U (en) * | 2015-08-19 | 2015-12-16 | 博脉工业检测（上海）有限公司 | Be applied to turbine rotating shaft ultrasonic detection's control unit |
| KR20160134992A (en) * | 2015-05-14 | 2016-11-24 | 재단법인 경북하이브리드부품연구원 | Ultrasonic Welding System and method of controlling the same |
| CN107262907A (en) * | 2017-07-19 | 2017-10-20 | 上海峥集机械设备有限公司 | A kind of full servo supersonic welder |
| CN110181492A (en) * | 2019-07-07 | 2019-08-30 | 广州金世福珠宝有限公司 | A kind of artificial intelligence machinery arm Platform Alliance operating facilities |
| CN214726589U (en) * | 2021-02-25 | 2021-11-16 | 必能信超声(上海)有限公司 | Servo drive ultrasonic welding system |
-
2022
- 2022-06-13 CN CN202210662209.9A patent/CN114953474A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160134992A (en) * | 2015-05-14 | 2016-11-24 | 재단법인 경북하이브리드부품연구원 | Ultrasonic Welding System and method of controlling the same |
| CN204882468U (en) * | 2015-08-19 | 2015-12-16 | 博脉工业检测（上海）有限公司 | Be applied to turbine rotating shaft ultrasonic detection's control unit |
| CN107262907A (en) * | 2017-07-19 | 2017-10-20 | 上海峥集机械设备有限公司 | A kind of full servo supersonic welder |
| CN110181492A (en) * | 2019-07-07 | 2019-08-30 | 广州金世福珠宝有限公司 | A kind of artificial intelligence machinery arm Platform Alliance operating facilities |
| CN214726589U (en) * | 2021-02-25 | 2021-11-16 | 必能信超声(上海)有限公司 | Servo drive ultrasonic welding system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5815089A (en) | Device for transmitting signals from position detector and method of such signal transmission | |
| US8587247B2 (en) | Synchronous control apparatus | |
| EP0599020B1 (en) | Method and apparatus for controlling the positioning and reducing vibration in a machine tool system | |
| US6384371B1 (en) | Laser beam machining apparatus | |
| JP2001276986A (en) | Laser processing apparatus and method | |
| KR20010041353A (en) | Synchronization controller | |
| CN105388849A (en) | I/o control system | |
| JP2000512478A (en) | Motor control device and control method | |
| CN114953474A (en) | Integrated control unit for ultrasonic plastic welding machine | |
| JPH0722873B2 (en) | Position control device for feed axis | |
| CN201830196U (en) | Control device of sine-wave linear motor for feeding and driving high-precision numerical control machine tool | |
| JPH0258031B2 (en) | ||
| CN112139654A (en) | Robot friction stir welding online force position hybrid control system | |
| CN109759888B (en) | Quenching steel die splicing area acoustic-electric mixed field milling device and pre-return control method | |
| JP2957557B1 (en) | Bonding tool support mechanism of bonding apparatus and method of controlling vertical movement of bonding tool | |
| CN113290390B (en) | Rotary ultrasonic machining amplitude control method and calibration platform | |
| CN115118179A (en) | Piezoelectric ceramic driving controller | |
| JPH10244483A (en) | Control method of robot for welding work | |
| CN206743139U (en) | A kind of bi-motor cooperative control system | |
| JPH01188904A (en) | Robot controller | |
| CN110181492A (en) | A kind of artificial intelligence machinery arm Platform Alliance operating facilities | |
| CN104589147A (en) | Multi-mechanical-arm follow-up restraining device for milling vibration of thin-walled workpiece | |
| US20240061400A1 (en) | Servo control device | |
| US20240061389A1 (en) | Servo control device | |
| CN212793528U (en) | Four-guide-rail linear motion device and ultrasonic welding machine comprising same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |