CN115923322A - A scraper pressure control system - Google Patents
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Abstract
本发明公开了一种刮刀压力控制系统，包括第一两位三通电磁阀、第二两位三通电磁阀、第三两位三通电磁阀、比例阀和双作用气缸，第一两位三通电磁阀、和比例阀组成上气路，且第二两位三通电磁阀和第三两位三通电磁阀组成下气路，上气路的连接关系具体为：进气连接于第一两位三通电磁阀的X口，作为电磁阀驱动气源，进气通过比例阀连接于第一两位三通电磁阀的进气口P，本发明涉及丝网印刷技术领域。该刮刀压力控制系统，通过压力调节阀调节压力的大小，使控制气缸能够进行更加精准的控制，大大减小在气缸动作后的末端压力对丝网的冲击，缩小丝网的涨缩程度，避免产生品质问题，从而保证了整个丝网印刷的产品质量能够所需要求。
The invention discloses a scraper pressure control system, which comprises a first two-position three-way solenoid valve, a second two-position three-way solenoid valve, a third two-position three-way solenoid valve, a proportional valve and a double-acting cylinder. The three-way solenoid valve and proportional valve form the upper air path, and the second two-position three-way solenoid valve and the third two-position three-way solenoid valve form the lower air path. The connection relationship of the upper air path is as follows: the air intake is connected to the first The X port of a two-two three-way solenoid valve is used as the driving air source of the solenoid valve, and the intake air is connected to the air inlet P of the first two-two three-way solenoid valve through a proportional valve. The present invention relates to the technical field of screen printing. The scraper pressure control system adjusts the pressure through the pressure regulating valve, so that the control cylinder can be controlled more accurately, greatly reducing the impact of the end pressure on the screen after the cylinder moves, reducing the degree of expansion and contraction of the screen, and avoiding Quality problems occur, thereby ensuring that the product quality of the entire screen printing can meet the required requirements.
Description
技术领域technical field
本发明涉及丝网印刷技术领域，具体为一种刮刀压力控制系统。The invention relates to the technical field of screen printing, in particular to a scraper pressure control system.
背景技术Background technique
在丝网印刷中，由于丝网要承受到长久的刮印压力，经常会产生一些涨缩的变化，产生品质问题，刮印压力的驱动源是以压缩气体为载体的气缸控制，气缸的控制尤为关键。现在使用的为：进气连接在两位五通阀的进气口(P)，出气口(B)与双作用气缸的一个进气口连接，出气口A通过压力调节阀与双作用气缸的另一个进气口连接。电磁阀接通，出气口A接通，(B关闭)，气缸动作；电磁阀关闭，出气口B接通，A关闭，气缸复位。通过压力调节阀调节压力的大小。这种控制方法控制气缸不够精准，在气缸动作后的末端，压力对丝网的冲击依然比较大，导致丝网的涨缩仍然较大，容易产生品质问题。In screen printing, because the screen has to withstand long-term scraping pressure, some changes in expansion and contraction often occur, resulting in quality problems. The driving source of the scraping pressure is controlled by a cylinder with compressed gas as the carrier. The control of the cylinder Especially critical. What is used now is: the air intake is connected to the air inlet (P) of the two-position five-way valve, the air outlet (B) is connected to an air inlet of the double-acting cylinder, and the air outlet A is connected to the air inlet of the double-acting cylinder through the pressure regulating valve. Another air inlet connection. The solenoid valve is turned on, the air outlet A is connected, (B is closed), and the cylinder moves; the solenoid valve is closed, the air outlet B is connected, A is closed, and the cylinder is reset. The pressure is adjusted by the pressure regulating valve. This control method is not precise enough to control the cylinder. At the end of the cylinder operation, the impact of the pressure on the screen is still relatively large, resulting in large expansion and contraction of the screen, which is prone to quality problems.
发明内容Contents of the invention
(一)解决的技术问题(1) Solved technical problems
针对现有技术的不足，本发明提供了一种刮刀压力控制系统，解决了现有刮刀压力控制方法控制气缸不够精准，在气缸动作后的末端，压力对丝网的冲击依然比较大，导致丝网的涨缩仍然较大，容易产生品质问题。Aiming at the deficiencies of the prior art, the present invention provides a scraper pressure control system, which solves the problem that the existing scraper pressure control method is not precise enough to control the cylinder, and at the end of the cylinder after the action, the impact of the pressure on the screen is still relatively large, resulting in wire mesh The expansion and contraction of the net is still relatively large, which is prone to quality problems.
(二)技术方案(2) Technical solution
为实现以上目的，本发明通过以下技术方案予以实现：一种刮刀压力控制系统，包括第一两位三通电磁阀、第二两位三通电磁阀、第三两位三通电磁阀、比例阀和双作用气缸，所述第一两位三通电磁阀、和比例阀组成上气路，且第二两位三通电磁阀和第三两位三通电磁阀组成下气路。In order to achieve the above purpose, the present invention is achieved through the following technical solutions: a scraper pressure control system, including a first two-position three-way solenoid valve, a second two-position three-way solenoid valve, a third two-position three-way solenoid valve, a proportional The valve and the double-acting cylinder, the first two-position three-way solenoid valve and the proportional valve form the upper air path, and the second two-position three-way solenoid valve and the third two-position three-way solenoid valve form the lower air path.
所述上气路的连接关系具体为：进气连接于第一两位三通电磁阀的X口，作为电磁阀驱动气源，进气通过比例阀连接于第一两位三通电磁阀的进气口P，第一两位三通电磁阀的排气口R接消音器，第一两位三通电磁阀的出气口A与双作用气缸的进气口C连接。The connection relationship of the upper air circuit is specifically: the air intake is connected to the X port of the first two-position three-way solenoid valve as the driving air source of the solenoid valve, and the intake air is connected to the port of the first two-position three-way solenoid valve through a proportional valve. The air inlet P and the exhaust port R of the first two-position three-way solenoid valve are connected to the muffler, and the air outlet A of the first two-position three-way solenoid valve is connected with the air intake port C of the double-acting cylinder.
所述下气路的连接关系具体为：进气连接于第二两位三通电磁阀和第三两位三通电磁阀的X口，作为电磁阀驱动气源，进气通过调压阀连接于第三两位三通电磁阀的排气口(R)，第三两位三通电磁阀的进气口P接消音器，第三两位三通电磁阀的出气口A与第二两位三通电磁阀的进气口P连接；进气与第二两位三通电磁阀的排气口R连接，第二两位三通电磁阀的出气口A与双作用气缸的(D)口连接。The connection relationship of the lower air circuit is specifically: the air intake is connected to the X port of the second two-position three-way solenoid valve and the third two-position three-way solenoid valve as the driving air source of the solenoid valve, and the intake air is connected through the pressure regulating valve. The exhaust port (R) of the third two-position three-way solenoid valve, the air inlet P of the third two-position three-way solenoid valve is connected to the muffler, the air outlet A of the third two-position three-way solenoid valve is connected to the second two-way solenoid valve The intake port P of the one-position three-way solenoid valve is connected; the intake air is connected to the exhaust port R of the second two-position three-way solenoid valve, and the air outlet A of the second two-position three-way solenoid valve is connected to (D) of the double-acting cylinder. port connection.
优选的，所述第一两位三通电磁阀、第二两位三通电磁阀和第三两位三通电磁阀均为外部先导式常闭型两位三通电磁阀。Preferably, the first two-position three-way solenoid valve, the second two-position three-way solenoid valve and the third two-position three-way solenoid valve are all external pilot-operated normally closed two-position three-way solenoid valves.
优选的，所述比例阀用0-10V的模拟量电压来控制，更加精准，而且更换料号时能够储存导出参数。Preferably, the proportional valve is controlled by an analog voltage of 0-10V, which is more accurate, and the derived parameters can be stored when the material number is changed.
优选的，气缸复位状态下的工作流程具体为：第一两位三通电磁阀、第二两位三通电磁阀和第三两位三通电磁阀都不通电，双作用气缸复位，第一两位三通电磁阀、第二两位三通电磁阀和第三两位三通电磁阀的出气口A和排气口R导通、同时进气口P断开，进气通过第二两位三通电磁阀的R口和A口与双作用气缸的D口导通，进气回路导通，同时双作用气缸的C口与第一两位三通电磁阀的A口和R口导通，排气回路导通，气缸正常复位。Preferably, the working process in the reset state of the cylinder is as follows: the first two-position three-way solenoid valve, the second two-position three-way solenoid valve and the third two-position three-way solenoid valve are not energized, the double-acting cylinder is reset, the first The air outlet A and the exhaust port R of the two-position three-way solenoid valve, the second two-position three-way solenoid valve and the third two-position three-way solenoid valve are connected, and the air inlet P is disconnected at the same time, and the intake air passes through the second two-way three-way solenoid valve. The R port and A port of the one-position three-way solenoid valve are connected to the D port of the double-acting cylinder, and the intake circuit is connected. At the same time, the C port of the double-acting cylinder is connected to the A port and R port of the first two-position three-way solenoid valve. If it is connected, the exhaust circuit is connected, and the cylinder resets normally.
优选的，气缸动作状态下的工作流程具体为：第一两位三通电磁阀、第二两位三通电磁阀和第三两位三通电磁阀都通电，双作用气缸动作；第一两位三通电磁阀、第二两位三通电磁阀和第三两位三通电磁阀三个电磁阀的出气口A和进气口P导通，和排气口R断开，进气通过比例阀、第一两位三通电磁阀和双作用气缸的接口C导通，进气回路导通，双作用气缸接口D的排气通过第二两位三通电磁阀和第三两位三通电磁阀，从第三两位三通电磁阀的P口消音器排出，排气回路导通，双作用气缸正常动作到位。Preferably, the working process under the cylinder action state is specifically: the first two-position three-way solenoid valve, the second two-position three-way solenoid valve and the third two-position three-way solenoid valve are all energized, and the double-acting cylinder acts; the first two-position three-way solenoid valve is powered on; The air outlet A of the three solenoid valves, the second two-position three-way solenoid valve and the third two-position three-way solenoid valve are connected to the air inlet P, and are disconnected from the exhaust port R, and the intake air passes through The proportional valve, the first two-position three-way solenoid valve and the interface C of the double-acting cylinder are conducted, the intake circuit is conducted, and the exhaust from the interface D of the double-acting cylinder passes through the second two-position three-way solenoid valve and the third two-position three-way solenoid valve. Through the solenoid valve, it is discharged from the P-port muffler of the third two-position three-way solenoid valve, the exhaust circuit is conducted, and the double-acting cylinder moves normally.
优选的，气压反馈状态下的工作流程具体为：气缸动作状态下，第一两位三通电磁阀和第二两位三通电磁阀继续通电，第三两位三通电磁阀断电，第一两位三通电磁阀和第二两位三通电磁阀的出气口A和排气口R断开，和进气口P接通，状态不发生改变，第三两位三通电磁阀出气口A与排气口R接通，与进气口P断开，状态发生改变，进气通过调压阀与第三两位三通电磁阀的R口、A口、第二两位三通电磁阀的P口、A口导通，把双作用气缸的接口D的排气回路转换为进气回路，对气缸的压力进行反馈调节。Preferably, the working process in the air pressure feedback state is as follows: in the cylinder action state, the first two-position three-way solenoid valve and the second two-position three-way solenoid valve continue to be energized, the third two-position three-way solenoid valve is powered off, and the second two-position three-way solenoid valve is powered off. The air outlet A and the exhaust port R of the first two-two three-way solenoid valve and the second two-two three-way solenoid valve are disconnected, and the air inlet P is connected, the state does not change, and the third two two-three-way solenoid valve is output The air port A is connected to the exhaust port R, and is disconnected from the air inlet P. The state changes, and the intake air passes through the pressure regulating valve and the R port, A port, and the second two-position three-way solenoid valve of the third two-position three-way solenoid valve. The P port and A port of the solenoid valve are conducted, and the exhaust circuit of the interface D of the double-acting cylinder is converted into an intake circuit, and the pressure of the cylinder is adjusted in feedback.
(三)有益效果(3) Beneficial effects
本发明提供了一种刮刀压力控制系统。与现有技术相比具备以下有益效果：该刮刀压力控制系统，包括第一两位三通电磁阀、第二两位三通电磁阀、第三两位三通电磁阀、比例阀和双作用气缸，第一两位三通电磁阀、和比例阀组成上气路，且第二两位三通电磁阀和第三两位三通电磁阀组成下气路，上气路的连接关系具体为：进气连接于第一两位三通电磁阀的X口，作为电磁阀驱动气源，进气通过比例阀连接于第一两位三通电磁阀的进气口P，第一两位三通电磁阀的排气口R接消音器，第一两位三通电磁阀的出气口A与双作用气缸的进气口C连接，通过压力调节阀调节压力的大小，使控制气缸能够进行更加精准的控制，大大减小在气缸动作后的末端压力对丝网的冲击，缩小丝网的涨缩程度，很好的避免产生品质问题，从而保证了整个丝网印刷的产品质量能够所需要求。The invention provides a scraper pressure control system. Compared with the prior art, it has the following beneficial effects: the scraper pressure control system includes a first two-position three-way solenoid valve, a second two-position three-way solenoid valve, a third two-position three-way solenoid valve, a proportional valve and a double-acting The cylinder, the first two-position three-way solenoid valve, and the proportional valve form the upper air path, and the second two-position three-way solenoid valve and the third two-position three-way solenoid valve form the lower air path. The connection relationship of the upper air path is specifically : The air intake is connected to the X port of the first two-position three-way solenoid valve, as the driving air source of the solenoid valve, and the intake air is connected to the air intake port P of the first two-position three-way solenoid valve through the proportional valve. The exhaust port R of the solenoid valve is connected to the muffler, the air outlet A of the first two-position three-way solenoid valve is connected to the air inlet C of the double-acting cylinder, and the pressure is adjusted through the pressure regulating valve so that the control cylinder can perform more Precise control greatly reduces the impact of the end pressure on the screen after the cylinder moves, reduces the degree of expansion and contraction of the screen, and avoids quality problems, thus ensuring that the product quality of the entire screen printing can meet the required requirements .
附图说明Description of drawings
图1为本发明气缸复位状态下的动作流程示意图；Fig. 1 is a schematic diagram of the action flow in the cylinder reset state of the present invention;
图2为本发明气缸动作状态下的流程示意图；Fig. 2 is a schematic flow sheet of the present invention under the cylinder action state;
图3为本发明气压反馈状态下的流程示意图。Fig. 3 is a schematic flow chart of the present invention in the air pressure feedback state.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1-3，本发明实施例提供两种技术方案：一种刮刀压力控制系统，具体包括以下实施例：Please refer to Figures 1-3, the embodiment of the present invention provides two technical solutions: a scraper pressure control system, which specifically includes the following embodiments:
实施例1Example 1
一种刮刀压力控制系统，包括第一两位三通电磁阀60、第二两位三通电磁阀61、第三两位三通电磁阀62、比例阀63和双作用气缸64，第一两位三通电磁阀60、和比例阀63组成上气路，且第二两位三通电磁阀61和第三两位三通电磁阀62组成下气路，第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62均为外部先导式常闭型两位三通电磁阀。A scraper pressure control system, comprising a first two-position three-
本发明实施例中，上气路的连接关系具体为：进气连接于第一两位三通电磁阀60的X口，作为电磁阀驱动气源，进气通过比例阀63连接于第一两位三通电磁阀60的进气口P，第一两位三通电磁阀60的排气口R接消音器，第一两位三通电磁阀60的出气口A与双作用气缸64的进气口C连接。In the embodiment of the present invention, the connection relationship of the upper air circuit is specifically: the air intake is connected to the X port of the first two-position three-
本发明实施例中，下气路的连接关系具体为：进气连接于第二两位三通电磁阀61和第三两位三通电磁阀62的X口，作为电磁阀驱动气源，进气通过调压阀连接于第三两位三通电磁阀62的排气口(R)，第三两位三通电磁阀62的进气口P接消音器，第三两位三通电磁阀62的出气口A与第二两位三通电磁阀61的进气口P连接；进气与第二两位三通电磁阀61的排气口R连接，第二两位三通电磁阀61的出气口A与双作用气缸64的(D)口连接。In the embodiment of the present invention, the connection relationship of the lower air circuit is specifically: the air intake is connected to the X port of the second two-position three-
本发明实施例中，气缸复位状态下的工作流程具体为：第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62都不通电，双作用气缸64复位，第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62的出气口A和排气口R导通、同时进气口P断开，进气通过第二两位三通电磁阀61的R口和A口与双作用气缸64的D口导通，进气回路导通，同时双作用气缸64的C口与第一两位三通电磁阀60的A口和R口导通，排气回路导通，气缸正常复位。In the embodiment of the present invention, the working process under the reset state of the cylinder is specifically: the first two-position three-
本发明实施例中，气缸动作状态下的工作流程具体为：第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62都通电，双作用气缸64动作；第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62三个电磁阀的出气口A和进气口P导通，和排气口R断开，进气通过比例阀63、第一两位三通电磁阀60和双作用气缸64的接口C导通，进气回路导通，双作用气缸64接口D的排气通过第二两位三通电磁阀61和第三两位三通电磁阀62，从第三两位三通电磁阀62的P口消音器排出，排气回路导通，双作用气缸64正常动作到位。In the embodiment of the present invention, the working process under the action state of the cylinder is specifically: the first two-position three-
本发明实施例中，气压反馈状态下的工作流程具体为：气缸动作状态下，第一两位三通电磁阀60和第二两位三通电磁阀61继续通电，第三两位三通电磁阀62断电，第一两位三通电磁阀60和第二两位三通电磁阀61的出气口A和排气口R断开，和进气口P接通，状态不发生改变，第三两位三通电磁阀62出气口A与排气口R接通，与进气口P断开，状态发生改变，进气通过调压阀与第三两位三通电磁阀62的R口、A口、第二两位三通电磁阀61的P口、A口导通，把双作用气缸64的接口D的排气回路转换为进气回路，对气缸的压力进行反馈调节。In the embodiment of the present invention, the working process under the air pressure feedback state is specifically: under the cylinder operating state, the first two-position three-
实施例2Example 2
一种刮刀压力控制系统，包括第一两位三通电磁阀60、第二两位三通电磁阀61、第三两位三通电磁阀62、比例阀63和双作用气缸64，第一两位三通电磁阀60、和比例阀63组成上气路，且第二两位三通电磁阀61和第三两位三通电磁阀62组成下气路，第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62均为外部先导式常闭型两位三通电磁阀，比例阀63用0-10V的模拟量电压来控制，更加精准，而且更换料号时能够储存导出参数。A scraper pressure control system, comprising a first two-position three-
本发明实施例中，上气路的连接关系具体为：进气连接于第一两位三通电磁阀60的X口，作为电磁阀驱动气源，进气通过比例阀63连接于第一两位三通电磁阀60的进气口P，第一两位三通电磁阀60的排气口R接消音器，第一两位三通电磁阀60的出气口A与双作用气缸64的进气口C连接。In the embodiment of the present invention, the connection relationship of the upper air circuit is specifically: the air intake is connected to the X port of the first two-position three-
本发明实施例中，下气路的连接关系具体为：进气连接于第二两位三通电磁阀61和第三两位三通电磁阀62的X口，作为电磁阀驱动气源，进气通过调压阀连接于第三两位三通电磁阀62的排气口(R)，第三两位三通电磁阀62的进气口P接消音器，第三两位三通电磁阀62的出气口A与第二两位三通电磁阀61的进气口P连接；进气与第二两位三通电磁阀61的排气口R连接，第二两位三通电磁阀61的出气口A与双作用气缸64的(D)口连接。In the embodiment of the present invention, the connection relationship of the lower air circuit is specifically: the air intake is connected to the X port of the second two-position three-
本发明实施例中，气缸复位状态下的工作流程具体为：第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62都不通电，双作用气缸64复位，第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62的出气口A和排气口R导通、同时进气口P断开，进气通过第二两位三通电磁阀61的R口和A口与双作用气缸64的D口导通，进气回路导通，同时双作用气缸64的C口与第一两位三通电磁阀60的A口和R口导通，排气回路导通，气缸正常复位。In the embodiment of the present invention, the working process under the reset state of the cylinder is specifically: the first two-position three-
本发明实施例中，气缸动作状态下的工作流程具体为：第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62都通电，双作用气缸64动作；第一两位三通电磁阀60、第二两位三通电磁阀61和第三两位三通电磁阀62三个电磁阀的出气口A和进气口P导通，和排气口R断开，进气通过比例阀63、第一两位三通电磁阀60和双作用气缸64的接口C导通，进气回路导通，双作用气缸64接口D的排气通过第二两位三通电磁阀61和第三两位三通电磁阀62，从第三两位三通电磁阀62的P口消音器排出，排气回路导通，双作用气缸64正常动作到位。In the embodiment of the present invention, the working process under the action state of the cylinder is specifically: the first two-position three-
本发明实施例中，气压反馈状态下的工作流程具体为：气缸动作状态下，第一两位三通电磁阀60和第二两位三通电磁阀61继续通电，第三两位三通电磁阀62断电，第一两位三通电磁阀60和第二两位三通电磁阀61的出气口A和排气口R断开，和进气口P接通，状态不发生改变，第三两位三通电磁阀62出气口A与排气口R接通，与进气口P断开，状态发生改变，进气通过调压阀与第三两位三通电磁阀62的R口、A口、第二两位三通电磁阀61的P口、A口导通，把双作用气缸64的接口D的排气回路转换为进气回路，对气缸的压力进行反馈调节。In the embodiment of the present invention, the working process under the air pressure feedback state is specifically: under the cylinder operating state, the first two-position three-
综上，本发明通过压力调节阀调节压力的大小，使控制气缸能够进行更加精准的控制，大大减小在气缸动作后的末端压力对丝网的冲击，缩小丝网的涨缩程度，很好的避免产生品质问题，从而保证了整个丝网印刷的产品质量能够所需要求。In summary, the present invention adjusts the pressure through the pressure regulating valve, so that the control cylinder can be controlled more precisely, greatly reducing the impact of the end pressure on the screen after the cylinder operates, and reducing the expansion and contraction of the screen, which is very good Avoiding quality problems, thus ensuring that the product quality of the entire screen printing can meet the required requirements.
同时本说明书中未作详细描述的内容均属于本领域技术人员公知的现有技术。At the same time, the content not described in detail in this specification belongs to the prior art known to those skilled in the art.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.
Claims (6)
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| CN103552081A (en) * | 2013-10-22 | 2014-02-05 | 郅健斌 | Method for controlling Z-axis lifting air cylinder of stacking manipulator |
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| CN103552081A (en) * | 2013-10-22 | 2014-02-05 | 郅健斌 | Method for controlling Z-axis lifting air cylinder of stacking manipulator |
| CN104741763A (en) * | 2013-12-31 | 2015-07-01 | 深圳市鹏煜威科技有限公司 | Resistance welding machine with floating device and resistance welding method |
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