Abstract: A diaphragm cell for damping pressure pulsations in a low-pressure region of a piston pump has two axially deformable diaphragms that are connected along their radial peripheries and enclose a gas space. The diaphragms each have a central region that extends over no less than 50% of the cross-sectional surface area of the diaphragms. The diaphragms are of undulating shape in the central region, which is curved axially outwards in its radially inner region and in its radially outer region. The diaphragms further include an axially inwardly curved annular region that is arranged between and immediately adjacent to the radially inner region and the radially outer region. An axially-measured amplitude of the wave shape has a predetermined range related to the cross-sectional surface area of the diaphragms when the pressure difference is zero. The pressure difference is a pressure in the gas space minus a pressure outside the gas space.

Abstract: A diaphragm cell for damping pressure pulsations in a low-pressure region of a piston pump has two axially deformable diaphragms that are connected along their radial peripheries and enclose a gas space. The diaphragms each have a central region that extends over no less than 50% of the cross-sectional surface area of the diaphragms. The diaphragms are of undulating shape in the central region, which is curved axially outwards in its radially inner region and in its radially outer region. The diaphragms further include an axially inwardly curved annular region that is arranged between and immediately adjacent to the radially inner region and the radially outer region. An axially-measured amplitude of the wave shape has a predetermined range related to the cross-sectional surface area of the diaphragms when the pressure difference is zero. The pressure difference is a pressure in the gas space minus a pressure outside the gas space.

Abstract: The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.

Abstract: The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.