CN212379745U - Plasma flame intensity monitoring device for robot glue spreader equipment - Google Patents

Abstract

A plasma flame intensity monitoring device for robot gumming machine equipment is characterized in that an upper industrial control host is connected with a robot controller, a low-temperature plasma generating device, a working platform and a monitoring device through a CAN bus connection transmission network respectively; the monitoring device selects an S7-300 series PLC (CPU315-2DP) to form a modular PLC as a main controller, and fixes the optical fiber bundle sensing probe at a position of a side surface of the industrial robot wrist plasma spray gun at a preset distance through a clamp; the optical amplitude signal of the plasma flame body is detected through the optical fiber bundle sensing probe, and is converted into a voltage signal through the photoelectric detector, so that the voltage signal can be displayed according to the strength of the linear relation between the output light intensity of the plasma flame body and the corresponding voltage signal, the function of monitoring the intensity or brightness of the plasma flame body in real time while carrying out plasma activation treatment on the surface of a workpiece is realized, the high-quality plasma flame body is obtained in the plasma activation treatment process, and the continuous operation stability is good.

Description

Plasma flame intensity monitoring device for robot glue spreader equipment

Technical Field

The utility model relates to a plasma flame intensity monitoring device especially relates to a plasma flame intensity monitoring device for robot spreading machine equipment.

Background

With the continuous development and gradual maturity of the robot technology, due to the characteristics of strong flexibility, high openness degree, better meeting the flexibility requirements of production and manufacturing and the like of the robot, more and more diversified robots are widely applied to an automatic glue spreader equipment system. In Chinese patent No. CN 105032710B, entitled full-automatic robot gluing equipment and process technology applied by the same company, in order to increase the bonding strength and adhesive force between a polyurethane adhesive tape and a workpiece, before gluing of the robot gluing machine equipment, plasma flame is sprayed to the surface of the workpiece along a workpiece gluing track through a plasma processing head by means of compressed air, so that the surface of the workpiece is subjected to plasma activation treatment. However, the technology of the patent lacks a real-time monitoring function for the plasma flame intensity in the plasma activation process, so that a plasma flame intensity monitoring device for a robot glue spreader device needs to be developed.

Disclosure of Invention

In order to overcome the problems in the above technologies, it is necessary to develop a plasma flame intensity monitoring device for robot glue spreader equipment, which has a real-time monitoring function on the plasma flame intensity and has high stability and reliability, so as to ensure that a high-quality plasma flame is obtained in the plasma activation process.

The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be: the utility model discloses whole equipment includes upper industrial control host computer, robot controller, low temperature plasma generating device, six degree of freedom articulated industrial robot, plasma spray gun, work platform, negative and positive pole line and gas line, optical fiber bundle sensing probe, monitoring device, CAN bus connection transmission network.

The upper industrial control host is connected with an Ethernet Modbus server through a network cable, and is also connected with a robot controller, a low-temperature plasma generating device, a working platform and a monitoring device through a CAN bus connection transmission network; the low-temperature plasma generating device fixes a plasma spray gun on the wrist of the industrial robot through a clamp, and the monitoring device fixes an optical fiber bundle sensing probe on a side surface of the industrial robot wrist plasma spray gun at a position spaced by a preset distance through the clamp.

The CAN bus connection transmission network is characterized in that a CAN bus is communicated with optical fibers through an optical fiber repeater I and an optical fiber repeater II to carry out data network transmission, and the tail end of the optical fiber output connects the CAN bus connection transmission network to an upper industrial control host through a CAN/USB module;

when the CAN bus transmits summarized data in the operation of the robot controller, the low-temperature plasma generating device, the working platform and the monitoring device, the optical fiber repeater II converts CAN signals into optical fiber signals and transmits the optical fiber signals to the optical fiber repeater I, the optical fiber repeater I converts the optical fiber signals into CAN signals, and the CAN signals are processed by the CAN/USB module and then transmitted to the upper industrial control host; and when the robot controller, the low-temperature plasma generating device, the working platform and the monitoring device which are used as the lower computer run for fault alarm or are manually operated by an operator, the starting and stopping instruction transmission modes of the robot controller, the low-temperature plasma generating device, the working platform and the monitoring device are controlled, and vice versa.

The monitoring PLC controller is respectively electrically connected with the signal generator, the power management module, the interface module, the touch screen, the alarm display module, the data memory, the feedback control loop, the sampling frequency adjusting loop and the A/D conversion circuit, the signal generator, the optical fiber acousto-optic modulator driver, the optical fiber acousto-optic modulator, the optical fiber connector II, the photoelectric detector, the signal conditioning amplifying circuit and the A/D conversion circuit are sequentially electrically connected, the optical fiber acousto-optic modulator, the optical fiber connector I and the optical fiber bundle sensing probe are sequentially electrically connected, the feedback control loop is electrically connected with the signal conditioning amplifying circuit, the sampling frequency adjusting loop is electrically connected with the A/D conversion circuit, the power management module is respectively electrically connected with the signal generator, the optical fiber acousto-optic modulator driver, the optical fiber acousto-optic modulator, the optical fiber connector II, the photoelectric detector, the signal conditioning amplifying circuit, The A/D conversion circuit, the touch screen, the alarm display module, the data memory, the feedback control loop and the sampling frequency adjusting loop are electrically connected.

The DC-DC circuit is electrically connected with the pulse adjusting circuit, the DC-DC circuit, the oscillating circuit, the 2ASK modulating circuit, the preamplifier, the power amplifying circuit, the impedance matching network circuit and the power output are electrically connected in sequence, and the pulse input signal, the pulse adjusting circuit, the controller adjusting circuit and the 2ASK modulating circuit are electrically connected in sequence.

The utility model has the advantages that:

1. the CAN bus is used for building a network, and the device has the characteristics of high communication speed and strong real-time data communication based on the characteristic that the optical fiber repeater is communicated with the optical fiber;

2. the device is uniformly arranged with a net, has low cost and easy connection, and is easy to form a stable monitoring control network of the plasma surface treatment and monitoring device;

3. the control and monitoring network has strong independence, stability and freedom performance, and the selected PLC controller has strong anti-interference capability and good continuous operation stability;

4. the optical amplitude signal of the plasma flame body is detected by the optical fiber bundle sensing probe, and is converted into a voltage signal by the photoelectric detector, and the display can be carried out according to the linear relation strength of the output light intensity of the plasma flame body and the corresponding voltage signal.

Drawings

FIG. 1 is a schematic view of the overall structure of the robot coater apparatus of the present invention;

FIG. 2 is a schematic diagram of the overall equipment control system structure based on the CAN bus technology;

FIG. 3 is a schematic view of the structure of the low-temperature plasma generator of the present invention;

FIG. 4 is a schematic diagram of the structure of the control system of the plasma monitoring device of the present invention;

FIG. 5 is a schematic diagram of the structure of the fiber optic acoustic-optic modulator driver of the plasma monitoring device of the present invention;

FIG. 6 is a schematic view of the structure of the fiber acousto-optic modulator of the plasma monitoring device of the present invention;

in the figure, 1, a server, 2, an upper industrial control host, 3, a robot controller, 4, a demonstrator, 5, a low-temperature plasma generating device, 6, an industrial robot, 7, a plasma spray gun, 8, a working platform, 9, an industrial gas source unit, 10, a workpiece to be processed, 11, a cathode and anode wire and a gas pipeline, 12, a plasma torch, 13, a fiber-optic bundle sensing probe, 14, a monitoring device, 15, a CAN bus connection transmission network, 51, a plasma PLC controller, 521, an input current, 71, a center electrode, 72, a shell potential-free electrode, 73, an insulating sleeve, 74, a gas pipeline, 75, a plasma arc, 76, a gas flow, 77, a nozzle, 91, a gas flow sensor, 92, a gas pipeline, 111, a center electrode anode wire, 112, a shell potential-free electrode cathode wire, 113, a gas pipeline, 141, a monitoring PLC controller, 142. the system comprises a power management module, 143, an interface module, 144, a touch screen, 145, an alarm display module, 146, a data memory, 147, a feedback control loop, 148, a sampling frequency adjusting loop, 1411, a signal generator, 1412, a fiber acousto-optic modulator driver, 1413, a fiber acousto-optic modulator, 1414, a fiber connector II, 1415, a photodetector, 1416, a signal conditioning amplifying circuit, 1417, an A/D converting circuit, 1418, a fiber connector I, 14121, a pulse input signal, 14122, a DC-DC circuit, 14123, a pulse conditioning circuit, 14124, an oscillating circuit, 14125, a 2ASK modulating circuit, 14126, a power amplifying circuit, 27, an impedance matching network circuit, 14128 and a power output.

Detailed Description

As shown in fig. 1 and fig. 2, the utility model discloses whole equipment includes upper industrial control host 2, robot controller 3, low temperature plasma generating device 5, six degrees of freedom articulated industrial robot 6, plasma spray gun 7, work platform 8, negative and positive pole line and gas line 11, optical fiber bundle sensing probe 13, monitoring device 14, CAN bus connection transmission network 15, and its working process is: the upper industrial control host 2 reads a text containing track and process parameter information, the motion track and the process parameters are sent to the robot controller 3 through the CAN bus connection transmission network 15, the industrial robot 6 reads the track information and operates after command interpretation, the process parameter information is simultaneously sent to the low-temperature plasma generating device 5, the process parameters of the power supply are controlled in real time through D/A conversion of the data acquisition card, the process parameters are acquired through A/D conversion, and power closed-loop control is formed.

The robot controller 3 CAN realize remote control through programming software, the upper industrial personal computer 2 is connected with the Ethernet Modbus server 1 through a network cable, the upper industrial personal computer 2 is also connected with the robot controller 3, the low-temperature plasma generating device 5, the working platform 8 and the monitoring controller 14 through a CAN bus connection transmission network 15 respectively, and the upper industrial personal computer 2 sends instructions to the robot controller 3, the low-temperature plasma generating device 5, the working platform 8 and the monitoring device 14 respectively to carry out motion trail, speed control and corresponding action; the motion mechanism parameters comprise the distance between the plasma spray gun 7 and the surface of the workpiece 10 to be processed, the industrial robot 6 has six rotational degrees of freedom, the repeatable positioning precision is +/-0.01 mm, and the motion mechanism has better flexibility and precision.

The low-temperature plasma generating device 5 is characterized in that a plasma spray gun 7 is fixed on the wrist of an industrial robot 6 through a clamp, a plasma arc is generated and transferred by utilizing an arc discharge principle to form a plasma flame body 12, the plasma flame body is sprayed through the plasma spray gun 7, and the surface of a workpiece 10 to be processed, which is placed on a working platform 8, is activated by controlling process parameter information in real time while the workpiece moves according to an appointed path through the industrial robot 6; the internal plasma PLC controller 51 realizes the on-off of the plasma arc input current 521, the gas flow 76 and the power control, controls the plasma PLC controller 51 through the data acquisition card and the A/D, D/A conversion of the plasma A/D conversion circuit, and can realize the control of the on-off and the analog quantity of the low-temperature plasma generating device 5.

The monitoring device 14 fixes the optical fiber bundle sensing probe 13 at a position spaced by a predetermined distance on one side surface of the industrial robot 6 wrist plasma torch 7 by a clamp, and is used for detecting possible changes of optical amplitude (such as intensity, brightness, etc.) of the plasma flame 12 ejected by the plasma torch 7, converting the optical amplitude into photocurrent in proportional relation by passing a detection result through a high-speed photoelectric detector 1415, converting the photocurrent into a voltage signal by a signal conditioning and amplifying circuit 1416 and an a/D conversion circuit 1417 which are arranged in front and feeding the voltage signal back to the monitoring PLC controller 141, displaying the detection result on the touch screen 144 and the touch screen 533 by a program solidified in the monitoring PLC controller 141 according to the strength and weakness of the voltage signal, and sending alarm information by the monitoring device 14 when the detection result meets a preset alarm value in the program.

The CAN bus connection transmission network 15 is used for communicating optical fibers through an optical fiber repeater I and an optical fiber repeater II by a CAN bus to carry out data network transmission, and the CAN bus connection transmission network 15 is connected to the upper industrial control host 2 by the tail end of the optical fiber output through a CAN/USB module; because the CAN bus transmission distance is short, the device increases the transmission distance of a data transmission network by using an optical fiber network when constructing the transmission network, then the CAN bus signal and the optical fiber signal are mutually converted by the optical fiber repeater II, the CAN bus is communicated with the optical fiber network, and then the CAN/USB module is connected with the optical fiber repeater I and the upper industrial control host 2.

When the CAN bus transmits summarized data in the operation of the robot controller 3, the low-temperature plasma generating device 5, the working platform 8 and the monitoring device 14, the optical fiber repeater II converts CAN signals into optical fiber signals and transmits the optical fiber signals to the optical fiber repeater I, the optical fiber repeater I converts the optical fiber signals into CAN signals, and the CAN signals are processed by the CAN/USB module and then transmitted to the upper industrial control host 2; when the robot controller 3, the low-temperature plasma generating device 5, the working platform 8 and the monitoring device 14 serving as the lower computer run for fault alarm or are manually operated by an operator, the start-stop instruction transmission mode of the robot controller 3, the low-temperature plasma generating device 5, the working platform 8 and the monitoring device 14 is controlled, and vice versa.

As shown in fig. 3, the utility model discloses low temperature plasma generating device 5 includes plasma torch 7, industry gas source unit 9, negative and positive pole line and gas pipeline 11, plasma PLC controller 51, input current 521, and the parcel has central electrode anode line 111, the no potential electrode negative pole line 112 of shell, gas pipeline 113 in negative and positive pole line and the gas pipeline 11, and industry gas source unit 9 is connected with gas flow sensor 91 through gas pipeline 92.

The plasma torch 7 comprises a shell potential-free electrode 72 and a nozzle 77 which is installed at the top of the shell potential-free electrode in a threaded connection manner, a central electrode 71 is installed in the shell potential-free electrode 72 in an inner sleeve manner, an insulating sleeve 73 is further sleeved on the outer side of the central electrode 71, a gas pipeline 74 which forms gas flow 76 cyclone of a plasma arc 75 with the central electrode 71 is arranged on the side edge of the shell potential-free electrode 72, and the plasma arc 75 in the nozzle 77 is sprayed on the surface of the workpiece 10 to be processed to be activated; the center electrode 71 and the housing potential-free electrode 72 are electrically connected to the center electrode output 566 and the housing potential-free electrode output 565 through the center electrode anode line 111 and the housing potential-free electrode cathode line 111, respectively, and the gas pipe 74 is connected to the gas flow sensor 91 through the gas pipe 113.

As shown in fig. 4 to 6, the monitoring device 14 of the present invention includes a fiber bundle sensing probe 13, a monitoring PLC controller 141, a power management module 142, an interface module 143, a touch screen 144, an alarm display module 145, a data storage 146, a feedback control loop 147, a sampling frequency adjusting loop 148, a signal generator 1411, a fiber acousto-optic modulator driver 1412, a fiber acousto-optic modulator 1413, a fiber connector II 1414, a photodetector 1415, a signal conditioning and amplifying circuit 1416, an a/D conversion circuit 1417, and a fiber connector I1418;

the interconnection relationship of the monitoring device 14 is: the monitoring PLC controller 141 is mainly a Siemens S7-300 series PLC (CPU315-2DP) and constitutes a modular PLC as a main controller of the whole monitoring device 14, and is respectively electrically connected with a signal generator 1411, a power management module 142, an interface module 143, a touch screen 144, an alarm display module 145, a data storage 146, a feedback control loop 147, a sampling frequency adjusting loop 148 and an A/D converting circuit 1417, the signal generator 1411, an optical fiber acousto-optic modulator driver 1412, an optical fiber acousto-optic modulator 1413, an optical fiber connector II 1414, a photoelectric detector 1415, a signal conditioning amplifying circuit 1416 and the A/D converting circuit 1417 in sequence, the optical fiber acousto-optic modulator 3, the optical fiber connector 1418 and the optical fiber bundle sensing probe 13 in sequence, the feedback control loop 147 is electrically connected with the signal conditioning amplifying circuit 1416, the sampling frequency adjusting loop 148 is electrically connected to the a/D conversion circuit 1417, and the power management module 142 is electrically connected to the signal generator 1411, the fiber acousto-optic modulator driver 1412, the fiber acousto-optic modulator 1413, the fiber connector II 1414, the photodetector 1415, the signal conditioning and amplifying circuit 1416, the a/D conversion circuit 1417, the touch screen 144, the alarm display module 145, the data storage 146, the feedback control loop 147, and the sampling frequency adjusting loop 148, respectively.

Operation of the monitoring device 14: the high-precision signal generator 1411 adjusts the frequency, phase and dead time of the output signal of the monitoring PLC 141 in real time through the control interface of the monitoring PLC 141 by means of serial port communication, the signal generator 1411 outputs a signal to the fiber acousto-optic modulator driver 1412, so that the fiber acousto-optic modulator driver 1412 can use an analog switch to output 14128 a radio frequency signal for realizing digital amplitude keying modulation of a high-frequency carrier signal and a pulse signal, and the radio frequency signal is loaded on a piezoelectric transducer of the fiber acousto-optic modulator 1413 through a matching circuit to excite ultrasonic waves with the same frequency to be coupled into an acousto-optic medium; the ultrasonic waves periodically modulate the optical refractive index of the acousto-optic medium to form a refractive index grating.

The light amplitude of the plasma flame body 12 transmits light to an incident optical fiber of the optical fiber bundle sensing probe 13 through the coupling light path, a part of the transmitted light is reflected to a receiving optical fiber through the reflecting surface, the light amplitude of the plasma flame body 12 transmits the light to the receiving optical fiber of the optical fiber bundle sensing probe 13 through the coupling light path, the receiving optical fiber transmits the received optical signal to the optical fiber acousto-optic modulator 1413 through the optical fiber connector I1418, when the light beam of the optical signal passes through a medium, interaction occurs to change the propagation direction of the light, namely diffraction is generated, the intensity of the diffraction light is periodically changed along with an external modulation signal on a time domain, and pulse modulation of input continuous light is realized.

The pulse modulated continuous optical signal is transmitted to the photoelectric detector 1415 through the optical fiber connector II 1414, the optical amplitude is converted into a photocurrent in a proportional relationship by the high-speed photoelectric detector 1415, and then converted into a voltage signal by the signal conditioning and amplifying circuit 1416 and the a/D conversion circuit 1417, and fed back to the monitoring PLC controller 141, the program solidified in the monitoring PLC controller 141 displays the detection result on the touch screen 144 and the touch display screen 533 according to the strong and weak situations of the voltage signal, and when the detection result conforms to the alarm voltage signal value preset in the program, the alarm display module 145 sends an alarm message.

The interface module 143 is electrically connected to the CAN bus as a node of the monitoring device 14, and the interface module 143 is further electrically connected to the low-temperature plasma generating device 5, and is configured to receive various parameter information, such as the magnitude of voltage and current signals collected by the current sensor 556 and the voltage sensor 557 in real time, and the magnitude of gas flow collected by the gas flow sensor 91 in real time; the data memory 146 converts the light amplitude within a predetermined sampling time into voltage signal real-time data, and stores the voltage signal real-time data, and also stores various parameter information such as the magnitude of the voltage and current signals acquired by the current sensor 556 and the voltage sensor 557, and the magnitude of the gas flow rate acquired by the gas flow rate sensor 91.

The monitoring PLC controller 141 interrupts timing and sets the sampling time by the sampling frequency adjusting circuit 148, sends the set sampling time to the AD conversion circuit 1417, and then controls the AD conversion circuit 1417 to operate within the sampling time by the sampling frequency adjusting circuit 148. During sampling, different sampling range measurements need to be selected for the instantaneous light intensity value, and the range switching needs to be completed within the time of mu s. A plurality of precise sampling resistors are arranged in the signal conditioning amplifying circuit 1416 to realize the selection of the sampling range, and the data after each AD conversion of the AD conversion circuit 1417 is sent to the monitoring PLC controller 141 to be compared with each range threshold value which is arranged in advance, so that the rapid switching of the sampling range is realized through the feedback control circuit 147.

The utility model discloses optic fibre acousto-optic modulator driver 1412 includes pulse input signal 14121, DC-DC circuit 14122, pulse adjusting circuit 14123, oscillating circuit 14124, controller adjusting circuit 14125, 2ASK modulating circuit 14126, power amplifier circuit 14127, preamplifier 14128, impedance matching network circuit 14129, power output 14130;

the interconnection relationship of the fiber acousto-optic modulator driver 1412 is as follows: the DC-DC circuit 14122 is electrically connected to the pulse adjusting circuit 14123, the DC-DC circuit 14122, the oscillation circuit 14124, the 2ASK modulation circuit 14126, the preamplifier 14128, the power amplification circuit 14127, the impedance matching network circuit 14129, and the power output 14130 are electrically connected in sequence, and the pulse input signal 14121, the pulse adjusting circuit 14123, the controller adjusting circuit 14125, and the 2ASK modulation circuit 14126 are electrically connected in sequence.

The operation process of the fiber optic acoustic optical modulator driver 1412 is as follows: the fiber acousto-optic modulator driver 1412 provides a carrier amplitude modulation signal with a specific frequency for the acousto-optic modulator, the input end of the fiber acousto-optic modulator driver is that the signal generator 1411 sends a square wave signal of an output pulse input signal 14121 to the pulse adjusting circuit 14123 at an interval of time, the pulse adjusting circuit 14123 selects a nand gate to adjust a modulation pulse control signal, and the modulation pulse control signal is steeped and a signal spike is filtered; the DC/DCDC-DC circuit 14122 is a DC/DC conversion circuit for converting voltage as a power supply voltage;

the oscillation circuit 14124 selects an active crystal oscillator to generate a high-frequency signal as a carrier frequency of the driver, and the function of the oscillation circuit is to generate a standard frequency with a center frequency of 100 MHz; the controller adjusting circuit 14125 enables the modulation depth and gain of the amplitude modulation signal to be properly adjusted according to the characteristics of the acousto-optic modulation device and the actual requirements on site; the 2ASK modulation circuit 14126 performs amplitude modulation on the high-frequency carrier signal generated by the high-frequency oscillator through the input modulation pulse signal to realize amplitude modulation of the carrier signal by the modulation pulse signal, and the output modulated signal is loaded to an electroacoustic transducer of the acousto-optic modulator to generate ultrasonic waves to realize modulation of laser intensity; the power amplifying circuit 14126 is composed of a bias circuit, an input impedance matching network, an output impedance matching network and a high-power transistor, and mainly performs power amplification on the amplitude modulation signal output by the preamplifier and provides enough driving signals for the acousto-optic modulator;

the preamplifier 14128 circuit plays the role of buffering and isolation, can output a certain voltage amplitude and send the voltage amplitude to the power amplifier circuit, the amplitude of the modulated amplitude modulation signal is very small, and the power amplifier cannot be driven, so the amplitude modulation signal needs to be linearly amplified; the impedance matching network circuit 14129 is for maximum power transmission, and if the load impedance does not satisfy the condition of conjugate matching, an impedance matching network is added between the load and the signal source to transform the load impedance to the conjugate of the signal source impedance to implement impedance matching, thereby implementing maximum power transmission of the power output 14130 to the load.

The utility model discloses optic fibre acousto-optic modulator 1413 is an important light modulation device, and it possesses the ability of light pulse amplitude modulation and light frequency shift simultaneously based on the body wave acousto-optic interaction principle, and the carrier power signal (the radio frequency signal that drives device work, its frequency is the operating frequency of device) loads on piezoelectric transducer through matching circuit, excites the ultrasonic wave coupling of the same frequency to go into the acousto-optic medium; the ultrasonic wave periodically modulates the optical refractive index of the acousto-optic medium to form a refractive index grating; the input continuous light is guided into the refractive index grating through the fiber lens 1 to be diffracted, and the ultrasonic frequency is superposed on the incident light frequency according to the law of conservation of energy among incident photons, diffracted photons and phonons of the acousto-optic effect, so that acousto-optic frequency shift is realized, and the frequency shift frequency is numerically equal to the carrier signal frequency of a device; the diffracted light is guided into an output optical fiber through the fiber lens 2 and is transmitted backwards; when the carrier signal is subjected to periodic pulse modulation, a sound field in the medium forms a periodic pulse sequence to sequentially pass through an incident light field, so that the intensity of diffracted light periodically changes along with an external modulation signal in a time domain, and the pulse modulation of input continuous light is realized.

The utility model discloses optical fiber bundle sensing probe 13 structure adopts incidence and receiving optical fiber coaxial arrangement, has the single mode fiber of less numerical aperture and core footpath as incident optical fiber, has the multimode fiber of great numerical aperture and core footpath as receiving optical fiber, and arranges with double-deck concentric mode, adopts single mode fiber as incident optical fiber, and lateral resolution is high; the double-layer multimode optical fiber is adopted as the receiving optical fiber, so that the capability of the sensor for receiving light can be improved; the inner layer and the outer layer receive optical amplitude signals, and the influence of factors such as fluctuation of the plasma flame body 12, different reflection capability of the plasma flame body 12 to be detected and the like on a monitoring result can be compensated through data normalization processing; and the light amplitude signal is transmitted to the photoelectric detector 1415 after continuous light pulse modulation by the fiber acousto-optic modulator 1413, so as to generate photocurrent, and the intensity of the photocurrent is approximately in direct proportion to the intensity of the light amplitude signal.

Claims (5)

1. The utility model provides a robot spreading machine plasma flame intensity monitoring device for equipment which characterized in that: the upper industrial control host is connected with a transmission network through a CAN bus and is respectively connected with a robot controller, a low-temperature plasma generating device, a working platform and a monitoring device;

the monitoring device fixes the optical fiber bundle sensing probe at a position of a side surface of the industrial robot wrist plasma spray gun at a preset distance through a clamp.

2. The plasma torch strength monitoring device for a robotic applicator apparatus as defined in claim 1, wherein:

the CAN bus is connected with the transmission network, the CAN bus is communicated with the optical fiber through the optical fiber repeater I and the optical fiber repeater II to carry out data network transmission, and the CAN bus connection transmission network is connected to the upper industrial control host through the CAN/USB module at the tail end of the optical fiber output.

3. The plasma torch strength monitoring device for a robotic applicator apparatus as defined in claim 1, wherein:

the monitoring PLC controller of the monitoring device is respectively and electrically connected with the signal generator, the power supply management module, the interface module, the touch screen, the alarm display module, the data memory, the feedback control loop, the sampling frequency adjusting loop and the A/D conversion circuit,

the signal generator, the optical fiber acousto-optic modulator driver, the optical fiber acousto-optic modulator, the optical fiber connector II, the photoelectric detector, the signal conditioning and amplifying circuit and the A/D conversion circuit are electrically connected in sequence,

the optical fiber acousto-optic modulator, the optical fiber connector I and the optical fiber bundle sensing probe are electrically connected in sequence,

the feedback control loop is electrically connected with the signal conditioning amplifying circuit,

the sampling frequency adjusting loop is electrically connected with the A/D conversion circuit,

the power management module is respectively and electrically connected with the signal generator, the optical fiber acousto-optic modulator driver, the optical fiber acousto-optic modulator, the optical fiber connector II, the photoelectric detector, the signal conditioning and amplifying circuit, the A/D conversion circuit, the touch screen, the alarm display module, the data memory, the feedback control loop and the sampling frequency adjusting loop.

4. The plasma torch strength monitoring device for a robotic applicator apparatus as defined in claim 1, wherein:

the DC-DC circuit of the monitoring device is electrically connected with the pulse adjusting circuit,

the DC-DC circuit, the oscillating circuit, the 2ASK modulation circuit, the preamplifier, the power amplifying circuit, the impedance matching network circuit and the power output are electrically connected in sequence,

the pulse input signal, the pulse adjusting circuit, the controller adjusting circuit and the 2ASK modulating circuit of the monitoring device are electrically connected in sequence.

5. A plasma torch strength monitoring apparatus for a robotic applicator device as claimed in claim 3, wherein:

the monitoring PLC controller is a modular main controller consisting of an S7-300 series PLC (CPU315-2 DP).

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