CN214416908U - Plasma surface treatment device for robot glue spreader equipment - Google Patents

Abstract

The robot gumming machine equipment is a plasma surface treatment device, and 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; the low-temperature plasma generating device and the monitoring device respectively select an S7-300 series PLC (CPU315-2DP) to form a modular main controller, the plasma spray gun is fixed on the wrist of the industrial robot through a clamp, and the optical fiber bundle sensing probe is fixed at a position of a side surface of the industrial robot wrist plasma spray gun at a preset distance through the clamp; and the optical fiber bundle sensing probe is used for detecting the light intensity signal of the plasma flame and converting the light intensity signal into a voltage signal by the photoelectric detector, so that the light intensity signal can be displayed according to the intensity of the linear relation between the output light intensity of the plasma flame and the corresponding voltage signal, the plasma activation is realized, the flame intensity is monitored in real time, the high-quality plasma flame obtained in the plasma activation is ensured, and the device has good continuous operation stability.

Description

Plasma surface treatment device for robot glue spreader equipment

Technical Field

The utility model relates to a plasma surface treatment device especially relates to a robot spreading machine plasma surface treatment device for 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 on the intensity or brightness of the plasma flame body in the plasma activation processing process, and an 8051 singlechip is adopted as a main control processor by an MCU processor of a control system of the technology. Although the single chip microcomputer system has the advantages of stronger data processing capability, strong network communication function, capability of executing a more complex control algorithm, almost unlimited storage capacity and the like while realizing the control function, the single chip microcomputer system also has the advantages of low cost and high benefit, but the single chip microcomputer system has obvious defects, poor stability and reliability, is easily interfered, and is difficult to program and maintain. Therefore, there is a need to develop a plasma surface treatment device for a robot coater apparatus having a real-time monitoring function for plasma flame intensity with high stability and reliability.

Disclosure of Invention

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

The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be: the utility model comprises an upper industrial control host, a robot controller, a low-temperature plasma generating device, a six-degree-of-freedom articulated industrial robot, a plasma spray gun, a working platform, an anode and cathode line and gas pipeline, an optical fiber bundle sensing probe, a monitoring device and a 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 plasma PLC controller is respectively and electrically connected with a plasma unit interface module, a relay I in a driving unit, a proportional amplifier, a touch display screen, a relay II, an electric quantity transmitter in a power supply unit, a plasma power management module and a plasma A/D conversion circuit in a plasma beam generation unit, and the plasma unit interface module is used as a node of the plasma generation device and is electrically connected with a CAN bus.

The touch display screen is connected with the plasma PLC through an RS232 communication cable; the control motor is respectively and electrically connected with the frequency converter, the relay I, the limit switch and the electric control pressure reducing valve in the industrial gas source unit; the relay I is electrically connected with the soft starter and an electric control cabinet in the power supply unit in sequence; the relay II is electrically connected with the auxiliary switch and an electric control cabinet in the power supply unit in sequence, and the limit switch is electrically connected with the proportional amplifier, the control motor, the electromagnetic airflow valve in the industrial gas source unit and the electric control pressure reducing valve respectively; the electric control cabinet is electrically connected with the electric quantity transmitter, the plasma power supply management module, the soft starter, the auxiliary switch, the input current and the auxiliary power supply respectively.

The input end of the rectification circuit is electrically connected with an input current, the input end of the rectification circuit is electrically connected with a DC/DC circuit, an inverter circuit, a high-frequency transformer and a matching circuit in sequence, one path of the matching circuit is output through a shell without a potential electrode, the other path of the matching circuit is output through a center electrode, a current sensor and a voltage sensor are respectively connected in series and in parallel in the electrical connection between the high-frequency transformer and the matching circuit, one path of the output of the current sensor is electrically connected with a data acquisition card, the other path of the output of the current sensor is electrically connected with a DSP controller through a signal conditioning circuit, one path of the output of the voltage sensor is electrically connected with the data acquisition card through the voltage transmitter, the other path of the output of the voltage sensor is electrically connected with the DSP controller through the signal conditioning circuit, a gas flow sensor, the data acquisition card, a plasma A/D conversion circuit and a plasma PLC controller are electrically connected in sequence, the DSP controller, a DC/DC circuit, an inverter circuit, a high-frequency transformer and a matching circuit, wherein one path of the matching circuit is electrically connected with the output of the high-frequency transformer, the matching circuit, and the matching circuit, one path of the high-frequency transformer, and the matching circuit is electrically connected with the output of the high-frequency transformer, and the high-frequency transformer, one path of the high-frequency transformer, and the matching circuit, and the high-frequency transformer are electrically connected with the high-frequency transformer, and the high-frequency transformer are electrically connected with the high-frequency transformer, and the high-frequency transformer are electrically connected in sequence, and the high-frequency transformer are electrically connected with the high-frequency transformer, and the high-frequency transformer are electrically connected with the high-frequency transformer are connected with the high-frequency transformer, and the high-frequency transformer are connected in the electrical-frequency transformer, and the electrical connection circuit, and the electrical connection is connected with the electrical connection circuit, and the electrical connection of the electrical connection circuit, and the electrical connection of the electrical connection, The DC/DC PWM generator, the DC/DC drive circuit and the DC/DC circuit are electrically connected in sequence, the DSP controller is electrically connected with the inverter PWM generator, the inverter drive circuit and the inverter circuit in sequence, and the DSP controller is electrically connected with the auxiliary power supply.

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 fiber bundle sensing probe is used for detecting the light amplitude signal of the plasma flame body and converting the light amplitude signal into a voltage signal by the photoelectric detector, and the display can be carried out according to the linear relation between the output light brightness of the plasma flame body and the corresponding voltage signal.

Drawings

FIG. 1 is a schematic view of the overall structure of the device of the present invention;

FIG. 2 is a schematic diagram of the overall device 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 electric control system of the low-temperature plasma generator of the present invention;

FIG. 5 is a schematic view of the plasma monitoring device of the present invention;

FIG. 6 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. 7 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 line and a gas pipeline, 12, a plasma flame, 13, a fiber bundle sensing probe, 14, a monitoring device, 15, a CAN bus connection transmission network, 51, a plasma PLC controller, 52, a power supply unit, 53, a driving unit, 54, a plasma unit interface module, 55, a plasma generating unit, 521, an input current, 522, an electric control cabinet, 523, an electric quantity, 524, a plasma power management module, 525, an auxiliary power supply, 531, a relay I, 532, a proportional amplifier, 533, a touch display screen, 534, a control motor, 535, a limit switch, 536. a soft starter, 537, an auxiliary switch, 538, a relay II, 539, a frequency converter, 551, a rectifying circuit, 552, a DC/DC circuit, 553, an inverter circuit, 554, a high frequency transformer, 555, a matching circuit, 556, a current sensor, 557, a voltage sensor, 558, a signal conditioning circuit, 559, a DSP controller, 560, DC/DC PWM generation, 561, inverter PWM generation, 562, a DC/DC drive circuit, 563, an inverter drive circuit, 564, a voltage transmitter, 565, a case potential-free electrode output, 566, a center electrode output, 567, a data acquisition card, 568, a plasma A/D conversion circuit, 71, a center electrode, 72, a case potential-free electrode, 73, an insulating sleeve, 74, a gas pipe, 75, a plasma arc formation, 76, a gas flow, 77, a nozzle, 91, a gas flow sensor, 92, a gas pipe, 93. electromagnetic air flow valve 94, gas cylinder 95, electric control pressure reducing valve 96, industrial gas source 111, center electrode anode wire 112, shell potential electrode cathode wire free, 113, gas pipeline 141, monitoring PLC controller 142, power management module 143, interface module 144, touch screen 145, alarm display module 146, data storage 147, feedback control loop 148, sampling frequency adjusting loop 1411, signal generator 1412, fiber acousto-optic modulator driver 1413, fiber acousto-optic modulator 1414, fiber connector II, 1415, photodetector 1416, signal conditioning amplifying circuit 1417, A/D converting circuit 1418, fiber connector I, 14121, pulse input signal 14122, DC-DC circuit 14123, pulse conditioning circuit 14124, oscillating circuit 14125, 2ASK modulating circuit 14126, power amplifying circuit, 14127. impedance matching network circuit, 14128, power output.

Detailed Description

Example one

As shown in fig. 1 and 2, the utility model discloses a host computer 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, 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 563 and the A/D, D/A conversion of the plasma A/D conversion circuit 564, 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.

Example two

As shown in fig. 3, the utility model discloses low temperature plasma generating device 5 includes plasma torch 7, industry air supply unit 9, negative and positive pole line and gas pipeline 11, plasma PLC controller 51, the parcel has central electrode anode line 111, the shell does not have potential electrode negative pole line 112, gas pipeline 113 in negative and positive pole line and the gas pipeline 11, industry air supply unit 9 has connected gradually industry air supply 96, automatically controlled relief pressure valve 95, gas bomb 94, electromagnetic airflow valve 93, 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, the electric control system of the low temperature plasma generator 5 of the present invention includes a plasma PLC controller 51, a power supply unit 52, a driving unit 53, a plasma unit interface module 54, and a plasma beam generating unit 55; the plasma PLC controller 51 is mainly composed of a siemens S7-300 series PLC (CPU315-2DP) and constitutes a modular PLC as a main controller of the electric control system of the whole plasma generation device 5, and is electrically connected to the plasma unit interface module 54, the relay I531 in the driving unit 53, the proportional amplifier 532, the touch display screen 533, the relay II 538, the electric quantity transducer 523 in the power supply unit 52, the plasma power management module 524, and the plasma a/D conversion circuit 564 in the plasma beam generation unit 55, respectively, for performing distributed control and operation tasks; the plasma unit interface module 54 is electrically connected to the CAN bus as a node of the plasma generation device 5.

The tactile feedback system on the screen of the touch screen 533 can drive various connecting devices according to a preprogrammed program, and can replace a mechanical control button panel, and the screen of the touch screen 533 has a detection table and control buttons for detecting various process parameters, such as the magnitude of the voltage and current signals collected by the current sensor 556 and the voltage sensor 557, and the gas flow collected by the gas flow sensor 91, and can manually adjust the parameters and display the current parameter information. The touch display screen 533 is connected with the plasma PLC controller 51 through an RS232 communication cable; the frequency converter 539 controls the power control equipment of the motor 534 by changing the frequency mode of the working power supply of the control motor 534, and the control motor 534 is electrically connected with the frequency converter 539, the relay I531, the limit switch 535 and the electrically controlled pressure reducing valve 95 in the industrial air source unit 9 respectively.

The relay I531 is an electrical appliance which turns on or off the controlled output circuit when the input quantity (such as voltage, current, temperature, etc.) reaches a specified value, and is actually an "automatic switch" which controls a large current with a small current, and the relay I531 is electrically connected with the soft starter 536 and the electric control cabinet 522 in the power supply unit 52 in turn; the relay II 538 is electrically connected with the auxiliary switch 537 and the electric control cabinet 522 in the power supply unit 52 in sequence, and the limit switch 535 is used for sending signals of various auxiliary switches 537 on site into the plasma PLC 51 and converting the signals into standard signals processed in the plasma PLC 51 for switching on and off the input current 521.

The proportional amplifier 532 is used for converting the change of the input control current signal into a control signal in proportion by an I/P converter, the control signal is used as a given value of a control limit switch 535 to adjust the opening degree of a valve core or the stroke of a valve rod of the electromagnetic airflow valve 93 and the electrically controlled pressure reducing valve 95, and the limit switch 535 is respectively electrically connected with the proportional amplifier 532, the control motor 534, the electromagnetic airflow valve 93 in the industrial gas source unit 9 and the electrically controlled pressure reducing valve 95.

The electric quantity transducer 523 is a device for converting the measured electric quantity parameters into direct current and direct voltage and isolating and outputting analog or digital signals, and is used for acquiring electric quantity signals such as current and voltage of the electric control cabinet 522, isolating and filtering the signals and converting the signals into required direct current signals for output, thereby effectively eliminating a ground loop and solving the problems of interference in an industrial field and signal conversion, transmission and matching; the plasma power management module 524 can provide different voltage values to different equipment units by setting multiple isolated voltage conditioning channels, so as to meet the power consumption requirements of different equipment units.

An electric control cabinet 522 in the power supply unit 52 is used as a power source of the whole plasma device 5 to input/output an input current 521 and an auxiliary power supply 525, and the electric control cabinet 522 is electrically connected with the electric quantity transmitter 523, the plasma power supply management module 524, the soft starter 536, the auxiliary switch 537, the input current 521 and the auxiliary power supply 525 respectively.

The plasma beam generation unit 55 is a core unit of the whole low-temperature plasma generation device 5, and comprises a rectification circuit 551, a DC/DC circuit 552, an inverter circuit 553, a high-frequency transformer 554, a matching circuit 555, a current sensor 556, a voltage sensor 557, a signal conditioning circuit 558, a DSP controller 559, a DC/DC PWM generator 560, an inverter PWM generator 561, a DC/DC drive circuit 562, an inverter drive circuit 563, a voltage transmitter 564, a potential electrode output 565 of the shell, a center electrode output 566, a data acquisition card 567, and a plasma a/D conversion circuit 568;

the plasma beam generation units 55 are connected to each other in the following relationship: the input end of the rectifying circuit 551 is electrically connected with an input current 521, the input end of the rectifying circuit 551 is electrically connected with a DC/DC circuit 552, an inverter circuit 553, a high-frequency transformer 554 and a matching circuit 555 in sequence, one path of the matching circuit 555 is output through a housing potential-free electrode output 565, the other path of the matching circuit is output through a center electrode output 566, a current sensor 556 and a voltage sensor 557 are respectively connected in series in the electrical connection between the high-frequency transformer 554 and the matching circuit 555, one path of the output of the current sensor 556 is electrically connected with a data acquisition card 567, the other path of the output of the current sensor 558 is electrically connected with a DSP controller 559 through a signal conditioning circuit 558, one path of the output of the voltage sensor 557 is electrically connected with the data acquisition card 567 through a voltage transmitter 564, the other path of the output of the voltage sensor 557 is electrically connected with the DSP controller 559 through the signal conditioning circuit 558, and a gas flow sensor 91, the data acquisition card 567 and a plasma A/D conversion circuit 568 are electrically connected with the DSP controller 559 through the signal conditioning circuit 558, The plasma PLC controller 51 is electrically connected in sequence, the DSP controller 559, the DC/DC PWM generator 560, the DC/DC drive circuit 562 and the DC/DC circuit 552 are electrically connected in sequence, the DSP controller 559, the inverter PWM generator 561, the inverter drive circuit 563 and the inverter circuit 553 are electrically connected in sequence, and the DSP controller 559 is electrically connected with the auxiliary power supply 525.

The operation of the plasma beam generation unit 55: the input current 521 output by the electric control cabinet 522 commercial power alternating current is rectified by a rectifying circuit 551 to obtain pulsating direct current, stable direct current is obtained after filtering, the direct current voltage can be adjusted by the output voltage of a DC/DC circuit 552, and then input into an inverter circuit 553 to obtain low-voltage alternating current, alternating current meeting the working requirements of the low-temperature plasma generating device 5 is obtained by isolating and boosting through a high-frequency transformer 554, one path of the alternating current passes through a shell no-potential electrode output 565 and flows to a shell no-potential electrode 72 through a matching circuit 555 of a dynamic matching network, and the other path of the alternating current passes through a center electrode output 566 and flows to a center electrode 71, so that the alternating current supplies power to the shell no-potential electrode output 565 and the center electrode output 566 and generates plasma inside a plasma spray gun 7 through a high-frequency pulse arc.

Meanwhile, in order to ensure that the load center electrode 71 and the shell no-potential electrode 72 are always in a resonance state, a current sensor 556 and a voltage sensor 557 are respectively connected in series in an output circuit between the high-frequency transformer 554 and the matching circuit 555, the current sensor 556 and the voltage sensor 557 collect voltage and current signals at the output end of the high-frequency transformer 554, the sampled voltage and current signals are input into a signal conditioning circuit 558 through the amplitude and phase of the collected voltage and current signals, are processed by a/D (analog-to-digital) controller 559 after being subjected to a/digital) conversion, are respectively subjected to isolation driving by a control chip TMS320LF2812 and then are respectively sent to the DC/DC circuit 552 and the inverter circuit 553 after being subjected to isolation driving by the DC/DC PWM generator 560, the inverter PWM generator 561, the DC/DC driving circuit 562 and the inverter driving circuit 553, the output frequency of the inverter circuit is adjusted in time, so that the matching inductance of the matching circuit 555 can be adjusted, and the input frequency of the input current 521 can follow the output frequency of the potential electrode output 565 and the output frequency of the central electrode output 566 of the shell in real time.

One end of the electromagnetic airflow valve 93 is connected into the gas storage bottle 94 through the gas transmission pipeline 92, and the other end of the electromagnetic airflow valve 93 is connected into the plasma gun gas channel 74 through the gas pipeline 113 after being connected into the gas flow sensor 91, so that continuous working gas is provided for the plasma gun 7, and meanwhile, the electromagnetic airflow valve 93 has the functions of stabilizing current and pressure and ensures the stability of the working gas flow. Wherein: the current sensor 556 and the voltage sensor 557 monitor various parameter information such as the acquired voltage and current signal size in real time and the acquired gas flow size in real time by the gas flow sensor 91, and acquire and feed back the information to the plasma PLC controller 51 through the data acquisition card 567 and the plasma A/D conversion circuit 568; and the voltage value acquired by the voltage sensor 557 in real time exceeds the rated range of the data acquisition card 567, so that the voltage transmitter 564 is selected for the purpose, and the acquired voltage value is subjected to voltage reduction processing and correction and then is input into the data acquisition card 567.

EXAMPLE III

As shown in fig. 5 to 7, 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 (7)

1. The utility model provides a robot spreading machine plasma surface treatment device for equipment, includes upper industrial control host computer, robot control ware, low temperature plasma generating device, industrial robot, plasma spray gun, work platform, its characterized in that: the monitoring device and the CAN bus are connected with a 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 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 surface treatment apparatus for a robot coater device according to 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 surface treatment apparatus for a robot coater device according to claim 1, wherein: the plasma PLC controller of the low-temperature plasma generating device is respectively electrically connected with a plasma unit interface module, a relay I in a driving unit, a proportional amplifier, a touch display screen, a relay II, an electric quantity transmitter in a power supply unit, a plasma power management module and a plasma A/D conversion circuit in the plasma beam generating unit, the plasma unit interface module is used as a node of the plasma generating device and is electrically connected with a CAN bus, and the relay II is sequentially electrically connected with an auxiliary switch and an electric control cabinet in the power supply unit.

4. The plasma surface treatment apparatus for a robot coater device according to claim 1, wherein: the touch display screen of the low-temperature plasma generating device is connected with the plasma PLC through an RS232 communication cable; a control motor of the low-temperature plasma generating device is respectively and electrically connected with a frequency converter, a relay I, a limit switch and an electric control pressure reducing valve in an industrial gas source unit; the relay I is electrically connected with the soft starter and an electric control cabinet in the power supply unit in sequence; the limit switch is respectively electrically connected with the proportional amplifier, the control motor, the electromagnetic airflow valve in the industrial gas source unit and the electric control pressure reducing valve; and the electric control cabinet of the low-temperature plasma generating device is electrically connected with the electric quantity transmitter, the plasma power supply management module, the soft starter, the auxiliary switch, the input current and the auxiliary power supply respectively.

5. The plasma surface treatment apparatus for a robot coater device according to claim 1, wherein: the rectifier circuit input end and the input current electric connection of low temperature plasma generating device, the rectifier circuit input in order with DC/DC circuit, inverter circuit, high frequency transformer, matching circuit electric connection, matching circuit is output through the shell no potential electrode output all the way, another way is output through central electrode, establish ties respectively in the electric connection between high frequency transformer, matching circuit, have current sensor, parallelly connected voltage sensor, current sensor output is all the way with data collection card electric connection, another way is through signal conditioning circuit and DSP controller electric connection, voltage sensor output is all the way through voltage transmitter and data collection card electric connection, another way is through signal conditioning circuit and DSP controller electric connection, low temperature plasma generating device's gas flow sensor, low temperature plasma generating device, The plasma control system comprises a data acquisition card, a plasma A/D conversion circuit and a plasma PLC controller which are electrically connected in sequence, wherein the DSP controller, a DC/DC PWM generator, a DC/DC drive circuit and a DC/DC circuit are electrically connected in sequence, the DSP controller is used for inverting the PWM generator, the inverter drive circuit and the inverter circuit and are electrically connected in sequence, and the DSP controller is electrically connected with an auxiliary power supply.

6. The plasma surface treatment apparatus for a robot coater device according to claim 1, wherein: the monitoring PLC controller of the monitoring device is respectively and 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 and amplifying circuit and the A/D conversion circuit are sequentially and electrically connected, the optical fiber acousto-optic modulator, the optical fiber connector I and the optical fiber bundle sensing probe are sequentially and electrically connected, the feedback control loop is electrically connected with the signal conditioning and 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 modulator, the A/D conversion circuit, the sampling frequency adjusting loop and the A/D conversion circuit, 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 are electrically connected.

7. The plasma surface treatment apparatus for a robot coater device according to claim 1, wherein: 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 of the monitoring device are electrically connected in sequence, and the pulse input signal, the pulse adjustment circuit, the controller adjustment circuit and the 2ASK modulation circuit of the monitoring device are electrically connected in sequence.

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