机器人等离子喷涂控制系统设计与研究

Design of control system for robot plasma spraying

采用组态软件编程实现了对喷涂工艺参数(如电流、电压、皮膜温度、机器人状态等)的实时监测和控制.对实际系统进行了喷涂工艺试验,给出了不同工艺参数条件下,采用红外测温仪进行皮膜温度检测的试验结果和理论分析.结果表明:在等速运行的周期性“Z”字形平移路径的喷涂中,工件边缘温度高于工件中心处的温度,两者相差60℃左右.因此在机器人等离子喷涂中,必须对路径进行规划和采用变速控制,才能获得一致的皮膜温度,从而防止皮膜起皮、脱落等工艺缺陷的产生.讨论了在基体预热温度相同而喷涂参数(如电流)变化的情况下其基体温度变化的趋势.即:当电流变化50A时,温度的变化只反映在上升段,而在温度达到稳态时,工件的温度分布基本相同.研究成果能够满足机器人等离子喷涂工艺控制的要求,具有开发周期短、用户界面友好、易于维护和使用的特点.

A control system for robot plasma spraying based on configuring software was developed, and the process parameters such as current, voltage, coatings temperature, state of robot were real time monitored and controlled. Through the experiments with different process parameters, the result of the coatings temperature measurement with the infrared thermo scope and its theoretical analysis were given. The results that the temperature at the edge of workpieces is 60?℃ higher than that in the center with the periodicity parallel scanning path of “Z” type under the same velocity of robot in the plasma spraying. So the path planning and the control of velocity should be changed to obtain the even coating temperature in the robot plasma spraying, because the event temperature can prevent coating crack and other process but same pre-temperature of substrate. When the current increase 50A, the difference just occur in the temperature rising phase. But there is no obvious difference when rapid plasma spray mould, such as punch mould and the mould motorcycle deck. The control system does not only meet the control of plasma spraying, but also adjust the manufacturing process according to the different spraying conditions and the demand of users. With friendly use interface, short design period and low cost, this system is important to the popularizing of robot plasma spraying.