Self-adaptive power supply for low-voltage micro-arc robot

Abstract

The utility model discloses a low-voltage micro-arc robot self-adaptive power supply, which comprises a cable moving module, an alarm module, a driving module, a detection module and a discharge main circuit, and the discharge main circuit is formed by sequentially connecting a three-phase bridge rectifier module, a full-bridge inverter module and a direct-current chopper module and finally outputs to act on a discharge gap. The cable moving module and the alarm module serve as independent parts of a power supply, and transmit signals to the main control board through position detection and temperature detection so as to control actions of the winding motor and the alarm lamp. According to the detection module, a high-speed acquisition board collects voltage and current signals of a discharge gap and transmits the signals to the main control board, the main control board processes and calculates the signals and drives a discharge main circuit through the driving module, so that power output is controlled, the application problem of an actual machining scene of the low-voltage micro-arc robot is solved, discharge energy output is controlled, and the service life of the low-voltage micro-arc robot is prolonged. The processing surface quality is improved.

Description

Technical Field

[0001] The utility model relates to the field of low-voltage micro-arc machining, in particular to an adaptive power supply device used for low-voltage micro-arc robot discharge machining. Background Art

[0002] Low-voltage micro-arc machining technology is an extension of the electrical machining method that uses the arc generated by electrode discharge to erode the workpiece material. It belongs to the category of electrical machining technology in the special machining industry. Compared with traditional arc machining, low-voltage micro-arc machining can be used for semi-finishing machining of high-strength and superhard materials. As an important component of the low-voltage micro-arc machining system, the performance of the low-voltage micro-arc power supply has a great influence on the efficiency, electrode loss, workpiece surface quality and other indicators of low-voltage micro-arc machining. The control method of traditional arc machining power supplies is mostly PID adjustment. In the face of various special situations that occur during machining, it is impossible to control the reasonable output of its discharge energy, and when it is matched with a low-voltage micro-arc robot, it cannot meet the real-time scene processing requirements. By analyzing the arc discharge state and discharge energy of the discharge gap during low-voltage micro-arc milling, and the actual low-voltage micro-arc robot machining application scenario, an adaptive control power supply for low-voltage micro-arc robots is designed, which provides a solution for the development of low-voltage micro-arc machining technology. Utility Model Content

[0003] The utility model provides an adaptive power supply for a low-voltage micro-arc robot, which solves the problem that various special situations occur during the processing of the low-voltage micro-arc robot and the reasonable output of the discharge energy cannot be controlled, and the processing movement of the low-voltage micro-arc robot in actual scenes can be solved.

[0004] A low-voltage micro-arc robot adaptive power supply comprises a cable moving module, an alarm module, a driving module, a detection module and a discharge main circuit, wherein the discharge main circuit is connected in sequence by a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module.

[0005] The detection module is used to detect the electrical signal between the discharge gap tool electrode and the workpiece. According to the discharge energy and discharge waveform, it can be divided into three states: normal arc, continuous arc and short circuit.

[0006] The signal input end of the detection module is connected to the discharge gap, the output end is connected to the STM32 main control board, and the output end of the STM32 main control board is connected to the pulse control signal input end of the driving module.

[0007] The optocoupler isolation in the drive module receives the control signal from the STM32 main control board for isolation and then amplifies the power through the drive amplifier circuit. The pulse control signal output end of the drive module is connected to four IGBTs (Q1, Q2, Q3, Q4) and a power MOS tube Q5.

[0008] The main discharge circuit is connected in sequence by a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module. In the three-phase bridge rectifier module, the A, B and C phases are connected between the diodes D1, D3 and D5 located in the upper bridge arm and the diodes D2, D4 and D6 located in the lower bridge arm, respectively. The upper bridge arm diode and the lower bridge arm diode are connected head to tail, and the tail is connected in parallel with the capacitor C1; the full-bridge inverter circuit includes 4 IGBTs and a DC blocking capacitor and a soft switch circuit corresponding to each IGBT. The DC blocking capacitor C6 is connected to the bridge inverter circuit and is connected to the middle connecting wire of the two bridges Q1Q2 and Q3Q4 to form a voltage buffer type buffer circuit; the full-bridge inverter The transformer module and the DC chopper module are isolated and transformed through the transformer T1. The DC chopper module includes a diode, a current-stabilizing inductor and an energy storage capacitor. The diodes D7 and D8 are connected in parallel and connected to one end of the current-stabilizing inductor L1. The other end of the current-stabilizing inductor L1 is connected to one end of the energy storage capacitor C7. The other end of the energy storage capacitor is connected to the transformer T1. One end of the power MOS tube Q5 is connected to one end of the energy storage capacitor C7, and the other end is connected to the discharge gap. The energy storage capacitor C7 is connected in parallel with the discharge gap through Q5.

[0009] Preferably, the STM32 main control board is implemented using STM's STM32G474VET6 model.

[0010] Preferably, the IGBT is implemented using Infineon's FF450R12KT4 model.

[0011] Preferably, the power MOSFET is implemented using Infineon's IRF530 model.

[0012] The low-voltage micro-arc robot adaptive power supply also includes a cable moving module, including a winding motor, an anode cable, a cathode cable, a power supply cable, and a position sensor. The winding machine with the winding motor is located at the bottom of the power supply, and is used to move and release the anode cable. The power source of the winding motor is the electric energy provided by the power supply cable. When the position sensor installed on the low-voltage micro-arc robot sends a signal and is received and processed by the STM32 main control board, the STM32 main control board sends a command signal to control the movement of the winding motor.

[0013] The low-voltage micro-arc robot adaptive power supply also includes an alarm module, including an alarm light and a temperature sensor. The STM32 main control board receives the temperature sensor signal installed inside the power supply, and the STM32 main control board controls the working state of the alarm light.

[0014] As a further solution of the utility model: there is also an air switch inside the power supply, which serves as a connecting part for controlling the power supply of the mains power and the power supply of each module inside the power supply; the fan group inside the power supply serves as an air cooling system to take away the heat generated by the long-term operation of the power supply and keep its operating temperature stable.

[0015] The low-voltage micro-arc robot adaptive power supply workflow is characterized in that the process includes the following steps:

[0016] Step 1: The electrode processes the workpiece according to the preset discharge state, and the detection module detects the discharge state signal of the discharge gap between the electrode and the processed workpiece, and transmits these signals to the STM32 main control board for identification, generating corresponding control signals. When the detection module detects a continuous arcing signal, the STM32 main control board outputs a pulse control signal to regulate the conduction state of the four IGBTs and the power MOS tube, ending its continuous arcing state; when the detection module detects a short-circuit signal, the STM32 main control board outputs a pulse control signal to regulate the conduction state of the power MOS tube, ending its short-circuit state.

[0017] Step 2: The driving module isolates and amplifies the pulse control signal output by the STM32 main control board, and the pulse control signal after isolation and power amplification can change the conduction state of each switch tube, and finally complete the reasonable energy output of the processed workpiece.

[0018] Compared with the prior art, the beneficial effects of the utility model are as follows: the low-voltage micro-arc robot adaptive power supply of the utility model can realize the adjustment of the output pulse amplitude, frequency, and duty cycle, and can continuously adjust the output frequency parameters, waveform parameters, duty cycle parameters, etc., and timely adjust the discharge state during the processing process, so that it can be more maintained in a normal arc discharge state, thereby achieving the matching of discharge energy and processing state, improving processing efficiency and processing accuracy; it solves the problem of movement of cables used in scenes when the low-voltage micro-arc robot is moving during processing, and provides a solution for the future application of low-voltage micro-arc robot power supplies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the functional block diagram of the adaptive power supply;

[0020] Figure 2 Connect the plan view of the adaptive power structure for the low voltage micro-arc robot;

[0021] Figure 3 Simplified topology diagram of the main circuit of the adaptive power supply discharge for low-voltage micro-arc robots;

[0022] Figure 4 This is the block diagram of the adaptive control structure of the adaptive power supply for the low-voltage micro-arc robot;

[0023] Figure 5 This is a waveform diagram of different states of the low-voltage micro-arc robot in a single cycle of machining gap;

[0024] (a) Normal arc (b) Continuous arc (c) Short circuit

[0025] The description of the accompanying drawings is as follows: air switch 1, STM32 main control board 2, drive module and discharge main circuit 3, winding device 4, fan group 5, alarm light 6, power supply cable 7, signal line 8, anode cable 9, cathode cable 10, low-voltage micro-arc robot 11, arc head 12, workpiece 13, workbench 14. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-2 , Embodiment 1: In the embodiment of the utility model, a low-voltage micro-arc robot adaptive power supply includes a cable moving module, an alarm module, a drive module, a detection module and a discharge main circuit, wherein the discharge main circuit includes a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module. The cable moving module and the alarm module are located in the independent part of the adaptive power supply, and the winding motor and the alarm light are controlled by the main control board. The detection module collects the electrical signal of the discharge gap and transmits it to the main control board. The drive module drives and amplifies the main control board signal to act on the power electronic device of the discharge main circuit. The main power in the discharge main circuit is connected in sequence via a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module and finally output to act on the discharge gap.

[0028] The power supply structure is as follows: the external mains power 380V is collected through the air switch 1 to form a power supply cable 7, which supplies power to the winding motor 4 and the fan group 5. The STM32 main control board 2 communicates with the drive module and the discharge main circuit 3, the alarm light 6, and the winding motor 4 through the signal line 8. The cathode cable extends outward through the cathode end of the power supply and is connected to the workbench 14, and the anode cable extends outward through the winding device containing the winding motor 4 and the anode on the power supply and is connected to the arc head 12 of the low-voltage micro-arc robot 11. The temperature sensor is located inside the power supply, and the position sensor is located inside the low-voltage micro-arc robot.

[0029] In addition to providing discharge energy during processing, the power supply also has an alarm module and a cable movement module as independent parts of the power supply.

[0030] The alarm module is composed of an STM32 main control board 2, a temperature sensor, an alarm light 6, and a signal line 8. The cable moving module is composed of a winding motor 4, a power supply cable 7, an anode cable 9, a cathode cable 10, an STM32 main control board 2, and a signal line 8.

[0031] When the low-voltage micro-arc robot 11 processes the workpiece 13 normally, the fan group 5 continues to operate under the power supply of the power supply cable 7, taking away the heat generated during the operation of the power supply; if the fan group 5 does not work normally or the power supply continues to operate at a high load or works in an abnormal state for a long time, the internal temperature of the power supply rises. At this time, the abnormal temperature signal detected by the temperature sensor is transmitted to the STM32 main control board 2, and the STM32 main control board 2 then sends an instruction through the signal line to control the working state of the alarm light 6 located at the upper end of the power supply, changing from green in the normal state to red, thereby promptly reminding that the power supply can be turned off in time through the air switch 1 in the abnormal state.

[0032] When the low-voltage micro-arc robot 11 processes the workpiece 13 normally, if the workpiece 13 is large and needs to be moved to the other side of the workbench 14 by the low-voltage micro-arc robot 11 through the guide rail for processing, the anode cable 9 connected to the arc head 12 will be stretched accordingly. At this time, the position sensor on the low-voltage micro-arc robot 11 sends a signal to the STM32 main control board 2, and then the STM32 main control board 2 sends a command to the winding device with the winding motor 4 at the lower end of the power supply through the signal line 8. At this time, the winding motor 4 at the lower end of the power supply moves to bring out the anode cable 9; on the contrary, if the low-voltage micro-arc robot 11 returns to the end close to the power supply, the winding motor 4 retracts the anode cable 9.

[0033] In the embodiment of the utility model, a low-voltage micro-arc robot adaptive power supply provides power for processing, which is mainly completed by STM32, a driving module, a detection module and a discharge main circuit. When the low-voltage micro-arc robot 11 processes the workpiece 13, the detection module detects the voltage and current signals of the discharge gap and transmits them to the STM32 main control board 2 for processing, and then the STM32 main control board 2 transmits the command signal to the driving module and the discharge main circuit 3 through the signal line 8, controls the working state of the corresponding switch tube, and thus achieves adaptive control of the power supply.

[0034] See also Figure 3 In the main discharge circuit, the three-phase bridge rectifier module, the full-bridge inverter module, the DC chopper module and the discharge gap are connected in sequence.

[0035] The three-phase bridge rectifier module includes a bridge-connected diode D1, a diode D2, a diode D3, a diode D4, a diode D5, and a diode D6, wherein the diode D1, the diode D3, and the diode D5 are located in an upper bridge arm, and the diode D2, the diode D4, and the diode D6 are located in a lower bridge arm, and the upper bridge arm diode and the lower bridge arm diode are connected head to tail, and a capacitor C1 is connected in parallel at the tail.

[0036] The full-bridge inverter module includes four IGBTs (Q1, Q2, Q3, Q4) connected in bridge form; each IGBT is connected in parallel with a capacitor, C2 is connected in parallel with Q1, C3 is connected in parallel with Q2, C5 is connected in parallel with Q3, and C4 is connected in parallel with Q4. The DC blocking capacitor C6 is located on the connecting wire between the bridges Q1Q2 and Q3Q4, and C6 is located on the primary side of the transformer T1.

[0037] The DC chopper module includes power diodes D7 and D8, a current-stabilizing inductor L1, an energy storage capacitor C7 and a switch tube Q5. D7 and D8 are connected in parallel and are both connected to one end of L1, the other end of L1 is connected to C7, and the other end of C7 is connected to the secondary side of the transformer T1. The energy storage capacitor C7 is connected in parallel with the discharge gap, and there is a switch tube Q5 on the side where C7 is connected in parallel with the discharge gap. The main discharge circuit of the power supply includes a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module. The three-phase bridge rectifier module includes diodes D1, D2, D3, D4, D5, D6, an energy storage capacitor C1, and the diodes D1 / D2, D3 / D4, and D5 / D6 constitute three groups of rectifier bridges. The three-phase electricity of ABC is respectively connected to the middle position of the three bridges, and the capacitor C1 is connected in parallel with the three bridges. The full-bridge inverter circuit includes 4 IGBTs (Q1, Q2, Q3, Q4), each IGBT is connected in parallel with a capacitor (C2, C3, C5, C4). A DC isolation capacitor C6 is connected to the DC bus of the bridge inverter circuit to form a voltage buffer circuit. The full-bridge inverter module is isolated from the DC chopper circuit by the transformer T1. The DC chopper circuit located on the secondary side of the transformer T1 includes diodes D7 and D8, a current-stabilizing inductor L1, an energy storage capacitor C7 and a power MOS tube Q5. The diodes D7 and D8 are connected in parallel and connected to one end of the current-stabilizing inductor L1. The other end of the current-stabilizing inductor is connected to the energy storage capacitor C7. Finally, the energy storage capacitor C7 is connected in parallel with the discharge gap through the power MOS tube Q5.

[0038] Embodiment 2: Based on Embodiment 1, the adaptive control and principle of the power supply refer to Figure 4 Figure 5 When the low-voltage micro-arc robot processes the workpiece, the detection module and the signal acquisition module collect the machining current and gap voltage of the discharge gap between the electrode and the workpiece, and distinguish the obtained machining current and gap voltage by the discharge energy and discharge waveform to obtain the corresponding discharge state. The adaptive adjustment module in the STM32 main control board then judges the discharge state, thereby adjusting the corresponding PWM signal according to different discharge states, and then conveying the signal to each switch tube through the drive module, adjusting the working state of each switch tube to achieve the effect of adaptively controlling the discharge energy output according to the machining state.

[0039] The core of adaptive control is to judge the arc discharge state in the discharge gap. Figure 5, within a single cycle T (a) is a normal arc state waveform, the gap voltage will quickly rise to a value U1, which is slightly lower than the preset output power supply voltage value Ud, and the processing current will reach a peak value I1 within T / 2 cycles, and in the following less than T / 2 cycles, the processing current and gap voltage will quickly drop to zero, completing a normal arc discharge within a cycle; within a single cycle T (b) is a continuous arc state waveform, the gap voltage and processing current will rise to a maximum value U2 and I2 within T / 2 cycles, and will drop to a certain value in the next T / 2 cycles and will not drop to 0; within a single cycle T (c) is a short circuit state waveform, the processing current will reach a maximum value I3 in a short time, and continue to maintain the maximum current state, at this time the discharge gap is broken down, and the gap voltage has a slight fluctuation. Here, the gap voltage is set to reach the value U3. The adaptive adjustment module of the STM32 main control board distinguishes the discharge energy of these three different discharge states and the characteristics of the voltage and current waveforms and then generates the corresponding PWM signal.

[0040] The driver module collects signals from the STM 32 main control board, and generates corresponding drive amplification signals G1, G2, G3, G4, and G5 through optocoupler isolation and drive amplifier circuits to drive switch tubes Q1, Q2, Q3, Q4, and Q5 respectively.

[0041] In order to facilitate the analysis of the workflow of the adaptive power supply, it is assumed that various discharge states will appear in the discharge gap during the entire process of the low-voltage micro-arc robot processing the workpiece. The input end of the discharge main circuit topology is connected to the 380V three-phase ABC AC mains, and then converted into DC with good waveform quality through the three-phase bridge rectifier circuit composed of diodes D1, D2, D3, D4, D5, and D6 and the filter capacitor C1, as the input of the full-bridge inverter module. When the detection module collects the gap voltage and current signals of the discharge gap, the STM32 main control board distinguishes the arc discharge state according to the above-mentioned discharge energy and discharge waveform characteristics. When the arc discharge is normal, the set PWM waveform signal sent by the STM32 main control board is transmitted to the switch tube on the full-bridge inverter through the drive module. The full-bridge inverter topology has four bridge arms. The two diagonal switch tubes (Q1 and Q4 or Q2 and Q3) form two pairs of bridge arms. The transistors on the same pair of bridge arms are turned on at the same time. The two pairs of bridge arms are turned on alternately for half a cycle. The capacitors (C2, C3, C5, C4) connected in parallel to each switch tube ensure the voltage stability on the switch tube. At this time, the drive signals G1, G2, G3, and G4 act on the four switch tubes respectively to adjust the output voltage. The electric energy is converted to the secondary side of T1 through the freewheeling diodes D7 and D8 through the stabilizing inductor L1 to the energy storage capacitor C7 for storage. At the same time, the driving signal G5 also keeps the power MOSFET Q5 connected between the DC chopper module and the discharge gap turned on to keep the discharge gap in normal arc discharge; when in the continuous arcing state, the same driving signals G1, G2, G3, G4, and G5 act on four switch tubes (Q1, Q2, Q3, and Q4) and one power MOSFET Q5 respectively, which shortens the conduction time so that the gap voltage and current return to zero within one cycle and then return to the normal arc discharge state; when in the short-circuit state, the PWM signal G5 generated by the STM32 main control board is amplified by the driving module and acts on the power MOSFET Q5, controlling Q5 to turn off and stopping the output of the energy storage capacitor C5 to the discharge gap, thereby ending the short-circuit state discharge.

[0042] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", "middle" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not specifically mean that the device or element must have a specific direction, structure and operation, and therefore cannot be understood as a limitation on the present invention. In the present invention, unless otherwise clearly specified and limited, the terms "connection", "connection", "transmission" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other.

[0043] For those skilled in the art, the utility model is distinguished from other processing power sources by a set of control systems designed using the characteristics of low-voltage micro-arc discharge, and a cable conveying device and related features are added to the overall structure of the power source according to the characteristics of robot movement during low-voltage micro-arc robot processing. Without being limited to the details of the above exemplary embodiments, and without departing from the spirit or basic features of the utility model, the utility model can be implemented in other specific forms, and therefore it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the utility model.

[0044] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A low voltage micro-arc robot adaptive power supply, characterized in that: It includes a cable moving module, an alarm module, a drive module, a detection module and a discharge main circuit, wherein the discharge main circuit includes a three-phase bridge rectifier module, a full-bridge inverter module and a DC chopper module. The cable moving module and the alarm module are located in an independent part of the adaptive power supply. The winding motor and the alarm light are controlled by the main control board. The detection module collects the electrical signal of the discharge gap and transmits it to the main control board. The drive module drives and amplifies the main control board signal to act on the discharge main circuit. In the discharge main circuit, the mains power is connected in sequence via the three-phase bridge rectifier module, the full-bridge inverter module and the DC chopper module and finally output to act on the discharge gap.

2. A low voltage micro-arc robot adaptive power supply according to claim 1, characterized in that: The cable moving module includes a winding motor, a cathode cable, an anode cable, a power supply cable, an STM32 main control board, and a position sensor; the winding motor is powered by the power supply cable, and the STM32 main control board receives a signal from the position sensor on the low-voltage micro-arc robot to control the movement of the winding motor, thereby sending out the anode cable.

3. The low-voltage micro-arc robot adaptive power supply according to claim 1, characterized in that: The alarm module includes an alarm light, a temperature sensor, and an STM32 main control board; the STM32 main control board processes the temperature sensor signal and controls the working state of the alarm light.

4. The low-voltage micro-arc robot adaptive power supply according to claim 1, characterized in that: In the main discharge circuit, a three-phase bridge rectifier module, a full-bridge inverter module, a DC chopper module and a discharge gap are connected in sequence; The three-phase bridge rectifier module includes a bridge-connected diode D1, a diode D2, a diode D3, a diode D4, a diode D5, and a diode D6, wherein the diode D1, the diode D3, and the diode D5 are located in the upper bridge arm, and the diode D2, the diode D4, and the diode D6 are located in the lower bridge arm, and the upper bridge arm diode and the lower bridge arm diode are connected head to tail, and the tail is connected in parallel with a capacitor C1; The full-bridge inverter module includes four IGBTs (Q1, Q2, Q3, Q4) connected in a bridge type; each IGBT is connected in parallel with a capacitor, C2 is connected in parallel with Q1, C3 is connected in parallel with Q2, C5 is connected in parallel with Q3, and C4 is connected in parallel with Q4. The DC blocking capacitor C6 is located on the connecting wire between the bridges Q1Q2 and Q3Q4, and C6 is located on the primary side of the transformer T1. The DC chopper module includes power diodes D7 and D8, a current-stabilizing inductor L1, an energy storage capacitor C7 and a switch tube Q5; D7 and D8 are connected in parallel and are both connected to one end of L1, the other end of L1 is connected to C7, and the other end of C7 is connected to the secondary side of the transformer T1, the energy storage capacitor C7 is connected in parallel to the discharge gap, and the switch tube Q5 is provided on the side where C7 is connected in parallel to the discharge gap.

5. A low voltage micro-arc robot adaptive power supply according to claim 2 or 3, characterized in that: The detection module collects the voltage and current signals from the discharge gap and transmits them to the STM 32 main control board.

6. A low voltage micro-arc robot adaptive power supply according to claim 2 or 3, characterized in that: The driver module collects signals from the STM 32 main control board, and generates corresponding drive amplification signals G1, G2, G3, G4, and G5 through optocoupler isolation and drive amplifier circuits to drive switch tubes Q1, Q2, Q3, Q4, and Q5 respectively.

7. The low-voltage micro-arc robot adaptive power supply according to claim 1, characterized in that: It also includes an air cooling system, which is mainly composed of a fan, powered by a power supply cable, and located inside the power supply.

8. The low-voltage micro-arc robot adaptive power supply according to claim 1, characterized in that: The STM32 main control board is implemented using STM's STM32G474VET6 model.

9. A low voltage micro-arc robot adaptive power supply according to claim 4, characterized in that: The IGBT of the full-bridge inverter module is implemented using Infineon's FF450R12KT4 model.

10. A low voltage micro-arc robot adaptive power supply according to claim 4, characterized in that: The power MOSFET Q5 in the DC chopper circuit is implemented using the IRF530 model from Infineon.

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