CN208191137U - A kind of anti-electromagneticinterference interference system of crusing robot - Google Patents
A kind of anti-electromagneticinterference interference system of crusing robot Download PDFInfo
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- CN208191137U CN208191137U CN201820585818.8U CN201820585818U CN208191137U CN 208191137 U CN208191137 U CN 208191137U CN 201820585818 U CN201820585818 U CN 201820585818U CN 208191137 U CN208191137 U CN 208191137U
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- shielding case
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- crusing robot
- driving plate
- shielding
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- 208000032365 Electromagnetic interference Diseases 0.000 title claims abstract description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000002955 isolation Methods 0.000 claims abstract description 14
- 239000011889 copper foil Substances 0.000 claims abstract description 13
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 11
- 239000004411 aluminium Substances 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims abstract description 6
- 229910052802 copper Inorganic materials 0.000 claims abstract description 5
- 239000010949 copper Substances 0.000 claims abstract description 5
- 229910052751 metal Inorganic materials 0.000 claims description 14
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- 238000007789 sealing Methods 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 4
- 239000003973 paint Substances 0.000 claims description 4
- 239000005030 aluminium foil Substances 0.000 claims description 3
- 239000004568 cement Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 230000033228 biological regulation Effects 0.000 description 6
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- 238000013461 design Methods 0.000 description 3
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- 230000000694 effects Effects 0.000 description 3
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- 230000008569 process Effects 0.000 description 3
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- 230000000873 masking effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
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- 238000009413 insulation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- Shielding Devices Or Components To Electric Or Magnetic Fields (AREA)
Abstract
The utility model relates to a kind of anti-electromagneticinterference interference systems of crusing robot, belong to electromagnetism interference technical field.It includes hardware electromagnetic interference resistant device and software electromagnetism interference module, and the hardware electromagnetic interference resistant device includes driving plate shielding case, control chip shielding case, robot shielding case body, input signal isolation circuit and shielding wire rod；The driving plate shielding case uses aluminum material, is integrated die cast, is divided into two pieces up and down, is fixed by bolts, and external there are wire interfaces；The control chip shielding case is wrapped up using copper foil, and the inner side and outer side of control chip shielding case is equipped with insulating layer；The robot shielding case body is welded using aluminium sheet；The input signal isolation circuit includes isolating diode and peripheral circuit；There is copper mesh package in the inside of the shielding wire rod.The utility model improves the anti-electromagnetic interference capability of crusing robot.
Description
Technical field
The utility model relates to a kind of anti-electromagneticinterference interference systems of crusing robot, belong to electromagnetism interference technical field.
Background technique
Crusing robot operating environment is frequently accompanied by strong electromagnetic, and the main problem of electromagnetic interference is to will lead to controller
Code jump is run, loss of clock etc. leads to robot job insecurity, so the key of electromagnetism interference is for controller
Protection, used method includes metal-back equipotentiality body screen method, although the method use scope is extensive, existing skill
Effect is general in art, and is not directed to the software section and electromagnetism interference of internal internal Electromagnetic Interference, electromagnetism interference
Circuit design.
Utility model content
In view of the above defects of the prior art, the anti-electromagnetism that the utility model provides a kind of crusing robot is done
System is disturbed, the anti-electromagnetic interference capability of crusing robot is improved.
The utility model is achieved by the following technical solution: a kind of anti-electromagneticinterference interference system of crusing robot,
Including hardware electromagnetic interference resistant device and software electromagnetism interference module, the hardware electromagnetic interference resistant device includes driving plate screen
Cover cover, control chip shielding case, robot shielding case body, input signal isolation circuit and shielding wire rod, the anti-electricity of software
Magnetic disturbance module includes reducing while in the algorithm sentence is waited to use；
The driving plate shielding case uses aluminum material, is integrated die cast, is divided into two pieces up and down, is consolidated using bolt
Fixed, external there are wire interfaces；The control chip shielding case is wrapped up using copper foil, controls the inner side and outer side of chip shielding case
Equipped with insulating layer；The robot shielding case body is welded using aluminium sheet；The input signal isolation circuit includes isolation two
Pole pipe and peripheral circuit；There is copper mesh package in the inside of the shielding wire rod.
The driving plate shielding case with a thickness of 1.5mm, driving plate shielding case up and down two pieces be equipped with card slot, driving plate
Shielding case is outwardly and inwardly sprayed with insulated paint, and shielded layer is made to achieve the effect that sealing, the metal part of driving plate shielding case with
Crusing robot DC power supply ground wire is connected.
The copper foil that uses of control chip shielding case for 0.05mm double-side conduction one-side band glue copper foil, the inside of aluminium foil with
Outside is equipped with insulating cement, and the metal part of copper foil is connected with crusing robot DC power supply ground wire.
The robot shielding case body is welded using aluminium sheet, and side is that face is opened in maintenance on one side, and face and machine are opened in maintenance
The ontology of device people's shielding case body is connected by screw bolts, and maintenance is opened and protected between face and robot shielding case body using waterproof sealing,
The metal part of robot shielding case body is connected with crusing robot DC power supply ground wire.
The shielding wire internal is multi cord, is gauze screen outside multi cord, and gauze screen is worked out for finer wire,
The metal part of gauze screen is connected with crusing robot DC power supply ground wire.
Above-mentioned technical proposal, the main shielding principle for utilizing equipotentiality body carry out crusing robot control core multi-level
Protection includes mainly three layers of hardware shield cover, hardware safety circuit and software masking, wherein the metal portion of three layers of hardware shield cover
Divide and be all connected with crusing robot ground wire, guarantees potential in same level；Input signal isolation circuit is mainly with two poles
The one-way conduction of pipe is principle, connects 3.3v pull-up in diode cathode, cathode connects input signal, when cathode input signal is greater than
When 3.3v, it is based on the reversed cut-off characteristics of diode, then does not have high voltage and is directly entered controller and cause controller operation troubles；
Software electromagnetism interference mainly includes reducing that sentence is waited to use, and program acquires robotary at regular intervals, when therewith
The state of preceding preservation executes relevant operation when inconsistent, due to wait sentence internal judgment item be external logic level when, vulnerable to
Interference, therefore reduce under the premise of not changing crusing robot function and sentence is waited to use, improve system stability.
To sum up, the electromagnetic interference resistant device that the utility model uses, improves the ability of crusing robot electromagnetism interference,
The operational stability of operator enhances.
Detailed description of the invention
Fig. 1 is the frame diagram of the anti-electromagneticinterference interference system of crusing robot described in the utility model embodiment；
Fig. 2 is the overhead sectional view of robot shielding case body described in the utility model embodiment；
Fig. 3 is the elevational cross-sectional view of driving plate shielding case described in the utility model embodiment；
Fig. 4 is the structural schematic diagram of input signal isolation circuit described in the utility model embodiment；
Fig. 5 is the structural schematic diagram of software electromagnetism interference described in the utility model embodiment；
In figure, 1, robot shielding case body, 2, driving plate shielding case, 3, robot battery, 4, communication module, 5, pressure stabilizing electricity
Source module, 6, driving plate shielding case wire interface, 7, relay circuit plate, 8, gauze screen, 9, control chip expander board,
10, chip shielding case, 11, control chip are controlled.
Specific embodiment
The utility model is further described below by non-limiting embodiment and in conjunction with attached drawing:
As shown in Figure 1, the utility model embodiment provides a kind of anti-electromagneticinterference interference system of crusing robot, including hard
Part electromagnetic interference resistant device and software electromagnetism interference module, the hardware electromagnetic interference resistant device include driving plate shielding case 2,
Control chip shielding case 10, robot shielding case body 1, input signal isolation circuit and shielding wire rod, the anti-electromagnetism of software
Interference module includes reducing while in the algorithm sentence is waited to use；
The driving plate shielding case 2 uses aluminum material, is integrated die cast, is divided into two pieces up and down, is consolidated using bolt
Fixed, external there are wire interfaces；The control chip shielding case 10 is wrapped up using copper foil, control chip shielding case 10 inside and
Outside is equipped with insulating layer；The robot shielding case body 1 is welded using aluminium sheet；The input signal isolation circuit include every
From diode and peripheral circuit；There is copper mesh package in the inside of the shielding wire rod.
The driving plate shielding case 2 with a thickness of 1.5mm, driving plate shielding case 2 up and down two pieces be equipped with card slot, driving
Plate shielding case 2 is outwardly and inwardly sprayed with insulated paint, and shielded layer is made to achieve the effect that sealing, the metal portion of driving plate shielding case 2
Divide and is connected with crusing robot DC power supply ground wire.
The copper foil that the control chip shielding case 10 uses is 0.05mm double-side conduction one-side band glue copper foil, the inside of aluminium foil
It is equipped with insulating cement with outside, the metal part of copper foil is connected with crusing robot DC power supply ground wire.
The robot shielding case body 1 is welded using aluminium sheet, and side is that face is opened in maintenance on one side, and face and machine are opened in maintenance
The ontology of device people shielding case body 1 is connected by screw bolts, and maintenance is opened anti-using waterproof sealing between face and robot shielding case body 1
Shield, the metal part of robot shielding case body 1 are connected with crusing robot DC power supply ground wire.
The shielding wire internal is multi cord, is gauze screen 8 outside multi cord, gauze screen 8 be finer wire work out and
At the metal part of gauze screen 8 is connected with crusing robot DC power supply ground wire.
Above-mentioned technical proposal, the main shielding principle for utilizing equipotentiality body carry out crusing robot control core multi-level
Protection includes mainly three layers of hardware shield cover, hardware safety circuit and software masking, wherein the metal portion of three layers of hardware shield cover
Divide and be all connected with crusing robot ground wire, guarantees potential in same level；Input signal isolation circuit is mainly with two poles
The one-way conduction of pipe is principle, connects 3.3v pull-up in diode cathode, cathode connects input signal, when cathode input signal is greater than
When 3.3v, it is based on the reversed cut-off characteristics of diode, then does not have high voltage and is directly entered controller and cause controller operation troubles；
Software electromagnetism interference mainly includes reducing that sentence is waited to use, and program acquires robotary at regular intervals, when therewith
The state of preceding preservation executes relevant operation when inconsistent, due to wait sentence internal judgment item be external logic level when, vulnerable to
Interference, therefore reduce under the premise of not changing crusing robot function and sentence is waited to use, improve system stability.
The metal material of the driving plate shielding case 2, control chip shielding case 10 and robot shielding case body 1 is all made of low
Resistance value alloy guarantees that shielding case housing parts voltage is consistent；Wherein:
2 material of driving plate shielding case is 6063-T5 industry extruding aluminium alloy, with a thickness of 1.5mm；The control chip
10 material of shielding case is copper 99.98%, with a thickness of 0.05mm；1 material of robot shielding case body is 6063-T5, with a thickness of
2mm；The diode model 1N4007 of input signal isolation circuit, reversed blanking voltage are up to 1200V；Improve controller
The tolerance value of input voltage.
As shown in Fig. 2, including main modular therein；Driving plate shielding case 2 is in 1 left side of robot shielding case body, machine
It is communication module 4 in the middle part of people's shielding case body 1, is power module of voltage regulation 5 on the right side of shielding case body, communication module 4 is in regulated power supply mould
5 top of block, the advantage being arranged so are the driving plate shielding case 2 for allowing driver to wrap up outside as far as possible far from power module of voltage regulation 5
To reduce interference of the electromagnetic wave of robot interior to control chip 11.
As shown in figure 3, one layer of outermost is driving plate shielding case 2, it is respectively to control that inside is three layer circuit boards from top to down
11 expander board 9 of coremaking piece, relay circuit plate 7 and another block of relay circuit plate 7；Design two blocks of relay circuit plates 7
Purpose be for robot motor control and reserved motor control, hardware anti-electromagnetic interference circuit structure distribution this two pieces after
On appliance circuit plate 7；It is one layer of gauze screen 8, gauze screen 8 between control 11 expander board 9 of chip and relay circuit plate 7
Upper and lower spray insulation paint, this gauze screen 8 are connected with crusing robot ground wire, in order to eliminate relay contact movement institute
Influence of the electromagnetic wave of generation to control chip 11, belongs to the inhibition in Electromagnetic Interference source in driving plate shielding case 2；Control chip
11 are welded on control 11 expander board 9 of chip, and control 11 expander board 9 of chip is responsible for the peripheral circuit of control chip 11
It builds, and the control pin of chip is drawn, power supply power supply etc.；It is control chip shielding case 10 on control chip 11,
The two is with glue connection of insulating.
As shown in figure 3, input signal isolation circuit mainly include pull-up power supply 3.3V, it is current-limiting resistance R2, diode D2, steady
Voltage capacitance C4, crusing robot ground wire GND, two signal pins signal_1 and signal_O1；This circuit low level is effective；
Pull-up power supply 3.3V is connected with the one end current-limiting resistance R2, another terminating diode D2 anode, diode D2 cathode and electric capacity of voltage regulation
C4 is connected, another termination crusing robot ground wire GND of electric capacity of voltage regulation C4；It is wherein letter between current-limiting resistance R2 and diode D2
Number output end signal_1, signal_1 are connected to control chip 11, input between diode D2 and electric capacity of voltage regulation C4 for signal
Signal_O1, signal_O1 is held to connect peripheral signal acquisition module.
Its control principle detailed analysis is as follows:
When signal input part signal_O1 voltage is 0, power supply 3.3V, current-limiting resistance R2 and signal_O1 is drawn to constitute electricity
Logical circulation road, diode D2 conducting, signal output end signal_1 voltage are 0 composition low level, and control chip 11 can collect this
Low level signal；When signal_O1 voltage is between 0-3.3v, principle is consistent with above description；When signal_O1 electricity
When pressure is greater than 3.3v, then it is greater than its cathode voltage in diode D2 cathode voltage, diode reversely ends, and it is disconnected for being equivalent to D2
Road, then signal output end signal_1 is always 3.3V, and high voltage cannot be introduced into control chip 11, is carried out firmly to control chip 11
Part Anti-interference Design；When signal input part signal_O1 voltage fluctuation, electric capacity of voltage regulation C4 plays the role of pressure stabilizing.
As shown in figure 4, a kind of crusing robot signal acquisition scheme is designed in terms of software electromagnetism interference, now in conjunction with
Its process is described in detail in Fig. 4:
Illustrate: two variables in Fig. 4, variable Z1 and variable Z1u with above in the output end signal_1 that mentions have
It closes, signal_1 is low level, and variable Z1u is 0；Signal_1 is high level, and variable Z1u is 1；The value of variable Z1 is with Z1's
Change and changes.
When program brings into operation, for 1 collection process of state shown in Fig. 4 program chart, default initialization is
No signal condition, i.e. initializing variable Z1 are 1.When the input of external no signal, it is 1 that variable Z1 is equal always with variable Z1u, journey
Sequence constantly refreshes variable Z1u value；When sometime there is signal input controller in outside, variable Z1u passes through 1 signal acquisition of state
After process, value becomes 0, when judging behind, and variable Z1u is 0, and variable Z1u does not update also, value 1, variable Z1 and change
It is different to measure Z1u, then more new variables Z1u value is identical as variable Z1, and executes corresponding robot motion.Other states n's adopts
Collection and comparison procedure are consistent with above description.
The foregoing is merely specific embodiment of the present utility model, are not intended to limit the utility model, for
For those skilled in the art, various modifications and changes may be made to the present invention.All spirit and original in the utility model
Any modification, equivalent replacement, improvement and so within then, should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of anti-electromagneticinterference interference system of crusing robot, which is characterized in that including hardware electromagnetic interference resistant device and software
Electromagnetism interference module, the hardware electromagnetic interference resistant device include driving plate shielding case, control chip shielding case, robot screen
Cover cabinet, input signal isolation circuit and shielding wire rod；
The driving plate shielding case uses aluminum material, is integrated die cast, is divided into two pieces up and down, is fixed by bolts, outside
There are wire interfaces in portion；
The control chip shielding case is wrapped up using copper foil, and the inner side and outer side of control chip shielding case is equipped with insulating layer；
The robot shielding case body is welded using aluminium sheet；
The input signal isolation circuit includes isolating diode and peripheral circuit；
There is copper mesh package in the inside of the shielding wire rod.
2. the anti-electromagneticinterference interference system of crusing robot according to claim 1, which is characterized in that the driving plate shielding
Cover with a thickness of 1.5mm, driving plate shielding case up and down two pieces equipped with card slot, driving plate shielding case is outwardly and inwardly sprayed with
The metal part of insulated paint, driving plate shielding case is connected with crusing robot DC power supply ground wire.
3. the anti-electromagneticinterference interference system of crusing robot according to claim 1, which is characterized in that the control chip screen
The copper foil that cover uses is covered for 0.05mm double-side conduction one-side band glue copper foil, and the inner side and outer side of aluminium foil is equipped with insulating cement, copper foil
Metal part is connected with crusing robot DC power supply ground wire.
4. the anti-electromagneticinterference interference system of crusing robot according to claim 1, which is characterized in that the robot shielding
Cabinet is welded using aluminium sheet, and side is that face is opened in maintenance on one side, and face is opened in maintenance and the ontology of robot shielding case body uses
It is bolted, maintenance is opened and protected between face and robot shielding case body using waterproof sealing, the metal portion of robot shielding case body
Divide and is connected with crusing robot DC power supply ground wire.
5. the anti-electromagneticinterference interference system of crusing robot according to claim 1, which is characterized in that the shielding wire rod
Inside is multi cord, is gauze screen outside multi cord, gauze screen is worked out for finer wire, the metal part and inspection of gauze screen
Robot DC power supply ground wire is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820585818.8U CN208191137U (en) | 2018-04-24 | 2018-04-24 | A kind of anti-electromagneticinterference interference system of crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820585818.8U CN208191137U (en) | 2018-04-24 | 2018-04-24 | A kind of anti-electromagneticinterference interference system of crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208191137U true CN208191137U (en) | 2018-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820585818.8U Expired - Fee Related CN208191137U (en) | 2018-04-24 | 2018-04-24 | A kind of anti-electromagneticinterference interference system of crusing robot |
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| CN (1) | CN208191137U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596608A (en) * | 2019-10-08 | 2019-12-20 | 昆山聚创新能源科技有限公司 | Charging and discharging cabinet and testing method thereof |
| CN114203353A (en) * | 2021-12-30 | 2022-03-18 | 中国长江电力股份有限公司 | System and method for resisting strong magnetic field interference of inspection robot |
| CN115348816A (en) * | 2022-10-18 | 2022-11-15 | 国网湖北省电力有限公司电力科学研究院 | Electromagnetic shielding method for equipotential operation of electric robot |
| CN115453166A (en) * | 2022-10-31 | 2022-12-09 | 广东威恒输变电工程有限公司 | Anti-interference method of insulator string detection robot |
-
2018
- 2018-04-24 CN CN201820585818.8U patent/CN208191137U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596608A (en) * | 2019-10-08 | 2019-12-20 | 昆山聚创新能源科技有限公司 | Charging and discharging cabinet and testing method thereof |
| CN114203353A (en) * | 2021-12-30 | 2022-03-18 | 中国长江电力股份有限公司 | System and method for resisting strong magnetic field interference of inspection robot |
| CN115348816A (en) * | 2022-10-18 | 2022-11-15 | 国网湖北省电力有限公司电力科学研究院 | Electromagnetic shielding method for equipotential operation of electric robot |
| CN115453166A (en) * | 2022-10-31 | 2022-12-09 | 广东威恒输变电工程有限公司 | Anti-interference method of insulator string detection robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181204 |