| Aiming at the problem of anti-electromagnetic interference for industrial robot system in complex industrial electromagnetic environment.This paper takes servo drive and equipment cabinet as the research object,and conducts EFT/B(Electrical Fast Transient/Burst)test and analyze the characteristics of electromagnetic shielding respectively.The anti-electromagnetic interference requirements of servo driver and equipment cabinet are proposed,then the mechanism of EFT/B and electromagnetic shielding is analyzed.The research approach on servo drives EFT/B test and electromagnetic shielding characteristics of equipment cabinet characteristics is designed,then the key technologies on servo driver EFT/B special test method design,equipment cabinet simulation modeling and prototype development are studied in research approach.Based on the composition and working principle of the servo driver for industrial robot,the types of interference sources and coupling paths in industrial electromagnetic radiation environment are analyzed.Aiming at the interference of servo driver EFT/B,the detailed test scheme of servo driver EFT/B is studied by the analysis of the general EFT/B test standard,then the dedicated test method of EFT/B for industrial robot servo driver is formed.According to the dedicated test method of EFT/B for industrial robot servo driver which is formed,the combination of test conditions are designed under different loads and grades.The verification experiment of servo drive EFT/B test is carried out,which shows that the designed dedicated method is feasible and effective.Based on the electromagnetic radiation environment of industrial robot equipment cabinet,the radiation interference source and coupling path are analyzed.Aiming to the requirements of tapping and grounding,the simulation analysis of electromagnetic shielding performance for the equipment cabinet is carried out by different types of holes,number of holes,internal partition,wiring hole and grounding mode within 0.03GHz～0.3GHz.The results show that when the holes area is certain,the hole type and number have influence on electromagnetic shielding performance of the equipment cabinet,wherein the round hole shape is relatively good,the more the number of holes is relatively better,which's shielding effectiveness can reach 95 d B;the internal partition is set to equipment cabinet can improve the shielding performance;the large the spacing of wiring holes,the better the shielding performance;Multi-point grounding is better than single-point grounding.The experiment on the influence of different hole types and hole numbers on the electromagnetic shielding performance for equipment cabinet is carried out by electromagnetic shielding test program design,experimental equipment selection,cabinet prototype research,test platform construction.The results show that the test results are consistent with the simulation results in 0.03GHz～0.3GHz,and the shielding effectiveness value deviation range of the two is less than 20 d B,indicating the correctness of theoretical simulation analysis.The research on servo driver EFT/B test and equipment cabinet electromagnetic shielding characteristics for industrial robot in this paper,which can technical reference for reliability study in industrial robot engineering. |
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