Strong anti-interference circuit for controlling pneumatic soft robot in real time

Abstract

The invention discloses a strong anti-interference circuit for controlling a pneumatic soft robot in real time, and relates to the technical field of integrated circuits. The circuit comprises a novel strong weak analog signal interference resistance circuit which is designed by utilizing an operational amplifier and a feedback principle, and an electrical anti-crosstalk current limiting circuit which is designed by utilizing an optocoupler device. The strong weak analog signal interference resistance circuit is used for shielding signal interference caused by electrical disturbance or unstable power supply. The electrical anti-crosstalk current limiting circuit can effectively isolate electrical interference and limit current flowing in and out of a single chip microcomputer. Signals are output by the single chip microcomputer in a strong push-pull mode, low-resolution information is converted into high-resolution information through the designed strong anti-interference circuit, weak interference analog signals are removed, stable and accurate high and low level output is obtained, and then the high and low level output is output to an electromagnetic valve of the pneumatic driving soft robot through the electric anti-crosstalk current limiting circuit. Therefore, accurate and stable pneumatic robot driving control is realized.

Description

Technical Field

[0001] The invention relates to the technical field of integrated circuits, and in particular to a strong anti-interference circuit for real-time control of a pneumatic soft robot. Background Art

[0002] In the existing pneumatic drive circuits of soft robots, signals are inevitably interfered with. Even weak analog signal noise affects the control accuracy of pneumatic drive robots. Existing anti-interference circuit technology solutions mainly include filters, shielding, grounding, redundant design and other methods. Many anti-interference technologies (such as high-performance filters and shielding materials) often increase the cost of the circuit and affect the market competitiveness of the product. Some anti-interference solutions (for example, using a shielded shell) may cause the overall product volume to increase, which is not friendly to applications with limited space. Summary of the invention

[0003] Based on this, the present invention proposes a strong anti-interference circuit for real-time control of a pneumatic soft robot. The content of the invention is: the strong push-pull voltage signal output by the single-chip microcomputer passes through a strong anti-weak analog signal interference circuit. When the voltage signal exceeds 3V at a certain moment, the strong anti-weak analog signal interference circuit stably outputs a high level of 3.3V; when the voltage signal is lower than 1V at a certain moment, the strong anti-weak analog signal interference circuit stably outputs a low level of 0V. The stable high and low levels output by the strong anti-weak analog signal interference circuit pass through the current limiting circuit for electrical crosstalk prevention. The high level turns on the diode in the optocoupler device, and then turns on the Darlington tube, and the solenoid valve opens; the low level turns off the diode in the optocoupler device, the Darlington tube does not conduct, and the solenoid valve closes. Based on this, precise control of the solenoid valve of the pneumatic soft robot is achieved.

[0004] To achieve the above purpose, the technical solution used in the present invention is: a strong anti-interference circuit for real-time control of a pneumatic soft robot, the circuit comprising: an input resistor R1, an input resistor R2, an operational amplifier U1, a feedback resistor R3, an output resistor R4, a voltage regulator tube, a voltage regulator resistor R5, a voltage regulator capacitor C1, an output resistor R6, an optical coupler, a voltage divider resistor R7, a Darlington tube Q2, and a solenoid valve R8;

[0005] The power supply of the operational amplifier U1 is connected to the 5V voltage of the single-chip microcomputer, and the ground of the operational amplifier U1 is shared with the single-chip microcomputer; one end of the input resistor R1 is connected to the reference voltage Vref, and the other end is connected to the reverse input end of the operational amplifier U1; one end of the input resistor R2 is connected to the I / O port of the single-chip microcomputer, and the other end is connected to one end of the feedback resistor R3 and the positive input end of the operational amplifier U1; the other end of the feedback resistor R3 is connected to the output end of the operational amplifier U1 and one end of the output resistor R4, and the other end of the output resistor R4 is connected to one end of the voltage-stabilizing tube, one end of the voltage-stabilizing resistor R5, one end of the voltage-stabilizing capacitor C1, and one end of the output resistor R6; the voltage-stabilizing tube The other end of the voltage-stabilizing resistor R5 and the other end of the voltage-stabilizing capacitor C1 are grounded and share the same ground with the single-chip microcomputer; the other end of the output resistor R6 is connected to pin 1 of the optocoupler, pin 2 of the optocoupler is grounded and shares the same ground with the single-chip microcomputer, pin 3 of the optocoupler is connected to the base of the Darlington tube Q2, and pin 4 of the optocoupler is connected to one end of the voltage-dividing resistor R7; the other end of the voltage-dividing resistor R7 is connected to the power supply Vcc; the collector of the Darlington tube Q2 is connected to the negative electrode of the solenoid valve R8, the emitter of the Darlington tube Q2 is grounded, the Darlington tube Q2 and the single-chip microcomputer do not share the same ground, but share the same ground with the power supply Vcc; the positive electrode of the solenoid valve R8 is connected to Vcc.

[0006] Furthermore, the minimum starting current IFmin of the optical coupler is 3.2 mA, the optical coupler current is 5.6 mA, the on-state voltage of the diode is 1.2 V, and the output resistance R6 is 360 Ω.

[0007] Further, R1=1KΩ, R2=2KΩ, R3=3.3KΩ, R4=47Ω, R5=1KΩ, R6=360Ω, R7=470Ω, R8=24Ω, C1=0.1uF, Vref=1.86V, Vcc=6V, the power supply of the operational amplifier is connected to the microcontroller 5V, Vz=3.3V.

[0008] Further, C1 = 0.1uF.

[0009] Furthermore, Vref=1.86V, Vcc=6V, and the power supply of the operational amplifier is connected to the 5V of the microcontroller.

[0010] Furthermore, Vz=3.3V.

[0011] The technical effect of the present invention is that the proposed strong anti-interference circuit for real-time control of a pneumatic soft robot achieves low interference, improves the accuracy of the digital signal entering the current limiting circuit for electrical crosstalk prevention, realizes precise control of the solenoid valve of the pneumatic soft robot, and improves the circuit accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a strong anti-interference circuit used for real-time control of pneumatic soft robots.

[0013] Figure 2 This is the input-output characteristic curve of the circuit with strong resistance to weak analog signal interference. Specific implementation methods

[0014] Figure 1 The figure shows a strong anti-interference circuit for real-time control of a pneumatic soft robot, which is directly coupled by a single-chip microcomputer, a strong anti-weak analog signal interference circuit, and an electrical anti-crosstalk current limiting circuit. The basic structure of the strong anti-weak analog signal interference circuit includes input resistors R1 and R2, an operational amplifier U1, a feedback resistor R3, a voltage regulator, and an output resistor R4; the electrical anti-crosstalk current limiting circuit is mainly composed of an optocoupler isolator, an input resistor R6, and a voltage divider resistor R7. The circuit signals include input analog signal V+, calibration signal Vref, output voltage signal Vo, feedback signal Vf, power signal Vcc, and ground signal GND. When the power signal is connected to each chip, the circuit is in working state.

[0015] When the input is low enough, Vo=0. According to the superposition theorem, V+=(Vo×R2+R3×Vi) / (R2+R3), V-=Vref. When the input rises to the threshold voltage VT2, the positive and negative input voltages are equal. At this time, VT2=Vref+(R2 / R3)Vref; when the input is high enough, Vo=Vz=3.3V. Similarly, V+=(Vo×R2+R3×Vi) / (R2+R3), V-=Vref. When the input drops to the threshold voltage VT1, the positive and negative input voltages are equal. At this time, VT1=Vref+(R2 / R3)×(Vref-Vz). Let VT1=1V, VT2=3V. After calculation, R2 / R3=2 / 3.3 and Vref=1.86V.

[0016] V+ represents the positive input analog voltage signal, V- represents the negative input analog voltage signal, Vi represents the input voltage signal, Vo represents the output voltage signal, VT1 represents the low threshold voltage signal, VT2 represents the high threshold voltage signal, and Vz represents the Zener voltage.

[0017] The present invention Figure 1The connection relationship of a strong anti-interference circuit for real-time control of a pneumatic soft robot is proposed: one end of the input resistor R1 in the strong anti-weak analog signal interference circuit is connected to the reference voltage Vref, and the other end is connected to the reverse input terminal of the operational amplifier U1; one end of the input resistor R2 is connected to the I / O port of the microcontroller, and the other end is connected to one end of the feedback resistor R3 and the positive input terminal of the operational amplifier U1; one end of the feedback resistor R3 is connected to the input resistor R2 and the positive input terminal of the operational amplifier U1, and the other end is connected to the input Output terminal; the reverse input terminal of the operational amplifier U1 is connected to the input resistor R1, the forward input terminal is connected to the input resistor R2, the output terminal of the operational amplifier U1 is connected to one end of the resistor R4, the power supply of the operational amplifier U1 is connected to the 5V voltage of the single-chip microcomputer, and the ground of the operational amplifier U1 is shared with the single-chip microcomputer; one end of the resistor R4 is connected to the output terminal of the operational amplifier U1, and the other end is connected to the voltage regulator, resistor R5, capacitor C1 and resistor R6; one end of the voltage regulator is connected to the resistor R4, resistor R5, capacitor C1 and resistor R6, and the other end of the voltage regulator is grounded and connected to the single-chip microcomputer Common ground; one end of resistor R5 is connected to resistor R4, voltage regulator, capacitor C1 and resistor R6, the other end of resistor R5 is grounded and shared with the single-chip microcomputer; one end of capacitor C1 is connected to resistor R4, voltage regulator, resistor R5 and resistor R6, the other end of capacitor C1 is grounded and shared with the single-chip microcomputer; one end of resistor R6 is connected to resistor R4, voltage regulator, resistor R5 and capacitor C1, the other end of resistor R6 is connected to pin 1 of optocoupler PC817; pin 2 of optocoupler PC817 is grounded and shared with the single-chip microcomputer, pin 3 of optocoupler PC817 Pin No. 1 is connected to the base of Darlington tube Q2, pin No. 4 of optocoupler PC817 is connected to one end of resistor R7; one end of resistor R7 is connected to pin No. 4 of optocoupler PC817, and the other end of resistor R7 is connected to power supply Vcc; the positive pole of solenoid valve R8 is connected to Vcc, and the negative pole is connected to the collector of Darlington tube Q2; the base of Darlington tube Q2 is connected to pin No. 3 of optocoupler PC817, the collector of Darlington tube Q2 is connected to the negative pole of solenoid valve R8, the emitter of Darlington tube Q2 is grounded, and Darlington tube Q2 is not grounded with the microcontroller, but is grounded with the power supply Vcc.

[0018] The input-output characteristic curve of the circuit with strong resistance to weak analog signal interference is as follows: Figure 2 When the voltage signal does not exceed 3V during the rising process, the strong anti-weak analog signal interference circuit stably outputs a low level of 0V; when the voltage signal exceeds 3V at a certain moment during the rising process, the strong anti-weak analog signal interference circuit stably outputs a high level of 3.3V; when the voltage signal does not fall below 1V during the falling process, the strong anti-weak analog signal interference circuit stably outputs a high level of 3.3V; when the voltage signal falls below 1V at a certain moment during the falling process, the strong anti-weak analog signal interference circuit stably outputs a low level of 0V.

Claims

1. A strong anti-interference circuit for real-time control of a pneumatic soft robot, the circuit comprising: Input resistor R1, input resistor R2, operational amplifier U1, feedback resistor R3, output resistor R4, voltage regulator tube, voltage regulator resistor R5, voltage regulator capacitor C1, output resistor R6, optocoupler, voltage divider resistor R7, Darlington tube Q2, solenoid valve R8; The power supply of the operational amplifier U1 is connected to the 5V voltage of the single-chip microcomputer, and the ground of the operational amplifier U1 is shared with the single-chip microcomputer; one end of the input resistor R1 is connected to the reference voltage Vref, and the other end is connected to the reverse input end of the operational amplifier U1; one end of the input resistor R2 is connected to the I / O port of the single-chip microcomputer, and the other end is connected to one end of the feedback resistor R3 and the positive input end of the operational amplifier U1; the other end of the feedback resistor R3 is connected to the output end of the operational amplifier U1 and one end of the output resistor R4, and the other end of the output resistor R4 is connected to one end of the voltage-stabilizing tube, one end of the voltage-stabilizing resistor R5, one end of the voltage-stabilizing capacitor C1, and one end of the output resistor R6; the voltage-stabilizing tube The other end of the voltage-stabilizing resistor R5 and the other end of the voltage-stabilizing capacitor C1 are grounded and share the same ground with the single-chip microcomputer; the other end of the output resistor R6 is connected to pin 1 of the optocoupler, pin 2 of the optocoupler is grounded and shares the same ground with the single-chip microcomputer, pin 3 of the optocoupler is connected to the base of the Darlington tube Q2, and pin 4 of the optocoupler is connected to one end of the voltage-dividing resistor R7; the other end of the voltage-dividing resistor R7 is connected to the power supply Vcc; the collector of the Darlington tube Q2 is connected to the negative electrode of the solenoid valve R8, the emitter of the Darlington tube Q2 is grounded, the Darlington tube Q2 and the single-chip microcomputer do not share the same ground, but share the same ground with the power supply Vcc; the positive electrode of the solenoid valve R8 is connected to Vcc.

2. A strong anti-interference circuit for real-time control of a pneumatic soft robot as claimed in claim 1, characterized in that: The minimum starting current IFmin of the optical coupler is 3.2 mA, the optical coupler current is 5.6 mA, the on-state voltage of the diode is 1.2 V, and the output resistance R6 is 360 Ω.

3. A strong anti-interference circuit for real-time control of a pneumatic soft robot as claimed in claim 1, characterized in that: R1=1KΩ, R2=2KΩ, R3=3.3KΩ, R4=47Ω, R5=1KΩ, R6=360Ω, R7=470Ω, R8=24Ω, C1=0.1uF, Vref=1.86V, Vcc=6V, the power supply of the operational amplifier is connected to the microcontroller 5V, Vz=3.3V.

4. A strong anti-interference circuit for real-time control of a pneumatic soft robot as claimed in claim 1, characterized in that: C1=0.1uF.

5. A strong anti-interference circuit for real-time control of a pneumatic soft robot as claimed in claim 1, characterized in that: Vref=1.86V,Vcc=6V, the power supply of the operational amplifier is connected to the 5V of the microcontroller.

6. A strong anti-interference circuit for real-time control of a pneumatic soft robot as claimed in claim 1, characterized in that: Vz=3.3V.

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