CN107357227A - Servo-driver remote monitoring system based on wireless network - Google Patents

Servo-driver remote monitoring system based on wireless network Download PDF

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Publication number
CN107357227A
CN107357227A CN201710528556.1A CN201710528556A CN107357227A CN 107357227 A CN107357227 A CN 107357227A CN 201710528556 A CN201710528556 A CN 201710528556A CN 107357227 A CN107357227 A CN 107357227A
Authority
CN
China
Prior art keywords
circuit
servo
remote monitoring
modulate circuit
mcu units
Prior art date
Application number
CN201710528556.1A
Other languages
Chinese (zh)
Inventor
饶彬
刘国辉
李鸿向
Original Assignee
南京晨光集团有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 南京晨光集团有限责任公司 filed Critical 南京晨光集团有限责任公司
Priority to CN201710528556.1A priority Critical patent/CN107357227A/en
Publication of CN107357227A publication Critical patent/CN107357227A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048Monitoring; Safety
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/18Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

The invention discloses a kind of servo-driver remote monitoring system based on wireless network, including state acquisition circuit, MCU units, data storage, wireless module, repeater and remote monitoring center;State acquisition circuit is used for the status information for gathering servo-driver, and sends to MCU units;MCU units are used to the status information of servo-driver and service data being sent to data storage, while send data to wireless module by spi bus;Wireless module sends data to repeater by wireless network, and repeater sends data to remote monitoring center by INTERNET networks.The present invention has the features such as integrated cost is low, and system is stable, safe and reliable, and mobility is good.

Description

Servo-driver remote monitoring system based on wireless network
Technical field
The invention belongs to Remote Monitoring Technology field, and in particular to a kind of servo-driver based on wireless network is remotely supervised Control system.
Background technology
Servo-driver is used for the servo-drive of various joint of robot motors, is the crucial ring of motion planning and robot control Section, the operating state data of servo-driver are the important informations of user's concern.
Servo-driver is all to be connected by cable with motion controller all the time, and motion controller is sent by cable Command information control servo-driver motion, and receive the operating state data of servo-driver.In practical application, robot Worked automatically according to the program being stored in motion controller, servo-driver is in no supervision state, breaks down automatic Stop, it is necessary to which scene carries out interpretation to failure.Therefore, it is very necessary to carry out remote monitoring to servo-driver.
The content of the invention
It is an object of the invention to provide a kind of servo-driver remote monitoring system based on wireless network, servo is driven Status information, the service data of dynamic device are sent to remote monitoring center, realization pair by cordless communication network and internet The remote monitoring and data of servo-driver working condition preserve.
The technical scheme for realizing the object of the invention is:A kind of servo-driver remote monitoring system based on wireless network, Including state acquisition circuit, MCU units, data storage, wireless module, repeater and remote monitoring center;
State acquisition circuit is used for the status information for gathering servo-driver, and sends to MCU units;
MCU units are used to the status information of servo-driver and service data being sent to data storage, pass through simultaneously Spi bus sends status information and service data to wireless module;
Wireless module sends data to repeater by wireless network, and repeater is sent out data by INTERNET networks Deliver to remote monitoring center.
Compared with prior art, its remarkable advantage is the present invention:
(1) integrated cost is low;User need not specially be equipped with computer and equipment for wireless network monitoring system, without as passing Monitoring computer is kept open state in 24 hours by the system such whole day of monitoring system;Compare conventional monitoring systems, wireless network monitoring System has both saved the energy, saves manpower and materials again, and input cost substantially reduces with maintenance cost;
(2) system is stable, safe and reliable;Wireless network monitoring system avoids conventional monitoring systems and had a power failure, by computer disease A series of problems, such as poison invasion, data acquisition equipment damage, possesses the remote alarms work(not available for most conventional monitoring systems Energy and real-time monitoring data, so as to ensure that the safety and stability of servo-driver;
(3) mobility is good;Employing wireless network, user need not can in several ways (such as beside servo-driver Cell phone, removable computer) real-time and round-the-clock monitoring is carried out to it, receive warning message and watch service data.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the servo-driver remote monitoring system theory diagram based on wireless network of the present invention.
Fig. 2 is the state acquisition schematic block circuit diagram of the present invention.
Embodiment
As shown in figure 1, a kind of servo-driver remote monitoring system based on wireless network, including state acquisition circuit, MCU units, data storage, wireless module, repeater and remote monitoring center;
State acquisition circuit is used for the status information for gathering servo-driver, and sends to MCU units;
MCU units are used to the status information of servo-driver and service data being sent to data storage, pass through simultaneously Spi bus sends status information and service data to wireless module;
Wireless module sends data to repeater by wireless network, and repeater is sent out data by INTERNET networks Deliver to remote monitoring center.
Further, state acquisition circuit includes current collection circuit, voltage collection circuit, temperature of power module collection electricity Road and motor temperature Acquisition Circuit, it is respectively used to gather motor three-phase current, busbar voltage, temperature of power module and motor temperature Degree.
Further, as shown in Fig. 2 current collection circuit includes U phase current samplings resistance, the first linear optical coupling, first Modulate circuit, V phase current samplings resistance, the second linear optical coupling and the second modulate circuit, U phase current samplings resistance and first linear Optocoupler is connected, and the first linear optical coupling and the first modulate circuit are connected, and the first modulate circuit is connected with the A/D pins of MCU units the first, V phase current samplings resistance and the second linear optical coupling are connected, and the second linear optical coupling and the second modulate circuit are connected, the second modulate circuit It is connected with the A/D pins of MCU units the 2nd;Current signal is converted to first voltage signal, first voltage letter by current sampling resistor Send number after linear optical coupling amplifies to modulate circuit, sent after the filtering and conversion of modulate circuit to MCU units A/D gathers pin.
Voltage collection circuit includes busbar voltage divider resistance, third linear optocoupler and the 3rd modulate circuit, busbar voltage Divider resistance is connected with third linear optocoupler, and third linear optocoupler and the 3rd modulate circuit are connected, and the 3rd modulate circuit and MCU are mono- First 3rd A/D pins are connected;Busbar voltage obtains linear second voltage signal by divider resistance, and second voltage signal passes through Sent after linear optical coupling amplification to modulate circuit, send to the A/D of MCU units and gather after the filtering and conversion of modulate circuit Pin.
Temperature of power module Acquisition Circuit includes power model thermistor and the 4th modulate circuit, power model temperature-sensitive electricity Pressure is connected with the 4th modulate circuit, and the 4th modulate circuit is connected with the A/D pins of MCU units the 4th;Power model thermistor exists There is corresponding resistance under different temperatures, partial pressure obtains corresponding tertiary voltage signal, and tertiary voltage signal is by modulate circuit Sent after filtering and conversion to the A/D of MCU units and gather pin.
Motor temperature Acquisition Circuit includes motor thermistor and the 5th modulate circuit, motor thermistor and the 5th conditioning Circuit is connected, and the 5th modulate circuit is connected with the A/D pins of MCU units the 5th;Motor thermistor has accordingly at different temperatures Resistance, partial pressure obtains corresponding 4th voltage signal, and the 4th voltage signal is sent after the filtering and conversion of modulate circuit A/D to MCU units gathers pin.
Further, wireless module is WIFI module, ZIGBEE modules or GPRS module.
Further, power model IGBT, IPM or MOSFET.
Further, status information include U phase current values, V phase current values, bus voltage value, temperature of power module value and Motor temperature value.
Further, service data includes the current of electric number of phases, W phase current values, position ring output valve, position ring feedback Value, speed ring output valve, loop feedback value, Q shaft currents command value, Q shaft currents value of feedback and D shaft current values of feedback.
With reference to specific embodiment, the present invention is described in detail.
Embodiment
A kind of servo-driver remote monitoring system based on wireless network, including state acquisition circuit, MCU units, number According to memory, WIFI module, repeater and remote monitoring center;
State acquisition circuit includes current collection circuit, voltage collection circuit, temperature of power module Acquisition Circuit and motor Temperature collection circuit, it is respectively used to gather motor three-phase current, busbar voltage, temperature of power module and motor temperature, and sends To MCU units;Current collection circuit includes U phase current samplings resistance, the first linear optical coupling, the first modulate circuit, V phase currents and adopted Sample resistance, the second linear optical coupling and the second modulate circuit, U phase current samplings resistance and the first linear optical coupling are connected, and first is linear Optocoupler and the first modulate circuit are connected, and the first modulate circuit is connected with the A/D pins of MCU units the first, V phase current samplings resistance and Second linear optical coupling is connected, and the second linear optical coupling and the second modulate circuit are connected, the second modulate circuit and the A/D of MCU units the 2nd Pin is connected;Current signal is converted to first voltage signal by current sampling resistor, and first voltage signal is put by linear optical coupling Sent after big to modulate circuit, sent after the filtering and conversion of modulate circuit to the A/D of MCU units and gather pin.Voltage Acquisition Circuit includes busbar voltage divider resistance, third linear optocoupler and the 3rd modulate circuit, busbar voltage divider resistance and Three linear optical couplings are connected, and third linear optocoupler and the 3rd modulate circuit are connected, and the 3rd modulate circuit and the A/D of MCU units the 3rd draw Pin is connected;Busbar voltage obtains linear second voltage signal by divider resistance, and second voltage signal is put by linear optical coupling Sent after big to modulate circuit, sent after the filtering and conversion of modulate circuit to the A/D of MCU units and gather pin.Power Module temperature Acquisition Circuit includes power model thermistor and the 4th modulate circuit, power model temperature-sensitive voltage and the 4th conditioning Circuit is connected, and the 4th modulate circuit is connected with the A/D pins of MCU units the 4th;Power model thermistor has at different temperatures Corresponding resistance, partial pressure obtain corresponding tertiary voltage signal, and tertiary voltage signal is after the filtering and conversion of modulate circuit Send to the A/D of MCU units and gather pin.Motor temperature Acquisition Circuit includes motor thermistor and the 5th modulate circuit, electricity Machine thermistor and the 5th modulate circuit are connected, and the 5th modulate circuit is connected with the A/D pins of MCU units the 5th;Motor temperature-sensitive electricity Resistance has corresponding resistance at different temperatures, and partial pressure obtains corresponding 4th voltage signal, and the 4th voltage signal is by conditioning electricity Sent after the filtering and conversion on road to the A/D of MCU units and gather pin.
MCU units are used to the status information of servo-driver and service data being sent to data storage, pass through simultaneously Spi bus sends status information and service data to WIFI module;WIFI module sends data to repeater, and repeater passes through INTERNET networks send data to remote monitoring center.

Claims (9)

  1. A kind of 1. servo-driver remote monitoring system based on wireless network, it is characterised in that including state acquisition circuit, MCU units, data storage, wireless module, repeater and remote monitoring center;
    State acquisition circuit is used for the status information for gathering servo-driver, and sends to MCU units;
    MCU units are used to the status information of servo-driver and service data being sent to data storage, while total by SPI Line sends status information and service data to wireless module;
    Wireless module sends data to repeater by wireless network, and repeater is sent data to by INTERNET networks Remote monitoring center.
  2. 2. the servo-driver remote monitoring system according to claim 1 based on wireless network, it is characterised in that state Acquisition Circuit includes current collection circuit, voltage collection circuit, temperature of power module Acquisition Circuit and motor temperature Acquisition Circuit, It is respectively used to gather motor three-phase current, busbar voltage, temperature of power module and motor temperature.
  3. 3. the servo-driver remote monitoring system according to claim 2 based on wireless network, it is characterised in that electric current Acquisition Circuit includes U phase current samplings resistance, the first linear optical coupling, the first modulate circuit, V phase current samplings resistance, the second line Property optocoupler and the second modulate circuit, U phase current samplings resistance and the first linear optical coupling be connected, the first linear optical coupling and first conditioning Circuit is connected, and the first modulate circuit is connected with the A/D pins of MCU units the first, V phase current samplings resistance and the second linear optical coupling phase Even, the second linear optical coupling and the second modulate circuit are connected, and the second modulate circuit is connected with the A/D pins of MCU units the 2nd;Electric current is adopted Current signal is converted to first voltage signal by sample resistance, and first voltage signal sends electric to nursing one's health after linear optical coupling amplifies Road, sent after the filtering and conversion of modulate circuit to the A/D of MCU units and gather pin.
  4. 4. the servo-driver remote monitoring system according to claim 2 based on wireless network, it is characterised in that voltage Acquisition Circuit includes busbar voltage divider resistance, third linear optocoupler and the 3rd modulate circuit, busbar voltage divider resistance and Three linear optical couplings are connected, and third linear optocoupler and the 3rd modulate circuit are connected, and the 3rd modulate circuit and the A/D of MCU units the 3rd draw Pin is connected;Busbar voltage obtains linear second voltage signal by divider resistance, and second voltage signal is put by linear optical coupling Sent after big to modulate circuit, sent after the filtering and conversion of modulate circuit to the A/D of MCU units and gather pin.
  5. 5. the servo-driver remote monitoring system according to claim 2 based on wireless network, it is characterised in that power Module temperature Acquisition Circuit includes power model thermistor and the 4th modulate circuit, power model temperature-sensitive voltage and the 4th conditioning Circuit is connected, and the 4th modulate circuit is connected with the A/D pins of MCU units the 4th;Power model thermistor has at different temperatures Corresponding resistance, partial pressure obtain corresponding tertiary voltage signal, and tertiary voltage signal is after the filtering and conversion of modulate circuit Send to the A/D of MCU units and gather pin.
  6. 6. the servo-driver remote monitoring system according to claim 2 based on wireless network, it is characterised in that motor Temperature collection circuit includes motor thermistor and the 5th modulate circuit, and motor thermistor and the 5th modulate circuit are connected, the Five modulate circuits are connected with the A/D pins of MCU units the 5th;Motor thermistor has corresponding resistance, partial pressure at different temperatures Corresponding 4th voltage signal is obtained, the 4th voltage signal is sent to MCU units after the filtering and conversion of modulate circuit A/D gathers pin.
  7. 7. the servo-driver remote monitoring system according to claim 1 based on wireless network, it is characterised in that wireless Module is WIFI module, ZIGBEE modules or GPRS module.
  8. 8. the servo-driver remote monitoring system according to claim 1 based on wireless network, it is characterised in that state Information includes U phase current values, V phase current values, bus voltage value, temperature of power module value and motor temperature value.
  9. 9. the servo-driver remote monitoring system according to claim 1 based on wireless network, it is characterised in that operation Data include the current of electric number of phases, W phase current values, position ring output valve, position ring value of feedback, speed ring output valve, speed ring Value of feedback, Q shaft currents command value, Q shaft currents value of feedback and D shaft current values of feedback.
CN201710528556.1A 2017-07-01 2017-07-01 Servo-driver remote monitoring system based on wireless network CN107357227A (en)

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Application Number Priority Date Filing Date Title
CN201710528556.1A CN107357227A (en) 2017-07-01 2017-07-01 Servo-driver remote monitoring system based on wireless network

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Application Number Priority Date Filing Date Title
CN201710528556.1A CN107357227A (en) 2017-07-01 2017-07-01 Servo-driver remote monitoring system based on wireless network

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CN107357227A true CN107357227A (en) 2017-11-17

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007011646A (en) * 2005-06-30 2007-01-18 Ckd Corp Device for verifying driver motion for servo motor control system
CN202886912U (en) * 2012-08-29 2013-04-17 四川埃姆克伺服科技有限公司 Intelligent monitoring system for servo driver
CN103457536A (en) * 2013-09-12 2013-12-18 南京欧陆电气传动有限公司 Alternating current servo driver based on current detection and position feedback structure
CN204392136U (en) * 2015-01-21 2015-06-10 浙江新富凌电气股份有限公司 A kind of servo controller with remote monitoring function
CN105320063A (en) * 2015-04-20 2016-02-10 重庆有法数控设备有限责任公司 Novel intelligent monitoring system of servo driver

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007011646A (en) * 2005-06-30 2007-01-18 Ckd Corp Device for verifying driver motion for servo motor control system
CN202886912U (en) * 2012-08-29 2013-04-17 四川埃姆克伺服科技有限公司 Intelligent monitoring system for servo driver
CN103457536A (en) * 2013-09-12 2013-12-18 南京欧陆电气传动有限公司 Alternating current servo driver based on current detection and position feedback structure
CN204392136U (en) * 2015-01-21 2015-06-10 浙江新富凌电气股份有限公司 A kind of servo controller with remote monitoring function
CN105320063A (en) * 2015-04-20 2016-02-10 重庆有法数控设备有限责任公司 Novel intelligent monitoring system of servo driver

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Effective date of registration: 20180503

Address after: 210006 Qinhuai District, Nanjing City, Jiangsu Province, No. 1

Applicant after: Jiangsu Jinling Intellectual Building Research Institute Co., Ltd.

Applicant after: Nanjing Chenguang Group Co., Ltd.

Address before: 210006 Qinhuai District, Nanjing City, Jiangsu province No.1 School Road

Applicant before: Nanjing Chenguang Group Co., Ltd.

Effective date of registration: 20180503

Address after: 210006 Qinhuai District, Nanjing City, Jiangsu Province, No. 1

Applicant after: Jiangsu Jinling Intellectual Building Research Institute Co., Ltd.

Applicant after: Nanjing Chenguang Group Co., Ltd.

Address before: 210006 Qinhuai District, Nanjing City, Jiangsu province No.1 School Road

Applicant before: Nanjing Chenguang Group Co., Ltd.

RJ01 Rejection of invention patent application after publication
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Application publication date: 20171117