CN110303488A - A kind of robot servo drive system based on electric line carrier communication technology - Google Patents
A kind of robot servo drive system based on electric line carrier communication technology Download PDFInfo
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- CN110303488A CN110303488A CN201910537088.3A CN201910537088A CN110303488A CN 110303488 A CN110303488 A CN 110303488A CN 201910537088 A CN201910537088 A CN 201910537088A CN 110303488 A CN110303488 A CN 110303488A
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- 238000004891 communication Methods 0.000 title claims abstract description 149
- 238000005516 engineering process Methods 0.000 title claims abstract description 15
- 230000008878 coupling Effects 0.000 claims abstract description 61
- 238000010168 coupling process Methods 0.000 claims abstract description 61
- 238000005859 coupling reaction Methods 0.000 claims abstract description 61
- 230000002452 interceptive effect Effects 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 8
- 230000001131 transforming effect Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000019491 signal transduction Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000009131 signaling function Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/54—Systems for transmission via power distribution lines
- H04B3/544—Setting up communications; Call and signalling arrangements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot servo drive systems based on electric line carrier communication technology, for solving, communication component structure is many and diverse between driver and driver in the prior art, lack compactedness, output power bus and industrial communication bus must be set simultaneously, it can not flexible configuration, the technical problem of reliability and system integration deficiency, comprising: industrial interactive module, power line, joint of robot drive module；Wherein, the joint of robot drive module includes carrier communication module, driver and motor, and the driver connects the motor；The industry interactive module includes: industrial communication interface, industrial end communication chip, industrial end carrier coupling circuit.Implement technical solution of the present invention may be implemented in it is compact-sized under the premise of, simplify structure, has the ability of flexible configuration, installation space is flexible, it does not need to possess the technical effect of the system integration of preferable reliability and height using inside external industrial communication bus to mechanical arm simultaneously.
Description
Technical field
The present invention relates to industrial robot, in particular to a kind of robot servo based on electric line carrier communication technology is driven
Dynamic system.
Background technique
With the development of economy, production-scale expansion, the raising of automation, the use of industrial robot are also increasingly wider
It is general.For industrial robot field, perhaps service robot field robot generally has 6 or 8 joints at present, to realize
Multiple degrees of freedom movement, each of which joint is required to configure reception of a set of servo drive system to realize instruction, servo motor
The functions such as control.At present in all kinds of Robot Designs, servo-driver has substantially three classes configuration mode: one kind is that servo is driven
Dynamic device is installed in external control cabinet, and each is drawn motor driven power cable between servo-driver and joint motor
It is attached with motor encoder cable, this connection type causes lead between servo-driver and motor excessive, and wiring is mixed
Disorderly；Second class is to use the servo-driver of high power density ultra-small volume size is Embedded to be mounted in robot arm
Portion space is installed in physical distance close to servo motor, because driver is mounted on mechanical arm inner space and close to motor
Ontology installation, thus inside outside need input power bus and industrial communication bus to mechanical arm, and with each servo
Driver connection；Third class is that servo-driver and motor body are the integrated design, and driver, which leans against, is mounted on motor tail portion
End exists without lead substantially between such driver and motor body, and structure is more compact, but external power supply power supply buses
It still needs to introduce inside mechanical arm with communication bus cable and is connected with each servo-driver, cannot achieve and flexibly match
It sets.
Therefore market needs one kind and can have the ability of flexible configuration under the premise of compact-sized, installation space is flexible,
Do not need that there is the industry of preferable reliability and the system integration using inside external industrial communication bus to mechanical arm simultaneously
Robot
Summary of the invention
In order to solve the above-mentioned technical problem, a kind of robot based on electric line carrier communication technology is disclosed in the present invention
Servo drive system, the technical scheme is that be implemented:
A kind of robot servo drive system based on electric line carrier communication technology includes: industrial interactive module, electric power
Line and joint of robot drive module；Wherein, the joint of robot drive module includes carrier communication module, driver and electricity
Machine, the driver connect the motor；The industry interactive module includes: industrial communication interface, industrial end communication chip, work
Industry end carrier coupling circuit, the industrial communication interface connection external industrial communication bus and the industrial end communication chip, connect
Industry of knocking off driving signal is simultaneously transmitted to the industrial end communication chip；The industry end communication chip connection industrial end carrier wave
The industrial drives signal is converted to carrier wave driving signal and is sent to the industrial end carrier coupling circuit by coupling circuit；
The industry end carrier coupling circuit connects power line, couples the power line for the carrier wave driving signal；The carrier wave
Communication module includes: drive side carrier coupling circuit, drive side reception filter circuit, drive side communication chip and driving
Device end communication interface, the drive side carrier coupling circuit connection power line and drive side receive filter circuit, the load
Wave coupling circuit receive the carrier wave driving signal from the power line, and the carrier wave driving signal is sent to the reception
Filter unit；The drive side receives filter circuit and connects the drive side communication chip, to the carrier wave driving signal
It is filtered, and transmits it to the drive side communication chip；The motor side communication chip connects the driving
Device end communication interface converts driver signal for the carrier wave driving signal, and is transmitted to the drive side communication interface；
The driver connects the drive side communication interface and the motor, receives the driver signal, and to the motor
Output control signal；The power line connects the controller, the industrial interactive module, the carrier communication module and described
Joint of robot drive module, and supply power for.
Preferably, the industrial interactive module further includes industrial end wave reception filtering circuit and feedback communication chip；The drive
Dynamic device end communication chip connects the drive side carrier coupling circuit, receives the feedback from the drive side communication interface
The feedback signal is converted feedback carrier signal by signal；The drive side carrier coupling circuit receives the feedback and carries
Wave signal is simultaneously coupled to the power line；The industry end wave reception filtering circuit connects the industrial end carrier coupling circuit and institute
Feedback communication chip is stated, the industry end carrier coupling circuit receives the feedback carrier signal from the power line, and
It is transmitted to the feedback communication chip；The feedback communication chip is connected to the industrial communication interface, by the feedback carrier
Signal is converted to industrial feedback signal, and the industrial feedback signal is transmitted to the control by the industrial communication interface
Device.
Preferably, the industrial interactive module further includes industrial end signal power control circuit, the industry end signal function
The rate control circuit connection industrial end communication chip and the carrier coupling circuit, adjust the function of the industrial drives signal
Rate, and send it to the industrial end carrier coupling circuit.
Preferably, the carrier communication module further includes drive side signal power control circuit, the drive side letter
Number power control circuit connects the drive side communication chip and the drive side carrier coupling circuit, adjusts the feedback
Carrier signal power, and send it to the drive side carrier coupling circuit.
Preferably, the quantity of the joint of robot drive module is set greater than one.
Preferably, the industrial end carrier coupling circuit and/or the drive side carrier coupling circuit further include transformation
Circuit, the input terminal of the transforming circuit are connect with the power line.
Preferably, the motor is servo motor；The driver is servo-driver.
Implementing technical solution of the present invention can solve in the prior art between driver and driver, driver and robot
Between master controller, communication component structure is many and diverse, lacks compactedness, it is necessary to while output power bus and industrial communication are set
Bus, can not flexible configuration, the technical problem of reliability and system integration deficiency；Implement technical solution of the present invention, passes through
By output power bus and the unification of industrial communication bus, it can be achieved that under the premise of compact-sized, have the ability of flexible configuration,
Installation space is flexible, does not need to have preferable reliability using inside external industrial communication bus to mechanical arm simultaneously and be
The technical effect for integration of uniting.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of signal transduction process schematic diagram of specific embodiment of the invention；
Fig. 2 is a kind of industrial end carrier coupling circuit of preferred embodiment of the invention, the coupling of drive side carrier wave
Electrical block diagram；
A kind of power supply structural schematic diagram of the position Fig. 3 preferred embodiment of the invention.
In above-mentioned attached drawing, each figure number label is respectively indicated:
1- industry interactive module；
11- industrial communication interface；
12- industry end communication chip；
13- industry end carrier coupling circuit；
14- industry end wave reception filtering circuit；
15- feedback communication chip；
16- industry end signal power control circuit；
2- power line；
3- joint of robot drive module；
31- carrier communication module；
311- drive side carrier coupling circuit；
312- drive side receives filter circuit；
313- drive side communication chip；
314- drive side communication interface；
315- drive side signal power control circuit；
32- driver；
33- motor；
4- external industrial communication bus
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In a kind of specific embodiment, as shown in Figure 1, 2, 3, a kind of robot based on electric line carrier communication technology
Servo drive system includes: industrial interactive module 1, power line 2 and joint of robot drive module 3；Wherein, joint of robot drives
Dynamic model block 3 includes carrier communication module 31, driver and motor, and driver connects motor；Industrial interactive module 1 includes: industry
Communication interface 11, industrial end communication chip 12, industrial end carrier coupling circuit 13, it is logical that industrial communication interface 11 connects external industrial
Bus 4 and industrial end communication chip 12 are interrogated, industrial drives signal is received and is transmitted to industrial end communication chip 12；Industrial end communication
Chip 12 connects industrial end carrier coupling circuit 13, and industrial drives signal is converted to carrier wave driving signal and is sent to industrial end
Carrier coupling circuit 13；Industrial end carrier coupling circuit 13 connects power line 2, couples power line 2 for carrier wave driving signal；It carries
Wave communication module 31 includes: carrier communication module 311, drive side reception filter circuit 312, drive side communication chip 313
With drive side communication interface 314, carrier communication module 311 connects power line 2 and drive side receives filter circuit 312, carries
Wave coupling circuit receive the carrier wave driving signal from power line 2, and carrier wave driving signal is sent to the unit that accepts filter；It drives
Dynamic device end wave reception filtering circuit 312 connects drive side communication chip 313, is filtered to carrier wave driving signal, and will
It is transmitted to drive side communication chip 313；Motor side communication chip connects drive side communication interface 314, and carrier wave is driven
Signal is converted into driver signal, and is transmitted to drive side communication interface 314；Driver connects drive side communication interface
314 and motor, driver signal is received, and export control signal to motor；Power line 2 connects controller, industrial interactive module
1, carrier communication module 31 and joint of robot drive module 3, and supply power for.
In this kind of specific embodiment, driver 32 is for controlling motor 33, and motor 33 is for driving robot to close
Section movement；Industrial interactive module 1 can be set among robot, also can be set in the Pipeline controls maincenter such as such as control cabinet
Among, industrial interactive module 1 is responsible for converting multicarrier communication signal for the industrial communication signal of industrial communication interface 11, works as industry
After communication interface 11 receives industrial drives signal, which is passed into industrial communication chip 12 by cable,
Corresponding signal is converted carrier wave driving signal by industrial communication chip 12, and carrier wave driving signal is transferred to industrial end carrier wave coupling
Circuit 13, industrial end carrier coupling circuit 13 are output on power line 2 after being coupled；Being used for for carrier communication module 31 is real
Existing information flow of the joint of robot drive module 3 to external 4 direction of industrial communication bus, the carrier wave driving signal of power line 2
By drive side carrier coupling circuit 311, the reception of the carrier wave driving signal on power line 2, drive side carrier wave are realized
The received carrier wave driving signal of coupling circuit 311 receives filter circuit 312 using drive side, is realized jointly to power line
The reception and filtering of 2 carrier signals are transferred to drive side communication chip 313 by filtered carrier wave driving signal, pass through
Drive side communication chip 313 converts, and generates driver signal, and transmit it to drive side communication interface 314, driver
32 receive the signal of drive side communication interfaces 314 and to 33 transmission of control signals of motor, to realize that external industrial communication is total
Line 4 arrives the information interchange of joint of robot drive module 3；External industrial communication bus 4 can be the automatic production line of line even
Control cabinet, be also possible to using radio connection connect such as mobile phone mobile device；Power line 2 is as signal transfer line
While road, the function of modules power supply is carry, so that the unification between power supply line and industrial communication line is realized,
To realize the highly integrated of the compact and system of structure, installation space is flexible, may be implemented flexibly to configure, and has good
Reliability technical effect.
In a preferred embodiment, as shown in Figure 1, industrial interactive module 1 further includes that industrial end receives filtered electrical
Road 14 and feedback communication chip 15；Drive side communication chip 313 connects drive side carrier coupling circuit 311, and reception comes from
Feedback signal is converted feedback carrier signal by the feedback signal of drive side communication interface 314；Drive side carrier wave coupling electricity
Road 311 receives feedback carrier signal and is coupled to power line 2；Industrial end wave reception filtering circuit 14 connects industrial end carrier wave coupling electricity
Road 13 and feedback communication chip 15, industrial end carrier coupling circuit 13 receives the feedback carrier signal from power line 2, and transmits
To feedback communication chip 15；Feedback communication chip 15 is connected to industrial communication interface 11, and feedback carrier signal is converted to industry
Feedback signal, and industrial feedback signal is transmitted to controller by industrial communication interface 11.
In the preferred embodiment, industrial end wave reception filtering circuit 14 at external industrial communication bus 4 for connecing
The filtering operation from power line 2 is received, filtering signal passes to feedback communication chip 15, to be converted to after filtering
The identifiable digital signal of external industrial communication bus 4；It can pass through after joint of robot drive module 3 receives control signal
Drive side communication interface 314 issues feedback signal, has been received by and executes to external 4 confirmation signal of industrial communication bus, drives
Device end communication chip 313 by drive side communication interface 314 transmission come feedback signal be converted to feedback carrier signal and by its
Drive side carrier coupling circuit 311 is passed to, the feedback carrier signal is couple electricity by drive side carrier coupling circuit 311
In the line of force 2, after which is transmitted to industrial end by power line 2, industrial end carrier coupling circuit 13 is received from electricity
The feedback carrier signal of the line of force 2 is transferred to feedback communication chip after industrial end wave reception filtering circuit 14 carries out signal filtering
15, which is converted to industrial feedback signal and is transferred to by industrial communication interface 11 by feedback communication chip 15
External industrial communication bus 4 transmits to realize joint of robot drive module 3 receiving external industrial communication bus 4
Signal after the signal of external industrial communication bus 4 is fed back, improve the reliability of system signal transmitting, increase system
Stability.
In a preferred embodiment, as shown in Figure 1, industrial interactive module 1 further includes industrial end signal power control
Circuit 16 processed, industrial end signal power control circuit 16 connect industrial end communication chip 12 and carrier coupling circuit, adjustment industry
The power of driving signal, and send it to industrial end carrier coupling circuit 13.
In this kind of preferred embodiment, signal certainly exists decaying in the transmission process of route, using industry
End signal power control circuit 16 can amplify industrial drives signal, guarantee the transmission quality of industrial drives signal.
In a preferred embodiment, as shown in Figure 1, carrier communication module 31 further includes drive side signal power
Control circuit 315, drive side signal power control circuit 315 connect drive side communication chip 313 and drive side carrier wave
Coupling circuit 311 adjust feedback carrier signal power, and send it to drive side carrier coupling circuit 311.
In this kind of preferred embodiment, signal certainly exists decaying in the transmission process of route, using driving
Device end signal power control circuit 315, can amplify feedback carrier signal, guarantee the transmission quality of feedback carrier signal.
In a preferred embodiment, the quantity of joint of robot drive module 3 is set greater than one.
The quantity and joint of robot of joint of robot drive module 3 are adapted, each joint of robot will have one
A joint of robot drive module 3, its corresponding joint of robot of each joint drive module independent control.
In a preferred embodiment, industrial end carrier coupling circuit 13 and/or drive side carrier coupling circuit
311 further include transforming circuit, and the input terminal of transforming circuit is connect with power line 2.
In this kind of preferred embodiment, transforming circuit is electric to carrying out between communication module and direct current or ac bus
Air bound is from improving signal transmission quality to reduce the electromagnetic interference between all parts.
In a preferred embodiment, as shown in Figure 1, motor is servo motor；Driver is servo-driver.
In this kind of preferred embodiment, servo drive system is with that can make motor speed, and position control accuracy is very
Accurately, voltage and current signal can be converted to torque and revolving speed and position signal with drive control object, servo motor turns
Rotor speed and position are controlled by input signal, and energy fast reaction is used as executive component, and have in automatic control system
The characteristics such as electromechanical time constant is small, the linearity is high, pickup voltage, can satisfy in the operation of power line carrier machine people
Required precision；Servo-driver is connected on servo motor through various ways such as position, speed and torques to servo electricity
Machine is controlled, to realize high-precision transmission system location control, servo-driver uses digital signal processor conduct
More complicated control algolithm may be implemented in control core, so that whole system has the digitlization, networking and intelligence of height
Change.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (7)
1. a kind of robot servo drive system based on electric line carrier communication technology characterized by comprising industry interaction
Module, power line and joint of robot drive module；Wherein,
The joint of robot drive module includes carrier communication module, driver and motor, and the driver connects the electricity
Machine；
The industry interactive module includes: industrial communication interface, industrial end communication chip, industrial end carrier coupling circuit, described
Industrial communication interface connects external industrial communication bus and the industrial end communication chip, receives industrial drives signal and is transmitted to
Industry end communication chip；
The industry end communication chip connection industrial end carrier coupling circuit, is converted to carrier wave for the industrial drives signal
Driving signal is simultaneously sent to the industrial end carrier coupling circuit；
The industry end carrier coupling circuit connects power line, couples the power line for the carrier wave driving signal；
The carrier communication module includes: drive side carrier coupling circuit, drive side receives filter circuit, drive side is led to
Believe that chip and drive side communication interface, the drive side carrier coupling circuit connection power line and drive side receive filtering
Circuit, the carrier coupling circuit receives the carrier wave driving signal from the power line, and the carrier wave driving signal is sent out
It send to the unit that accepts filter；
The drive side receives filter circuit and connects the drive side communication chip, filters to the carrier wave driving signal
Wave processing, and transmit it to the drive side communication chip；
The motor side communication chip connects the drive side communication interface, converts driver for the carrier wave driving signal
Signal, and it is transmitted to the drive side communication interface；
The driver connects the drive side communication interface and the motor, receives the driver signal, and to described
Motor output control signal；
The power line connects the controller, the industrial interactive module, the carrier communication module and the robot and closes
Drive module is saved, and is supplied power for.
2. a kind of robot servo drive system based on electric line carrier communication technology according to claim 1, special
Sign is that the industry interactive module further includes industrial end wave reception filtering circuit and feedback communication chip；The drive side is logical
Believe that chip connects the drive side carrier coupling circuit, receives the feedback signal from the drive side communication interface, it will
The feedback signal is converted into feedback carrier signal；
The drive side carrier coupling circuit receives the feedback carrier signal and is coupled to the power line；
The industry end wave reception filtering circuit connection industrial end carrier coupling circuit and the feedback communication chip, the work
Industry end carrier coupling circuit receives the feedback carrier signal from the power line, and is transmitted to the feedback communication core
Piece；
The feedback communication chip is connected to the industrial communication interface, and the feedback carrier signal is converted to industrial feedback letter
Number, and the industrial feedback signal is transmitted to the controller by the industrial communication interface.
3. a kind of robot servo drive system based on electric line carrier communication technology according to claim 2, special
Sign is that the industry interactive module further includes industrial end signal power control circuit, the industry end signal power control electricity
The road connection industrial end communication chip and the carrier coupling circuit, adjust the power of the industrial drives signal, and by its
It is sent to the industrial end carrier coupling circuit.
4. a kind of robot servo drive system based on electric line carrier communication technology according to claim 3, special
Sign is that the carrier communication module further includes drive side signal power control circuit, the drive side signal power control
Drive side communication chip described in circuit connection processed and the drive side carrier coupling circuit, adjust the feedback carrier signal
Power, and send it to the drive side carrier coupling circuit.
5. a kind of robot servo drive system based on electric line carrier communication technology according to claim 4, special
Sign is that the quantity of the joint of robot drive module is set greater than one.
6. a kind of robot servo drive system based on electric line carrier communication technology according to claim 5, special
Sign is that the industry end carrier coupling circuit and/or the drive side carrier coupling circuit further include transforming circuit, described
The input terminal of transforming circuit is connect with the power line.
7. a kind of robot servo drive system based on electric line carrier communication technology according to claim 6, special
Sign is that the motor is servo motor；The driver is servo-driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537088.3A CN110303488A (en) | 2019-06-20 | 2019-06-20 | A kind of robot servo drive system based on electric line carrier communication technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537088.3A CN110303488A (en) | 2019-06-20 | 2019-06-20 | A kind of robot servo drive system based on electric line carrier communication technology |
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| CN110303488A true CN110303488A (en) | 2019-10-08 |
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| CN201910537088.3A Pending CN110303488A (en) | 2019-06-20 | 2019-06-20 | A kind of robot servo drive system based on electric line carrier communication technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111681407A (en) * | 2020-06-17 | 2020-09-18 | 恒为科技（上海）股份有限公司 | Remote control method, device and system for robot |
| CN115913285A (en) * | 2022-11-28 | 2023-04-04 | 南京大石电子科技有限公司 | Power line carrier communication system |
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| CN103744376A (en) * | 2013-12-26 | 2014-04-23 | 清能德创电气技术（北京）有限公司 | Servo driver and multi-shaft control system using the same |
| CN108011942A (en) * | 2017-11-29 | 2018-05-08 | 科大智能电气技术有限公司 | A kind of carrier communication system of electric inspection process robot |
| CN211103994U (en) * | 2019-06-20 | 2020-07-28 | 岩熔之光智能科技(上海)有限公司 | Robot servo drive system based on power line carrier communication technology |
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| US20040155623A1 (en) * | 2003-02-12 | 2004-08-12 | Samsung Electronics | Motor power supply |
| CN103199773A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Servo driving system based on bus technology |
| CN103744376A (en) * | 2013-12-26 | 2014-04-23 | 清能德创电气技术（北京）有限公司 | Servo driver and multi-shaft control system using the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111681407A (en) * | 2020-06-17 | 2020-09-18 | 恒为科技（上海）股份有限公司 | Remote control method, device and system for robot |
| CN115913285A (en) * | 2022-11-28 | 2023-04-04 | 南京大石电子科技有限公司 | Power line carrier communication system |
| CN115913285B (en) * | 2022-11-28 | 2023-10-24 | 安徽融兆智能有限公司 | Power line carrier communication system |
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