CN203800858U - Controllable motor driver - Google Patents
Controllable motor driver Download PDFInfo
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- CN203800858U CN203800858U CN201420105153.8U CN201420105153U CN203800858U CN 203800858 U CN203800858 U CN 203800858U CN 201420105153 U CN201420105153 U CN 201420105153U CN 203800858 U CN203800858 U CN 203800858U
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Abstract
The utility model relates to a controllable motor driver, which comprises an AC-DC driving change-over switch, an encoder level change-over switch, a wireless communication unit, a motor driving unit, a motor interface matching unit and an encoding interface matching unit, wherein the wireless communication unit can be communicated with the outside world wirelessly, the motor driving unit is used for driving a motor to operate, and the motor interface matching unit is connected with a motor interface. The controllable motor driver not only can drive different types of motors which are different in voltage, can be compatible with encoders which are various in level, and can also coordinate different motors to carry out wireless remote networking control.
Description
Technical field
The utility model relates to motor automation field, is specifically related to a kind of controllable motor driver.
Background technology
Motor driver is a kind of product being widely used in Industry Control and automated production, and especially in robot controls driving direction, application is more deep.In application, motor type is various, and different types of motor need to configure the different driver matching with it and encoder, and the operating voltage of encoder is not quite similar again.In the situation that need to change motor, need to reconfigure driver and encoder, increased use cost.In addition, traditional motor driver is all to control by wired mode, this mode, complex circuit, wiring cost is high, more often in line movable or bending, be easy to aging or fracture, affect the reliability of system works, be similar to robot control field, to motor driver each side, require more harsh.And at present, the Long-distance Control of motor or adopt of radio control are increased to wireless device outward at motor driver more, increased the complexity of design, improved cost, and be not easy to installation and maintenance, the reliability of system is not very high, in being similar to robot multiaxial motion control, between each motor, be difficult to directly communicate, be difficult to reach fast the object of self-organizing, self-coordinating.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of motor that can drive dissimilar, different voltages and encoder that can compatible for plurality of level for above-mentioned prior art, can also coordinate the controllable motor driver that different motor wireless remote networkings are controlled simultaneously.
The utility model solves the problems of the technologies described above adopted technical scheme: a kind of controllable motor driver, comprise that alternating current-direct current drives diverter switch, encoder level diverter switch, can with the wireless communication unit of external wireless communication, electric-motor drive unit for drive motors work, the motor interface matching unit being connected with motor interface, the encoder interfaces matching unit being connected with encoder interfaces, wherein drive diverter switch to be connected with wireless communication unit to be used for selecting the type of drive of motor needs be that DC driven still exchanges driving to alternating current-direct current, encoder level diverter switch is connected with wireless communication unit for selecting the output level of motor encoder needs, electric-motor drive unit is connected with wireless communication unit and can divides into centrally-mounted driving mode for exchanging driving or DC driven in the control command of wireless communication unit, motor interface matching unit is connected with electric-motor drive unit with wireless communication unit, motor interface matching unit can arrange motor interface connection mode under the control command of wireless communication unit, addressable port matching unit is connected with wireless communication unit and can under the control command of wireless communication unit, changes the output level of motor encoder.
Preferably, described wireless communication unit comprises that model is the wireless MCU chip of CC2430 and the transmitting antenna being connected with wireless MCU chip.
Preferably, the integrated IC chip that it is MAX3232EUE that described electric-motor drive unit comprises with the frequency converter of UART interface and model, wherein the D1 of frequency converter, D2, D3 pin are connected with motor interface matching unit, the TXD pin of frequency converter is connected with the 7th pin of integrated IC chip, the RXD pin of frequency converter is connected with the 8th pin of integrated IC chip, the 9th pin of integrated IC chip is connected with the P0_2 pin of wireless MCU chip, and the 10th pin of integrated IC chip is connected with the P0_3 pin of wireless MCU chip.
Preferably, described addressable port matching unit comprises that model is the D/A conversion chip of DAC0532LCV, model is the latch chip of 74AC573B, the first operational amplifier, the second operational amplifier, the first optocoupler, the second optocoupler and the 3rd optocoupler, wherein the 2nd～9th pin of latch chip is connected with P1_0～P1_7 pin of wireless MCU chip respectively, the 11st pin of latch chip is connected with the P0_1 pin of wireless MCU chip, 1 of the 20th pin of latch chip and D/A conversion chip, 2, 18, 19, 17 pins are all connected, the 12nd～19th pin of latch chip is connected with DI7～DI0 pin of D/A conversion chip respectively, the 11st pin of D/A conversion chip is connected with the reverse input end of the first operational amplifier, the 12nd pin of D/A conversion chip is connected with the input in the same way of the first operational amplifier, the output of the first operational amplifier is connected with the reverse input end of the second operational amplifier after connecting the 4th resistance, ground connection after the connection of input in the same way the 6th resistance of the second operational amplifier, the output of the second operational amplifier is connected with the P0_0 pin of wireless MCU chip, simultaneously, the output of the first operational amplifier connects after the 7th resistance and the first optocoupler, the second optocoupler is connected with the 3rd optocoupler transmitting terminal negative electrode, the first optocoupler, the anode of the second optocoupler and the 3rd optocoupler transmitting terminal is connected with three signal connection ends of motor encoder respectively, the first optocoupler, the first pin of the second optocoupler and the 3rd optocoupler receiving terminal is connected with constant voltage dc source VCC after being connected respectively a resistance, the first optocoupler, the second pin of the second optocoupler and the 3rd optocoupler receiving terminal respectively with the P1_0 of wireless MCU chip, P1_1, P1_2 connects.
Preferably, described motor interface matching unit comprises the first relay, the second relay, the 3rd relay, wherein the 4th pin of the first relay is connected with the D1 pin of frequency converter, the 4th pin of the second relay is connected with the D2 pin of frequency converter, and the 4th pin of the 3rd relay is connected with the D3 pin of frequency converter; The 5th pin of the first relay connects the negative electrode of the first diode, the anode of the first diode is connected with the 2nd pin of the first relay, the anode of the first diode also connects the emitter of the first triode simultaneously, the base earth of the first triode, the collector electrode of the first triode is connected with the P2_0 pin of wireless MCU chip after connecting the 35 resistance; The 5th pin of the second relay connects the negative electrode of the second diode, the anode of the second diode is connected with the 2nd pin of the second relay, the anode of the second diode also connects the emitter of the second triode simultaneously, the base earth of the second triode, the collector electrode of the second triode is connected with the P2_1 pin of wireless MCU chip after connecting the 36 resistance; The 5th pin of the 3rd relay connects the negative electrode of the 3rd diode, the anode of the 3rd diode is connected with the 2nd pin of the 3rd relay, the anode of the 3rd diode also connects the emitter of the 3rd triode simultaneously, the base earth of the 3rd triode, the collector electrode of the 3rd triode is connected with the P2_2 pin of wireless MCU chip after connecting the 37 resistance; The 1st pin of the first relay, the second relay and the 3rd relay is connected respectively three signal connection ends of motor.
Quickly and easily, described alternating current-direct current drives diverter switch and encoder level diverter switch to adopt the same toggle switch with four dial-up keys.
In order to facilitate the radio communication of controllable motor driving element effectively to identify fast, not affected by outer signals, in described wireless MCU chip, store unique hardware physical address.
Compared with prior art, the utility model has the advantage of:
1, this controllable motor driver is not changing on the basis of existing general-purpose machine interface, not only can drive direct current machine but also can drive alternating current machine, only need stir alternating current-direct current diverter switch, just can realize alternating current machine and drive the switching driving with direct current machine, realized the versatility of motor driver, in the situation that changing motor, without reconfiguring motor driver.
2, this controllable motor driver can mate the encoder of various varying levels by level diverter switch, is applicable to various types of encoders, has eliminated encoder matching problem, makes the use of motor driver more convenient, and compatibility is stronger.
3, this controllable motor driver is built in electric-motor drive unit by wireless transmission unit, without external wireless transmission unit, and in wireless transmission unit, store unique hardware physical address, so that while needing a plurality of controllable motor driver co-ordination in same system, utilize wireless transmission unit can complete networking, to facilitate the work of self-coordinating, self-organizing between each controllable motor driver.
Accompanying drawing explanation
Fig. 1 is the structural representation of controllable motor driver in the utility model embodiment.
Fig. 2 is the internal structure schematic diagram of controllable motor driver in the utility model embodiment.
Fig. 3 is the circuit diagram of wireless communication unit in the utility model embodiment.
Fig. 4 is the circuit diagram of electric-motor drive unit in the utility model embodiment.
Fig. 5 is the circuit diagram of addressable port matching unit in the utility model embodiment.
Fig. 6 is the circuit diagram of motor interface matching unit in the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing, embodiment is described in further detail the utility model.
As shown in Fig. 1～Fig. 6, controllable motor driver in the present embodiment, comprise that alternating current-direct current drives diverter switch, encoder level diverter switch, can with the wireless communication unit of external wireless communication, for the electric-motor drive unit of drive motors work, the motor interface matching unit being connected with motor interface, the encoder interfaces matching unit being connected with encoder interfaces.On controllable motor driver in the present embodiment, be also reserved with wired communication interface.
Quickly and easily, described alternating current-direct current drives diverter switch and encoder level diverter switch to adopt the same toggle switch with four dial-up keys, this toggle switch is connected with wireless communication unit, by the opening and closing of four dial-up key permutation and combination, both can switch direct current or AC driving circuit, thereby the type of drive of selecting motor to need is that DC driven still exchanges driving, can also switch the encoder operation level matching with electric-motor drive unit.
Electric-motor drive unit is connected with wireless communication unit and can divides into centrally-mounted driving mode for exchanging driving or DC driven in the control command of wireless communication unit, motor interface matching unit is connected with electric-motor drive unit with wireless communication unit, motor interface matching unit can arrange motor interface connection mode under the control command of wireless communication unit, and addressable port matching unit is connected with wireless communication unit and can under the control command of wireless communication unit, changes the output level of motor encoder.
Wherein, described wireless communication unit comprises that model is the wireless MCU chip of CC2430 and the transmitting antenna being connected with wireless MCU chip, in order to facilitate the radio communication of controllable motor driving element, can effectively identify fast, not affected by outer signals, in described wireless MCU chip, store unique hardware physical address.
The integrated IC chip that it is MAX3232EUE that described electric-motor drive unit comprises with the frequency converter of UART interface and model, wherein the D1 of frequency converter, D2, D3 pin are connected with motor interface matching unit, the TXD pin of frequency converter is connected with the 7th pin of integrated IC chip, the RXD pin of frequency converter is connected with the 8th pin of integrated IC chip, the 9th pin of integrated IC chip is connected with the P0_2 pin of wireless MCU chip, and the 10th pin of integrated IC chip is connected with the P0_3 pin of wireless MCU chip.
Described addressable port matching unit comprises that model is the D/A conversion chip of DAC0532LCV, model is the latch chip of 74AC573B, the first operational amplifier, the second operational amplifier, the first optocoupler, the second optocoupler and the 3rd optocoupler, wherein the 2nd～9th pin of latch chip is connected with P1_0～P1_7 pin of wireless MCU chip respectively, the 11st pin of latch chip is connected with the P0_1 pin of wireless MCU chip, 1 of the 20th pin of latch chip and D/A conversion chip, 2, 18, 19, 17 pins are all connected, the 12nd～19th pin of latch chip is connected with DI7～DI0 pin of D/A conversion chip respectively, the 11st pin of D/A conversion chip is connected with the reverse input end of the first operational amplifier, the 12nd pin of D/A conversion chip is connected with the input in the same way of the first operational amplifier, the output of the first operational amplifier is connected with the reverse input end of the second operational amplifier after connecting the 4th resistance, ground connection after the connection of input in the same way the 6th resistance of the second operational amplifier, the output of the second operational amplifier is connected with the P0_0 pin of wireless MCU chip, simultaneously, the output of the first operational amplifier connects after the 7th resistance and the first optocoupler, the second optocoupler is connected with the 3rd optocoupler transmitting terminal negative electrode, the first optocoupler, the anode of the second optocoupler and the 3rd optocoupler transmitting terminal is connected with three signal connection ends of motor encoder respectively, the first optocoupler, the first pin of the second optocoupler and the 3rd optocoupler receiving terminal is connected with constant voltage dc source VCC after being connected respectively a resistance, the first optocoupler, the second pin of the second optocoupler and the 3rd optocoupler receiving terminal respectively with the P1_0 of wireless MCU chip, P1_1, P1_2 connects.
Described motor interface matching unit comprises the first relay, the second relay, the 3rd relay, wherein the 4th pin of the first relay is connected with the D1 pin of frequency converter, the 4th pin of the second relay is connected with the D2 pin of frequency converter, and the 4th pin of the 3rd relay is connected with the D3 pin of frequency converter; The 5th pin of the first relay connects the negative electrode of the first diode, the anode of the first diode is connected with the 2nd pin of the first relay, the anode of the first diode also connects the emitter of the first triode simultaneously, the base earth of the first triode, the collector electrode of the first triode is connected with the P2_0 pin of wireless MCU chip after connecting the 35 resistance; The 5th pin of the second relay connects the negative electrode of the second diode, the anode of the second diode is connected with the 2nd pin of the second relay, the anode of the second diode also connects the emitter of the second triode simultaneously, the base earth of the second triode, the collector electrode of the second triode is connected with the P2_1 pin of wireless MCU chip after connecting the 36 resistance; The 5th pin of the 3rd relay connects the negative electrode of the 3rd diode, the anode of the 3rd diode is connected with the 2nd pin of the 3rd relay, the anode of the 3rd diode also connects the emitter of the 3rd triode simultaneously, the base earth of the 3rd triode, the collector electrode of the 3rd triode is connected with the P2_2 pin of wireless MCU chip after connecting the 37 resistance; The 1st pin of the first relay, the second relay and the 3rd relay is connected respectively three signal connection ends of motor.
When using this controllable motor driver, first motor is connected in to motor interface matching unit by three signal connection ends, encoder is connected in to addressable port matching unit.Before controllable motor drive operation, according to motor, be that direct current machine is or alternating current machine, by toggle switch, carry out corresponding switching manipulation, thereby the signal of selecting DC driven still to exchange driving is passed to wireless MCU chip, wireless MCU chip communicates by UART interface and frequency converter on frequency converter again, thereby the mode of transducer drive motor is set, by controlling the mode of the different relays of conducting, switch corresponding direct current or AC driving circuit, in addition, wireless MCU chip can also be exported different electric currents and voltage by the Control on Communication frequency converter from frequency converter, to drive different direct current machines or alternating current machine.
After type of drive chooses, then by the operation of toggle switch, select the supply power voltage of encoder and the output signal level of encoder, process like this completes encoder mates with the mutual of motor and electric-motor drive unit, after all having arranged, can start controllable motor driver.
Can also utilize this controllable motor driver to carry out wireless networking, first by three signal connection ends of motor respectively with the first relay, the 1st pin of the second relay and the 3rd relay is connected, by three signal connection ends of motor and encoder respectively with the first optocoupler, the anodic bonding of the second optocoupler and the 3rd optocoupler transmitting terminal, when powering on, according to the motor connecting, be that direct current machine is or alternating current machine, pass through toggle switch, the signal that will select direct current still to exchange driving passes to wireless MCU chip, wireless MCU chip sends instruction by UART to frequency converter, frequency converter can set type of drive according to instruction, wireless MCU chip can be controlled three relays in motor interface matching unit simultaneously, set motor interface connection mode, after type of drive chooses, again pass through toggle switch, select the supply power voltage of encoder and the level of encoder output, wireless MCU chip is exported different level by controlling D/A conversion chip, and the height of output level is monitored by the built-in AD of wireless MCU chip, if output voltage is too high or too low, wireless MCU chip continues to adjust by controlling D/A conversion chip, until meet, thereby form a closed-loop adjustment feedback circuit, after the electricity of device output signal to be encoded sets, this controllable motor driver is with from as node, set up network, after network is successfully established, centered by this controllable motor driver, to outside, send wireless signal and seek interdependent node, if outside does not have interdependent node, this controllable motor driver is carried out according to default program, and drive motors completes relevant action, if search other nodes, to it, send request, if this node is replied, and send and join request, this controllable motor driver will add this network, if there are other nodes, successively according to above-mentioned flow performing, until all controllable motor drivers add network, add after network, the mutual co-ordination of each controllable motor driver, control motor and complete exercises.
In addition, the networking of controllable motor driver can also be undertaken by outside controller, outside controller arranges radio-cell, by wireless mode, directly to the wireless transmission unit having in a system on each controllable motor driver of identical hardware physical address, send instruction, and then be configured to motor driver and drive network, each controllable motor driver is according to the mutual co-ordination of control command of external control machine, drive the exercises of the different motors in this system, coordinate different motors and complete wireless remote networking control.
Claims (7)
1. a controllable motor driver, it is characterized in that: comprise that alternating current-direct current drives diverter switch, encoder level diverter switch, can with the wireless communication unit of external wireless communication, electric-motor drive unit for drive motors work, the motor interface matching unit being connected with motor interface, the encoder interfaces matching unit being connected with encoder interfaces, wherein drive diverter switch to be connected with wireless communication unit to be used for selecting the type of drive of motor needs be that DC driven still exchanges driving to alternating current-direct current, encoder level diverter switch is connected with wireless communication unit for selecting the output level of motor encoder needs, electric-motor drive unit is connected with wireless communication unit and can divides into centrally-mounted driving mode for exchanging driving or DC driven in the control command of wireless communication unit, motor interface matching unit is connected with electric-motor drive unit with wireless communication unit, motor interface matching unit can arrange motor interface connection mode under the control command of wireless communication unit, addressable port matching unit is connected with wireless communication unit and can under the control command of wireless communication unit, changes the output level of motor encoder.
2. controllable motor driver according to claim 1, is characterized in that: described wireless communication unit comprises that model is the wireless MCU chip (U1) of CC2430 and the transmitting antenna being connected with wireless MCU chip (U1).
3. controllable motor driver according to claim 2, it is characterized in that: the integrated IC chip (U12) that it is MAX3232EUE that described electric-motor drive unit comprises with the frequency converter of UART interface (U8) and model, the D1 of frequency converter (U8) wherein, D2, D3 pin is connected with motor interface matching unit, the TXD pin of frequency converter (U8) is connected with the 7th pin of integrated IC chip (U12), the RXD pin of frequency converter (U8) is connected with the 8th pin of integrated IC chip (U12), the 9th pin of integrated IC chip (U12) is connected with the P0_2 pin of wireless MCU chip (U1), the 10th pin of integrated IC chip (U12) is connected with the P0_3 pin of wireless MCU chip (U1).
4. controllable motor driver according to claim 3, it is characterized in that: described addressable port matching unit comprises that model is the D/A conversion chip (U2) of DAC0532LCV, model is the latch chip (U13) of 74AC573B, the first operational amplifier (U3), the second operational amplifier (U4), the first optocoupler (U5), the second optocoupler (U6) and the 3rd optocoupler (U7), wherein the 2nd～9th pin of latch chip (U13) is connected with P1_0～P1_7 pin of wireless MCU chip (U1) respectively, the 11st pin of latch chip (U13) is connected with the P0_1 pin of wireless MCU chip (U1), 1 of the 20th pin of latch chip (U13) and D/A conversion chip (U2), 2, 18, 19, 17 pins are all connected, the 12nd～19th pin of latch chip (U13) is connected with DI7～DI0 pin of D/A conversion chip (U2) respectively, the 11st pin of D/A conversion chip is connected with the reverse input end of the first operational amplifier (U3), the 12nd pin of D/A conversion chip is connected with the input in the same way of the first operational amplifier (U3), the output of the first operational amplifier (U3) is connected with the reverse input end of the second operational amplifier (U4) after connecting the 4th resistance (R4), the input in the same way of the second operational amplifier (U4) connects the rear ground connection of the 6th resistance (R6), the output of the second operational amplifier (U4) is connected with the P0_0 pin of wireless MCU chip (U1), simultaneously, the output of the first operational amplifier (U3) connects the 7th resistance (R7) afterwards and the first optocoupler (U5), the second optocoupler (U6) is connected with the 3rd optocoupler (U7) transmitting terminal negative electrode, the first optocoupler (U5), the anode of the second optocoupler (U6) and the 3rd optocoupler (U7) transmitting terminal is connected with three signal connection ends of motor encoder respectively, the first optocoupler (U5), after being connected respectively a resistance, the first pin of the second optocoupler (U6) and the 3rd optocoupler (U7) receiving terminal is connected with constant voltage dc source VCC, the first optocoupler (U5), the second pin of the second optocoupler (U6) and the 3rd optocoupler (U7) receiving terminal respectively with the P1_0 of wireless MCU chip (U1), P1_1, P1_2 connects.
5. controllable motor driver according to claim 4, it is characterized in that: described motor interface matching unit comprises the first relay (U9), the second relay (U10), the 3rd relay (U11), wherein the 4th pin of the first relay (U9) is connected with the D1 pin of frequency converter (U8), the 4th pin of the second relay (U10) is connected with the D2 pin of frequency converter (U8), and the 4th pin of the 3rd relay (U11) is connected with the D3 pin of frequency converter (U8); The 5th pin of the first relay (U9) connects the negative electrode of the first diode (D10), the anode of the first diode (D10) is connected with the 2nd pin of the first relay (U9), the anode of the first diode (D10) also connects the emitter of the first triode (Q4) simultaneously, the base earth of the first triode (Q4), the collector electrode of the first triode (Q4) is connected with the P2_0 pin of wireless MCU chip (U1) after connecting the 35 resistance (R35); The 5th pin of the second relay (U10) connects the negative electrode of the second diode (D11), the anode of the second diode (D11) is connected with the 2nd pin of the second relay (U10), the anode of the second diode (D11) also connects the emitter of the second triode (Q5) simultaneously, the base earth of the second triode (Q5), the collector electrode of the second triode (Q5) is connected with the P2_1 pin of wireless MCU chip (U1) after connecting the 36 resistance (R36); The 5th pin of the 3rd relay (U11) connects the negative electrode of the 3rd diode (D12), the anode of the 3rd diode (D12) is connected with the 2nd pin of the 3rd relay (U11), the anode of the 3rd diode (D12) also connects the emitter of the 3rd triode (Q6) simultaneously, the base earth of the 3rd triode (Q6), the collector electrode of the 3rd triode (Q6) is connected with the P2_2 pin of wireless MCU chip (U1) after connecting the 37 resistance (R37); The first relay (U9), the second relay (U10) and the 1st pin of the 3rd relay (U11) are connected respectively three signal connection ends of motor.
6. controllable motor driver according to claim 5, is characterized in that: described alternating current-direct current drives diverter switch and encoder level diverter switch to adopt the same toggle switch with four dial-up keys.
7. controllable motor driver according to claim 6, is characterized in that: in described wireless MCU chip (U1), store unique hardware physical address.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420105153.8U CN203800858U (en) | 2014-03-10 | 2014-03-10 | Controllable motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420105153.8U CN203800858U (en) | 2014-03-10 | 2014-03-10 | Controllable motor driver |
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| CN203800858U true CN203800858U (en) | 2014-08-27 |
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| CN201420105153.8U Expired - Fee Related CN203800858U (en) | 2014-03-10 | 2014-03-10 | Controllable motor driver |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103812423A (en) * | 2014-03-10 | 2014-05-21 | 宁波云控电气有限公司 | Controllable motor driver and networking method thereof |
| CN103812423B (en) * | 2014-03-10 | 2016-11-30 | 宁波云控电气有限公司 | A kind of controllable motor driver and network-building method thereof |
| CN112566217A (en) * | 2020-11-30 | 2021-03-26 | 苏州远科智能技术有限公司 | Autonomous network wireless motor driver |
-
2014
- 2014-03-10 CN CN201420105153.8U patent/CN203800858U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103812423A (en) * | 2014-03-10 | 2014-05-21 | 宁波云控电气有限公司 | Controllable motor driver and networking method thereof |
| CN103812423B (en) * | 2014-03-10 | 2016-11-30 | 宁波云控电气有限公司 | A kind of controllable motor driver and network-building method thereof |
| CN112566217A (en) * | 2020-11-30 | 2021-03-26 | 苏州远科智能技术有限公司 | Autonomous network wireless motor driver |
| CN112566217B (en) * | 2020-11-30 | 2022-05-17 | 苏州远科智能技术有限公司 | Autonomous network wireless motor driver |
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