CN211103994U - Robot servo drive system based on power line carrier communication technology - Google Patents
Robot servo drive system based on power line carrier communication technology Download PDFInfo
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- CN211103994U CN211103994U CN201920933800.7U CN201920933800U CN211103994U CN 211103994 U CN211103994 U CN 211103994U CN 201920933800 U CN201920933800 U CN 201920933800U CN 211103994 U CN211103994 U CN 211103994U
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Abstract
The utility model provides a servo actuating system of robot based on power line carrier communication technique for it is numerous and diverse to solve communication part structure between among the prior art driver and the driver, lacks the compactedness, must set up output bus and industrial communication bus simultaneously, unable nimble configuration, the not enough technical problem of reliability and system integration nature, include: the system comprises an industrial interaction module, a power line and a robot joint driving module; the robot joint driving module comprises a carrier communication module, a driver and a motor, wherein the driver is connected with the motor; the industrial interaction module comprises: the industrial communication interface, industrial end communication chip, industrial end carrier coupling circuit. Implement the technical scheme of the utility model can realize under compact structure's prerequisite, simplify the structure, possess the ability of nimble configuration, need not use outside industrial communication bus to the arm simultaneously inside, possess the technological effect of better reliability and the system integration nature of height.
Description
Technical Field
The utility model relates to an industrial robot, in particular to servo drive system of robot based on power line carrier communication technique.
Background
With the development of economy, the expansion of production scale and the improvement of automation, industrial robots are widely used. At present, in the field of industrial robots or service robots, the robots generally have 6 or 8 joints, so that multi-degree-of-freedom motions are realized, and each joint needs to be provided with a set of servo driving system to realize the functions of receiving instructions, controlling servo motors and the like. Currently, in various robot designs, there are three general types of configurations for servo actuators: one type is that servo drivers are all installed in an external control cabinet, a motor driving power cable and a motor encoder cable are led out between each servo driver and a joint motor for connection, and the connection mode causes excessive leading wires between the servo drivers and the motors and disordered wiring; the second type is that a high-power-density ultra-small-volume servo driver is embedded in the inner space of a robot mechanical arm and is installed close to a servo motor in a physical distance, and because the driver is installed in the inner space of the mechanical arm and is installed close to a motor body, a power bus and an industrial communication bus need to be input into the mechanical arm from the outside and are connected with each servo driver; the third type is that servo driver and motor body are integrated design, and the driver is backed and is installed at motor afterbody tip, does not basically have the lead wire to exist between driver and the motor body like this, and the structure is compacter, but outside power supply generating line and communication bus cable still need to introduce the arm inside and be connected with each servo driver, can't realize nimble configuration.
Therefore, the market urgently needs an industrial robot which has the advantages of flexible configuration capability on the premise of compact structure, flexible installation space, no need of using an external industrial communication bus to the inside of a mechanical arm at the same time and better reliability and system integration
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses a servo drive system of robot based on power line carrier communication technique, the technical scheme of the utility model is implemented like this:
a robot servo drive system based on power line carrier communication technology comprises: the system comprises an industrial interaction module, a power line and a robot joint driving module; the robot joint driving module comprises a carrier communication module, a driver and a motor, wherein the driver is connected with the motor; the industrial interaction module comprises: the industrial communication interface is connected with an external industrial communication bus and the industrial communication chip, receives an industrial driving signal and transmits the industrial driving signal to the industrial communication chip; the industrial end communication chip is connected with the industrial end carrier coupling circuit, converts the industrial driving signal into a carrier driving signal and sends the carrier driving signal to the industrial end carrier coupling circuit; the industrial end carrier coupling circuit is connected with a power line and couples the carrier driving signal to the power line; the carrier communication module includes: the driver end carrier coupling circuit is connected with a power line and the driver end receiving filter circuit, and receives a carrier driving signal from the power line and sends the carrier driving signal to the receiving filter unit; the driver end receiving filter circuit is connected with the driver end communication chip, and is used for filtering the carrier driving signal and transmitting the carrier driving signal to the driver end communication chip; the motor end communication chip is connected with the driver end communication interface, converts the carrier driving signal into a driver signal and transmits the driver signal to the driver end communication interface; the driver is connected with the driver end communication interface and the motor, receives the driver signal and outputs a control signal to the motor; the power line is connected with the controller, the industrial interaction module, the carrier communication module and the robot joint driving module and supplies power to the controller, the industrial interaction module, the carrier communication module and the robot joint driving module.
Preferably, the industrial interaction module further comprises an industrial end receiving filter circuit and a feedback communication chip; the driver end communication chip is connected with the driver end carrier coupling circuit, receives a feedback signal from the driver end communication interface, and converts the feedback signal into a feedback carrier signal; the driver end carrier coupling circuit receives the feedback carrier signal and is coupled to the power line; the industrial end receiving filter circuit is connected with the industrial end carrier coupling circuit and the feedback communication chip, and the industrial end carrier coupling circuit receives the feedback carrier signal from the power line and transmits the feedback carrier signal to the feedback communication chip; the feedback communication chip is connected to the industrial communication interface, converts the feedback carrier signal into an industrial feedback signal, and transmits the industrial feedback signal to the controller through the industrial communication interface.
Preferably, the industrial interaction module further comprises an industrial end signal power control circuit, and the industrial end signal power control circuit is connected with the industrial end communication chip and the carrier coupling circuit, adjusts the power of the industrial driving signal, and sends the power to the industrial end carrier coupling circuit.
Preferably, the carrier communication module further includes a driver end signal power control circuit, where the driver end signal power control circuit is connected to the driver end communication chip and the driver end carrier coupling circuit, adjusts the feedback carrier signal power, and sends the feedback carrier signal power to the driver end carrier coupling circuit.
Preferably, the number of the robot joint driving modules is set to be more than one.
Preferably, the industrial end carrier coupling circuit and/or the driver end carrier coupling circuit further include a voltage transformation circuit, and an input end of the voltage transformation circuit is connected to the power line.
Preferably, the motor is a servo motor; the driver is a servo driver.
The technical scheme of the utility model can solve the technical problems of complicated structure of communication parts, lack of compactness, incapability of flexible configuration and insufficient reliability and system integration in the prior art between the driver and between the driver and the central controller of the robot, and the need of simultaneously setting an output power bus and an industrial communication bus; implement the technical scheme of the utility model, through unifying output bus and industrial communication bus, can realize possessing the ability of nimble configuration under compact structure's prerequisite, installation space is nimble, need not use outside industrial communication bus to the arm inside simultaneously, has the technological effect of better reliability and system integration nature.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive laboriousness.
Fig. 1 is a schematic diagram of a signal transmission process according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an industrial-side carrier coupling circuit and a driver-side carrier coupling circuit according to a preferred embodiment of the present invention;
fig. 3 is a schematic diagram of a power supply structure according to a preferred embodiment of the present invention.
In the above drawings, the reference numerals denote:
1-an industrial interaction module;
11-an industrial communication interface;
12-an industrial-side communication chip;
13-industrial side carrier coupling circuit;
14-industrial side receiving filter circuit;
15-a feedback communication chip;
16-industrial end signal power control circuit;
2-a power line;
3-a robot joint drive module;
31-a carrier communication module;
311-driver side carrier coupling circuitry;
312-driver side receive filter circuit;
313 — a driver side communication chip;
314-drive side communication interface;
315-driver side signal power control circuit;
32-a driver;
33-a motor;
4-external industrial communication bus
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In a specific embodiment, as shown in fig. 1, 2 and 3, a robot servo driving system based on a power line carrier communication technology includes: the system comprises an industrial interaction module 1, a power line 2 and a robot joint driving module 3; the robot joint driving module 3 comprises a carrier communication module 31, a driver and a motor, wherein the driver is connected with the motor; the industrial interaction module 1 comprises: the industrial communication interface 11 is connected with the external industrial communication bus 4 and the industrial communication chip 12, receives industrial driving signals and transmits the industrial driving signals to the industrial communication chip 12; the industrial end communication chip 12 is connected with the industrial end carrier coupling circuit 13, converts the industrial driving signal into a carrier driving signal and sends the carrier driving signal to the industrial end carrier coupling circuit 13; the industrial end carrier coupling circuit 13 is connected with the power line 2 and couples the carrier driving signal to the power line 2; the carrier communication module 31 includes: the carrier communication module 311 is connected with the power line 2 and the driver end receiving filter circuit 312, and the carrier coupling circuit receives a carrier driving signal from the power line 2 and sends the carrier driving signal to the receiving filter unit; the driver end receiving filter circuit 312 is connected to the driver end communication chip 313, and performs filtering processing on the carrier driving signal and transmits the carrier driving signal to the driver end communication chip 313; the motor end communication chip is connected with the driver end communication interface 314, converts the carrier driving signal into a driver signal and transmits the driver signal to the driver end communication interface 314; the driver is connected with the driver end communication interface 314 and the motor, receives the driver signal and outputs a control signal to the motor; the power line 2 is connected with and supplies power to the controller, the industrial interaction module 1, the carrier communication module 31 and the robot joint driving module 3.
In this particular embodiment, the driver 32 is used for controlling the motor 33, and the motor 33 is used for driving the robot joint to move; the industrial interactive module 1 can be arranged in a robot or a production line control center such as a control cabinet, the industrial interactive module 1 is responsible for converting an industrial communication signal of an industrial communication interface 11 into a carrier communication signal, when the industrial communication interface 11 receives an industrial driving signal, the industrial driving signal is transmitted to an industrial communication chip 12 through a cable, the industrial communication chip 12 converts a corresponding signal into a carrier driving signal, the carrier driving signal is transmitted to an industrial end carrier coupling circuit 13, and the industrial end carrier coupling circuit 13 couples the industrial driving signal and outputs the coupled signal to the power line 2; the carrier communication module 31 is used for realizing information flow of the robot joint driving module 3 towards the direction of the external industrial communication bus 4, the carrier driving signal of the power line 2 passes through the driver end carrier coupling circuit 311 to realize the receiving of the carrier driving signal on the power line 2, the carrier driving signal received by the driver end carrier coupling circuit 311 passes through the driver end receiving filter circuit 312 to jointly realize the receiving and filtering of the carrier signal of the power line 2, the filtered carrier driving signal is transmitted to the driver end communication chip 313 and is converted by the driver end communication chip 313 to generate the driver signal, and transmits it to the driver-side communication interface 314, the driver 32 receives the signal of the driver-side communication interface 314 and transmits a control signal to the motor 33, thereby realizing the information communication from the external industrial communication bus 4 to the robot joint driving module 3; the external industrial communication bus 4 can be a control cabinet of a wired automatic production line, and can also be connected with mobile equipment such as a mobile phone in a wireless connection mode; the power line 2 serves as a signal transmission line and simultaneously bears the power supply function of each module, so that the integration of a power supply line and an industrial communication line is realized, the compactness of the structure and the high integration of the system are realized, the installation space is flexible, the flexible configuration can be realized, and the technical effect of good reliability is achieved.
In a preferred embodiment, as shown in fig. 1, the industrial interaction module 1 further includes an industrial-side receiving filter circuit 14 and a feedback communication chip 15; the driver end communication chip 313 is connected with the driver end carrier coupling circuit 311, receives the feedback signal from the driver end communication interface 314, and converts the feedback signal into a feedback carrier signal; the driver-side carrier coupling circuit 311 receives the feedback carrier signal and couples to the power line 2; the industrial end receiving filter circuit 14 is connected with the industrial end carrier coupling circuit 13 and the feedback communication chip 15, and the industrial end carrier coupling circuit 13 receives a feedback carrier signal from the power line 2 and transmits the feedback carrier signal to the feedback communication chip 15; the feedback communication chip 15 is connected to the industrial communication interface 11, converts the feedback carrier signal into an industrial feedback signal, and transmits the industrial feedback signal to the controller through the industrial communication interface 11.
In the preferred embodiment, the industrial-side receiving filter circuit 14 is used for receiving a filtering operation from the power line 2 at the external industrial communication bus 4, and after filtering, the filtered signal is transmitted to the feedback communication chip 15 so as to be converted into a digital signal recognizable by the external industrial communication bus 4; when the robot joint driving module 3 receives the control signal, it will send a feedback signal through the driver end communication interface 314, and confirm that the signal has been received and executed to the external industrial communication bus 4, the driver end communication chip 313 converts the feedback signal transmitted from the driver end communication interface 314 into a feedback carrier signal and transmits it to the driver end carrier coupling circuit 311, the driver end carrier coupling circuit 311 couples the feedback carrier signal to the power line 2, the power line 2 transmits the feedback carrier signal to the industrial end, the industrial end carrier coupling circuit 13 receives the feedback carrier signal from the power line 2, and transmits it to the feedback communication chip 15 after signal filtering by the industrial end receiving filter circuit 14, the feedback communication chip 15 converts the feedback carrier signal into an industrial feedback signal and transmits it to the external industrial communication bus 4 through the industrial communication interface 11, therefore, the signal feedback of the robot joint driving module 3 to the external industrial communication bus 4 after receiving the signal transmitted by the external industrial communication bus 4 is realized, the signal transmission reliability of the system is improved, and the stability of the system is increased.
In a preferred embodiment, as shown in fig. 1, the industrial interaction module 1 further includes an industrial-side signal power control circuit 16, where the industrial-side signal power control circuit 16 is connected to the industrial-side communication chip 12 and the carrier coupling circuit, adjusts the power of the industrial driving signal, and sends the power to the industrial-side carrier coupling circuit 13.
In the preferred embodiment, the signal is necessarily attenuated in the transmission process of the line, and the industrial drive signal can be amplified by using the industrial end signal power control circuit 16, so that the transmission quality of the industrial drive signal is ensured.
In a preferred embodiment, as shown in fig. 1, the carrier communication module 31 further includes a driver-side signal power control circuit 315, where the driver-side signal power control circuit 315 is connected to the driver-side communication chip 313 and the driver-side carrier coupling circuit 311, adjusts the feedback carrier signal power, and sends the feedback carrier signal power to the driver-side carrier coupling circuit 311.
In this preferred embodiment, there is necessarily attenuation in the signal during transmission on the line, and the driver-side signal power control circuit 315 is used to amplify the feedback carrier signal and ensure the transmission quality of the feedback carrier signal.
In a preferred embodiment, the number of robot joint drive modules 3 is set to be greater than one.
The number of the robot joint driving modules 3 is adapted to the number of the robot joints, each robot joint is provided with one robot joint driving module 3, and each joint driving module independently controls the corresponding robot joint.
In a preferred embodiment, the industrial side carrier coupling circuit 13 and/or the driver side carrier coupling circuit 311 further comprises a transformer circuit, an input terminal of which is connected to the power line 2.
In such a preferred embodiment, the transformer circuit electrically isolates the communication module from the dc or ac bus, thereby reducing electromagnetic interference between the components and improving signal transmission quality.
In a preferred embodiment, as shown in fig. 1, the motor is a servo motor; the driver is a servo driver.
In the preferred embodiment, the servo driving system has the advantages that the motor speed can be ensured, the position control precision is very accurate, the voltage and current signals can be converted into torque, rotating speed and position signals to drive a control object, the rotating speed and the position of the rotor of the servo motor are controlled by input signals and can quickly react, the servo driving system is used as an execution element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can meet the precision requirement in the operation process of the power line carrier robot; the servo driver is connected to the servo motor and controls the servo motor in various modes such as position, speed and moment, so that high-precision positioning control of the transmission system is realized.
It should be understood that the above description is only exemplary of the present invention, and is not intended to limit the present invention, and that any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (7)
1. A robot servo drive system based on power line carrier communication technology is characterized by comprising: the system comprises an industrial interaction module, a power line and a robot joint driving module; wherein the content of the first and second substances,
the robot joint driving module comprises a carrier communication module, a driver and a motor, and the driver is connected with the motor;
the industrial interaction module comprises: the industrial communication interface is connected with an external industrial communication bus and the industrial communication chip, receives an industrial driving signal and transmits the industrial driving signal to the industrial communication chip;
the industrial end communication chip is connected with the industrial end carrier coupling circuit, converts the industrial driving signal into a carrier driving signal and sends the carrier driving signal to the industrial end carrier coupling circuit;
the industrial end carrier coupling circuit is connected with a power line and couples the carrier driving signal to the power line;
the carrier communication module includes: the driver end carrier coupling circuit is connected with a power line and the driver end receiving filter circuit, and receives a carrier driving signal from the power line and sends the carrier driving signal to the receiving filter unit;
the driver end receiving filter circuit is connected with the driver end communication chip, and is used for filtering the carrier driving signal and transmitting the carrier driving signal to the driver end communication chip;
the motor end communication chip is connected with the driver end communication interface, converts the carrier driving signal into a driver signal and transmits the driver signal to the driver end communication interface;
the driver is connected with the driver end communication interface and the motor, receives the driver signal and outputs a control signal to the motor;
the power line is connected with the controller, the industrial interaction module, the carrier communication module and the robot joint driving module and supplies power to the industrial interaction module, the carrier communication module and the robot joint driving module.
2. The robot servo driving system based on the power line carrier communication technology as claimed in claim 1, wherein the industrial interaction module further comprises an industrial end receiving filter circuit and a feedback communication chip; the driver end communication chip is connected with the driver end carrier coupling circuit, receives a feedback signal from the driver end communication interface, and converts the feedback signal into a feedback carrier signal;
the driver end carrier coupling circuit receives the feedback carrier signal and is coupled to the power line;
the industrial end receiving filter circuit is connected with the industrial end carrier coupling circuit and the feedback communication chip, and the industrial end carrier coupling circuit receives the feedback carrier signal from the power line and transmits the feedback carrier signal to the feedback communication chip;
the feedback communication chip is connected to the industrial communication interface, converts the feedback carrier signal into an industrial feedback signal, and transmits the industrial feedback signal to the controller through the industrial communication interface.
3. The robot servo driving system based on the power line carrier communication technology as claimed in claim 2, wherein the industrial interaction module further comprises an industrial end signal power control circuit, the industrial end signal power control circuit is connected with the industrial end communication chip and the carrier coupling circuit, adjusts the power of the industrial driving signal, and sends the power to the industrial end carrier coupling circuit.
4. The servo drive system of robot based on power line carrier communication technology of claim 3, characterized in that the carrier communication module further comprises a driver end signal power control circuit, the driver end signal power control circuit is connected with the driver end communication chip and the driver end carrier coupling circuit, adjusts the feedback carrier signal power, and sends it to the driver end carrier coupling circuit.
5. A robot servo driving system based on power line carrier communication technology as claimed in claim 4, wherein the number of the robot joint driving modules is set to be more than one.
6. The servo drive system of robot based on power line carrier communication technology of claim 5, wherein the industrial end carrier coupling circuit and/or the driver end carrier coupling circuit further comprises a voltage transformation circuit, and an input end of the voltage transformation circuit is connected with the power line.
7. The servo driving system for the robot based on the power line carrier communication technology as claimed in claim 6, wherein the motor is a servo motor; the driver is a servo driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920933800.7U CN211103994U (en) | 2019-06-20 | 2019-06-20 | Robot servo drive system based on power line carrier communication technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920933800.7U CN211103994U (en) | 2019-06-20 | 2019-06-20 | Robot servo drive system based on power line carrier communication technology |
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| CN211103994U true CN211103994U (en) | 2020-07-28 |
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| CN201920933800.7U Active CN211103994U (en) | 2019-06-20 | 2019-06-20 | Robot servo drive system based on power line carrier communication technology |
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