CN108008698A - A kind of robot system and its opening/closing control device - Google Patents
A kind of robot system and its opening/closing control device Download PDFInfo
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- CN108008698A CN108008698A CN201610971270.6A CN201610971270A CN108008698A CN 108008698 A CN108008698 A CN 108008698A CN 201610971270 A CN201610971270 A CN 201610971270A CN 108008698 A CN108008698 A CN 108008698A
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- 238000001514 detection method Methods 0.000 claims description 20
- 238000002955 isolation Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 9
- 238000000465 moulding Methods 0.000 claims description 4
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 description 4
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008878 coupling Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 235000008434 ginseng Nutrition 0.000 description 1
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- 208000015181 infectious disease Diseases 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4067—Restoring data or position after power failure or other interruption
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34308—Power supply sets relay switch, allows push button or automatic switch on off nc
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention belongs to robot field, there is provided a kind of robot system and its opening/closing control device；Opening/closing control device in the present invention is except including power button, energy supply control module, power of the whole machine switch module and control module, further including electronic switch module, external sense module, motion-control module and certain functional modules；Button off-mode signal is generated by energy supply control module, after control module preserves the operating parameter of robot system according to button off-mode signal, energy supply control module shuts down control signal to control power of the whole machine switch module to close the power supply to control module according to the off-mode of power button output second；Institute is so as to make robot system keep parameter normal when starting shooting again.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of robot system and its opening/closing control device.
Background technology
For robot system that is increasingly intelligent at present, complicating, as system becomes increasingly complex, in system stability
On often be faced with very big challenge.
In the prior art, robot system only includes button, energy supply control module, power of the whole machine switch module and is
System function module, wherein, system function module includes control module, which is used for the various behaviour for controlling robot system
Make.It is to operate relevant key command with power-off shutdown by receiving when needing to control the shutdown of robot system cut-off, then by
Energy supply control module generates shutdown control signal according to the key command, and power of the whole machine switch module is according to the shutdown control signal
External direct current power supply is controlled to disconnect, so as to stop powering to system function module.However, for robot system, due to
Its system complex, it often has many important parameters when running, and is to need to complete to these important ginsengs when shutdown
After several storages could power-off shutdown, so its cannot direct power-off shutdown, there is parameter when otherwise can cause to start shooting again
It is abnormal.
Therefore, the prior art is not because storing and direct power-off shutdown the operating parameter of robot system, so as to lead
Robot system is caused the problem of abnormal parameters occur when starting shooting again.
The content of the invention
The present invention provides a kind of robot system and its opening/closing control device, it is intended to solves the prior art because not to machine
The operating parameter of device people's system is stored and direct power-off shutdown, so as to cause robot system to be joined when starting shooting again
The problem of number is abnormal.
The present invention is achieved in that a kind of opening/closing control device of robot system, it includes power button, power supply
Control module, power of the whole machine switch module and control module；When the energy supply control module detects the power button
When key-press status is open state, the energy supply control module output start control signal makes the power of the whole machine switch module pair
The power supply of the control module；When the energy supply control module detects that the key-press status of the power button is off-mode
When, the energy supply control module generation shutdown control signal makes the power of the whole machine switch module stop supplying the control module
Electricity；The opening/closing control device of the robot system further includes：
When it is open state that the energy supply control module, which detects the key-press status of the power button, the control mould
Block control the electronic switch module according to pre-set programs open to the external sense module, the motion-control module and
The power supply of the certain functional modules；
When it is off-mode that the energy supply control module, which detects the key-press status of the power button, the control mould
After root tuber preserves the operating parameter of robot system according to button off-mode signal, the energy supply control module is according to power button
Off-mode output second shutdown control signal, the power of the whole machine switch module according to described second shutdown control signal close
Close the power supply to the control module.
The present invention also provides robot system, it includes the opening/closing control device of above-mentioned robot system.
The beneficial effect that technical solution provided by the invention is brought is：It was found from the invention described above, due to robot system
Opening/closing control device include power button, energy supply control module, power of the whole machine switch module and control module, and also wrap
Include electronic switch module, external sense module, motion-control module and certain functional modules；When energy supply control module detects
When the key-press status of power button is off-mode, energy supply control module generation button off-mode signal, control module according to
After button off-mode signal preserves the operating parameter of robot system, energy supply control module is according to the shutdown of the power button
State output second shuts down control signal so that power of the whole machine switch module closes the power supply to control module；Due to control module
Can be according to the power supply turned off after the relevant operating parameter of button off-mode signal preservation to control module, institute is so as to make
Keep parameter normal when robot system is started shooting again.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of function structure chart of the opening/closing control device of robot system provided in an embodiment of the present invention；
Fig. 2 is one of the energy supply control module in the opening/closing control device of robot system provided in an embodiment of the present invention
Kind function structure chart；
Fig. 3 is a kind of exemplary circuit structure of the opening/closing control device of robot system provided in an embodiment of the present invention
Figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 shows the modular structure of the opening/closing control device of robot system provided in an embodiment of the present invention, in order to
Easy to illustrate, illustrate only with the relevant part of the embodiment of the present invention, details are as follows：
A kind of opening/closing control device of robot system, it includes power button 01, energy supply control module 02, complete machine electricity
Source switch module 03 and control module 04, the first input end of energy supply control module 02 are connected with power button 01, power supply control
First output terminal of molding block 02 is connected with power of the whole machine switch module 03, and control module 04 connects with power of the whole machine switch module 03
Connect, when it is open state that energy supply control module 02, which detects the key-press status of power button 01, energy supply control module 02 exports
Start control signal makes power of the whole machine switch module 03 open the power supply to control module 04；When energy supply control module 02 detects
When the key-press status of power button 01 is off-mode, the generation shutdown control signal of energy supply control module 02 switchs power of the whole machine
Module 03 stops powering to control module 04；The opening/closing control device of robot system further includes electronic switch module 05, outer
Portion's sensing module 06, motion-control module 07 and certain functional modules 08.
Wherein, the second input terminal and control module of the second output terminal of energy supply control module 02 and energy supply control module 02
04 connection, control module 04 are connected with electronic switch module 05, electronic switch module 05 and external sense module 06, motion control
Module 07 and certain functional modules 08 connect.
In the opening/closing control device of above-mentioned robot system, when energy supply control module 02 detects power button 01
When key-press status is open state, control module 04 controls electronic switch module 05 to be opened according to pre-set programs to external sense mould
The power supply of block 06, motion-control module 07 and certain functional modules 08.
In the opening/closing control device of above-mentioned robot system, when energy supply control module 02 detects power button 01
When key-press status is off-mode, energy supply control module 02 generates button off-mode signal, and control module 04 is closed according to button
After machine status signal preserves the operating parameter of robot system, energy supply control module 02 is exported according to the off-mode of power button
Second shutdown control signal, power of the whole machine switch module 03 close the confession to control module 04 according to the second shutdown control signal
Electricity.
In specific implementation, power button 01 can be self-locking power button mechanical switch, two conductive metal sheets after pressing
Conducting, unclamp hand after button continue keep down state, it is necessary to user switch after pressing again and upsprings, two conductive metal sheets ability that
This is disconnected.Power of the whole machine switch 03 can be relay, silicon-controlled, MOSFET etc. can realize control on/off device or
Person's circuit.Control module 04 can be microcontroller, DSP, FPGA, POWERPC or the processor of other frameworks or platform.Electronics
Switch module 05 can be the module or circuit for realizing programmable power supply switch, can be relay or controllable
The circuits such as silicon, MOSFET.It is used for all biographies of monitoring of environmental and motion state in 06 acute pyogenic infection of finger tip robot system of external sense module
Sensor module.Motion-control module 07 can be robot system in control robot motion all drive circuits with it is mutually powered-down
Machine control unit.Certain functional modules 08 can be to meet the main work(of the specific use occasion of robot in robot system
Energy module, such as the Image Acquisition and identification module of vision robot.
In specific implementation, when control module 04 detects external sense module 06, motion-control module 07 and specific work(
When at least one module in energy module 08 breaks down, control module 04 controls electronic switch module 05 according to fault condition
Controlled according to pre-set programs to 08 power-off restarting of exterior sensing module 06, motion-control module 07 and certain functional modules.
In specific implementation, control module 04 controls electronic switch module 05 according to pre-set programs power-off restarting to external sense
Module 06, motion-control module 07 and certain functional modules 08 can be specially：Control module 04 generates reset signal, complete machine
Power switching module 03 controls 04 power-off restarting of control module according to reset signal, and control module 04 controls electronic switch module 05
External sense module 06,08 power-off restarting of motion-control module 07 and certain functional modules are controlled according to pre-set programs.
In robot system, most of module can be transferred through soft reboot extremely and power-off restarting is recovered, existing skill
Art when each submodule in system runs into failure need power-off restarting when, generally require to carry out artificial power-off restarting or examined
Repair, machine task efficiency and system stability can be substantially reduced.
As shown in Fig. 2, energy supply control module 02 includes switch module 021, switch time delay module 022, key-press status detection
Module 023 and control signal isolation module 024.
Wherein, the first input end of switch module 021 is connected with the output terminal of switch time delay module 022, switch module 021
The second input terminal be connected with the output terminal of control signal isolation module 024, output terminal and the power of the whole machine of switch module 021 are opened
Close module 03 to connect, the input terminal of switch time delay module 022 and the input terminal of key-press status detection module 023 are and power button
01 connection, the output terminal of key-press status detection module 023 and the input terminal 024 of control signal isolation module with control module 04
Connection.
In specific implementation, the output terminal of switch module 021 is the first output terminal of energy supply control module 02, switch time delay mould
The input terminal of block 022 collectively forms the first input end of energy supply control module 02 with the input terminal of key-press status detection module 023,
Key-press status detection module 023 is the second output terminal of energy supply control module 02, and the input terminal of control signal isolation module 024 is
Second input terminal of energy supply control module 02.
In above-mentioned energy supply control module 02, when switch time delay module detects the key-press status Key_ of power button 01
When Sig is open state, switch time delay module exports second source voltage according to supply voltage, and switch module 021 is according to second
Supply voltage generation start control signal SwitchCtrl, key-press status detection module 023 is according to the start shape of power button 01
State generates button open state signal KEY_DET, and control module 04 is opened according to button open state signal KEY_DET generations first
Machine control signal KEY_CTL, control signal isolation module 024 is according to first start control signal generation the second start control letter
Number, switch module 021 maintains start control signal SwitchCtrl's according to second source voltage and the second start control signal
Output.
In above-mentioned energy supply control module 02, when switch time delay module detects the key-press status Key_ of power button 01
When Sig is off-mode, key-press status detection module 023 generates button off-mode according to the off-mode of power button 01 to be believed
Number KEY_DET, switch time delay module is delayed according to the off-mode of power button stops the output of second source voltage, switching molding
Block 021 is according to the second shutdown control signal of the termination of second source voltage output generation SwitchCtrl.
Fig. 3 shows the power supply control mould in the opening/closing control device 10 of robot system provided in an embodiment of the present invention
A kind of exemplary circuit structure of block 02, for convenience of description, illustrate only with the relevant part of the embodiment of the present invention, be described in detail such as
Under：
Switch module 021 includes the first triode Q1, the 3rd triode Q3, first resistor R1, second resistance R2, the 3rd electricity
Hinder R3 and the 4th resistance R4.
The output terminal of the current collection of first triode Q1 extremely switch module 021, the transmitting of the first triode Q1 extremely switch
The first input end of module 021, the base stage of the first triode Q1 and the first end of first resistor R1 and the collection of the 3rd triode Q3
Electrode connects, and the emitter of the 3rd triode Q3 is connected with the first end of 3rd resistor R3, the base stage of the 3rd triode Q3, second
The first end of resistance R2 and the first end of the 4th resistance R4 are the second input terminal of switch module 021, the of first resistor R1
Two ends are connected with the second end of second resistance R2, and the second end of the second end of 3rd resistor R3 and the 4th resistance R4 are connected to power supply altogether
Ground.
Switch time delay module includes the second triode Q2, the 4th triode Q4, the first diode D1, the first capacitance C1, the
Five resistance R5, the 6th resistance R6 and the 7th resistance R7.
The output terminal of the current collection of second triode Q2 extremely switch time delay module, the emitter and the 5th of the second triode Q2
The first end of resistance R5 be switch time delay module first input end, the base stage of the second triode Q2 and the second of the 5th resistance R5
End is connected with the collector of the 4th triode Q4, and the base stage of the 4th triode Q4 is connected with the first end of the 6th resistance R6, and the 6th
The second end of resistance R6 and the first end of the cathode of the first triode D1, the first end of the first capacitance C1 and the 7th resistance R7 connect
Connect, the anode of the first triode D1 is the second input terminal of switch time delay module, emitter, the first capacitance of the 4th triode Q4
The second end of C1 and the second end of the 7th resistance R7 with being connected to power supply altogether.
Key-press status detection module 023 includes the first optocoupler U1, the 8th resistance R8, the 9th resistance R9 and the tenth resistance
R10。
The anode of light emitting diode in first optocoupler U1 is connected with the first end of the 8th resistance R8, and the of the 8th resistance R8
Two ends are the input terminal of key-press status detection module 023, and the collector in the first optocoupler U1 is connected with the first power supply VBB, first
Emitter in optocoupler U1 is connected with the first end of the 9th resistance R9 and the first end of the tenth resistance R10, and the of the 9th resistance R9
Two ends are the output terminal of key-press status detection module 023, and the cathode of the light emitting diode in the first optocoupler U1 is connected with power supply,
The second end of tenth resistance R10 is connected with digital power.
Control signal isolation module 024 includes the second optocoupler U2 and the 11st resistance R11.
The anode of light emitting diode in second optocoupler U2 is connected with the first end of the 11st resistance R11, the 11st resistance
The input terminal of the second end of R11 signal isolation module 024 in order to control, collector in the second optocoupler U2 signal isolation mould in order to control
The output terminal of block 024, the emitter in the second optocoupler U2 are connected with power supply, the cathode of the light emitting diode in the second optocoupler U2
It is connected with digital power.
Mould is controlled to the power supply in the opening/closing control device 10 of the robot system shown in Fig. 3 below in conjunction with operation principle
Block 02 is described further：
In specific implementation process, when power button is pressed, i.e. power button SW1 conductings, supply voltage VCC passes through the
One diode D1 charges the first capacitance C1, then make it that the 4th triode Q4 is in the conduction state through the 6th resistance R6,
Then under the partial pressure of the 5th resistance R5 and the 12nd resistance R12, the base stage of the second diode Q2 reaches turn-on condition, so that the
Two diode Q2 are turned on so that the emitter of the first triode Q1 is close to supply voltage VCC.At this time due to the electricity of robot complete machine
Source does not power on, and control module 04 does not work, and KEY_CTL signals are low level " 0 ", and the second optocoupler U2 is in cut-off state, thus
Partial pressure is carried out to supply voltage VCC by second resistance R2 and the 4th resistance R4, so that the 3rd triode Q3 is on shape
State, then the first triode Q1 is turned on, so that SwitchCtrl signals are in close to supply voltage VCC, so as to control whole
Electromechanical source switch module 03 turns on, and control module 04 works together.
After control module 04 works together, by the first optocoupler U1, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10 groups
Into key-press status detection module 023 be responsible for detection power button SW1 whether press, after power button SW1 is pressed, the first light
Coupling U1 will be turned on, and the signal KEY_DET of docking control module 04 will be changed into high level " 1 " from low level " 0 ", be realized with this to electricity
The detection of source button SW1.
In robot normal work, it is " 0 " by the start of software program first control signal KEY_CTL, ensures
Second optocoupler U2 is in cut-off state, so as to finally allow the first triode Q1 to be on.
When robot system needs shutdown, power button SW1 is pressed by operating personnel, power button SW1 is disconnected, then
Push button signalling Key_sig meeting power down is so that the first optocoupler U1 ends, so that KEY_DET signals are changed into " 0 " from " 1 ".Control
Module 04 knows the shutdown demand of outside by detecting this signal, then starts to preserve operating parameter, the first diode D1 is just
Pole stops input supply voltage VCC, and by the electric discharge to the first capacitance C1, the 4th triode Q4 and the second diode Q2 delays stop
The only output of second source voltage, to control the 3rd triode Q3 cut-offs, so as to fulfill reliable shutdown.
Meanwhile after power button SW1 disconnections, the first capacitance C1 due to before filled with electricity, can by the 6th resistance R6 and
7th resistance R7 discharges at leisure, and the 4th triode of conducting is not enough to until the base voltage of the 4th triode Q4 discharges into
After Q4, the 4th triode Q4 is begun to shut off, then the second triode Q2 end so that the power down of SwitchCtrl signals and control
Power of the whole machine switch circuit breaking processed.The time for the whole process that the second triode Q2 finally ends is disconnected to from power button SW1 just
It is the off delay time that hardware provides, this hardware off delay time about 10s or so is designed on hardware circuit, can guarantee that i.e.
04 in house software of control module still can be carried out in the case of causing KEY_CTL signals out of contior extremely after off delay
Reliably shut down.It should be noted that can by change the first capacitance C1 capacitance size to determine hardware off delay when
Between length, so that the preservation of minimum and systematic parameter to unused time duration is accomplished to balance between the two.
If control module finds peripheral hardware (such as UART interface, USB interface, PCIE in its own interfaces circuit or chip slapper
Interface, network interface when) it is abnormal when, can be by controlling KEY_CTL signals to arrive " 1 ", then the second optocoupler U2 conductings, it will so that the
The voltage of two optocoupler U2 collectors output with being pulled down to power supply, so that the 3rd triode Q3 ends, then causes first
Triode Q1 ends so that SwitchCtrl signals lose voltage, with by control power of the whole machine switch module 03 to including
All very power supply circuits and module including control module 04 carry out hardware power-off.Then after 04 power down of control module,
Power down is " 0 " by KEY_CTL signals, so that the second optocoupler U2 ends, the 3rd triode Q3 and the first triode Q1 conductings, complete machine
Power switching module 03 turns on again, it is achieved thereby that circuitry and the hardware power-off restarting of module, so as to recover to control mould
The failure of block 04 and all modules.
Parameter is normal when opening/closing control device 10 based on above-mentioned robot system realizes start again, therefore this hair
Bright embodiment also provides a kind of robot system, it includes the opening/closing control device 10 of above-mentioned robot system.
In conclusion the embodiment of the present invention includes power button, energy supply control module, power of the whole machine switch module by it
And control module, and further include electronic switch module, external sense module, motion-control module and certain functional modules；
When it is off-mode that energy supply control module, which detects the key-press status of power button, energy supply control module generation button shutdown shape
State signal, after control module preserves the operating parameter of robot system according to button off-mode signal, energy supply control module root
According to the second shutdown control signal of off-mode output of the power button so that power of the whole machine switch module is closed to controlling mould
The power supply of block；Turned off after can preserving relevant operating parameter according to button off-mode signal due to control module to control
The power supply of module, institute is so as to make robot system keep parameter normal when starting shooting again.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of opening/closing control device of robot system, it includes power button, energy supply control module, power of the whole machine switch
Module and control module；When it is open state that the energy supply control module, which detects the key-press status of the power button,
The energy supply control module output start control signal makes power supply of the power of the whole machine switch module to the control module；When
The energy supply control module detects the key-press status of the power button when being off-mode, the energy supply control module generation
Shutdown control signal makes the power of the whole machine switch module stop powering to the control module；It is characterized in that, the machine
The opening/closing control device of people's system further includes：
Electronic switch module, external sense module, motion-control module and certain functional modules；
When it is open state that the energy supply control module, which detects the key-press status of the power button, the control module control
The electronic switch module is made to be opened to the external sense module, the motion-control module and described according to pre-set programs
The power supply of certain functional modules；
When it is off-mode that the energy supply control module, which detects the key-press status of the power button, the power supply controls mould
Block generates button off-mode signal, and the control module preserves the fortune of robot system according to the button off-mode signal
After row parameter, the energy supply control module is described according to the off-mode of power button output the second shutdown control signal
Power of the whole machine switch module closes the power supply to the control module according to the described second shutdown control signal.
2. opening/closing control device as claimed in claim 1, it is characterised in that when the control module detects the outside
It is described when at least one module in sensing module, the motion-control module and the certain functional modules breaks down
Control module controls the electronic switch module to control the external sense module, described according to pre-set programs according to fault condition
Motion-control module and the certain functional modules power-off restarting.
3. opening/closing control device as claimed in claim 1, it is characterised in that the control module is controlled according to fault condition
The electronic switch module controls the external sense module, the motion-control module and described specific according to pre-set programs
Function module power-off restarting is specially：The control module generates reset signal, and the power of the whole machine switch module is according to
Reset signal controls the control module power-off restarting, and the control module controls the electronic switch module according to pre-set programs
Control the external sense module, the motion-control module and the certain functional modules power-off restarting.
4. opening/closing control device as claimed in claim 1, it is characterised in that energy supply control module includes：
Switch module, switch time delay module, key-press status detection module and control signal isolation module；
The first input end of the switch module is connected with the output terminal of the switch time delay module, and the second of the switch module
Input terminal is connected with the output terminal of the control signal isolation module, and the output terminal of the switch module is opened with the power of the whole machine
Close module connection, the input terminal of the input terminal of the switch time delay module and the key-press status detection module with the power supply
By key connection, the input terminal of the output terminal of the key-press status detection module and the control signal isolation module with the control
Molding block connects；
When it is open state that the switch time delay module, which detects the key-press status of the power button, the switch time delay mould
Root tuber exports second source voltage according to supply voltage, and the switch module generates start control letter according to the second source voltage
Number, the key-press status detection module generates button open state signal, the control according to the open state of the power button
Molding root tuber is started shooting control signal according to button open state signal generation first, and the control signal isolation module is according to described the
One start control signal generation the second start control signal, the switch module is according to the second source voltage and described second
Control signal of starting shooting maintains the output of the start control signal；
When it is off-mode that the switch time delay module, which detects the key-press status of the power button, the key-press status inspection
Survey module and button off-mode signal is generated according to the off-mode of the power button, the switch time delay module is according to
The off-mode delay of power button stops the output of the second source voltage, and the switch module is according to the second source
Termination generation the second shutdown control signal of voltage output.
5. opening/closing control device as claimed in claim 4, it is characterised in that the switch module include the first triode,
3rd triode, first resistor, second resistance, 3rd resistor and the 4th resistance；
The output terminal of the extremely described switch module of current collection of first triode, the transmitting of first triode are extremely described
The first input end of switch module, the base stage of first triode and the first end of the first resistor and the three or three pole
The collector connection of pipe, the emitter of the 3rd triode are connected with the first end of the 3rd resistor, the three or three pole
The first end of the base stage of pipe, the first end of the second resistance and the 4th resistance is the second input terminal of the switch module,
The second end of the first resistor is connected with the second end of the second resistance, the second end of the 3rd resistor and the described 4th
The second end of resistance with being connected to power supply altogether.
6. opening/closing control device as claimed in claim 4, it is characterised in that the switch time delay module includes the two or three pole
Pipe, the 4th triode, the first diode, the first capacitance, the 5th resistance, the 6th resistance and the 7th resistance；
The output terminal of the extremely described switch time delay module of the current collection of second triode, the emitter of second triode and
The first end of 5th resistance be the switch time delay module first input end, the base stage of second triode with it is described
The second end of 5th resistance is connected with the collector of the 4th triode, the base stage of the 4th triode and the described 6th electricity
The first end connection of resistance, the second end of the 6th resistance and the cathode of first triode, the first of first capacitance
The connection of the first end of end and the 7th resistance, the anode of first triode input for the second of the switch time delay module
End, the second end of the emitter of the 4th triode, the second end of first capacitance and the 7th resistance are connected to altogether
Power supply.
7. opening/closing control device as claimed in claim 4, it is characterised in that the key-press status detection module includes first
Optocoupler, the 8th resistance, the 9th resistance and the tenth resistance；
The anode of light emitting diode in first optocoupler is connected with the first end of the 8th resistance, the 8th resistance
Second end is the input terminal of the key-press status detection module, and the collector in first optocoupler is connected with the first power supply, institute
The emitter stated in the first optocoupler is connected with the first end of the 9th resistance and the first end of the tenth resistance, and the described 9th
The second end of resistance is the output terminal of the key-press status detection module, the cathode of the light emitting diode in first optocoupler with
Connect, the second end of the tenth resistance is connected with digital power power supply.
8. opening/closing control device as claimed in claim 4, it is characterised in that the control signal isolation module includes second
Optocoupler and the 11st resistance；
The anode of light emitting diode in second optocoupler is connected with the first end of the 11st resistance, the 11st electricity
The second end of resistance is the input terminal of the control signal isolation module, the extremely described control signal of current collection in second optocoupler
The output terminal of isolation module, the emitter in second optocoupler are connected with power supply, the light-emitting diodes in second optocoupler
The cathode of pipe is connected with digital power.
9. a kind of robot system, it is characterised in that the robot system is further included as described in any one of claim 1 to 8
Opening/closing control device.
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| CN201610971270.6A CN108008698B (en) | 2016-10-28 | 2016-10-28 | Robot system and on-off control device thereof |
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