CN206411505U - 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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- CN206411505U CN206411505U CN201621199889.1U CN201621199889U CN206411505U CN 206411505 U CN206411505 U CN 206411505U CN 201621199889 U CN201621199889 U CN 201621199889U CN 206411505 U CN206411505 U CN 206411505U
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Abstract
The utility model belongs to robot field, and there is provided a kind of robot system and its opening/closing control device；Opening/closing control device in the utility model is except including power button, energy supply control module, complete machine power switching module and control module, in addition to electronic switch module, external sense module, motion-control module and certain functional modules；Button off-mode signal is generated by energy supply control module, control module is preserved according to button off-mode signal after the operational factor of robot system, and energy supply control module exports the second shutdown control signal to control complete machine power switching module to close the power supply to control module according to the off-mode of power button；So robot system can be made to keep parameter normal when starting shooting again.
Description
Technical field
The utility model 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 the stability of a system
On often be faced with very big challenge.
In the prior art, robot system only includes button, energy supply control module, complete machine power switching module and is
System functional module, wherein, system function module includes control module, and the control module is used for the various behaviour of control machine people's system
Make.When needing control machine people system cut-off to shut down, be by receiving the key command related to power-off shutdown operation, then by
Energy supply control module is according to key command generation shutdown control signal, and complete machine power switching 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, be to need to complete to these important ginsengs when shutdown
After several storages could power-off shutdown, so its can not direct power-off shutdown, there is parameter when otherwise can cause to start shooting again
It is abnormal.
Therefore, prior art because the operational factor not to robot system is stored and directly power-off shutdown, so as to lead
Cause the problem of robot system abnormal parameters occurs when starting shooting again.
Utility model content
The utility model provides a kind of robot system and its opening/closing control device, it is intended to solve prior art because not
Operational factor to robot system is stored and direct power-off shutdown, so as to cause robot system when starting shooting again
The problem of existing abnormal parameters.
The utility model is achieved in that a kind of opening/closing control device of robot system, it include power button,
Energy supply control module, complete machine power switching module and control module；When the energy supply control module detect the power supply by
When the key-press status of key is open state, the energy supply control module output start control signal makes the complete machine power switch mould
Power supply of the block to the control module；It is shutdown shape when the energy supply control module detects the key-press status of the power button
During state, the energy supply control module generation shutdown control signal makes the complete machine power switching module stop to the control module
Power supply；The opening/closing control device of the robot system also includes：
When the key-press status that the energy supply control module detects the power button is open state, 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 the key-press status that the energy supply control module detects the power button is off-mode, the control mould
Root tuber is preserved according to button off-mode signal after the operational factor of robot system, and the energy supply control module is according to power button
Off-mode output second shut down control signal, the complete machine power switching module according to described second shutdown control signal close
Close the power supply to the control module.
The utility model also provides robot system, and it includes the opening/closing control device of above-mentioned robot system.
The beneficial effect brought of technical scheme that the utility model is provided is：It was found from above-mentioned the utility model, due to machine
The opening/closing control device of device people's system includes power button, energy supply control module, complete machine power switching module and control mould
Block, and also include electronic switch module, external sense module, motion-control module and certain functional modules；Work as power supply
When the key-press status that module detects power button is off-mode, energy supply control module generation button off-mode signal, control
Molding root tuber is preserved according to button off-mode signal after the operational factor of robot system, and energy supply control module is according to the power supply
The off-mode output second of button shuts down control signal so that complete machine power switching module closes the power supply to control module；By
The power supply turned off after related operational factor to control module can be preserved according to button off-mode signal in control module,
So robot system can be made to keep parameter normal when starting shooting again.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
A kind of modular structure of the opening/closing control device for the robot system that Fig. 1 provides for the utility model embodiment
Figure；
Energy supply control module in the opening/closing control device for the robot system that Fig. 2 provides for the utility model embodiment
A kind of function structure chart；
A kind of exemplary circuit of the opening/closing control device for the robot system that Fig. 3 provides for the utility model embodiment
Structure chart.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
Fig. 1 shows the modular structure of the opening/closing control device for the robot system that the utility model embodiment is provided,
For convenience of description, the part related to the utility model embodiment is illustrate only, 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 end of molding block 02 is connected with complete machine power switching module 03, and control module 04 connects with complete machine power switching module 03
Connect, when the key-press status that energy supply control module 02 detects power button 01 is open state, energy supply control module 02 is exported
Start control signal makes complete machine power switching module 03 open the power supply to control module 04；When energy supply control module 02 is detected
When the key-press status of power button 01 is off-mode, the generation shutdown control signal of energy supply control module 02 makes complete machine power switch
Module 03 stops powering to control module 04；The opening/closing control device of robot system also includes electronic switch module 05, outer
Portion's sensing module 06, motion-control module 07 and certain functional modules 08.
Wherein, the second input and control module of the second output end of energy supply control module 02 and energy supply control module 02
04 connection, control module 04 is connected with electronic switch module 05, electronic switch module 05 and external sense module 06, motion control
Module 07 and certain functional modules 08 are connected.
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, the generation button off-mode signal of energy supply control module 02, control module 04 is closed according to button
Machine status signal is preserved after the operational factor of robot system, and energy supply control module 02 is exported according to the off-mode of power button
Second shutdown control signal, complete machine power switching module 03 closes 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 upspring, two conductive metal sheets ability that
This disconnects.Complete machine power switch 03 can be relay, controllable silicon, MOSFET etc. can realize control on/off device or
Person's circuit.Control module 04 can be the processor of single-chip microcomputer, DSP, FPGA, POWERPC or 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 the acute pyogenic infection of finger tip robot system of external sense module 06
Sensor module.Motion-control module 07 can be robot system in control machine people move 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
Can module, the IMAQ and identification module of such as 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 failure situation
According to pre-set programs control to outside sensing module 06, motion-control module 07 and the power-off restarting of certain functional modules 08.
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 the power-off restarting of control module 04, the control electronic switch module 05 of control module 04 according to reset signal
External sense module 06, motion-control module 07 and the power-off restarting of certain functional modules 08 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 the stability of a system 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 end of switch time delay module 022, switch module 021
The second input be connected with the output end of control signal isolation module 024, output end and the complete machine power supply of switch module 021 are opened
Close module 03 to connect, the input of switch time delay module 022 and the input of key-press status detection module 023 are and power button
01 connection, the output end of key-press status detection module 023 and the input 024 of control signal isolation module with control module 04
Connection.
In specific implementation, the output end of switch module 021 is the first output end of energy supply control module 02, switch time delay mould
The input of block 022 collectively forms the first input end of energy supply control module 02 with the input of key-press status detection module 023,
Key-press status detection module 023 is the second output end of energy supply control module 02, and the input of control signal isolation module 024 is
Second input 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 in the opening/closing control device 10 for the robot system that the utility model embodiment is provided
A kind of exemplary circuit structure of molding block 02, for convenience of description, illustrate only the part related to the utility model embodiment,
Details are as follows：
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 end of first triode Q1 current collection extremely switch module 021, the first triode Q1 transmitting is extremely switched
The first input end of module 021, the first triode Q1 base stage and first resistor R1 first end and the 3rd triode Q3 collection
Electrode is connected, and the 3rd triode Q3 emitter stage is connected with 3rd resistor R3 first end, the 3rd triode Q3 base stage, second
Resistance R2 first end and the 4th resistance R4 first end are the second input of switch module 021, the of first resistor R1
Two ends are connected with second resistance R2 the second end, and 3rd resistor R3 the second end and the 4th resistance R4 the second end 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 electric capacity C1, the
Five resistance R5, the 6th resistance R6 and the 7th resistance R7.
The output end of second triode Q2 current collection extremely switch time delay module, the second triode Q2 emitter stage and the 5th
Resistance R5 first end is the first input end of switch time delay module, the second triode Q2 base stage and the second of the 5th resistance R5
End and the 4th triode Q4 colelctor electrode are connected, and the 4th triode Q4 base stage is connected with the 6th resistance R6 first end, and the 6th
Resistance R6 the second end and the first diode D1 negative electrode, the first electric capacity C1 first end and the 7th resistance R7 first end connect
Connect, the first diode D1 anode is the second input of switch time delay module, the 4th triode Q4 emitter stage, the first electric capacity
C1 the second end and the 7th resistance R7 the second end 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 8th resistance R8 first end, and the of the 8th resistance R8
Two ends are that the colelctor electrode in the input of key-press status detection module 023, the first optocoupler U1 is connected with the first power supply VBB, first
Emitter stage in optocoupler U1 is connected with the 9th resistance R9 first end and the tenth resistance R10 first end, and the of the 9th resistance R9
Two ends are the output end of key-press status detection module 023, and the negative electrode of the light emitting diode in the first optocoupler U1 is connected with power supply,
Tenth resistance R10 the second end 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 11st resistance R11 first end, the 11st resistance
R11 the second end is the current collection extremely control signal isolation mode in the input of control signal isolation module 024, the second optocoupler U2
Emitter stage in the output end of block 024, the second optocoupler U2 is connected with power supply, the negative electrode of the light emitting diode in the second optocoupler U2
It is connected with digital power.
Below in conjunction with operation principle to the power supply mould in the opening/closing control device 10 of the robot system shown in Fig. 3
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 to the first electric capacity C1, then make it that the 4th triode Q4 is in the conduction state through the 6th resistance R6,
Then under the 5th resistance R5 and the 12nd resistance R12 partial pressure, the second diode Q2 base stage reaches turn-on condition, so that the
Two diode Q2 are turned on so that the first triode Q1 emitter stage is close to supply voltage VCC.Now due to the electricity of robot complete machine
The not upper electricity in source, 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 is turned 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
Source button SW1 detection.
In robot normal work, by software program so that the first start control signal KEY_CTL is " 0 ", it is ensured that
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 disconnects, 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 operational factor, the first diode D1 is just
Pole stops input supply voltage VCC, by the electric discharge to the first electric capacity C1, and the 4th triode Q4 and the second diode Q2 delays stop
The only output of second source voltage, to control the 3rd triode Q3 to end, so as to realize reliable shutdown.
Meanwhile, after power button SW1 disconnections, the first electric capacity C1 due to before filled with electricity, can by the 6th resistance R6 and
7th resistance R7 is discharged at leisure, is not enough to turn on the 4th triode until the 4th triode Q4 base voltage is discharged 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
Complete machine power switch power-off 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 is provided, this hardware off delay time about 10s or so is designed on hardware circuit, be can guarantee that i.e.
The in house software of control module 04 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 be determined by changing the first electric capacity C1 capacitance size during hardware off delay
Between length, so as to the preservation of minimum and systematic parameter to unused time duration accomplish between the two balance.
If control module finds peripheral hardware (such as UART interface, USB interface, PCIE in its own interfaces circuit or chip slapper
Interface, network interface etc.) 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 colelctor electrodes 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 controlling 03 pair of complete machine power switching module to include
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 is turned 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 reality
A kind of robot system is also provided with new embodiment, it includes the opening/closing control device 10 of above-mentioned robot system.
In summary, the utility model embodiment includes power button, energy supply control module, complete machine power switch by it
Module and control module, and also include electronic switch module, external sense module, motion-control module and specific function mould
Block；When the key-press status that energy supply control module detects power button is off-mode, energy supply control module generation button is closed
Machine status signal, control module is preserved according to button off-mode signal after the operational factor of robot system, power supply mould
Root tuber shuts down control signal so that complete machine power switching module is closed to control according to the off-mode output second of the power button
The power supply of molding block；Turned off because control module can be preserved according to button off-mode signal after related operational factor pair
The power supply of control module, so robot system can be made to keep parameter normal when starting shooting again.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of opening/closing control device of robot system, it includes power button, energy supply control module, complete machine power switch
Module and control module；When the key-press status that the energy supply control module detects the power button is open state,
The energy supply control module output start control signal makes power supply of the complete machine power switching module to the control module；When
When the key-press status that the energy supply control module detects the power button is off-mode, the energy supply control module generation
Shutdown control signal makes the complete machine power switching module stop powering to the control module；Characterized in that, the machine
The opening/closing control device of people's system also includes：
Electronic switch module, external sense module, motion-control module and certain functional modules；
When the key-press status that the energy supply control module detects the power button is open state, 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 the key-press status that the energy supply control module detects the power button is off-mode, the power supply 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
Complete machine power switching 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 according to pre-set programs according to failure situation, described
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 failure situation
The electronic switch module controls the external sense module, the motion-control module and described specific according to pre-set programs
Functional module power-off restarting is specially：The control module generates reset signal, and the complete machine power switching module is according to described
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 end of the switch time delay module, and the second of the switch module
Input is connected with the output end of the control signal isolation module, and the output end of the switch module is opened with the complete machine power supply
Close module connection, the input of the input of the switch time delay module and the key-press status detection module with the power supply
Button is connected, the input of the output end of the key-press status detection module and the control signal isolation module with the control
Molding block is connected；
When the key-press status that the switch time delay module detects the power button is open state, the switch time delay mould
Root tuber exports second source voltage according to supply voltage, and the switch module is according to second source voltage generation start control letter
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 the key-press status that the switch time delay module detects the power button is off-mode, 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 described
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 end of the extremely described switch module of current collection of first triode, the transmitting of first triode is 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 colelctor electrode connection of pipe, the emitter stage of the 3rd triode is 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 of the switch module,
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
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 electric capacity, the 5th resistance, the 6th resistance and the 7th resistance；
The output end of the extremely described switch time delay module of the current collection of second triode, the emitter stage 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 colelctor electrode connection of second end of the 5th resistance and 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 negative electrode of first diode, the first of first electric capacity
The first end connection of end and the 7th resistance, the anode of first diode inputs for the second of the switch time delay module
End, the second end of the emitter stage of the 4th triode, the second end of first electric capacity and the 7th resistance is 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 that the colelctor electrode in the input of the key-press status detection module, first optocoupler is connected with the first power supply, institute
The emitter stage 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
Second end of resistance is the output end of the key-press status detection module, the negative electrode 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
Second end of resistance is the extremely described control signal of current collection in the input of the control signal isolation module, second optocoupler
Emitter stage in the output end of isolation module, second optocoupler is connected with power supply, the light-emitting diodes in second optocoupler
The negative electrode of pipe is connected with digital power.
9. a kind of robot system, it is characterised in that the robot system also includes as described in any one of claim 1 to 8
Opening/closing control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621199889.1U CN206411505U (en) | 2016-10-28 | 2016-10-28 | A kind of robot system and its opening/closing control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621199889.1U CN206411505U (en) | 2016-10-28 | 2016-10-28 | A kind of robot system and its opening/closing control device |
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| CN206411505U true CN206411505U (en) | 2017-08-15 |
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| CN201621199889.1U Withdrawn - After Issue CN206411505U (en) | 2016-10-28 | 2016-10-28 | A kind of robot system and its opening/closing control device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108008698A (en) * | 2016-10-28 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot system and its opening/closing control device |
| CN108400799A (en) * | 2018-04-18 | 2018-08-14 | 深圳市全智芯科技有限公司 | A kind of method of novel unlatching wireless pairing |
| CN108762159A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of industrial personal computer rebooting device, system and method |
-
2016
- 2016-10-28 CN CN201621199889.1U patent/CN206411505U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108008698A (en) * | 2016-10-28 | 2018-05-08 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot system and its opening/closing control device |
| CN108008698B (en) * | 2016-10-28 | 2024-03-08 | 深圳市朗驰欣创科技股份有限公司 | Robot system and on-off control device thereof |
| CN108400799A (en) * | 2018-04-18 | 2018-08-14 | 深圳市全智芯科技有限公司 | A kind of method of novel unlatching wireless pairing |
| CN108762159A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of industrial personal computer rebooting device, system and method |
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