CN209151110U - Robot remote control system - Google Patents

Abstract

The utility model discloses robot remote control systems, including server and signal projector, the command signal that server issues is sent into signal projector after handling by signal processing module, signal processing module includes Dolby circuit, amplifying circuit and pressure stabilizing power amplifier, the signal output end of the input terminal connection server of Dolby circuit, the input terminal of the output end connection amplifying circuit of Dolby circuit, the input terminal of the output end connection pressure stabilizing power amplifier of amplifying circuit, the output end connection signal transmitter of pressure stabilizing power amplifier, the utility model is handled by the command signal that modelled signal processing module exports server, command signal is effectively set to obtain amplification compensation, command signal is avoided to lack of proper care, guarantee stability of the command signal in transmittance process, make to control more accurate.

Description

Robot remote control system

Technical field

The utility model relates to technical field of robot control, more particularly to robot remote control system.

Background technique

Robot control system by control main body, control object and control that media form with own target and function Management system plays central role in the industrial production.It is more and more as robot penetrates into industrial every aspect Robot control system to long-range control development, not only reduce the workload of administrative staff, but also also arrive to production safety Carry out very big guarantee.Existing robot remote control system generally uses terminal server, signal transceiver and fax unit Composition, administrative staff carry out a series of data command editor in terminal server, are transmitted by the signal of signal transceiver, from And have the function that remotely to control.But the command signal of terminal server output is only simply put in transmittance process Big filtering, leading to command signal, there are misregistration signals in transmitting, and inaccurate phenomenon occurs in control, so that fax unit be made to hold There is error when row operation.

So the utility model provides the new scheme of one kind to solve the problems, such as this.

Utility model content

For above situation, for the defect for overcoming the prior art, the utility model is designed to provide a kind of industrial machine Device people's image procossing sensing device.

Its technical solution solved is: robot remote control system, including server and signal projector, the service The command signal that device issues is sent into signal projector after handling by signal processing module, and the signal processing module includes noise reduction Circuit, amplifying circuit and pressure stabilizing power amplifier, the signal output end of the input terminal connection server of Dolby circuit, Dolby circuit Output end connects the input terminal of amplifying circuit, the input terminal of the output end connection pressure stabilizing power amplifier of amplifying circuit, pressure stabilizing power amplifier The output end connection signal transmitter of circuit.

Preferably, the Dolby circuit includes resistance R1, one end of one end connection inductance L1 of resistance R1 and server, electricity Feel the other end connection resistance R2 of L1, one end of capacitor C1, the other end of resistance R2 passes through the other end of capacitor C2 and capacitor C1 Earth.

Preferably, the amplifying circuit includes transport and placing device AR1, and the non-inverting input terminal of transport and placing device AR1 connects resistance R2, capacitor One end of C3, the output end of the other end connection transport and placing device AR1 of capacitor C3 and the grid of metal-oxide-semiconductor Q1, the source electrode connection of metal-oxide-semiconductor Q1 One end of resistance R5, capacitor C4, the other end ground connection of resistance R5, capacitor C4, the one of drain electrode connection resistance R4, R6 of metal-oxide-semiconductor Q1 End, the other end connection+5V power supply of resistance R4, the non-inverting input terminal and capacitor C5 of the other end connection transport and placing device AR2 of resistance R6 One end, capacitor C5 the other end ground connection, transport and placing device AR2 inverting input terminal connection transport and placing device AR2 output end and transport and placing device The inverting input terminal of AR1.

Preferably, the pressure stabilizing power amplifier includes resistance R7, the drain electrode of one end connection metal-oxide-semiconductor Q1 of resistance R7, resistance Other end connection resistance R8, one end of capacitor C6 and the collector of triode T1 of R7, the other end connecting triode of resistance R8 The cathode of the base stage of T1, the emitter of T2 and zener diode DZ1, the anode of zener diode DZ1 and the other end of capacitor C6 The collector of earth, triode T2 is grounded by resistance R9, and the emitter of triode T1 is connect with the base stage of triode T2, And pass through capacitor C7 connection signal transmitter.

By above technical scheme, the utility model has the following beneficial effects:

1. the utility model is handled by the command signal that modelled signal processing module exports server, instructing During signal amplifies, transport and placing device AR1 carries out in-phase proportion amplification, amplifier to the output signal of Dolby circuit in amplifying circuit The output signal of device AR2 is sent into metal-oxide-semiconductor Q1 and is further amplified, and so that the output signal of metal-oxide-semiconductor Q1 is had good stability, separately Outside, output signal a part of metal-oxide-semiconductor Q1 is sent into transport and placing device AR2 and is fed back, so that entire amplification process be made to form closed loop Amplify feed circuit, so that command signal is obtained amplification compensation, command signal is avoided to lack of proper care, guarantees that command signal exists Stability in transmittance process makes to control more accurate；

2. Dolby circuit reduces the noise jamming in command signal using low-pass filtering is carried out in LC filter, raising refers to Enable the accuracy of signal.

Detailed description of the invention

Fig. 1 is the signal processing module figure of the utility model.

Fig. 2 is the circuit diagram of the utility model image processing module.

Specific embodiment

Aforementioned and other technology contents, feature and effect in relation to the utility model, in following cooperation with reference to figures 1 through attached Fig. 2 can be clearly presented in the detailed description of embodiment.The structure content being previously mentioned in following embodiment is to say Bright book attached drawing is reference.

Each exemplary embodiment of the utility model is described below with reference to accompanying drawings.

Robot remote control system, including server and signal projector, the command signal that server issues pass through letter Signal projector is sent into after the processing of number processing module, signal processing module includes Dolby circuit, amplifying circuit and pressure stabilizing power amplifier electricity Road, the signal output end of the input terminal connection server of Dolby circuit, the input of the output end connection amplifying circuit of Dolby circuit End, the input terminal of the output end connection pressure stabilizing power amplifier of amplifying circuit, the output end connection signal transmitting of pressure stabilizing power amplifier Device.

The command signal of server output, which is first fed into Dolby circuit, to be handled, and Dolby circuit includes resistance R1, electricity The one end and server, the other end of inductance L1 for hindering one end connection inductance L1 of R1 connect one end of resistance R2, capacitor C1, resistance The other end of R2 passes through the other end earth of capacitor C2 and capacitor C1.Wherein, command signal enters through resistance R1 shunting rear push Low-pass filtering is carried out in the LC filter formed by inductance L1, capacitor C1, C2 and resistance R2, the noise reduced in command signal is dry It disturbs, improves the accuracy of command signal.

The output signal of Dolby circuit is sent into amplifying circuit and is amplified, and amplifying circuit includes transport and placing device AR1, transport and placing device AR1 non-inverting input terminal connection resistance R2, capacitor C3 one end, capacitor C3 the other end connection transport and placing device AR1 output end and The grid of metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q1 source electrode connection resistance R5, capacitor C4 one end, resistance R5, capacitor C4 the other end ground connection, One end of drain electrode connection resistance R4, R6 of metal-oxide-semiconductor Q1, the other end connection+5V power supply of resistance R4, the other end connection of resistance R6 The non-inverting input terminal of transport and placing device AR2 and one end of capacitor C5, the other end ground connection of capacitor C5, the inverting input terminal of transport and placing device AR2 Connect the output end of transport and placing device AR2 and the inverting input terminal of transport and placing device AR1.Transport and placing device AR1 first believes the output of Dolby circuit Number in-phase proportion amplification is carried out, the output signal of transport and placing device AR2 is sent into metal-oxide-semiconductor Q1 and is further amplified, and capacitor C4, resistance R5 exist RC filtering is formed when metal-oxide-semiconductor Q1 amplifies, and makes the output signal of metal-oxide-semiconductor Q1 that there is good stability, in addition, metal-oxide-semiconductor Q1's is defeated Signal a part is sent into transport and placing device AR2 out, and feeds back the inverting input terminal for arriving transport and placing device AR1, to make entire amplification process It forms closed loop and amplifies feed circuit, so that command signal is obtained amplification compensation using feedback principle, guarantee command signal Stability and accuracy in transmittance process.

Further, pressure stabilizing power amplifier includes resistance R7, the drain electrode of one end connection metal-oxide-semiconductor Q1 of resistance R7, resistance R7 Other end connection resistance R8, one end of capacitor C6 and the collector of triode T1, the other end connecting triode T1 of resistance R8 Base stage, the emitter of T2 and the cathode of zener diode DZ1, the other end of the anode of zener diode DZ1 and capacitor C6 are simultaneously Connection ground, the collector of triode T2 are grounded by resistance R9, and the emitter of triode T1 is connect with the base stage of triode T2, and Pass through capacitor C7 connection signal transmitter.At the RC low-pass filtering that the output signal of amplifying circuit is formed through resistance R7, capacitor C6 After reason, it is sent into the complementary power tube formed by triode T1, T2 and carries out power amplification, the effective transmitting for improving command signal Power, wherein zener diode DZ1 plays power amplifier stabilization in the course of work of complementary power tube.Finally, after power amplifier Command signal is sent into signal projector E1 after capacitor C7 coupling launches.

For the utility model when specifically used, administrative staff carry out data command editor on the server first, through servicing Device treated command signal is sent into signal processing module, and wherein Dolby circuit is using carrying out low-pass filtering in LC filter, The noise jamming in command signal is reduced, improves the accuracy of command signal, transport and placing device AR1 is to Dolby circuit in amplifying circuit Output signal carries out in-phase proportion amplification, and the output signal of transport and placing device AR2, which is sent into metal-oxide-semiconductor Q1, to be further amplified, and makes metal-oxide-semiconductor Q1 Output signal there is good stability, in addition, output signal a part of metal-oxide-semiconductor Q1 be sent into transport and placing device AR2 carry out it is anti- Feedback effectively makes command signal obtain amplification compensation, avoids referring to so that entire amplification process be made to form closed loop amplification feed circuit It enables signal lack of proper care, guarantees stability and accuracy of the command signal in transmittance process, last pressure stabilizing power amplifier will refer to Launched after enabling signal power amplify by signal projector E1.The signal receiver of robotic end receives the command signal Afterwards, it passes to machine assembly by fax unit, such as PLC control system and executes corresponding operating, such as reject, alarm, or logical It crosses mechanical arm and executes the movement such as sorting, snatch.

The above is to combine specific embodiment further detailed description of the utility model, and it cannot be said that originally Utility model specific implementation is limited only to this；Belonging to the utility model and for those skilled in the technology concerned, Under the premise of technical solutions of the utility model thinking, made expansion and the replacement of operating method, data should all be fallen in Within scope of protection of the utility model.

Claims (4)

1. robot remote control system, including server and signal projector, it is characterised in that: the finger that the server issues Signal projector is sent into after enabling signal handle by signal processing module, the signal processing module includes Dolby circuit, amplification Circuit and pressure stabilizing power amplifier, the signal output end of the input terminal connection server of Dolby circuit, the output end of Dolby circuit connect Connect the input terminal of amplifying circuit, the input terminal of the output end connection pressure stabilizing power amplifier of amplifying circuit, pressure stabilizing power amplifier it is defeated Outlet connection signal transmitter.

2. robot remote control system as described in claim 1, it is characterised in that: the Dolby circuit includes resistance R1, electricity The one end and server, the other end of inductance L1 for hindering one end connection inductance L1 of R1 connect one end of resistance R2, capacitor C1, resistance The other end of R2 passes through the other end earth of capacitor C2 and capacitor C1.

3. robot remote control system as claimed in claim 2, it is characterised in that: the amplifying circuit includes transport and placing device AR1, The non-inverting input terminal of transport and placing device AR1 connects one end of resistance R2, capacitor C3, and the other end connection transport and placing device AR1's of capacitor C3 is defeated The grid of outlet and metal-oxide-semiconductor Q1, metal-oxide-semiconductor Q1 source electrode connection resistance R5, capacitor C4 one end, resistance R5, capacitor C4 it is another End ground connection, one end of drain electrode connection resistance R4, R6 of metal-oxide-semiconductor Q1, the other end connection+5V power supply of resistance R4, resistance R6's is another One end connects the non-inverting input terminal of transport and placing device AR2 and one end of capacitor C5, and the other end ground connection of capacitor C5, transport and placing device AR2's is anti- Phase input terminal connects the output end of transport and placing device AR2 and the inverting input terminal of transport and placing device AR1.

4. robot remote control system as claimed in claim 3, it is characterised in that: the pressure stabilizing power amplifier includes resistance The drain electrode of one end connection metal-oxide-semiconductor Q1 of R7, resistance R7, the other end of resistance R7 connect one end and three poles of resistance R8, capacitor C6 The collector of pipe T1, the yin of the base stage of other end connecting triode T1 of resistance R8, the emitter of T2 and zener diode DZ1 Pole, the anode of zener diode DZ1 and the other end earth of capacitor C6, the collector of triode T2 are connect by resistance R9 The emitter on ground, triode T1 is connect with the base stage of triode T2, and passes through capacitor C7 connection signal transmitter.