CN218788150U - Z-axis transfer plate, single-z-axis driving device and production line - Google Patents

Abstract

The application discloses z axle adapter plate, single z axle drive device and production line is applied to switching technical field, includes: the first surface of the circuit board is provided with a driving control interface and a plurality of control signal input interfaces, the driving control interface is connected with the z-axis driver, and the control signal input interfaces are used for receiving a first control signal; the plug connector is arranged on the circuit board and is respectively connected with the control signal input interface and the first drive control interface; the control module is arranged on the second surface of the circuit board, the control module is respectively connected with the control signal input interface and the drive control interface, and the control module is used for generating a second control signal of the z-axis driver according to the first control signal. Each interface in this application is connected with the external device through the connector, realizes the function of a plurality of interfaces through a connector promptly to reduced the connecting wire rod, further reduced the tow chain volume, be favorable to the later stage to overhaul, change the line simultaneously.

Description

Z-axis adapter plate, single-z-axis driving device and production line

Technical Field

The application relates to the technical field of switching, in particular to a z-axis switching plate, single z-axis driving equipment and a production line.

Background

The single z-axis driving system generally uses a z-axis adapter plate to realize connection between devices, and sends received control signals to the devices to control the devices to work, however, each function on the existing z-axis adapter plate needs to be wired separately to an interface, so that more wires are needed, the volume of a drag chain is large, and later maintenance is not facilitated.

SUMMERY OF THE UTILITY MODEL

The present application is directed to solving at least one of the problems in the prior art. Therefore, the utility model provides a z axle fishplate bar, single z axle drive apparatus and production line can reduce the tow chain volume of z axle fishplate bar and outside device, and the later stage of being convenient for is maintained.

In a first aspect, the present application provides a z-axis adapter plate comprising:

the driving control interface is connected with the z-axis driver, and the control signal input interface is used for receiving a first control signal;

the plug connector is arranged on the circuit board and is respectively connected with the control signal input interface and the drive control interface so as to enable the drive control interface and the control signal input interface to be connected with an external device through the plug connector;

the control module is arranged on the second surface of the circuit board, the control module is respectively connected with the control signal input interface and the drive control interface, and the control module is used for generating a second control signal of the z-axis driver according to a first control signal.

According to the z-axis rotary joint plate provided by the first aspect of the embodiment of the application, at least the following beneficial effects are achieved: the z-axis adapter plate comprises a circuit board, a plug connector and a control module, when the z-axis adapter plate works, a control signal input interface receives an external first control signal through the plug connector, the control module generates a second control signal of a z-axis driver according to the first control signal, the control module sends the second control signal to a driving control interface, and then the second control signal is sent to the z-axis driver through the plug connector, so that the z-axis driver is controlled to work.

According to some embodiments of the first aspect of the present application, the driving control interface includes an EtherCAT input end and an EtherCAT output end, the EtherCAT input end and the EtherCAT output end are disposed at one side of the plug connector, the plug connector is respectively connected to the EtherCAT input end and the EtherCAT output end, and both the EtherCAT input end and the EtherCAT output end are connected to the z-axis driver through an EtherCAT protocol.

According to some embodiments of the first aspect of the present application, the control module includes a control chip, an EtherCAT processor, a first EtherCAT signal isolator and a second EtherCAT signal isolator, the control chip, the EtherCAT processor, the first EtherCAT signal isolator and the second EtherCAT signal isolator are sequentially disposed along an edge side of the second surface of the circuit board, the control chip is connected to the plurality of control signal input interfaces, an input end of the EtherCAT processor is connected to an output end of the control chip, an input end of the first EtherCAT signal isolator is connected to an output end of the EtherCAT processor, an output end of the first EtherCAT signal isolator is connected to the EtherCAT input end, an input end of the second EtherCAT signal isolator is connected to the EtherCAT output end, and an output end of the second EtherCAT signal isolator is connected to the input end of the EtherCAT processor.

According to some embodiments of the first aspect of the present application, the control module further comprises a plurality of full-duplex isolation transceivers, a plurality of the full-duplex isolation transceivers are located beside the control chip, an output end of the full-duplex isolation transceiver is connected with the control chip, an input end of the full-duplex isolation transceiver is connected with the control signal input interface.

According to some embodiments of the first aspect of the present application, the control module further includes an optical coupler, the optical coupler is disposed on the other side of the edge of the second surface of the circuit board, an output end of the optical coupler is connected to the control chip, and an input end of the optical coupler is connected to the control signal input interface.

According to some embodiments of the first aspect of the present application, the circuit board further includes a camera driving interface, a camera cable interface, the camera driving interface is disposed on one side of an edge of the first surface of the circuit board, the camera cable interface is disposed beside the plug connector, one end of the camera driving interface is connected to the driving device of the external camera through the plug connector, one end of the camera cable interface is connected to the cable device of the external camera through the plug connector, and the other end of the camera driving interface and the other end of the camera cable interface are connected to the control module.

According to some embodiments of the first aspect of the present application, the circuit board further includes a light source interface, the light source interface is disposed beside the camera driving interface, one end of the light source interface is connected to an external light source through the plug connector, and the other end of the light source interface is connected to the control module.

According to some embodiments of the first aspect of the present application, the circuit board further includes a plurality of driving docking interfaces, the driving docking interfaces are disposed beside the plug connector, one end of each driving docking interface is connected to an external driving device through the plug connector, and the other end of each driving docking interface is connected to the control module.

In a second aspect, the present application provides a single z-axis drive apparatus comprising:

the z-axis articulation plate of any of the first aspects;

the z-axis driver is connected with the z-axis connecting plate;

the manipulator is electrically connected with the z-axis driver, and the z-axis driver is used for driving the manipulator to move up and down;

a camera electrically connected to the z-axis interface plate, the camera configured to acquire an image of the manipulator to determine a current position of the manipulator.

The single z-axis driving device provided by the second aspect employs the z-axis connecting plate of any one of the first aspects, so that all the advantages of the first aspect of the embodiments of the present application are achieved.

In a third aspect, the present application provides a production line comprising a single z-axis drive apparatus as claimed in any one of the second aspects.

Since the third provided production line employs the single z-axis driving apparatus of any one of the second aspects, all of the advantageous effects of the first aspect of the embodiments of the present application are obtained.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the related technical descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic structural diagram of a first side of a z-axis joint plate provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a second side of a z-axis adapter plate provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a plug connector according to an embodiment of the present application connected to interfaces;

fig. 4 is a schematic structural diagram of a single z-axis driving apparatus provided in an embodiment of the present application.

Reference numerals:

a z-axis articulation plate 10;

a circuit board 100; a drive control interface 110; an EtherCAT input 111; an EtherCAT output 112; a control signal input interface 120; a camera drive interface 130; a camera cable interface 140; a light source interface 150; a drive docking interface 160;

a plug connector 200;

a control chip 310; an EtherCAT processor 320; a first EtherCAT signal isolator 331; a first EtherCAT signal isolator 332; a full-duplex isolation transceiver 340; an optical coupler 350;

a robot arm 410; a camera 420.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the embodiments of the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the embodiments of the present application with unnecessary detail.

It should be noted that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that in the flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

It should also be appreciated that reference throughout the specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather mean "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

In the description of the present application, greater than, less than, exceeding, etc. are understood to exclude the present numbers, and the above, below, inside, etc. are understood to include the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. It should be understood that the positional or orientational descriptions referred to, for example, the directions of up, down, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings and are only for convenience of describing the present application and for simplicity of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the embodiments of the present application, unless otherwise explicitly limited, terms such as setting, mounting, connecting and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the embodiments of the present application by combining the specific contents of the technical solutions.

The single z-axis driving system generally uses a z-axis connecting plate to realize connection between devices, and sends a received control signal to each device to control the devices to work, however, each function on the existing z-axis connecting plate needs to be wired independently, so that wires are more, the volume of a drag chain is large, and later maintenance is not facilitated.

Based on this, this application provides a z-axis fishplate bar and single z-axis drive system. The utility model provides a function that z axle fishplate bar realized a plurality of interfaces through a plug connector to reduced the connecting wire rod, further reduced the tow chain volume, be favorable to the later stage to overhaul, change the line simultaneously.

The embodiments of the present application will be further explained with reference to the drawings.

Referring to fig. 1 and 2, the present application provides a z-axis adapter plate (10) including a circuit board 100, a plug connector 200, and a control module.

The first surface of the circuit board 100 is provided with a driving control interface 110 and a plurality of control signal input interfaces 120, the driving control interface 110 is connected with the z-axis driver, and the control signal input interfaces 120 are used for receiving a first control signal;

the plug connector 200 is disposed on the circuit board 100, and the plug connector 200 is connected to the control signal input interface 120 and the driving control interface 110 respectively, so that the driving control interface 110 and the control signal input interface 120 are connected to an external device through the plug connector 200;

the control module is disposed on the second surface of the circuit board 100, the control module is connected to the control signal input interface 120 and the driving control interface 110, and the control module is configured to generate a second control signal of the z-axis driver according to the first control signal.

It should be noted that the z-axis connection board (10) provided in the embodiment of the present application includes a circuit board 100, a plug connector 200, and a control module, when the z-axis connection board (10) works, the control signal input interface 120 receives an external first control signal through the plug connector 200, the control module generates a second control signal of the z-axis driver according to the first control signal, the control module sends the second control signal to the driving control interface 110, and then sends the second control signal to the z-axis driver through the plug connector 200, so as to control the z-axis driver to work, each interface in the present application is connected with an external device through the plug connector 200, that is, functions of multiple interfaces are implemented through one plug connector 200, so as to reduce connection wires, further reduce a volume of a drag chain, and facilitate later maintenance and connection wire replacement.

It should be noted that, the present application connects the control signal input interface 120 with the U-axis control board to obtain the first control signal. In addition, in the embodiment of the present application, a plurality of control signal input interfaces 120 are provided, and one or more U-axis control boards can be connected as required.

It should be noted that the control signal input interfaces 120 are J3, J4, and J5, respectively.

It should be noted that the plug connector 200 may be disposed at any position of the circuit board 100.

In one embodiment, the plug connector 200 is disposed at the center of the circuit board 100, and since each interface of the z-axis adapter plate (10) is connected to an external device through the plug connector 200, the plug connector 200 is disposed at the center of the circuit board 100, the interfaces can be arranged around the plug connector 200, so that the wiring between the plug connector 200 and the interfaces is facilitated, and in addition, the connecting wires can be reduced.

It is understood that, referring to fig. 1, the driving control interface 110 includes an EtherCAT input 111 and an EtherCAT output 112, the EtherCAT input 111 and the EtherCAT output 112 are disposed on one side of the plug connector 200, the plug connector 200 is connected to the EtherCAT input 111 and the EtherCAT output 112, respectively, and the EtherCAT input 111 and the EtherCAT output 112 are connected to the z-axis driver through the EtherCAT protocol.

It should be noted that the EtherCAT input end 111 and the EtherCAT output end 112 are connected to the z-axis driver through the EtherCAT protocol, and can transmit signals quickly, and the synchronism is extremely high, in addition, the EtherCAT protocol can make the z-axis connecting plate (10) connect to a plurality of z-axis drivers at the same time, when the z-axis connecting plate (10) connects to a plurality of z-axis drivers, the plurality of z-axis drivers are connected in series and the z-axis drivers at both ends are connected to the EtherCAT input end 111 and the EtherCAT output end 112 respectively, and the EtherCAT input end 111 and the EtherCAT output end 112 are connected to the z-axis drivers through the plug-in connector 200, so that wires are reduced, and connection replacement are facilitated.

Note that the EtherCAT input 111 is CN5, and the EtherCAT output 112 is CN6.

It can be understood that, referring to fig. 2, the control module includes a control chip 310, an EtherCAT processor 320, a first EtherCAT signal isolator 331 and a second EtherCAT signal isolator 332, the control chip 310, the EtherCAT processor 320, the first EtherCAT signal isolator 331 and the second EtherCAT signal isolator 332 are sequentially disposed along one side of an edge of the second surface of the circuit board 100, the control chip 310 is connected to the plurality of control signal input interfaces 120, an input terminal of the EtherCAT processor 320 is connected to an output terminal of the control chip 310, an input terminal of the first EtherCAT signal isolator 331 is connected to an output terminal of the EtherCAT processor 320, an output terminal of the first EtherCAT signal isolator 331 is connected to the EtherCAT input terminal 111, an input terminal of the second EtherCAT signal isolator 332 is connected to the EtherCAT output terminal 112, and an output terminal of the second EtherCAT signal isolator 332 is connected to an input terminal of the EtherCAT processor 320.

It should be noted that EtherCAT processor 320 is synchronized with the EtherCAT protocol, so as to be connected to the z-axis driver through the drive control interface 110 via the EtherCAT protocol.

It should be noted that the first EtherCAT signal isolator 331 and the second EtherCAT signal isolator 332 can perform signal isolation, can well solve mutual interference between a line and each device, and can also effectively eliminate some external electromagnetic interference in the line transmission process.

It should be noted that, in the embodiment of the present application, STM32F407ZGT6/-B is used as the control chip 310, AX58100 (LQFP 80) is used as the EtherCAT processor 320, and HR641680E is used as the first EtherCAT signal isolator 331 and the second EtherCAT signal isolator 332.

It should be noted that the control chip 310 is U10, the EtherCAT processor 320 is U2, the first EtherCAT signal isolator 331 is J1, and the second EtherCAT signal isolator 332 is J2.

It is understood that, referring to fig. 2, the control module further comprises a plurality of full-duplex isolation transceivers 340, the plurality of full-duplex isolation transceivers 340 are located beside the control chip 310, the output terminals of the full-duplex isolation transceivers 340 are connected to the control chip 310, and the input terminals of the full-duplex isolation transceivers 340 are connected to the control signal input interface 120.

It should be noted that the full-duplex isolation transceiver 340 has high electromagnetic immunity and low power consumption, and can ensure that the first control signal can be received safely and effectively.

It should be noted that, in the embodiment of the present application, the NSi83086 is used as the RS422 processor, i.e., the full-duplex isolated transceiver 340.

Note that the full-duplex isolation transceivers 340 are U7, U8, and U9, respectively.

It is understood that, referring to fig. 2, the control module further includes an optical coupler 350, the optical coupler 350 is disposed on the other side of the edge of the second side of the circuit board 100, an output terminal of the optical coupler 350 is connected to the control chip 310, and an input terminal of the optical coupler 350 is connected to the control signal input interface 120.

It should be noted that the optical coupler 350 can effectively isolate the input and output lines, and has a good anti-interference effect.

Note that, in the embodiment of the present application, TLP281-4 is used as the optical coupler 350.

Note that the optical coupler 350 is U3.

It can be understood that, referring to fig. 1, the circuit board 100 further includes a camera driving interface 130 and a camera cable interface 140, the camera driving interface 130 is disposed at one side of an edge of the first surface of the circuit board 100, the camera cable interface 140 is disposed beside the plug connector 200, one end of the camera driving interface 130 is connected to the driving device of the external camera 420 through the plug connector 200, one end of the camera cable interface 140 is connected to the cable device of the external camera 420 through the plug connector 200, and the other end of the camera driving interface 130 and the other end of the camera cable interface 140 are connected to the control module.

It should be noted that the camera driving interface 130 is connected to a driving device of the external camera 420, the camera driving interface 130 can drive the camera 420 to take a picture, the camera network cable interface 140 is used for providing network cable connection for the camera 420, and the camera 420 can be networked and upload an acquired picture through the camera network cable interface 140.

The camera drive interface 130 is CN2, and the camera cable interface 140 is J8.

It should be noted that the circuit board 100 further includes a camera power interface, the camera power interface is CN3, and the camera power interface can supply power to an external power supply, so as to ensure that the camera 420 can work normally.

It should be noted that if each external device is connected to the power source interface and the driving interface separately, wires are wasted, and there are many electronic devices, which makes the wiring more troublesome, and many wires are laid in the drag chain of the z-axis connection plate (10) and the external device, which inevitably increases the volume of the drag chain, and increases the manufacturing cost. By adopting the z-axis connecting plate (10), the functions of all interfaces are realized through the plug connector 200, wires required by wiring can be reduced well, the complexity of wiring is reduced, the production and manufacturing efficiency is improved, the volume of a drag chain can be reduced, and the manufacturing cost is reduced.

It can be understood that, referring to fig. 1, the circuit board 100 further includes a light source interface 150, the light source interface 150 is disposed beside the camera driving interface 130, one end of the light source interface 150 is connected to an external light source through a plug connector 200, and the other end of the light source interface 150 is connected to the control module.

It should be noted that the light source interface 150 may provide power to an external light source to provide light for the camera 420 to illuminate or otherwise.

The light source interface 150 is CN4.

It can be understood that, referring to fig. 1, the circuit board 100 further includes a plurality of driving docking interfaces 160, the driving docking interfaces 160 are disposed beside the plug connector 200, one end of the driving docking interfaces 160 is connected to an external driving device through the plug connector 200, and the other end of the driving docking interfaces 160 is connected to the control module.

It should be noted that, when other external driving devices exist in the single z-axis driving apparatus, the connection may be performed through the driving docking interface 160, so as to control the external driving devices.

Note that the drive docking interfaces 160 are P4, P5, and P6.

It should be noted that, referring to fig. 1, the circuit board 100 further includes a plurality of driving limit interfaces, and the driving limit interfaces can send signals to the external driving device, so that the external driving device realizes setting of the limit position.

It should be noted that, the driving limit interface is connected to the plug connector 200, so that the volume of the tow chain can be further reduced.

It should be noted that, the driving limit interface can also provide a power supply for the external driving device.

It should be noted that the driving limit interfaces are P1, P2, and P3, respectively.

It should be noted that, the z-axis connection board (10) drives the power interface, the driving power interface is CN9, the driving power interface is connected with the z-axis driver through the plug connector 200, and the driving power interface can provide power for the z-axis driver, so that the z-axis driver operates normally.

It should be noted that CN8 and CN10 are also driving power interfaces, and when the z-axis connecting plate (10) is connected to a plurality of z-axis drivers, CN8, CN9 and CN10 may be arbitrarily combined to supply power to the plurality of z-axis drivers.

It should be noted that, referring to fig. 3, fig. 3 is a schematic diagram of the plug connector 200 and each interface provided in the embodiment of the present application, each terminal of the plug connector 200 is connected to each interface, and different terminals correspond to different functions, and the plug connector 200 can also be connected to each interface by other methods, which is not limited to the connection method given in fig. 3.

It should be noted that the present application uses HDB44 as the plug connector 200, where pins 1 to 4, 16 to 19 are connected to the camera cable interface 140, pins 6, 7, 21, 22 are connected to the camera driver interface 130 and other interfaces, pins 12 to 15, 27 to 30 are connected to the light source interface 150, pins 31 to 34 are connected to the EtherCAT input 111, pins 35 to 38 are connected to the EtherCAT output 112, and pins 41 to 44 are connected to the driver interface 160.

It should be noted that, the z-axis connection board (10) provided in this embodiment of the present application includes a circuit board 100, a plug connector 200, and a control module, when the z-axis connection board (10) works, the control signal input interface 120 receives an external first control signal through the plug connector 200, the control module generates a second control signal of the z-axis driver according to the first control signal, the control module sends the second control signal to the driving control interface 110, and then sends the second control signal to the z-axis driver through the plug connector 200, so as to control the z-axis driver to work, signal transmission is performed between the z-axis connection board (10) and the z-axis driver through an EtherCAT protocol, the z-axis connection board (10) further includes other interfaces, each of which has the same function, but each interface is connected to the plug connector 200, each interface in this application is connected to an external device through the plug connector 200, that a function of multiple interfaces is implemented through one plug connector 200, so as to reduce a connection wire, further reduce a volume of a drag chain, and facilitate later maintenance and replacement of connection wires.

It will be appreciated that, with reference to fig. 4, the present application also provides a single z-axis drive apparatus comprising:

a z-axis adapter plate (10) as in the previous embodiment;

the z-axis driver is connected with the z-axis connecting plate (10);

the manipulator 410, the manipulator 410 is electrically connected with a z-axis driver, and the z-axis driver is used for driving the manipulator 410 to move up and down;

and the camera 420 is electrically connected with the z-axis adapter plate (10), and the camera 420 is used for acquiring images of the manipulator 410 so as to determine the current position of the manipulator 410.

It should be noted that the z-axis adapter plate (10) is arranged in the middle area of the bottom of the single z-axis driving device, so that electronic devices at other positions can be conveniently switched.

It will be appreciated that the present application also provides a production line including a single z-axis drive apparatus as in the above embodiments.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. A z-axis adapter plate, comprising:

the driving control interface is connected with the z-axis driver, and the control signal input interface is used for receiving a first control signal;

the plug connector is arranged on the circuit board, is respectively connected with the control signal input interface and the drive control interface so as to enable the drive control interface to be connected with the z-axis driver through the plug connector, and is connected with an external device through the plug connector;

the control module is arranged on the second surface of the circuit board, the control module is respectively connected with the control signal input interface and the drive control interface, and the control module is used for generating a second control signal of the z-axis driver according to a first control signal.

2. The z-axis adapter plate of claim 1, wherein the drive control interface includes an EtherCAT input and an EtherCAT output, the EtherCAT input and the EtherCAT output are disposed on one side of the plug connector, the plug connector is respectively connected to the EtherCAT input and the EtherCAT output, and both the EtherCAT input and the EtherCAT output are connected to the z-axis driver via an EtherCAT protocol.

3. The z-axis rotary plate of claim 2 wherein the control module comprises a control chip, an EtherCAT processor, a first EtherCAT signal isolator and a second EtherCAT signal isolator, the control chip, the EtherCAT processor, the first EtherCAT signal isolator and the second EtherCAT signal isolator are sequentially disposed along one side of the edge of the second face of the circuit board, the control chip is connected to the plurality of control signal input interfaces, an input of the EtherCAT processor is connected to an output of the control chip, an input of the first EtherCAT signal isolator is connected to an output of the EtherCAT processor, an output of the first EtherCAT signal isolator is connected to the EtherCAT input terminal, an input of the second EtherCAT signal isolator is connected to the EtherCAT output terminal, and an output of the second EtherCAT signal isolator is connected to the input of the EtherCAT processor.

4. The z-axis adapter plate of claim 3 wherein said control module further comprises a plurality of full-duplex isolation transceivers, said plurality of full-duplex isolation transceivers being located next to said control chip, outputs of said full-duplex isolation transceivers being connected to said control chip, inputs of said full-duplex isolation transceivers being connected to said control signal input interface.

5. The z-axis adapter plate of claim 3, wherein the control module further comprises an optical coupler, the optical coupler is disposed on the other side of the edge of the second side of the circuit board, an output end of the optical coupler is connected to the control chip, and an input end of the optical coupler is connected to the control signal input interface.

6. The z-axis connecting board according to claim 1, wherein the circuit board further includes a camera driving interface and a camera cable interface, the camera driving interface is disposed on one side of an edge of the first surface of the circuit board, the camera cable interface is disposed beside the plug connector, one end of the camera driving interface is connected to a driving device of an external camera through the plug connector, one end of the camera cable interface is connected to a cable device of the external camera through the plug connector, and the other end of the camera driving interface and the other end of the camera cable interface are connected to the control module.

7. The z-axis adapter plate according to claim 6, wherein the circuit board further comprises a light source interface, the light source interface is disposed beside the camera driving interface, one end of the light source interface is connected to an external light source through the plug connector, and the other end of the light source interface is connected to the control module.

8. The z-axis adapter plate according to claim 1, wherein the circuit board further comprises a plurality of driving docking interfaces, the driving docking interfaces are disposed beside the plug connector, one end of each driving docking interface is connected to an external driving device through the plug connector, and the other end of each driving docking interface is connected to the control module.

9. A single z-axis drive apparatus, comprising:

the z-axis articulation plate of any of claims 1 to 8;

the z-axis driver is connected with the z-axis connecting plate;

the manipulator is electrically connected with the z-axis driver, and the z-axis driver is used for driving the manipulator to move up and down;

a camera electrically connected to the z-axis adapter plate, the camera configured to acquire an image of the manipulator to determine a current position of the manipulator.

10. A production line comprising the single z-axis drive apparatus of claim 9.

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