Signal connection circuit, system and robot

Abstract

The utility model discloses a signal connection circuit, a signal connection system and a robot. The signal connection circuit comprises a first signal data module and a second signal input module, the first signal input module is used for transmitting a digital detection signal input by the control assembly to the digital signal processing module of the controller; the first signal input module is used for processing the analog voltage signal, converting the analog voltage signal into a first analog input signal and transmitting the first analog input signal to the analog signal processing module of the controller; the second signal input module is used for processing the analog current signal with the first signal input module when receiving the control signal of the controller, converting the analog current signal into a second analog input signal and transmitting the second analog input signal to the analog signal processing module of the controller; therefore, the signal connection circuit capable of processing various different types of signals is provided, the integration level and reliability of the system are effectively improved, the functions of the system are enriched, and the application scene of the system is expanded.

Description

Technical Field

[0001] The present application relates to the field of signal processing technology, and more specifically, to a signal connection circuit, system and robot. Background Art

[0002] In the related art, the robot's end joint is connected to the control component through an expansion interface. However, the control component transmits many types of signals and the number of pins of the expansion interface is limited, which limits the number and types of interfaces of the expandable control component and restricts the application scenarios of the robot. Utility Model Content

[0003] In view of the above problems, the utility model proposes a signal connection circuit, a system and a robot.

[0004] In a first aspect, an embodiment of the present application provides a signal connection circuit, which is used to connect a control component and a controller, and the signal connection circuit includes: a first signal data module and a second signal input module; wherein the first end of the first signal input module is used to connect to the control component, and the second end of the first signal input module is used to connect to the input end of the controller; the first end of the second signal input module is connected to the first end of the first signal input module, and the second end of the second signal input module is used to connect to the control end of the controller; wherein the first signal input module is used to transmit the digital detection signal input by the control component to the digital signal processing module of the controller through the output end of the first signal input module; the first signal input module is also used to process the analog voltage signal input by the control component, and convert it into a first analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; the second signal input module is used to process the analog current signal input by the control component with the first signal input module when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module.

[0005] Optionally, the first signal input module includes: a first voltage processing unit, one end of the first voltage processing unit is used to connect with the control component, and the other end of the first voltage processing unit is used to connect with the input end of the controller.

[0006] Optionally, the first voltage processing unit includes a first resistor and a second resistor; one end of the first resistor is used to connect to the control component, the other end of the first resistor is connected to one end of the second resistor, the other end of the first resistor is also used to connect to the input end of the controller, and the other end of the second resistor is used to ground.

[0007] Optionally, the first signal input module further includes an impedance matching unit, one end of the impedance matching unit is connected to the other end of the first voltage processing unit, and the other end of the impedance matching unit is used to be connected to the input end of the controller.

[0008] Optionally, the second signal input module includes a switch unit and a second voltage processing unit; the first end of the switch unit is connected to the first end of the first signal input module, the second end of the switch unit is connected to the second voltage processing unit, and the third end of the switch unit is used to connect to the control end of the controller.

[0009] Optionally, the switch unit includes an optocoupler, wherein an input end of the optocoupler is used to connect to a control end of the controller, a first output end of the optocoupler is used to connect to a control component, and a second output end of the optocoupler is connected to a second voltage processing unit.

[0010] Optionally, the second voltage processing unit includes a third resistor and a fourth resistor; wherein one end of the third resistor is connected to the second end of the switch unit, and the other end of the third resistor is used for grounding; one end of the fourth resistor is connected to the second end of the switch unit, and the other end of the fourth resistor is used for grounding.

[0011] In a second aspect, an embodiment of the present application further provides a signal connection system, comprising: a control component, the signal connection circuit described in the first aspect above, and a controller.

[0012] Optionally, the controller includes an analog signal processing module, a digital signal processing module, a first switch and a second switch; the first switch is connected between the signal connection circuit and the analog signal processing module; the second switch is connected between the signal connection circuit and the digital signal processing module.

[0013] In a third aspect, an embodiment of the present application further provides a robot, the robot comprising the signal connection system described in the second aspect above.

[0014] The utility model provides a technical solution, the signal connection circuit is used to connect the control component and the controller, the signal connection circuit includes: a first signal data module and a second signal input module; wherein the first end of the first signal input module is used to connect with the control component, and the second end of the first signal input module is used to connect with the input end of the controller; the first end of the second signal input module is connected with the first end of the first signal input module, and the second end of the second signal input module is used to connect with the control end of the controller; wherein the first signal input module is used to transmit the digital detection signal input by the control component to the digital signal processing module of the controller through the output end of the first signal input module; the first signal input module is used to process the analog voltage signal input by the control component, and convert it into a first analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; the second signal input module is used to process the analog current signal input by the control component with the first signal input module when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; thereby, a signal connection circuit that can process a variety of different types of signals is provided, which effectively improves the integration and reliability of the system, enriches the functions of the system, and expands the application scenarios of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of the present utility model.

[0016] Figure 1 A structural schematic diagram of a signal connection circuit provided in an embodiment of the present application is shown.

[0017] Figure 2 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0018] Figure 3 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0019] Figure 4 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0020] Figure 5 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0021] Figure 6 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0022] Figure 7 A structural schematic diagram of another signal connection circuit provided in an embodiment of the present application is shown.

[0023] Figure 8 A structural schematic diagram of a signal connection system provided in an embodiment of the present application is shown.

[0024] Fig. 9 A schematic structural diagram of another signal connection system provided in an embodiment of the present application is shown.

[0025] Fig.10 A schematic structural diagram of a robot provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0027] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0028] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0029] In the related art, the robot's end joint is connected to the control component through an expansion interface. However, the control component transmits many types of signals, such as analog voltage signals, analog current signals, digital signals, etc., but the number of pins of the expansion interface is limited, resulting in the number and type of interfaces of the expandable control component being restricted, resulting in the application scenarios of the robot being relatively limited.

[0030] In order to improve the above-mentioned problems, the inventors have proposed a signal connection circuit, a system and a robot provided in the present application, wherein the signal connection circuit is used to connect a control component and a controller, and the signal connection circuit comprises: a first signal data module and a second signal input module; wherein the first end of the first signal input module is used to connect to the control component, and the second end of the first signal input module is used to connect to the input end of the controller; the first end of the second signal input module is connected to the first end of the first signal input module, and the second end of the second signal input module is used to connect to the control end of the controller; wherein the first signal input module is used to transmit the digital detection signal input by the control component to the digital signal of the controller through the output end of the first signal input module The analog signal processing module comprises a first signal input module for processing the analog voltage signal input by the control component, converting it into a first analog input signal, and transmitting it to the analog signal processing module of the controller through the output end of the first signal input module; the second signal input module is used to process the analog current signal input by the control component with the first signal input module when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; thereby, a signal connection circuit that can process a variety of different types of signals is provided, which effectively improves the integration and reliability of the system, enriches the functions of the system, and expands the application scenarios of the system.

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0032] See also Figure 1 , Figure 1 A signal connection circuit provided in an embodiment of the present application is shown, and the signal connection circuit 100 is used to connect the control component and the controller. Among them, the control component can be a voltage-type analog device, a current-type analog device, a digital device, etc., such as a sensor (such as a temperature sensor, a pressure sensor, etc.), an actuator (a mechanical arm, a motor, etc.), and the control component and the controller need to realize signal transmission through a signal connection circuit. There are many types of signals to be transmitted, such as analog current signals, analog voltage signals, digital signals, etc. In the related art, the commonly used signal connection circuit usually uses the same pin to support only one type of signal transmission, and cannot support different types of signal transmission, resulting in limited types of expandable control components; in order to meet the needs of various types of signal transmission, more pins are required, resulting in complex circuits and high costs.

[0033] In order to improve the above technical problems, Figure 1 As shown, the signal connection circuit 100 provided in the embodiment of the present application includes: a first signal input module 110 and a second signal input module 120 .

[0034] The first end of the first signal input module 110 is used to connect to the control component to receive the signal transmitted by the control component. The second end of the first signal input module is used to connect to the input end of the controller to transmit the signal to the controller. The first signal input module 110 can transmit digital detection signals or process analog voltage signals.

[0035] The first end of the second signal input module 120 is connected to the first end of the first signal input module 110, and the second end of the second signal input module 120 is used to connect to the control end of the controller. The second signal input module 120 works under the control of the controller to realize the transmission of different types of signals.

[0036] The first signal input module 110 is used to transmit the digital detection signal input by the control component to the digital signal processing module of the controller through the output end of the first signal input module 110. The digital signal processing module of the controller can detect the output end of the first signal input module 110, for example, when a high level is detected, the input logic 1 is determined; when a low level is detected, the input logic 0 is determined, thereby realizing the transmission of the digital detection signal.

[0037] The first signal input module 110 is also used to process the analog voltage signal input by the control component, and convert it into a first analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module 110. In order to realize the transmission of the analog voltage signal, the first signal input module 110 can first perform preliminary processing on the analog voltage signal, for example, adjusting the voltage range of the analog voltage signal to a first analog input signal that meets the voltage range required by the circuit (for example, reducing the voltage range) to meet the requirements of signal transmission in compatible signal transmission scenarios. The analog signal processing module of the controller can process the first analog input signal transmitted from the output end of the first signal input module 110, and the analog signal processing module processes the first analog input signal through corresponding configuration parameters (such as sampling rate, number of bits, etc.). In some embodiments, the analog signal processing module of the controller first converts the first analog input signal into a first digital signal, and obtains the conversion result corresponding to the first digital signal through the digital register of the controller, thereby determining the value of the input analog voltage signal, so as to perform subsequent data processing or control operations.

[0038] The second signal input module 120 is used to process the analog current signal input by the control component with the first signal input module 110 when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module 110. In the embodiment of the present application, the controller can control the working state of the second signal input module 120 through the control signal, for example, when the control signal is at a high level, the second signal input module 120 works and participates in signal processing; when the control signal is at a low level, the second signal input module 120 stops working.

[0039] When the control component inputs an analog current signal, the second signal input module 120 converts the analog current signal into a voltage signal, and the first signal input module 110 adjusts the voltage signal, for example, adjusting the voltage range of the voltage signal to a second analog input signal that meets the voltage range required by the circuit (for example, reducing the voltage range) to meet the requirements of signal transmission in a variety of signal transmission scenarios. The analog signal processing module of the controller can process the second analog input signal transmitted from the output end of the second signal input module 120, and the analog signal processing module processes the second analog input signal through corresponding configuration parameters (such as sampling rate, number of bits, etc.). In some embodiments, the analog signal processing module of the controller first converts the second analog input signal into a second digital signal, and obtains the conversion result corresponding to the second digital signal through the digital register of the controller, thereby determining the value of the input analog current signal, and performing subsequent data processing or control operations.

[0040] Therefore, the signal connection circuit provided in the embodiment of the present application can be compatible with a variety of different types of input signals, effectively improve the integration and reliability of the system, enrich the functions of the system, and expand the application scenarios of the system.

[0041] See also Figure 2 , Figure 2 FIG. 4 shows a schematic diagram of the structure of another signal connection circuit provided in an embodiment of the present application. Figure 2 As shown, the first signal input module 110 includes: a first voltage processing unit 111, one end of the first voltage processing unit 111 is used to connect to the control component, and the other end of the first voltage processing unit 111 is used to connect to the input end of the controller. The first voltage processing unit 111 can adjust the voltage range of the input signal to meet the requirements of signal transmission in compatible signal transmission scenarios.

[0042] See also Figure 3 , Figure 3 FIG. 4 shows a schematic diagram of a structure of another signal connection circuit provided in an embodiment of the present application. Figure 3As shown, the first voltage processing unit 111 includes a first resistor 1111 and a second resistor 1112 .

[0043] One end of the first resistor R1 is used to connect to the control component, the other end of the first resistor R1 is connected to one end of the second resistor R2, and the other end of the first resistor R1 is also used to connect to the input end of the controller.

[0044] It is understandable that the resistance values ​​of the first resistor R1 and the second resistor R2 can be adjusted according to actual circuit requirements and set according to the voltage range that needs to be adjusted, and the present application does not impose any limitation on this.

[0045] In some implementations, the first voltage processing unit 111 may further include a filter capacitor, and the filter capacitor may be connected in parallel to both ends of the second resistor R2 to implement filtering processing on the signal.

[0046] See also Figure 4 , Figure 4 FIG. 1 shows a schematic diagram of the structure of another signal connection circuit provided in an embodiment of the present application, in order to reduce signal reflection and distortion and improve the efficiency and quality of signal transmission, as shown in FIG. Figure 4 As shown, the first signal input module 110 further includes an impedance matching unit 112 , one end of the impedance matching unit 112 is connected to the other end of the first voltage processing unit 111 , and the other end of the impedance matching unit 111 is used to be connected to the input end of the controller.

[0047] In some embodiments, the impedance matching unit 111 can adopt an emitter-follower circuit, that is, impedance matching is achieved through a voltage follower. In addition, impedance matching can also be achieved through parallel resistors, series resistors, transformers, etc. The specific selection can be made according to actual use needs, and this application does not impose any restrictions on this.

[0048] See also Figure 5 , Figure 5 FIG. 4 shows a structural diagram of another signal connection circuit provided in an embodiment of the present application. Figure 5 As shown, the second signal input module 120 includes a switch unit 121 and a second voltage processing unit 122 .

[0049] A first end of the switch unit 121 is connected to a first end of the first signal input module 111 , a second end of the switch unit 121 is connected to the second voltage processing unit 122 , and a third end of the switch unit 121 is used to connect to a control end of the controller.

[0050] The switch unit 121 switches on or off the connection path between the second voltage processing unit 122 and the first input module 110 under the control of the controller.

[0051] When the signal input by the control component is an analog current signal, the controller sends a control signal to the switch unit 121. The switch unit 121 receives the control signal and conducts the path between the second voltage processing unit 122 and the first input module 110. The second voltage processing unit 122 converts the input analog current signal into a voltage signal. The first signal input module 110 adjusts the voltage signal, for example, adjusting the voltage range of the voltage signal to a second analog input signal that meets the voltage range required by the circuit (for example, reducing the voltage range), so as to meet the requirements of signal transmission in compatible with multiple signal transmission scenarios.

[0052] See also Figure 6 , Figure 6 FIG. 4 shows a schematic diagram of the structure of another signal connection circuit provided in an embodiment of the present application. Figure 6 As shown, the switch unit 121 includes an optical coupler 1211. The input side of the optical coupler 1211 is used to connect to the control end of the controller, the first output end of the optical coupler is connected to the first end of the first input module 110, and the second output end of the optical coupler 1211 is connected to the second voltage processing unit 122. In some embodiments, the optical coupler 1211 can be a bidirectional optical coupler.

[0053] When the controller outputs a high level, the input side of the optocoupler I1 receives a signal and is turned on, so that the first output terminal and the second output terminal of the optocoupler I1 are turned on, connecting the path between the first input module 110 and the second voltage processing unit 122 .

[0054] It is understandable that the present application is not limited to this. In other embodiments, the switch unit 121 may also include other components, for example, it may also include resistors and other devices for isolation, filtering, and protection. The specific settings can be made according to the actual circuit design requirements, and the present application does not limit this.

[0055] See also Figure 7 , Figure 7 FIG. 4 shows a schematic diagram of the structure of another signal connection circuit provided in an embodiment of the present application. Figure 7 As shown, the second voltage processing unit 122 includes a third resistor R3 and a fourth resistor R4. The third resistor R3 and the fourth resistor R4 are used to convert the analog current signal into a voltage signal.

[0056] One end of the third resistor R3 is connected to the second end of the switch unit 121, and the other end of the third resistor R3 is grounded; one end of the fourth resistor R4 is connected to the second end of the switch unit 121, and the other end of the fourth resistor R4 is grounded. The third resistor R3 and the fourth resistor R4 can be connected in parallel to achieve current shunting and power reduction.

[0057] See also Figure 8 , Figure 8A signal connection system provided by an embodiment of the present application is shown. Figure 8 As shown, the signal connection system 200 includes: a control component 210 , the above-mentioned signal connection circuit 100 and a controller 220 .

[0058] Among them, the control component 210 can be a voltage-type analog device, a current-type analog device, a digital device, etc., such as a sensor (such as a temperature sensor, a pressure sensor, etc.), an actuator (a robotic arm, a motor, etc.), and a signal connection circuit is required between the control component and the controller to realize signal transmission. There are many types of signals to be transmitted, such as analog current signals, analog voltage signals, digital signals, etc.

[0059] The controller 220 may be a CPU (Central Processing Unit), and the pins of the controller may support both analog and digital modes.

[0060] The controller 220 can switch different signal processing modes according to different types of signals input by the control component 210 , and process different types of signals through the signal connection circuit 100 .

[0061] See also Fig. 9 , Fig. 9 Another signal connection system provided by an embodiment of the present application is shown. Fig. 9 As shown, the controller 220 includes an analog signal processing module 221 , a digital signal processing module 222 , a first switch 223 and a second switch 224 .

[0062] The first switch 223 is connected between the signal connection circuit 100 and the analog signal processing module 221 ; the second switch 224 is connected between the signal connection circuit 100 and the digital signal processing module 222 .

[0063] The analog signal processing module 221 processes the analog signal (such as the first analog signal and the second analog signal) through corresponding configuration parameters (such as sampling rate, bit number, etc.). In some embodiments, the analog signal processing module of the controller first converts the analog input signal into a digital signal, and obtains the conversion result corresponding to the digital signal through the digital register of the controller, thereby determining the value of the input analog signal (such as an analog voltage signal, an analog current signal), so as to perform subsequent data processing or control operations.

[0064] When the input signal of the control component 210 is an analog signal (such as an analog voltage signal or an analog current signal), the controller 220 closes the first switch 223 and opens the second switch 224, and the analog signal processing module performs signal processing.

[0065] When the input signal of the control component 210 is a digital signal, the controller 220 closes the second switch 224 and opens the first switch 223, and the digital signal processing module 222 performs signal processing. In some embodiments, the digital signal processing module 222 can be implemented using a GPIO INPUT (General Purpose Input / Output).

[0066] See also Fig.10 , Fig.10 A robot 300 provided in an embodiment of the present application is shown. Fig.10 As shown, the robot 300 includes the signal connection system 200 described above.

[0067] The robot 300 provided in the embodiment of the present application adopts the above-mentioned signal connection system 200, and the robot's end joint can expand the types and quantities of external clamps, thereby improving the application flexibility and scalability of the robot to a limited extent.

[0068] In summary, the embodiments of the present application provide a signal connection circuit, a system, and a robot, wherein the signal connection circuit is used to connect a control component and a controller, and the signal connection circuit includes: a first signal data module and a second signal input module; wherein the first end of the first signal input module is used to connect to the control component, and the second end of the first signal input module is used to connect to the input end of the controller; the first end of the second signal input module is connected to the first end of the first signal input module, and the second end of the second signal input module is used to connect to the control end of the controller; wherein the first signal input module is used to transmit the digital detection signal input by the control component to the digital signal processing module of the controller through the output end of the first signal input module block; the first signal input module is used to process the analog voltage signal input by the control component, and convert it into a first analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; the second signal input module is used to process the analog current signal input by the control component with the first signal input module when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; thereby, a signal connection circuit that can process a variety of different types of signals is provided, which effectively improves the integration and reliability of the system, enriches the functions of the system, and expands the application scenarios of the system.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A signal connection circuit, characterized in that: The signal connection circuit is used to connect the control component and the controller, and the signal connection circuit includes: A first signal input module, wherein a first end of the first signal input module is used to connect to the control component, and a second end of the first signal input module is used to connect to an input end of the controller; a second signal input module, wherein a first end of the second signal input module is connected to a first end of the first signal input module, and a second end of the second signal input module is used to be connected to a control end of the controller; Wherein, the first signal input module is used to transmit the digital detection signal input by the control component to the digital signal processing module of the controller through the output end of the first signal input module; The first signal input module is also used to process the analog voltage signal input by the control component and convert it into a first analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module; The second signal input module is used to process the analog current signal input by the control component together with the first signal input module when receiving the control signal of the controller, and convert it into a second analog input signal, and transmit it to the analog signal processing module of the controller through the output end of the first signal input module.

2. The signal connection circuit according to claim 1, characterized in that: The first signal input module includes: a first voltage processing unit, one end of the first voltage processing unit is used to connect with the control component, and the other end of the first voltage processing unit is used to connect with the input end of the controller.

3. The signal connection circuit according to claim 2, characterized in that: The first voltage processing unit includes a first resistor and a second resistor; One end of the first resistor is used to connect to the control component, the other end of the first resistor is connected to one end of the second resistor, the other end of the first resistor is also used to connect to the input end of the controller, and the other end of the second resistor is used to ground.

4. The signal connection circuit according to claim 2, characterized in that: The first signal input module further includes an impedance matching unit, one end of the impedance matching unit is connected to the other end of the first voltage processing unit, and the other end of the impedance matching unit is used to be connected to the input end of the controller.

5. The signal connection circuit according to any one of claims 1 to 4, characterized in that: The second signal input module includes a switch unit and a second voltage processing unit; The first end of the switch unit is connected to the first end of the first signal input module, the second end of the switch unit is connected to the second voltage processing unit, and the third end of the switch unit is used to connect to the control end of the controller.

6. The signal connection circuit according to claim 5, characterized in that: The switch unit comprises an optocoupler, an input end of the optocoupler is used to be connected to a control end of a controller, a first output end of the optocoupler is used to be connected to the control component, and a second output end of the optocoupler is connected to the second voltage processing unit.

7. The signal connection circuit according to claim 5, characterized in that: The second voltage processing unit includes a third resistor and a fourth resistor; One end of the third resistor is connected to the second end of the switch unit, and the other end of the third resistor is grounded; one end of the fourth resistor is connected to the second end of the switch unit, and the other end of the fourth resistor is grounded.

8. A signal connection system, characterized in that: include: A control component, a signal connection circuit as claimed in any one of claims 1 to 7, and a controller.

9. The signal connection system according to claim 8, characterized in that: The controller includes an analog signal processing module, a digital signal processing module, a first switch and a second switch; Wherein, the first switch is connected between the signal connection circuit and the analog signal processing module; the second switch is connected between the signal connection circuit and the digital signal processing module.

10. A robot, characterized in that: The robot comprises the signal connection system according to claim 8 or 9.

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