解:$(1)$设$OA$所在直线对应的函数表达式为$y = ax$
将$A(5,$$1000)$代入,得$5a = 1000,$解得$a = 200$
∴$OA$所在直线对应的函数表达式为$y = 200x$
$ (2)$设$BC$所在直线对应的函数表达式为$y = kx + b$
将$B(0,$$1000),$$C(10,$$0)$代入,
得$\begin {cases}1000 = 0 + b\\0 = 10k + b\end {cases},$解得$\begin {cases}k = -100\\b = 1000\end {cases}$
∴$y = -100x + 1000$
甲、乙两机器人相遇时,即$200x = -100x + 1000,$解得$x = \frac {10}3$
∴出发后甲机器人行走$\frac {10}3 \mathrm {\mathrm {min}},$与乙机器人相遇