JPH10315180A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a connecting structure for improving efficiency of changing work and maintenance work of a robot controller arranged next to a robot main body side part. SOLUTION: A rail laid part 101 is provided next to an installing part 100 in which a base BS of a robot arm AM is arranged and a rail RL provided with a stopper 102 is laid. Many connecting cables 14 for the inside of a controller, connected to connector parts CN1, CN2 and screwing part S of a servo amplifier 12 are connected to a coupling connector CN10. A housing 10 is moved on the rails RL so as to approach a robot main body RB, the coupling connector CN1 is brought in pressure-contact with the coupling connector in the robot main body to which the connecting cable 24 is connected, and the controller RC is connected to the main body RB. A locking mechanism 16 is released, the controller RC is drawn, and therefore, both sides are separated from each other. The coupling connectors CN10, CN20 are provided with flexible connecting mechanisms capable of smoothly achieving the connecting operation even if the positioning precision is low.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus of a type in which a robot controller is disposed adjacent to a robot body, and more specifically, a connection structure between the robot body and the robot controller in the robot apparatus of the type. To improve the technology.

[0002]

2. Description of the Related Art Generally, a robot apparatus includes a robot main body including a robot arm and a driving mechanism thereof, and a robot control device for controlling a driving mechanism of the robot main body.
The robot main body and the robot control device constituting one robot device are often arranged adjacent to each other from the viewpoint of saving space and the like.

FIG. 1 is a schematic view of an adjacent arrangement of a conventional robot main body and a robot controller, which is shown in an overall view (a) and an enlarged view of a part related to the robot controller (b). In the general view (a), the main body of a general robot having a robot arm AM, a base BS, and the like is represented by reference numeral RB. A robot controller RC for controlling actuators (servo motors) and the like of each axis mechanism of the robot body RB includes a robot arm A
It is arranged adjacent to the side of the base BS where M is installed. And the base BS is installed on the installation part 6 shared with the robot control device RC.

A part of the robot controller RC and a part of the robot body RB adjacent thereto (a part indicated by a circle A).
1B is an enlarged view of FIG. 1B. As shown in FIG. 1B, a control printed board 2 on which a main CPU and the like are mounted and a servo amplifier 3 are provided in a housing 1 of the robot controller RC. Is equipped.

[0005] Connectors CN1, CN2, screw terminals S for cable terminals, and the like are provided at appropriate positions (portions near the robot body RB) of the control printed board 2 and the servo amplifier 3. At a portion where the housing 1 of the robot controller RC and the robot body RB (base BS) are in contact with each other, a cable lead-in hole 5 having an appropriate size (details are omitted and indicated by broken lines) is provided. .

The robot body RB and the robot controller RC
Connection cable 4 for electrically connecting required parts of
Is the robot controller R from various parts of the robot body (servo motors, brakes, etc.)
C is pulled into the housing 1 and one end of each cable is connected to the connector C and the screwing portion S.

[0007] The robot controller RC is connected to the robot body RB.
The housing 1 is fixed to the installation part 6 by a suitable fixing mechanism so as to be positioned on the side of the housing 1. In some cases, alternatively or for reinforcement, the housing 1 may be fixed to the side of the picture book main body RB.

[0008]

The problem with such a conventional arrangement is that it is very difficult to replace the robot controller RC before and after maintenance (circuit board replacement, component replacement, cleaning, inspection, etc.). A complicated separating operation or a restoring operation is required. That is, when replacement or maintenance of the robot controller RC is required, not only does the fixed state of the housing 1 be released, but also a connector C to which each terminal of the connection cable 4 having a large number is generally connected, a screw, and the like. The locked state of the stop S and the like must be released for all the connection cables 4.

Further, in order to restore the connection state, it is necessary to re-lock the connectors C and the screwed portions S to which the respective ends of the connection cables 4 are connected for all the connection cables 4 (robot control device RC). Is replaced and locked and connected to the new connector C and the screwed portion S).

[0010] Such an operation is complicated and places a heavy burden on the user and the like. Therefore, the present invention is to improve a robot controller of the type in which the robot controller is disposed adjacent to the robot body so that the work load such as replacement and maintenance of the robot controller can be reduced. .

[0011]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems of the prior art, the present invention provides a movable mounting mechanism for mounting a robot controller so as to allow the robot to move closer to and away from the robot body. A connecting mechanism for connecting the robot controller and the robot body is provided, and the connecting mechanism electrically connects the robot controller and the robot body and cancels the connection. A robot device of a type in which the device is arranged adjacent to a robot body can be provided.

In the structure of the present invention, when the robot controller and the robot body are connected, they are also electrically connected, and when the connection is released, the electrical connection secured by the connection is also released. . The operation of connecting the robot control device to the robot main body and the operation of releasing the connection are performed by moving the robot control device toward and away from the movable mounting mechanism.

In a preferred aspect of the present invention, the connecting mechanism includes a first connecting connector provided on the robot controller side, a second connecting connector provided on the robot body side, and a positioning error between the connecting connectors. And a flexible connecting connector support mechanism for absorbing the pressure. By providing such a flexible connecting connector support mechanism, it is possible to ease the requirement regarding the positioning accuracy of both connecting connectors.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 2 is an overall view of an embodiment of the present invention, in which an outline of an adjacent arrangement structure of a robot body and a robot controller is shown in FIG. Partial side view (b) viewed from the direction of arrow C in the overall view (a), and a circled portion A in the overall view (a).
This is shown in an enlarged view (c) of the portion indicated by. In addition, reference numerals of the respective elements are appropriately shared as long as they have commonality.

FIG. 1A shows a robot arm AM,
The main body of a general robot having a base BS and the like is represented by reference numeral RB. A robot controller RC for controlling actuators (servo motors) and the like of each axis mechanism of the robot body RB is disposed adjacent to a side of a base BS on which the robot arm AM is installed. Base B
S is installed on the installation unit 100.

As shown in the partial side view (b) or the enlarged view (c), a rail laying portion 101 is provided adjacent to the mounting portion 100, and two rails RL are provided on the rail laying portion 101. Is laid. Housing 1
The robot controller RC having 0 is mounted on the rail RL by a plurality of wheels WH. That is, the rail laying portion 101, the rule RL, and the wheels WH constitute a movable mounting mechanism of the robot controller RC.

A robot controller RC is provided at a suitable position of the rail laying section 101 with a movable mounting mechanism (laying range of the rail RL).
The stopper 102 is provided for preventing the deviation from the above. Further, a buffer member 15 made of rubber or the like is provided on one or both of the robot main bodies RB of the robot control device RC in order to prevent the two from excessively approaching each other and protect a connecting connector described later. Further, in order to fix the robot control device RC and the robot main body RB in a connected state during normal use, appropriate locking members or mechanisms 16 (16a, 16b) are provided at appropriate positions of both.

Enlarged view (c) of a part related to the robot control device.
As shown in FIG. 1, a control printed board 11 on which a main CPU and the like are mounted and a servo amplifier 12 are provided in a housing 10 of the robot controller RC. The control printed board 11 and the servo amplifier 12 are provided with connectors CN1 and CN2 or screw terminals S for cable terminals at appropriate places (portions near the robot body RB).

A required number of cables 14 are connected to the cable connecting portions on the robot control device RC side. However, unlike the conventional case, these cables 14 are connected to the robot body RB.
Does not extend to the inside of the robot controller, and functions as a connection cable inside the robot controller. In other words, a connection cable for electrically connecting the robot main body RB and the robot control device RC is divided into respective internal connection cables 14 and 24.

The cable 14 for internal connection of the robot controller is connected to the robot body R of the housing 10.
B are collectively connected to a robot controller-side connection connector CN10 provided at an appropriate position opposite to B. On the other hand, the robot body RB is also provided with a connection connector CN20 on the robot body RB side at a position facing the connection connector CN10 on the robot control device RB side.
The connection cable 24 inside the robot body RB is connected to N20 collectively.

The connection connectors CN10 and CN20 are automatically connected when the operator presses the robot controller RC against the robot body RB, and the connection is naturally released by applying an appropriate separating force. It has such a structure. Also, as a matter of course, at the time of connection, each of the robot controller RC and the internal connection cables 14 and 24 of the robot main body RB is designed to be electrically connected in a correct correspondence. Further, the connection connectors CN10 and CN20 are connected to both connection connectors CN10 and C20.
It is preferable to include a connection mechanism that allows connection with a certain degree of flexibility so that the connection operation can be smoothly performed even if there is some error in the facing relationship of N20.

Hereinafter, a pair of connecting connectors CN10 and C
The structure and function of the flexible coupling mechanism constituted by N20 will be further described with reference to FIGS. FIG. 3 shows the connection connector CN2 on the robot body RB side.
FIG. 4 is a view from the front, and FIG. 4 is a side view of a state before the two connectors CN10 and CN20 are connected.

As shown in FIG. 4, the robot body RB
The connector installation base 40 is fixed to an appropriate position of the (base BS) with fixing screws 41 and 42. The connector mounting plate 30 is elastically supported on the connector installation base 40 by a mechanism using an appropriate number of springs SP. As a result, the position of the connector mounting plate 30 has flexibility in the direction indicated by the arrow Z.

Next, as will be understood with reference to FIG. 3, the connecting connector CN20 includes a central portion 21 provided with a required number of terminal pins 25, and positioning guide pins 26 and guide pin jacks 27, respectively. Edge 22,
23, and the central portion 21 is mounted on the connector mounting plate 30 with flexibility in both directions indicated by arrows X and Y in a state in which the connector receiving hole 31 provided in the connector mounting plate 30 is fitted. Have been.

In order to provide such flexibility, the connector receiving hole 31 has a margin in the central portion 2.
1 to have the size and shape to accept
The connector mounting plate 30 has a mounting screw hole 3 having a size and shape for receiving the mounting screws 34 and 35 with a margin.
2, 33 are provided.

The mounting screws 34, 35 are provided in the mounting screw holes 32,
33, it extends to the back side of the connector mounting plate 30, in which bolts BL larger in size than the mounting screw holes 32, 33 are integrated. In order to allow the mounting screws 34 and 35 to move in the X and Y directions, the gaps G1 to G4
The neutral length of the spring SP, the position of the bolt BL, and the like are designed or adjusted so that is formed.

Connection connector CN2 on the robot body RB side
Since the supporting mechanism of No. 0 is a good one as described above, the connector CN20 is eventually supported with three-dimensional flexibility. The connection cable 24 inside the robot body RB is connected to the connector installation base 4 via a wiring inside the connector CN20 (not shown).
0 is drawn into the robot main body RB through the through hole 43.

On the other hand, a connector installation base 50 integrated with the connection connector CN10 is fixed to the housing 10 of the robot controller RC with fixing screws 51 and 52. The connector CN10 is a connector CN20.
A central portion 61 in which pin jack terminals 65 are arranged corresponding to the terminal pins 25 of the above, and edges 62 and 63 provided with a guide pin jack 66 and a positioning guide pin 67, respectively.

Each pin jack terminal 65 has an insertion hole 65a for receiving the corresponding terminal pin 25. The guide pin jack 66 is provided with the positioning guide pin 26.
Is provided with an insertion hole 66a for receiving the same. The positioning guide pin 67 is inserted into the guide pin jack 27 on the side of the connector CN20.

As shown, each pin 25, 2
6, 67 have a tapered shape at least at the distal end, and the insertion holes 65a, 66a,
27a is also provided with a tapered shape so as to smoothly guide the tip of each pin.

Due to the flexible support structure of the connector CN20 described above, a displacement due to a slight positioning error between the pins 25, 26, 67 and the insertion holes 65a, 66a, 27a for receiving them (for example, the Y direction Of the connecting connector CN10
Is pressed against the connecting connector CN20, each pin 25,
Insert holes 65a, 66a, 27a corresponding to 26, 67
The robot controller RC and the robot main body RB are electrically connected to each other. Note that the connection cable 1 inside the robot controller RC is
Reference numeral 4 is drawn into the robot control device RC from the through hole 17 of the connector installation base 50 via a wiring inside the connecting connector CN10 not shown.

Each operation of the operator at the time of (1) connection and (2) disconnection is extremely simple as follows. (1) Operation at the time of connection; To perform connection from the connection release state as shown in FIG. 2C, the housing 10 of the robot control device RC is pushed by hand, approached to the robot main body RB, and lightly pressed. Then, the connection connector CN10,
The CNs 20 are connected by absorbing positioning errors. Excessive approach or inadvertent collision can cause the connector CN20
, And is also avoided by the cushioning member 15. In order to fix the connection state more stably, the locking mechanism 16 may be appropriately used.

(2) Operation at the time of releasing the connection: In order to release the connection from the above-mentioned connected state, the locking of the locking mechanism 16 is released, and then the housing 10 of the robot controller RC is pulled away from the robot main body RB. Then, each pin is separated from the insertion hole, and the connected state is released naturally.

The robot controller RC is connected to the robot body RB.
, And perform maintenance, parts replacement, or replacement of the robot controller RC itself. When replacing the robot controller RC itself, the robot controller RC is detached from the rail RL, and a separately prepared robot controller RC is newly mounted on the rail RL. In any case,
As in the prior art, there is no need to use nerves for handling the connection cable every time the connection is disconnected and reconnected.

The present invention is not limited to the embodiment described above, and various modifications such as the following (1) to (3) are possible. (1) A rail is used for the movable mounting mechanism of the robot controller RC.
Use mechanisms other than wheels. (2) Flexibility is given to the connecting connector on the robot control device side, not the connecting connector on the robot body side. Alternatively, flexibility is given to both the robot body and the robot control device.

(3) The male and female relationship between the pin and the pin jack is different from that of the above embodiment. For example, the terminal pin 25 is provided on the connector CN10 side, and the pin jack 6
5 may be provided on the side of the connector CN20.

[0037]

According to the present invention, the connection and disconnection of the robot control device and the robot main body disposed adjacent to the robot main body can be performed by an extremely simple operation. Accordingly, the work efficiency of replacement and maintenance of the robot control device adjacent to the robot body is significantly improved. Furthermore, if the connection mechanism between the robot body and the robot controller has flexibility to absorb the positioning error of the connection part,
The requirements on the positioning accuracy of both can be relaxed.

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of an adjacent arrangement of a conventional robot main body and a robot control device, which is shown in an overall view (a) and an enlarged view of a part related to the robot control device (b).

FIG. 2 is an overall view (a) of an adjacent arrangement structure of a robot body and a robot control device according to an embodiment of the present invention, and an arrow C in the overall view (a) of a main part of a movable mounting mechanism.
(B) and partial view (a)
It is an enlarged view (c) of a portion indicated by a circle A in the middle.

FIG. 3 is a view of the connection connector CN20 on the robot body RB side as viewed from the front.

FIG. 4 is a side view showing a state before both connecting connectors CN10 and CN20 are connected.

[Explanation of symbols]

 1, 10 Robot control device housing 2, 11 Control printed circuit board 3, 12 Servo amplifier 4 Connection cable 5 Cable lead-in hole 6, 100 Installation part 14 Robot control device internal connection cable 15 Buffer member 16 (16a, 16b) Lock Mechanism (locking tool) 17 Through-hole (for wiring the cable inside the robot controller) 21 Central part of connector CN20 22, 23 Edge of connector CN20 24 Connection cable for inside of robot body 25 Terminal pin 26, 67 Positioning guide pin 27, 66 guide pin jack 27a, 66a guide pin insertion hole 30 connector mounting plate 31 connector receiving hole 32, 33 mounting screw hole 34, 35 mounting screw 40, 50 connector mounting base 41, 42, 51, 52 fixing screw 43 through hole (robot Internal cable layout 61) Central part of connector CN10 62, 63 Edge of connector CN10 65 Pin jack terminal 101 Rail laying part 102 Stopper BL Bolt BS Base CN1, CN2 Connector CN10, CN20 Connection connector G1-G4 Gap RB Robot body RC Robot controller RL rail S Screw stop SP Spring WH Wheel

Claims (2)

[Claims] 1. A robot device of a type in which a robot control device is disposed adjacent to a robot main body, wherein a movable mounting mechanism for mounting the robot control device so as to allow movement toward and away from the robot body. A connection mechanism for connecting the robot control device and the robot body, wherein the connection mechanism electrically connects the robot control device and the robot body in a state where the robot control device and the robot body are connected. Disconnecting the electrical connection between the robot control device and the robot main body in a state where the connection is released, and the operation of disconnecting the robot control device and the robot main body and the release operation are performed by the robot control. The approach and separation movements are performed on the movable mounting mechanism of the device. The robotic device. 2. The robot according to claim 1, wherein the connection mechanism includes a first connection connector provided on the robot control device side, a second connection connector provided on the robot body side, the first connection connector and the second connection connector. The robot apparatus according to claim 1, further comprising a flexible connection connector support mechanism that absorbs a positioning error between the two connection connectors.