CN102862162A - Robot controller and robot - Google Patents
Robot controller and robot Download PDFInfo
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- CN102862162A CN102862162A CN2012102136948A CN201210213694A CN102862162A CN 102862162 A CN102862162 A CN 102862162A CN 2012102136948 A CN2012102136948 A CN 2012102136948A CN 201210213694 A CN201210213694 A CN 201210213694A CN 102862162 A CN102862162 A CN 102862162A
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Abstract
The present invention provides a robot controller and a robot, wherein the robot controller is provided with a drive voltage generation substrate converting an AC voltage into a DC voltage for outputting; a driving substrate for converting the output of the driving voltage generation substrate into a multi-phase voltage and inputting the multi-phase voltage into the motor of the robot; a control substrate outputting a control signal output by the control driving substrate to the driving substrate based on the rotation position of the motor; wherein the control substrate is configured on the bottom surface along the bottom surface inside a box-shaped framework, the driving voltage generation substrate is smaller than the control substrate and arranged on a lamination control substrate, the driving substrate is arranged on the portion not covered by the driving voltage generation substrate, on the upper surface of the control substrate and on the upper surface of the driving voltage generation substrate, in a state of being relative to the driving voltage generation substrate and the control substrate.
Description
Technical field
The present invention relates to the robot controller of the action of control, particularly relate to the robot controller that a plurality of circuit substrates of controlling for the driving of the motor that robot is had are disposed at the inside of framework.
Background technology
In the past, such as patent documentation 1 record like that, the inside in the framework of robot controller disposed a plurality of circuit substrates for the driving of controlling motor.Fig. 4 is the exploded perspective view of robot controller of the configuration of indication circuit substrate, is the figure that the robot controller of the state that will take off from framework 51 as the switching panel 51F of a side of framework 51 represents with the robot as the control object of this robot controller.
As shown in Figure 4, robot 60 as the control object of robot controller is horizontal articulated robots, the lifting shaft 63 that for example comprise the multiarticulate arm 62 that links with matrix 61, links with the front end of this arm 62 and the end effector 64 that links with the lower end of lifting shaft 63.Drive 4 motors 65 of these multiarticulate arms 62, lifting shaft 63 and end effector 64, all be equipped with the position detectors such as encoder, decomposer of the position of rotation that detects this motor 65.
Bottom surface in the framework 51 of robot controller is fixed with the instruction that CPU is installed and generates substrate 52, and the back side in framework 51 is fixed with and drives control substrate 53 in addition.Instruction generates substrate 52 and accepts the detection signal that each position detector is exported, with the speed of the movement of the position of the moving target of robot 60, robot 60 as position command, speed command output.Drive control substrate 53 and generate the instruction that substrate 52 is exported based on above-mentioned instruction, generate the voltage instruction of each phase in the motor 65, pulse signal that will be corresponding with this voltage instruction is with the modulation system output of PWM etc.Such driving control substrate 53 via connector 53c with control substrate 53 vertical 4 driving substrates 54 that erect with respect to this driving and be connected.And 4 driving substrates 54 are controlled the pulse signal that substrate 53 is exported respectively with the translation circuit that is installed on self based on driving, and carry out to the switch of each driving voltage of exporting mutually of motor 65.
Patent documentation 1: TOHKEMY 2007-175856 communique
Yet, become in the above-mentioned driving control substrate 53 of object output at driving substrate 54, except being used for the pulse signal of switch drive voltage, for example generate the DC voltage of 280V as this driving voltage.
At this, the pulse signal that switch is used with the speed corresponding with the position command, the speed command that generate substrate 52 from instruction, is modulated the clock signal that becomes benchmark in the process that drives 53 generations of control substrate.Therefore, is realizing in such high-speed computation in the zone of the above-mentioned pulse signal of generation in driving control substrate 53, usually, needs the multi-ply construction more than 6 layers.Relative therewith, with the DC voltage of the AC voltage conversion precedent of 200V such as 280V the time, because do not need high-speed computation as described above, thus the zone of the generation driving voltage in driving control substrate 53, as long as the lit-par-lit structure that usually has about two-layer is just passable.
Yet, in the such installation base plate that drives control substrate 53, from the viewpoint of manufacturing process, be difficult between the regulation zone of this installation base plate and other are regional, change the number of plies of lit-par-lit structure.Therefore, the integral body of general installation base plate consists of with the identical number of plies.Therefore, in the robot controller that is made of said structure, the result is, because need to make the number of plies in the zone that driving voltage generates more than the necessary number of plies of its function, so have to make the internal structure that drives the control substrate unnecessarily complicated.
Summary of the invention
The present invention proposes in order to address the above problem, and its objective is that providing a kind of can simplify the in-built robot controller that is disposed at the circuit substrate in the framework.
The purport of a mode of the present invention is that a kind of control is possessed by the robot controller of the action of the robot of motor driving: power supply board, and it becomes DC voltage and output with AC voltage conversion; Drive substrate, its output to above-mentioned power supply board is carried out conversion and is generated to the polyphase ac voltage of the motor input of above-mentioned robot; And control substrate, its will for based on the position of rotation of said motor and the control signal of controlling the output of above-mentioned driving substrate export to above-mentioned driving substrate, above-mentioned control substrate in the framework that is box shape the bottom surface and be disposed at this bottom surface, above-mentioned power supply board is less and be layered on the above-mentioned control substrate than above-mentioned control substrate, the state of above-mentioned driving substrate to hold up with respect to above-mentioned power supply board and above-mentioned control substrate is set up in the part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate and the upper surface of above-mentioned power supply board.
According to an above-mentioned mode, the voltage that input drives substrate is generated by power supply board, and the control signal of input driving substrate is generated by the control substrate.In the generative process of the control signal that is used for control polyphase ac voltage, because need to be based on the high-speed computation of the position of rotation of motor, so in the control substrate that generates such control signal, its base plate structure is multi-ply construction naturally.On the other hand, be transformed in the power supply board of DC voltage at the output voltage with alternating voltage, because do not need high-speed computation as described above, so for such power supply board, do not need multi-ply construction.
This point is if above-mentioned formation consists of respectively owing to have control substrate and the power supply board of mutually different functions, so can adopt the lit-par-lit structure corresponding with requirement separately at each circuit substrate.Controlling in substrate and the power supply board situation as a circuit substrate formation, in order to make a circuit substrate satisfy these mutually different requirements, although need the multiple stratification, complicated of this circuit substrate, but according to above-mentioned formation, can simplify the layer structure of the circuit substrate that is disposed in the framework.
And, control substrate and be disposed at this bottom surface along the bottom surface of framework, and more stacked with the control substrate than the power supply board that the control substrate is little, therefore compare with the situation that control substrate and power supply board consist of as a circuit substrate, also can dwindle be used to the area of accommodating circuit substrate.In addition, the driving substrate of the output of the output of use control substrate and power supply board is set up in power supply board and controls substrate with the state of holding up with respect to power supply board and control substrate.Therefore, can suppress them is separated from each other with respect to two circuit substrates that become the linking objective that drives substrate.Its result can simplify the cabling of the wiring that drives substrate and its linking objective, the cabling of the wiring in the driving substrate, and then can simplify the internal structure that drives substrate.
A mode of the present invention, its purport is, above-mentioned power supply board has the 1st out connector of the above-mentioned DC voltage of output, above-mentioned control substrate has the 2nd out connector of the above-mentioned control signal of output, above-mentioned the 1st out connector and above-mentioned the 2nd out connector be alignment arrangements in one direction, one side that becomes the bottom surface side in the above-mentioned framework in the periphery of above-mentioned driving substrate is arranged along above-mentioned direction and to be equipped with and chimeric the 1st input connector of above-mentioned the 1st out connector and 2nd input connector chimeric with above-mentioned the 2nd out connector.
According to an above-mentioned mode, power supply board be connected substrate and be connected with the chimeric of the 1st input connector by the 1st out connector, the control substrate be connected substrate and be connected with the chimeric of the 2nd input connector by the 2nd out connector.Therefore, owing to do not use for the cable between the connecting circuit substrate, just above-mentioned control substrate and power supply board directly can be connected with the driving substrate, so in the framework of robot controller, can save wiring.
A mode of the present invention, its purport be, above-mentioned control substrate possesses the arithmetic processing apparatus of the position command that generates above-mentioned robot, and above-mentioned arithmetic processing apparatus is disposed at the part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate.
In order to generate the position command of robot, the generation of the usually calculating of current robot present position, track that robot moves etc. also need to carry out computational speed, computing that amount of calculation is larger in the control substrate.Therefore, in the arithmetic processing apparatus of carrying out such calculation process, in the control substrate, there is a large amount of heat to discharge to the outside of this arithmetic processing apparatus.
This point, if above-mentioned mode, because the partial configuration that is not covered by above-mentioned power supply board in the upper surface of control substrate has arithmetic processing apparatus, so can suppress to riddle between control substrate and the power supply board from the heat of arithmetic processing apparatus.And then, can improve the stability of the action of the various electronic units that are disposed between control substrate and the power supply board, circuit.
A mode of the present invention, its purport is, above-mentioned framework is cubic shaped, above-mentioned control substrate is disposed at the face side of this framework of the bottom surface in the above-mentioned framework, and the face side in above-mentioned framework has the port of inputting for the detection signal of the detector that detects from the position of rotation to said motor, above-mentioned power supply board is disposed at the face side of this framework of the upper surface of above-mentioned control substrate, face side at above-mentioned power supply board has the aerial lug of inputting for above-mentioned alternating voltage, and above-mentioned port and said external connector are embedded in the front panel of above-mentioned framework.
According to an above-mentioned mode, be equipped with port in the face side of controlling substrate, the signal of the position of rotation of expression motor is inputted this port.And, the detector of the position of rotation of detection motor and the interface of control substrate that is the front panel that port is embedded in framework.In addition, be equipped with aerial lug in the face side of power supply board, the alternating voltage from the outside that is used for generating the driving voltage of motor is inputted this aerial lug.Therefore, compare in the back side of robot controller or the situation of bottom surface with above-mentioned interface configuration, robot controller is connected easily with detector or cuts off.Therefore, do not use for the cable that connects control substrate and port, just can connect above-mentioned control substrate and port, can in the framework of robot controller, save wiring yet.
A mode of the present invention, its purport be, above-mentioned power supply board and configuration plane adjacency as any one party of the left surface in the right flank in the above-mentioned framework and the above-mentioned framework, and above-mentioned driving substrate is disposed at this configuration plane along above-mentioned configuration plane.
According to an above-mentioned mode, power supply board and any one party that drives right flank and left surface in the framework that the substrate deflection is cubic shaped dispose.According to such formation, the occupied space of each circuit substrate forms along the space of each sidewall of framework, divided by circuit substrate so can suppress the inner space of framework, and then guarantee in order to connect up, dispose the necessary continuous space of electronic unit in the inside of framework easily.
Description of drawings
Fig. 1 is the stereogram of external structure of the robot controller of expression one embodiment of the present invention.
Fig. 2 is the in-built stereogram of the robot controller of the same embodiment of expression centered by power supply system.
Fig. 3 is that the in-built driving substrate of robot controller of the same embodiment of expression is with respect to the stereogram of the configuration of control substrate and power supply board.
Fig. 4 is the stereogram that the internal structure with the robot controller in the conventional example represents with the robot as control object.
The specific embodiment
Below, with reference to Fig. 1 ~ Fig. 3 the embodiment that robot controller of the present invention is specialized is described.In addition, the control object of the robot controller in the present embodiment be before in robot illustrated in fig. 4, be the horizontal articulated robot that 4 motors 65 are installed.Therefore, below, about the control object of robot controller, enclose the Reference numeral identical with the robot 60 of before explanation and omit repeat specification.
The external structure of robot controller
At first, with reference to Fig. 1 the external structure of robot controller is described.As shown in Figure 1, at the front panel 1F of the framework 1 that forms the cubic shaped that along continuous straight runs extends, and in the substantial middle of this front panel 1F, embed the power connector 2 that has as aerial lug.Power connector 2 is connected with the external power source plug of the equipment that is provided with robot controller, and the alternating voltage of the 200V that will power via the external power source plug is supplied to the inside of framework 1.
Right-hand end in front panel 1F is equipped with the action bars 3a of circuit brake 3.The action bars 3a of circuit brake 3 is connected with power connector 2 in the inside of framework 1, and the alternating voltage of the 200V that force handoff external power source plug is supplied with is to supply and the disconnection of robot controller.
Left end in front panel 1F embeds the polyphase ac voltage connector 4 that has along the rectangle of left and right directions extension.In polyphase ac voltage connector 4, all arrange along left and right directions with a plurality of splicing ears that 4 motors 65 are connected.Polyphase ac voltage connector 4 is connected with above-mentioned 4 motors 65 respectively, and respectively to these 4 motors, 65 output polyphase ac voltages.
At the upside of polyphase ac voltage connector 4, cooling fan F can be installed with changing.Cooling fan F is the fan that is blown into extraneous air from the outside of framework 1 to the inside of framework 1, between the outside housing and front panel 1F of this cooling fan F, be useful on the mode clamping that can change and catch the dust that is contained in extraneous air, the extraneous air filter F a of dust.
Half part of the left side that occupies front panel 1F in the downside end in front panel 1F embeds 3 ports that PERCOM peripheral communication that oriented left and right directions extends is used.The position detector that consists of 3 ports with port one 1, emergent stopping with port one 2, TP with port one 3 respectively along the bottom of front panel 1F, press this order from the left end of front panel 1F, and the form of arranging along left and right directions with the splicing ear of each port sets.
Position detector is connected with 4 rotation angle sensors of port one 1 with the decomposer that detects 4 motors 65 position of rotation separately, encoder etc., inputs respectively the position detection signal of the position that represents that this rotation angle sensor detects from 4 rotation angle sensors.Emergent stopping with the emergency stop circuit of port one 2 and the outside that is arranged at robot controller, safety door circuit etc., detect the device of the environment that is provided with robot controller when whether urgent and be connected, input washout from this device.TP is connected with teach box as one of robot controller peripheral equipment with port one 3, inputs from teach box for teaching robot 60 data.
TP in the downside end in front panel 1F has the input of the various data signals of processing and the I/O port one 4 of output with the right side of port one 3, embedding.The sensor of the camera of I/O port one 4 and the action of for example taking robot or detection machine people's position, in order to make the necessary peripheral equipment of robot motion or according to the action of robot and driven peripheral equipment is connected.And I/O port one 4 receives the signal of state of state, the robot periphery of expression robot self from peripheral equipment, and will represent that the signal of the action of robot exports to peripheral equipment.
On the right side of I/O port one 4, end two ports that is 1USB port one 5 and 2USB port one 6 and the LAN port one 7 that embed in order that serial communication uses to the right.
1USB port one 5 is connected for example requirement of corresponding outer computer, the signal of the treatment state of the state of the I/O of output device people's controller etc., expression robot controller via USB with outer computer as one of peripheral equipment of robot controller.2USB port one 6 for example is connected with USB storage, exports the daily record that is stored in robot controller to USB storage.LAN port one 7 via Ethernet (registration mark) for example with the network connection of the equipment that is provided with robot controller, for example requirement of corresponding outer computer connected to the network, the also signal of the treatment state of output expression robot controller.Between the 2USB port one 6 and LAN port one 7 in the downside end in front panel 1F, be equipped with trigger switch 16a.For trigger switch 16a, when pressing this trigger switch 16a, all allow from above-mentioned 2USB port one 6 output journals.
On the right side of LAN port one 7, embedding has sequence controller port one 8.Sequence controller port one 8 for example is connected with sequence controller via RS-232C, is used for making the control signal of robot motion from this sequence controller input.
The upside of the 2USB port one 6 in front panel 1F is formed with rectangular opening that is the plug aperture of extending along the vertical direction, embeds rectangular tabular expansion panel 1P in this plug aperture.In addition, the left and right directions arrangement at expansion panel 1P is equipped with two expansion I/O port ones 9.Two expansion I/O port ones 9 respectively with for example take as the camera of the workpiece of the manipulating object of robot or detect the sensor of the position of this workpiece, in order to make the necessary peripheral equipment of robot motion or according to the action of robot and driven peripheral equipment is connected.And expansion I/O port one 9 receives the signal of the state of expression robot oneself state, robot periphery from peripheral equipment, and represents the signal of the action of robot to peripheral equipment output.
Like this, at the front panel 1F of robot controller, cannot not be equipped with openly the inside of framework 1 and the necessary whole interfaces of following operation that carry out.
To the input of the power supply of robot controller, and the disconnection of this power supply.
Robot controller and being connected and cutting off as the robot 60 of its control object.
Being connected and cutting off of robot controller and its peripheral equipment.
The maintenance of cooling fan F and extraneous air filter F a and inspection.
The internal structure of robot controller
Next, with reference to Fig. 2 and Fig. 3 the internal structure of tool hand controls is described.In addition, in Fig. 2, the for convenience of explanation internal structure of robot controller, above-mentioned front panel 1F, back panel, top panel in the framework 1 of omission robot controller, and omit polyphase ac voltage connector 4 and the cooling fan F that is equipped on front panel 1F.In addition, the cable of cable, connecting circuit substrate and electronic unit between the connecting circuit substrate and the cable between the connecting electronic parts are omitted in the function of each circuit substrate and its configuration for convenience of explanation.
As shown in Figure 2, dispose with circuit brake 3 at the right panel 1R of framework 1 and to be connected, the AC voltage conversion of 200V is become the power supply system of DC voltage and output.In addition, in the base panel of framework 1, it is stacked with control substrate 30 to generate substrate 20 as the driving voltage of power supply board, and in medial surface that is the configuration plane of the Left-Hand Panel 1L of framework 1, disposes two driving substrates 40.
Upside central authorities in the right panel 1R of framework 1 are fixed with noise filter NF.Noise filter NF is connected with circuit brake 3 via the input cable, and is connected via output cable and driving voltage generation substrate 20.And, if the alternating voltage of 200V from circuit brake 3 input noise wave filter NF, then except denoising, and the alternating voltage that will remove this noise generates substrate 20 outputs to driving voltage to noise filter NF from this alternating voltage.
It is the tellites that are fixed in the rectangular plate shape on the control substrate 30 that driving voltage generates substrate 20, forms the most size of face side that occupies on the control substrate 30.Driving voltage generates the rigid substrates that printed panel that substrate 20 has the bilayer parallel with base panel is laminated, at the upper surface of this rigid substrates, be equipped with for the various electronic units that the AC voltage conversion of 200V become as the DC voltage of the 280V of driving voltage.Driving voltage generates substrate 20 and has above-mentioned power connector 2, and is connected with circuit brake 3 via the protection cable.In addition, driving voltage generates substrate 20 and is connected with noise filter NF via the input cable, and is connected with the 1st power supply board PS1, the 2nd power supply board PS2 and the 3rd power supply board PS3 respectively via the output cable.In addition, driving voltage generation substrate 20 is connected with driving substrate 40 via out connector.
And if generate the alternating voltage that substrate 20 is supplied with 200V from power connector 2 to driving voltage, then driving voltage generation substrate 20 is exported this alternating voltage to circuit brake 3.In addition, if generate substrate 20 input ac voltages from noise filter NF to driving voltage, then driving voltage generates substrate 20 this alternating voltage is dispensed to the 1st power supply board PS1, the 2nd power supply board PS2 and the 3rd power supply board PS3.And driving voltage generates substrate 20 will become from the AC voltage conversion of noise filter NF input DC voltage that is the driving voltage of 280V, and export this driving voltage to driving substrate 40.In addition, in the specification that does not need circuit brake 3 and noise filter NF, generate substrate 20 to the out connector of circuit brake 3 from driving voltage, be connected by cable with the input connector that generates substrate 20 from noise filter NF to driving voltage.
The 1st power supply board PS1 is the circuit substrate of rectangular plate shape that is fixed in the rear side top of right panel 1R, is the installation base plate of various electronic units that becomes the DC voltage of 15V for the AC voltage conversion with 200V is installed.The 1st power supply board PS1 generates substrate 20 via input cable and driving voltage and is connected, and is connected via output cable and driving voltage generation substrate 20.And, distribute alternating voltage if generate substrate 20 from driving voltage to the 1st power supply board PS1, then the 1st power supply board PS1 becomes the DC voltage of 15V with this AC voltage conversion, and the DC voltage after this conversion is generated substrate 20 outputs to driving voltage.
The 2nd power supply board PS2 is the circuit substrate of rectangular plate shape that is fixed in the rear side below of right panel 1R, is the installation base plate of various electronic units that becomes the DC voltage of 5V for the AC voltage conversion with 200V is installed.The 2nd power supply board PS2 generates substrate 20 via input cable and driving voltage and is connected, and is connected with control substrate 30 via the output cable.And, distribute alternating voltage if generate substrate 20 from driving voltage to the 2nd power supply board PS2, then the 2nd power supply board PS2 becomes the DC voltage of 5V with this AC voltage conversion, and with the DC voltage after this conversion to 30 outputs of control substrate.
The 3rd power supply board PS3 is the circuit substrate of the rectangular plate shape of the back side, the right side direction that is fixed in control substrate 30 in the base panel of framework 1, is the installation base plate of various electronic units that becomes the DC voltage of 24V for the AC voltage conversion with 200V is installed.The 2nd power supply board PS2 generates substrate 20 via input cable and driving voltage and is connected, and is connected with control substrate 30 via the output cable.And, distribute alternating voltage if generate substrate 20 from driving voltage to the 3rd power supply board PS3, then the 3rd power supply board PS3 becomes the DC voltage of 24V with this AC voltage conversion, and with the DC voltage after this conversion to 30 outputs of control substrate.
If be described in detail, then be connected with above-mentioned position detector with port one 1 at control substrate 30, all input to control substrate 30 with port one 1 via position detector from the detection signal of 4 rotation angle sensors.In addition, be connected with emergent stopping port one 2 at control substrate 30, thereby input to control substrate 30 with port one 2 via emergent stopping from the emergent stopping instruction of external device (ED), peripheral equipment.And, be connected with TP at control substrate 30 and connect with port one 3, use port one 3 to 30 inputs of control substrate from the teaching instruction of teach box via TP.
In addition, be connected with 1USB port one 5 at control substrate 30, input to control substrate 30 via 1USB port one 5 from instruction or the data of outer computer.In addition, be connected with 2USB port one 6 at control substrate 30, the signal of the treatment state of expression robot controller, according to the input signal from trigger switch 16a, and from 30 outputs of control substrate.And, being connected with LAN port one 7 at control substrate 30, the signal of the treatment state of expression robot controller is exported from control substrate 30 with the network that is connected with this LAN port one 7 via LAN port one 7.In addition, be connected with I/O port one 4 at control substrate 30, input to control substrate 30 via I/O port one 4 from instruction or the detection signal of peripheral equipment.In addition, the instruction exclusive disjunction result of peripheral equipment exported from control substrate 30 via I/O port one 4.
In the upper surface of control substrate 30, the rear side of this upper surface, and in the part that not driven voltage generation substrate 20 covers, be laminated with and carried for the arithmetic processing apparatus of the position command that generates robot that is the CPU board 31 of CPU31a.CPU board 31 explanations are also carried out the tutorial program that is used for robot 60 teaching teaching positions, in addition, explain and carry out the program that moves for the job position that makes robot 60 to regulation.At this moment, CPU board 31 at first uses from the teaching position of teach box input or predefined job position and from the testing result of each rotation angle sensor input, the track that generation is used for robot 60 to the teaching position or job position moves, the position command of the mobile destination of generation expression robot 60.Then, control substrate 30 calculates and is used for making robot 60 to move to the driving amount of the motor 65 of the represented position of position command, and generates the voltage instruction of each phase corresponding with the driving amount that calculates.Next, CPU board 31 is exported the pulse signal corresponding with the voltage instruction that is generated with modulation systems such as PWM as control signal.Then, CPU board 31 is whenever receiving testing result from rotation angle sensor, all carry out the generation of such track, the driving amount corresponding with track calculating and with the output of control signal corresponding to driving amount.
In the upper surface of control substrate 30, the face side of this upper surface, and in the part that not driven voltage generation substrate 20 covers, being laminated with communication interface board 32.Communication is connected with sequence controller port one 8 with interface board 32, is used for making the control signal of robot motion from this sequence controller input.
The part that not driven voltage generation substrate 20 in the upper surface of control substrate 30 covers, and in the rear side of communication with interface board 32, be equipped with two expansions connector 33 that extends along fore-and-aft direction.With connectors 33, be arranged with a plurality of pin embedded holes that supply and marketing embeds in the mode of opening upward along fore-and-aft direction two expansions respectively.And, embed the expansion connector if will carry the pin of the expanded circuit substrate of above-mentioned expansion I/O port one 9, the signal that then represents the state of robot periphery is inputted to control substrate 30 via the expanded circuit substrate, and the signal of the action of expression robot is exported from control substrate 30 via the expanded circuit substrate.
Not driven voltage in the upper surface of control substrate 30 generates the part that substrate 20 covers, and in the left side of CPU board 31, disposes the Memory connector 35 of installing for card type storage medium 34.Card type storage medium 34 stores the speed reducing ratio etc., robot controller of the reductor of the length of the arm that robot 60 possesses, binding driving shaft that robot 60 possesses and motor 65 in order to make the necessary various data of robot 60 actions.And CPU board 31 is read the various data that are stored in card type storage medium 34, and carries out the generation of above-mentioned track with reference to these data.
Drive the connection structure of substrate
Next, with reference to Fig. 3 structure, this driving substrate 40 that drives substrate 40 described with the structure that is connected that driving voltage generates substrate 20 and control substrate 30.
As shown in Figure 3, the left part of the rear side in the upper surface of driving voltage generation substrate 20 is equipped with the 1st out connector 21 that extends along fore-and-aft direction.Be arranged with a plurality of pin embedded holes that supply and marketing embed in the mode of opening upward along fore-and-aft direction at the upper surface of the 1st out connector 21, generate driving voltage that substrate 20 generates by driving voltage and the DC voltage of the 15V that generated by the 1st power supply board PS1 from 21 outputs of the 1st out connector.
On the other hand, the not driven voltage in the upper surface of control substrate 30 generates the part that substrate 20 covers, and in the left part of the rear side of above-mentioned the 1st out connector 21, is equipped with the 2nd out connector 36 that extends along fore-and-aft direction equally.At the upper surface of the 2nd out connector 36, be arranged with a plurality of pin embedded holes that supply and marketing is inserted in the mode of opening upward, the control signal that is generated by control substrate 30 from 36 outputs of the 2nd out connector.
Two driving substrates 40 are respectively to generate substrate 20 and to control the states that substrate 30 is holded up with respect to driving voltage, the not driven voltage that is set up in the upper surface of controlling substrate 30 generates part and this driving voltage generation substrate 20 that substrate 20 covers.Two driving substrates 40 form the rectangular plate shape that direction that is fore-and-aft direction extend that is blown into along cooling fan F, left and right directions mutually in the face of and in parallel to each other configuration.In addition, these two driving substrates 40 with respect to framework 1 to be configured in left and right directions mutually different, and it is mutually different to become the motor 65 of driven object, the formation of electronic unit that is installed on the other hand it is mutually identical.Therefore, below, the driving substrate 40 that is disposed at the left side in two driving substrates 40 is described, for the driving substrate 40 that is disposed at the right side, only the point mutually different from the driving substrate 40 that is disposed at the left side described.
On the base that drives substrate 40, arrange the 1st input connector 41 and same the 2nd input connector 42 that extends along fore-and-aft direction that is equipped with along the fore-and-aft direction extension along fore-and-aft direction.The 1st input connector 41 has the pin of the pin embedded hole that embeds the 1st out connector 21, by embedding the 1st input connector 41, driving voltage is generated the output voltage of substrate 20 that is the DC voltage input driving substrate 40 of driving voltage and 15V.The 2nd input connector 42 has the pin of the pin embedded hole that embeds the 2nd out connector 36, by embedding the 2nd input connector 42, will drive substrate 40 from the control signal input of control substrate 30.In addition, for the 1st input connector 41, input generates the driving voltage of two systems of substrate 20 from driving voltage, inputs in addition the DC voltage of 15V that generates two systems of substrate 20 from driving voltage.In addition, for the 2nd input connector 42, input is used for the mutually control signal of two systems of two different motors 65 of driving.
The substantial middle of the above-below direction in the right flank that drives substrate 40 has the 1st power model 43B and the 2nd power model 43F along the fore-and-aft direction alignment arrangements.In addition, at the right flank of the 1st power model 43B and the right flank of the 2nd power model 43F, to cover the mode of their integral body, be fixed with a fin 44 for cooling the 1st power model 43B and the 2nd power model 43F.
Two power model 43B, 43F separately in driving substrate 40 to be configured in fore-and-aft direction mutually different, and it is mutually different to become the motor 65 of driven object, the circuit that is installed on the other hand it consists of mutually the same.Therefore, below, the 1st power model 43B that is disposed at rear side among two power model 43B, the 43F is described, for the 2nd power model 43F that is disposed at face side, only the point mutually different from the 1st power model 43B described.
For the 1st power model 43B, input is to a side of the driving voltage of two systems of the 1st input connector 41 input, inputs in addition to a side of the DC voltage of the 15V of two systems of the 1st input connector 41 inputs.And, for the 1st power model 43B, control signal corresponding to driven object with 1st power model 43B of input in two control signals of the 2nd input connector input.
The 1st power model 43B drives by the DC voltage of the 15V that driving voltage generation substrate 20 is exported.Be packaged with the type of voltage step-up/down converter that makes driving voltage generate the driving voltage lifting that substrate 20 exports at the 1st power model 43B, and generate the voltage of the boosted driving to being fit to motor 65 of driving voltage of the 280V of substrate 20 inputs from driving voltage.In addition, be packaged with by controlling the translation circuit that open/close a plurality of switch element consists of according to the control signal of inputting from control substrate 30 at the 1st power model 43B.And in the 1st power model 43B, according to the ON/OFF from the control signal gauge tap element of control substrate 30 input, thus, the voltage after being boosted by type of voltage step-up/down converter is transformed to for example 3 cross streams voltages as polyphase ac voltage.
In the top that drives substrate 40, arrange the 1st modular connector 45B and same the 2nd modular connector 45F that extends along fore-and-aft direction that is equipped with along the fore-and-aft direction extension along fore-and-aft direction.At the upper surface of the 1st modular connector 45B, be arranged with the pin embedded hole that a plurality of supply and marketing embed in the mode of opening upward along fore-and-aft direction.The 1st modular connector 45B is connected with the lead-out terminal of the 1st power model 43B in the inside that drives substrate 40, from the polyphase ac voltage of the 1st modular connector 45B output by above-mentioned the 1st power model 43B generation.On the other hand, at the upper surface of the 2nd modular connector 45F, be arranged with the pin embedded hole that a plurality of supply and marketing embed in the mode of opening upward along fore-and-aft direction.The 2nd modular connector 45F is connected with the lead-out terminal of the 2nd power model 43F in the inside that drives substrate 40, from the polyphase ac voltage of the 2nd modular connector 45F output by above-mentioned the 2nd power model 43F generation.
And each modular connector 45B, 45F are connected with above-mentioned polyphase ac voltage connector 4 via the output cable, and the polyphase ac voltage that is generated by each power model 43B, 43F exports each motor 65 to via this polyphase ac voltage connector 4.
Next, the following description is carried out in the effect of the robot controller that is made of said structure.
If the alternating voltage of 200V generates substrate 20 and circuit brake 3 input noise wave filter NF from the external power source plug via driving voltage, then by the alternating voltage of noise filter NF except denoising, generate substrate 20 outputs from noise filter NF to driving voltage.Next, the alternating voltage that the input driving voltage generates substrate 20 is assigned to the 1st power supply board PS1, the 2nd power supply board PS2 and the 3rd power supply board PS3, and in the 1st power supply board PS1, the 2nd power supply board PS2 and the 3rd power supply board PS3, be transformed into mutually different DC voltage.In addition, in driving voltage generates substrate 20, be transformed into DC voltage as the 280V of driving voltage from the alternating voltage of noise filter NF.And the DC voltage of the 15V that is generated by the 1st power supply board PS1 and generate driving voltage that substrate 20 generates via the 1st out connector 21 and the 1st input connector 41 by driving voltage generates substrate 20 from driving voltage and inputs respectively two driving substrates 40.
On the other hand, move to job position in order to make robot 60, if from the detection signal of peripheral equipment via I/O port one 4 input control substrates 30, then in control substrate 30, obtain the detection signal of each rotation angle sensor with port one 1 via position detector.Next, in control substrate 30, based on the position command of expression job position and the testing result of each rotation angle sensor, generate the track that moves to job position for robot 60, and calculating is used for making robot 60 along the driving amount of the motor 65 of this rail moving.Then, in control substrate 30, generate the voltage instruction of each phase corresponding with the driving amount that calculates, and the control signal corresponding with this voltage instruction inputted respectively two driving substrates 40 via the 2nd out connector 36 and the 2nd input connector 42 from control substrate 30.
Then, in driving substrate 40, generate the boosted voltage to being fit to motor 65 and driving of the driving voltage of substrate 20 inputs from driving voltage, by the ON/OFF control from the control signal of control substrate 30 inputs, this voltage that boosts is transformed into polyphase ac voltage.Then, in robot controller, by the frequency of control substrate 30 control inputs to the control signal that drives substrate 40, thereby electric current supply that will be corresponding with the driving amount of motor 65 is to each phase of this motor 65.
At this moment, in the process that generates the control signal that is used for control polyphase ac voltage, because need to be based on the high-speed computation of the position of rotation of motor 65, so in the control substrate 30 that generates such control signal, naturally need multi-ply construction as its base plate structure.On the other hand, the driving voltage that is transformed into driving voltage at the output voltage with alternating voltage generates in the substrate 20, because do not need above-mentioned such high-speed computation, does not need multi-ply construction so generate substrate 20 for such driving voltage.If above-mentioned formation is then because formation has the driving voltage with mutually different functions to generate substrate 20 and control substrate 30 respectively, so can be at each circuit substrate employing lit-par-lit structure corresponding with requirement separately.In addition, generate substrate 20 and control in the situation of substrate 30 as a circuit substrate formation at driving voltage, although in order to make a circuit substrate satisfy these mutual different requirement, the multiple stratification, complicated that needs this circuit substrate, but according to above-mentioned formation, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework 1.
And, driving voltage generates substrate 20 and control substrate 30 laminated configuration on the base panel of framework 1, and the state that the driving substrate 40 that uses their output is holded up to generate substrate 20 and control substrate 30 with respect to driving voltage is set up in driving voltage and generates substrate 20 and control substrate 30.Therefore, two circuit substrates for becoming the linking objective that drives substrate 40 can suppress them and be separated from each other, and consequently, can simplify the cabling that drives the wiring in the substrate 40, and then can simplify the internal structure that drives substrate 40.
In addition because control on the substrate 30 the stacked driving voltage that disposes generate substrate 20, so with above-mentioned control substrate 30 and driving voltage are generated substrate 20, for example compare along the mode of base panel alignment arrangements, can dwindle their occupied areas.In addition, generate on the substrate 20 being disposed at the driving voltage of control on the substrate 30, form the space of the width of the short transverse that is equivalent to drive substrate 40.On this point, for the AC voltage conversion with 200V becomes the DC voltage of 280V, usually, need to be with the large capacitor of other electronic unit comparing dimensions etc.If above-mentioned mode is then because so large electronic unit of size is installed on driving voltage to be generated on the substrate 20, so also can effectively utilize the above-mentioned space that is formed on the driving voltage generation substrate 20.
Such as the above explanation of carrying out, according to the robot controller of present embodiment, can access the following effect of enumerating.
(1) because driving voltage generates substrate 20 to be consisted of respectively with control substrate 30, so can adopt the lamination structure corresponding with requirement separately at each circuit substrate.Therefore, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework 1.
(2) control substrate 30 is disposed at this base panel along the base panel of framework 1, and it is stacked with control substrate 30 to generate substrate 20 than control substrate 30 little driving voltages.Therefore, generate substrate 20 with control substrate 30 and driving voltage and compare as the situation that a circuit substrate consists of, can dwindle be used to the area of accommodating circuit substrate.
(3) because driving voltage generates substrate 20 and control substrate 30 is laminated on the base panel of framework 1, be separated from each other with respect to these two circuit substrates that become the linking objective that drives substrate 40 so can suppress them.Consequently can simplify the cabling that drives the wiring in the substrate 40, and then can simplify the internal structure that drives substrate 40.
(4) the driving substrate 40 of the output of the output of use control substrate 30 and driving voltage generation substrate 20 is set up in driving voltage and generates substrate 20 and control substrate 30 to generate substrate 20 with respect to driving voltage and to control the state that substrate 30 is holded up.Therefore, can suppress them is separated from each other with respect to two circuit substrates that become the linking objective that drives substrate 40.Its result can simplify the cabling of the wiring that drives substrate 40 and its linking objective, the cabling of the wiring in the driving substrate 40, and then can simplify the internal structure that drives substrate 40.
(5) in addition, because drive the state that substrate 40 is holded up to generate substrate 20 and control substrate 30 with respect to driving voltage, be set up in driving voltage and generate substrate 20 and control substrate 30, so can guarantee the maintainability to each circuit substrate.
(6) driving voltage generation substrate 20 is connected with the 1st the chimeric of input connector 41 by the 1st out connector 21 with driving substrate 40, and control substrate 30 is connected with the 2nd the chimeric of input connector 42 by the 2nd out connector 36 with driving substrate 40.Therefore, do not use for the cable between the connecting circuit substrate, just can directly connect above-mentioned driving voltage and generate substrate 20 and control substrate 30 and drive substrate 40, and in the framework 1 of robot controller, can save wiring yet.
(7) partial configuration that covers because of the not driven voltage generation substrate 20 in the upper surface of control substrate 30 has CPU board 31, so can suppress to be full of between control substrate 30 and the driving voltage generation substrate 20 from the heat of CPU board 31.And then, can improve the stability of the action of the various electronic units that are disposed between control substrate 30 and the driving voltage generation substrate 20, circuit.
(8) at the front panel 1F of framework 1, the necessary whole interfaces of the operation that embedding cannot not have openly the inside of framework 1 just to carry out are such as power connector 2, position detector port one 1, emergent stopping port one 2, TP port one 3, I/O port one 4,1USB port one 5,2USB port one 6, LAN port one 7 etc.Therefore be equipped on the back panel of robot controller with above-mentioned interface or the situation of base panel is compared, robot controller is connected easily with external equipment or cuts off.
(9) in the face side of framework 1, dispose driving voltage generation substrate 20 and control substrate 30 as the linking objective of above-mentioned interface.If such formation, then do not use for connecting driving voltage and generate the cable that substrate 20 is connected with power connector, the cable that is used for connecting control substrate 30 and each port, just can connect driving voltage and generate substrate 20 and are connected with power connector and connect and control substrate 30 and each port.Therefore, can be in the framework 1 interior saving wiring of robot controller.
(10) driving voltage generation substrate 20, control substrate 30, driving substrate 40 all are disposed at each side in the framework 1 that forms cubic shaped.According to such formation, because the occupied space of each circuit substrate is the space along each sidewall of framework 1, divided by circuit substrate so can suppress the inner space of framework 1, and then guarantee in order to connect up, dispose the necessary continuous space of electronic unit in the inside of framework 1 easily.
(11) because two driving substrates 40 dispose in the mode that is parallel to each other, so compare with the situation that cross one another mode disposes with two driving substrates 40, can dwindle the size in the shared space of this two driving substrates 40.And then, also can realize the miniaturization of robot controller.
In addition, above-mentioned embodiment also can be implemented by following mode.
A plurality of driving substrates 40 both can be disposed at respectively the formation of right panel 1R and Left-Hand Panel 1L, also can be the formations that only is disposed at right panel 1R.For example, have in the robot as control object in the situation of 6 motors 65, both can be the formation that 3 driving substrates 40 are disposed at Left-Hand Panel 1L side, also can be that two driving substrates 40 are disposed at the formation that Left-Hand Panel 1L side and remaining 1 driving substrate 40 are disposed at right panel 1R side.
In addition, be in 1 the situation, to get final product so long as this driving substrate 40 is disposed at the formation of right panel 1R or Left-Hand Panel 1L in the quantity that drives substrate 40.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (10).In addition, also can be the formation of the central authorities of driving substrate 40 more than 1 left and right directions that is disposed at framework 1.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (9).
A plurality of driving substrates 40 also can dispose in cross one another mode, even such formation also can access the effect corresponding with above-mentioned (1) ~ (9).In a word, so long as driving substrate 40 is just passable with the formation of controlling substrate 30 to be set up in driving voltage generation substrate 20 with respect to the state of holding up as driving voltage generation substrate 20 and the control substrate 30 of power supply board.
Also can be power connector 2, position detector with port one 1, emergent stopping with at least one with port one 3, I/O port one 4,1USB port one 5,2USB port one 6, LAN port one 7 of port one 2, TP, embed the formation of the panel beyond the front panel 1F of framework 1.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (7).In addition, if power connector 2 embeds the situation of the panel beyond the front panel 1F, then generate the connected mode of substrate 20 and power connector 2 in order to simplify driving voltage, be preferably driving voltage and generate near the formation that substrate 20 is disposed at this front panel 1F panel in addition.
So long as the heat that driving voltage generation substrate 20, control substrate 30 and driving substrate 40 discharge for CPU board 31 all has the formation of enough patience, then also can between control substrate 30 and driving voltage generation substrate 20, dispose CPU board 31.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (6).
Also can be that driving voltage generates substrate 20 and is connected the formation that substrate 40 connects via connecting cable, also can be control substrate 30 in addition with being connected substrate 40 be formations via the connection of connection cable.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (5), also can improve in addition the configuration that drives substrate 40 the free degree, be used for the free degree of the configuration of the connector between the connecting circuit substrate.
Even driving voltage generates the position of substrate 20 beyond control substrate 30 is disposed at face side, it is also passable for example to control the formation of central authorities on the substrate 30 or the rear side on the control substrate 30.Even such formation also can access the effect corresponding with above-mentioned (1) ~ (6).
Also can be that the polyphase ac voltage that driving substrate 40 generates generates substrate 20 outputs by the 1st input connector 41 to driving voltage, and generate the formation that substrate 20 is exported to the outside of robot controller from this driving voltage.In addition, at this moment preferred polyphase ac voltage connector 4 generates substrate 20 direct-connected formations with driving voltage.According to such formation, can omit each modular connector 45B, 45F, can also omit the cable that connects each modular connector 45B, 45F and polyphase ac voltage connector 4.
Robot controller also can be contained in the miscellaneous part different from foregoing circuit substrate, electronic unit the inside of framework 1.Return when for example, being used for slowing down in robot 60 that the voltage of robot controller that is regenerated energy are transformed into heat and the regeneration resistance that consumes to be contained in the formation of inside of framework also passable.In addition, for example, have when above-mentioned regenerated energy rises, the formation of inside that the comparison substrate that regenerated energy is supplied to the comparing function of regeneration resistance with the magnitude of voltage of regulation is contained in framework is also passable.
Symbol description
F ... cooling fan; Fa ... the extraneous air filter; NF ... noise filter; PS1 ... the 1st power supply board; PS2 ... the 2nd power supply board; PS3 ... the 3rd power supply board; 1 ... framework; 1F ... front panel; 1L ... Left-Hand Panel; 1P ... the expansion panel; 1R ... right panel; 1S ... support plate; 2 ... power connector; 3 ... circuit brake; 3a ... action bars; 4 ... polyphase ac voltage connector; 11 ... the position detector port; 12 ... stop to use port; 13 ... the TP port; 14 ... the I/O port; 15 ... the 1USB port; 16 ... the 2USB port; 16a ... trigger switch; 17 ... the LAN port; 18 ... the sequence controller port; 19 ... the expansion I/O port; 20 ... driving voltage generates substrate; 21 ... the 1st out connector; 30 ... the control substrate; 31 ... CPU board; 31a ... CPU; 32 ... the communication interface board; 33 ... the expansion connector; 34 ... card type storage medium; 35 ... Memory connector; 36 ... the 2nd out connector; 40 ... drive substrate; 41 ... the 1st input connector; 42 ... the 2nd input connector; 43B ... the 1st power model; 43F ... power model; 44 ... fin; 45B ... the 1st modular connector; 45F ... the 2nd modular connector; 51 ... framework; 51F ... open and close panel; 52 ... instruction generates substrate; 53 ... drive the control substrate; 53c ... connector; 54 ... drive substrate; 60 ... robot; 61 ... matrix; 62 ... arm; 63 ... lifting shaft; 64 ... end effector; 65 ... motor.
Claims (13)
1. robot controller, the action of its control is characterized in that,
This robot controller possesses:
Power supply board, it becomes DC voltage and output with AC voltage conversion;
Drive substrate, its output to above-mentioned power supply board is carried out conversion and is generated to the polyphase ac voltage of the motor input of above-mentioned robot; And
The control substrate, it will be exported to above-mentioned driving substrate for the control signal of controlling the output of above-mentioned driving substrate based on the position of rotation of said motor,
Above-mentioned control substrate in the framework that is box shape the bottom surface and be disposed at this bottom surface,
Above-mentioned power supply board is less than above-mentioned control substrate, and is layered on the above-mentioned control substrate,
The state of above-mentioned driving substrate to hold up with respect to above-mentioned power supply board and above-mentioned control substrate is set up in the part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate and the upper surface of above-mentioned power supply board.
2. robot controller according to claim 1 is characterized in that.
Above-mentioned power supply board has the 1st out connector of the above-mentioned DC voltage of output,
Above-mentioned control substrate has the 2nd out connector of the above-mentioned control signal of output,
Above-mentioned the 1st out connector and above-mentioned the 2nd out connector be alignment arrangements in one direction,
One side of bottom surface side in the above-mentioned framework of conduct in the periphery of above-mentioned driving substrate is arranged along above-mentioned direction and to be equipped with and chimeric the 1st input connector of above-mentioned the 1st out connector and 2nd input connector chimeric with above-mentioned the 2nd out connector.
3. robot controller according to claim 1 and 2 is characterized in that,
Above-mentioned control substrate possesses the arithmetic processing apparatus of the position command that generates above-mentioned robot,
Above-mentioned arithmetic processing apparatus is disposed at the part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate.
4. robot controller according to claim 1 and 2 is characterized in that,
Above-mentioned framework is cubic shaped,
Above-mentioned control substrate is disposed at the face side of this framework of the bottom surface in the above-mentioned framework, and has the port of inputting for the detection signal of the detector that detects from the position of rotation to said motor in the face side of above-mentioned framework,
Above-mentioned power supply board is disposed at the face side of this framework of the upper surface of above-mentioned control substrate, and has aerial lug for above-mentioned alternating voltage input in the face side of above-mentioned power supply board,
Above-mentioned port and said external connector are embedded in the front panel of above-mentioned framework.
5. robot controller according to claim 4 is characterized in that,
Above-mentioned power supply board and configuration plane adjacency as any one party of the left surface in the right flank in the above-mentioned framework and the above-mentioned framework,
Above-mentioned driving substrate is disposed at this configuration plane along above-mentioned configuration plane.
6. a robot is characterized in that,
Possess claim 1 or 2 described robot controllers.
7. robot controller, the action of its control is characterized in that,
This robot controller possesses:
Power supply board, it becomes DC voltage and output with AC voltage conversion;
Drive substrate, it possesses efferent, and this efferent is exported carrying out conversion from the output of above-mentioned power supply board to the voltage of above-mentioned robot input; And
The control substrate, it controls the output of above-mentioned driving substrate,
Above-mentioned power supply board is disposed at the top of above-mentioned control substrate abreast,
Above-mentioned driving substrate is set up in above-mentioned control substrate and above-mentioned power supply board in the direction vertical with above-mentioned control substrate and above-mentioned power supply board.
8. robot controller according to claim 7 is characterized in that,
Have port, this port is for the detection signal input of the detector that detects from the position of rotation to the motor of above-mentioned robot,
Based on the signal from above-mentioned port, control the output of above-mentioned driving substrate.
9. according to claim 7 or 8 described robot controllers, it is characterized in that,
Described power supply board is less than above-mentioned control substrate, has the part that is not covered by above-mentioned power supply board at the upper surface of above-mentioned control substrate,
The part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned driving substrate and above-mentioned control substrate and the upper surface of above-mentioned power supply board are overlapping and set up.
10. according to claim 7 or 8 described robot controllers, it is characterized in that,
Have the aerial lug for the alternating voltage input,
Above-mentioned power supply board is DC voltage with above-mentioned AC voltage conversion.
11. according to claim 7 or 8 described robot controllers, it is characterized in that,
Above-mentioned power supply board has the 1st out connector of output dc voltage,
Above-mentioned control substrate has the 2nd out connector of output control signal,
Be arranged with chimeric the 1st input connector of above-mentioned the 1st out connector with chimeric the 2nd input connector of above-mentioned the 2nd out connector and set.
12. according to claim 7 or 8 described robot controllers, it is characterized in that,
Above-mentioned control substrate possesses the arithmetic processing apparatus of the position command that generates above-mentioned robot,
Above-mentioned arithmetic processing apparatus is disposed at the part that is not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate.
13. according to claim 7 or 8 described robot controllers, it is characterized in that,
Above-mentioned robot controller has the framework of cubic shaped,
Above-mentioned control substrate is disposed at the bottom surface of above-mentioned framework.
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| JP2011148447A JP5787072B2 (en) | 2011-07-04 | 2011-07-04 | Robot controller |
| JP2011-148447 | 2011-07-04 |
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| CN107889411A (en) * | 2016-09-30 | 2018-04-06 | 欧姆龙株式会社 | Electronic equipment |
| CN107896514A (en) * | 2016-06-30 | 2018-04-10 | 株式会社安川电机 | Motor control assembly and robot system |
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| JP5590164B2 (en) * | 2013-01-28 | 2014-09-17 | 株式会社安川電機 | Robot system |
| CN114762972B (en) * | 2021-01-15 | 2024-07-09 | 腾讯科技（深圳）有限公司 | Mechanical trunk and mechanical dog |
| WO2022219759A1 (en) * | 2021-04-14 | 2022-10-20 | 株式会社Fuji | Robot |
| JP2023111737A (en) * | 2022-01-31 | 2023-08-10 | セイコーエプソン株式会社 | Robot control device |
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| CN102862162B (en) | 2015-02-18 |
| JP2013013967A (en) | 2013-01-24 |
| JP5787072B2 (en) | 2015-09-30 |
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