CN102862162B - Robot controller and robot - Google Patents
Robot controller and robot Download PDFInfo
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- CN102862162B CN102862162B CN201210213694.8A CN201210213694A CN102862162B CN 102862162 B CN102862162 B CN 102862162B CN 201210213694 A CN201210213694 A CN 201210213694A CN 102862162 B CN102862162 B CN 102862162B
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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, multiple circuit substrates that the driving particularly relating to the motor for having robot controls are configured at the robot controller of the inside of framework.
Background technology
In the past, as recorded in patent document 1, in the inside of the framework of robot controller, be configured with multiple circuit substrate of the driving for controlling motor.Fig. 4 is the exploded perspective view of the robot controller of the configuration of indication circuit substrate, is the figure that the robot controller of the state of being taken off from framework 51 by the opening and closing panel 51F of the side as framework 51 represents together with the robot of the control object as this robot controller.
As shown in Figure 4, robot 60 as the control object of robot controller is horizontal articulated robots, the end effector 64 such as comprising the multiarticulate arm 62 linked with matrix 61, the lifting shaft 63 linked with the front end of this arm 62 and link with the lower end of lifting shaft 63.Drive 4 motors 65 of these multiarticulate arm 62, lifting shaft 63 and end effectors 64, be all equipped with the position detector such as encoder, decomposer of the position of rotation detecting this motor 65.
Bottom surface in the framework 51 of robot controller, be fixed with the instruction being provided with CPU and generate substrate 52, the back side in addition in framework 51, is fixed with drived control substrate 53.Instruction generation substrate 52 accepts the detection signal that each position detector exports, and the speed of the movement of the position of the moving target of robot 60, robot 60 is exported as position command, speed command.The instruction that drived control substrate 53 exports based on above-mentioned instruction generation substrate 52, generates the voltage instruction of each phase in motor 65, is exported by the pulse signal corresponding with this voltage instruction with the modulation system of PWM etc.Such drived control substrate 53 is connected with 4 driving substrates 54 erecting vertical relative to this drived control substrate 53 via connector 53c.And 4 driving substrates 54 with being installed on self translation circuit, based on the pulse signal that drived control substrate 53 exports, carry out the switch of each driving voltage exported mutually to motor 65 respectively.
Patent document 1: Japanese Unexamined Patent Publication 2007-175856 publication
But, become in the above-mentioned drived control substrate 53 of object output at driving substrate 54, except for except the pulse signal of switch drive voltage, such as generate the DC voltage of 280V as this driving voltage.
At this, in the process that the pulse signal of switch generates at drived control substrate 53, with generate the position command of substrate 52, speed that speed command is corresponding from instruction, the clock signal becoming benchmark is modulated.Therefore, the region of the above-mentioned pulse signal of the generation in drived control substrate 53, is realizing in such high-speed computation, usually, needs the multi-ply construction of more than 6 layers.On the other hand, when the alternating voltage of 200V is transformed into the DC voltage of such as 280V, because do not need high-speed computation as described above, so the region of generation driving voltage in drived control substrate 53, as long as the lit-par-lit structure usually with two-layer left and right is just passable.
But, in such installation base plate of drived control substrate 53, from the viewpoint of manufacturing process, be difficult to the number of plies changing lit-par-lit structure between the regulation region and other regions of this installation base plate.Therefore, the entirety of general installation base plate is formed with the identical number of plies.Therefore, by the robot controller that said structure is formed, as a result, because need the number of plies in the region making driving voltage generate more than the necessary number of plies of its function, so have to make the internal structure of drived control substrate unnecessarily complicated.
Summary of the invention
The present invention proposes to solve the problem, and its objective is and provides a kind of in-built robot controller that can simplify the circuit substrate be configured in framework.
The purport of a mode of the present invention is, a kind of robot controller controlling the action of the robot driven by motor, and possess: power supply board, alternating voltage is transformed into DC voltage and exports by it; Drive substrate, it converts the output of above-mentioned power supply board and generates the polyphase ac voltage that the motor to above-mentioned robot inputs; And control substrate, its control signal position of rotation be used for based on said motor being controlled the output of above-mentioned driving substrate exports to above-mentioned driving substrate, above-mentioned control substrate is configured at this bottom surface along the bottom surface in the framework in box shape, above-mentioned power supply board is less than above-mentioned control substrate and be layered on above-mentioned control substrate, above-mentioned driving substrate, with the state of holding up relative to above-mentioned power supply board and above-mentioned control substrate, is set up in the upper surface of the part do not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate and above-mentioned power supply board.
According to an above-mentioned mode, the voltage of input queued switches substrate is generated by power supply board, and the control signal of input queued switches substrate generates by controlling substrate.In the generative process of the control signal for controlling polyphase ac voltage, because need the high-speed computation based on the position of rotation of motor, so in the control substrate generating such control signal, its base plate structure is multi-ply construction naturally.On the other hand, the output voltage of alternating voltage is being transformed in the power supply board of DC 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, if above-mentioned formation, because the control substrate and power supply board with mutually different functions is formed respectively, so can adopt the lit-par-lit structure corresponding with respective requirement at each circuit substrate.When controlling substrate and power supply board forms as a circuit substrate, these mutually different requirements are met in order to make a circuit substrate, although need the multiple stratification of this circuit substrate, complicated, but according to above-mentioned formation, the layer structure of the circuit substrate be configured in framework can be simplified.
And, control substrate and be configured at this bottom surface along the bottom surface of framework, and more stacked with control substrate than controlling the little power supply board of substrate, therefore comparing with the situation that power supply board is formed as a circuit substrate with control substrate, also can reducing the area for accommodating circuit substrate.In addition, the driving substrate controlling the output of substrate and the output of power supply board is used to be set up in power supply board with the state of holding up relative to power supply board and control substrate and to control substrate.Therefore, it is possible to suppress them to be separated from each other relative to two circuit substrates becoming the linking objective driving substrate.Its result, can simplify the cabling of the wiring driving substrate and its linking objective, drive the cabling of the wiring in substrate, and then can simplify the internal structure driving substrate.
A mode of the present invention, its purport is, above-mentioned power supply board has the 1st out connector exporting above-mentioned DC voltage, above-mentioned control substrate has the 2nd out connector exporting above-mentioned control signal, above-mentioned 1st out connector and above-mentioned 2nd out connector are arranged in one direction, one side becoming the bottom surface side in above-mentioned framework in the periphery of above-mentioned driving substrate, is equipped with 1st input connector chimeric with above-mentioned 1st out connector and 2nd input connector chimeric with above-mentioned 2nd out connector along the arrangement of an above-mentioned direction.
According to an above-mentioned mode, power supply board with drive substrate and be connected by Qian He of the 1st out connector and the 1st input connector, control substrate and driving substrate and be connected by the Qian He of the 2nd out connector and the 2nd input connector.Therefore, due to the cable between not using for connecting circuit substrate, just above-mentioned control substrate and power supply board directly can be connected with driving substrate, so in the framework of robot controller, can wiring be saved.
A mode of the present invention, its purport is, above-mentioned control substrate possesses the arithmetic processing apparatus of the position command generating above-mentioned robot, above-mentioned arithmetic processing apparatus be configured in the upper surface of above-mentioned control substrate not by part that above-mentioned power supply board covers.
In order to generate the position command of robot, the generation etc. of the calculating of usual current robot present position, the track of robot movement, is controlling also to need in substrate to carry out computational speed, computing that amount of calculation is larger.Therefore, in the arithmetic processing apparatus performing such calculation process, in 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, owing to not had arithmetic processing apparatus by the partial configuration that above-mentioned power supply board covers in the upper surface controlling substrate, controls between substrate and power supply board so the heat from arithmetic processing apparatus can be suppressed to riddle.And then, the stability of action being configured at and controlling various electronic units between substrate and power supply board, circuit can be improved.
A mode of the present invention, its purport is, above-mentioned framework is cubic shaped, above-mentioned control substrate is configured at the face side of this framework of the bottom surface in above-mentioned framework, and there is in the face side of above-mentioned framework the port inputted for the detection signal from the detector detected the position of rotation of said motor, above-mentioned power supply board is configured at the face side of this framework of the upper surface of above-mentioned control substrate, in the face side of above-mentioned power supply board, there is the aerial lug for above-mentioned alternating voltage input, 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 controlling substrate, represent that the signal of the position of rotation of motor inputs this port.And the detector detecting the position of rotation of motor is embedded in the front panel of framework with the interface that is port that control substrate.In addition, be equipped with aerial lug in the face side of power supply board, the alternating voltage from outside for generating the driving voltage of motor inputs this aerial lug.Therefore, with above-mentioned interface configuration compared with the back side of robot controller or the situation of bottom surface, robot controller and detector are easily connected or cut off.Therefore, do not use the cable for connection control substrate and port, just can connect above-mentioned control substrate and port, can save wiring in the framework of robot controller yet.
A mode of the present invention, its purport is, above-mentioned power supply board adjoins with the configuration plane as any one party of the left surface in the right flank in above-mentioned framework and above-mentioned framework, and above-mentioned driving substrate is configured at this configuration plane along above-mentioned configuration plane.
According to an above-mentioned mode, power supply board and drive the right flank in the framework of substrate deflection in cubic shaped and any one party of left surface to configure.According to such formation, space occupied by each circuit substrate is formed as the space of each sidewall along framework, so the inner space of framework can be suppressed to be divided by circuit substrate, and then easily guarantee in order to the necessary continuous print space of the electronic unit that connects up, configures in the inside of framework.
Accompanying drawing explanation
Fig. 1 is the stereogram of the external structure of the robot controller representing one embodiment of the present invention.
Fig. 2 is the in-built stereogram of the robot controller representing same embodiment centered by power supply system.
Fig. 3 is that the in-built driving substrate of the robot controller representing same embodiment is relative to the stereogram of configuration controlling substrate and power supply board.
Fig. 4 is using the internal structure of the robot controller in conventional example and the stereogram represented together with the robot of control object.
Detailed description of the invention
Below, with reference to Fig. 1 ~ Fig. 3, the embodiment specialized by robot controller of the present invention is described.In addition, the robot that the control object of the robot controller in present embodiment illustrates before being in the diagram is the horizontal articulated robot being provided with 4 motors 65.Therefore, below, about the control object of robot controller, enclose the Reference numeral identical with the robot 60 illustrated before and omit repeat specification.
The external structure of robot controller
First, be described with reference to the external structure of Fig. 1 to robot controller.As shown in Figure 1, at the front panel 1F of the framework 1 of the cubic shaped being formed as extending in the horizontal direction, and in the substantial middle of this front panel 1F, be embedded with the power connector 2 as aerial lug.Power connector 2 is connected with the external power source plug of the equipment being provided with robot controller, the alternating voltage of the 200V powered via 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 supplies is to the supply of robot controller and disconnection.
Left end in front panel 1F, is embedded with the polyphase ac voltage connector 4 of the rectangle extended in left-right direction.In polyphase ac voltage connector 4, the multiple splicing ears be connected with 4 motors 65 arrange all in left-right direction.Polyphase ac voltage connector 4 is connected with above-mentioned 4 motors 65 respectively, and exports polyphase ac voltage respectively to these 4 motors 65.
In the upside of polyphase ac voltage connector 4, can cooling fan F be installed with changing.Cooling fan F is the fan being blown into extraneous air from the inside externally to framework 1 of framework 1, between the outside housing and front panel 1F of this cooling fan F, with the mode that can change be clamped with for catch be contained in extraneous air dust, dust extraneous air filter F a.
The part occupying the left side half of front panel 1F in downside end in front panel 1F, is embedded with 3 ports of the PERCOM peripheral communication extended in the lateral direction.Form following respectively along front panel 1F of the position detector port one 1 of 3 ports, emergent stopping port one 2, TP port one 3, press this order from the left end of front panel 1F, and arrange with the form that the splicing ear of each port arranges in left-right direction.
Position detector 4 rotation angle sensors of port one 1 and the decomposer, encoder etc. that detect the respective position of rotation of 4 motors 65 are connected, input the position detection signal of the position that this rotation angle sensor of expression detects from 4 rotation angle sensors respectively.Emergent stopping with port one 2 be arranged at robot controller outside emergency stop circuit, safety door circuit etc., whether detect the environment being provided with robot controller be urgent time device be connected, from this device input washout.TP port one 3 is connected with the teach box as one of robot controller peripheral equipment, and the data for teaching robot 60 input from teach box.
TP in downside end in the front panel 1F right side of port one 3, is embedded with and processes the input of various data signal and the I/O port one 4 of output.The sensor of I/O port one 4 and the camera of action or the position of measuring robots of such as taking robot, 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 representing the state of robot self, the state of robot periphery from peripheral equipment, and is exported to peripheral equipment by the signal of the action representing robot.
On the right side of I/O port one 4, end is embedded with two ports of serial communication that is 1USB port one 5 and 2USB port one 6 and LAN port one 7 in order to the right.
1USB port one 5 is connected with the outer computer of one of the peripheral equipment as robot controller via USB, such as the requirement of corresponding outer computer, the signal of the treatment state of the state of the I/O of output device people controller etc., expression robot controller.2USB port one 6 is such as connected with USB storage, exports the daily record being stored in robot controller to USB storage.LAN port one 7 is such as connected with the network of the equipment being provided with robot controller via Ethernet (registration mark), such as the requirement of corresponding outer computer connected to the network, also exports the signal of the treatment state representing robot controller.2USB port one 6 in downside end in front panel 1F and between LAN port one 7, is equipped with trigger switch 16a.For trigger switch 16a, whenever pressing this trigger switch 16a, all allow from above-mentioned 2USB port one 6 output journal.
On the right side of LAN port one 7, be embedded with sequence controller port one 8.Sequence controller port one 8, such as, be connected with sequence controller via RS-232C, inputs from this sequence controller for making the control signal of robot motion.
The upside of the 2USB port one 6 in front panel 1F, is formed with the rectangular opening that is plug aperture that extend along the vertical direction, embeds the expansion panel 1P of rectangular tabular in this plug aperture.In addition, two expansion I/O port ones 9 are equipped with in the left and right directions arrangement of expansion panel 1P.Two expansion I/O port ones 9 respectively with the camera of the workpiece of the manipulating object such as taken as robot or detect this workpiece position sensor, 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 representing robot oneself state, robot periphery from peripheral equipment, and exports the signal of the action representing robot to peripheral equipment.
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 interface of following operation carried out.
To the input of the power supply of robot controller, and the disconnection of this power supply.
Robot controller with as the robot 60 of its control object connection and cut off.
The connection of robot controller and its peripheral equipment and cutting off.
The maintenance of cooling fan F and extraneous air filter F a and inspection.
The internal structure of robot controller
Next, be described with reference to the internal structure of Fig. 2 and Fig. 3 to tool hand controls.In addition, in fig. 2, the internal structure of robot controller for convenience of explanation, omits above-mentioned front panel 1F, back panel, the top panel in the framework 1 of robot controller, and omits the polyphase ac voltage connector 4 and the cooling fan F that are disposed in front panel 1F.In addition, the function of each circuit substrate configures with it for convenience of explanation, the cable omitting cable, connecting circuit substrate and the electronic unit between connecting circuit substrate and the cable connected between electronic unit.
As shown in Figure 2, be configured with at the right panel 1R of framework 1 and be connected with circuit brake 3, the alternating voltage of 200V is transformed into DC voltage and the power supply system exported.In addition, in the base panel of framework 1, the driving voltage as power supply board generates substrate 20 and to control substrate 30 stacked, and in the medial surface of the Left-Hand Panel 1L of framework 1 that is configuration plane, is configured with two pieces of driving substrates 40.
Central upper in the right panel 1R of framework 1, is fixed with noise filter NF.Noise filter NF is connected with circuit brake 3 via input cable, and generates substrate 20 with driving voltage be connected via exporting cable.And if the alternating voltage of 200V is from circuit brake 3 input noise wave filter NF, then noise filter NF removes denoising from this alternating voltage, and the alternating voltage of this noise of removing is exported to driving voltage generation substrate 20.
It is the tellites being fixed on the rectangular plate-like controlled on substrate 30 that driving voltage generates substrate 20, is formed as occupying the most size of face side controlled on substrate 30.The rigid substrates that the printed panel that driving voltage generation substrate 20 has the bilayer parallel with base panel is laminated, at the upper surface of this rigid substrates, the various electronic units for the alternating voltage of 200V being transformed into the DC voltage of the 280V as driving voltage are installed.Driving voltage generates substrate 20 and has above-mentioned power connector 2, and is connected with circuit brake 3 via protection cable.In addition, driving voltage generates substrate 20 and is connected with noise filter NF via 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 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 supplies 200V from power connector 2 to driving voltage, then this alternating voltage exports to circuit brake 3 by driving voltage generation substrate 20.In addition, if generate substrate 20 input ac voltage from noise filter NF to driving voltage, then driving voltage generates substrate 20 and 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.Further, driving voltage generates DC voltage that is the driving voltage that the alternating voltage inputted from noise filter NF is transformed into 280V by substrate 20, and this driving voltage is exported to driving substrate 40.In addition, in the specification not needing 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 generating substrate 20 from noise filter NF to driving voltage.
1st power supply board PS1 be fixed on right panel 1R rear side above the circuit substrate of rectangular plate-like, be the installation base plate of the various electronic units of the DC voltage be provided with for the alternating voltage of 200V being transformed into 15V.1st power supply board PS1 generates substrate 20 with driving voltage be connected via input cable, and generates substrate 20 with driving voltage be connected via exporting cable.And if generate substrate 20 from driving voltage to distribute alternating voltage to the 1st power supply board PS1, then this alternating voltage is transformed into the DC voltage of 15V by the 1st power supply board PS1, and the DC voltage after this conversion is exported to driving voltage generation substrate 20.
2nd power supply board PS2 be fixed on right panel 1R rear side below the circuit substrate of rectangular plate-like, be the installation base plate of the various electronic units of the DC voltage be provided with for the alternating voltage of 200V being transformed into 5V.2nd power supply board PS2 generates substrate 20 via input cable with driving voltage and is connected, and is connected with control substrate 30 via output cable.And if generate substrate 20 from driving voltage to distribute alternating voltage to the 2nd power supply board PS2, then this alternating voltage is transformed into the DC voltage of 5V by the 2nd power supply board PS2, and the DC voltage after this conversion is exported to control substrate 30.
3rd power supply board PS3 is the circuit substrate being fixed on the rectangular plate-like in the direction, the back side, right side controlling substrate 30 in the base panel of framework 1, is the installation base plate of the various electronic units of the DC voltage be provided with for the alternating voltage of 200V being transformed into 24V.2nd power supply board PS2 generates substrate 20 via input cable with driving voltage and is connected, and is connected with control substrate 30 via output cable.And if generate substrate 20 from driving voltage to distribute alternating voltage to the 3rd power supply board PS3, then this alternating voltage is transformed into the DC voltage of 24V by the 3rd power supply board PS3, and the DC voltage after this conversion is exported to control substrate 30.
Control the tellite that substrate 30 is rectangular plate-like of the substantially entire surface of the base panel being fixed on framework 1, be formed as the roughly overall size occupying base panel.Control substrate 30 has the rigid substrates that the 6 layer printed base plate parallel with base panel is laminated, at the upper surface of this rigid substrates, the various electronic units for generating based on the detection signal inputted from rotation angle sensor for controlling the output voltage driving substrate 40 are installed.This control substrate 30 is connected with each connector of the downside end being arranged in front panel 1F, inputs via each connector from the detection signal of external device (ED), peripheral equipment or instruction.
If describe in detail, be then connected with above-mentioned position detector port one 1 at control substrate 30, the detection signal from 4 rotation angle sensors all inputs to control substrate 30 via position detector port one 1.In addition, be connected with emergent stopping port one 2 at control substrate 30, thus input to control substrate 30 via emergent stopping port one 2 from the emergent stopping instruction of external device (ED), peripheral equipment.Further, be connected with TP port one 3 connect at control substrate 30, the teaching instruction from teach box inputs to control substrate 30 via TP port one 3.
In addition, be connected with 1USB port one 5 at control substrate 30, input to control substrate 30 via 1USB port one 5 from the instruction of outer computer or data.In addition, be connected with 2USB port one 6 at control substrate 30, represent the signal of the treatment state of robot controller, according to the input signal from trigger switch 16a, and export from control substrate 30.Further, being connected with LAN port one 7 at control substrate 30, representing the signal for the treatment of state of robot controller, exporting from controlling substrate 30 via LAN port one 7 and the network that is connected with this 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 the instruction of peripheral equipment or detection signal.In addition, the instruction of peripheral equipment or operation result are exported from control substrate 30 via I/O port one 4.
In the upper surface controlling substrate 30, the rear side of this upper surface, and not by the part that driving voltage generation substrate 20 covers, be laminated with the arithmetic processing apparatus of the position command of having carried for generating robot that is the CPU board 31 of CPU31a.CPU board 31 is explained and is performed for the tutorial program to robot 60 teaching teaching position, in addition, explains and performs for making robot 60 to the program of the job position movement of regulation.At this moment, first CPU board 31 uses the teaching position or the job position preset and the testing result inputted from each rotation angle sensor that input from teach box, generate and be used for the track of robot 60 to teaching position or job position movement, generate the position command of the mobile destination representing robot 60.Then, control substrate 30 calculates the drive volume for making robot 60 move to the motor 65 of the position represented by position command, and generates the voltage instruction of each phase corresponding with the drive volume calculated.Next, the pulse signal corresponding with generated voltage instruction exports as control signal using modulation systems such as PWM by CPU board 31.Then, CPU board 31, whenever receiving testing result from rotation angle sensor, all carries out the generation of such track, the calculating of the drive volume corresponding with track and the output of the control signal corresponding with drive volume.
In the upper surface controlling substrate 30, the face side of this upper surface, and not by the part that driving voltage generation substrate 20 covers, be laminated with communication interface board 32.Communication interface board 32 is connected with sequence controller port one 8, inputs from this sequence controller for making the control signal of robot motion.
In the upper surface controlling substrate 30, do not generated the part that covers of substrate 20 by driving voltage, and in the rear side of communication with interface board 32, be equipped with two the expansion connectors 33 extended along the longitudinal direction.At two expansion connectors 33, be arranged with in the mode of opening upward multiple pin embedded holes that supply and marketing embeds along the longitudinal direction respectively.And, if the pin of the expanded circuit substrate carrying above-mentioned expansion I/O port one 9 is embedded expansion connector, then represent that the signal of the state of robot periphery inputs to control substrate 30 via expanded circuit substrate, and represent the signal of the action of robot, export from control substrate 30 via expanded circuit substrate.
In the upper surface controlling substrate 30, do not generated the part that covers of substrate 20 by driving voltage, and in the left side of CPU board 31, be configured with the Memory connector 35 installed for card type storage medium 34.Card type storage medium 34 stores speed reducing ratio of the reductor of the length of the arm that robot 60 possesses, link driving shaft that robot 60 possesses and motor 65 etc., robot controller to make the necessary various data of robot 60 action.And CPU board 31 reads the various data being stored in card type storage medium 34, and performs the generation of above-mentioned track with reference to these data.
Drive the connecting structure of substrate
Next, with reference to Fig. 3, the connecting structure driving the structure of substrate 40, this driving substrate 40 and driving voltage to generate substrate 20 and to control substrate 30 is described.
As shown in Figure 3, the left part of the rear side generated at driving voltage in the upper surface of substrate 20 is equipped with the 1st out connector 21 extended along the longitudinal direction.Be arranged with in the mode of opening upward multiple pin embedded holes that supply and marketing embeds at the upper surface of the 1st out connector 21 along the longitudinal direction, export the DC voltage being generated the driving voltage that substrate 20 generates and the 15V generated by the 1st power supply board PS1 by driving voltage from the 1st out connector 21.
On the other hand, in the upper surface controlling substrate 30, do not generated the part that covers of substrate 20 by driving voltage, and the left part of rear side at above-mentioned 1st out connector 21, be equipped with the 2nd out connector 36 extended equally along the longitudinal direction.At the upper surface of the 2nd out connector 36, be arranged with in the mode of opening upward multiple pin embedded holes that supply and marketing inserts, export by the control signal controlling substrate 30 and generate from the 2nd out connector 36.
Two pieces of driving substrates 40 respectively to generate substrate 20 relative to driving voltage and to control the state that substrate 30 holds up, be set up in the upper surface controlling substrate 30 do not generated by driving voltage part that substrate 20 covers and this driving voltage generates substrate 20.Two pieces of driving substrates 40 are formed as being blown into along cooling fan F the rectangular plate-like that direction that is fore-and-aft direction extend, left and right directions mutually in the face of and configure in parallel to each other.In addition, these two pieces of driving substrates 40 relative to framework 1 to be configured in left and right directions mutually different, and the motor 65 becoming driven object is mutually different, and the formation being installed on its electronic unit is on the other hand mutually identical.Therefore, below, the driving substrate 40 being configured at left side in two pieces of driving substrates 40 is described, for the driving substrate 40 being configured at right side, only the point mutually different from the driving substrate 40 being configured at left side is described.
Drive substrate 40 to be tellites that 3 the support plate 1S extended to the right by the Left-Hand Panel 1L from framework 1 support the rectangular plate-like on three limits, be formed as the size of the general half occupying Left-Hand Panel 1L.Drive substrate 40 to have the rigid substrates that the 4 layer printed panel parallel with Left-Hand Panel 1L be laminated, be provided with for driving voltage that substrate 20 exports will be generated from driving voltage be transformed into the various electronic units of polyphase ac voltage.
Driving the base of substrate 40, arrangement is equipped with the 1st input connector 41 extended along the longitudinal direction and the 2nd input connector 42 extended equally along the longitudinal direction along the longitudinal direction.1st input connector 41 has the pin of the pin embedded hole of embedding 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 queued switches substrate 40 of driving voltage and 15V.2nd input connector 42 has the pin of the pin embedded hole of embedding the 2nd out connector 36, by embedding the 2nd input connector 42, by the control signal input queued switches substrate 40 from control substrate 30.In addition, for the 1st input connector 41, input the driving voltage of two systems generating substrate 20 from driving voltage, input the DC voltage of the 15V generating two systems of substrate 20 from driving voltage in addition.In addition, for the 2nd input connector 42, input the control signal of two systems for driving two mutually different motors 65.
The substantial middle of the above-below direction in the right flank driving substrate 40, be arranged the 1st power model 43B and the 2nd power model 43F along the longitudinal direction.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 entirety, be fixed with a fin 44 for cooling the 1st power model 43B and the 2nd power model 43F.
Two power models 43B, 43F separately drive in substrate 40 to be configured in fore-and-aft direction mutually different, and the motor 65 becoming driven object is mutually different, and the circuit being installed on it on the other hand forms mutually the same.Therefore, below, the 1st power model 43B being configured at rear side in two power models 43B, 43F is described, for the 2nd power model 43F being configured at face side, only the point different from the 1st power model 43B phase is described.
For the 1st power model 43B, input a side of the driving voltage of two systems inputted to the 1st input connector 41, input a side of the DC voltage of the 15V of two systems inputted to the 1st input connector 41 in addition.Further, for the 1st power model 43B, input to the control signal corresponding with the driven object of the 1st power model 43B in two control signals of the 2nd input connector input.
The DC voltage that 1st power model 43B generates by driving voltage the 15V that substrate 20 exports drives.Be packaged with the type of voltage step-up/down converter making 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 applicable motor 65 of driving voltage of the 280V that substrate 20 inputs from driving voltage.In addition, be packaged with at the 1st power model 43B and control by according to from controlling the control signal that inputs of substrate 30 translation circuit that open/close multiple switch element forms.And in the 1st power model 43B, according to the ON/OFF of the control signal gauge tap element inputted from control substrate 30, thus, the voltage after being boosted by type of voltage step-up/down converter, is transformed to the such as 3 cross streams voltages as polyphase ac voltage.
Driving the top of substrate 40, arrangement is equipped with the 1st modular connector 45B extended along the longitudinal direction and the 2nd modular connector 45F extended equally along the longitudinal direction along the longitudinal direction.At the upper surface of the 1st modular connector 45B, be arranged with in the mode of opening upward the pin embedded hole that multiple supply and marketing embeds along the longitudinal direction.1st modular connector 45B is connected with the lead-out terminal of the 1st power model 43B in the inside of driving substrate 40, exports the polyphase ac voltage generated by above-mentioned 1st power model 43B from the 1st modular connector 45B.On the other hand, at the upper surface of the 2nd modular connector 45F, be arranged with in the mode of opening upward the pin embedded hole that multiple supply and marketing embeds along the longitudinal direction.2nd modular connector 45F is connected with the lead-out terminal of the 2nd power model 43F in the inside of driving substrate 40, exports the polyphase ac voltage generated by above-mentioned 2nd power model 43F from the 2nd modular connector 45F.
And each modular connector 45B, 45F are connected with above-mentioned polyphase ac voltage connector 4 via output cable, and the polyphase ac voltage 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 to the effect of the robot controller be made up of said structure.
If the alternating voltage of 200V generates substrate 20 and circuit brake 3 input noise wave filter NF from external power source plug via driving voltage, then by the alternating voltage of noise filter NF except denoising, generate substrate 20 from noise filter NF to driving voltage and export.Next, the alternating voltage that input queued switches 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 voltages.In addition, generate in substrate 20 at driving voltage, the alternating voltage from noise filter NF is transformed into the DC voltage of the 280V as driving voltage.And the DC voltage of the 15V generated by the 1st power supply board PS1 and generate the driving voltage that generates of substrate 20 via the 1st out connector 21 and the 1st input connector 41 by driving voltage, generates substrate 20 from driving voltage and inputs two driving substrates 40 respectively.
On the other hand, in order to make robot 60 move to job position, if from the detection signal of peripheral equipment via I/O port one 4 input control substrate 30, then, in control substrate 30, obtain the detection signal of each rotation angle sensor via position detector port one 1.Next, in control substrate 30, based on the expression position command of job position and the testing result of each rotation angle sensor, generate and be used for the track that robot 60 moves to job position, and calculate for making robot 60 along the drive volume of the motor 65 of this rail moving.Then, in control substrate 30, generate the voltage instruction of each phase corresponding with the drive volume calculated, and the control signal corresponding with this voltage instruction is via the 2nd out connector 36 and the 2nd input connector 42, inputs two driving substrates 40 respectively from control substrate 30.
Then, in driving substrate 40, generate the boosted voltage driven to applicable motor 65 of driving voltage of substrate 20 input from driving voltage, by controlling from the ON/OFF controlling the control signal that substrate 30 inputs, the voltage of this boosting is transformed into polyphase ac voltage.Then, in robot controller, by controlling substrate 30 control inputs to the frequency of control signal driving substrate 40, thus by the electric current supply corresponding with the drive volume of motor 65 to each phase of this motor 65.
At this moment, in generation for controlling in the process of control signal of polyphase ac voltage, because need the high-speed computation based on the position of rotation of motor 65, so in the control substrate 30 generating such control signal, naturally need multi-ply construction as its base plate structure.On the other hand, generate in substrate 20 at the driving voltage output voltage of alternating voltage being transformed into driving voltage, because do not need above-mentioned such high-speed computation, so generate substrate 20 for such driving voltage not need multi-ply construction.If above-mentioned formation, then generate substrate 20 because be configured with the driving voltage with mutually different functions respectively and control substrate 30, so the lit-par-lit structure corresponding with respective requirement can be adopted at each circuit substrate.In addition, when driving voltage generates substrate 20 and control substrate 30 forms as a circuit substrate, although in order to the mutually different requirement making a circuit substrate meet these, need the multiple stratification of this circuit substrate, complicated, but according to above-mentioned formation, the lit-par-lit structure of the circuit substrate be configured in framework 1 can be simplified.
And, driving voltage generates substrate 20 and controls substrate 30 laminated configuration in the base panel of framework 1, and the state using the driving substrate 40 of their output to hold up with control substrate 30 to generate substrate 20 relative to driving voltage, is set up in driving voltage and generates substrate 20 and control substrate 30.Therefore, for two circuit substrates becoming the linking objective driving substrate 40, them can be suppressed to be separated from each other, consequently, the cabling of the wiring driven in substrate 40 can be simplified, and then the internal structure driving substrate 40 can be simplified.
In addition, because the stacked driving voltage that is configured with generates substrate 20 on control substrate 30, so generate substrate 20 with by above-mentioned control substrate 30 and driving voltage, the mode be such as arranged along base panel is compared, and can reduce the area occupied by them.In addition, being configured on the driving voltage generation substrate 20 controlled on substrate 30, the space of the width being equivalent to the short transverse driving substrate 40 is formed.In this point, in order to the alternating voltage of 200V being transformed into the DC voltage of 280V, usually, the capacitor etc. large with other electronic unit comparing dimensions is needed.If above-mentioned mode, be then installed on driving voltage because of the electronic unit that such size is large and generate on substrate 20, so the above-mentioned space be formed on driving voltage generation substrate 20 also can be effectively utilized.
The explanation carried out as above, robot controller according to the present embodiment, can obtain the following effect enumerated.
(1) form respectively because driving voltage generates substrate 20 with control substrate 30, so the lamination corresponding with respective requirement can be adopted to construct at each circuit substrate.Therefore, it is possible to simplify the lit-par-lit structure of the circuit substrate be configured in framework 1.
(2) control substrate 30 is configured at this base panel along the base panel of framework 1, and more stacked with control substrate 30 than the driving voltage generation substrate 20 controlling substrate 30 little.Therefore, and controlling substrate 30 and driving voltage and generate the situation that substrate 20 forms as a circuit substrate and compare, the area for accommodating circuit substrate can being reduced.
(3) them are laminated in the base panel of framework 1 because driving voltage generates substrate 20 and controls substrate 30, so can be suppressed to be separated from each other relative to these two circuit substrates becoming the linking objective driving substrate 40.Consequently can simplify the cabling of the wiring driven in substrate 40, and then the internal structure driving substrate 40 can be simplified.
(4) state that the driving substrate 40 that use controls the output of substrate 30 and the output of driving voltage generation substrate 20 is holded up with control substrate 30 to generate substrate 20 relative to driving voltage, is set up in driving voltage and generates substrate 20 and control substrate 30.Therefore, it is possible to suppress them to be separated from each other relative to two circuit substrates becoming the linking objective driving substrate 40.Its result, can simplify the cabling of the wiring driving substrate 40 and its linking objective, drive the cabling of the wiring in substrate 40, and then can simplify the internal structure driving substrate 40.
(5) in addition, because the state driving substrate 40 to hold up with control substrate 30 to generate substrate 20 relative to driving voltage, be set up in driving voltage and generate substrate 20 and control substrate 30, so the maintainability to each circuit substrate can be guaranteed.
(6) driving voltage is generated substrate 20 and drives substrate 40 to be connected with the chimeric of the 1st input connector 41 by the 1st out connector 21, controls substrate 30 and is connected with the chimeric of the 2nd input connector 42 by the 2nd out connector 36 with driving substrate 40.Therefore, the cable between not using for connecting circuit substrate, just directly can 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, also can save wiring.
(7) because not generated the partial configuration that covers of substrate 20 by driving voltage and have CPU board 31 in the upper surface controlling substrate 30, so the heat from CPU board 31 can be suppressed to be full of control substrate 30 and driving voltage generates between substrate 20.And then, can improve to be configured at and control the stability of action that substrate 30 and driving voltage generate various electronic units between substrate 20, circuit.
(8) at the front panel 1F of framework 1, the necessary whole interface of operation that the inside cannot not being embedded with openly framework 1 is just carried out, 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 disposed in above-mentioned interface compared with the back panel of robot controller or the situation of base panel, robot controller and external equipment are easily connected or cut off.
(9) in the face side of framework 1, the driving voltage be configured with as the linking objective of above-mentioned interface generates substrate 20 and controls substrate 30.If such formation, then do not use and generate substrate 20 and the cable of power connector 2, the cable for connection control substrate 30 and each port for connecting driving voltage, just can connect driving voltage generation substrate 20 and power connector 2 and connection control substrate 30 and each port.Therefore, it is possible to save wiring in the framework 1 of robot controller.
(10) driving voltage generates substrate 20, controls substrate 30, drives substrate 40 to be all configured at each side be formed as in the framework 1 of cubic shaped.According to such formation, because the space occupied by each circuit substrate is the space of each sidewall along framework 1, so the inner space of framework 1 can be suppressed to be divided by circuit substrate, and then easily guarantee in order to the necessary continuous print space of the electronic unit that connects up, configures in the inside of framework 1.
(11) because two driving substrates 40 configure in the mode be parallel to each other, so compared with situation about configuring in cross one another mode with two driving substrates 40, the size in this space shared by two driving substrates 40 can be reduced.And then, also can realize the miniaturization of robot controller.
In addition, above-mentioned embodiment also can be implemented by following mode.
Multiple driving substrate 40 both can be configured at the formation of right panel 1R and Left-Hand Panel 1L respectively, also can be the formation being only configured at right panel 1R.Such as, when the robot as control object has 6 motor 65, both can be the formation that 3 pieces of driving substrates 40 are configured at Left-Hand Panel 1L side, also can be that two pieces of driving substrates 40 are configured at Left-Hand Panel 1L side and remaining 1 piece of driving substrate 40 is configured at the formation of right panel 1R side.
In addition, when the quantity of driving substrate 40 is 1 piece, as long as this driving substrate 40 is configured at the formation of right panel 1R or Left-Hand Panel 1L.Even such formation, the effect corresponding with above-mentioned (1) ~ (10) also can be obtained.In addition, also can be the formation that the driving substrate 40 of more than 1 is configured at the central authorities of the left and right directions of framework 1.Even such formation, the effect corresponding with above-mentioned (1) ~ (9) also can be obtained.
Multiple driving substrate 40 also can configure in cross one another mode, even such formation, also can obtain the effect corresponding with above-mentioned (1) ~ (9).In a word, as long as the formation driving substrate 40 to be set up in driving voltage generation substrate 20 and control substrate 30 using the state of holding up relative to driving voltage generation substrate 20 and the control substrate 30 as power supply board is just passable.
Also can be 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 at least one, the formation of panel beyond the front panel 1F embedding framework 1.Even such formation, the effect corresponding with above-mentioned (1) ~ (7) also can be obtained.In addition, if power connector 2 embeds the situation of the panel beyond front panel 1F, then generating substrate 20 and the connected mode of power connector 2 to simplify driving voltage, being preferably driving voltage and generating the formation that substrate 20 is configured at the vicinity of the panel beyond this front panel 1F.
As long as driving voltage generates substrate 20, controls substrate 30 and drives substrate 40 heat that CPU board 31 discharges all to be had to the formation of enough patience, then also can generate between substrate 20 at control substrate 30 and driving voltage and configure CPU board 31.Even such formation, the effect corresponding with above-mentioned (1) ~ (6) also can be obtained.
The formation that also can be driving voltage generation substrate 20 and drive substrate 40 to connect via being connected cable also can be control substrate 30 is in addition the formations via being connected cable connection with driving substrate 40.Even such formation, also can obtain the effect corresponding with above-mentioned (1) ~ (5), also can improve the free degree of configuration, the free degree for the configuration of the connector between connecting circuit substrate that drive substrate 40 in addition.
Even it is also passable that driving voltage generates the formation that substrate 20 is controlling substrate 30 is configured at the central authorities on position, such as the control substrate 30 beyond face side or the rear side on control substrate 30.Even such formation, the effect corresponding with above-mentioned (1) ~ (6) also can be obtained.
Also can be that the polyphase ac voltage driving substrate 40 to generate is exported to driving voltage generation substrate 20 by the 1st input connector 41, and from this driving voltage generation substrate 20 to the formation that the outside of robot controller exports.In addition, at this moment preferably polyphase ac voltage connector 4 and driving voltage generate the formation that substrate 20 is directly connected.According to such formation, each modular connector 45B, 45F can be omitted, the cable connecting each modular connector 45B, 45F and polyphase ac voltage connector 4 can also be omitted.
The miscellaneous part different from foregoing circuit substrate, electronic unit also can be contained in the inside of framework 1 by robot controller.Such as, the formation that the regeneration resistance also consumed for the voltage that is regenerated energy that return robot controller when robot 60 slows down being transformed into heat is contained in the inside of framework is also passable.In addition, such as, have when above-mentioned regenerated energy rises, the formation that the comparison substrate with the magnitude of voltage specified regenerated energy being supplied to the comparing function of regeneration resistance is contained in the inside of framework is also passable.
Symbol description
F ... cooling fan; Fa ... extraneous air filter; NF ... noise filter; PS1 ... 1st power supply board; PS2 ... 2nd power supply board; PS3 ... 3rd power supply board; 1 ... framework; 1F ... front panel; 1L ... Left-Hand Panel; 1P ... expansion panel; 1R ... right panel; 1S ... support plate; 2 ... power connector; 3 ... circuit brake; 3a ... action bars; 4 ... polyphase ac voltage connector; 11 ... position detector port; 12 ... stopping port; 13 ... TP port; 14 ... I/O port; 15 ... 1USB port; 16 ... 2USB port; 16a ... trigger switch; 17 ... LAN port; 18 ... sequence controller port; 19 ... expansion I/O port; 20 ... driving voltage generates substrate; 21 ... 1st out connector; 30 ... control substrate; 31 ... CPU board; 31a ... CPU; 32 ... communication interface board; 33 ... expansion connector; 34 ... card type storage medium; 35 ... Memory connector; 36 ... 2nd out connector; 40 ... drive substrate; 41 ... 1st input connector; 42 ... 2nd input connector; 43B ... 1st power model; 43F ... power model; 44 ... fin; 45B ... 1st modular connector; 45F ... 2nd modular connector; 51 ... framework; 51F ... opening and closing panel; 52 ... instruction generates substrate; 53 ... drived control substrate; 53c ... connector; 54 ... drive substrate; 60 ... robot; 61 ... matrix; 62 ... arm; 63 ... lifting shaft; 64 ... end effector; 65 ... motor.
Claims (13)
1. a robot controller, the action of its control, is characterized in that,
This robot controller possesses:
Power supply board, alternating voltage is transformed into DC voltage and exports by it;
Drive substrate, it converts the output of above-mentioned power supply board and generates the polyphase ac voltage that the motor to above-mentioned robot inputs; And
Control substrate, its control signal position of rotation be used for based on said motor being controlled the output of above-mentioned driving substrate exports to above-mentioned driving substrate,
Above-mentioned control substrate is configured at this bottom surface along the bottom surface in the framework in box shape,
Above-mentioned power supply board is less than above-mentioned control substrate, and is layered on above-mentioned control substrate,
Above-mentioned driving substrate, with the state of holding up relative to above-mentioned power supply board and above-mentioned control substrate, is set up in the upper surface of the part do not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate and 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 exporting above-mentioned DC voltage,
Above-mentioned control substrate has the 2nd out connector exporting above-mentioned control signal,
Above-mentioned 1st out connector and above-mentioned 2nd out connector are arranged in one direction,
One side as the bottom surface side in above-mentioned framework in the periphery of above-mentioned driving substrate, is equipped with 1st input connector chimeric with above-mentioned 1st out connector and 2nd input connector chimeric with above-mentioned 2nd out connector along the arrangement of an above-mentioned direction.
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 generating above-mentioned robot,
Above-mentioned arithmetic processing apparatus be configured in the upper surface of above-mentioned control substrate not by part that above-mentioned power supply board covers.
4. robot controller according to claim 1 and 2, is characterized in that,
Above-mentioned framework is cubic shaped,
Above-mentioned control substrate is configured at the face side of this framework of the bottom surface in above-mentioned framework, and has the port inputted for the detection signal from the detector detected the position of rotation of said motor in the face side of above-mentioned framework,
Above-mentioned power supply board is configured at the face side of this framework of the upper surface of above-mentioned control substrate, and has the 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 adjoins with the configuration plane as any one party of the left surface in the right flank in above-mentioned framework and above-mentioned framework,
Above-mentioned driving substrate is configured at this configuration plane along above-mentioned configuration plane.
6. a robot, is characterized in that,
Possesses the robot controller described in claims 1 or 2.
7. a robot controller, the action of its control, is characterized in that,
This robot controller possesses:
Power supply board, alternating voltage is transformed into DC voltage and exports by it;
Drive substrate, it possesses efferent, and this efferent converts the output from above-mentioned power supply board and exports the voltage inputted to above-mentioned robot; And
Control substrate, it controls the output of above-mentioned driving substrate,
Above-mentioned power supply board is configured 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 on 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,
There is port, the detection signal input of the detector that this port detects for the position of rotation from the motor to above-mentioned robot,
Based on the signal from above-mentioned port, control the output of above-mentioned driving substrate.
9. the robot controller according to claim 7 or 8, is characterized in that,
Described power supply board is less than above-mentioned control substrate, has not by the part that above-mentioned power supply board covers at the upper surface of above-mentioned control substrate,
The upper surface of above-mentioned driving substrate and the part do not covered by above-mentioned power supply board in the upper surface of above-mentioned control substrate and above-mentioned power supply board is overlapping and set up.
10. the robot controller according to claim 7 or 8, is characterized in that,
There is the aerial lug for alternating voltage input,
Above-mentioned alternating voltage is transformed to DC voltage by above-mentioned power supply board.
11. robot controllers according to claim 7 or 8, is characterized in that,
Above-mentioned power supply board has the 1st out connector exporting DC voltage,
Above-mentioned control substrate has the 2nd out connector exporting control signal,
1st input connector chimeric with above-mentioned 1st out connector and 2nd input connector chimeric with above-mentioned 2nd out connector are arranged arranging.
12. robot controllers according to claim 7 or 8, is characterized in that,
Above-mentioned control substrate possesses the arithmetic processing apparatus of the position command generating above-mentioned robot,
Above-mentioned arithmetic processing apparatus be configured in the upper surface of above-mentioned control substrate not by part that above-mentioned power supply board covers.
13. robot controllers according to claim 7 or 8, is characterized in that,
Above-mentioned robot controller has the framework of cubic shaped,
Above-mentioned control substrate is configured at the bottom surface of above-mentioned framework.
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| JP2011-148447 | 2011-07-04 | ||
| JP2011148447A JP5787072B2 (en) | 2011-07-04 | 2011-07-04 | Robot controller |
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| JP5590164B2 (en) * | 2013-01-28 | 2014-09-17 | 株式会社安川電機 | Robot system |
| CN107896514B (en) * | 2016-06-30 | 2019-12-20 | 株式会社安川电机 | Motor control device and robot system |
| JP6780422B2 (en) * | 2016-09-30 | 2020-11-04 | オムロン株式会社 | Electronics |
| CN114762972B (en) * | 2021-01-15 | 2024-07-09 | 腾讯科技（深圳）有限公司 | Mechanical trunk and mechanical dog |
| JPWO2022219759A1 (en) * | 2021-04-14 | 2022-10-20 | ||
| 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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| CN2909791Y (en) * | 2006-04-26 | 2007-06-06 | 宁波市俊威汽车部件有限公司 | Vehicle electric power, assisted steering gear |
| CN1974144A (en) * | 2005-11-29 | 2007-06-06 | 精工爱普生株式会社 | Robot control device and robot system |
| CN101863032A (en) * | 2005-11-29 | 2010-10-20 | 精工爱普生株式会社 | Robot controller system |
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| JP3430192B2 (en) * | 1996-11-12 | 2003-07-28 | 株式会社日立産機システム | Inverter device |
| JPH11126987A (en) * | 1997-10-24 | 1999-05-11 | Denso Corp | Control device |
| JP4512211B2 (en) * | 1999-01-25 | 2010-07-28 | 株式会社日立産機システム | Current control circuit, inverter control device, inverter device, and power conversion device |
| JP2003324971A (en) * | 2002-05-01 | 2003-11-14 | Hitachi Industrial Equipment Systems Co Ltd | Inverter device |
| JP2007144588A (en) * | 2005-11-29 | 2007-06-14 | Seiko Epson Corp | Robot control device |
| JP5279345B2 (en) * | 2008-05-27 | 2013-09-04 | 三菱電機株式会社 | Power conversion device storage structure |
| JP5150525B2 (en) * | 2009-01-28 | 2013-02-20 | ヤマハ発動機株式会社 | Robot controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1974144A (en) * | 2005-11-29 | 2007-06-06 | 精工爱普生株式会社 | Robot control device and robot system |
| CN101863032A (en) * | 2005-11-29 | 2010-10-20 | 精工爱普生株式会社 | Robot controller system |
| CN2909791Y (en) * | 2006-04-26 | 2007-06-06 | 宁波市俊威汽车部件有限公司 | Vehicle electric power, assisted steering gear |
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