CN202563278U - Robot controller - Google Patents
Robot controller Download PDFInfo
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- CN202563278U CN202563278U CN2012200766055U CN201220076605U CN202563278U CN 202563278 U CN202563278 U CN 202563278U CN 2012200766055 U CN2012200766055 U CN 2012200766055U CN 201220076605 U CN201220076605 U CN 201220076605U CN 202563278 U CN202563278 U CN 202563278U
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Abstract
The utility model relates to a robot controller. The robot controller which controls a robot loaded with an alternating current motor comprises a power circuit substrate, a driving circuit substrate and a control circuit substrate, wherein the power circuit substrate converts alternating current voltage into direct current voltage, namely the driving voltage and outputs the driving voltage, the driving circuit substrate converts the outputted voltage of the power circuit substrate into multi-phase alternating current voltage and outputs the multi-phase alternating current voltage to the alternating current motor, the control circuit substrate controls the output voltage of the driving circuit substrate based on a rotation position of the alternating current motor and outputs a control signal to the driving circuit substrate, the power circuit substrate and the control circuit substrate are configured at a bottom surface in a frame body in a side-by-side mode, and the driving circuit substrate is erected on the power circuit substrate and the control circuit substrate in an erected state relative to the power circuit substrate and the control circuit substrate.
Description
Technical field
The utility model relates to the robot controller that the action of robot is controlled, and particularly relates to the robot controller of a plurality of circuit substrates that driving that internal configurations in framework is useful on the alternating current motor that robot is had controls.
Background technology
All the time, of patent documentation 1, in the inside of the framework of robot controller, dispose and be used for a plurality of circuit substrates that the driving of alternating current motor is controlled.Fig. 4 is the exploded perspective view of robot controller that the configuration of circuit substrate is shown, and is with a side of framework 51 that is opens and closes the figure that panel 51F is illustrated by the robot controller of the state after pulling down from framework 51 and its controlling object that is robot in the lump.
As shown in Figure 4, the controlling object of robot controller that is the R of robot are the lifting shaft that links by the multiarticulate arm that for example links with matrix, with the end of this arm and the horizontal articulated robot that constitutes with end effector that the lower end of lifting shaft links.At four alternating current motor M that these multi-joint arms, lifting shaft and end effector are driven, be equipped with the scrambler that the position of rotation to this alternating current motor M detects respectively.
Bottom surface in the framework 51 of robot controller is fixed with the instruction of having carried CPU and generates substrate 52, and the back side in framework 51 is fixed with drive controlling substrate 53.Instruction generates the detection signal that substrate 52 receives each scramblers output, and the translational speed of position, the R of robot that will become the mobile destination of the R of robot is as position command, speed command output.The instruction that drive controlling substrate 53 is exported based on above-mentioned instruction generation substrate 52 generates the voltage instruction of each phase of alternating current motor M, with output of modulation systems such as PWM and the corresponding pulse signal of this voltage instruction.Be connected with this type of drive controlling substrate 53 via connector 53c with respect to these drive controlling substrate 53 four upright drive circuit substrate 54.And then four drive circuit substrate 54 are utilized the converter circuit that is carried respectively, based on the pulse signal that drive controlling substrate 53 is exported, carry out each switching of the driving voltage of output mutually towards alternating current motor M.
Patent documentation 1: TOHKEMY 2007-175856 communique
Yet in the above-mentioned drive controlling substrate 53 of drive circuit substrate 54 as object output, except generation was useful on the pulse signal that switches driving voltage, also generating for example had that the DC voltage of 280V is used as this driving voltage.
At this, utilizing drive controlling substrate 53 to generate in the process of switching with pulse signal, the clock signal that becomes benchmark is with modulated with the corresponding speed of position command, speed command that generates substrate 52 from instruction.Therefore, in the zone of the above-mentioned pulse signal of generation in drive controlling substrate 53,, need the multi-ply construction more than 6 layers usually in order to realize this type of supercomputing.Relative therewith; When the AC voltage conversion with 200V is the DC voltage of for example 280V, owing to need not carry out above-mentioned supercomputing, therefore; In the zone of the generation driving voltage in drive controlling substrate 53, as long as the lit-par-lit structure about two-layer is usually arranged.
Yet in the installation base plate of drive controlling substrate 53 that kind, the viewpoint owing to from manufacturing process is difficult to the number of plies at specific area change lit-par-lit structure, and therefore general installation base plate integral body all constitutes with the identical number of plies.Therefore, in the robot controller that constitutes by said structure,,, therefore, can make the internal structure of drive controlling substrate too complicated undoubtedly owing to need make the number of plies in the zone that generates driving voltage more than the needed number of plies of this function from the result.
The utility model content
The utility model is accomplished in order to address the above problem, and its purpose is to provide the robot controller that can make the internal structure simplification that is disposed at the circuit substrate in the framework.
The utility model relates to the robot controller that the robot that is equipped with alternating current motor is controlled; It focuses on; This robot controller possesses power circuit substrate that output voltage with alternating voltage converts DC voltage that is driving voltage and output into, the output voltage of above-mentioned power circuit substrate is converted into polyphase ac voltage and exports the drive circuit substrate of above-mentioned alternating current motor to and the control circuit substrate that will export above-mentioned drive circuit substrate based on the control signal that the position of rotation of above-mentioned alternating current motor is controlled the output voltage of above-mentioned drive circuit substrate to; Above-mentioned power circuit substrate and the bottom surface of above-mentioned control circuit substrate in framework dispose with mutual mode arranged side by side, and above-mentioned drive circuit substrate is set up in above-mentioned power circuit substrate and above-mentioned control circuit substrate with the state that erects with respect to above-mentioned power circuit substrate and above-mentioned control circuit substrate.
According to the utility model, utilize the power circuit substrate to generate the driving voltage that inputs to drive circuit substrate, and, utilize the control circuit substrate to generate the control signal that inputs to drive circuit substrate.Be used for many phase alternating current is compressed into the process of the control signal of row control in generation, need carry out the supercomputing based on the motor position of rotation, therefore, in the control circuit substrate that generates this type of control signal, its base plate structure becomes multi-ply construction naturally.On the other hand, convert in the power circuit substrate of DC voltage, need not carry out above-mentioned supercomputing, therefore,, do not need multi-ply construction for this type of power circuit substrate at output voltage with alternating voltage.
In this point,, then, therefore, can in each circuit substrate, adopt and the corresponding lit-par-lit structure of requirement separately owing to constitute control circuit substrate and power circuit substrate respectively with mutually different function if form said structure.Constitute under the situation of a circuit substrate at control circuit substrate and power circuit substrate; In order to make a circuit substrate satisfy above-mentioned mutual different requirement; Need make this circuit substrate multiple stratification, complicated; But, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework according to said structure.
In addition; Control circuit substrate and power circuit substrate dispose with mutual mode arranged side by side in the bottom surface of framework; And, use the drive circuit substrate of the output of above-mentioned control circuit substrate and power circuit substrate to be set up in power circuit substrate and control circuit substrate with the state that erects with respect to this power circuit substrate and control circuit substrate.Therefore; For two circuit substrates of the connection destination that becomes drive circuit substrate, can suppress above-mentioned two circuit substrates and be separated from each other the result; The wiring of the distribution in can the simplified driving circuit substrate, and then internal structure that can the simplified driving circuit substrate.
In addition; When the mode that is parallel to each other with power circuit substrate and control circuit substrate and drive circuit substrate was set up in power circuit substrate and control circuit substrate with drive circuit substrate, power circuit substrate and control circuit substrate were covered by drive circuit substrate.On the other hand, if form said structure,, therefore, can guarantee the maintainability of each circuit substrate because the power circuit substrate that can be covered by drive circuit substrate, the zone of control circuit substrate are suppressed at Min..
Focusing on of the utility model; Above-mentioned power circuit substrate has first out connector of the above-mentioned driving voltage of output; Above-mentioned control circuit substrate has second out connector of the above-mentioned control signal of output; Above-mentioned first out connector and above-mentioned second out connector dispose along a direction side by side; A limit of bottom surface side in the periphery of above-mentioned drive circuit substrate, that be positioned at above-mentioned framework, along an above-mentioned direction be equipped with side by side with first input connector of the chimeric installation of above-mentioned first out connector and with second input connector of the chimeric installation of above-mentioned second out connector.
According to the utility model; The power circuit substrate is connected with the chimeric installation of first input connector by first out connector with drive circuit substrate, and the control circuit substrate is connected with the chimeric installation of second input connector by second out connector with drive circuit substrate.Therefore, can under the situation of not using the cable that links together between being used for circuit substrate, these control circuit substrates and power circuit substrate directly be connected with drive circuit substrate, can in the framework of robot controller, save lead.
Focusing on of the utility model; Above-mentioned framework is rectangular shape; Above-mentioned power circuit substrate is disposed at the rear side of this framework in the bottom surface in the above-mentioned framework, and above-mentioned control circuit substrate is disposed at the face side of this framework in the bottom surface in the above-mentioned framework, and; Above-mentioned control circuit substrate has the port of confession from the detection signal input of the detecting device of the position of rotation that detects above-mentioned alternating current motor in the face side of above-mentioned framework, and above-mentioned port embeds the front panel of above-mentioned framework.
According to the utility model, dispose port in the face side of control circuit substrate, the signal of the position of rotation of expression alternating current motor inputs to this port.And then the detecting device of the position of rotation of detection alternating current motor and the interface between the control circuit substrate that is port embed the front panel of framework.Therefore, compare in the back side of robot controller, the situation of bottom surface, being connected between robot controller and the detecting device, cutting off and become easy with above-mentioned interface configuration.In addition, can under the situation of not using the cable that is used for control circuit substrate and port are linked together, be connected these control circuit substrate and ports, and can in the framework of robot controller, save lead.
Focusing on of the utility model, above-mentioned drive circuit substrate are disposed at interior right flank of above-mentioned framework and any side in the left surface in the above-mentioned framework.
According to the utility model, power circuit substrate, control circuit substrate, drive circuit substrate are disposed at each side in the framework that is rectangular shape respectively.According to this class formation; Because the occupied space of each circuit substrate is the space along each sidewall of framework; Therefore; The situation that the inner space that can suppress framework is divided by circuit substrate, and then, can guarantee to be used to dispose lead, the necessary continuous space of electronic component in the inside of framework.
Focusing on of the utility model possesses a plurality of above-mentioned drive circuit substrate, and above-mentioned a plurality of drive circuit substrate are set up in above-mentioned power circuit substrate and above-mentioned control circuit substrate with the mode that is parallel to each other respectively.
According to the utility model; Because a plurality of drive circuit substrate dispose with the mode that is parallel to each other respectively; Therefore, compare with the situation that cross one another mode disposes respectively, can reduce the size in the occupied space of above-mentioned a plurality of drive circuit substrate with a plurality of drive circuit substrate.And then, can realize the miniaturization of robot controller.
Description of drawings
Fig. 1 is the stereographic map of external structure of robot controller that an embodiment of the utility model is shown.
Fig. 2 is that the feed system with power supply is the in-built stereographic map of center robot controller that same embodiment is shown.
Fig. 3 is that the internal structure that is directed against the robot controller of same embodiment illustrates the stereographic map of drive circuit substrate with respect to the configuration of control circuit substrate and power circuit substrate.
Fig. 4 is the stereographic map that the internal structure of the robot controller of existing example and robot as controlling object are together illustrated.
Embodiment
Below, with reference to Fig. 1～Fig. 3 the embodiment that the robot controller of the utility model specialized is described.In addition, the controlling object of the robot controller of this embodiment is the robot that utilizes Fig. 4 to describe of front, is the horizontal articulated robot that is equipped with four alternating current motor M.Therefore, below, about the controlling object of robot controller, mark and the previous identical label of explaining of the R of robot, the explanation of omission repetition.
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, the front panel 1F of the framework that forms rectangular shape 1 of extending at along continuous straight runs and be the right-hand end at this front panel 1F disposes external power supply connector 2.External power supply connector 2 is connected with the external power source plug of the equipment that robot controller is set up, and the alternating voltage of the 200V that will supply with from the external power source plug is supplied to the inside of framework 1.In front panel 1F, the upside of power connector 2 externally, dispose the control lever 3a of circuit brake (circuit protector) 3.The control lever 3a of circuit brake 3 is connected with external power supply connector 2 in the inside of framework 1, and the alternating voltage of the 200V that pressure switching external power source plug is supplied with is to the supply and the blocking of robot controller.
On the other hand, in the left end of front panel 1F, embedding has the rectangular-shaped polyphase ac voltage connector 4 that extends along the vertical direction.In polyphase ac voltage connector 4, a plurality of splicing ears that are connected with four alternating current motor M are arranged respectively along the vertical direction.Polyphase ac voltage connector 4 is connected with above-mentioned four alternating current motor M respectively, respectively to these four alternating current motor M output polyphase ac voltages.
Part in the downside end of front panel 1F, that occupy the left-half of front panel 1F, embedding has three ports using along the PERCOM peripheral communication of left and right directions extension.The position detector that constitutes three ports is with port one 1, promptly stop with port one 2, TP with port one 3 respectively along the bottom of front panel 1F, begins to set with the splicing ear of each port mode along the left and right directions arrangement according to this order from the left end of front panel 1F.
Position detector is connected with port one 1 and four angular sensors such as rotary transformer (resolver), scrambler of detecting the position of rotation separately of four alternating current motor M, imports the position detection signal of representing this angular sensor detected position to this position detector with port one 1 from four angular sensors respectively.Promptly stop environment that the detection machine people's controllers such as emergency stop circuit, safety door circuit with port one 2 and the outside that is arranged at robot controller are set up and whether be in the device in urgent period and be connected, from this device to promptly stopping with port one 2 input washouts.TP is connected with teaching machine (teaching pendant) as one of peripherals of robot controller with port one 3, the data of the teaching of the R of robot, using with port one 3 inputs to this TP from teaching machine.
TP in the downside end of front panel 1F is with the right side of port one 3, two ports that is first USB port 14 and second USB port 15 and the LAN port one 6 that embed in order that serial communication uses towards right-hand end.
Right-hand end in the downside end of front panel 1F, embedding has the I/O port one 7 that the input and the output of various digital signals are handled.I/O port one 7 is the maximum connectors of width that are equipped on width in the connector of front panel 1F, left and right directions and fore-and-aft direction.I/O port one 7 and the camera of the action of for example taking robot, the sensor of detection machine people position etc. the peripherals essential, cooperate the action of robot and driven peripherals is connected in order to make robot motion.And then, from the signal of peripherals to the state of the state of this I/O port one 7 input expression robots self, robot periphery, and from the signal of the action of this I/O port one 7 equipment output to the periphery expression robot.
TP in front panel 1F has sequencer port (sequencer port) 18 with the upside embedding of port one 3, at the upside of sequencer port one 8, with the mode that can change cooling fan F is installed.Sequencer port one 8 is connected with sequencer via for example RS-232C, is used to make the control signal of robot motion to 8 inputs of sequencer port one from this sequencer.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, clamp with the mode that can change and to be useful on the dust of catching extraneous air and being comprised, the extraneous air filter F a of dust.
The upside of the LAN port one 6 in front panel 1F is formed with the rectangular opening that is the slit pore that extend along the vertical direction, and embedding at this slit pore has rectangular tabular expansion panel 1P.And 1P is equipped with two expansion I/O port ones 9 side by side along left and right directions at the expansion panel.Two expansion I/O port ones 9 respectively with the sensor etc. of position of for example taking camera, detecting this workpiece as the workpiece of the manipulating object of robot in order to make the necessary peripherals of robot motion, to cooperate the action of robot and driven peripherals is connected.And then, from the signal of peripherals to the state of the state of expansion I/O port one 9 input expression robots self, robot periphery, and from the signal of the action of expansion I/O port one 9 equipment output to the periphery expression robot.
So, for the following operation of under the state of the inside of not opening framework 1, carrying out, dispose the necessary whole interfaces of this operation at the front panel 1F of robot controller.
The connection of power supply and robot controller and the blocking of this power supply.
Robot controller and being connected and cutting off as the R of robot of its controlling object.
Being connected and cutting off between robot controller and its peripherals.
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 robot controller is described.In addition; In Fig. 2; Internal structure for the ease of to robot controller describes; Omit above-mentioned front panel 1F, back panel, top panel in the framework 1 of robot controller, also omitted the polyphase ac voltage connector 4 and the cooling fan F that are equipped on front panel 1F.And, describe for the ease of function and configuration thereof each circuit substrate, omit the cable of cable, CC substrate and electronic component between the CC substrate and connected the cable between the electronic component.
As shown in Figure 2, dispose the power supply system that is connected with circuit brake 3 and the alternating voltage of 200V is converted into DC voltage and output at the right panel 1R of framework 1.And at the base panel 1B of framework 1, the driving voltage that disposes respectively as the power circuit substrate generates substrate 20 and control circuit substrate 30, and then, dispose two drive circuit substrate 40 at the Left-Hand Panel 1L of framework 1.
Upside central authorities at 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, generates substrate 20 via output cable and driving voltage and is connected.And then when from circuit brake 3 during to the alternating voltage of noise filter NF input 200V, noise filter NF removes denoising from this alternating voltage, and will remove alternating voltage behind this noise and export driving voltage to and generate substrate 20.
It is the printed circuit board (PCB)s of rectangular plate shape that are fixed in the rear side of base panel 1B that driving voltage generates substrate 20, and forms the most size of the rear side that occupies base panel 1B.Driving voltage generates substrate 20 and has the rigid substrates that the range upon range of double-deck printed board parallel with base panel 1B forms; At the upper surface of this rigid substrates, the various electronic components that are used for the alternating voltage of 200V is converted into the DC voltage of driving voltage that is 280V are installed.This driving voltage generates substrate 20 and is connected with noise filter NF via the input cable, and is connected with the first power circuit substrate P S1, second source circuit substrate PS2 and the 3rd power circuit substrate P S3 respectively via the output cable.And driving voltage generates substrate 20 and is connected with drive circuit substrate 40 via out connector.And then, when from noise filter NF when driving voltage generates substrate 20 input ac voltages, driving voltage generates substrate 20 this alternating voltage is distributed to the first power circuit substrate P S1, second source circuit substrate PS2 and the 3rd power circuit substrate P S3.In addition, driving voltage generates DC voltage that is the driving voltage that substrate 20 will convert 280V from the alternating voltage of noise filter NF input into, and exports this driving voltage to drive circuit substrate 40.
The first power circuit substrate P S1 is the circuit substrate of rectangular plate shape that is fixed in the rear side top of right panel 1R, and is that the installation base plate of various electronic components that the alternating voltage that is used for 200V converts the DC voltage of 15V into is installed.This first power circuit substrate P S1 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 then; When generating substrate 20 when the first power circuit substrate P S1 distributes alternating voltage from driving voltage; The first power circuit substrate P S1 converts this alternating voltage the DC voltage of 15V into, and the DC voltage after will changing exports driving voltage to and generates substrate 20.
Second source circuit substrate PS2 is the circuit substrate of rectangular plate shape that is fixed in the rear side below of right panel 1R, and is that the installation base plate of various electronic components that the alternating voltage that is used for 200V converts the DC voltage of 5V into is installed.This second source circuit substrate PS2 generates substrate 20 via input cable and driving voltage and is connected, and is connected with control circuit substrate 30 via the output cable.And then when generating substrate 20 from driving voltage when second source circuit substrate PS2 distributes alternating voltage, second source circuit substrate PS2 converts this alternating voltage the DC voltage of 5V into, and the DC voltage after will changing exports control circuit substrate 30 to.
The 3rd power circuit substrate P S3 is fixed in the circuit substrate of rectangular plate shape that driving voltage among the base panel 1B generates the right side of substrate 20, and is that the installation base plate of various electronic components that the alternating voltage that is used for 200V converts the DC voltage of 24V into is installed.This second source circuit substrate PS2 generates substrate 20 via input cable and driving voltage and is connected, and is connected with control circuit substrate 30 via the output cable.And then when generating substrate 20 from driving voltage when the 3rd power circuit substrate P S3 distributes alternating voltage, the 3rd power circuit substrate P S3 converts this alternating voltage the DC voltage of 24V into, and the DC voltage after will changing exports control circuit substrate 30 to.
Be described in detail, be connected with above-mentioned position detector with port one 1 at control circuit substrate 30, the detection signal from four angular sensors is input to control circuit substrate 30 via position detector with port one 1 respectively.And, be connected with at control circuit substrate 30 and promptly stop with port one 2, from the urgent halt instruction of external device (ED), peripherals via promptly stopping to be input to control circuit substrate 30 with port one 2.In addition, be connected with TP with port one 3, instruct from the teaching of teaching machine to be input to control circuit substrate 30 with port one 3 via TP at control circuit substrate 30.
And, be connected with first USB port 14 at control circuit substrate 30, be input to control circuit substrate 30 from instruction, the data of outer computer via first USB port 14.And, be connected with second USB port 15 at control circuit substrate 30, according to from the input signal of trigger switch 15a and the signal of the treatment state from control circuit substrate 30 output expression robot controllers.In addition, be connected with LAN port one 6, export the signal of representing the treatment state the robot controllers with the network that is connected with this LAN port one 6 from control circuit substrate 30 via LAN port one 6 at control circuit substrate 30.And, be connected with I/O port one 7 at control circuit substrate 30, via I/O port one 7 to instruction, the detection signal of control circuit substrate 30 input from peripherals.And, via I/O port one 7 from instruction, the result of calculation of control circuit substrate 30 output needles to peripherals.
In the rear side of the upper surface of control circuit substrate 30, the CPU board 31 that has carried CPU to be arranged in that the fore-and-aft direction mode relative with above-mentioned cooling fan F is overlapping.CPU board 31 is resolved and is carried out and is used for the tutorial program of teaching position to the R of robot teaching, and resolves and carry out the program that is used to make the R of robot to move to the job position of regulation.At this moment; CPU board 31 at first uses the teaching position from teaching machine input, predefined job position, from the testing result of each angular sensor input; Generation is used to track that the R of robot is moved to teaching position, job position, and generates the position command of the mobile destination of the expression R of robot.Then, control circuit substrate 30 is calculated the drive amount that is used to make the alternating current motor M that the R of robot moves to the represented position of position command, and generates and the drive amount of being calculated each phase voltage directive accordingly.Next, CPU board 31 will be exported as control signal with the corresponding pulse signal of the voltage instruction that is generated with modulation systems such as PWM.And then, whenever from angular sensor when CPU board 31 input has testing result, CPU board 31 just carry out this type of track generation, with track corresponding driving amount calculate and with the output of drive amount control signal corresponding.
In the face side of the upper surface of control circuit substrate 30, overlapping have communication with interface board 32.Be connected with sequencer port one 8 in communication with interface board 32, be used to make the control signal of robot motion from this sequencer input.
The right side of the CPU board 31 in the upper surface of control circuit substrate 30 disposes three expansions of extending along fore-and-aft direction with connector 33.Three expansions with connector 33 respectively with court above the mode of opening be arranged with the pin embedded hole that a plurality of supply and marketing embed along fore-and-aft direction.And then; When connector is used in the pin embedding expansion of the expanded circuit substrate that is equipped with above-mentioned expansion I/O port one 9; The signal of the state of expression robot periphery is input to control circuit substrate 30 via the expanded circuit substrate; And, via the signal of expanded circuit substrate from the action of control circuit substrate 30 output expression robots.And the right-hand end of the rear side in the upper surface of control circuit substrate 30 disposes the Memory connector 35 that is equipped with card-type storage medium 34.Store the length of the arm that the R of robot had at card-type storage medium 34, the robot controllers such as reduction gear ratio that link the speed reduction unit of driving shaft that the R of robot had and alternating current motor M move necessary various data in order to make the R of robot.And then CPU board 31 reads the various data that are stored in card-type storage medium 34, carries out the generation of above-mentioned track with reference to these data.
The connection structure of drive circuit substrate
Next, with reference to Fig. 3 structure, this drive circuit substrate 40 of drive circuit substrate 40 are described with the connection structure that driving voltage generates between substrate 20 and the imperial circuit substrate 30 of system.
As shown in Figure 3, the left part of the face side in the upper surface of driving voltage generation substrate 20 disposes first out connector 21 that extends along fore-and-aft direction.Upper surface at first out connector 21; Mode with the opening towards the top is arranged with the pin embedded hole that a plurality of supply and marketing embed along fore-and-aft direction, exports the DC voltage that utilizes driving voltage to generate the driving voltage of substrate 20 generations and utilize the 15V of first power circuit substrate P S1 generation from this first out connector 21.
And the face side of the left part of the rear side in the upper surface of control circuit substrate 30 that is above-mentioned first out connector 21 also disposes second out connector 36 that extends along fore-and-aft direction.At the upper surface of second out connector 36, be arranged with the pin embedded hole that a plurality of supply and marketing embed with the mode of opening along fore-and-aft direction, the control signal of utilizing control circuit substrate 30 to generate from these second out connector, 36 outputs towards the top.
Two drive circuit substrate 40 are set up in above-mentioned driving voltage generation substrate 20 and control circuit substrate 30 to generate substrate 20 with respect to driving voltage with the state that control circuit substrate 30 erects respectively.Two drive circuit substrate 40 form the rectangular plate shape that is blown into direction that is extends along fore-and-aft direction along cooling fan F, are configured on left and right directions, face each other and be parallel to each other.In addition, above-mentioned two drive circuit substrate 40 with respect to framework 1 to be configured in left and right directions different each other, and the alternating current motor M that becomes driven object is different each other, on the other hand, the structure of electronic component that is equipped on each drive circuit substrate 40 is mutually the same.Therefore, below the drive circuit substrate that is disposed at the right side 40 in two drive circuit substrate 40 is described, for the drive circuit substrate 40 that is disposed at the left side, only to describing with the drive circuit substrate that is disposed at the right side 40 mutual differences.
On the base of drive circuit substrate 40, be equipped with first input connector 41 and same second input connector 42 that extends along fore-and-aft direction that extends along fore-and-aft direction side by side along fore-and-aft direction.First input connector 41 has the pin of the pin embedded hole that embeds first out connector 21; Through embedding this first input connector 41, driving voltage is generated the output voltage of substrate 20 that is the DC voltage of driving voltage and 15V inputs to drive circuit substrate 40.Second input connector 42 has the pin of the pin embedded hole that embeds second out connector 36, and through embedding this second input connector 42, the control signal of Self Control circuit substrate 30 inputs to drive circuit substrate 40 in the future.In addition, generate the driving voltage of substrate 20 to two systems of first input connector, 41 inputs from driving voltage, and, the DC voltage of substrate 20 generated from driving voltage to the 15V of two systems of first input connector, 41 inputs.And, the control signal of two systems that are used for to the input of second input connector 42 mutually different two alternating current motor M are driven.
The substantial middle of the above-below direction in the right flank of drive circuit substrate 40 is equipped with the first power module 43B and second source module 43F side by side along fore-and-aft direction.And,, be fixed with the mode of the integral body that covers above-mentioned power module and be used for a thermal component 44 that the first power module 43B and second source module 43F are cooled off at the right flank of the first power module 43B and the right flank of second source module 43F.
For two power module 43B, 43F, its on drive circuit substrate 40 to be configured in fore-and-aft direction different each other, and the alternating current motor M that becomes driven object is different each other, on the other hand, the circuit structure that is equipped on each power module is mutually the same.Therefore, below the first power module 43B that is disposed at rear side among two power module 43B, the 43F is described, for the second source module 43F that is disposed at face side, only to describing with the mutual difference of the first power module 43B.
A side who inputs in the driving voltage of two systems of first input connector 41 is input to the first power module 43B, and a side who inputs in the DC voltage of 15V of two systems of first input connector 41 is input to the first power module 43B.In addition, input in two control signals of second input connector, be input to the first power module 43B with the corresponding control signal of driven object of this first power module 43B.
The first power module 43B is generated the direct voltage drive of the 15V that substrate 20 exported by driving voltage.At this first power module 43B; Be packaged with the type of voltage step-up that the driving voltage that is used to make driving voltage to generate substrate 20 outputs goes up and down, the driving voltage that generates the 280V of substrate 20 inputs from driving voltage is boosted to the voltage of the driving that is suitable for alternating current motor M.And, being packaged with the transducer loop at the first power module 43B, this transducer loop is made up of based on the on-off element that carries out ON/OFF control from the control signal of control circuit substrate 30 inputs a plurality of.And then; In the first power module 43B; Utilization comes on-off element is carried out ON/OFF control from the control signal of control circuit substrate 30 input, and thus, the voltage after utilizing type of voltage step-up to boost is converted into for example three-phase alternating voltage as polyphase ac voltage.
In the top of drive circuit substrate 40, be equipped with the first modular connector 45B and the same second modular connector 45F that extends along fore-and-aft direction that extends along fore-and-aft direction side by side along fore-and-aft direction.At the upper surface of the first modular connector 45B, be arranged with the pin embedded hole of a plurality of supply and marketing embeddings along fore-and-aft direction with the mode of opening towards the top.The first modular connector 45B is connected with the lead-out terminal of the first power module 43B in the inside of drive circuit substrate 40, utilizes the polyphase ac voltage of above-mentioned first power module 43B generation from this first modular connector 45B output.On the other hand, the upper surface of the second modular connector 45F with court above the mode of opening be arranged with the pin embedded hole that a plurality of supply and marketing embed along fore-and-aft direction.The second modular connector 45F is connected with the lead-out terminal of second source module 43F in the inside of drive circuit substrate 40, utilizes the polyphase ac voltage of above-mentioned second source module 43F generation from this second modular connector 45F output.
And then 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 utilizes each power module 43B, 43F to generate is exported to each alternating current motor M via this polyphase ac voltage connector 4.
Next, the effect to the robot controller that is made up of said structure below describes.
When from the external power source plug via circuit brake 3 when noise filter NF input has the alternating voltage of 200V, utilize noise filter NF to remove alternating voltage behind the denoising and exported to driving voltage from noise filter NF and generate substrate 20.Next; The alternating voltage that is input to driving voltage generation substrate 20 is assigned to the first power circuit substrate P S1, second source circuit substrate PS2 and the 3rd power circuit substrate P S3, in the first power circuit substrate P S1, second source circuit substrate PS2 and the 3rd power circuit substrate P S3, is converted into different DC voltage each other.And, generate in the substrate 20 at driving voltage, be converted into the DC voltage of driving voltage that is 280V from the alternating voltage of noise filter NF.And then, utilize the DC voltage of the 15V of first power circuit substrate P S1 generation to be input to two drive circuit substrate 40 via first out connector 21 and first input connector 41 respectively from driving voltage generation substrate 20 with the driving voltage that utilizes driving voltage to generate substrate 20 generations.
On the other hand; In the time will inputing to control circuit substrate 30 from the detection signal of peripherals via I/O port one 7 in order to make the R of robot move to job position; In control circuit substrate 30, obtain the detection signal of each angular sensor with port one 1 via position detector.Next; In control circuit substrate 30; Based on the testing result of position command and each angular sensor of expression job position, generate and be used to track that the R of robot is moved to job position, and calculate the drive amount that is used to make the alternating current motor M that the R of robot moves along this track.And then; In control circuit substrate 30; Generate and corresponding each voltage instruction mutually of the drive amount of being calculated, and will input to two drive circuit substrate 40 respectively from control circuit substrate 30 with this voltage instruction control signal corresponding via second out connector 36 and second input connector 42.
Then; In drive circuit substrate 40; The driving voltage that generates substrate 20 inputs from driving voltage is boosted to the voltage of the driving that is suitable for alternating current motor M, and based on the ON/OFF control from the control signal of control circuit substrate 30 inputs, the voltage after this boosts is converted into polyphase ac voltage.And then in robot controller, 30 pairs of frequencies that input to the control signal of drive circuit substrate 40 of control circuit substrate are controlled, and thus, supply with the corresponding electric current of drive amount with alternating current motor M mutually to each of this alternating current motor M.
At this moment; Be used for controlling the process of the control signal of polyphase ac voltage in generation, owing to need carry out supercomputing based on the position of rotation of alternating current motor M, therefore; In the control circuit substrate 30 that generates this type of control signal, need multi-ply construction naturally as base plate structure.On the other hand, the driving voltage that converts driving voltage at the output voltage with alternating voltage into generates in the substrate 20, owing to need not carry out above-mentioned supercomputing, therefore, for this type of driving voltage generates substrate 20, does not need multi-ply construction.If form said structure, generate substrate 20 and control circuit substrate 30 owing to constitute driving voltage respectively with mutual different functions, therefore, can in each circuit substrate, adopt and require corresponding lit-par-lit structure with each.In addition; Generating substrate 20 at driving voltage constitutes under the situation of a circuit substrate with control circuit substrate 30; In order to make a circuit substrate satisfy above-mentioned mutual different requirement; This circuit substrate multiple stratification, complicated need be made, but, the lit-par-lit structure that is disposed at the circuit substrate in the framework 1 can be simplified according to said structure.
In addition; Driving voltage generates substrate 20 and disposes side by side at the base panel 1B of framework 1 with control circuit substrate 30; And the drive circuit substrate 40 of using above-mentioned driving voltage to generate the output of substrate 20 and control circuit substrate 30 is set up in driving voltage generation substrate 20 and control circuit substrate 30 to generate substrate 20 with respect to this driving voltage with the state that control circuit substrate 30 erects.Therefore; For two circuit substrates of the connection destination that becomes drive circuit substrate 40, can suppress above-mentioned two circuit substrates and be separated from each other the result; The wiring of the lead in can simplified driving circuit substrate 40, and then internal structure that can simplified driving circuit substrate 40.
In addition; Be set up in driving voltage when generating substrate 20 and control circuit substrate 30 when drive circuit substrate 40 generates mode that substrate 20 and control circuit substrate 30 and drive circuit substrate 40 be parallel to each other with driving voltage, driving voltage generates substrate 20 and is covered by drive circuit substrate 40 with control circuit substrate 30.On the other hand; If form said structure; Owing to can the zone of the driving voltage generation substrate 20 that is covered by drive circuit substrate 40, the zone of control circuit substrate 30 be suppressed at Min., therefore, can guarantee maintainability to each circuit substrate.
As above illustrated,, can access the effect of enumerating as follows according to the robot controller of this embodiment.
(1) generates substrate 20 and control circuit substrate 30 owing to constitute driving voltage respectively, therefore, can in each circuit substrate, adopt and require corresponding lit-par-lit structure with each.Therefore, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework 1.
(2) because driving voltage generates substrate 20 and control circuit substrate 30 disposes at the base panel 1B of framework 1 side by side; Therefore; For above-mentioned two circuit substrates of the connection destination that becomes drive circuit substrate 40, can suppress above-mentioned two circuit substrates and be separated from each other.As a result, the wiring of the lead in can simplified driving circuit substrate 40, and then internal structure that can simplified driving circuit substrate 40.
(3) because drive circuit substrate 40 is set up in driving voltage generation substrate 20 and control circuit substrate 30 to generate substrate 20 with respect to driving voltage with the state that control circuit substrate 30 erects, therefore, can guarantee maintainability to each circuit substrate.
(4) driving voltage generates substrate 20 and drive circuit substrate 40 and is connected by the chimeric installation between first out connector 21 and first input connector 41, and control circuit substrate 30 and drive circuit substrate 40 are connected by the chimeric installation between second out connector 36 and second input connector 42.Therefore; Can under the situation of not using the cable that links together between being used for circuit substrate, above-mentioned driving voltage be generated substrate 20 and control circuit substrate 30 directly is connected with drive circuit substrate 40; In the framework 1 of robot controller, can save lead.
(5) operation that just can carry out for the inside of not opening framework 1, position detector are with port one 1, promptly stop to carry out the front panel 1F that the necessary interface of this operation all is embedded in framework 1 with port one 2, TP with port one 3, first USB port 14, second USB port 15, LAN port one 6, I/O port one 7 etc.Therefore, compare in the back panel of robot controller, the situation of base panel 1B, being connected between robot controller and the external unit, cutting off and become easy with above-mentioned interface configuration.
(6) the connection destination of above-mentioned interface that is control circuit substrate 30 are configured in the face side of the base panel 1B of framework 1.If form this class formation, then can under the situation of not using the cable that is used to connect control circuit substrate 30 and each port, above-mentioned control circuit substrate 30 be connected with each port, also can in the framework 1 of robot controller, save lead.
(7) driving voltage generation substrate 20, control circuit substrate 30, drive circuit substrate 40 are disposed at each side in the framework 1 that is rectangular shape respectively.According to this class formation; Because the occupied space of each circuit substrate is the space along each sidewall of framework 1; Therefore; The situation that the inner space that has suppressed framework 1 is divided by circuit substrate, and then, guarantee to be used to dispose lead, the necessary continuous space of electronic component easily in framework 1 inside.
(8) dispose with the mode that is parallel to each other respectively owing to two drive circuit substrate 40; Therefore; Compare with the situation that cross one another mode disposes respectively with two drive circuit substrate 40, can reduce the size in the occupied space of this two drive circuit substrate 40.And then, can realize the miniaturization of robot controller.
In addition, above-mentioned embodiment also can be implemented based on following mode.
A plurality of drive circuit substrate 40 also can dispose according to cross one another mode, even adopt this class formation, also can access the effect that above stating (1)～(7) are as the criterion.Emphasis is, as long as adopt drive circuit substrate 40 to be set up in the structure that driving voltage generates substrate 20 and control circuit substrate 30 with the state that generates substrate 20 and control circuit substrate 30 with respect to power circuit substrate that is driving voltage and erect.
A plurality of drive circuit substrate 40 can constitute and be disposed at right panel 1R and Left-Hand Panel 1L respectively, perhaps also can constitute and only be disposed at right panel 1R.For example; Have in robot under the situation of six alternating current motor M as controlling object; Can adopt three drive circuit substrate 40 to be disposed at the structure of Left-Hand Panel 1L side, perhaps adopt two drive circuit substrate 40 to be disposed at the structure that Left-Hand Panel 1L side, a remaining drive circuit substrate 40 are disposed at right panel 1R side.
And, be that this drive circuit substrate 40 adopts the structure that is disposed at any side among right panel 1R and the Left-Hand Panel 1L to get final product under 1 the situation in the quantity of drive circuit substrate 40.Even this class formation also can access the effect that above stating (1)～(7) are as the criterion.And, also can adopt drive circuit substrate 40 more than 1 to be disposed at the structure of the central authorities on the left and right directions of framework 1.Even this class formation also can access the effect that above stating (1)～(6) are as the criterion.
Also can adopt driving voltage to generate the face side that substrate 20 is configured in the base panel 1B of framework 1, and control circuit substrate 30 is configured in the structure of rear side of the base panel 1B of framework 1.Even this class formation also can access the effect that above stating (1)～(4) are as the criterion.And, because the signal cable that is connected with robot controller, the rear side that power supply cable comes together in robot controller, therefore, can suppress these cable classes the operation of robot controller is caused obstacle.
The structure that also can adopt driving voltage generation substrate 20 and drive circuit substrate 40 to connect, and the structure that also can adopt control circuit substrate 30 and drive circuit substrate 40 to connect via being connected cable via being connected cable.Even this class formation also can access the effect that above stating (1)～(3) are as the criterion, and, can improve the configuration of drive circuit substrate 40 degree of freedom, be used for degree of freedom with the configuration of the connector that links together between the circuit substrate.
Robot controller also can be taken in the inside of framework 1 and foregoing circuit substrate, the different miscellaneous part of electronic component.For example, the structure of regeneration resistance is taken in the inside that also can be employed in framework, and voltage that is the regenerated energy that this regeneration resistance is used for returning when the R of robot slowed down robot controller converts heat into and consume.And, for example also can be employed in the structure that the comparer substrate is taken in the inside of framework, this comparer substrate has when above-mentioned regenerated energy rises, and regenerated energy is supplied to the comparator function of regeneration resistance with the magnitude of voltage of regulation.
Symbol description:
F... cooling fan; M... alternating current motor; R... robot; Fa... extraneous air filtrator; NF... noise filter; PS1... the first power circuit substrate; PS2... second source circuit substrate; PS3... the 3rd power circuit substrate; 1... framework; 1B... base panel; 1F... front panel; 1L... Left-Hand Panel; 1P... expansion panel; 1R... right panel; 1S... support plate; 2... external power supply connector; 3... circuit brake; 3a... control lever; 4... polyphase ac voltage connector; 11... position detector is used port; 12... promptly stop to use port; 13...TP use port; 14... first USB port; 15... second USB port; 15a... trigger switch; 16...LAN port; 17...I/O port; 18... sequencer port; 19... expansion I/O port; 20... driving voltage generates substrate; 21... first out connector; 30... control circuit substrate; 31...CPU plate; 32... interface board is used in communication; 33... connector is used in expansion; 34... card-type storage medium; 35... Memory connector; 36... second out connector; 40... drive circuit substrate; 41... first input connector; 42... second input connector; 43... power module; 43B... first power module; 43F... second source module; 45B... first modular connector; 45F... second modular connector; 44... thermal component; 51... framework; 52... instruction generates substrate; 53... drive controlling substrate; 54... drive circuit substrate.
Claims (7)
1. a robot controller is characterized in that,
This robot controller is controlled the robot that is equipped with alternating current motor,
Wherein, said robot controller possesses:
Alternating voltage is converted into the power circuit substrate of DC voltage that is driving voltage and output;
The output voltage of said power circuit substrate is converted into polyphase ac voltage and exports the drive circuit substrate of said alternating current motor to; And
To export the control circuit substrate of said drive circuit substrate based on the control signal that the position of rotation of said alternating current motor is controlled the output voltage of said drive circuit substrate to,
Said power circuit substrate and the bottom surface of said control circuit substrate in framework dispose with mutual mode arranged side by side,
Said drive circuit substrate is set up in said power circuit substrate and said control circuit substrate with the state that erects with respect to said power circuit substrate and said control circuit substrate.
2. robot controller according to claim 1 is characterized in that,
Said power circuit substrate has first out connector of the said driving voltage of output,
Said control circuit substrate has second out connector of the said control signal of output,
Said first out connector and said second out connector dispose along a direction side by side,
A limit of bottom surface side in the periphery of said drive circuit substrate, that be positioned at said framework, along a said direction be equipped with side by side with first input connector of the chimeric installation of said first out connector and with second input connector of the chimeric installation of said second out connector.
3. robot controller according to claim 1 is characterized in that,
Said framework is rectangular shape,
Said power circuit substrate is disposed at the rear side of this framework in the bottom surface in the said framework,
Said control circuit substrate is disposed at the face side of this framework in the bottom surface in the said framework; And; Said control circuit substrate has the port of confession from the detection signal input of the detecting device of the position of rotation that detects said alternating current motor in the face side of said framework
Said port embeds the front panel of said framework.
4. robot controller according to claim 2 is characterized in that,
Said framework is rectangular shape,
Said power circuit substrate is disposed at the rear side of this framework in the bottom surface in the said framework,
Said control circuit substrate is disposed at the face side of this framework in the bottom surface in the said framework; And; Said control circuit substrate has the port of confession from the detection signal input of the detecting device of the position of rotation that detects said alternating current motor in the face side of said framework
Said port embeds the front panel of said framework.
5. robot controller according to claim 3 is characterized in that,
Said drive circuit substrate is disposed at interior right flank of said framework and any side in the left surface in the said framework.
6. robot controller according to claim 4 is characterized in that,
Said drive circuit substrate is disposed at interior right flank of said framework and any side in the left surface in the said framework.
7. according to each described robot controller in the claim 1～6, it is characterized in that,
This robot controller possesses a plurality of said drive circuit substrate,
Said a plurality of drive circuit substrate is set up in said power circuit substrate and said control circuit substrate with the mode that is parallel to each other respectively.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-075826 | 2011-03-30 | ||
| JP2011075826A JP5803213B2 (en) | 2011-03-30 | 2011-03-30 | Robot controller |
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| CN 201220512952 Division CN203069996U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
| CN 201220512994 Division CN203069997U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN202563278U true CN202563278U (en) | 2012-11-28 |
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| CN 201220512994 Expired - Lifetime CN203069997U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
| CN2012200766055U Expired - Lifetime CN202563278U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
| CN 201220512952 Expired - Lifetime CN203069996U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN 201220512994 Expired - Lifetime CN203069997U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220512952 Expired - Lifetime CN203069996U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN (3) | CN203069997U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106466845A (en) * | 2015-08-19 | 2017-03-01 | 精工爱普生株式会社 | Robot controller, robot and robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6332794B2 (en) * | 2014-05-15 | 2018-05-30 | 株式会社ケーヒン | Voltage detector |
| CN104076736B (en) * | 2014-07-15 | 2017-02-15 | 上海维宏电子科技股份有限公司 | Method for achieving motion control multi-branch synchronous execution based on teaching instructions |
| JP2017039183A (en) * | 2015-08-19 | 2017-02-23 | セイコーエプソン株式会社 | Robot control device, robot, and robot system |
| JP6657656B2 (en) * | 2015-08-19 | 2020-03-04 | セイコーエプソン株式会社 | Robot controller, robot, robot system |
| JP2022101840A (en) * | 2020-12-25 | 2022-07-07 | 日本電産サンキョー株式会社 | Control device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11126987A (en) * | 1997-10-24 | 1999-05-11 | Denso Corp | Control device |
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- 2012-03-02 CN CN 201220512994 patent/CN203069997U/en not_active Expired - Lifetime
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106466845A (en) * | 2015-08-19 | 2017-03-01 | 精工爱普生株式会社 | Robot controller, robot and robot system |
| CN106466845B (en) * | 2015-08-19 | 2022-05-10 | 精工爱普生株式会社 | Robot control device, robot, and robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN203069997U (en) | 2013-07-17 |
| JP5803213B2 (en) | 2015-11-04 |
| JP2012206239A (en) | 2012-10-25 |
| CN203069996U (en) | 2013-07-17 |
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