CN203069997U - Robot controller - Google Patents
Robot controller Download PDFInfo
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- CN203069997U CN203069997U CN 201220512994 CN201220512994U CN203069997U CN 203069997 U CN203069997 U CN 203069997U CN 201220512994 CN201220512994 CN 201220512994 CN 201220512994 U CN201220512994 U CN 201220512994U CN 203069997 U CN203069997 U CN 203069997U
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Abstract
A robot controller used for controlling 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 voltage into direct voltage, namely driving voltage, and outputs the driving voltage, the driving circuit substrate converts the output 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 outputs a control signal for controlling the output voltage of the driving circuit substrate based on a rotation position of the alternating-current motor to the driving circuit substrate, the power circuit substrate and the control circuit substrate are configured side by side on a bottom surface in a frame body, 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
Dividing an application of the application's patented claim that to be the applicant propose on March 2nd, 2012 (national applications number: 201220076605.5, denomination of invention is robot controller).
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, as described in patent documentation 1, the inside in the framework of robot controller disposes a plurality of circuit substrates of controlling for to the driving of alternating current motor.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 in the lump by the robot controller of the state after pulling down from framework 51 and its control object that is robot.
As shown in Figure 4, the control 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 fixedly has the instruction of having carried CPU to generate substrate 52, and fixedly there is the control of driving substrate 53 at the back side in framework 51.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 driving control 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 the output of modulation systems such as PWM and the corresponding pulse signal of this voltage instruction.Driving control substrate 53 four upright drive circuit substrate 54 with respect to this is connected with this type of driving control substrate 53 via connector 53c.And then four drive circuit substrate 54 are utilized the converter circuit that carries respectively, based on driving the pulse signal that control 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 driving control 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, drive the 53 generation switchings of control substrate in utilization and use in the process of pulse signal, become the clock signal of benchmark 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 driving control substrate 53, in order to realize this type of supercomputing, need the multi-ply construction more than 6 layers usually.Relative therewith, when the AC voltage conversion with 200V is the DC voltage of for example 280V, owing to do not need to carry out above-mentioned supercomputing, therefore, in the zone of the generation driving voltage in driving control substrate 53, as long as lit-par-lit structure about two-layer is arranged usually.
Yet in driving the such installation base plate of control substrate 53, owing to from the viewpoint of manufacturing process, be difficult to the number of plies at specific area change lit-par-lit structure, therefore general installation base plate integral body all constitutes with the identical number of plies.Therefore, in the robot controller that is constituted by said structure, from the result, 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, therefore, can make the internal structure that drives the control substrate too complicated undoubtedly.
The utility model content
The utility model is finished 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 the power circuit substrate that the output voltage of alternating voltage is converted to DC voltage that is driving voltage and output, the output voltage of above-mentioned power circuit substrate is converted to polyphase ac voltage and exports the drive circuit substrate of above-mentioned alternating current motor to, and will export the control circuit substrate of 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 in 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.Generating the process that is used for many phase alternating current is compressed into the control signal of row control, 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, be converted in the power circuit substrate of DC voltage at the output voltage with alternating voltage, do not need to carry out above-mentioned supercomputing, therefore, for this type of power circuit substrate, do not need multi-ply construction.
In this point, if form said structure, then owing to constitute control circuit substrate and the power circuit substrate with mutually different function respectively, therefore, can in each circuit substrate, adopt and the corresponding lit-par-lit structure of requirement separately.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 different requirement mutually, need make this circuit substrate multiple stratification, complicated, but according to said structure, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework.
In addition, control circuit substrate and power circuit substrate dispose in 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, the driven circuit substrate of power circuit substrate and control circuit substrate covered.On the other hand, if form said structure, owing to the power circuit substrate of driven circuit substrate covering, the zone of control circuit substrate can be suppressed at Min., therefore, can guarantee the maintainability of each circuit substrate.
Of the present utility model focusing on, 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 side by side along a direction, in the periphery of above-mentioned drive circuit substrate, be positioned at a limit of the bottom surface side of above-mentioned framework, be equipped with first input connector with the chimeric installation of above-mentioned first out connector side by side along an above-mentioned direction, with 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 situation about not using for the cable that links together between with 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.
Of the present utility model focusing on, above-mentioned framework is rectangular shape, above-mentioned power circuit substrate is disposed at the rear side of this framework in the interior bottom surface of above-mentioned framework, above-mentioned control circuit substrate is disposed at the face side of this framework in the interior bottom surface of above-mentioned framework, and, above-mentioned control circuit substrate has confession from the port of 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 with above-mentioned interface configuration, being connected between robot controller and the detecting device, cutting off and become easy.In addition, can under situation about not using for the cable that 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.
Of the present utility model focusing on, above-mentioned drive circuit substrate are disposed at the interior right flank of above-mentioned framework and any one party 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, can suppress the situation that the inner space of framework is divided by circuit substrate, and then, can guarantee in the inside of framework for configuration lead, the necessary continuous space of electronic component.
Of the present utility model focusing on 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 in the mode that is parallel to each other respectively.
Of the present utility modelly focus on providing a kind of robot controller, it is characterized in that, this robot controller is controlled the robot that is equipped with motor, wherein, described robot controller possesses: the driving voltage that will be driving voltage and output from the voltage transitions of external power source generates substrate; Described driving voltage is converted to the drive circuit substrate of motor driving voltage and output; And output is used for the control circuit substrate of the control signal of the described motor driving voltage of control, described driving voltage generates substrate and the configuration side by side in framework of described control circuit substrate, and described drive circuit substrate is set up in described driving voltage with the state that generates substrate and described control circuit substrate with respect to described driving voltage and erect and generates substrate and described control circuit substrate.
And, in above-mentioned robot controller, it is characterized in that, described driving voltage generates first out connector that substrate has the described driving voltage of output, described control circuit substrate has second out connector of the described control signal of output, and described first out connector and described second out connector dispose side by side along a direction.
And, in above-mentioned robot controller, it is characterized in that, in described drive circuit substrate, dispose chimeric first input connector and chimeric second input connector that is installed on described second out connector that is installed on described first out connector side by side.
And, in above-mentioned robot controller, it is characterized in that described framework is rectangular shape, described driving voltage generates substrate and is configured in the interior rear side of described framework, and described control circuit substrate is configured in the face side in the described framework.
And, in above-mentioned robot controller, it is characterized in that described robot controller has reception from the position detector port of the detection signal of the detecting device of the position of rotation that detects described motor, described position detector is embedded in the front panel of described framework with port.
And, in above-mentioned robot controller, it is characterized in that, described front panel embed have receive urgent halt instruction promptly stop to use port.
And, in above-mentioned robot controller, it is characterized in that embedding at described front panel has the TP port that receives the teaching instruction.
And, in above-mentioned robot controller, it is characterized in that embedding at described front panel has reception from the USB port of the instruction of outer computer.
And, in above-mentioned robot controller, it is characterized in that embedding at described front panel has the LAN port that links to each other with network.
And, in above-mentioned robot controller, it is characterized in that embedding at described front panel has the I/O port that links to each other with peripherals.
And, in above-mentioned robot controller, it is characterized in that described robot controller possesses a plurality of described drive circuit substrate, described a plurality of drive circuit substrate are set up in described driving voltage in the mode that is parallel to each other respectively and generate substrate and described control circuit substrate.
According to the utility model, because a plurality of drive circuit substrate dispose in the mode that is parallel to each other respectively, therefore, compare with the situation that cross one another mode disposes respectively with a plurality of drive circuit substrate, can reduce the size in the occupied space of above-mentioned 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 that the robot controller of an embodiment of the present utility model is shown.
Fig. 2 is the in-built stereographic map that the robot controller of same embodiment is shown centered by the feed system of power supply.
Fig. 3 is that the internal structure at the robot controller of same embodiment illustrates drive circuit substrate with respect to the stereographic map of 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 conventional example and robot as control object are together illustrated.
Embodiment
Below, with reference to Fig. 1～Fig. 3 the embodiment that robot controller of the present utility model specialized is described.In addition, the control object of the robot controller of present 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 control object of robot controller, mark the label identical with the previously described R of robot, the repetitive description thereof will be omitted.
The external structure of robot controller
At first, the external structure with reference to the robot controller of Fig. 1 describes.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 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 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 according to the mode that this order is arranged along left and right directions with the splicing ear of each port from the left end of front panel 1F.
Position detector is used port one 1 and is detected four angular sensors such as the rotary transformer (resolver) of the position of rotation separately of four alternating current motor M, scrambler and is connected, and represents the position detection signal of this detected position of angular sensor respectively with port one 1 input from four angular sensors to this position detector.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, imports the data of using from teaching machine to this TP with port one 3 the teaching of the R of robot.
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 input and the output of various digital signals are handled.I/O port one 7 is the connectors that are equipped on the width maximum of 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 in order to make robot motion, cooperate the action of robot and driven peripherals is connected.And then, the signal of the state of the state of 7 input expression robots self, robot periphery from peripherals to this I/O port one, 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, in the mode that can change cooling fan F is installed.Sequencer port one 8 is connected with sequencer via for example RS-232C, and 8 inputs are used for making the control signal of robot motion from this sequencer to the sequencer port one.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 in 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 for example take camera as the workpiece of the manipulating object of robot, detect the sensor etc. of position of this workpiece in order to make the necessary peripherals of robot motion, to cooperate the action of robot and driven peripherals is connected.And then, the signal of the state of the state of 9 input expression robots self, robot periphery from peripherals to the expansion I/O port one, 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 control 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, the internal structure with reference to Fig. 2 and the robot controller of Fig. 3 describes.In addition, in Fig. 2, describe for the ease of the internal structure to robot controller, 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 the configuration thereof to each circuit substrate, omitted the cable of cable, connecting circuit substrate and electronic component between the connecting circuit substrate and the cable between the connection electronic component.
As shown in Figure 2, dispose the power supply system that is connected and the alternating voltage of 200V is converted to DC voltage and output with circuit brake 3 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.
Fixedly there is noise filter NF in upside central authorities at the right panel 1R of framework 1.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 importing the alternating voltage of 200V from circuit brake 3 to noise filter NF, noise filter NF removes denoising from this alternating voltage, and the alternating voltage that will remove behind this noise exports driving voltage generation substrate 20 to.
It is the printed circuit board (PCB)s of rectangular plate-like 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 stacked double-deck printed board parallel with base panel 1B forms, at the upper surface of this rigid substrates, the various electronic components that are converted to the DC voltage of driving voltage that is 280V for the alternating voltage with 200V 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 generating substrate 20 input ac voltages from noise filter NF to driving voltage, 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 substrate 20 will be converted to DC voltage that is the driving voltage of 280V from the alternating voltage of noise filter NF input, and export this driving voltage to drive circuit substrate 40.
The first power circuit substrate P S1 is the circuit substrate of rectangular plate-like that is fixed in the rear side top of right panel 1R, and is that the installation base plate of various electronic components that is converted to the DC voltage of 15V for the alternating voltage with 200V 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 to first power circuit substrate P S1 distribution alternating voltage from driving voltage, the first power circuit substrate P S1 is converted to the DC voltage of 15V with this alternating voltage, 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-like that is fixed in the rear side below of right panel 1R, and is that the installation base plate of various electronic components that is converted to the DC voltage of 5V for the alternating voltage with 200V 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 and distribute alternating voltage to second source circuit substrate PS2, second source circuit substrate PS2 is converted to the DC voltage of 5V with this alternating voltage, 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-like 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 is converted to the DC voltage of 24V for the alternating voltage with 200V 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 and distribute alternating voltage to the 3rd power circuit substrate P S3, the 3rd power circuit substrate P S3 is converted to the DC voltage of 24V with this alternating voltage, and the DC voltage after will changing exports control circuit substrate 30 to.
Be described in detail, be connected with above-mentioned position detector 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 port one 3 at control circuit substrate 30, instruct from the teaching of teaching machine to be input to control circuit substrate 30 via TP with port one 3.
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 at control circuit substrate 30, export the signal of representing treatment state robot controllers with the network that is connected with this LAN port one 6 from control circuit substrate 30 via LAN port one 6.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 of having 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 parsings and execution are used for the tutorial program of teaching position to the R of robot teaching, and resolve and carry out for the program that the R of robot is moved to the job position of stipulating.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, generate for the track that the R of robot is moved to teaching position, job position, and generate the position command of the mobile destination of the expression R of robot.Then, control circuit substrate 30 is calculated the driving amount be used to the alternating current motor M that the R of robot is moved to the represented position of position command, and corresponding each phase voltage directive of the driving amount that generates and calculate.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 31 inputs when testing result is arranged from angular sensor to CPU board, CPU board 31 just carry out this type of track generation, with track driving amount accordingly calculate and with the output of the corresponding control signal of driving amount.
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 for making 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 connector 33 that extends along fore-and-aft direction.Three expansions with connector 33 respectively with towards 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 has 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 has 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, structure, this drive circuit substrate 40 with reference to the drive circuit substrate 40 of Fig. 3 describes 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, be arranged with the pin embedded hole that a plurality of supply and marketing embed in the mode towards the top opening along fore-and-aft direction, export the DC voltage of utilizing driving voltage to generate the driving voltage of substrate 20 generations and utilizing 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 in the mode towards the top opening along fore-and-aft direction, utilize the control signal of control circuit substrate 30 generations from these second out connector, 36 outputs.
Two drive circuit substrate 40 are set up in above-mentioned driving voltage and generate substrate 20 and control circuit substrate 30 to generate state that substrate 20 and control circuit substrate 30 erect with respect to driving voltage respectively.Two drive circuit substrate 40 form the rectangular plate-like that is blown into direction that is extends along fore-and-aft direction along cooling fan F, are configured on left and right directions mutually in the face of and are 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 mutually, and the alternating current motor M that becomes driven object is different mutually, 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 40 mutual differences that are disposed at the right side.
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, by 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, by embedding this second input connector 42, will input to drive circuit substrate 40 from the control signal of control circuit substrate 30.In addition, generate substrate 20 to the driving voltage of two systems of first input connector, 41 inputs from driving voltage, and, substrate 20 generated to the DC voltage of the 15V of two systems of first input connector, 41 inputs from driving voltage.And, to the control signal of second input connector, 42 inputs for two systems that 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, at the right flank of the first power module 43B and the right flank of second source module 43F, fixedly be useful on the thermal component 44 that the first power module 43B and second source module 43F are cooled off in the mode of the integral body that covers above-mentioned power module.
For two power module 43B, 43F, its on drive circuit substrate 40 to be configured in fore-and-aft direction different mutually, and the alternating current motor M that becomes driven object is different mutually, 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, the control signal corresponding with the driven object of this first power module 43B be input to the first power module 43B.
The first power module 43B is generated the direct voltage drive of the 15V that substrate 20 exports by driving voltage.At this first power module 43B, be packaged with the type of voltage step-up be used to the driving voltage lifting that makes 20 outputs of driving voltage generation substrate, generate the boosted voltage to the driving that is suitable for alternating current motor M of driving voltage of the 280V of substrate 20 inputs from driving voltage.And, being packaged with the transducer loop at the first power module 43B, this transducer loop is made 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 that a plurality of supply and marketing embed in the mode towards the top opening along fore-and-aft direction.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 towards 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 output to each alternating current motor M via this polyphase ac voltage connector 4.
Next, the effect to the robot controller that is made of said structure below describes.
When to noise filter NF input the alternating voltage of 200V being arranged via circuit brake 3 from the external power source plug, utilize noise filter NF to be output to driving voltage generation substrate 20 from noise filter NF except the alternating voltage behind the denoising.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, is converted into different DC voltage mutually in the first power circuit substrate P S1, second source circuit substrate PS2 and the 3rd power circuit substrate P S3.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 respectively to be input to two drive circuit substrate 40 via first out connector 21 and first input connector 41 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 in order to make the R of robot move to job position via I/O port one 7, 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 the expression position command of job position and each angular sensor, generate and be used for track that the R of robot is moved to job position, and calculate driving amount be used to the alternating current motor M that the R of robot is moved along this track.And then, in control circuit substrate 30, generate and the driving amount of the calculating voltage instruction of each phase accordingly, and will input to two drive circuit substrate 40 respectively from control circuit substrate 30 with the corresponding control signal of this voltage instruction via second out connector 36 and second input connector 42.
Then, in drive circuit substrate 40, generate the boosted voltage to the driving that is suitable for alternating current motor M of driving voltage that substrate 20 is imported from driving voltage, based on the ON/OFF control of the control signal of importing from control circuit substrate 30, 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 driving amount with alternating current motor M mutually to each of this alternating current motor M.
At this moment, in the process that generates the control signal that is used for control polyphase ac voltage, owing to the supercomputing that need carry out 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 is converted to driving voltage at the output voltage with alternating voltage generates in the substrate 20, owing to do not need to carry out above-mentioned supercomputing, therefore, does not need multi-ply construction for this type of driving voltage generates substrate 20.If form said structure, generate substrate 20 and control circuit substrate 30 owing to constitute the driving voltage with different mutually functions respectively, therefore, can in each circuit substrate, adopt with each and require corresponding lit-par-lit structure.In addition, constitute under the situation of a circuit substrate at driving voltage generation substrate 20 and control circuit substrate 30, in order to make a circuit substrate satisfy above-mentioned different requirement mutually, need make this circuit substrate multiple stratification, complicated, but according to said structure, can simplify the lit-par-lit structure that is disposed at the circuit substrate in the framework 1.
In addition, driving voltage generates substrate 20 and control circuit substrate 30 disposes side by side at the base panel 1B of framework 1, 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 with the state that generates substrate 20 and control circuit substrate 30 with respect to this driving voltage and erect and generates substrate 20 and control circuit substrate 30.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 control circuit substrate 30 driven circuit substrates 40 cover.On the other hand, if form said structure, because the zone of the driving voltage generation substrate 20 that driven circuit substrate 40 can be covered, the zone of control circuit substrate 30 are suppressed at Min., therefore, can guarantee the maintainability at each circuit substrate.
As mentioned above, according to the robot controller of present embodiment, can access the following effect of enumerating.
(1) generates substrate 20 and control circuit substrate 30 owing to constitute driving voltage respectively, therefore, can in each circuit substrate, adopt with each and require corresponding lit-par-lit structure.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 side by side at the base panel 1B of framework 1, 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) generate substrate 20 and control circuit substrate 30 because drive circuit substrate 40 is set up in driving voltage with the state that generates substrate 20 and control circuit substrate 30 with respect to driving voltage and erect, therefore, can guarantee the 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 not using for the situation of the cable that links together between with 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 with above-mentioned interface configuration, being connected between robot controller and the external unit, cutting off and become easy.
(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 situation about not using for the cable that connects 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, suppressed the situation that the inner space of framework 1 is divided by circuit substrate, and then, guarantee in framework 1 inside easily for configuration lead, the necessary continuous space of electronic component.
(8) dispose in 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 the robot as control object under the situation of six alternating current motor M, 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 one party 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 via being connected cable, and the structure that also can adopt control circuit substrate 30 and drive circuit substrate 40 to connect 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 the degree of freedom of the configuration of the connector that will link together between the circuit substrate.
Robot controller also can be taken in the miscellaneous part different with foregoing circuit substrate, electronic component in the inside of framework 1.For example, also can adopt the structure of taking in regeneration resistance in the inside of framework, this regeneration resistance returns the voltage of robot controller that is regenerated energy when the R of robot is slowed down and is converted to heat and consumes.And, for example also can adopt the structure of taking in the comparer substrate 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 ... the extraneous air filtrator; NF ... noise filter; PS1 ... the first power circuit substrate; PS2 ... the second source circuit substrate; PS3 ... the 3rd power circuit substrate; 1 ... framework; 1B ... base panel; 1F ... front panel; 1L ... Left-Hand Panel; 1P ... the 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 ... the position detector port; 12 ... promptly stop to use port; 13 ... the TP port; 14 ... first USB port; 15 ... second USB port; 15a ... trigger switch; 16 ... the LAN port; 17 ... the I/O port; 18 ... the sequencer port; 19 ... the expansion I/O port; 20 ... driving voltage generates substrate; 21 ... first out connector; 30 ... the control circuit substrate; 31 ... CPU board; 32 ... the communication interface board; 33 ... the expansion connector; 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 ... the second source module; 45B ... first modular connector; 45F ... second modular connector; 44 ... thermal component; 51 ... framework; 52 ... instruction generates substrate; 53 ... drive the control substrate; 54 ... drive circuit substrate.
Claims (13)
1. a robot controller is characterized in that,
This robot controller is controlled the robot that is equipped with motor,
Wherein, described robot controller possesses:
The driving voltage that will be driving voltage and output from the voltage transitions of external power source generates substrate;
Described driving voltage is converted to the drive circuit substrate of motor driving voltage and output; And
Output is used for the control circuit substrate of the control signal of the described motor driving voltage of control,
Described driving voltage generates substrate and the configuration side by side in framework of described control circuit substrate,
Described drive circuit substrate is set up in described driving voltage with the state that generates substrate and described control circuit substrate with respect to described driving voltage and erect and generates substrate and described control circuit substrate.
2. robot controller according to claim 1 is characterized in that,
Described driving voltage generates first out connector that substrate has the described driving voltage of output,
Described control circuit substrate has second out connector of the described control signal of output,
Described first out connector and described second out connector dispose side by side along a direction.
3. robot controller according to claim 2 is characterized in that,
In described drive circuit substrate, dispose chimeric first input connector and chimeric second input connector that is installed on described second out connector that is installed on described first out connector side by side.
4. robot controller according to claim 1 is characterized in that,
Described framework is rectangular shape,
Described driving voltage generates substrate and is configured in the interior rear side of described framework,
Described control circuit substrate is configured in the face side in the described framework.
5. robot controller according to claim 4 is characterized in that,
Described robot controller has reception from the position detector port of the detection signal of the detecting device of the position of rotation that detects described motor,
Described position detector is embedded in the front panel of described framework with port.
6. robot controller according to claim 3 is characterized in that,
Described framework is rectangular shape,
Described driving voltage generates substrate and is disposed at the interior rear side of described framework,
Described control circuit substrate is disposed at the face side in the described framework.
7. robot controller according to claim 6 is characterized in that,
Described robot controller has reception from the position detector port of the detection signal of the detecting device of the position of rotation that detects described motor,
Described position detector is embedded in the front panel of described framework with port.
8. according to claim 5 or 7 described robot controllers, it is characterized in that,
Described front panel embed have receive urgent halt instruction promptly stop to use port.
9. according to claim 5 or 7 described robot controllers, it is characterized in that,
Embed the TP port that reception teaching instruction is arranged at described front panel.
10. according to claim 5 or 7 described robot controllers, it is characterized in that,
Reception is arranged from the USB port of the instruction of outer computer in described front panel embedding.
11. according to claim 5 or 7 described robot controllers, it is characterized in that,
In described front panel embedding the LAN port that links to each other with network is arranged.
12. according to claim 5 or 7 described robot controllers, it is characterized in that,
In described front panel embedding the I/O port that links to each other with peripherals is arranged.
13. according to each described robot controller in the claim 1～7, it is characterized in that,
Described robot controller possesses a plurality of described drive circuit substrate,
Described a plurality of drive circuit substrate is set up in described driving voltage in the mode that is parallel to each other respectively and generates substrate and described control circuit substrate.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011075826A JP5803213B2 (en) | 2011-03-30 | 2011-03-30 | Robot controller |
| JP2011-075826 | 2011-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200766055U Division CN202563278U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN203069997U true CN203069997U (en) | 2013-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200766055U Expired - Lifetime CN202563278U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
| CN 201220512994 Expired - Lifetime CN203069997U (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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| CN2012200766055U Expired - Lifetime CN202563278U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN 201220512952 Expired - Lifetime CN203069996U (en) | 2011-03-30 | 2012-03-02 | Robot controller |
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| CN (3) | CN202563278U (en) |
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| 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 |
| US10602611B2 (en) * | 2015-08-19 | 2020-03-24 | Seiko Epson Corporation | Robot control apparatus, 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 |
| 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 |
| JP2022101840A (en) * | 2020-12-25 | 2022-07-07 | 日本電産サンキョー株式会社 | Control device |
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| JPH11126987A (en) * | 1997-10-24 | 1999-05-11 | Denso Corp | Control device |
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| CN203069996U (en) | 2013-07-17 |
| CN202563278U (en) | 2012-11-28 |
| JP5803213B2 (en) | 2015-11-04 |
| JP2012206239A (en) | 2012-10-25 |
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