JP2023011283A - Control device, control method, robot system, method for manufacturing article using robot system, control program and recording medium - Google Patents

Abstract

To provide a control device that can reduce interference between circuits having different properties.SOLUTION: A control device includes: a first circuit driven with a first voltage; a second circuit driven with a second voltage that is higher than the first voltage; and a part having a first surface provided with the first circuit and a second surface located on an opposite side to the first surface and provided with the second circuit.SELECTED DRAWING: Figure 4

Description

The present invention relates to control devices.

2. Description of the Related Art In general, an industrial robot that performs tasks such as automatic assembly is provided with a control device having a power circuit including a power supply and a motor driver that supplies power to each motor mounted on the robot. Such a control device also includes a low-voltage circuit consisting of a communication control circuit that performs desired control by providing feedback based on the detection results of various sensors attached to the robot. (Patent Document 1).

JP 2007-144588 A

A control device such as that disclosed in Patent Document 1 includes a power circuit (power supply and motor driver) that handles electric power and a light current circuit (servo control circuit, communication circuit, safety circuit) that performs control and communication. Since the former circuit switches a high voltage, it is assumed that a relatively large amount of noise is generated. However, since the latter circuit is driven by a low voltage, it is relatively susceptible to such noise. As described above, since the control device has circuits with different characteristics, it is necessary to reduce the interference between the two within the limited installation area of the control device.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device capable of reducing interference between circuits having different characteristics.

In order to solve the above problems, in the present invention, a first circuit driven by a first voltage, a second circuit driven by a second voltage higher than the first voltage, and a first circuit provided with the first circuit are provided. and a portion provided with the second circuit on a second surface opposite to the first surface.

According to the present invention, interference between circuits with different characteristics can be reduced.

1 is a schematic diagram of a robot system 1000 in an embodiment; FIG. 1 is a control block diagram of a robot system 1000 in an embodiment; FIG. 3 is an external view of the control device 2 in the embodiment; FIG. It is the figure which showed the internal structure of the control apparatus 2 in embodiment. 1 is a schematic diagram of the structure of a conventional control device; FIG. It is a schematic diagram of the structure of the control apparatus 2 in embodiment. 3 is an external view of the control device 2 in the embodiment; FIG. It is the figure which showed the internal structure of the control apparatus 2 in embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. It should be noted that the embodiment shown below is merely an example, and, for example, details of the configuration can be appropriately modified by those skilled in the art without departing from the scope of the present invention. Further, the numerical values taken up in the present embodiment are reference numerical values and do not limit the present invention. In the drawings below, arrows X, Y, and Z indicate the coordinate system of the entire robot system. In general, the XYZ three-dimensional coordinate system represents the world coordinate system of the entire installation environment. In addition, there are cases where the local coordinate system is appropriately used for robot hands, fingers, joints, etc., depending on convenience of control.

(First embodiment)
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic diagram of a robot system 1000 in this embodiment. The connection relationship between the control device (robot controller) 2 and various external devices in this embodiment will be described with reference to FIG.

As shown in FIG. 1, the robot main body 1 is a 6-axis articulated serial link robot, and each joint is equipped with a motor (not shown) to achieve 6 degrees of freedom of movement. A brake (not shown) is installed at each joint, and the brake is released by turning on the servo control. Also, an end effector (not shown) for holding or gripping a workpiece or the like can be attached to the tip of the robot body 1 . An end effector is attached to the robot body 1, and a predetermined work is held by the end effector. Then, by performing the process of assembling the predetermined work to another work, the predetermined work and the other work can be used as materials, and the assembled work can be manufactured as a product. As described above, the robot main body 1 can manufacture an article.

1 is a front view of the front panel of the control device 2. As shown in FIG. The control device 2 controls the robot main body 1 as a control target. A cable 101 connected to supply power to the motors and brakes at each joint of the robot body 1 is connected to a connector 3 installed above the control device 2 in the figure. Although only one connector 3 is shown in FIG. 1, a plurality of connectors 3 may be installed by appropriately dividing them according to the number of drive shafts of the robot main body 1 .

A cable 102 for communicating sensor signals such as an angle sensor and a torque sensor (not shown) installed inside each joint of the robot body 1 is connected to a connector 5 installed below the control device 2 . An emergency stop switch 10 serving as a safety device for emergency stop of the robot body 1 is connected to the connector 6 via a cable 103 for communication. An external input device 11 such as a teaching pendant for teaching the operation of the robot body 1 by a user is connected to the connector 7 via a cable 104 for communication. For convenience of explanation, FIG. 1 shows one emergency stop switch 10 as a safety device. Also, an enable switch or the like as a function of the emergency stop switch 10 may be installed in the external input device 11 .

The sequence control device 13 performs upper control in the robot main body 1 . That is, the operation order of each device is performed by synchronizing the robot main body 1 with devices other than the robot main body 1, such as a component supply device, an imaging device, and a human sensor device (not shown). The sequence control device 13 is connected to the connector 8 via a cable 105 for general-purpose network communication. The main power cable 12 is connected to a switchboard (not shown) or the like, and is connected to the connector 9 of the control device 2 .

As described above, the power circuit-related connectors 3 and 9 for outputting electric power to the motors and brakes of the robot body 1 and supplying power to the control device 2 are arranged above the controller 2 (Z-axis + direction). Connectors 5, 6, 7, 8 other than those related to power circuits such as communication and sensor signals are arranged below the control device 2 (in the Z-axis direction). By doing so, the arrangement position of the power system (high voltage) connector and the arrangement position of the signal system (low voltage) connector are separated. Although the control device 2 is placed horizontally in FIG. 1, it may be placed vertically with its long sides vertical. For convenience of explanation, an example in which all connectors are arranged on the front panel has been shown, but some may be arranged on the rear panel if the positional relationship between the connectors in the upper and lower directions is the same.

FIG. 2 is a connection diagram of an internal circuit of the control device 2. As shown in FIG. As shown in FIG. 2, the power supply circuit 21 rectifies an AC voltage supplied from a switchboard (not shown) through the main power cable 12 to generate a necessary DC voltage inside the control device 2 . The power supplies required inside include power supplies for driving the motors and brakes of the robot body 1 and power supplies for driving servo control, communication, and safety circuits. Each circuit described later is connected by a bus so as to be able to communicate with each other.

Since the former may contain high-voltage parts, it is subjected to a predetermined insulation treatment, and is separated from the low-voltage circuit to ensure safety. It also has a function to cut off the power passing through the main power supply cable 12 and the cable 101 and a protection function against overcurrent in response to a cutoff signal from the safety circuit 20, which will be described later. Although the power supply circuit 21 is shown as one block in the drawing for convenience of explanation, it is actually divided into a plurality of devices. That is, an intermediate voltage DC power supply for supplying DC power to each board for servo control, motion control, safety circuit, etc., and an insulated power supply for gate drive of a motor driver circuit 22, which will be described later, are provided. These two power supplies are mounted separately.

The motor driver circuit 22 drives each motor with a high DC voltage supplied from the power supply circuit 21 and a PMW (Pulse Width Modulation) signal from the servo control circuit 24, which will be described later. Each motor is driven by switching an inverter in which a switching element such as an IGBT (Insulated Gate Bipolar Transistor) is connected in an H type. Although the motor to be driven is assumed to be an AC motor, it can also be driven by a DC motor by changing the PWM control in the same configuration.

The PWM signal is insulated by a photocoupler or the like, and the gate side of the inverter that performs switching is driven by an insulated power supply. In order to implement efficient vector control for an AC motor, it has a function to detect the current flowing in the motor on the board and transfer it to the servo board. Such circuits are mounted for the drive shafts of the robot. It also has a regenerative processing circuit board that absorbs regenerative energy generated when the motor decelerates and prevents an increase in DC voltage. In this substrate, the high voltage section, the gate drive voltage section and other parts are insulated from the outer casing. Furthermore, a brake driver is mounted to release the brakes that lock the drive axes of the robot main body 1 while the servo signal is ON.

The servo control circuit 24 acquires data (signals) from an angle sensor, a torque sensor, etc., installed inside the robot body 1, and controls each joint to reach a target value in accordance with an operation command signal from an operation control circuit 23, which will be described later. Servo control is performed so that the angle is obtained. The servo control circuit has a motherboard with a CPU (Central Processing Unit) that implements servo control. The motherboard functions as ROM (Read Only Memory) and RAM (Random Access Memory). It also monitors the state of the robot and the state of the board itself, and has the function of stopping the operation of the robot main body 1 and providing feedback to the motion control circuit 23 and the safety board 20 when an error occurs. The servo circuit 24 is isolated from the high voltage section, cable 101 and main power cable 12 .

The operation control circuit 23 is an operation control device comprising a general-purpose computer board (CPU) loaded with an operating system and a storage device. As a storage device, ROM, RAM, and SSD (Solid State Drive) are mounted. The ROM stores basic programs such as BIOS for causing the CPU to execute various kinds of arithmetic processing. The CPU executes various arithmetic processes based on control programs recorded (stored) in the SSD. The SSD is a storage unit that stores various data, etc., which are results of arithmetic processing by the CPU. Although an SSD is used as a storage unit in this embodiment, an HDD (Hard Disc Drive) may be used.

A sequence control device 13 corresponding to a host controller stores a user-created program relating to the operation sequence of each device. The motion control circuit 23 generates the trajectory of the robot body 1 according to command timing of the sequence control device 13 and transmits command values to the servo control circuit 24 to control the motion of the robot body 1 . The user teaches the operation program to the operation control circuit 13 via the safety circuit 20 using the external input device 11, and stores the operation program in the storage device. Although the external input device 11 has been described as an operation device such as a teaching pendant (TP), it may be another computer device (PC or server) capable of editing a robot program.

By providing the motion control circuit 23 with a non-volatile memory or an external HDD, it is also possible to add a function of storing the motion log of the robot main body 1 . Alternatively, a log server may be installed outside the control device 2 to transmit the operation log to the outside for management. The operation control circuit 23 is isolated from the high voltage section, the cable 101 and the main power cable 12 .

The safety circuit 20 is a circuit that cuts off power based on signals from safety devices such as the emergency stop button 10 and the enable switch of the external input device 11, and abnormal signals from the servo control circuit 24 and the operation control circuit 23. . The logic circuit is composed of safety relays, and in the event of contact welding or spring fusing due to overload or circuit abnormality, or in the unlikely event of relay failure or the end of the switching life, the next operation will be stopped without fail or by itself. It has a safety mechanism that can be returned to a safe position. This safety circuit 20 is isolated from the high voltage section, the cable 101 and the main power cable 12 .

FIG. 3 is an external view of the control device 2 in this embodiment. FIG. 3(a) shows a front perspective view, and FIG. 3(b) shows a rear perspective view. As shown in FIGS. 3A and 3B, the main housing 16 is a structural component that is made of a material such as a metal member and that supports other housings by means of struts, ribs, setscrews, and the like. As shown in FIG. 3A, the upper cover 15 is made of a material such as a metal member and fixed to the main housing 16 via ribs. As shown in FIG. 3A, the front panel 14 is a metal panel for connection with an external device, and various connectors shown in FIG. 1 are installed. Further, the front panel 14 is provided with a round hole 14a for releasing the heat inside the control device 2. As shown in FIG.

As shown in FIG. 3(b), the rear panel 17 is a panel made of metal and has a fan for cooling. A metal maintenance cover 18 is provided on the main housing 16 on the opposite side of the upper cover 15 . The upper cover 15 and the maintenance cover 18 are positioned on a surface with a large area in the control device 2, so that when the upper cover 15 and the maintenance cover 18 are removed, the substrates mounted inside can be easily accessed. It's becoming

In addition, the control device 2 is covered with a metal housing on all six sides, which can prevent noise radiation to the outside. In addition, by installing a predetermined ground 19 in the control device 2 and grounding it to the ground, in the unlikely event that an electric leak occurs from the power supply or driver board due to a failure, an electric shock can be prevented when the user touches the housing. be able to.

Next, the internal structure of the control device 2 in this embodiment will be described. FIG. 4 is a diagram showing the internal structure of the control device 2 in this embodiment. FIG. 4(a) is a view of the controller 2 with the upper cover 15 removed. FIG. 4(b) is a diagram showing the control device 2 of this embodiment turned upside down and the maintenance cover 18 removed. FIG. 4C is a similar perspective view from the front of the control device 2 (front panel 14 side).

4(a) and 4(c), the control device 2 of this embodiment extends in a direction substantially parallel to the housing outer shell (upper cover 15, maintenance cover 18), and vertically extends in two directions inside the housing. It has a metal intermediate plate 30 installed so as to divide it into compartments. In order to provide the functions of the power supply circuit 21 (FIG. 2), the motor driver circuit 22 (FIG. 2), and the safety circuit 20 (FIG. 2) on the front and back of the metal intermediate plate 30, general electronic components and connectors are provided. , fuses, test terminals, and other maintenance parts are mounted. Hereinafter, the mounted surface may be referred to as the component surface, and the component surface has the largest area within the control device 2 . In addition, from FIG. 4(a), in consideration of costs, etc., a power supply board 32 that supplies power for driving the robot body 1, a servo control circuit 24 (FIG. 2), an operation control circuit 23 (FIG. 2), a safety A power supply 31 for driving the circuit 20 (FIG. 2) is mounted separately. In this embodiment, the power supply 31 uses a general-purpose power supply, but is not limited to this. For example, a dedicated power supply using a dedicated protocol may be used.

As shown in FIG. 4A, the power supply board 32 includes a relay that cuts off the power passing through the main power cable 12 and the cable 101 in response to a cutoff signal from the safety circuit 20 (FIG. 2), and a protective fuse against overcurrent. . Since the reset switch for the relay that cuts off the power passing through the main power cable 12 and the cable 101 is located on the component side, it can be easily accessed and maintained with the upper cover 15 removed.

Similarly, an overcurrent protection fuse is also installed on the power supply board 32, so that maintenance such as replacement can be performed while the upper cover 15 is removed. A circuit corresponding to the motor driver circuit 22 (FIG. 2) is mounted on a driver board 33 except for a regenerative resistor 34 that absorbs regenerative energy and converts it into heat. The regenerative resistor 34 is installed separately from the driver board 33 in order to improve heat dissipation. A heat sink 33 a is mounted on the driver board 33 to dissipate heat from the driver board 33 .

Cooling fans 39, 40, and 41 are provided as shown in FIGS. 4(a) and 4(b). The cooling fan 39 mainly cools the power source 31 by blowing air. Further, the cooling fans 40 and 41 mainly cool the regenerative resistor 34 and the heat sink 33a by blowing wind. In this way, the power supply 31, the heat sink 33a, and the regenerative resistor 34, which generate a lot of heat, are arranged in the air flow paths of the cooling fans 39, 40, and 41. FIG.

As shown in FIG. 4A, the upper cover 15 has more screw holes 15a for safety than the maintenance cover 18, which will be described later. Access from the direction (arrow 5 direction in FIG. 4) is required. This prolongs the work time for removing the upper cover 15, and prevents access to the parts on the metal intermediate plate 30 before the electric charge charged in the capacitor is completely discharged.

A sensor for detecting the removal of the upper cover 15 is separately installed, and when the sensor is turned ON, the relay mounted on the power supply board 32, which cuts off the power passing through the main power cable 12 and the cable 101, is turned OFF. allows safe maintenance work. Similarly, stopping the cooling fans 39, 40, and 41 by the ON signal of the same sensor is also effective for safely performing maintenance work.

4B and 4C, a safety board 35 having the function of the safety circuit 20, a servo board 36 having the function of the servo control circuit 24, and a motion control board 38 having the function of the motion control circuit 23 (FIG. 2). is mounted with the lower surface of the metal intermediate plate 30 as the component surface. The operation control board 38 is mounted with a processor functioning as a CPU, and memories functioning as RAM, ROM, and HDD. This time, it is not shown for the sake of simplification of explanation. In addition, connectors, resettable circuit protection elements, test terminals, function expansion boards, etc. are mounted on the component side of the metal intermediate plate 30 in order to realize the functions of various substrates.

The maintenance cover 18 is attached so as to have a large area in the control device 2, and a large opening can be secured. Therefore, by removing the maintenance cover 18, each substrate can be easily accessed, and the ease of maintenance is improved. It is assumed that the substrate on the maintenance cover 18 side is maintained while observing the signal while the substrate is installed. Therefore, the screws in the screw holes 18a can be removed by access from the arrow 1 direction in FIG. 4(b) so that the maintenance cover 18 can be easily removed. Also, the number of screw holes 18 a in the maintenance cover 18 is smaller than the number of screw holes 15 a in the upper cover 15 . In this embodiment, the maintenance cover 18 is fastened with screws, but the present invention is not limited to this. For example, a set screw provided on the maintenance cover 18 side and a slide mechanism may be used together so that the maintenance cover 18 can be pulled out in a predetermined direction and removed.

Further, as described above, a sensor for detecting removal of the maintenance cover 18 may be installed, and rotation of the cooling fans 39, 40, and 41 may be stopped by a signal from the sensor. In each substrate on the maintenance cover 18 side, the portion (power power supply substrate 32) where a large current flows in the high voltage section is covered with grounded metal (intermediate metal plate 30, upper cover 15 and main housing 16). ing. Therefore, since it is isolated from the user, it is not necessary to cut off the power passing through the main power cable 12 and the cable 101 . As a result, even if each board on the maintenance cover 18 side is live, it is possible to observe sensor signals and control signals.

As described above, the surface of the metal intermediate plate 30 on the upper cover 15 side is provided with a substrate including a high voltage section, and the surface on the maintenance cover 18 side is provided with a substrate including a low voltage section. isolated. As a result, the high voltage section is surrounded by the metal of the housing section, so that the noise from the board including the high voltage section can be reduced from influencing the board including the low voltage section.

Next, the difference between the control device 2 in this embodiment and the conventional control device will be described with reference to FIGS. 5 and 6. FIG. FIG. 5 is a schematic diagram of a conventional control device, and FIG. 6 is a schematic diagram of the control device 2 in this embodiment. Here, the circuit block 54 is a block containing a high voltage section, and the circuit block 53 is a block containing other low voltage circuits. This time, the circuit blocks 53 and 54 are shown as one block for the sake of form, but actually they are composed of a plurality of circuit boards or the like. The circuit blocks 53 and 54 are provided with heat generating portions 53a and 54a, respectively, which generate heat.

FIG. 5(a) shows the most general configuration, in which a circuit block 54 including a high-voltage section and other circuit blocks 53 are fixed to a main housing 55 with their component surfaces facing up, and are covered with a metal upper cover 50. morphology. In addition, the outer peripheral metal portion comprising the upper cover 50 and the main housing 55 is grounded by an earth 56 to prevent electric leakage. In this way, the effects of noise outside the enclosure, leakage and risk of electric shock are reduced.

The circuit blocks 53 and 54 are separated by a metal partition plate 51 to reduce internal electrical and magnetic interference. In addition, the partition plate 51 is attached perpendicularly to the mounting surface of the substrate in order to separate the substrates. When performing maintenance, the component surfaces of the circuit blocks 53 and 54 can be accessed by removing the upper cover 50 . In addition, in order to separate the high voltage section from the low voltage section during maintenance, a protection plate 52 connected to the ground 56 is installed on the circuit block 54 which becomes the high voltage section. However, in such a configuration, if the upper cover 50 is removed, it is possible to access the component surfaces on which maintenance parts and test terminals of all boards of the circuit blocks 53 and 54 are mounted, but the installation area of the circuit blocks becomes large. end up

5(b) and 5(c) are diagrams showing an example in which the circuit blocks 53 and 54 are arranged in upper and lower stages. As in FIG. 5(a), the outer periphery of the controller is covered with a metal main housing 60 and an upper cover 61 to reduce noise emission to the outside of the housing. Also, by grounding the metal part with the ground 62, an electric shock is prevented in the event of an electric leakage. 5B and 5C, the circuit block 54 including the high voltage section is fixed to the main housing 60. As shown in FIG.

In FIG. 5B, the circuit block 53 and the circuit block 54 are vertically stacked and connected by metal spacers 58 and 59 . Here, the shield plate 57 is a shield plate for reducing noise interference between the circuit block 54 and the circuit block 53, and is provided on the spacers 58 and 59. FIG. In FIG. 5C, instead of the spacers 58 and 59, a shielding plate 63 is provided on the main housing 60, and the circuit block 53 is mounted on the shielding plate 63. In FIG.

The examples of FIGS. 5B and 5C have the advantage of being able to reduce the installation area of the circuit blocks compared to the case of FIG. 5A. However, in order to access the circuit block 54 installed in the lower part, it is necessary to remove the circuit block 53, the shielding plate 57, the shielding plate 63 and accompanying wirings, which is troublesome. Further, when observing the signal of the circuit block 53, it is necessary to properly extend the disconnected wire and reconnect it to safely hold the disconnected substrate.

6, the circuit block 54 and the circuit block 53 are mounted on both sides of the metal intermediate plate 30 with the component surfaces reversed, so the installation area is reduced as shown in FIG. b) It can be made smaller as in (c). In addition, when performing maintenance, removing the upper cover 15 or the maintenance cover 18 makes it possible to access the component surfaces on which maintenance components and test terminals are mounted in all circuit blocks, which facilitates maintenance. Also, when observing the signal lines of the circuit block 53 in a live-line state, the board and wiring can be fixed to the metal intermediate plate 30 connected to the main housing 16, so there is no need to reconnect or hold the board. , 5(b) and 5(c), maintainability is better. Further, the positional relationship between the heat generating portions 53a and 54a is substantially symmetrical with respect to the point C. As shown in FIG. As a result, the heat-generating portion can be kept away, so that the maximum temperature inside the control device 2 can be reduced.

As described above, the control device 2 of the present embodiment can reduce electrical and magnetic interference between circuits with different characteristics inside the housing with a small installation area. In addition, since each circuit component is mounted on both sides of the metal intermediate plate to reduce interference, it is easy to maintain.

A hard-to-remove upper cover 15 is provided on the side of the circuit containing the high voltage section, and a maintenance cover 18 that is easier to remove than the upper cover is provided on the side of the circuit containing the low-voltage section. This makes it difficult to access the high-voltage section, which prolongs the work time required to remove the upper cover 15, and makes it impossible to access the components of the high-voltage section before the electric charge charged in the capacitor is completely discharged. so that the user's safety can be reliably ensured.

In the present embodiment, for convenience of explanation, the installation of the high-voltage section and the low-voltage section is used to mean that they are located above and below the plane of the paper, but the actual installation is not limited to above or below. In other words, the upper cover 15 may be placed below the plane of the paper. Alternatively, the apparatus may be placed vertically so that the upper cover 15 and the maintenance cover 18 are located at the side portions (horizontal direction of the paper surface). In terms of design, a decorative panel made of resin or the like may be applied to the outside of the metal housing of this embodiment.

(Modification)
FIG. 7 is a diagram showing a modification of the control device 2 in this embodiment. FIG. 7(a) shows a front perspective view, and FIG. 7(b) shows a rear perspective view. As shown in FIG. 7A, the hole 14a for releasing the heat inside the control device 2 may be formed in a vertical hole shape. Cooling fans 39, 40, and 41 may be provided as shown in FIG. 7(b).

(Second embodiment)
Next, a second embodiment will be described. In the following description, parts of the hardware and control system configurations that are different from those of the first embodiment will be illustrated and explained as necessary. Also, the same parts as those of the first embodiment can have the same configurations and functions as those described above, and detailed descriptions thereof will be omitted.

FIG. 8 is a diagram showing the internal structure of the control device 2 in this embodiment. The difference from the above-described embodiment is that a function expansion connector 37 is used and various parts are provided at predetermined portions of the metal intermediate plate 30 surrounded by the space V indicated by the dashed line.

In such a case, in order to reduce the influence of noise from components mounted on the function expansion connector 37, a metal intermediate cover 70 is provided above the space V, and a metal partition wall 71 is placed around the space V. It is provided on the intermediate plate 30 . Further, the intermediate cover 70 is provided with a screw hole 70a so that the intermediate cover 70 can be fastened to the edge of the main housing 16 with a screw.

As described above, even when a large number of components are to be mounted, the intermediate cover 70 and the partition wall 71 can surround the mounted components with metal, so that the influence of noise can be reduced. In addition, when the maintenance cover 18 is opened for maintenance, the intermediate cover 70 makes it difficult to access the components mounted in the space V, so it is possible to improve the user's safety during maintenance. Become.

(Other embodiments)
The processing procedure for controlling the robot main body 1 of the embodiment described above is specifically executed by the control device (robot controller) 2 . Therefore, a recording medium recording a software program capable of executing the functions described above is supplied to a device that integrates the respective control devices, and the CPU that performs integrated processing reads out and executes the program stored in the recording medium. can be configured to achieve In this case, the program itself read from the recording medium implements the functions of the above-described embodiments, and the program itself and the recording medium recording the program constitute the present invention.

In each embodiment, the computer-readable recording medium is each ROM, each RAM, or each flash ROM, and the case where the program is stored in the ROM, RAM, or flash ROM has been described. However, the present invention is not limited to such a form. A program for carrying out the present invention may be recorded on any recording medium as long as it is a computer-readable recording medium. For example, an HDD, an external storage device, a recording disk, or the like may be used as a recording medium for supplying the control program.

Further, in the various embodiments described above, the robot body uses a multi-joint robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration is shown as the type of robot arm, the configuration equivalent to the above can also be implemented for different types of joints such as a horizontal articulated type, a parallel link type, and an orthogonal robot.

In addition, in the various embodiments described above, in the operation on the work W, an example of a gripping operation of gripping the work W has been described, but the present invention is not limited to this. For example, various operations such as coating operation, welding operation, cutting operation, fastening operation for fastening by screw tightening, polishing operation for polishing, and the like may be performed.

Further, the various embodiments described above are applicable to machines capable of automatically performing operations such as expansion, contraction, bending and stretching, vertical movement, horizontal movement, turning, or a combination of these operations, based on information stored in a storage device provided in the control device. It is possible.

The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. Moreover, the effects described in the embodiments of the present invention are merely enumerations of the most suitable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

1 robot body 2 control device (robot controller)
3, 5, 6, 7, 8, 9 connector 10 emergency stop switch 11 external input device 12 main power cable 13 sequence control device 14 front panel 14a hole 15, 50, 61 top cover 15a, 18a, 70a screw hole 16, 55, 60 main housing 17 rear panel 18 maintenance cover 19, 56, 62 ground 20 safety circuit 21 power supply circuit 22 motor driver circuit 23 motion control circuit 24 servo control circuit 30 metal intermediate plate 31 power supply 32 power power supply board 33 driver board 33a Heat sink 34 Regenerative resistor 35 Safety board 36 Servo board 37 Function expansion connector 38 Operation control board 39, 40, 41 Cooling fan 51 Partition plate 52 Protective plate 53, 54 Circuit block 53a, 54a Heat generating part 57, 63 Shielding plate 58, 59 Spacer 70 intermediate cover 101, 102, 103, 104, 105 cable V space

Claims (26)

a first circuit driven by a first voltage;
a second circuit driven by a second voltage higher than the first voltage;
a portion having a first surface provided with the first circuit, and a portion provided with the second circuit on a second surface opposite to the first surface;
A control device characterized by: The control device according to claim 1,
A first space in which the first circuit is arranged and a second space in which the second circuit is arranged,
The first space and the second space are separated by the part,
A control device characterized by: The control device according to claim 1 or 2,
A first cover that covers the first circuit and a second cover that covers the second circuit,
A control device characterized by: In the control device according to claim 3,
A first fastener that fastens the first cover and a second fastener that fastens the second cover,
the number of said second fasteners is greater than the number of said first fasteners;
A control device characterized by: In the control device according to claim 4,
The number of directions to be accessed when removing the second cover is greater than the number of directions to be accessed when removing the first cover.
A control device characterized by: In the control device according to claim 5,
The number of directions to be accessed when removing the second cover is 5, and the number of directions to be accessed when removing the first cover is 1.
A control device characterized by: In the control device according to any one of claims 3 to 6,
A third cover that covers a predetermined portion of the first circuit is provided between the portion and the first cover,
A control device characterized by: In the control device according to claim 7,
an expansion connector is arranged at the predetermined portion;
A control device characterized by: In the control device according to claim 8,
A partition is arranged around the predetermined portion,
A control device characterized by: In the control device according to any one of claims 1 to 9,
equipped with a fan,
A control device characterized by: A control device according to claim 10, wherein
A driver circuit that supplies power to a motor of the robot is mounted on the second circuit,
A control device characterized by: A control device according to claim 11, wherein
The driver circuit is provided with a heat sink,
wherein the heat sink is arranged in a flow path of air generated by the fan;
A control device characterized by: 13. The control device of claim 12, wherein
A control circuit for controlling the motor is mounted on the first circuit,
A first power supply for driving the control circuit is mounted on the second circuit,
wherein the first power source is arranged in the channel;
A control device characterized by: 14. The control device of claim 13, wherein
A regenerative resistor is mounted in the second circuit,
The regenerative resistor is arranged in the flow path,
A control device characterized by: In the control device according to claim 3,
The portion, the first cover, and the second cover are made of metal, and the portion, the first cover, and the second cover are grounded.
A control device characterized by: In the control device according to claim 3,
A driver circuit for supplying power to a motor of the robot is mounted on the second circuit,
The second cover is provided with a sensor for detecting removal,
cut off power to the motor and/or power to the driver circuit based on the sensor;
A control device characterized by: In the control device according to claim 3,
equipped with a fan,
The second cover is provided with a sensor for detecting removal,
stopping driving the fan based on the sensor;
A control device characterized by: 13. The control device of claim 12, wherein
The second circuit includes a power supply board that drives the driver circuit with a second power supply from the outside,
A control device characterized by: 19. The control device according to any one of claims 1 to 18,
The first surface and the second surface have the largest area in the control device,
A control device characterized by: In the control device according to any one of claims 1 to 19,
The first surface and the second surface have a front-back relationship,
A control device characterized by: In the control device according to any one of claims 1 to 20,
The first circuit includes a first heat generating section, the second circuit includes a second heat generating section,
The first circuit and the second circuit are arranged at the part so that the positional relationship between the first heat generating part and the second heat generating part is point symmetrical.
A control device characterized by: A robot system in which a robot arm is controlled by the controller according to any one of claims 1 to 21 to move an end effector. 23. A method of manufacturing an article, comprising manufacturing an article using the robot system according to claim 22. a first circuit driven by a first voltage;
a second circuit driven by a second voltage higher than the first voltage;
a portion having a first surface provided with the first circuit, and a portion provided with the second circuit on a second surface opposite to the first surface;
controlling an object based on the first circuit and the second circuit;
A control method characterized by: A control program capable of executing the control method according to claim 24. A computer-readable recording medium storing the control program according to claim 25.

Images