JP4876730B2 - Robot controller - Google Patents

Description

The present invention relates to a robot controller.

  In general, an industrial robot is electrically connected to a robot control device by a power cable or a signal cable. The industrial robot receives a signal output from the robot controller to the cable and performs a processing operation in accordance with the signal.

  The type of such a robot control device was selected according to the type of industrial robot. For example, a model having four built-in motor drivers has been selected for a robot control device that controls a four-axis control robot. In addition, a model incorporating six motor drivers has been selected as a robot control device for controlling a six-axis control robot. For this reason, the robot control device requires a dedicated model for each type of industrial robot, and it is difficult to reduce the production cost.

  Therefore, in order to solve the above problem, it has been proposed to connect a plurality of robot control devices to an industrial robot and to make the robot control devices common. In Patent Document 1, a robot controller is provided with a transmission / reception unit and a memory. This robot control device exchanges I / O information with other robot control devices having different control targets, and stores the I / O information in a memory. Thereby, for example, a robot control device incorporating four motor drivers and a robot control device incorporating two motor drivers control the six-axis control robot. For this reason, the 4-axis control robot and the 6-axis control robot use a common type robot control apparatus incorporating four motor drivers. Therefore, the robot control device can be shared.

In Patent Document 2, a plurality of robot control devices are connected to a common programming object switching device, and a programming device and a simple teaching device are connected to the programming switching device. The programming target switching device switches and connects the programming device and the simple teaching device as appropriate to the robot control device to be programmed. Therefore, the programming device and the teaching device required for each robot control device can be shared.
JP 2000-112512 A JP-A-6-250729

  By the way, in general, the robot control device adjusts the internal temperature of the housing by an air cooling mechanism provided in the housing. The robot controller stabilizes the operation of the built-in circuit by adjusting the internal temperature.

  However, when another robot control device is disposed on the vent side of the robot control device, the robot control device decreases the cooling efficiency. Although Patent Document 1 and Patent Document 2 each use a plurality of robot control devices, no study has been made on an installation configuration that avoids such a decrease in cooling efficiency. For this reason, the robot control apparatus has a problem in that the inside of the housing is insufficiently cooled and malfunctions. Alternatively, since the vent side of the robot control device is opened, another robot control device cannot be installed near the vent of the robot control device, and the degree of freedom of installation of the robot control device is reduced.

The present invention was made to solve the above problems described above, and its object is to provide a robot control device with expanded freedom of installation without compromising cooling efficiency.

The robot controller of the present invention may be added to the main controller having a vent on one side of the housing, the robot controller for controlling the main control unit in cooperation with the operation of the industrial robot, the An additional housing connected to the housing, and one side surface of the additional housing, wherein the housing and the additional housing are coupled to face the one side surface of the housing. a connecting surface to the one side and the consolidated body, provided on the coupling face, in a state where the housing and said additional housing is connected, a first additional vent overlaps the vent, the The additional housing is provided on the connection surface and connected to a connector provided on one side of the housing in a state where the housing and the additional housing are coupled to each other, and the main control device Exchange of signals related to the control of the industrial robot between the robot and the robot controller Has additional connectors .

According to the robot control device of the present invention, when the casing and the additional casing are connected, the vent hole and the first additional vent hole communicate with each other. Therefore, even if the additional casing is installed on the vent side, the vent is not blocked by the additional casing. Therefore, the effect of the heat dissipation function of the main control device can be maintained, and the degree of freedom of installation of the additional control device can be improved.
Further, when the casing and the additional casing are coupled, the connector and the additional connector are connected. Therefore, the cooling efficiency and operability of the robot control device can be ensured more reliably.

In this robot control apparatus, it is preferable that the additional housing includes a second additional vent on the other side facing the connection surface.
According to this robot control device, since the second additional ventilation port facing the first additional ventilation port is provided, the ventilation path can be formed linearly inside the additional housing. As a result, the casing and the additional casing can be cooled more efficiently.

In this robot control apparatus, the additional housing may have the first additional vent on one end side of the connection surface and the second additional vent on the other end side of the other side surface.
According to this robot control device, the ventilation path of the additional housing can be set three-dimensionally when viewed from the connection surface. Therefore, the degree of freedom of the air passage can be expanded.

In this robot control device, the two actuator drivers housed in the additional housing and having heat radiation fins, and the heat radiation along a direction from the first additional air vent toward the second additional air vent the communication hole communicating between a support member for supporting the outer edge of each of the two actuator driver arranged to face the direction of the fin, and the heat radiating fins provided on said supporting member and said first additional vent And may be provided.

According to this robot control device, the air passage can be surely formed in the gap formed between the actuator drivers.
The robot control device according to the present invention includes a main control device and an additional control device that controls the operation of the industrial robot in cooperation with the main control device. And an additional housing that is provided on one side of the housing and vents the inside and outside of the housing, and the additional control device is coupled to the housing. A connection surface that is one side surface of the additional housing and is connected to the one side surface of the housing so as to face the one side surface of the housing in a state where the housing and the additional housing are connected. If the provided connection surface, wherein in a state where the housing and said additional housing is connected, has a first additional vent overlapping the first vent, wherein the housing, the one A connector is further provided on a side surface, and the additional casing is provided on the connection surface, and the casing and the additional casing are provided. : It is connected to the connector of the housing in a state of coupling, with an additional connector for performing signal exchanges related to the control of the industrial robot between said main control device and the additional control unit.

  According to the robot control apparatus of the present invention, the additional vent communicates with the vent by connecting the additional casing to the casing. Therefore, even if the additional casing is installed on the vent side, the vent is not blocked by the additional casing. Therefore, the effect of the heat dissipation function of the main control device can be maintained, and the degree of freedom of installation of the additional control device can be expanded.

  According to this robot control device, when the casing and the additional casing are coupled, the connector and the additional connector are connected. Therefore, the cooling efficiency and operability of the robot control device can be ensured more reliably.

  In this robot control apparatus, the casing is provided on the other side surface and has a second ventilation port for sucking air into the casing, and the additional casing is provided on the other side surface, and the additional casing is provided. You may have the 2nd additional ventilation hole which exhausts body air.

According to this robot control device, the second ventilation port of the housing and the second additional ventilation port of the additional housing communicate with each other. Therefore, the cooling function of the housing can be used for the additional housing. Therefore, the additional housing can be efficiently cooled.

  In this robot control apparatus, the additional casing is provided on the other side surface and has a second additional vent for sucking air into the additional casing, and the casing is provided on the other side surface, You may have the 2nd vent which exhausts the air of a housing | casing.

  According to this robot control device, the second ventilation port of the housing and the second additional ventilation port of the additional housing communicate with each other. Therefore, the cooling function of the housing can be used for the additional housing. Therefore, the additional housing can be efficiently cooled.

  In this robot control device, the other side surface of the housing is a side surface facing the one side surface of the housing, and the other side surface of the additional housing is a side surface facing the connection surface. Also good.

  According to this robot control device, the ventilation path of the casing and the ventilation path of the additional casing can be formed along the same direction. Therefore, the cooling efficiency of the housing and the additional housing can be improved.

  In this robot control apparatus, the casing is provided with a fan filter that is detachably provided in one of the first vent and the second vent, and is provided on the one to suck air into the casing. And a fan.

  According to this robot control device, when connecting the additional control device to the one side, the fan filter can be removed and attached to the additional housing. Thereby, the number of parts of the robot controller can be reduced.

  Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. FIG. 1 is a perspective view for explaining the robot system, and FIG. 2 is an exploded view of the main body controller A1. 3 is a perspective view of the main body housing 2, and FIG. 4 is an exploded perspective view of the additional controller A2.

  In FIG. 1, a robot RB is a 6-axis controlled vertical articulated industrial robot that is driven and controlled by a robot controller 1. The robot controller 1 includes a main body controller A1 as a main control device and an additional controller A2 as an additional control device connected to the main body controller A1.

  The housing of the main body controller A1 (hereinafter referred to as the main body housing 2) is a substantially rectangular parallelepiped box. The main body housing 2 has a base portion 3, and a pair of left and right base side interface connectors 10 and 11 are provided on the front surface (front surface mounting surface 3 a) of the base portion 3. The base side interface connectors 10 and 11 are connected to connectors (cable side interface connectors 15 and 16) of connection cables 13 and 14, respectively. The connection cables 13 and 14 are connected to the personal computer PC and the teaching pendant TP, respectively. The personal computer PC and the teaching pendant TP input peripheral control signals for controlling peripheral functions such as information regarding the setting of the robot RB, information regarding teaching of the robot RB, a driving signal for driving the robot RB, and a man-machine interface. .

2, the main body housing 2 has a pair of left and right side plates (left side plate 4 and right side plate 5), a top plate 6, and a pair of front and rear side plates (back plate 7 and open / close panel 8). The base 3, the left side plate 4, the right side plate 5, the top plate 6, and the back plate 7 form a box with the front side (anti-X arrow direction side) opened. The open / close panel 8 is connected to the top plate 6 by a hinge H at its upper side, and opens and closes the front side of the main body housing 2 by rotating about the hinge H as a fulcrum.

  Vents W1 and W2 are formed in the left side plate 4 and the right side plate 5, respectively. A fan filter FF is detachably disposed on the outer surface of the left side plate 4 so as to cover the vent hole W1. A pair of upper and lower cooling fans F are disposed on the inner side surface of the left side plate 4 via a cylindrical body T. The cylindrical body T secures the suction distance of the cooling fan F. The pair of upper and lower cooling fans F sucks outside air from the vent W1 toward the inside of the main body housing 2. The intake air is forcibly exhausted from the vent W2. Therefore, the main body housing 2 takes in the outside air on the left side and vents the taken-in air toward the right side (Y arrow direction: along the ventilation direction).

  A CPU board 20 is attached to the bottom surface of the base portion 3 inside the main body housing 2 along the bottom surface (XY plane). The CPU board 20 is formed in a planar plate shape extending in the XY directions, and the plane direction and the ventilation direction are made parallel. As a result, the CPU board 20 reduces the flow resistance in the ventilation direction and improves the cooling efficiency. The CPU board 20 is connected to the base-side interface connectors 10 and 11 and receives information and signals from the personal computer PC and the teaching pendant TP. The CPU board 20 generates a position command signal based on drive signals input from the personal computer PC and the teaching pendant TP.

  A drive control board 22 is disposed on the inner side surface of the back plate 7 above the CPU board 20 along the inner side surface (YZ plane). The drive control board 22 is formed in a planar plate shape extending in the YZ direction, and the plane direction and the ventilation direction are made parallel. As a result, the drive control board 22 reduces the flow resistance in the ventilation direction and improves the cooling efficiency. The drive control board 22 is electrically connected to the CPU board 20 and receives the position command signal from the CPU board 20. On the left side of the drive control board 22, a pair of left and right connectors (a power connector 30 and a signal connector 32) are arranged at predetermined intervals along the vertical direction. Note that the drive control board 22 of the present embodiment is configured to have four power connectors 30 and signal connectors 32 in the vertical direction.

A circuit protector 23 and a noise filter 24 connected to the circuit protector 23 are disposed on the front right side of the drive control board 22.
In front of the circuit protector 23 and the noise filter 24, a front cover 25 disposed substantially parallel to the drive control board 22 is disposed. The front cover 25 is formed in a planar plate shape extending in the YZ arrow direction, and lowers the flow resistance in the ventilation direction by making the surface direction and the ventilation direction parallel. The front cover 25 is formed with a rectangular through portion 25a at a position facing the power connector 30 (signal connector 32). The front cover 25 is formed with a circular hole (through hole 25 b) at a position facing the circuit protector 23. The power switch SW of the circuit protector 23 is inserted into the through hole 25b. A pair of left and right guide rails GR extending rearward is disposed on both the left and right sides of the penetrating portion 25a at a predetermined interval along the vertical direction. A motor driver 34 is attached to each guide rail GR. Note that the front cover 25 of the present embodiment includes four pairs of guide rails GR along the vertical direction, and is configured to attach four motor drivers 34.

  The motor driver 34 is formed in a substantially flat plate shape, and includes a circuit board 37, connector portions C <b> 1 and C <b> 2 provided at the rear end of the circuit board 37, and heat radiation fins 38 provided on the upper side of the circuit board 37. I have.

The circuit board 37 is a board on which circuit elements such as a servo amplifier are mounted. The heat radiation fin 38 is formed in a rectangular parallelepiped shape, and has a bottom surface 38a in contact with the circuit board 37, left and right side surfaces 38b and 38c, an upper surface 38d, a front surface 38e, and a back surface 38f. Guide members 39 guided by guide rails GR are provided on the left and right side surfaces 38b and 38c, respectively. Each motor driver 34 is guided by a guide rail GR corresponding to the guide member 39, and the connector portions C1 and C2 are connected to the corresponding power connector 30 and signal connector 32, respectively. When each of the motor drivers 34 is connected to the connectors 30 and 32, respectively, the upper surfaces 38d of the heat radiating fins 38 are arranged in parallel with the ventilation direction, and are arranged at predetermined intervals in the vertical direction. Is done. As a result, each motor driver 34 reduces the flow resistance in the ventilation direction while being connected to the drive control board 22, thereby improving the cooling efficiency. The arranged motor drivers 34 can be removed from the main body housing 2 by pulling them forward.

  A power input terminal 40 is attached to the front surface of the front cover 25 on the right side of the through portion 25a. A power cable 42 is electrically connected to the power input terminal 40 and AC power is supplied from an external power source (not shown). An internal input wiring 44 extending to the rear surface of the front cover 25 is attached to the power input terminal 40. The internal input wiring 44 is electrically connected to the noise filter 24 disposed on the back side of the front cover 25.

  A main power supply board DB is attached to the inner side surface of the top plate 6 along the inner side surface (XY plane). The main power supply board DB is formed in a planar plate shape extending in the XY directions, and the surface direction and the ventilation direction are made parallel. As a result, the main power supply board DB reduces the flow resistance in the ventilation direction and improves the cooling efficiency. The main power supply board DB is electrically connected to the circuit protector 23 by a connection cable (not shown). The main power supply board DB is supplied with AC power from an external power supply by the circuit protector 23. The main power supply board DB distributes AC power to the CPU board 20 and the drive control board 22.

  A first switching power supply board 50 is attached to the inner side surface of the back plate 7 and above the drive control board 22 along the inner side surface (YZ plane). The first switching power supply board 50 is formed in a flat plate shape extending in the YZ direction, and the plane direction and the ventilation direction are made parallel. Thus, the first switching power supply board 50 reduces the flow resistance in the ventilation direction and improves the cooling efficiency. An upper end portion of the first switching power supply board 50 is electrically connected to the main power supply board DB, and a lower end portion is electrically connected to the drive control board 22. The first switching power supply board 50 converts the AC power supplied from the main power supply board DB into a DC power, and supplies the DC power to the drive control board 22.

  A second switching power supply board 52 is attached to the inner side surface of the right side plate 5 along the inner side surface. The second switching power supply board 52 is disposed at a position where the vent W2 is opened. The upper end portion of the second switching power supply board 52 is electrically connected to the main power supply board DB, and the lower end portion is electrically connected to the CPU board 20. The second switching power supply board 52 converts the AC power supplied from the main power supply board DB into a DC power and supplies the DC power to the CPU board 20.

  Therefore, the air taken in by the cooling fan F is along the surface direction (ventilation direction) of the CPU board 20, the drive control board 22, the front cover 25, each motor driver 34, the main power supply board DB, and the first switching power supply board 50. The air is smoothly guided to the vent W2. As a result, the air heated by the motor driver 34 and the boards 20, 22, 50, 52, DB is smoothly and forcibly exhausted by the cooling fan F. Therefore, each member temperature in the main body controller A1 is adjusted to a predetermined temperature.

In FIG. 3, a main body side connector 56 projects from the outer surface of the right side plate 5. The main body side connector 56 is electrically connected to the main power supply board DB and the drive control board 22 inside the main body housing 2.

  In FIG. 1, a panel-side power connector 60 and a panel-side signal connector 70 are attached to the front upper side of the open / close panel 8. The panel-side power connector 60 and the panel-side signal connector 70 are electrically connected to the drive control board 22 by an internal power wiring (not shown) and an internal signal wiring (not shown), respectively, inside the main body housing 2. Is done. The internal power supply wiring and the internal signal wiring are formed with a length that does not hinder the opening / closing operation of the opening / closing panel 8 when the opening / closing panel 8 is opened / closed. The panel-side power connector 60 and the panel-side signal connector 70 are respectively connected to the connectors of the connection cables 62 and 72 of the robot RB (the cable-side power connector 64 and the cable-side signal connector 74 on the outside of the main body housing 2. ) And are electrically connected.

  In FIG. 2, a terminal through hole 8 a is formed through the right side of the front face of the open / close panel 8 at a position facing the power input terminal 40. In the terminal through hole 8a, a through groove 8b extending to the right outer edge of the open / close panel 8 is cut out. A cup-shaped cover case 81 that covers the terminal through hole 8a is disposed on the outer periphery of the terminal through hole 8a. On the right side surface of the cover case 81, a recess 81a (see FIG. 1) is cut out. The through groove 8b and the recess 81a are fitted with the power cable 42 when the open / close panel 8 is closed. Accordingly, the main body controller A1 can smoothly pull out the power cable 42 to the outside of the main body housing 2 regardless of whether the open / close panel 8 is opened or closed. A circular hole (through hole 8c) is formed below the cover case 81. The power switch SW of the circuit protector 23 is inserted into the through hole 8c. Thus, the main body controller A1 can operate the power switch SW from the outside of the main body housing 2.

  In FIG. 4, the casing (additional casing 100) of the additional controller A2 is a substantially rectangular parallelepiped box. The additional casing 100 includes a bottom plate 101, a pair of left and right side plates (left side plate 102, right side plate 103), a top plate 104, and a pair of front and rear side plates (back plate 105, front plate 106).

The additional case 100 is coupled to the main body case 2 with the left side plate 102 facing the right side plate 5 of the main body case 2.
A vent W3 and a vent W4 are formed on the lower side of the left side plate 102 and the upper side of the right side plate 103, respectively. The vent W3 is formed at a position facing the vent W2 of the main body controller A1. The vent W3 sends the air exhausted from the vent W2 to the inside of the additional controller A2. The air sent to the additional controller A2 is forcibly exhausted from the vent W4. Therefore, the additional casing 100 takes in the air exhausted by the main body controller A1, and vents it from the lower left to the upper right (additional ventilation direction).

  On the upper surface of the bottom plate 101, a lower mounting base 110 constituting a support member is disposed. The lower mounting base 110 is formed in a U-shaped cross section when viewed from the left-right direction, and forms a ventilation portion 113 surrounded by the lower mounting base 110 and the bottom plate 101 at a position facing the vent W3. A ventilation hole 112 is formed in the upper surface 110a of the lower mounting base 110 so as to penetrate in the vertical direction. Guide rails R <b> 1 and R <b> 2 extending in the front-rear direction (X arrow direction) are provided on the left and right sides of the vent hole 112. The guide rails R1 and R2 guide the motor driver 34 in the front-rear direction, similarly to the guide rail GR.

On the lower surface of the top plate 104, an upper mounting base 114 constituting a support member is disposed. The upper mounting base 114 is formed in a U-shaped cross section when viewed from the left-right direction, and forms a ventilation portion 118 surrounded by the upper mounting base 114 and the top plate 104 at a position facing the vent W4. A ventilation hole 116 is formed through the lower surface 114a of the upper mounting base 114 in the vertical direction. Vent hole 11
Guide rails R <b> 3 and R <b> 4 extending in the front-rear direction (X arrow direction) are provided on both the left and right sides of 6. The guide rails R3 and R4 guide the motor driver 34 in the front-rear direction, similar to the guide rail GR.

Therefore, the lower mounting base 110 and the upper mounting base 114 form a space for venting along the vertical direction between the ventilation portion 113 and the ventilation portion 118.
On the inner side surface of the back plate 105, an additional substrate 120 is provided along the inner side surface. The additional substrate 120 is formed in a planar plate shape, and the surface direction and the additional ventilation direction are parallel to each other. As a result, the additional substrate 120 reduces the flow resistance in the additional ventilation direction and improves the cooling efficiency. On the upper side of the additional board 120, a pair of upper and lower connectors (signal connector 122 and power connector 124) are arranged at a predetermined interval in the left-right direction.

  The motor driver 34 guided by the guide rails R1, R2, R3, and R4 electrically connects the connector portions C1 and C2 to the signal connector 122 and the power connector 124, respectively. When the motor drivers 34 are connected to the connectors 122 and 124, respectively, the upper surfaces 38d of the radiating fins 38 are arranged in parallel to the additional ventilation direction, and are arranged at predetermined intervals in the left-right direction. As a result, each motor driver 34 is connected to the additional board 120 to lower the flow resistance in the additional ventilation direction and improve the cooling efficiency.

  Therefore, the air sent to the vent W3 is smoothly guided to the vent W4 along the surface of the additional board 120 and each motor driver 34 (additional vent direction). As a result, the air heated by the additional board 120 and the motor driver 34 is smoothly and forcibly exhausted, and the temperature of each member in the additional controller A2 is adjusted to a predetermined room temperature.

  Moreover, since air is sent into the additional controller A2 by the cooling fan F of the main body controller A1, the installation of the cooling fan for the additional controller A2 can be omitted. Therefore, the additional controller A2 can be reduced in size, and thus the robot controller 1 can be reduced in size.

  An additional side connection connector 132 is provided on the lower left side of the additional board 120. The additional side connection connector 132 is electrically connected to the main body side connection connector 56 of the main body controller A <b> 1 through the notch 102 a of the left side plate 102 when the additional case 100 is coupled to the main body case 2. The motor driver 34 incorporated in the additional controller A2 is electrically connected to the drive control board 22 of the main body controller A1 when the additional side connection connector 132 is connected to the main body side connection connector 56. The motor driver 34 incorporated in the additional controller A 2 is controlled by the drive control board 22 when the motor driver 34 is connected to the drive control board 22.

  That is, the robot controller 1 can drive the 6-axis control industrial robot by the four motor drivers 34 disposed in the main body controller A1 and the two motor drivers 34 disposed in the additional controller A2. .

Next, the operation of the robot controller 1 configured as described above will be described.
A 6-axis vertical industrial robot with a 6-axis control by connecting an additional controller A2 capable of 2-axis control to the main body controller A1 that accommodates the CPU board 20 and the drive control board 22 and can control up to 4 axes. A case where a certain robot RB is controlled will be described.

First, the right side plate 5 of the main body controller A1 and the left side plate 102 of the additional controller A2 are brought into contact with each other to connect the main body side connection connector 56 and the additional side connection connector 132. When the connection connectors 56 and 132 are connected, the drive control board 22 can control the four motor drivers 34 mounted on the main body controller A1 and the two motor drivers 34 mounted on the additional controller A2. Therefore, the robot controller 1 can drive the 6-axis controlled robot RB.

  At this time, the vent W2 of the right side plate 5 and the vent W3 of the left side plate 102 face each other. Therefore, the air exhausted from the vent W2 of the main body controller A1 can be sent to the inside of the additional controller A2 through the vent W3 of the additional controller A2. The air sent to the inside of the additional controller A2 is exhausted from the vent W4 through the vent 113, the vent path and the vent 118. Therefore, the temperature of both the main body controller A1 and the additional controller A2 can be efficiently adjusted by the cooling air from the cooling fan F mounted on the main body controller A1.

Next, the effect of this embodiment is described below.
(1) According to this embodiment, the additional controller A2 can be connected to the main body controller A1 with the left side plate 102 of the additional controller A2 facing the right side plate 5 of the main body controller A1. Then, in a state where the additional controller A2 is coupled to the main body controller A1, the vent hole W3 of the additional controller A2 can be overlapped with the vent hole W2 of the main body controller A1. Therefore, the cooling air from the cooling fan F of the main body controller A1 can be sent into the additional housing 100. As a result, even if the additional controller A2 is installed on the vent W2 side of the main body controller A1, the heat dissipation mechanism of the main body controller A1 can function sufficiently, and the degree of freedom of installation of the additional controller A2 is improved. Can be made.

  (2) According to this embodiment, the air taken in by the cooling fan F is ventilated through the vents W2 and W3, the vent 113, the vent holes 112 and 116, and the vent 118, and the vent of the additional controller A2. Exhaust from W4. Therefore, an additional ventilation path can be formed in the gap between the motor drivers 34, and the inside of the additional casing 100 of the additional controller A2 can be efficiently cooled. As a result, the inside of the additional casing 100 can be efficiently cooled without providing a separate cooling fan in the additional casing 100. As a result, the additional controller A2 can be downsized without impairing the cooling characteristics, and the robot controller 1 can be downsized.

  (3) According to this embodiment, the main body side connector 56 is provided on the right side plate 5 of the main body controller A1, and the additional side connection connector 132 is provided on the left side plate 102 of the additional controller A2. And when connecting main body controller A1 and additional controller A2, both connection connectors 56 and 132 electrically connect, and both vent holes W2 and W3 overlap. Thus, when the main body controller A1 and the additional controller A2 are connected, the cooling characteristics and operability of the additional controller A2 can be ensured more reliably.

In addition, you may change the said embodiment into the following aspects.
In the above embodiment, the vent W3 is provided in the lower part of the left side plate 102 of the additional casing 100, and the vent W4 is provided in the upper part of the right side plate 103 of the additional casing 100. Not only this but the vent W3 should just be the structure provided in the position facing the vent W2 of main body controller A1, when additional controller A2 connects with main body controller A1. For example, the vent W3 may be provided in the upper part of the left side plate 102 of the additional casing 100, and the vent W4 may be provided in the lower part of the right side plate 103 of the additional casing 100. Further, the vents W3 and W4 may be provided on the entire left side plate 102 and right side plate 103, respectively. Moreover, the structure provided in the top plate 104 may be sufficient as the vent hole W4.

In the above embodiment, the ventilation direction of the main body controller A1 is the left-right direction, and the additional ventilation direction of the additional controller A2 is the vertical direction. For example, as illustrated in FIGS. 5A and 5B, the vents W <b> 10 and W <b> 11 may have a shape extending over substantially the entire width of the additional casing 100 in the vertical direction. That is, the air flow of the main body controller A1 and the additional controller A2 may be in one direction, and the airflow direction and the additional airflow direction may be the same direction. According to this, the flow velocity of the cooling air by the cooling fan F can be maintained more reliably. Therefore, the inside of the main body housing 2 and the additional housing 100 can be cooled more efficiently.

  In the above embodiment, the motor driver 34 of the additional controller A2 arranges the upper surface 38d of the radiating fin 38 along the surface direction of the left side plate 102. For example, the motor driver 34 may be configured such that the left and right side surfaces 38 b and 38 c of the heat radiating fin 38 are arranged along the surface direction of the left side plate 102. In this case, it is preferable that the vents W3 and W4 are formed on the entire left and right side plates 102 and 103, respectively. According to this, the air which the air inlet W3 took in can be more efficiently applied to a radiation fin. Therefore, the main body housing 2 can be cooled more efficiently.

  In the above embodiment, the left and right side plates 4 and 5 of the main body controller A1 are provided with the vents W1 and W2. However, the present invention is not limited to this, and for example, the vents W1 and W2 are connected to other side surfaces (for example, the top plate 6). , Back plate 7 or the like).

  In the above embodiment, the additional controller A2 is connected to the right side plate 5 of the main body controller A1. For example, the additional controller A2 may be connected to the left side plate 4 of the main body controller A1. In this case, it is necessary to change the positions of the connection connectors 56 and 132 provided in the main body controller A1 and the additional controller A2. That is, for example, the main body side connector 56 is provided on the left side plate 4 of the main body controller A1, and the additional side connection connector 132 is provided on the right side plate 103 of the additional controller A2. Since the fan filter FF provided on the left side plate 4 of the main body controller A1 can be removed, the fan filter FF can be removed and attached to the left side plate 102 of the additional controller A2. Thereby, the number of parts can be reduced. In addition, since the cylinder T is formed between the cooling fan F and the left side plate 4 in the main body controller A1, even if the additional controller A2 is installed on the left side plate 4 where the cooling fan F is installed, the cooling is performed. The minimum distance for fan suction can be secured.

  In the above embodiment, the main body controller A1 has the main body side connection connector 56 only on the right side plate 5. For example, the main body controller A1 may be configured to have the main body side connection connectors 56 on the left and right side plates 4 and 5.

  According to this, the additional controller A2 can be connected to at least one of the left and right side plates 4 and 5 of the main body controller A1. Therefore, the degree of freedom of installation of the additional controller A2 can be further expanded.

  In the above embodiment, the cooling fan F takes in outside air from the vent W1 toward the inside of the main body housing 2 and forcibly exhausts the taken-in air from the vent W2. For example, the cooling fan F may be configured to suck the air inside the main body housing 2 and forcibly exhaust the sucked air from the vent W1.

  In the above embodiment, the vent holes 112 and 116 are formed in the upper surface 110a of the lower mounting base 110 and the lower surface 114a of the upper mounting base 114, respectively. However, the vent holes 112 and 116 may be omitted. .

  In the above embodiment, the motor driver 34 incorporated in the additional controller A2 is controlled by the drive control board 22 provided in the main body controller A1. For example, the additional controller A2 may have a drive control board, and the drive control board may control the motor driver 34 built in the additional controller A2. In this case, it is preferable that the main body controller A1 and the additional controller A2 exchange information with each other. The additional controller A2 may further include a CPU board.

  In the above embodiment, the power connection cable 62 and the signal connection cable 72 are connected only to the main body controller A1. For example, the power connection cable 62 and the signal connection cable 72 may be connected to the additional controller A2.

  In the above embodiment, the additional controller A2 may further include a cooling fan. Thereby, the cooling efficiency of the additional controller A2 can be further improved.

  In the above embodiment, the fan filter FF is removable. Not limited to this, the fan filter FF may be configured to be fixed to the left side plate 4 or may be omitted.

-The structure which abbreviate | omits the cylinder T of the said embodiment may be sufficient.
In the above embodiment, the personal computer PC and the teaching pendant TP are connected to the main body controller A1, but this is not restrictive. For example, in addition to the personal computer PC and the teaching pendant TP, an emergency stop switch, a programmable logic controller, or the like may be connected to the main body controller A1 or the additional controller A2.

  The additional controller A2 in the above embodiment may be configured to be openable and closable like the main body controller A1. In this case, it is preferable that the front plate 106 can be opened and closed. Thereby, replacement of the motor driver 34 can be facilitated.

  In the above embodiment, the maximum number of motor drivers 34 that can be incorporated in the main body controller A1 is four, but the present invention is not limited to this. For example, the maximum number of motor drivers 34 that can be incorporated may be 1 to 3 or 5 or more. Further, it is not necessary to incorporate all the maximum number of motor drivers 34.

  In the above embodiment, the maximum number of motor drivers 34 that can be incorporated in the additional controller A2 is two, but this is not restrictive. For example, the maximum number of motor drivers 34 that can be incorporated may be one or three or more. Further, it is not necessary to incorporate all the maximum number of motor drivers 34.

The schematic perspective view for demonstrating the robot system in this embodiment. Similarly, the disassembled perspective view for demonstrating the main body housing | casing of a main body controller. Similarly, the perspective view for demonstrating the main body housing | casing of a main body controller. Similarly, the perspective view for demonstrating the additional housing | casing of an additional controller. (A), (b) is a perspective view for demonstrating the housing | casing of the additional controller in another example, respectively.

Explanation of symbols

  A1 ... Main body controller, A2 ... Additional controller, F ... Cooling fan, FF ... Fan filter, RB ... Robot, T ... Cylinder, W1 to W4, W10, W11 ... Vents, 1 ... Robot controller, 2 ... Main body casing DESCRIPTION OF SYMBOLS 3 ... Base part, 4 ... Left side plate, 5 ... Right side plate, 8 ... Open / close panel, 20 ... CPU board, 22 ... Drive control board, 34 ... Motor driver as actuator driver, 38 ... Radiation fin, 38a ... Top surface, 56 ... Main body side connector, 100 ... Additional housing, 102 ... Left side plate, 103 ... Right side plate, 110 ... Lower mounting base constituting the support member, 112, 116 ... Ventilation holes, 113, 118 ... Ventilation portion, 114 ... Upper mounting base constituting the support member, 132... Additional side connection connector.

Claims (9)

In a robot control device that is added to the main control device having a vent on one side of the housing and controls the operation of the industrial robot in cooperation with the main control device ,
An additional housing coupled to the housing;
A one side of the additional housing, wherein in a state where the housing and said additional housing is connected, the coupling surface of the one side and the consolidation of the housing opposite to the one side of the housing When,
Wherein provided on the joint surface, in a state where the housing and said additional housing is connected, and a first additional vent overlaps the vent,
The additional housing is
Connected to a connector provided on one side of the housing in a state where the housing and the additional housing are connected to each other between the main control device and the robot control device. A robot control device having an additional connector for transmitting and receiving signals relating to the control of the industrial robot . The robot control device according to claim 1 ,
The additional casing is
A robot control apparatus comprising a second additional vent on the other side facing the connecting surface. The robot control device according to claim 2 , wherein
The additional casing is
Having the first additional vent on one end side of the connecting surface;
The robot control apparatus having the second additional vent on the other end side of the other side surface. In the robot control device according to claim 2 or 3 ,
The two actuator drivers housed in the additional housing and having heat radiation fins;
A support member that supports the outer edge of each of the two actuator drivers by disposing the surface direction of the radiating fin along the direction from the first additional vent to the second additional vent;
A communication hole provided in the support member and communicating between the heat dissipating fin and the first additional vent;
A robot control device comprising: A main control unit;
An additional controller for controlling the operation of the industrial robot in cooperation with the main controller;
In a robot control device having
The main controller is
A housing,
A first air vent provided on one side of the housing and ventilating the inside and outside of the housing;
The additional control device includes:
An additional housing coupled to the housing;
A connection surface that is one side surface of the additional housing and is connected to the one side surface of the housing opposite to the one side surface of the housing in a state where the housing and the additional housing are connected to each other; ,
Wherein provided on the coupling surface, wherein in a state where the housing and said additional housing is connected, has a first additional vent overlapping the first vent,
The housing is
Further comprising a connector on the one side surface,
The additional casing is
Provided on the connection surface, connected to the connector of the housing in a state where the housing and the additional housing are coupled, and between the main control device and the additional control device, the industrial robot A robot control apparatus comprising an additional connector for transmitting and receiving a signal related to control. The robot control device according to claim 5 , wherein
The housing is
Provided on the other side, the housing has a second vent for sucking air,
The additional casing is
A second additional vent provided on the other side for exhausting air from the additional housing;
A robot controller characterized by that. The robot control device according to claim 5 , wherein
The additional casing is
Provided on the other side surface, and having a second additional vent for sucking air into the additional housing;
The housing is
A robot control apparatus, comprising: a second vent hole provided on the other side surface for exhausting air from the housing. In the robot control device according to claim 6 or 7 ,
The other side surface of the housing is a side surface facing the one side surface of the housing,
The robot control apparatus according to claim 1, wherein the other side surface of the additional casing is a side surface facing the connection surface. The robot control device according to any one of claims 6 to 8 ,
The housing is
A fan filter detachably provided at one of the first vent and the second vent;
A fan provided on the one side for sucking air into the housing;
A robot control device comprising:

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