JP5708142B2 - Robot controller - Google Patents

Description

  The present invention relates to a robot controller for controlling movement of a robot, and in particular, a slot is mounted on a mounting surface of a circuit board in a housing, and a card-type storage medium is detachably inserted into the slot. Related to the robot controller.

  Conventionally, as described in Patent Document 1, a plurality of circuit boards for controlling the movement of a robot are arranged inside a housing of a robot controller. FIG. 4 is an exploded perspective view of the robot controller showing the inside of the robot controller, and shows the robot controller in a state where an open / close panel, which is one side wall of the casing, is removed from the casing. FIG. 4 shows a horizontal articulated robot, which is an example of an object to be controlled by the robot controller, together with the robot controller.

  As shown in FIG. 4, a rectangular plate-shaped command generation board 52 parallel to the bottom surface is fixed to the bottom surface in the housing 51 of the robot controller, and also on the back surface in the housing 51. A rectangular plate-like drive control board 53 parallel to the back surface is fixed. Four motor driver boards 54 erected with respect to the drive control board 53 are connected to the drive control board 53 via connectors 53c. In addition, a memory slot 55 having an insertion / removal opening that opens toward the top surface of the housing 51 is mounted on a mounting surface that is an outer surface of the drive control board 53. In the memory slot 55, a plate-shaped card type storage medium 56 parallel to the mounting surface of the drive control board 53 is detachably inserted along the mounting surface.

  The card-type storage medium 56 includes, for example, the length of each arm constituting the robot R and the connection destination thereof, the capacity of each AC motor M constituting the robot R, and the reduction ratio of the speed reducer connected to each AC motor. Etc. are stored. The card-type storage medium 56 stores, for example, a relational expression for generating a multiphase AC voltage to be output to the AC motor based on the position command value and the speed command value. Furthermore, the card-type storage medium 56 stores various software such as an operating system and a program executed under the operating system. That is, the card type storage medium 56 stores various data and various software for controlling the movement of the robot R as stored contents.

  In the command generation board 52 described above, command values such as the movement destination of the robot R and the movement speed of the robot R are calculated based on the rotational position of the AC motor M output from the encoder and the stored contents. The drive control board 53 generates a voltage command value for the AC motor M based on the command value output from the command generation board 52 and the stored contents, and a pulse signal corresponding to the voltage command value is modulated by PWM or the like. Output in the method. Each of the four motor driver boards 54 generates a multiphase AC voltage output to the AC motor M based on the pulse signal output from the drive control board 53.

JP 2007-175856 A

  By the way, a predetermined installation posture is usually recommended for the robot controller described above. For example, in order to prevent the installation position of the robot controller from being changed by external vibration, the installation posture is determined in advance so that the center of gravity of the robot controller is arranged on the bottom surface side of the housing. Also in the memory slot 55, in order to prevent the card-type storage medium 56 from being attached and detached due to external vibration, the memory slot 55 is previously mounted on a circuit board so that the insertion / removal opening of the memory slot 55 opens toward the top surface. The mounting position of is determined.

  On the other hand, for example, until the robot controller is carried into a predetermined facility, the robot controller is usually transported in various postures that do not necessarily satisfy the installation posture described above. The robot controller is transported with the insertion / removal opening of the memory slot 55 facing downward, and the card-type storage medium 56 often falls out of the memory slot 55 during the transport process. Therefore, when the robot controller is installed in a predetermined facility, the missing card-type storage medium 56 is searched from within the casing, and whether the dropped card-type storage medium 56 is normal is checked. The troublesome work for inserting the card-type storage medium 56 into the memory slot 55 is unavoidably performed.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a robot controller capable of suppressing a card-type storage medium inserted so as to be able to be pulled out from a slot from falling out of the slot. There is to do.

  The present invention comprises a circuit board having a mounting surface attached to one side wall of a housing and facing the inside of the housing, and a slot mounted on the mounting surface and having a card-type storage medium inserted therein, The circuit board is a robot controller that controls the movement of the robot using the storage contents stored in the card-type storage medium, wherein the insertion direction and the removal direction of the card-type storage medium are parallel to the mounting surface. Has a first through-hole penetrating the circuit board, and one side wall of the housing has a first threaded portion facing the first through-hole, and protrudes from the mounting surface. And a first screwing member that has one head and is screwed to the first screwed portion through the first through hole. The first head includes the card-type storage medium in the slot. During insertion, the card-type storage medium is detached from the outer peripheral surface. And summarized in that the side abutment countercurrent.

  According to the present invention, the first head of the first screwing member that is screwed to one side wall of the housing protrudes from the mounting surface of the circuit board in the direction of attaching / detaching the card storage medium around the card storage medium. ing. Then, while the card type storage medium is in the slot, the head protruding from the mounting surface of the circuit board comes into contact with the card type storage medium.

  As described above, when the robot controller is transported, it is often transported in such a posture that the slot insertion / removal port faces downward until the robot controller is transported to a predetermined facility. In this regard, with the configuration described above, even if the robot controller is transported in a posture in which the slot insertion / removal is directed downward, the card-type storage medium and the first screw are inserted while the card-type storage medium is in the slot. The first head of the combined member comes into contact. Therefore, it is possible to prevent the card-type storage medium and the slot from being disengaged from each other, or the card-type storage medium from which the fit to the slot is released from falling out of the slot.

Further, since the first screwing member and the housing are screwed through the first through hole formed in the circuit board, the head of the first screwing member and the card are released by releasing such screwing. The contact with the mold storage medium is also released. Accordingly, the card type storage medium can be inserted into and inserted into the slot, and the card type storage medium can be detached from the slot by releasing the fitting between the card type storage medium and the slot. .
The gist of the present invention is that the first head is separated from the card type storage medium when the card type storage medium is inserted into the slot.

  According to the present invention, while the card type storage medium is in the slot, the card type storage medium and the first head abut, while the card type storage medium is inserted into the slot, The card type storage medium and the first head are separated from each other. Therefore, there is no possibility that the card type storage medium is excessively pressed toward the slot while the card type storage medium is inserted into the slot. As a result, it is possible to prevent the card-type storage medium from being deformed by the card-type storage medium being excessively pressed toward the slot, or the slot from being deformed.

The gist of the present invention is that the first through hole is formed in the detaching direction of the card type storage medium in the periphery of the card type storage medium.
The position where the first through hole is formed may be, for example, the insertion direction of the card type storage medium in the periphery of the card type storage medium. However, if the first through hole is formed in the insertion direction of the card type storage medium, the shape of the head of the first screwing member includes the side surface in the removal direction of the card type storage medium and the head. Therefore, a complicated form is required to straddle the card-type storage medium in the attaching / detaching direction. In this regard, according to the present invention, since the first through hole is formed in the direction in which the card-type storage medium is attached / detached, the head of the first screwing member has a complicated shape that straddles the card-type storage medium Is not required. Therefore, the above-described effect can be obtained with a simple configuration.

  In this invention, the circuit board has a plurality of second through holes penetrating the circuit board, and one side wall of the housing faces a plurality of second through holes facing each of the plurality of second through holes. A plurality of second screwing members each having a screwed portion and screwed into each of the plurality of second screwed portions via each of the plurality of second through holes; Each of the two screwing members has a second head that protrudes from the mounting surface and fixes the circuit board between the second screwed portion and the second head from the mounting surface. The gist is that the protruding amount is smaller than the protruding amount from the mounting surface in the first head.

  According to this invention, since the circuit board is fixed between the plurality of second screwed portions and the plurality of second screwing members, the circuit board is fixed to the one side wall at a plurality of portions. Become. Therefore, it is possible to suppress the displacement of the circuit board with respect to the one side wall as compared with the configuration in which the circuit board is fixed to the one side wall at one place.

  On the other hand, the protrusion amount of the second head included in the second screwing member may be any protrusion amount that can fix the circuit board. Rather, from the viewpoint of mounting various electronic components and wiring on the mounting surface, it is preferable that the protrusion amount of the second head is small. In this regard, according to the above-described configuration, since the protruding amount of the second head is smaller than the protruding amount of the first head, the first head does not incur complicated arrangement of various electronic components and wirings. It is possible to reliably develop the function required for the part and the function required for the second head.

The gist of the present invention is that the first screwed portion and the second screwed portion are studs protruding from one side wall of the housing.
According to this invention, since the first screwed portion and the second screwed portion are configured as studs, in the step of projecting a plurality of studs on one side wall of the housing, these first screwed portions are engaged. And the second threaded portion can be formed. Therefore, it is possible to simplify the process of manufacturing the robot controller as compared with the configuration in which the process of forming the first screwed part and the process of forming the second screwed part are different processes. It is.

  In the present invention, a power circuit board that converts an AC voltage into a DC voltage and outputs the output voltage, and converts the output voltage of the power circuit board into a multiphase AC voltage and outputs the multiphase AC voltage to the AC motor of the robot. A motor driver board for controlling the output voltage of the motor driver board based on the rotational position of the AC motor, and a control circuit board for outputting a control signal to the motor driver board. And the control circuit board are arranged side by side on one side in the housing, the slot is mounted on the control circuit board, and the insertion / removal port for inserting / removing the card-type storage medium into / from the power supply circuit board The gist is that it is directed to the side.

  The housing usually contains many electronic components and wiring for moving the robot. For this reason, it takes a lot of time to search for a card-type storage medium from the inside of the housing. In particular, when the slot insertion / removal opening faces an open space in the housing, the card-type storage medium has a wide range of drop-off destinations, so that more time is required to find the card-type storage medium. In this regard, according to the present invention, even if the slot insertion / removal opening is open toward the power circuit board side, the card-type storage medium and the card-type storage medium The first head of the first screwing member comes into contact. Therefore, the above-described effect becomes more remarkable.

The perspective view which shows the external structure of the robot controller in one Embodiment of this invention. The perspective view which shows centering on the supply system of a power supply about the internal structure of the robot controller in one Embodiment. Similarly, the fragmentary perspective view which mainly shows the peripheral structure of a memory slot about the internal structure of the robot controller in one Embodiment. The perspective view which shows the internal structure of the robot controller in a prior art example with the robot which is a control object.

  Hereinafter, an embodiment in which the robot controller of the present invention is embodied will be described with reference to FIGS. The control target of the robot controller in this embodiment is the robot described in FIG. 4 and is a horizontal articulated robot on which four AC motors M are mounted. Therefore, in the following, regarding the control target of the robot controller, the same reference numerals as those of the robot R described above are given, and the redundant description is omitted.

[External structure of robot controller]
First, the external structure of the robot controller will be described with reference to FIG. As shown in FIG. 1, an external power supply connector 2 is disposed on the right end of the front panel 1F of the front panel 1F of the casing 1 formed in a rectangular parallelepiped shape extending in the horizontal direction. The external power connector 2 is connected to an external power plug of the facility where the robot controller is installed, and supplies an external AC voltage of 200 V supplied from the external power plug to the inside of the housing 1. On the front panel 1F, an operation lever 3a of the circuit protector 3 is disposed above the external power supply connector 2. The operation lever 3a of the circuit protector 3 is connected to the external power connector 2 inside the housing 1, and forcibly supplies and shuts off the robot controller with respect to the 200V AC voltage supplied by the external power plug. Switch.

  On the other hand, a rectangular multiphase AC voltage connector 4 extending in the vertical direction is fitted into the left end of the front panel 1F. In the polyphase AC voltage connector 4, each of a plurality of connection terminals connected to the four AC motors M is arranged in the vertical direction. The multiphase AC voltage connector 4 is connected to each of the four AC motors M described above, and outputs a multiphase AC voltage to each of the four AC motors M.

  Three ports for external communication extending in the left-right direction are fitted in a portion occupying the left half of the front panel 1F in the lower end portion of the front panel 1F. Each of the position detector port 11, the emergency stop port 12, and the TP port 13 constituting the three ports is arranged in this order from the left end of the front panel 1F along the lower side of the front panel 1F. The connection terminals are arranged in the left-right direction.

  The position detector port 11 is connected to four rotational angle sensors such as a resolver and an encoder that detect the rotational position of each of the four AC motors M, and the rotational angle sensor detects from each of the four rotational angle sensors. A position detection signal indicating the position is input. The emergency stop port 12 is connected to a device that detects whether the environment in which the robot controller is installed is an emergency, such as an emergency stop circuit or a safety door circuit provided outside the robot controller. Emergency stop signal is input. The TP port 13 is connected to a teaching pendant which is one of peripheral devices of the robot controller, and data used for teaching the robot R is input from the teaching pendant.

  Of the lower end portion of the front panel 1F, on the right side of the TP port 13, the first USB port 14 and the second USB port 15, which are two ports for serial communication, and the LAN port 16 are on the right end portion. It is inserted in this order.

  The first USB port 14 is connected to an external computer, which is one of the peripheral devices of the robot controller, via the USB. For example, in response to a request from the external computer, the I / O state of the robot controller, etc. A signal indicating the processing state is output. The second USB port 15 is connected to, for example, a USB memory, and outputs a log stored in the robot controller to the USB memory. The LAN port 16 is connected to, for example, a network of equipment in which the robot controller is installed via Ethernet (registered trademark), for example, in response to a request from an external computer connected to the network, this is also processed in the robot controller A signal indicating the state of is output. A trigger switch 15a is disposed between the second USB port 15 and the LAN port 16 in the lower end portion of the front panel 1F. The trigger switch 15a allows log output from the second USB port 15 each time the trigger switch 15a is pressed.

  An I / O port 17 that handles input and output of various digital signals is fitted into the right end portion of the lower end portion of the front panel 1F. The I / O port 17 is a connector having the largest width in the left-right direction and the width in the front-rear direction among the connectors disposed on the front panel 1F. The I / O port 17 is connected to peripheral devices required for moving the robot and peripheral devices driven in accordance with the movement of the robot, such as a camera for imaging the movement of the robot and a sensor for detecting the position of the robot. Has been. The I / O port 17 receives a signal indicating the state of the robot itself and the state around the robot from the peripheral device, and outputs a signal indicating the movement of the robot to the peripheral device.

  A sequencer port 18 is fitted on the front panel 1F above the TP port 13, and a cooling fan F is inserted on the upper side of the sequencer port 18 in a replaceable manner. The sequencer port 18 is connected to the sequencer via, for example, RS-232C, and a control signal for moving the robot is input from the sequencer. The cooling fan F is a fan that blows outside air from the outside of the housing 1 toward the inside of the housing 1, and is included in the outside air between the outer case of the cooling fan F and the front panel 1 F. An outside air filter Fa for catching dust and dust is sandwiched in a replaceable manner.

  A slot hole, which is a rectangular hole extending in the vertical direction, is formed above the LAN port 16 in the front panel 1F, and an extension panel 1P having a rectangular plate shape is fitted into the slot hole. In addition, two expansion I / O ports 19 are arranged in the left-right direction on the expansion panel 1P. Each of the two expansion I / O ports 19 includes peripheral devices and robot movements required to move the robot, such as a camera that captures a workpiece that is a work target of the robot and a sensor that detects the position of the workpiece. Connected to a peripheral device driven by The expansion I / O port 19 receives a signal indicating the state of the robot itself and the state around the robot from the peripheral device, and outputs a signal indicating the movement of the robot to the peripheral device.

As described above, the front panel 1F of the robot controller is provided with all the interfaces necessary for the following work performed without opening the inside of the housing 1.
・ Turn on and off the power to the robot controller.
-Connection and disconnection between the robot controller and the robot R to be controlled.
-Connection and disconnection between the robot controller and its peripheral devices.
・ Maintenance and inspection of cooling fan F and outside air filter Fa.

[Internal structure of robot controller]
Next, the internal structure of the robot controller will be described with reference to FIGS. In FIG. 2, for convenience of describing the internal structure of the robot controller, the above-described front panel 1F, back panel, and top panel are omitted from the housing 1 of the robot controller, and are further provided on the front panel 1F. The multiphase AC voltage connector 4 and the cooling fan F are omitted. For convenience of describing the functions and arrangement of the circuit boards, a cable connecting the circuit boards, a cable connecting the circuit boards and the electronic components, and a cable connecting the electronic components are omitted.

  As shown in FIG. 2, the right panel 1R of the housing 1 is provided with a power supply system that is connected to the circuit protector 3 and converts a 200V AC voltage into a DC voltage and outputs the DC voltage. Further, a main power circuit board 20 and a control circuit board 30 as power circuit boards are separately arranged on the bottom panel 1B of the housing 1, and a motor driver board 40 is arranged on the left panel 1L of the housing 1. Is arranged.

  A noise filter NF is fixed at the upper center of the right panel 1R of the housing 1. The noise filter NF is connected to the circuit protector 3 via an input cable, and is connected to the main power circuit board 20 via an output cable. When an AC voltage of 200 V is input from the circuit protector 3 to the noise filter NF, the noise filter NF removes noise from the AC voltage and outputs the AC voltage from which the noise has been removed to the main power circuit board 20. To do.

  The main power supply circuit board 20 is a rectangular plate-like printed circuit board fixed to the back side of the bottom panel 1B, and is sized to occupy most of the back side of the bottom panel 1B. The main power circuit board 20 has a rigid board in which two layers of printed boards parallel to the bottom panel 1B are laminated. On the upper face of the rigid board, an AC voltage of 200V is applied to a DC voltage of 280V as a driving voltage. Various electronic components for conversion into the above are mounted. The main power supply circuit board 20 is connected to the noise filter NF via an input cable, and is separately provided to the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit board PS3 via the output cable. It is connected. The main power supply circuit board 20 is connected to the motor driver board 40 via an AC voltage output connector. When an AC voltage is input from the noise filter NF to the main power supply circuit board 20, the main power supply circuit board 20 converts the AC voltage into the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit. Distribute to substrate PS3. Further, the main power supply circuit board 20 converts the AC voltage input from the noise filter NF into a drive voltage that is a DC voltage of 280 V, and outputs the drive voltage to the motor driver board 40.

  The first power supply circuit board PS1 is a rectangular plate-like circuit board fixed on the upper rear side of the right panel 1R, on which various electronic components for converting a 200V AC voltage to a 15V DC voltage are mounted. Mounting board. The first power supply circuit board PS1 is connected to the main power supply circuit board 20 via an input cable, and is connected to the main power supply circuit board 20 via an output cable. When the AC voltage is distributed from the main power supply circuit board 20 to the first power supply circuit board PS1, the first power supply circuit board PS1 converts the AC voltage into a DC voltage of 15V, and the converted DC voltage is converted into the AC voltage. Output to the main power circuit board 20.

  The second power supply circuit board PS2 is a rectangular plate-like circuit board fixed below the back side of the right panel 1R, and mounted with various electronic components for converting 200V AC voltage to 5V DC voltage. Mounting board. The second power supply circuit board PS2 is connected to the main power supply circuit board 20 via an input cable, and is connected to the control circuit board 30 via an output cable. Then, when the AC voltage is distributed from the main power supply circuit board 20 to the second power supply circuit board PS2, the second power supply circuit board PS2 converts the AC voltage into a DC voltage of 5V, and the converted DC voltage Output to the control circuit board 30.

  The third power supply circuit board PS3 is a rectangular plate-like circuit board fixed to the right side of the main power supply circuit board 20 in the bottom panel 1B, and various types for converting 200V AC voltage into 24V DC voltage. This is a mounting board on which the electronic components are mounted. The second power supply circuit board PS2 is connected to the main power supply circuit board 20 via an input cable, and is connected to the control circuit board 30 via an output cable. When the AC voltage is distributed from the main power supply circuit board 20 to the third power supply circuit board PS3, the third power supply circuit board PS3 converts the AC voltage into a DC voltage of 24V, and the converted DC voltage is converted into the DC voltage. Output to the control circuit board 30.

  The control circuit board 30 is a rectangular plate-like printed circuit board fixed to the front side of the bottom panel 1B, and is sized to occupy the entire front side of the bottom panel 1B. The control circuit board 30 has a rigid board in which six layers of printed boards parallel to the bottom panel 1B are laminated, and a control signal for controlling the output voltage of the motor driver board 40 is provided on the upper surface of the rigid board. Are mounted with various electronic components for generating the signal based on the detection signal input from the rotation angle sensor. The control circuit board 30 is connected to each connector arranged at the lower end of the front panel 1F, and detection signals and commands from external devices and peripheral devices are input through the connectors.

  More specifically, the position detector port 11 is connected to the control circuit board 30, and detection signals from each of the four rotation angle sensors are input to the control circuit board 30 via the position detector port 11. The The emergency stop port 12 is connected to the control circuit board 30, and an emergency stop command from an external device or peripheral device is input to the control circuit board 30 via the emergency stop port 12. Further, the TP port 13 is connected to the control circuit board 30, and a teaching command from the teaching pendant is input to the control circuit board 30 via the TP port 13.

  Further, the first USB port 14 is connected to the control circuit board 30, and commands and data from an external computer are input to the control circuit board 30 via the first USB port 14. Further, the second USB port 15 is connected to the control circuit board 30, and a signal indicating a processing state in the robot controller is output from the control circuit board 30 in response to an input signal from the trigger switch 15a. Further, the LAN port 16 is connected to the control circuit board 30, and a signal indicating a processing state in the robot controller is transmitted from the control circuit board 30 via the LAN port 16 and a network connected to the LAN port 16. Is output. The I / O port 17 is connected to the control circuit board 30, and commands and detection signals from peripheral devices are input to the control circuit board 30 via the I / O port 17. In addition, commands to peripheral devices and calculation results are output from the control circuit board 30 via the I / O port 17.

  A CPU board 31 on which a CPU is mounted is stacked on the back side of the upper surface of the control circuit board 30 so as to face the cooling fan F described above in the front-rear direction. The CPU board 31 interprets and executes a teaching program for teaching the teaching position to the robot R, and interprets and executes a program for moving the robot R to a predetermined working position. At this time, the CPU board 31 first uses the teaching position input from the teaching pendant, the preset work position, and the detection result input from each rotation angle sensor to move the robot R to the teaching position or the work position. A trajectory for generating the position of the robot R is generated. Subsequently, the control circuit board 30 calculates the drive amount of the AC motor for moving the robot R to the position indicated by the position command, and generates a voltage command for each phase according to the calculated drive amount. Next, the CPU board 31 outputs a pulse signal corresponding to the generated voltage command as a control signal by a modulation method such as PWM. Then, every time a detection result is input from the rotation angle sensor, the CPU board 31 generates such a trajectory, calculates a driving amount according to the trajectory, and outputs a control signal according to the driving amount.

  Three expansion connectors 33 extending in the front-rear direction are disposed on the right panel 1R side of the CPU board 31 on the upper surface of the control circuit board 30. In each of the three expansion connectors 33, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. When the pin of the expansion circuit board on which the expansion I / O port 19 is mounted is fitted into the expansion connector, a signal indicating the state around the robot is input to the control circuit board 30 via the expansion circuit board. A signal indicating the movement of the robot is output from the control circuit board 30 via the extension circuit board.

  In addition, a memory slot 35 into which the card-type storage medium 34 is inserted is disposed in the vicinity of the right panel 1R on the back side of the upper surface of the control circuit board 30. The card-type storage medium 34 includes the length of each arm constituting the robot R and the connection destination thereof, the capacity of each AC motor M constituting the robot R, and the reduction ratio of the speed reducer connected to each AC motor. Is stored. The card-type storage medium 34 stores relational expressions for generating a multiphase AC voltage to be output to the AC motor based on the position command value and the speed command value. Furthermore, the card-type storage medium 56 stores various software such as an operating system and a program executed under the operating system. That is, the card type storage medium 56 stores various data and various software for controlling the movement of the robot R as stored contents. The CPU board 31 reads various data and programs stored in the card type storage medium 34, generates the trajectory described above with reference to the data, and generates the pulse signal described above with reference to the data. To do.

  The motor driver board 40 is erected on the main power circuit board 20 and the control circuit board 30 in a state where it stands with respect to the main power circuit board 20 and the control circuit board 30. The motor driver board 40 is formed in a rectangular plate shape extending in the front-rear direction, which is the blowing direction of the cooling fan F. A drive voltage and a DC voltage of 15 V are input to the motor driver board 40 from the main power supply circuit board 20, and a control signal is output from the control circuit board 30. The motor driver board 40 is mounted with a power device (not shown) that converts the drive voltage into a multiphase AC voltage based on the control signal. Then, the multiphase AC voltage generated by the motor driver board 40 is output to each AC motor M through the multiphase AC voltage connector 4.

[The peripheral structure of the memory slot 35]
Next, the peripheral structure of the memory slot 35 described above will be described with reference to FIG. In FIG. 3, for the convenience of mainly explaining the configuration of the slot stud 36, the slot through hole 37, and the drop-off suppressing screw 38, the board fixing stud 36a, the board fixing through hole 37a, and the board fixing screw 38a. Show less quantity.

  As shown in FIG. 3, the memory slot 35 is a U-shaped card slot opened to the back panel side when viewed from the plan view, and is mounted on the mounting surface 30 a that is the upper surface of the control circuit board 30. ing. An insertion / removal port 35a through which the card-type storage medium 34 is inserted / removed is formed at the rear end of the memory slot 35 so as to face the main power circuit board 20 side (rear panel side). A pair of guide pieces for guiding the card-type storage medium 34 in the front-rear direction is extended toward the front side at both left and right ends of the insertion / removal opening 35a. In the state where the card type storage medium 34 is inserted into the memory slot 35, most of the left and right end faces of the outer peripheral surface of the card type storage medium 34 are covered with a pair of guide pieces, The entire contact surface 34a is exposed from the insertion / removal opening 35a toward the rear panel.

  When the card-type storage medium 34 is inserted into the memory slot 35, first, the leading end 34b of the card-type storage medium 34 is inserted from the insertion / removal port 35a, and the length of the guide piece in the front-rear direction is reduced. The type storage medium 34 is guided to the front side. From this state, when the card-type storage medium 34 is further pushed to the front side, the terminal formed at the front end 34b of the card-type storage medium 34 is inserted into the socket formed at the base end 35b of the memory slot 35, As a result, the card type storage medium 34 is inserted into the memory slot 35.

  On the other hand, when the card-type storage medium 34 is removed from the memory slot 35, first, the card-type storage medium 34 is pulled out to the back side, and the terminal formed at the leading end 34b of the card-type storage medium 34 is connected to the memory slot. It is pulled out from the socket formed at the base end portion 35b of 35. From this state, when the card-type storage medium 34 is further pulled out to the back side, the card-type storage medium 34 is guided to the back side by the length of the guide piece in the front-rear direction. Thus, the card-type storage medium 34 is detached from the memory slot 35.

  Thus, the insertion direction of the card type storage medium 34 is parallel to the mounting surface 30a and is the direction from the insertion / removal opening 35a toward the front panel 1F. The card-type storage medium 34 is also attached / detached in parallel with the mounting surface 30a and directed from the insertion / removal opening 35a toward the rear panel.

  A circular through hole 37 as a first through hole penetrates the control circuit board 30 in the attaching / detaching direction of the card type storage medium 34 in the periphery of the card type storage medium 34. A cylindrical slot stud 36 as a first screwed portion is erected toward the slot through hole 37 at a portion of the inner surface of the bottom panel 1B facing the slot through hole 37. Yes. A female screw (not shown) is formed in the slot stud 36 along the extending direction of the slot stud 36. On the upper side of the slot stud 36, a drop-off suppressing screw 38, which is a male screw as a first screwing member, is screwed into the slot stud 36 through the slot through hole 37. The drop-off suppressing screw 38 has a columnar head (first head) that protrudes from the mounting surface 30 a of the control circuit board 30.

Here, the drop-off suppression distance W, which is the distance between the contact surface 34a of the card-type storage medium 34 and the head of the drop-off suppression screw 38, is set so that the following condition A and condition B are satisfied. Note that while the card-type storage medium 34 is in the memory slot 35, the period during which the leading end 34b of the card-type storage medium 34 is disposed between the insertion slot 35a and the base end 35b of the memory slot 35. It is. The state in which the card-type storage medium 34 is inserted into the memory slot 35 is a state in which the distal end portion 34b is in contact with the proximal end portion 35b and the terminal of the distal end portion 34b is inserted into the socket of the proximal end portion 35b. It is.
Condition A: While the card-type storage medium 34 is in the memory slot 35, the contact surface 34a of the card-type storage medium 34 and the head of the drop prevention screw 38 abut.
Condition B: In a state where the card type storage medium 34 is inserted into the memory slot 35, the head of the drop-inhibiting screw 38 is separated from the contact surface 34a of the card type storage medium 34.

  In general, when a robot controller is transported, it is often transported in such a posture that the insertion / removal port 35a of the memory slot 35 faces downward until it is carried into a predetermined facility. In this regard, as long as the condition A is satisfied, even if the robot controller is transported with the insertion / removal port 35a of the memory slot 35 facing downward, the card-type storage medium 34 remains in the memory slot 35. In addition, the contact surface 34a of the card-type storage medium 34 and the head of the drop-inhibiting screw 38 come into contact. Therefore, it is possible to suppress the card-type storage medium 34 from falling out of the memory slot 35.

  Further, since the drop-off suppressing screw 38 and the housing 1 are screwed through the slot through-hole 37 formed in the control circuit board 30, the screw-off is released so that the drop-off suppressing screw 38 The contact between the head and the card-type storage medium 34 is also released. As a result, the card type storage medium 34 is inserted into the memory slot 35 and attached, and the card type storage medium 34 and the memory slot 35 are released from each other, and the card type storage medium 34 is removed from the memory slot 35. You can do this.

  Further, since the condition B is satisfied, while the card type storage medium 34 is in the memory slot 35, the card type storage medium 34 and the drop-off suppressing screw 38 are in contact with each other, while the card type storage medium 34 Is inserted in the memory slot 35, the card-type storage medium 34 and the drop-off suppressing screw 38 are separated from each other. Therefore, when the card-type storage medium 34 is inserted into the memory slot 35, there is no possibility that the card-type storage medium 34 is excessively pressed toward the memory slot 35 by the drop-off suppressing screw 38. As a result, it is possible to prevent the card-type storage medium 34 from being deformed by the card-type storage medium 34 being excessively pressed toward the memory slot 35, or the memory slot 35 from being deformed.

  If the conditions A and B are satisfied, the position where the slot through-hole 37 is formed is, for example, the insertion direction of the card type storage medium 34 around the card type storage medium 34. May be. However, if the slot through-hole 37 is formed in the insertion direction of the card-type storage medium 34, the shape of the head of the drop-off suppressing screw 38 has the contact surface 34a of the card-type storage medium 34 and the In order to come into contact with the head, a complicated shape that straddles the card-type storage medium 34 in the attaching / detaching direction is required. In this regard, according to the above-described configuration, since the slot through-hole 37 is formed in the direction in which the card-type storage medium 34 is attached / detached, the head of the drop-inhibiting screw 38 extends across the card-type storage medium 34. Complex shapes are not required.

  On the other hand, a plurality of board fixing through holes 37 a as second through holes penetrate the control circuit board 30 outside the slot through holes 37 with respect to the card type storage medium 34. A plurality of columnar substrate fixing studs 36a as second screwed portions are provided on the inner surface of the bottom panel 1B facing each other of the plurality of substrate fixing through holes 37a. It stands up toward the through-hole 37a. A female screw (not shown) is formed in each of the plurality of substrate fixing studs 36a along the extending direction of the substrate fixing stud 36a. A board fixing screw 38a, which is a male screw as a second screwing member, is screwed onto the board fixing stud 36a via the board fixing through hole 37a on the upper side of each of the plurality of board fixing studs 36a. ing. The board fixing screw 38a has a disk-shaped head (second head) protruding from the mounting surface 30a of the control circuit board 30, and fixes the control circuit board 30 between the board fixing studs 36a. . Thereby, since the control circuit board 30 is fixed between the plurality of board fixing studs 36a and the plurality of board fixing screws 38a, the control circuit board 30 is displaced with respect to the bottom panel 1B of the housing 1. It is possible to suppress.

Here, the protruding amount H from the mounting surface 30a of the head of the drop-off suppressing screw 38 and the protruding amount Ha of the mounting surface 30a from the head of the board fixing screw 38a satisfy the following condition C. Is set to
Condition C: Projection amount Ha <Projection amount H

  As described above, the protrusion amount Ha of the head included in the board fixing screw 38 a may be any protrusion amount that can fix the control circuit board 30. From the viewpoint of mounting various electronic components and wiring on the mounting surface 30a, it is preferable that the protruding amount Ha of the head is small. In this regard, if the configuration satisfies the above condition C, the protrusion amount Ha of the board fixing screw 38a is smaller than the protrusion amount H of the drop-off suppressing screw 38, which complicates the arrangement of various electronic components and wirings. It is possible to express the functions required for each without inviting them.

Next, the operation of the robot controller having the above-described configuration will be described below.
When an AC voltage of 200 V is input from the external power plug to the noise filter NF via the circuit protector 3, the AC voltage from which noise has been removed by the noise filter NF is output from the noise filter NF to the main power circuit board 20. Is done. Next, the AC voltage input to the main power supply circuit board 20 is distributed to the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit board PS3, and the first power supply circuit board PS1 and the second power supply circuit board 3 are supplied. The circuit board PS2 and the third power supply circuit board PS3 are converted into mutually different DC voltages. Further, in the main power supply circuit board 20, the AC voltage from the noise filter NF is converted into a DC voltage of 280V that is a drive voltage. Then, the 15V DC voltage generated by the first power supply circuit board PS1 and the drive voltage generated by the main power supply circuit board 20 are input from the main power supply circuit board 20 to the motor driver board 40.

  On the other hand, when a detection signal from a peripheral device is input to the control circuit board 30 via the I / O port 17 in order to move the robot R to the work position, the control circuit board 30 passes through the position detector port 11. A detection signal of each rotation angle sensor is acquired. Next, the control circuit board 30 generates a trajectory for the robot R to move to the work position based on the position command indicating the work position and the detection result of each rotation angle sensor, and moves the robot R along the trajectory. The drive amount of the AC motor for moving is calculated. The control circuit board 30 generates a voltage command for each phase according to the calculated drive amount, and a control signal corresponding to the voltage command is input from the control circuit board 30 to the motor driver board 40. The CPU board 31 mounted on the control circuit board 30 reads various data and programs stored in the card type storage medium 34, generates the trajectory described above with reference to the data, and refers to the data. Thus, the pulse signal described above is generated.

  Subsequently, in the motor driver board 40, the drive voltage input from the main power supply circuit board 20 is boosted to a voltage suitable for driving the AC motor, and the control signal input from the control circuit board 30 is turned on / off. The boosted voltage is converted into a multiphase AC voltage. In the robot controller, the control circuit board 30 controls the frequency of the control signal input to the motor driver board 40, so that a current corresponding to the drive amount of the AC motor is supplied to each phase of the AC motor.

  At this time, in the robot controller, the memory slot 35 and its periphery are configured to satisfy the above conditions A to 3. Then, while the card-type storage medium 34 is in the memory slot 35, the contact surface 34 a of the card-type storage medium 34 and the head of the drop-off suppressing screw 38 come into contact. As a result, the robot controller is installed in such a posture that the insertion / removal opening 35a of the memory slot 35 is directed downward, and even when vibration from the robot R is transmitted to such a robot controller, the card-type storage medium 34 is stored in the memory slot 35. It is possible to suppress falling out of. Further, the card-type storage medium 34 can be exchanged by releasing the screwing between the drop-off suppressing screw 38 and the housing 1.

As described above, according to the robot controller of the present embodiment, the effects listed below can be obtained.
(1) Even if the robot controller is transported with the insertion / removal port 35a of the memory slot 35 facing downward, the card-type storage medium 34 and the drop-out prevention are suppressed while the card-type storage medium 34 is in the memory slot 35. The head of the screw 38 comes into contact. Therefore, it is possible to suppress the card-type storage medium 34 from falling out of the memory slot 35.

  (2) By releasing the screwing of the drop-off suppressing screw 38 and the slot stud 36, the contact between the head of the drop-off suppressing screw 38 and the card-type storage medium 34 is also released. Thereby, the card type storage medium 34 can be inserted into and inserted into the memory slot 35, and the card type storage medium 34 can be removed from the memory slot 35.

(3) In a state where the card type storage medium 34 is inserted into the memory slot 35, the card type storage medium 34 and the drop-off suppressing screw 38 are separated from each other. Therefore, there is no possibility that the card type storage medium 34 is excessively pressed toward the memory slot 35 in a state where the card type storage medium 34 is inserted into the memory slot 35.
(4) Since the slot through-hole 37 is formed in the direction in which the card-type storage medium 34 is attached / detached, the head of the drop-off suppressing screw 38 can be configured as a simple column.

  (5) Since the protruding amount Ha at the head of the board fixing screw 38a is smaller than the protruding amount H at the head of the drop-off suppressing screw 38, each of them does not cause complication of arrangement of various electronic components and wirings. It is possible to reliably develop the functions required for the head of the mouse.

  (6) In the step of projecting a plurality of studs on the bottom panel 1B of the housing 1, it is possible to form both the slot stud 36 and the board fixing stud 36a. Therefore, the process of manufacturing the robot controller is simpler than the configuration in which the process of forming the screwing target of the drop-off suppressing screw 38 and the process of forming the screwing target of the board fixing screw 38a are different from each other. Is possible.

  (7) The housing 1 normally contains a large number of electronic components and wirings for moving the robot. For this reason, it takes a lot of time to find the card-type storage medium 34 from the inside of the housing 1. In particular, when the insertion / removal opening 35a of the memory slot 35 faces the open space in the housing 1, the card-type storage medium 34 has a wide range of drop-off destinations. Time is required.

  In this regard, as described above, even when the insertion / removal opening 35a of the memory slot 35 is open toward the main power supply circuit board 20 side, the card-type storage medium 34 is still in the memory slot 35. The card-type storage medium 34 and the drop-off suppressing screw 38 come into contact with each other. Therefore, the effect described in the above (1) becomes more remarkable.

In addition, the said embodiment can also be implemented with the following aspects.
The memory slot 35 and the card type storage medium 34 may be disposed on another board different from the control circuit board 30, for example, the main power circuit board 20. Alternatively, the main power circuit board 20 may be disposed on the front side of the casing 1 and the control circuit board 30 may be disposed on the back side of the casing 1. Furthermore, the main power supply circuit board 20 and the control circuit board 30 may be configured by a single circuit board, and the memory slot 35 and the card type storage medium 34 may be disposed on the circuit board. Even if it is these structures, it is possible to acquire the effect according to said (1)-(6).

  The direction in which the insertion / removal opening 35a of the memory slot 35 faces may be the main power circuit board 20 side, the right panel 1R side, the left panel 1L side, or the front panel 1F side. In short, the direction in which the insertion / removal opening 35a of the memory slot 35 faces may be a direction in which the card-type storage medium 34 can be inserted into and removed from the memory slot 35.

  The slot stud 36 is omitted, and a female screw facing the slot through hole 37 is recessed in the inner surface of the bottom panel 1B, and the female screw and the drop-off suppressing screw 38 are directly screwed together. It may be.

  The substrate fixing stud 36a is omitted, and the female screw facing the substrate fixing through hole 37a is recessed in the inner surface of the bottom panel 1B, and the female screw and the substrate fixing screw 38a are directly screwed together. It may be a configuration.

  The slot stud 36 and the board fixing stud 36a may be omitted, and the back surface of the control circuit board 30 and the inner surface of the bottom panel 1B may be in direct contact with each other. Even in such a configuration, for example, the female screw that faces the slot through-hole 37 is recessed on the inner surface of the bottom panel 1B and protrudes from the mounting surface 30a of the control circuit board 30. However, any structure may be used as long as the female screw is directly screwed through the slot through-hole 37.

  The protruding amount H at the head of the drop-off suppressing screw 38 may be the same as the protruding amount Ha at the head of the substrate fixing screw 38a, or the protruding amount H at the head of the falling-off suppressing screw 38 is It may be smaller than the protruding amount Ha at the head of the fixing screw 38a. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (4).

  The position where the slot through hole 37 and the slot stud 36 are formed is not limited to the direction in which the card type storage medium 34 is attached / detached, but may be the direction in which the card type storage medium 34 is inserted. In short, any position may be used as long as the contact surface 34a of the card type storage medium 34 and the head of the drop prevention screw 38 are in contact with each other while the card type storage medium 34 is in the memory slot 35.

  The head of the drop-off suppressing screw 38 may be in contact with the contact surface 34 a of the card type storage medium 34 in a state where the card type storage medium 34 is inserted into the memory slot 35. Such a configuration is excellent in that the electrical connection between the card type storage medium 34 and the memory slot 35 is always maintained, although excessive stress may be applied to the card type storage medium 34 or the memory slot 35. Yes.

  The head of the drop-off suppressing screw 38 may be, for example, an elliptical plate shape or a rectangular plate shape. In short, while the card type storage medium 34 is in the memory slot 35, the card type storage medium 34 Any shape that abuts against the abutment surface 34a is acceptable.

  The number of slot studs 36 may be two or more, and the slot stud 36 has the same number of slot through holes 37 as the slot stud 36 and the same number of drop prevention screws 38 as the slot stud 36. If it is.

  A plurality of memory slots 35 may be mounted on the control circuit board 30, and the memory slots 35 described above may be mounted on other boards than the control circuit board 30. In short, a first threaded portion is formed on one side wall of the housing, and a first threaded member that is threadedly engaged with the first threaded portion is provided, and the first threaded member is a circuit board. The card-type storage medium and the first head may be in contact with each other as long as the card-type storage medium is in the slot.

  The robot controller can also accommodate other members different from the circuit board and electronic component described above in the housing 1. For example, a configuration may be employed in which a regenerative resistor for converting and consuming regenerative energy, which is a voltage returned to the robot controller when the robot R decelerates, is stored in the housing. In addition, for example, when the above-described regenerative energy rises, a comparator board having a comparator function for supplying regenerative energy to the regenerative resistor at a predetermined voltage value may be housed inside the housing. Good.

  F ... Cooling fan, H, Ha ... Projection amount, W ... Fall-off suppression width, M ... AC motor, R ... Robot, Fa ... Outside air filter, NF ... Noise filter, PS1 ... First power circuit board, PS2 ... First 2 power supply circuit boards, PS3 ... 3rd power supply circuit board, 1 ... casing, 1B ... bottom panel, 1F ... front panel, 1L ... left panel, 1P ... expansion panel, 1R ... right panel, 2 ... external power supply connector, 3 ... Circuit protector, 3a ... Operation lever, 4 ... Multiphase AC voltage connector, 11 ... Position detector port, 12 ... Stop port, 13 ... TP port, 14 ... First USB port, 15 ... Second USB port, 15a ... Trigger switch, 16 ... LAN port, 17 ... I / O port, 18 ... Sequencer port, 19 ... Expansion I / O port, 20 ... Drive voltage generation board, 21 ... 1 AC voltage output connector, 30 ... control circuit board, 31 ... CPU board, 33 ... expansion connector, 34 ... card type storage medium, 34a ... abutting surface, 35 ... memory slot, 35a ... insertion / extraction port, 36 ... for slot Stud, 36a ... Stud for substrate, 37 ... Through hole for slot, 37a ... Through hole for fixing substrate, 38 ... Falling prevention screw, 38a ... Fixing screw for screw, 40 ... Motor driver board, 51 ... Case, 52 ... Command Generation board, 53 ... drive control board, 54 ... motor driver board.

Claims (6)

A circuit board having a mounting surface attached to one side wall of the housing and facing the inside of the housing;
A slot mounted on the mounting surface and having a card-type storage medium inserted therein,
The insertion direction and the removal direction of the card type storage medium are parallel to the mounting surface,
A robot controller that controls the movement of the robot using the storage content stored in the card-type storage medium,
The circuit board has a first through-hole penetrating the circuit board;
One side wall of the housing has a first threaded portion facing the first through hole,
A first screwing member having a first head protruding from the mounting surface and screwed into the first screwed portion through the first through hole;
The robot controller according to claim 1, wherein the first head is in contact with a side surface in the detaching direction of an outer peripheral surface of the card type storage medium while the card type storage medium is in the slot. The robot controller according to claim 1, wherein the first head is separated from the card type storage medium in a state where the card type storage medium is inserted into the slot. The robot controller according to claim 1, wherein the first through hole is formed in the detaching direction of the card type storage medium in a periphery of the card type storage medium. The circuit board has a plurality of second through holes penetrating the circuit board;
One side wall of the housing has a plurality of second threaded portions facing each other of the plurality of second through holes,
A plurality of second screwing members screwed into each of the plurality of second screwed portions through each of the plurality of second through holes;
Each of the plurality of second screwing members has a second head that protrudes from the mounting surface and fixes the circuit board between the second screwed part,
The robot controller according to any one of claims 1 to 3, wherein an amount of protrusion of the second head from the mounting surface is smaller than an amount of protrusion of the first head from the mounting surface. The robot controller according to claim 4, wherein the first screwed portion and the second screwed portion are studs protruding from one side wall of the housing. A power supply circuit board that converts an alternating voltage into a direct voltage and outputs it;
A motor driver board that converts the output voltage of the power circuit board into a multiphase AC voltage and outputs the multiphase AC voltage to the AC motor of the robot;
A control circuit board that outputs a control signal for controlling the output voltage of the motor driver board based on the rotational position of the AC motor to the motor driver board,
The power circuit board and the control circuit board are arranged side by side on one side in the housing,
The robot controller according to claim 5, wherein the slot is mounted on the control circuit board, and an insertion / removal port for inserting and removing the card-type storage medium faces the power supply circuit board side.

Images