JP5803214B2 - Robot controller - Google Patents

Description

  The present invention relates to a robot controller that controls the movement of a robot, and more particularly to a robot controller in which an expansion circuit board that extends an interface with an external device is arranged in a housing.

  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 illustrating the inside of the robot controller. FIG. 4 is a diagram illustrating a state in which the opening / closing plate 51F, which is one side wall of the robot controller, is removed from the casing 51 together with the horizontal articulated robot that is the control target.

  As shown in FIG. 4, a rectangular plate-like command generation board 52 parallel to the bottom wall is fixed to the bottom wall of the casing 51 in the robot controller, and this is also attached to the back wall of the casing 51. A rectangular plate-like drive control board 53 parallel to the back wall is fixed. Further, four motor driver boards 54 standing upright with respect to the drive control board 53 are connected to the drive control board 53 via connectors 53c.

  On the other hand, a plurality of communication connectors connected to the command generation board 52 and extending in the left-right direction are fitted into the front wall 55 of the housing 1. The position detector connector 56 is connected to an encoder that detects the rotational position of the motor M, and inputs a position detection signal indicating the position detected by the encoder to the command generation board 52. The TP connector 57 is connected to the teaching pendant, and inputs data used for teaching the robot R to the command generation board 52 from the teaching pendant. Further, the I / O connector 58 is connected to an external device such as a camera that images the movement of the robot or a sensor that detects the position of the robot, and various digital signals output from the external device are sent to the command generation board 52. input.

  When a trigger signal from a teaching pendant or an external device is input to the command generation board 52 via the TP connector 57 or the I / O connector 58, the command generation board 52 grasps the current position of the robot R. Therefore, the encoder detection signal is acquired via the position detector connector 56. Next, on the command generation board 52, command values such as the movement destination of the robot R and the movement speed of the robot R are calculated based on data indicating the rotational position of the motor M and the structure of the robot. On the other hand, the drive control board 53 generates a voltage command value for the motor M based on the command value output from the command generation board 52, and outputs a pulse signal corresponding to the voltage command value by a modulation method such as PWM. In each of the four motor driver boards 54, a multiphase AC voltage output to the motor M is generated based on the pulse signal output from the drive control board 53.

JP 2007-175856 A

  In recent years, for the front wall 55 of the robot controller, in addition to the connectors described above, there are a number of command generation boards 52 that are connected to, such as USB boats and LAN boats for outputting data in the robot controller to external devices. Aggregating interfaces is being considered. With such a configuration, since the robot controller and the external device are all connected and disconnected through the front wall 55, the operability and maintainability of the robot controller can be improved.

  On the other hand, the external devices connected to the robot controller, including other robot controllers, usually vary depending on the facility where the robot is installed and the content of the work performed by the robot. Therefore, many robot controllers can be equipped with an extended circuit board for extending the interface with an external device.

  In this regard, the extension circuit board that handles the input signal from the external apparatus and the output signal to the external apparatus is also connected to the external apparatus and the command generation board 52, and is therefore mounted on such an extension circuit board. Various connectors are also objects to be collected on the front wall 55. However, if a large number of interfaces are arranged along one side of the command generation board 52, it is necessary to increase the size of one side of the command generation board 52 in accordance with the size of these interfaces. As a result, an increase in the size of the robot controller is inevitable. On the other hand, if a large number of interfaces are stacked on the upper side of the command generation board 52, it is unavoidable to connect the numerous interfaces and the command generation board 52 with cables. As a result, the structure for connecting the circuit boards is complicated.

  The present invention has been made to solve the above-described problem, and its purpose is to suppress the complexity of the connection structure between the extension circuit board and the control circuit board to which the extension circuit board is connected, while the robot controller controls the control circuit board. It is to provide a robot controller capable of suppressing the increase in the surface direction.

The present invention includes a control circuit board that is fixed to a bottom surface in a rectangular parallelepiped housing and that controls a driving voltage of a motor of a robot based on input signals from a plurality of external devices, and a peripheral edge of the control circuit board. A robot controller comprising a plurality of first connectors arranged on a first connection edge facing the front wall of the housing and connected to each of a plurality of first external devices through the front wall; An extension circuit board that is connected to the control circuit board in a standing state with respect to the control circuit board and inputs an input signal from a second external device to the control circuit board, and a peripheral edge of the extension circuit board A second connector disposed on a second connection edge facing the front wall of the housing and connected to a second external device through the front wall; and the extension circuit board includes at least one front Is disposed on the upper side of the first connector, have a cutout avoid contact with the first connector, said plurality of first external device comprises input and output device, the plurality of first connectors, pre The input / output device includes an input / output connector for inputting / outputting a signal, wherein the second external device is another input / output device different from the input / output device, and the second connector is connected to the other input / output device. It is a connector for inputting and outputting signals, and the gist is that the extension circuit board is disposed above the input / output connector .

  According to this invention, the plurality of first external devices and the plurality of first connectors are connected to each other on the front wall side of the housing, and the second external device and the second connector are also connected to the housing. They are connected to each other on the front wall side. With such a configuration, the connection and disconnection of the robot controller and the external device are performed on the front wall side of the housing, so that the operability and maintainability of the robot controller can be improved.

  In addition, since the extension circuit board and the control circuit board are connected in a state where the extension circuit board stands with respect to the control circuit board, the area on the control circuit board occupied by the extension circuit board is the extension circuit board. It can be suppressed to the equivalent thickness. Therefore, the first connection edge is larger than the configuration in which a plurality of first connectors and second connectors are arranged on the first connection edge, and the robot controller is larger in the surface direction of the control circuit board. It is also possible to suppress this.

  In addition, in the configuration in which the extension circuit board is stacked on the upper side of the control circuit board, in order to prevent heat from being trapped between the control circuit board and the extension circuit board, the mounted components on the control circuit board and the extension circuit In order to suppress contact with the board, it is necessary to separate the control circuit board and the extension circuit board by a predetermined distance. Therefore, a separate cable is used to connect the control circuit board and the extension circuit board. In this regard, with the above configuration in which the control circuit board and the extension circuit board are connected, the number of cables connecting the control circuit board and the extension circuit board is reduced. Therefore, it is possible to prevent the connection structure between the extension circuit board and the control circuit board from becoming complicated.

  Here, as described above, even if the extension circuit board is set up with respect to the control circuit board, the edge connected to the control circuit board among the peripheral edges of the extension circuit board is, for example, the first of the control circuit board. If it becomes the structure which overlaps with 1 connection edge, the area | region which can arrange | position an extended circuit board will be naturally restricted by the part except a 1st connector among 1st connection edges. In this regard, with the above-described configuration, the extended circuit board is disposed on the upper side of at least one first connector and has a notch that avoids contact with the first connector. Therefore, regardless of the number and position of the first connectors, it is possible to connect the extension circuit board and the control circuit board in a state where the extension circuit board is standing with respect to the control circuit board.

  Input / output connectors that input / output signals to / from external devices include multiple terminals used for input and multiple terminals used for output. It is often larger than the size of the connector dedicated to output. If the edge connected to the control circuit board in the peripheral edge of the extension circuit board overlaps with the first connection edge of the control circuit board, for example, the area where the extension circuit board can be arranged is such an input / output connector. Will be greatly constrained to avoid. In this regard, according to the present invention, the extension circuit board is disposed on the upper side of the input / output connector and has a notch that avoids contact with the input / output connector. Therefore, the effect mentioned above becomes more remarkable.

  Also, in the control circuit board, an input / output processing expansion circuit board is also provided near the input / output processing input / output connector, making it easy to consolidate the input / output processing input / output circuits. It will be something.

  The gist of the present invention is that it includes a plurality of the extension circuit boards, and each of the plurality of extension circuit boards is parallel to each other.

  According to the present invention, since each of the plurality of extension circuit boards is arranged to be parallel to each other, compared to the case where each of the plurality of extension circuit boards is arranged to cross each other, It is possible to suppress the continuous space at. As a result, the increase in the size of the robot controller is further suppressed.

  The present invention includes a power supply circuit board that converts an AC voltage into a DC voltage and outputs the voltage, and includes a motor driver board that converts the output voltage of the power supply circuit board into a multiphase AC voltage and outputs the voltage to the motor. The board outputs a control signal for controlling the output voltage of the motor driver board based on the rotational position of the motor to the motor driver board, and the power circuit board and the control circuit board are provided in the housing. The gist of the invention is that the control circuit board is arranged on the bottom surface, and the control circuit board is arranged on the front wall side with respect to the power supply circuit board.

  In the process of generating the control signal for controlling the polyphase AC voltage, high speed calculation based on the rotational position of the motor is required. Therefore, in the control circuit board that generates such a control signal, the board structure is naturally. It becomes a multilayer structure. On the other hand, a power supply circuit board that converts an output voltage of an alternating voltage into a direct current voltage does not require the high-speed calculation as described above, and therefore, a multilayer structure is not required for such a power supply circuit board.

  According to the present invention, since the control circuit board and the power supply circuit board having different functions are configured separately, it is possible to adopt a laminated structure according to each request in each circuit board. When the control circuit board and the power supply circuit board are configured as one circuit board, the circuit board needs to be multi-layered or complicated in order to satisfy these different requirements. According to the above-described configuration, it is possible to simplify the laminated structure of the circuit boards disposed in the housing.

  In addition, the control circuit board and the power circuit board are arranged side by side on the bottom surface of the housing, and the control circuit board is arranged on the front wall side of the power circuit board. Therefore, it is easy to realize a configuration in which a plurality of first connectors are arranged at the first connection edge of the control circuit board, and these first connectors pass through the front wall and are connected to each of the plurality of first external devices. Is possible.

  The gist of the present invention is that the motor driver board is installed on the power supply circuit board and the control circuit board in a state where the motor driver board is erected with respect to the power supply circuit board and the control circuit board.

  According to the present invention, the motor driver board and the control circuit board are connected with the motor driver board standing with respect to the control circuit board. Therefore, the space on the control circuit board is effectively used by the extension circuit board and the motor driver board. Therefore, the increase in the size of the robot controller is further suppressed.

The perspective view which shows the external structure of the robot controller in one Embodiment of this invention. The top view which similarly shows the internal structure of the robot controller in one Embodiment. Similarly, the fragmentary sectional view centering on an extended circuit board about the side 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 motors M are mounted. Therefore, in the following, regarding the control target of the robot controller, the same components as those of the robot R described above are denoted by the same reference numerals, and redundant description thereof 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 connector 2 is disposed on the right end of the front wall 1 </ b> F of the front wall 1 </ b> F 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 wall 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 wall 1F. In the polyphase AC voltage connector 4, each of a plurality of connection terminals connected to the four motors M is arranged in the vertical direction. The polyphase AC voltage connector 4 is connected to each of the four motors M described above, and outputs a polyphase AC voltage to each of the four motors M.

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

  The position detector connector 11 is connected to four rotational angle sensors, such as a resolver and an encoder, which constitute the first external device by detecting the rotational positions of the four motors M. A position detection signal indicating a position detected by the rotation angle sensor is input from each of the four rotation angle sensors to the position detector connector 11. The emergency stop connector 12 is a facility that constitutes a first external 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. An emergency stop signal is input from the equipment connected to the equipment. The TP connector 13 is connected to a teaching pendant constituting the first external device, and data used for teaching the robot R is input from the teaching pendant.

  Of the lower end portion of the front wall 1F, on the right side of the TP connector 13, a first USB connector 14 and a second USB connector 15, which are two connectors for serial communication constituting the first connector, and a LAN connector 16 are provided. Are fitted in this order toward the right end.

  The first USB connector 14 is connected to an external computer constituting the first external device via the USB, and in response to a request from the external computer, for example, an I / O state in the robot controller, or a processing state in the robot controller A signal indicating is output. The second USB connector 15 is connected to a USB memory constituting the first external device, and outputs a log stored in the robot controller to the USB memory. The LAN connector 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 constituting the first external device connected to the network. This also outputs a signal indicating the state of processing in the robot controller. A trigger switch 15a is disposed between the second USB connector 15 and the LAN connector 16 in the lower end portion of the front wall 1F. The trigger switch 15a allows the log output from the second USB connector 15 each time the trigger switch 15a is pressed.

  An I / O connector 17 serving as an input / output connector that handles input and output of various digital signals is fitted into the right end of the lower end of the front wall 1F. The I / O connector 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 wall 1F. The I / O connector 17 constitutes a first external device such as another robot controller as an input / output device or a camera that captures the motion of the robot, and the peripheral devices and robot motion required to move the robot. Connected to a peripheral device driven by The I / O connector 17 receives a signal indicating the state of the robot itself and the peripheral state of the robot from the peripheral device, and outputs a signal indicating the movement of the robot to the peripheral device.

  A sequencer connector 18 is fitted on the front wall 1F above the TP connector 13, and a cooling fan F is replaceably inserted above the sequencer connector 18. The sequencer connector 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 wall 1 </ b> 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 on the front wall 1F above the second USB connector 15, the LAN connector 16, and the I / O connector 17, and the slot hole has a rectangular plate shape. An extension panel 1P to be formed is fitted. In addition, two expansion I / O connectors 19 constituting the second connector are arranged in the left-right direction on the expansion panel 1P. Each of the two expansion I / O connectors 19 is a connector extending in the vertical direction, and constitutes a second external device such as another robot controller as an input / output device or a camera for imaging the movement of the robot, and the robot. It is connected to peripheral devices required to move the robot and peripheral devices driven in accordance with the movement of the robot. The expansion I / O connector 19 receives a signal indicating the state of the robot itself and the peripheral state of 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 wall 1F of the robot controller is provided with all the interfaces required 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 external devices.
・ Maintenance and inspection of cooling fan F and outside air filter Fa.

  With such a configuration, since the connection and disconnection between the robot controller and the external device are performed on the front wall 1F side of the housing, the operability and maintainability of the robot controller can be improved.

[Internal structure of robot controller]
Next, the internal structure of the robot controller will be described with reference to FIG. In FIG. 2, for convenience of explaining the internal structure of the robot controller, the top wall of the housing 1 of the robot controller is omitted, and the multi-phase AC voltage connector 4 disposed on the front wall 1F and the cooling fan. F is 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, a power supply system that is connected to the circuit protector 3 and converts a 200 V AC voltage into a DC voltage and outputs it is arranged on the right side wall 1 </ b> R of the housing 1. A main power circuit board 20 and a control circuit board 30 as power circuit boards are separately arranged on the bottom wall 1B of the housing 1, and two motor driver boards are placed on the left wall 1L of the housing 1. 33 is arranged.

  A noise filter NF is fixed at the upper center of the right side wall 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 wall 1B, and is sized to occupy most of the back side of the bottom wall 1B. The main power circuit board 20 has a rigid board in which two layers of printed boards parallel to the bottom wall 1B are laminated, and an AC voltage of 200V is applied to the upper face of the rigid board as a driving voltage of 280V. 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 33 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 33.

  Two output connectors (not shown) extending in the front-rear direction are provided in the left-right direction so as to overlap the two motor driver boards 33 at the left end portion on the front side of the upper surface of the main power circuit board 20. A motor driver board 33 is connected to each of these two output connectors, and a drive voltage generated by the main power supply circuit board 20 and a DC voltage of 15 V generated by the first power supply circuit board PS1 are input.

  The first power supply circuit board PS1 is a rectangular plate-like circuit board fixed on the upper back side of the right side wall 1R, on which various electronic components for converting an AC voltage of 200V into a DC voltage of 15V 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 side wall 1R, on which various electronic components for converting an AC voltage of 200V into a DC voltage of 5V are mounted. 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 wall 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 wall 1B, and is sized to occupy the entire front side of the bottom wall 1B. The control circuit board 30 has a rigid board in which six layers of printed boards parallel to the bottom wall 1B are laminated, and a control signal for controlling the output voltage of the motor driver board 33 is provided on the upper surface of the rigid board. Are mounted with various electronic components for generating a signal based on an input signal input from an external device. The control circuit board 30 has a linear first connection edge 30F that faces the front wall 1F of the housing 1 in the periphery of the control circuit board 30, and the first connection edge 30F includes a front wall. The connectors arranged at the lower end of 1F are connected. The control circuit board 30 receives input signals from the various external devices described above via the connectors.

  Specifically, the position detector connector 11 is connected to the first connection edge 30F, and detection signals from each of the four rotation angle sensors are input to the control circuit board 30 via the position detector connector 11. Is done. Further, the emergency stop connector 12 is connected to the first connection edge 30 </ b> F, and an emergency stop command from the equipment is input to the control circuit board 30 via the emergency stop connector 12. Furthermore, the TP connector 13 is connected to the first connection edge 30 </ b> F, and a teaching command from the teaching pendant is input to the control circuit board 30 via the TP connector 13.

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

  Thus, the main power supply circuit board 20 and the control circuit board 30 are arranged side by side on the bottom surface of the housing 1, and the control circuit board 30 is arranged on the front wall 1 </ b> F side of the main power supply circuit board 20. Therefore, it is possible to easily realize a configuration in which a plurality of connectors are arranged on the first connection edge 30F, and each of these connectors penetrates the front wall 1F and is connected to an external device.

  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 according to an input signal from the teaching pendant. The CPU board 31 interprets and executes a program for moving the robot R to a predetermined work position in accordance with an input signal from an external device. 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 driving amount of the motor M 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 driving 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.

  On the front side of the upper surface of the control circuit board 30, communication interface boards 32 are stacked. A sequencer connector 18 is connected to the communication interface board 32, and a control signal for moving the robot is input from the sequencer.

  An output connector (not shown) extending in the front-rear direction is provided in the left-right direction so as to overlap the two motor driver boards 33 at the left end on the back side of the upper surface of the control circuit board 30. A motor driver board 33 is connected to each of these two output connectors, and a control signal generated by the control circuit board 30 is output.

  Each of the two motor driver boards 33 is erected on the main power supply circuit board 20 and the control circuit board 30 in an upright state with respect to the main power supply circuit board 20 and the control circuit board 30. The two motor driver boards 33 are formed in a rectangular plate shape extending in the front-rear direction, which is the blowing direction of the cooling fan F, and face each other in the left-right direction and are arranged in parallel to each other.

  The motor driver board 33 is a rectangular printed circuit board whose three sides are supported by three support plates 1S extending to the right side from the left side wall 1L of the housing 1, and occupies approximately half of the left side wall 1L. Is formed. The motor driver board 33 has a rigid board in which four layers of printed boards parallel to the left side wall 1L are laminated, and various types for converting the drive voltage output from the main power supply circuit board 20 into a multiphase AC voltage. The electronic parts are mounted. Two power modules 34 are arranged side by side in the front-rear direction on the side face of the motor driver board 33 facing the housing 1. Further, one heat sink 35 for cooling the two power modules 34 is fixed to the inner side surfaces of the two power modules 34 so as to cover the whole.

  Each of the two power modules 34 receives a drive voltage input from the main power supply circuit board 20 and a DC voltage of 15V. In addition, a control signal corresponding to the drive target of the power module 34 is input from the control circuit board 30 to each of the two power modules 34. Each of the two power modules 34 is packaged with a step-up / step-down converter for stepping up / down a drive voltage output from the main power supply circuit board 20, and a drive voltage of 280 V input from the main power supply circuit board 20 is supplied to the power module 34. The voltage is boosted to a voltage suitable for the drive target of the module 34. Each of the power modules 34 is packaged with an inverter circuit composed of a plurality of switching elements that are on / off controlled by a control signal input from the control circuit board 30.

  Each of the two power modules 34 is driven by a 15 V DC voltage output from the main power supply circuit board 20. In each of the two power modules 34, the switching element is on / off controlled by a control signal input from the control circuit board 30. Thereby, the voltage boosted by the step-up / down converter is converted into, for example, a three-phase AC voltage as a multiphase AC voltage. In each of the two power modules 34, the output is output from the output connector 36 connected to the power module 34 to each motor M via the multiphase AC voltage connector 4.

  A memory slot 38 in which a card type storage medium 37 is mounted is disposed at the right end on the back side of the upper surface of the control circuit board 30. The card-type storage medium 37 is required for the robot controller to move the robot R, such as the length of the arm of the robot R, and the reduction ratio of the speed reducer that connects the drive shaft of the robot R and the motor M. Various data are stored. Then, the CPU board 31 reads various data stored in the card type storage medium 37, and executes the above-described generation of the trajectory with reference to the data.

  Three expansion board connectors 39 extending in the front-rear direction are arranged on the right side of the CPU board 31 on the upper surface of the control circuit board 30 and on the rear side of the LAN connector 16 and the I / O connector 17. ing. In each of the three extension board connectors 39, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. Of the three extension board connectors 39, two extension board connectors 39 close to the CPU board 31 are connected to the control circuit board 30 by the two extension circuit boards 40 on which the extension I / O connectors 19 are mounted. Connected in an upright position. Each of the two extended circuit boards 40 is disposed above the LAN connector 16 and is erected on the control circuit board 30 so as to be parallel to each other.

  According to such a configuration, since the two extended circuit boards 40 are connected to the control circuit board 30 in a state where they are raised with respect to the control circuit board 30, the control circuit board occupied by the extended circuit boards 40 is used. The area on 30 is suppressed to be equivalent to the thickness of the extended circuit board 40. Therefore, it is possible to prevent the first connection edge 30F from becoming larger compared to a configuration in which the expansion I / O connector 19 is arranged on the first connection edge 30F in the same manner as other connectors. In addition, since each of the two extended circuit boards 40 is arranged so as to be parallel to each other, compared to the configuration in which the two extended circuit boards 40 are arranged so as to cross each other, the continuous in the casing 1 is continuous. It is possible to suppress the space from becoming smaller. As a result, it is possible to prevent the robot controller from increasing in the surface direction of the control circuit board 30.

  Further, in the control circuit board 30, an input / output processing expansion circuit board 40 is also provided near the input / output processing I / O connector 17, so that the input / output processing input / output circuit is controlled. It becomes easy to collect on the right side of the circuit board 30. In addition to the extension circuit board 40, the motor driver board 33 is also connected to the control circuit board 30 in a state of being raised with respect to the control circuit board 30, so that the space on the control circuit board 30 is expanded. 40 and the motor driver board 33 are effectively used. Therefore, the increase in the size of the robot controller is further suppressed.

  In the configuration in which the control circuit board 30 and the extension circuit board 40 are stacked so that they are parallel to each other, in order to prevent heat from being trapped between the control circuit board 30 and the extension circuit board 40, It is necessary to separate the control circuit board 30 and the extended circuit board 40 by a predetermined distance. Further, in such a configuration, the control circuit board 30 and the extension circuit board 40 are separated from each other by a predetermined distance in order to suppress contact between mounting components on the control circuit board 30, for example, the communication interface board 32 and the extension circuit board 40. Need to be separated. Therefore, a separate cable is used for connection between the control circuit board 30 and the extension circuit board 40. In this regard, if the extension circuit board 40 is configured to be coupled to the control circuit board 30 while standing with respect to the control circuit board 30, the number of cables connecting the control circuit board 30 and the extension circuit board 40 is small. Less. Therefore, it is possible to prevent the connection structure between the extension circuit board 40 and the control circuit board 30 from becoming complicated.

[Structure of extended circuit board]
Next, the structure of the extended circuit board 40 will be described with reference to FIG. Each of the two extension circuit boards 40 described above is different in the position of the extension board connector 39 as a connection destination, and the other configurations are the same. Therefore, in the following, the extension circuit board 40 connected to the left extension board connector 39 of the two extension circuit boards 40 will be described, and the description of the right extension board connector 39 will be omitted.

  As shown in FIG. 3, a control board connector 41 extending in the front-rear direction is disposed on the bottom edge, which is the edge on the control circuit board 30 side, of the peripheral edge of the extended circuit board 40. The control board connector 41 is disposed on the back side of the bottom edge of the extension circuit board 40, and pins inserted into the extension board connector 39 are arranged in the front-rear direction on the lower surface thereof. The control circuit board 30 and the expansion circuit board 40 are electrically connected by connecting the control board connector 41 and the expansion board connector 39 to each other.

A cutout 42 extending toward the front wall 1 </ b> F is formed at a portion of the bottom edge of the extended circuit board 40 that faces the LAN connector 16. The notch 42 is formed so that the vertical width of the notch 42 is constant over the entire length of the notch 42, and the LAN connector 16 and the extension circuit disposed below the extension circuit board 40. It is formed in a size that avoids contact with the substrate 40. Specifically, the size of the notch 42 is set so that the following condition A and condition B are satisfied.
・ Condition A: Notch height Hs> Connector height Hp
Condition B: Notch width Ds> connector width Dp

  The notch height Hs is the width of the notch 42 in the vertical direction, and is the distance between the top surface side edge of the notch 42 and the bottom surface side edge of the control board connector 41. The notch width Ds is the width of the notch 42 in the front-rear direction, and is the distance between the back-side edge of the notch 42 and the front-side edge of the extended circuit board 40.

  The connector height Hp is the width of the I / O connector 17 in the vertical direction, and is the distance between the top surface side edge of the I / O connector 17 and the bottom surface side edge of the I / O connector 17. . The connector width Dp is the width in the front-rear direction occupied by the I / O connector 17 in the housing 1, and is the distance between the rear edge of the I / O connector 17 and the inner surface of the front wall 1F. .

  Here, as described above, even if the extended circuit board 40 is erected with respect to the control circuit board 30, if the bottom edge of the extended circuit board 40 extends linearly to the front wall 1F, the extended circuit board 40 can be expanded. The area in which the circuit board 40 can be arranged is naturally limited to a portion of the first connection edge 30F excluding each connector. In this regard, if the extended circuit board 40 has a notch 42, the extended circuit board 40 and the control circuit board 30 can be controlled with the extended circuit board 40 standing with respect to the control circuit board 30 regardless of the presence or absence of the LAN connector 16. It becomes possible to connect with the circuit board 30.

  The I / O connector 17 that inputs / outputs signals to / from peripheral devices includes a plurality of terminals used for input and a plurality of terminals used for output. Therefore, the size of the I / O connector 17 is larger than that of the connector for external communication or the connector for serial communication. As described above, of the connectors disposed on the front wall 1F, the width in the left-right direction is large. And the connector with the largest width in the front-rear direction. In this regard, if the cutout 42 satisfies the conditions A and B, the connector disposed on the lower side of the extended circuit board 40 may be any connector arranged on the first connection edge 30F. It is possible to arrange the extended circuit board 40 in a state where it stands with respect to the control circuit board 30.

  The expansion I / O connector 19 is connected to the second connection edge 40F, which is the edge on the front wall 1F side, of the peripheral edge of the expansion circuit board 40, and the expansion circuit board 40 is connected to the expansion I / O connector 19. The input / output circuit 43 mounted on is connected. When the control board connector 41 is fitted into the expansion board connector 39, a command or a detection signal from a peripheral device to be extended is transmitted to the peripheral board via the expansion I / O connector 19 and the input / output circuit 43. Input to the control circuit board 30 from the device. In addition, a command or calculation result for the peripheral device to be expanded is output from the control circuit board 30 to the peripheral device via the input / output circuit 43 and the expansion I / O connector 19.

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 15 V 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 to each of the two motor driver boards 33.

  On the other hand, when an input signal from a peripheral device is input to the control circuit board 30 via the I / O connector 17 or the expansion I / O connector 19 in order to move the robot R to the work position, A detection signal of each rotation angle sensor is obtained via the detector connector 11. 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 driving amount of the motor M for moving is calculated. The control circuit board 30 generates a voltage command for each phase according to the calculated drive amount, and the control signal according to the voltage command is sent from the control circuit board 30 via the output connector 36 to the two motor drivers. Input to each of the substrates 33.

  Subsequently, in the motor driver board 33, the drive voltage input from the main power circuit board 20 is boosted to a voltage suitable for driving the motor M, 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 33 so that a current corresponding to the driving amount of the motor M is supplied to each phase of the motor M.

  Here, for example, when the content of work performed by the robot R changes and the number of external devices connected to the robot controller increases, the interface with the external device is expanded accordingly. At this time, after the top surface of the housing 1 is removed, the two extension circuit boards 40 attached to the control circuit board 30 are removed, and then the extension panels 1P for the two extension circuit boards 40 are mounted on the front wall 1F. Removed from. Then, after the extension panels 1P for the three extension circuit boards 40 are newly attached to the front wall 1F, the two extension circuit boards 40 previously attached and the newly added extension circuit board 40 are controlled. Attached to the circuit board 30.

  At this time, the extension circuit board 40 to be newly attached is also formed with a notch 42 that satisfies the above conditions A and B, similarly to the extension circuit board 40 that was previously attached. Therefore, even when the extension circuit board 40 to be newly attached is located above the I / O connector 17, it is possible to arrange the extension circuit board 40 in a standing state with respect to the control circuit board 30. .

  In the process of generating the control signal for controlling the polyphase AC voltage, high-speed calculation based on the rotational position of the motor M is required. Therefore, in the control circuit board 30 that generates such a control signal, the board As a structure, a multilayer structure is naturally required. On the other hand, the main power supply circuit board 20 that converts the output voltage of the AC voltage into the drive voltage does not require the high-speed calculation as described above, and therefore, the main power supply circuit board 20 does not require a multilayer structure. With the above-described configuration, the main power circuit board 20 and the control circuit board 30 having different functions are configured separately, so that a laminated structure according to each request can be adopted in each circuit board. become. When the main power supply circuit board 20 and the control circuit board 30 are configured as a single circuit board, the circuit board may be multi-layered or complicated in order to satisfy these different requirements. However, according to the above-described configuration, it is possible to simplify the laminated structure of the circuit boards disposed in the housing 1.

As described above, according to the robot controller of the present embodiment, the effects listed below can be obtained.
(1) Since the two extension circuit boards 40 and the control circuit board 30 are connected in a state where the two extension circuit boards 40 stand with respect to the control circuit board 30, the extension I / O connector 19 is connected to the other As with the connector, it is possible to suppress the first connection edge 30F from becoming larger than the configuration arranged on the first connection edge 30F.

  (2) Since each of the two extended circuit boards 40 is arranged so as to be parallel to each other, compared with the configuration in which the two extended circuit boards 40 are arranged so as to cross each other, It is possible to suppress the continuous space from becoming smaller.

  (3) Since the extension circuit board 40 has the notch 42, the extension circuit board 40 and the control circuit board 30 are placed with the extension circuit board 40 standing on the control circuit board 30 regardless of the presence or absence of the LAN connector 16. It becomes possible to connect.

  (4) Since the size of the notch 42 satisfies the above conditions A and B, any connector arranged on the lower side of the extended circuit board 40 may be any connector arranged on the first connection edge 30F. The extension circuit board 40 and the control circuit board 30 can be connected in a state where the extension circuit board 40 stands with respect to the control circuit board 30.

  (5) In the control circuit board 30, the input / output processing expansion circuit board 40 is also disposed near the input / output processing I / O connector 17. It becomes easy to consolidate on the right side of the control circuit board 30.

  (6) Since the motor driver board 33 and the control circuit board 30 are connected in a state where the motor driver board 33 stands with respect to the control circuit board 30, the space on the control circuit board 30 is separated from the expansion circuit board 40. The motor driver board 33 is effectively used.

  (7) Since the control circuit board 30 is arranged on the front wall 1F side on the bottom surface of the housing 1, a plurality of connectors are arranged on the first connection edge 30F, and each of these connectors penetrates the front wall 1F to the outside. It is possible to easily realize the configuration of being connected to the apparatus.

  (8) Since the main power supply circuit board 20 and the control circuit board 30 having different functions are configured separately, it becomes possible to adopt a laminated structure according to each request in each circuit board. As a result, it becomes possible to simplify the laminated structure of the circuit board arrange | positioned in the housing | casing 1. FIG.

In addition, the said embodiment can also be implemented with the following aspects.
The main power circuit board 20 and the control circuit board 30 may be configured by a single board, and the control circuit board controls the drive voltage of the motor of the robot based on input signals from a plurality of external devices. Any circuit board may be used. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (6).

  The motor driver board 33 may be configured to be laid on the control circuit board 30 and the main power circuit board 20 so that the main surface of the motor driver board 33 is parallel to the bottom surface in the housing 1. Good. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (5).

  The number of extended circuit boards 40 may be one, or three or more. Further, the position of the extended circuit board 40 may be the inner side surface of the left side wall 1L, or may be intermediate between the left side wall 1L and the right side wall 1R. For example, the extended circuit board 40 may be configured to be disposed above the position detector connector 11, the stop connector 12, or the TP connector 13. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (4).

  The size of the notch 42 may be a size that satisfies only the condition A, or a configuration that satisfies only the condition B. Further, the shape of the notch 42 may be an arc shape or a step shape in the side view direction. In short, the cutout 42 in the extended circuit board 40 may be any size and shape that avoids contact between the connector disposed under the extended circuit board 40 and the extended circuit board 40. In such a configuration, since the shapes of the plurality of extended circuit boards 40 are different from each other at the positions where they are attached, it is difficult to make the extended circuit boards 40 common.

  However, the extended circuit board 40 requires a predetermined mounting area regardless of the size of the notch 42. Therefore, the expanded circuit board 40 is expanded in the front-rear direction and the up-down direction as the size of the notch 42 increases in the front-rear direction and the up-down direction. In this regard, as described above, if the minimum cutout 42 is formed according to the shape and size of the connector, it is possible to suppress the space occupied by the extended circuit board 40 from increasing. .

Each of the two extension circuit boards 40 may be arranged so as to cross each other. In short, the extension circuit board 40 and the control circuit board 30 are connected to each other while standing with respect to the control circuit board 30. The extended circuit board 40 may be configured to have a notch disposed on the upper side of at least one connector to avoid contact with the connector.
The number of connectors disposed on the lower side of the extended circuit board 40 may be two or more.
The external device to which the extended circuit board 40 is connected may be an external device dedicated to input or an external device dedicated to output. Further, the connector included in the extended circuit board 40 may be an input-only connector or an output-only connector. In addition to the serial I / O circuit board and the parallel I / O circuit board, a serial communication board such as RS-232C or a field bus can be applied to the extended circuit board 40.

  The main power circuit board 20 and the motor driver board 33 may be connected via a connection cable, and the control circuit board 30 and the motor driver board 33 are connected via a connection cable. It may be a configuration.

  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, M ... Motor, R ... Robot, Dp ... Connector width, Ds ... Notch width, Fa ... Outside air filter, Hp ... Connector height, Hs ... Notch height, NF ... Noise filter, PS1 ... 1st power circuit board, PS2 ... 2nd power circuit board, PS3 ... 3rd power circuit board, A, B ... Conditions, 1 ... Housing, 1B ... Bottom wall, 1F ... Front wall, 1L ... Left side wall, 1P ... Expansion panel, 1R ... right side wall, 1S ... support plate, 2 ... external power connector, 3 ... circuit protector, 3a ... operating lever, 4 ... multi-phase AC voltage connector, 11 ... position detector connector, 12 ... stop connector, 13 ... TP connector, 14 ... First USB connector, 15 ... Second USB connector, 15a ... Trigger switch, 16 ... LAN connector, 17 ... I / O connector 18 ... Sequencer connector, 19 ... Expansion I / O connector, 20 ... Main power circuit board, 30 ... Control circuit board, 30F ... First connection edge, 31 ... CPU board, 32 ... Communication interface board, 33 ... Motor Driver board, 34 ... power module, 35 ... heat sink, 36 ... output connector, 37 ... card-type storage medium, 38 ... memory slot, 39 ... expansion board connector, 40 ... expansion circuit board, 40F ... second connection edge, 41 Control board connector, 42 Notch, 43 Input / output circuit, 51 Case, 51F Open / close plate, 52 Command generation board, 53 Drive control board, 53c Connector, 54 Motor driver board, 55 ... front wall, 56 ... connector for position detector, 57 ... connector for TP, 58 ... I / O connector.

Claims (4)

A control circuit board that is fixed to the bottom surface in a rectangular parallelepiped housing and that controls the drive voltage of the motor of the robot based on input signals from a plurality of external devices;
A plurality of first connectors arranged at a first connection edge facing the front wall of the housing among the peripheral edges of the control circuit board and connected to each of the plurality of first external devices through the front wall. A robot controller comprising:
An extension circuit board that is connected to the control circuit board in a standing state with respect to the control circuit board and inputs an input signal from a second external device to the control circuit board;
A second connector that is disposed at a second connection edge facing the front wall of the housing among the peripheral edges of the extension circuit board, and is connected to a second external device through the front wall;
The extended circuit board is:
Is disposed on the upper side of at least one of said first connector, have a cutout avoid contact with the first connector,
The plurality of first external devices include an input / output device,
The plurality of first connectors include input / output connectors for inputting / outputting signals to / from the input / output device,
The second external device is another input / output device different from the input / output device;
The second connector is a connector for inputting / outputting a signal to / from the other input / output device;
The robot controller , wherein the extension circuit board is disposed above the input / output connector . A plurality of the extension circuit boards,
The robot controller according to claim 1 , wherein each of the plurality of extended circuit boards is parallel to each other. It has a power circuit board that converts AC voltage into DC voltage and outputs it,
A motor driver board that converts the output voltage of the power supply circuit board into a multiphase AC voltage and outputs it to the motor,
The control circuit board outputs a control signal for controlling the output voltage of the motor driver board based on the rotational position of the motor to the motor driver board,
The power supply circuit board and the control circuit board are arranged side by side on the bottom surface in the housing,
Wherein the control circuit board, a robot controller according to claim 1 or 2 to the power supply circuit board is disposed on the front wall. The robot controller according to claim 3 , wherein the motor driver board is installed on the power circuit board and the control circuit board in a state where the motor driver board is erected with respect to the power circuit board and the control circuit board.

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