JP6207409B2 - controller - Google Patents

Description

  The present invention relates to a controller for controlling an industrial robot.

  A robot controller described in Patent Document 1 described below houses a plurality of circuit boards in one casing, and electrically connects each circuit board via a common plate arranged at the bottom of the casing.

JP 2009-193437 A

By the way, a controller that controls an industrial robot includes a power circuit board that supplies electric power to a motor of the robot, and a control board. When both boards are arranged in one housing, the control board may malfunction due to noise radiated from the power circuit board and heat from the power board, which is also a heat generation source. In addition, if you try to maintain the control board, you will need to open the housing and remove the board, but there is a power circuit board with a dangerous voltage section inside the housing, so charging the circuit to avoid electric shock. It is necessary to perform maintenance while paying attention to the condition.
The present invention has been completed based on the above-described circumstances, and an object thereof is to propose a controller that improves maintainability and is less likely to malfunction.

  The present invention is a controller for controlling an industrial robot, and includes a power circuit board that supplies electric power to a motor of the industrial robot, a metal housing that houses the power circuit board, and an outside of the housing And a control board disposed on the board. The control board is a board used for controlling an industrial robot.

  In the present invention, the casing shields (electrostatic shielding) the noise radiated from the power circuit board. For this reason, the control board arranged outside the housing is not easily affected by noise and heat, and there is little possibility that the apparatus malfunctions. In addition, it is possible to maintain the control board without touching the dangerous voltage portion of the power circuit board housed in the housing, and it is not necessary to pay attention to electric shock, so that maintainability can be improved.

The following configuration is preferable as an embodiment of the present invention.
The housing can be grounded by having a ground connection terminal. By doing so, the shielding function of the housing is improved, and the control board is further less susceptible to noise.

The power circuit board is provided with a connector penetrating one wall surface of the housing, and the control board is electrically connected to the power circuit board via the connector. In this configuration, since the connector penetrates the casing, the control board can be easily connected to the power circuit board in the casing.

The power circuit board and the control board are arranged on both sides of the casing with a wall surface in between so as to be along the wall surface. In this way, since the two substrates can be arranged close to each other, the controller can be miniaturized.

The housing has an installation wall surface for fixedly installing the controller, and the one wall surface is a facing surface facing the installation wall surface. In this way, maintainability with respect to the control board in a state where the controller is fixedly installed is improved.

-The industrial robot is a multi-axis robot having a plurality of the motors, a plurality of the power circuit boards are provided corresponding to the plurality of motors, and each of the power circuit boards is in the housing, It is arranged in one direction.

Each power circuit board has a heat radiating member having heat radiating fins, and the heat radiating fins of the heat radiating members are arranged in the same direction in the casing. Since the heat radiating fins form a passage through which the wind passes, heat dissipation is improved.

-It has the fan which sends a wind from the edge part of the said one direction with respect to each radiation fin arranged in the said one direction. If it does in this way, it will become possible to cool each heat radiating member efficiently with one fan.

  According to the present invention, it is possible to suppress malfunction of the control board and improve maintenance workability.

The perspective view of the controller applied to one Embodiment of this invention Front view of controller A1-A1 line sectional view of FIG. A2-A2 line sectional view of FIG. Perspective view of controller with bottom cover removed Perspective view of controller (shown with front cover and bottom cover removed) Front cover perspective view Perspective view of controller (shown with motor control board removed) Perspective view of motor control board An enlarged view of a part of FIG. Perspective view of side cover CPU communication board, perspective view of communication board CPU communication board, perspective view of communication board Perspective view of controller (shown with CPU communication board and option board removed) Diagram showing the positional relationship between the heat sink and the fan

<One Embodiment>
An embodiment of the present invention will be described with reference to FIGS.
The controller 10 functions to control an industrial robot (not shown) such as a single-axis robot or an articulated robot. As shown in FIGS. 1 and 2, the controller 10 includes a metal case body 40 and a metal front cover 70, and is attached to the control panel 1 by bolting or the like, for example. In the following description, the horizontal direction in FIG. 2 is the X direction, the vertical direction in FIG. 2 is the Y direction, and the horizontal direction in FIG. 4 is the Z direction (front-back direction).

  As shown in FIGS. 1 and 2, the controller 10 is provided with an I / O port 21, a power connector 22, a power connector 23, external connection connectors 24A and 24B, and a USB port 25.

  The I / O port 21 is connected to a sensor (resolver or rotary encoder) that detects the rotation angle or rotation speed of a motor that drives an industrial robot, and a detection signal output from the sensor is input to the controller 10. It has become. Two sets of I / O ports 21 are provided at the lower front of the controller 10.

  The power connector 22 is a connector for connecting the controller 10 to a power supply (in this example, a 200 V AC power supply). The power connector 22 is provided at the front left end of the controller 10.

  The power connector 23 is a connector for connecting a motor to be controlled. Four sets of power connectors 23 are provided in the X direction at the lower front portion of the controller 10. The reason why four sets of power connectors 23 are provided is that the controller 10 controls a four-axis industrial robot at the maximum.

  The external connection connectors 24A and 24B are connectors for connecting the controller 10 to a host device (for example, a PC or a sequencer), and the USB port 25 is a port for connecting an external device such as a monitor. These external connection connectors 24A and 24B and the USB port 25 are provided at the right end of the front surface of the controller 10.

  The case body 40 is made of metal. The case body 40 includes a base plate 41, a front wall 43 facing the base plate 41, an upper surface wall 45, a bottom wall 48, a right side wall 46, and a left side wall 47, and is generally box-shaped. The base plate 41 corresponds to an “installation wall surface” of the present invention, and functions as an installation wall surface for fixedly installing the controller 10 at an installation location (control panel 1 in this example). As shown in FIG. 3, a metal partition wall 51 is provided inside the case main body 40, and the internal space of the case main body 40 is divided into a high-power board housing chamber 40 </ b> A room, a weak-power board housing room 40 </ b> B room, and It is divided into. The high-power substrate housing chamber 40A and the low-power substrate housing chamber 40B form a closed space, and shield (electrostatic shield) each substrate housed inside. Note that the high-power substrate housing chamber 40A corresponds to the “casing” of the present invention.

  The power board 11 and the power circuit board 13 are housed in the high-power board housing room 40 </ b> A of the case body 40. The power supply board 11 and the power circuit board 13 are power system boards, and are high-power boards having a high operating voltage.

  As shown in FIGS. 3 and 4, the power supply board 11 and the power circuit board 13 are separately assembled into two members 41 and 43 facing in the Z direction. It is a relationship that is parallel to each other at a certain distance.

  As shown in FIGS. 3 and 4, the power supply substrate 11 is attached to the base plate 41 (attachment plate to the control panel 1) 41 of the case main body 40 at five locations with fixing bosses B. It is attached in parallel to.

  The power supply substrate 11 is a substrate on which a switching power supply circuit and a rectifier circuit are mounted. The switching power supply circuit generates DC24V, DC15V, DC12V, and DC5V voltages from AC200V. The DC 15 V voltage is supplied as a power supply voltage to the power circuit board 13, and the DC 5 V voltage is supplied as a power supply voltage to the motor control board 15, the CPU communication board 17, and the option board 18.

  The power circuit board 13 is attached to the back surface of the front wall 43 of the case body 40 as shown in FIGS. The power circuit board 13 is fixed to the front wall 43 of the case main body 40 by two lower mounting bosses B and screw tightening of a heat sink 83 described later (screws are “C” in FIG. 4). It is attached in parallel to the front wall 43 of the main body 40.

  Four power circuit boards 13 are provided corresponding to four motors, and the four power circuit boards 13 are arranged in a row in the X direction with respect to the back surface of the front wall 43 as shown in FIG. Is arranged. In addition, the position of each board | substrate 13 in the Y direction is the same. Each power circuit board 13 is a board that supplies power to the motor, and is mounted with a power transistor 81, a power connector 23, and the like.

  The power transistor 81 is an element that constitutes an inverter circuit that generates an AC voltage from a DC voltage (DC 15 V) output from the rectifier circuit. As shown in FIG. Side).

  Further, as shown in FIG. 4, a heat sink (corresponding to the “heat dissipating member” of the present invention) 83 is attached to the back side of each power circuit board 13. The heat sink 83 is for radiating heat from the power transistor 81, and is made of a metal material excellent in heat transmission, such as aluminum or copper. The heat sink 83 has a flat substrate portion 84 joined to the power transistor 81, a plurality of heat radiation fins 85, and a leg portion 86 that is screwed to the front wall 43. The heat radiating fins 85 are formed at equal intervals on the substrate portion 84.

  Next, as shown in FIG. 3, a CPU communication board (corresponding to a “control board” of the present invention) 17 and an option board 18 are housed in the low-power board housing chamber 40 </ b> B. The CPU communication board 17 and the option board 18 are communication / control system boards, and are low-power boards having a low operating voltage.

  The CPU communication board 17 and the option board 18 are fixed to the partition wall 51 of the case main body 40 at four locations by the mounting bosses B, and are attached in parallel to the partition wall 51. That is, the CPU communication board 17 and the option board 18 are orthogonal to the power supply board 11 and the motor control board 13 in the high-power board housing chamber 40A.

  The CPU communication board 17 determines the operation timing of the industrial robot in response to a command from the host device, analyzes the operation program of the industrial robot, and transmits the analyzed contents to the motor control board 15 described later. In addition to the CPU, an external connection connector 24A for communication connection with a host device, a USB port 25, and the like are mounted.

  As shown in FIG. 5, a battery 110 is attached to the bottom wall 48 of the case main body 40 via a battery holder. The battery 110 is used for backup to store the axis value (rotation speed and rotation angle) of the motor to be controlled when the power supply (AC200V in this example) is cut off, and corresponds to four motors. 4 sets are arranged in the X direction. A bottom surface cover 120 is detachably attached to the bottom wall 48 of the case body 40 so as to cover the battery 110 attached to the bottom wall 48.

  As shown in FIG. 6, a motor control board (corresponding to “control board” of the present invention) 15 is attached to the front side of the front wall (corresponding to “one wall surface” of the present invention) 43 of the case body 40. It has been. The motor control board 15 is fixed to the front wall 43 of the case body 40 at seven locations by the mounting bosses B, and is attached in parallel to the front wall 43 of the case body 40.

  As shown in FIG. 6, the motor control board 15 is slightly smaller than the front wall 43 of the case body 40 and interferes with the power connector 22 protruding from the front wall 43 of the case body 40 and the power connector 23. To avoid.

  The motor control board 15 is a board on which a control circuit for controlling a motor constituting an industrial robot, an I / O port 21, and a memory are mounted. The memory stores information such as the rotation angle and the number of rotations of the motor taken from the sensor through the I / O port 21. Similar to the CPU communication board 17 and the option board 18, the motor control board 15 is a communication / control system board and is a low-power board with a low operating voltage.

  Further, as shown in FIG. 6, a ground terminal 47 </ b> A is provided at the lower portion of the left side wall 47 of the case body 40. The ground terminal 47A is formed by bending a part of the left side wall 47 of the case body 40 toward the front side of the apparatus. The case body 40 is structured to be grounded to a reference potential (ground) through a ground terminal 47A (housing grounding). The ground terminal corresponds to the “ground connection terminal” of the present invention.

  The front cover 70 is made of a metal plate, and has a horizontally long shape in the X direction as shown in FIG. 7. The front cover 70 covers the front of the motor control board 15 and the upper and lower edges of the board 71. And formed flanges 72 and 73. The front cover 70 is provided with a locking claw 75, and can be attached to and detached from the front wall 43 of the case body 40 by locking the locking claw 75 with respect to the locking hole 49 of the case body 40. Can be attached.

  The front cover 70 covers the front and side surfaces of the motor control board 15 attached to the front wall 43 of the case main body 40, and forms a closed space for housing the motor control board 15 together with the case main body 40. Yes.

  As shown in FIG. 8, through holes 43 </ b> A and 43 </ b> B are formed in the front wall 43 of the case body 40. Four sets of through holes 43 </ b> A and 43 </ b> B are formed in the X direction corresponding to the four power circuit boards 13.

  First board connectors 61 </ b> A and 61 </ b> B are attached to the surface of each power circuit board 13 (the face facing the front wall 43) with the mating face for the mating part facing the front side in the Z direction. The first board connectors 61 </ b> A and 61 </ b> B are orthogonal to the power circuit board 13 and pass through the through holes 43 </ b> A of the front wall 43. On the other hand, as shown in FIG. 9, the second board connector 62 </ b> A is disposed on the back surface of the motor control board 15 (the face facing the front wall 43) with the mating face for the other party facing the rear front side in the Z direction. 62B is provided. Four sets of second board connectors 62 </ b> A and 62 </ b> B are provided in the X direction corresponding to the four power circuit boards 13. The second board connectors 62A and 62B are orthogonal to the motor control board 15 and are fitted to the first board connectors 61A and 61B of the power circuit boards 13, respectively.

  Thus, in the present embodiment, the power circuit board 13 and the motor control board 15 are arranged with the front wall 43 of the case body 40 in between, with each side facing the front wall 43, and the front wall 43 The two boards 13 and 15 are electrically connected to each other through board connectors 61A and 61B penetrating through 43.

  As shown in FIG. 10, a third board connector 63 is provided at the end of the motor control board 15 in the X direction. The third board connector 63 is attached in a direction along the surface of the motor control board 15 with the fitting surface facing the right side of FIG. The third board connector 63 penetrates the partition wall 51 and enters the low-power board housing chamber 40B. On the other hand, a fourth substrate connector 64 is provided on the back surface (the surface facing the partition wall 51) of the CPU communication substrate 17. The fourth board connector 64 is orthogonal to the CPU communication board 17. The fourth board connector 64 is opposed to the third board connector 63 of the motor control board 15 and is fitted to the third board connector 63 of the motor control board 15 in the low-power board housing chamber 40B. Thus, the motor control board 15 and the CPU communication board 17 are also electrically connected via the board connectors 63 and 64.

  As shown in FIG. 10, a fifth board connector 65 is provided at the end in the X direction of the power supply board 11. The fifth board connector 65 has a fitting surface directed to the right side of FIG. 10, that is, the weak electricity storage chamber 40 </ b> B, and is attached in a direction along the surface of the power supply control board 11. The fifth board connector 65 penetrates the partition wall 51 and enters the low-power board housing chamber 40B. On the other hand, a sixth board connector 66 is provided on the back surface of the CPU communication board 17 (the face facing the partition wall 51). The sixth board connector 66 is orthogonal to the CPU communication board 17. The sixth board connector 66 is opposed to the fifth board connector 65 of the power board 11, and is fitted to the fifth board connector 65 of the power board 11 in the low-power board housing chamber 40 </ b> B. Thus, the power supply board 11 and the CPU communication board 17 are also electrically connected via the board connectors 65 and 66.

  In the case body 40, the right front wall 44 and the right side wall 46 are integrated as a side cover 100 as shown in FIG. When the side cover 100 is removed, the low-power board housing chamber 40B is opened, and the CPU communication board 17 and the option board 18 housed therein can be attached and detached. Specifically, as shown in FIGS. 12 and 13, since the CPU communication board 17 and the option board 18 are fixed to the partition wall 51 via the boss B, the partition wall 51 is removed. Thus, the CPU communication board 17 and the option board 18 can be removed integrally. Reference numerals 52 and 53 shown in FIG. 13 are notches formed in the partition wall 51. The notch 52 is a notch that passes through the third board connector 63 of the motor control board 15. The notch 53 is a notch that penetrates the fifth board connector 65 of the power supply board 11.

  Further, since the controller 10 accommodates the power supply substrate 11 and the power circuit substrate 13 which are heat generation sources in the high-power substrate accommodation chamber 40A, it is desirable to improve heat dissipation. Therefore, as shown in FIG. 15, the controller 10 arranges the heat radiation fins 85 of the respective heat sinks 83 in the high-power board housing chamber 40A in the same direction. Specifically, four sets of heat sinks 83 are arranged in the X direction so that the radiating fins 85 arranged in the Y direction form a fin row F extending in the X direction. By doing in this way, since the radiation fins 85 arranged in a line form the wind passage U, it is easy for the wind to pass through and the heat dissipation performance of the heat sink 83 is improved.

  In addition, the controller 10 is provided with a fan 87 for the left side wall 47 of the case body 40. As shown in FIG. 15, the fan 87 is located at the end of the fin row F and blows air toward the fin row F. If it does in this way, it will become possible to cool each heat sink 83 efficiently with one fan 87.

  As shown in FIG. 4, a regenerative resistor 130 is disposed on the upper side of the case body 40. Specifically, it is fixed in a state where it floats a certain distance from the upper surface wall 45. As shown in FIG. 15, the regenerative resistor 130 is disposed in front of the fan 87, and the fan 87 is configured to cool the regenerative resistor 130 together with the heat sink 83. The regenerative resistor 130 is a resistor that consumes electric power to be generated when the motor decelerates.

<Explanation of effects>
The controller 10 houses the power supply board 11 and the power circuit board 13 in the high-power board housing chamber 40A in the case body 40, and the case body 40 shields (electrostatic shielding) noise radiated from both the boards 11 and 13. )

  Therefore, the motor control board 15 disposed outside the case main body 40 is less susceptible to noise and heat, and the apparatus is less likely to malfunction. Further, the case body 40 can be brought into the ground state (reference potential) by having the ground terminal 47A. By doing so, the shielding performance of the case main body 40 is improved, so that the motor control board 15 is less susceptible to noise. In addition, since the low-power board housing chamber 40B is also isolated from the high-power board housing chamber 40A by the metal partition wall 51, the CPU communication board 17 and the option board 18 are hardly affected by noise.

  Further, since the motor control board 15 is provided outside the case main body 40, when the motor control board 15 is maintained, the power supply board 11 and the power circuit board 13 housed in the high-power board housing chamber 40A of the case main body 40, etc. Do not touch. Therefore, it is not necessary to pay attention to an electric shock due to contact with the dangerous voltage portion, and the maintenance is excellent. Similarly, since the CPU communication board 17 and the option board 18 are also arranged outside the high-power board housing chamber 40A, when the boards 17 and 18 are maintained, the user can connect the power board 11 or the power circuit board 13 to the power board 11 or the power circuit board 13 or the like. It is not touched and has excellent maintainability.

  In addition, since the board connectors 61A and 61B penetrate the front wall 43 of the case body 40, the motor control board 15 can be easily connected to the power circuit board 13 in the high-power board housing chamber 41A. Is possible.

  Further, the power circuit board 13 and the motor control board 15 are arranged on both sides of the front body wall 43 of the case body 40 in a direction along the front wall 43. In this way, the two substrates 13 and 15 can be arranged close to each other. Therefore, the controller 10 can be reduced in size. Moreover, since the case body 40 is in the ground state (reference potential), the power circuit board 13 and the motor control board 15 need only secure an insulation distance with respect to the reference potential, and the two boards 13 and 15 are brought closer to each other. Can be placed.

  Further, the controller 10 has a motor control board 15 attached to a front wall 43 facing a base plate 41 fixedly installed on the control panel 1. Therefore, it is possible to maintain the motor control board 15 in a state where the controller 10 is fixedly installed, and the maintainability is good.

<Other embodiments>
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.

  (1) In the above-described embodiment, an example in which the controller 10 is attached to the control panel 1 has been shown. However, the installation method of the controller 10 is not limited to the example of the embodiment. Also good. In the embodiment, the controller 10 is installed in the vertical direction (the direction in which the power supply board and the like are up and down). However, the installation direction is not particularly limited, and the controller is installed in the horizontal direction (the direction in which the power supply board is horizontal). It is also possible to do.

  (2) In the above embodiment, the case main body 40 is divided into two chambers by the partition wall 51, and the high power substrate housing chamber 40A and the low power substrate housing chamber 40B are provided. However, the weak power substrate housing portion 40B is abolished. May be. In this case, the CPU communication board 17 may be integrated with the motor control board 15. Further, the option board 18 may be omitted.

  (3) In the above embodiment, the power circuit board 13 and the motor control board 15 are electrically connected by the board connectors 61 and 62 penetrating the front wall 43 of the case body 40. For example, the two substrates 13 and 15 may be connected by a harness or the like.

DESCRIPTION OF SYMBOLS 10 ... Controller 11 ... Power supply board 13 ... Power circuit board 15 ... Motor control board (equivalent to "control board" of this invention)
17 ... CPU communication board (corresponding to "control board" of the present invention)
18 ... Communication board 40 ... Case body 40A ... High-power board housing chamber (corresponding to "casing" of the present invention)
40B ... Low-power board housing chamber 41 ... Base plate (corresponding to "installation wall surface" of the present invention)
43 ... Front wall (corresponding to "one wall surface" of the present invention)
47A ... ground terminal (corresponding to the "ground connection terminal" of the present invention)
61 ... First board connector 62 ... Second board connector 70 ... Front cover 83 ... Heat sink 85 ... Heat radiation fin 87 ... Fan 130 ... Regenerative resistor

Claims (8)

A controller for controlling an industrial robot,
A power circuit board for supplying power to the motor of the industrial robot;
A power supply board;
A regenerative resistor that consumes power generated when the motor decelerates;
A metal housing that houses the power circuit board, the power supply board, and the regenerative resistor ;
A control board disposed outside the housing,
The power circuit board and the power supply board are arranged in parallel on two wall surfaces facing each other among the wall surfaces constituting the housing,
In the power circuit board, a heat radiating member having heat radiating fins is arranged on the side facing the power supply board,
The regenerative resistor is located in a space between the power circuit board and the power supply board, and is disposed adjacent to the radiation fins.
The controller which is the structure where the fan installed in the said housing cools the said regenerative resistance with the said radiation fin of the said power circuit board .   The controller according to claim 1, wherein the casing includes a connection terminal for ground. The power circuit board is provided with a connector penetrating one wall surface of the housing,
The controller according to claim 1, wherein the control board is electrically connected to the power circuit board via the connector.   The said power circuit board and the said control board are arrange | positioned in the direction which follows the said one wall surface on the both sides on both sides of the one wall surface of the said housing | casing in any one of Claim 1 thru | or 3. The controller described.   5. The controller according to claim 3, wherein the housing has an installation wall surface for fixedly installing the controller, and the one wall surface is a facing surface facing the installation wall surface. 6. The industrial robot is a multi-axis robot having a plurality of the motors,
A plurality of the power circuit boards are provided corresponding to the plurality of motors,
The controller according to any one of claims 1 to 5, wherein each of the power circuit boards is arranged in one direction in the housing. The controller according to claim 6, wherein the heat radiating fins of the heat radiating members provided on the power circuit boards are arranged in the same direction in the casing. The controller according to claim 7, further comprising: the fan that sends air from an end portion in the one direction with respect to the heat radiating fins arranged in the one direction.

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