WO2003105549A1 - Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit - Google Patents

Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit Download PDF

Info

Publication number
WO2003105549A1
WO2003105549A1 PCT/SE2003/000969 SE0300969W WO03105549A1 WO 2003105549 A1 WO2003105549 A1 WO 2003105549A1 SE 0300969 W SE0300969 W SE 0300969W WO 03105549 A1 WO03105549 A1 WO 03105549A1
Authority
WO
WIPO (PCT)
Prior art keywords
enclosure
computer
drawer
controller
controller according
Prior art date
Application number
PCT/SE2003/000969
Other languages
English (en)
French (fr)
Inventor
Per Carlsson
Mats TÖRNROS
Original Assignee
Abb Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from SE0201751A external-priority patent/SE0201751D0/xx
Priority claimed from SE0201752A external-priority patent/SE0201752D0/xx
Priority claimed from SE0201753A external-priority patent/SE0201753D0/xx
Application filed by Abb Ab filed Critical Abb Ab
Priority to AU2003242084A priority Critical patent/AU2003242084A1/en
Priority to JP2004512471A priority patent/JP2005529426A/ja
Priority to EP03730986A priority patent/EP1514460A1/en
Publication of WO2003105549A1 publication Critical patent/WO2003105549A1/en

Links

Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H05K7/20536—Modifications to facilitate cooling, ventilating, or heating for racks or cabinets of standardised dimensions, e.g. electronic racks for aircraft or telecommunication equipment
    • H05K7/206—Air circulating in closed loop within cabinets wherein heat is removed through air-to-air heat-exchanger
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/14—Mounting supporting structure in casing or on frame or rack
    • H05K7/1462—Mounting supporting structure in casing or on frame or rack for programmable logic controllers [PLC] for automation or industrial process control
    • H05K7/1467—PLC mounted in a cabinet or chassis

Definitions

  • Control unit foorr aann iinndduussttrriiaall pprroocceessss ccoonnttrroollll ⁇ er system and an industrial process controller system comprising ssuucchh aa ccoonnttrrooll uinit.
  • the present invention relates to a controller for an industrial robot system and an industrial robot system comprising such a controller.
  • a conventional computer unit of the personal or industrial computer type normally comprises a computer case, which may also be called computer exterior, inside of which various types of computer components are mounted.
  • a computer case usually houses a motherboard, a processor, memories, a hard disk, a diskette drive, a CD-ROM drive, etc.
  • Diskette dri- ves, CD-ROM drives and other types of drives for replaceable data media are normally arranged so as to be accessible to a computer user via the front panel of the computer case, that is, via that side of the computer case that is intended to be turned towards the computer user during normal computer operation, such that the computer user via openings in the front panel may insert or withdraw a data medium, such as a diskette or a CD- ROM disc, into/out of the respective drive.
  • Mounted in the front panel are also often various types of indicators, which, for example, show if the computer unit is switched on or not and the activity of certain computer components .
  • I/O Input/Output
  • These contacts normally consist of the I/O ports of the motherboard, via which various types of peripheral equipment, such as keyboard, pointer, printer, scanner, etc., are connectable to the computer unit.
  • I/O ports of plug-in boards mounted in slots for printed-circuit boards inside the computer case are accessible.
  • a controller intended for controlling the movements of an industrial robot comprises, inter alia, a power-supply unit for feeding electric current to those electric motors of the industrial robot that control the rotating movements of the various axes of the industrial robot.
  • the controller further comprises a main computer, which, inter alia, comprises computer components for execution of computer programs for controlling, the various processes of the industrial robot.
  • This main computer controls, inter alia, the current feed from the power-supply unit, normally via an additional computer unit, a so-called axis computer, con- nected between the main computer and the power-supply unit.
  • the controller also comprises various forms of monitoring and safety equipment, etc.
  • the different electric and elec- tronic components included in the controller are normally arranged in a common control cabinet .
  • the object of the present invention is to provide a controller for an industrial robot system that exhibits a user-friendly computer unit.
  • the object also comprises providing a controller for an industrial robot system that is flexible, that may be simply adapted to the needs of the customer and that at the same time makes possible a facilitation of the work with repair and maintenance of the controller.
  • the above object is achieved with the aid of a controller that exhibits the features described in claim 1.
  • the solution according to the invention implies that the computer unit comprises ports that are accessibly arranged in the front portion of the enclosure, that is, they are arranged at the front portion of the enclosure. This is particularly advantageous when the computer unit is placed in a control cabinet or in a stand of a controller where the back of the computer unit is only accessible by withdrawing the computer unit from the stand/control cabinet.
  • the front portion of the enclosure is meant the front half of the enclosure of the computer unit, that is, that portion of the enclosure that is intended to face a computer user during normal computer operation when the computer unit is mounted in the intended operating position.
  • the front portion may be said to constitute the front end of the computer unit or the enclosure.
  • the front portion of the computer unit is thus intended to face the front of the control cabinet/stand.
  • a port is accessibly arranged in the front portion of the enclosure is intended that it is possible for a computer user to reach said port from the outside of the front portion for inserting a connection cable into or removing a connection cable from the port. It is also preferred that a port, accessibly arranged in the front portion of the enclosure, be arranged fully visible to the computer user from the outside of the enclosure. In this way, it is possible for the computer user to conveniently connect different types of equipment to the computer unit while at the same time the computer user has a good overview of the ports arranged in the front portion and of the cables connected there, thus allowing the computer user to quickly determine, for example, if a certain connection cable is correctly inserted into the appropriate port.
  • the solution according to the invention implies a new approach that runs counter to the predominant design of computer units and computer cases with ports arranged on the back of the computer case.
  • At least one of said ports constitutes a connection for a service link. It is also part of the inventive concept that at least one of said ports constitutes a connection for a field bus cable. It is also part of the inventive concept that at least one of said ports constitutes a connection for a network connection.
  • a connection of the computer unit to an external current source is accessibly arranged in the front portion of the enclosure.
  • the computer unit comprises a computer circuit board arranged inside the enclosure, said computer circuit board being provided with one or more I/O ports that are accessibly arranged in the front portion of the enclosure.
  • the term computer circuit board means the printed-circuit board that constitutes the main circuit board of the compu- ter unit, that is, that printed-circuit board that the main components of the computer unit, such as processor, memories, etc., are mounted on or connected to.
  • the computer unit comprises a single-board computer, that is, a computer where all the computer components and ports are mounted on one and the same computer circuit board.
  • the computer unit be of the type comprising a computer circuit board in the form of a so-called motherboard.
  • the computer circuit board is provided with one or more slots intended for mounting plug-in boards, whereby the respective slot is associated with an opening arranged in the front portion of the enclosure, such that one or more I/O ports of a plug-in board mounted in one of said slots is/are accessible via said opening.
  • the I/O ports of those plug-in boards that are mounted in the slots are conveniently accessible from the front portion of the enclosure for connection or disconnection of connection cables .
  • all the ports of the computer unit are accessibly arranged in the front portion of the enclosure. This entails the advantage that access to the rear of the computer unit is not required under normal circumstances .
  • the enclosure comprises limiting surfaces in the form of panels, whereby said ports are arranged in the front panel of the enclosure.
  • front panel in this description and the appended claims shall mean the panel of the enclosure of the computer unit that is intended to be facing a computer user during normal computer operation when the computer unit is mounted in the intended operating position.
  • the front panel may be said to constitute the front of the computer unit or the enclosure.
  • the front panel is thus intended to be facing the front of the control cabinet/the stand.
  • a computer unit included in a controller for an industrial robot system is often placed in a difficult environment where there is a risk of the computer unit being subjected to pollution, liquids and mechanical influence in the form of jerks and impacts.
  • dirt particles such as for example dust
  • liquids penetrate into the enclosure through the openings of the enclosure and destroy computer components arranged inside the enclosure.
  • the contacts and ports that are arranged in the front panel of the enclosure, accessible from the outside of the enclosure, are at risk of being subjected to the destructing effect of mechanical jerks and impacts and also risk being detrimentally affected by dirt particles and liquids.
  • the front panel together with the other panels of the enclosure contribute to define a space inside the enclosure that is essentially air-tight. In this way, the whole space inside the enclosure and the computer components arranged therein will be shielded from the ambient air so that the particles brought along by the ambient air are prevented from coming into contact with the computer components arranged inside the enclosure.
  • each of the panels, which together with the front panel form the limiting surfaces of the enclosure is a continuous wall.
  • one or more drives for replaceable data media be arranged in the enclosure, whereby the respective drive is accessible via an opening arranged in the front portion of the enclosure for inserting a data medium into or withdrawing a data medium from the drive .
  • Another preferred embodiment of the invention is characterized in that said space inside the enclosure is connected to a heat exchanger arranged in the enclosure, and that the computer unit comprises a first fan for generating an internal air flow in said space inside the enclosure and a second fan for generating an external air flow outside of said space, the internal air flow being adapted to get into contact with a first side of the heat exchanger and the external air flow being adapted to get into contact with a second side of the heat exchanger.
  • the power-supply unit of the controller be conveniently accessible for repair and maintenance by withdrawing the drawer displaceably arranged in the cabinet frame .
  • a preferred embodiment of the invention is characterized by • the following features:
  • the first drawer is received in a first space in the cabinet frame, said space being defined by walls included in the cabinet frame and exhibiting an opening with a surrounding frame, the first drawer being displaceable into and out of the cabinet frame via said opening;
  • the first drawer exhibits a front panel that is arranged to connect with the frame of the opening in an essentially air-sealing manner when the first drawer is in its inserted position
  • said walls are connected to each other and to the frame of the opening in an essentially air-tight manner so that said first space in the cabinet frame is essentially air- tight when the first drawer is in its inserted .position.
  • the ambient air and particles brought along by the ambient air are prevented from getting into contact with the components arranged in the drawer when the drawer is in its inserted position.
  • an essentially air-tight cable entry is arranged in the front panel of the first drawer .
  • the front panel of the first drawer and those walls of the cabinet frame which define said first space are of a con- ducting material, preferably of metal.
  • EMC disturbances electromagnetic disturbances, so-called EMC disturbances, from the power-supply unit will be shielded and prevented from being transmitted to the surroundings .
  • one or more ventilating ducts are arranged to extend through the first drawer, whereby the respective ventilating duct is arranged so that the inner space in the venti- lating duct is without flux contact with the drive mounted in the first drawer when this drawer is in its inserted • position. This makes it possible to achieve cooling of the ' components arranged in the first drawer without these having to get into contact with the ambient air.
  • the controller comprises a first computer unit that comprises the main computer of the controller, this first computer unit being arranged in a second space, sepa- rate from said first space, in the cabinet frame. Because said computer unit is arranged separate from the drive, it will be possible to carry out repair and maintenance of the drive without the risk of unintentional influence on the main computer of the controller. In a corresponding way, it will, of course, be possible to carry out repair and maintenance of the main computer of the controller without the risk of unintentional influence on the drive .
  • the first computer unit comprises an enclosure that exhibits a front panel with one or more openings via which computer components arranged in the enclosure are accessible, and in that - the enclosure comprises panels that together with the front panel of the enclosure delimit a space inside the enclosure that is essentially air-tight.
  • a further preferred embodiment of the invention is characterized in that said space inside the enclosure is connected to a heat exchanger arranged in the enclosure, and that the first computer unit comprises a first fan for genera- ting an internal air flow in said space inside the enclosure and a second fan for generating an external air flow outside of said space, the internal air flow being adapted to get into contact with a first side of the heat exchanger and the external air flow being adapted to get into contact with a second side of the heat exchanger. In this way it will be possible to achieve a cooling of the computer components arranged inside the enclosure without these having to get into contact with the ambient air.
  • a cabinet door is arranged articulately attached to the cabinet frame, and an emergency stop and/or an operating member for initial starting and/or an operating member for switching the operating mode of an industrial robot is/are arranged in the cabinet door, the respective operating member being connected to the control unit.
  • the controller comprises a control unit that is connected to the first computer unit and comprises components for emergency stop and/or initial starting and/or for switching the operating mode of an industrial robot, the control unit being arranged in a third space, separate from said first and second spaces, in the cabinet frame. Since said control unit is arranged separate from the drive and the first computer unit, it will be possible to carry out repair and maintenance of the control unit, the drive or the main computer without the risk of unintentional influence on components arranged in any of the other spaces in the control cabinet.
  • the drive is adapted to comprise a second computer unit for controlling the current feed from the power-supply unit, said second computer unit being mounted in the first drawer .
  • the drive is adapted to comprise a safety unit for control of contactors included in the power-supply unit, said safety unit being mounted in the first drawer.
  • control unit is mounted in a second drawer that is displaceably arranged in said third space of the cabinet frame.
  • control unit is conveniently accessible for repair and maintenance by withdrawing the second drawer displaceably arranged in the cabinet frame.
  • a fourth space intended for subsequent installation of equipment related to the control and monitoring of an industrial robot, is arranged in the cabinet frame, this fourth space being separated from said first and second spaces.
  • the customer may install, repair and perform maintenance on his own equipment without running the risk of detrimentally affecting those vital parts of the controller which are arranged in the other spaces of the control cabinet.
  • a controller that comprises a drive and a first computer unit.
  • the first computer unit comprises the main computer of the controller and the drive comprises a power-supply unit for feeding electric current to an industrial robot.
  • the controller is adapted to comprise a first module in which the drive is arranged, and a second module in which the first computer unit is arranged.
  • the modules are adapted to constitute mutually freestanding structural members of the controller.
  • the modules are mounted or capable of being mounted one above the other.
  • an air gap is arranged between two modules mounted one above the other.
  • the solution according to the invention means that the com- puter unit with the main computer of the controller and the drive with the power-supply unit of the controller are arranged in separate modules that constitute mutually freestanding structural members of the controller. In this way, an individual module may be adapted to the needs of the customer without the design of the other module having to be influenced.
  • the modular construction of the controller also permits a flexible location of the various parts of the controller.
  • the individual modules may be placed on top of each other, next to each other or at a distance from each other, all according to the need and the available space. Because said computer unit and drive are arranged separate from each other in separate modules, it will also be possible to carry out repair and maintenance of the drive without any risk of unintentional influence on the main computer of the controller arising.
  • the modular construction of the controller also implies that the controller may be made more space-saving since it will be possible to optimize the dimensions of the respective module, taking into consideration the components included in the module ' only.
  • the respective module is designed to be optionally mountable both on top of, below, next to, and spaced from other modules included in the controller.
  • the controller comprises a third module that is intended for subsequent installation of equipment related to the control and monitoring of an industrial robot and associated peripheral equipment, whereby the third module constitutes a freestanding structural member of the controller with res- pect to the other modules.
  • the customer may install, repair and carry out maintenance of his '' ⁇ own equipment without running the risk of detrimentally affecting the vital parts of the controller which are arranged in the other modules .
  • controller comprises a control unit comprising components for emergency stop and/or initial starting and/or for switching the operating mode of an indus- trial robot, and that this control unit is arranged in a fourth module, whereby the fourth module constitutes a freestanding structural member of the controller with respect to the other modules.
  • the modules are mounted or capable of being mounted on top of each other. In this way it will be possible to stack the modules on top of each other so that they form an upright unit. This will thus make it possible to design the controller so as to occupy a very limited floor surface.
  • an air gap is arranged between two modules mounted on top of each other. This prevents heat from being directly transferred between two modules mounted on top of each other.
  • the first module comprises a casing, inside of which the drive is arranged, this casing being made of a conducting material and arranged to sealingly enclose the drive so that electromagnetic disturbances from the drive are contained in the casing and prevented from being transmitted to the surroundings .
  • electromagnetic disturbances so-called EMC disturbances
  • EMC disturbances are generated because of the high-frequency switching operations that take place in the power-supply unit.
  • the embodiment referred to means that the power-supply unit of the controller is sealingly enclosed in a casing of a conducting material while at the same time the main computer of the controller is arranged separate from this cas- ing.
  • the casing will operate as a so-called Faraday shield that shuts in the electromagnetic disturbances from the power-supply unit such that these electromagnetic disturbances are prevented from being transmitted to the main computer or to other sensitive equipment in other modules.
  • the casing of the first module comprises walls that delimit a space in the casing for receiving a drawer displace- ably arranged in the casing, whereby the drive is arranged in said casing,
  • said space exhibits an opening with a surrounding frame, whereby the drawer is displaceable into and out of the casing via said opening, - the drawer exhibits a front panel included in the casing, said front panel being adapted to connect with the frame of the opening, in an essentially air-sealing manner, when the drawer is in its inserted position, and that 14 •» -I U LUUO
  • said walls are essentially air-tightly connected to each other and to the frame of the opening so that said space in the casing is essentially air-tight when the drawer is in its inserted position.
  • a computer circuit board provided with one more slots intended for mounting a plug-in board, where the respective slot is accessible via an opening provided ' in the front panel of the enclosure.
  • the first computer unit comprises an enclosure that ex- hibits a front panel with one or more openings, via which computer components arranged in the enclosure are accessible,
  • the enclosure comprises panels which together with the front panel of the enclosure delimit a space inside the en- closure that is essentially air-tight when the housing is in its closed position.
  • the whole space inside the enclosure and the computer components arranged therein will be shielded from the ambient air when the housing is in its closed position so that the ambient air and particles brought along with the ambient air are prevented from getting into contact with the computer components arranged inside the enclosure when the housing is in its closed position.
  • Another preferred embodiment of the invention is characterized in that said space inside the enclosure is connected to a heat exchanger arranged in the enclosure, and in that the first computer unit comprises a first fan for genera- ting an internal air flow in said space inside the enclosure and a second fan for generating an external air flow outside of said space, whereby the internal air flow is adapted to get into contact with a first side of the heat exchanger and the external air flow is adapted to get into contact with a second side of the heat exchanger.
  • the first computer unit comprises a first fan for genera- ting an internal air flow in said space inside the enclosure and a second fan for generating an external air flow outside of said space, whereby the internal air flow is adapted to get into contact with a first side of the heat exchanger and the external air flow is adapted to get into contact with a second side of the heat exchanger.
  • ventilating ducts are adapted to extend through the casing of the first module, whereby the respective ventilating duct is ' so arranged that the inner space in the ventilating duct is without flux contact with the drive arranged inside the casing.
  • the ports of the first computer unit are accessibly arranged in the front panel of the enclosure and adapted to be covered by the housing when the housing is in its closed position.
  • the external connections of the computer unit will be conveniently accessible from the front panel of the enclosure when the housing is in its open po- sition while at the same time they are protected by the housing when the housing is in its closed position.
  • a port is accessibly arranged in the front panel of the enclosure means in this description and in the appended claims that it is possible for .a computer user to access said port from the outside of the front panel for inserting a connection cable into or removing a connection cable from the port. It is also preferred that a port accessibly arranged in the front panel of the enclo- sure be arranged well visible to the computer user from the outside of the enclosure. In this way, it is possible for the computer user to conveniently connect different types of equipment to the computer unit while at the same time the computer user has a good overview of the ports arranged in the front panel and the cables connected there and thus has a possibility to quickly decide, for example, if a certain connection cable is correctly inserted into the intended port .
  • the third module comprises a casing, said casing being made of a conducting material and arranged to sealingly enclose equipment arranged in the casing so that electromagnetic disturbances from this equipment are contained in the casing and prevented from being transmitted to the environment .
  • a controller composed of only two modules.
  • the respective module exhibits a separate casing with a separate door.
  • Operating members defined as above are arranged, in one embodiment, in the door of the upper module.
  • each one of the two modules exhibits a separate casing and is arranged with a common door.
  • the operating members according to the above are arranged in a fixed panel arranged on the upper of the two modules and above a common door.
  • the inventive concept also comprises arranging two modules vertically next to each other, either close to .each other or spaced from each other.
  • the fourth module comprises a casing, inside which the control unit is arranged, whereby said casing is made of a conducting material and adapted to sealingly enclose the control unit so that electromagnetic disturbances from the control unit are contained in the casing and prevented from being transmitted to the environment.
  • the invention also relates to an industrial robot system according to claim 30.
  • Figure 1 is a front view of a computer unit intended to form part of a control system according to the present invention
  • FIG. 2 is a view from above of the computer unit according to Figure 1,
  • Figure 3 is a perspective view from behind of the computer unit according to Figures 1 and 2 ,
  • Figure 4 is a perspective front view of a preferred embodiment of a computer unit intended to form part of a controller according to the present invention, shown with a protective housing in the closed position,
  • FIG. 5 is a computer unit according to Figure 4 with the protective housing in the open position
  • Figure 6 is a perspective view from behind of the computer-unit according to Figures 4 and 5,
  • Figure 7 is a schematic plan view of the computer unit according to Figures 4-6, illustrating the cooling system of the computer unit
  • FIG 8 is a perspective view of a controller according to the present invention, shown with the cabinet door of a control cabinet, included in the controller, in the open position
  • Figure 9 is a schematic block diagram illustrating various parts included in a controller according to one embodiment of the invention.
  • Figure 10 is a schematic illustration of an industrial robot system with an associated controller
  • Figure 11 is a perspective view of a controller according to a preferred embodiment of the present invention.
  • Figure 12 is a partly cut-away side view of the controller according to Figures 11 and 8 , shown with drawn- out drawers,
  • Figure 13 is a schematic block diagram illustrating various parts included in a control system according to one embodiment of the invention.
  • Figure 14 is a computer unit according to Figure 4 without a protective housing
  • Figure 15 is a schematic plan view of the computer unit according to Figure 14, illustrating the cooling system of the computer unit,
  • Figure 16 is a perspective view of a controller according to a preferred embodiment of the present invention.
  • Figure 17 is a perspective view of a controller according to a preferred embodiment of the present invention.
  • Figure 18 is a perspective view of a controller according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • FIGS 1-3 illustrate a first embodiment of a computer unit 1 included in a controller according to the present invention.
  • This computer unit 1 comprises an enclosure 2.
  • the enclosure 2 preferably exhibits limiting surfaces in the form of panels 2a-f .
  • the enclosure 2 illustrated in Figure 1 comprises a front panel 2a, a rear panel 2b, an upper panel 2c, a lower panel 2d and two side panels 2e, 2f , which together form a box-shaped enclosure, a so-called computer exterior or computer case.
  • the enclosure 2 is designed to be placed with the largest panels 2c, 2d essentially horizontally arranged, which may be described such that the enclosure is placed in a "lying" position. It is, of course, also possible to design the enclosure for a "standing" position, in which case the largest panels are essentially directed vertically and constitute the side panels of the enclosure.
  • Figure 1 shows the computer unit 1 in a front view. Consequently, Figure 1 illustrates the front panel 2a of the enclosure. Inside the enclosure 2, different types of computer components are arranged, such as a processor, schematically indicated at P in Figure 9, memories, a hard disk, a diskette drive, a CD-ROM drive etc. These computer components are normally connected to a computer circuit board 3.
  • a processor schematically indicated at P in Figure 9
  • memories a hard disk, a diskette drive, a CD-ROM drive etc.
  • CD-ROM drive CD-ROM drive
  • one or more of the ports 4a-g of the computer unit is/are arranged in a front portion 2A of the enclosure 2, whereby the computer unit 1, via the ports arranged in the front portion 2A, is connectable to other parts 30, 53, 80 of the controller 31 or of an industrial robot system in which the controller 31 is included or is intended to be included.
  • the term front portion means, as previously mentioned, the front half 2A of the enclosure 2 of the computer unit. Said front portion 2A is indicated in dashed line in Figures 3 , 5 and 6.
  • Said ports 4a-g are preferably arranged in the front panel 2a of the enclosure, as illustrated in Figures 1 and 2, but it is also within the scope of the invention to arrange one or more ports 4 in the front portion 2A at the upper panel 2c or at some of the two side panels 2e, 2f .
  • At least one port constitutes a connection for a service link and/or at least one port constitutes a connection for a field bus cable and/or at least one port constitutes a network connection.
  • the computer unit 1 may comprise arbi- • trary combinations of the above-mentioned types of ports and also that the computer unit 1 may comprise other types of ports than those mentioned above .
  • Figure 1 shows a front view of a computer unit 1 provided with a computer circuit board in the form of a motherboard 3.
  • the internal computer components in the computer unit such as a processor, memories, a hard disk, a diskette drive, a CD-ROM drive, etc., are mounted on or connected to this motherboard 3.
  • Figure 2 shows the computer unit 1, illustrated in Figure 1, in a view from above with the upper panel 2c removed so that some of the computer components arranged inside the enclosure 2 are visible.
  • the motherboard 3 is provided with a number of external contacts 4a-g, so-called I/O ports (Input/Output ports), via which the computer unit 1 is connectable to other parts of the controller 31 or of an industrial robot system in which the controller is included or is intended to be included.
  • the I/O ports 4a-g of the motherboard are here accessibly arranged in the front panel 2a of the enclosure.
  • the above-mentioned I/O ports preferably comprise at least one parallel port and/or at least one series port and/or at least one network port, for example in the form of an RJ contact, and/or at least one USB port. It is, of course, within the scope of the invention that the computer unit 1 may comprise arbitrary combinations of the above-mentioned types of I/O ports and also that the computer unit 1 may comprise other types of I/O ports than those mentioned above .
  • the I/O ports of the motherboard comprise two series ports 4a, one parallel port 4b, one port 4c for connection of a display screen, one port 4d for connection of a keyboard, one port 4e for connection of a pointer, two USB ports 4f as well as a network port 4g, a so-called Ethernet contact, of RJ type.
  • the I/O ports of the motherboard are suitably " arranged on a common I/O panel 5 which is accessible via one or more openings 6 in the front panel 2a, as illustrated in Figure 1.
  • the computer circuit board 3 is provided with one or more slots 7 intended for mounting of plug-in boards, whereby the respective slot 7 is associated with an opening 8 provided in the front portion 2A of the enclosure, preferably in the front panel 2a, such that one or more I/O ports of a plug-in board mounted in one of said slots is/are accessible via said opening 8.
  • the computer unit 1 may comprise arbitrary combinations of the above-mentioned types of slots and also that the computer unit 1 may comprise other types of slots than those mentioned above.
  • the computer unit 1 comprises five slots 7 designed for mounting of PCI boards .
  • the computer unit 1 suitably exhibits a contact 9, accessibly arranged in the front portion 2A of the enclosure, preferably in the front panel 2a, for connection of the computer unit 1 to an external power source.
  • the computer unit 1 should comprise one or more drives 12a, 12b for replaceable data media, so-called external memories, arranged in the enclosure 2, whereby the respective drive 12a, 12b is access- ible, via an opening 13a, 13b, provided in the front portion 2A of the enclosure, preferably in the front panel 2a, '' ⁇ for inserting a data medium into or withdrawing a data medium from the drive.
  • Said drives 12a, 12b consist, for example, of a disk drive intended for conventional disk- ettes and/or a CD-ROM drive intended for conventional CD- ROM discs .
  • the computer unit 1 comprises a diskette drive 12a and a CD-ROM drive 12b.
  • the computer unit 1 is suitably also provided with a space 14 for receiving an external memory in the form of a replaceable hard disk, said space being accessible via a opening 15 provided in the front portion 2A of the enclosure, preferably in the front panel 2a, such that the hard disk is insertable into the computer unit or removable therefrom via the front portion 2A. It is, of course, also within the scope of the invention . that the computer unit 1 be designed for receiving other types of external memories than those mentioned above via the front portion 2A or front panel 2a of the enclosure.
  • the computer unit 1 should comprise a switch I ⁇ a for switching on the computer unit 1, said switch 16b being accessibly arranged in the front portion 2A of the enclosure, preferably in the front panel 2a, as illustrated in Figure 1.
  • the computer unit 1 should comprise a button 16b for restarting the computer 1, said restart button 16b being accessibly arranged in the front portion 2A of the enclosure, preferably in the front panel 2a, as illustrated in Figure 1.
  • in- dicators 17a, 17b are arranged in the front panel 2a of the enclosure.
  • These indicators preferably consist of small light sources, such as, for example, light-emitting diodes (LEDs) , and show, for example, if the computer unit 1 is switched on or not and how certain computer components operate.
  • LEDs light-emitting diodes
  • all the ports and contacts of the computer unit that are intended for external connections are accessibly arranged in the front portion 2A of the enclosure, prefe- rably in the front panel 2a, so that access to the rear of the computer unit is not required under normal circumstances .
  • those panels which together with the front panel 2a form the enclosure 2 should each one constitute a continuous wall, as illustrated in Figure 3.
  • These panels 2b-f are suitably of an air-tight or at least essentially air-tight material and arranged to connect with each other and to the front panel 2a in an air-tight or at least essentially air-tight manner, thus offering good possibilities of creating a closed space inside the enclosure 2.
  • FIGS. 4-7 illustrate a preferred embodiment of the above- mentioned computer unit 1.
  • the computer unit 1 comprises an enclosure 2 that exhibits a front panel 2a, a rear panel
  • the front panel 2a is provided with one or more openings 6, 8, 13a, 13b, via which computer components arranged in the enclosure are accessible.
  • the computer unit 1 is provided with a housing 40 attached to the enclosure 2, said housing 40 being movably arranged between an open position, in which the housing 40 leaves said openings 6, 8, 13a, 13b in the front panel 2a free for access, and a closed position, in which the housing 40 covers said openings 6, 8, 13a, 13b in the front panel 2a.
  • the housing 40 is intended, in its closed position, to protect said panel openings 6, 8, 13a, 13b and the computer components that are accessible through • said panel openings from, for example, dirt particles, liquids and mechanical influence in the form of jerks and impacts.
  • the housing 40 thus constitutes a protective hous- ing.
  • those panels which together with the front panel 2a form the enclosure 2 of the computer unit 1 illustrated in Figures 4-7, that is, the rear panel 2b, the upper panel 2c, the lower panel 2d and the side panels 2e,
  • these panels 2b-f should each constitute a continuous wall. This means that these panels 2b-f are formed without any continuous openings into the space inside the enclosure 2 and do not exhibit any ports or contacts. These panels 2b-f are sui- tably of an air-tight or at least essentially air-tight material and adapted to connect with each other and to the front panel 2a in an air-tight or at least essentially airtight manner.
  • the housing 40 should be formed in such a way that a space
  • the housing 40 is suitably convex, as illustrated in Figures 4 and 5, with a frame-shaped edge 42 that is intended to make contact with the front panel 2a when the housing is in its closed position.
  • the ports arranged in the front panel 2a preferably at least one port constitutes a connection for a service link and/or at least one port a connection for a field bus cable, and/or at least one port a network connection.
  • all the ports 4 of the computer unit be accessibly arranged in the front panel 2a of the enclosure and adapted to be covered by the housing 40 when the housing is in its closed position.
  • Said ports preferably comprise at least one parallel port and/or at least one series port and/or at least one network port, for example in the form of an RJ contact, and/or at least one USB port.
  • the computer unit 1 may comprise arbitrary combinations of the above-mentioned types of ports and also that the computer unit 1 may comprise other types of ports than those mentioned above .
  • the computer unit 1 suitably exhibits a contact 9, access- ibly arranged in the front panel 2a of the enclosure, for connection of the computer unit 1 to an external power source, said contact 9 being adapted to be covered by the housing 40 when the housing is in its closed position.
  • the computer unit 1 suitably comprises a computer circuit board arranged in the enclosure 2, for example a so-called motherboard, provided with one or more slots 7 intended for mounting plug-in boards .
  • the respective slot 7 is thus accessible via an opening 8 provided in the front panel 2a of the enclosure, such that one or more I/O ports
  • PCI Peripheral Component Interconnect
  • AGP Accelerated Graphics Port
  • ISA Industrial Standard Architecture
  • the term computer circuit board in this description and the appended claims, means the printed-circuit board that constitutes the main circuit board of the computer unit, that is, that printed-circuit board that the main components of the computer unit, such as processor, memories, etc., are mounted on or connected to.
  • the computer unit 1 comprises a single-board computer, that is, a computer where all the computer components and ports are mounted on one and the same computer circuit board.
  • the computer unit 1 be of the type comprising a computer circuit board in the form of a so-called motherboard.
  • the computer unit 1 suitably comprises one or more drives 12a, 12b for replaceable data media arranged in the enclo- sure 2.
  • the respective drive 12a, 12b is thus accessible via an opening 13a, 13b provided in the front panel 2a of the enclosure, for inserting a data medium into or withdrawing a data medium from the drive 12a, 12b, this opening 13a, 13b being adapted to be covered by the housing 40 when the housing is in its closed position.
  • Said drives 12a, 12b consist, for example, of a diskette drive intended for conventional diskettes and/or a CD-ROM drive intended for conventional CD-ROM discs.
  • the computer unit 1 is suitably also provided with a space for receiving an external memory in the form of a replaceable hard disk, said space being accessible via an opening provided in the front panel 2a of the enclosure, such that the hard disk is insertable into the computer unit 1 or removable therefrom via the front panel 2a.
  • the last-mentioned opening is, of course, adapted to be covered by the housing 40 when the housing is in its closed position. It is, of course, also within the scope of the invention that the computer unit 1 be designed for receiving other types of external memories than those mentioned above via the front panel 2a of the enclosure.
  • the computer unit 1 should comprise a switch for switching on the computer unit 1, said switch being accessibly arranged in the front panel 2a of the enclosure.
  • This switch is ' adapted to be covered by the housing 40 when the housing is in its closed position.
  • the computer unit 1 should comprise indicators provided in the front panel 2a of the enclosure. These indicators preferably consist of small light sources, such as, for example, LEDs, and show, for example, if the computer unit 1 is switched on or not and how certain computer components operate. These indicators are adapted to be covered by the housing 40 when the housing is in its closed position.
  • all the ports and contacts that are intended for external connections of the computer unit 1 are access- ibly arranged in the front panel 2a of the enclosure, so that access to the rear of the computer unit is not required under normal circumstances.
  • These ports and contacts are then arranged to be covered by the housing 40 when the housing is in its closed position.
  • the housing 40 be made of an air-tight or at least essentially air-tight material and that the housing 40 be arranged to connect, in an air-sealing or at least essentially air-sealing manner, with the front panel 2a in its closed position.
  • a seal 41 is suitably arranged between the housing 40 and the panel 2a. This seal 41 is preferably attached to the housing 40 and suitably consists of a sealing strip.
  • the front panel 2a is preferably adapted, together with the other panels 2b-f of the enclosure, to contribute to delimit a space 45 inside the enclosure 2 that is air-tight or at least essentially air-tight when the housing 40 is in the closed state.
  • the computer unit 1 suitably comprises a heat exchanger 20 arranged at the enclosure 2, preferably at the rear panel 2b of the enclosure, as illustrated in Figure 6.
  • the computer unit 1 comprises a first fan 21 arranged inside the enclosure 2 for generating an internal air flow 22 in the space 45 inside the enclosure and a second fan 23 arranged outside the en- closure 2 for generating an external air flow 24 through the heat exchanger 20 on the outside of the enclosure 2.
  • Figure 8 schematically illustrates said internal and external air flows 22, 24.
  • the internal air flow 22 is adapted to get into contact with a first side of the heat exchanger 20 and the external air flow 24 is adapted to get into contact with a second side of the heat exchanger 20.
  • Heat generated inside the enclosure 2 is then intended to be transferred, via the heat exchanger 20, from the internal air flow 22 to the external air flow 24 and thus be dis- charged to the surroundings.
  • An- air-tight or at least essentially air-tight cable entry 43 is suitably arranged at the front panel 2a to enable one or more connection cables to be inserted into the space 44 that is located between the front panel 2a and the housing 40 when the housing 40 is in its closed position.
  • This cable entry 43 is suitably adapted to protrude from the front panel 2a, as illustrated in Figures 4-7, whereby the housing 40 exhibits a shape that is adapted to the protruding cable entry 43 such that the housing 40 in its closed position sealingly makes contact with both the front panel 2a and the cable entry 43.
  • the housing 40 of the computer unit 1 suitably exhibits at least one portion of a transparent material such that at least a part of the region of the front panel 2a, covered by the housing 40, becomes visible when the housing is in its closed position.
  • the entire housing 40 may advantageously be made of a transparent material, for example a suitable plastic material.
  • the housing 40 should also be made of a liquid-impermeable or at least essentially impermeable material .
  • the housing 40 of the computer unit 1 is suitably pivotally attached to the enclosure 2 via a joint 46, for example a hinge-type joint, as illustrated in Figures 4 and 5.
  • the housing 40 be lockable in its closed position with the aid of a locking device 47, as illustrated in Figures 5 and 6.
  • the locking device 47 comprises a locking member which is rotatably journalled to the housing 40 and which, by ro- tation, preferably with the aid of a key, is adapted to engage with a recess in the cable entry 43 to secure the housing 40 to the cable entry 43, whereby the housing 40 is locked in its closed position.
  • the computer unit 1 is suitably detachably located in a casing 100b in the cabinet frame 51 and is suitably provided with a latching member 71 for locking the computer unit 1 relative to the housing 100b in its inserted position. Between the upper panel 2c of the enclosure and the casing 100b, there should be an air gap 72 to permit the passage of cooling air to the rear of the computer unit.
  • the upper panel 2c of the enclosure 2 is suitably detachable to per- mit access to the components arranged inside the enclosure for repair and maintenance operations .
  • Said panel openings consist, for example, of one or more openings 6 for the ports 4 of the computer unit, such as the I/O ports of the computer circuit board, and/or one or more openings 8, via which one or more slots 7 intended for mounting of plug-in boards are accessible, and/or one or more openings 13a, 13b, via which one or more drives for replaceable data media are accessible.
  • the region of the front panel 2a that is adapted to be covered by the housing 40 may exhibit arbitrary combinations of the above- mentioned types of panel openings and also that this region may exhibit openings intended for access to other types of computer components than those mentioned above.
  • the computer unit 1 illustrated in Figures 4-7 exhibits a contact 9, accessibly arranged in the front panel 2a of the enclosure, for connection of the computer unit 1 to an external power source, said contact 9 being adapted to be covered by the housing 40 when the housing is in its closed position.
  • the computer unit 1 illustrated in Figures 4-7 suitably comprises a button for restarting the computer unit 1, said restart button being accessibly arranged in the front panel 2a of the enclosure.
  • This restart button is then adapted to be covered by the housing 40 when the housing is in its closed position.
  • the panels which together with the front panel 2a form the enclosure 2 of the computer unit 1 illustrated in Figures 4-7 should each constitute a continuous wall.
  • these panels 2b-f are formed without any continuous openings into the space inside the enclosure 2 and do not exhibit any ports or contacts.
  • These panels 2b-f are suitably of an air-tight or at least essentially air-tight material and adapted to connect with each other and with the front panel 2a in an air-tight or at least essentially airtight manner.
  • ports 4 arranged in the front portion 2A of the enclosure are adapted to be directly connected to the associated computer components arranged inside the enclosure 2.
  • the computer unit 1 is intended to form part of a controller 31 for an industrial robot system, wherein the computer unit, for example, is mounted in a stand or a control cabinet of the controller with the front portion 2A/the front panel 2a facing forwards in a direction towards the front side of the stand/the control cabinet.
  • Figure 8 shows a controller 31 according to the present invention, provided with a computer unit 1 of the type illustrated in Figures 4-7.
  • the computer unit 1 is here mounted in a space in a control cabinet 50 included in the controller 31.
  • the control cabinet 50 also exhibits spaces for receiving other equipment included in the controller.
  • the computer unit 1 is located with the front panel 2a of the enclosure facing forwards towards the front side of the control cabinet.
  • the control cabinet 50 is here provided with a pivotally arranged door 90, which in Figure 8 is shown in an open position.
  • FIG. 9 illustrates, in a schematic block diagram, various parts included in a controller 31 according to one embodiment of the invention.
  • This controller comprises a first computer unit 1 of the type described above, which compri- ses the main computer 57 of the controller.
  • the computer unit 1 comprises, inter alia, computer components for executing computer programs for controlling processes of the industrial robot system.
  • This computer unit 1 accommodates computer components that are responsible for the overall control of the industrial robot 30 included in the industrial robot system 120.
  • the controller 31 is provided with a drive 53, which comprises a power-supply unit 54 for feeding electric current to the industrial robot 30.
  • the drive 53 also comprises a second computer unit 55, a so-called axis computer, which is connected to the power- supply unit 54 for controlling the positions of the industrial robot.
  • the main computer 57 included in the first computer unit 1 is then connected to the axis computer 55 and adapted to control the axis computer 55.
  • the drive 53 also comprises a safety unit 56 for controlling contactors included in the power-supply unit 54.
  • the controller 31 further comprises a control unit 80, which is connected to the main computer 57 included in the first computer unit and comprises a printed-circuit board, a so-called panel board, provided with components for emergency stop and/or initial starting and/or switching of the operating mode of the industrial robot.
  • the power-supply unit 54 is connected to a power network 98 via a line 101, preferably via a transformer, and to the industrial robot 30 via a line 102.
  • the power-supply unit 54 is further connected to the axis computer 55 via a line 103 and to the safety unit 56 via a line 104.
  • the axis computer 55 in its turn, is connected to the industrial robot 30 via a line 105, to the safety unit 56 via a line 111 and to the main computer 57 via a line 106.
  • the main computer 57 is connected to the control unit 80 via a line 107.
  • the control unit 80 is connected to the safety unit 56 via a line 108. It is, of course, within the scope of the invention that the controller 31 should also comprise other parts and other pieces of equipment than those described above and that the computer unit 1 should be connected also to other parts or pieces of equip- ment, included in an industrial robot system, than those described above.
  • Figure 10 schematically shows an industrial robot system 120 according to the present invention, comprising an industrial robot 30 to which a controller 31 is connected via a communication line 32.
  • a manipulator of the robot 30 is schematically indicated at 33.
  • the industrial robot illustrated in Figure 10 is only a very si - plified and exemplifying form of industrial robot and it should thus in no way be interpreted in a manner limiting to the invention. It is obvious that the invention is applicable to any arbitrary form of industrial robot.
  • the controller 31 comprises a computer unit of the type described above, schematically indicated at 1.
  • the computer unit 1 comprises, inter alia, computer components for executing computer programs for control of processes of the industrial robot 30 and of other equipment included in the industrial robot system 120.
  • the computer unit 1 is suitably connectable, directly or via some other piece of equipment, to local or global networks, such as the Internet, which in Figure 10 is illu- strated by the line 34.
  • This enables, for example, remote access to said computer programs, for example for programming the robot 30. It is also possible to transmit, via networks , various programs and data between remotely located units and the controller.
  • a device is connectable to the computer unit 1, for example via a line 36, for programming the robot.
  • the programming device 35 is advantageously adapted to communicate with the computer unit 1 via a wireless connection, for example implemented by means of Bluetooth technology.
  • Figures 11, 8, 12 and 13 illustrate a controller 31 according to a preferred embodiment of the present invention.
  • the controller 31 according to the invention is intended for control of movements and other processes of an indus- trial robot.
  • This controller 31 comprises a control cabinet 50 that exhibits a cabinet frame 51 and at least one first drawer 60a displaceably arranged in the cabinet frame 51.
  • This drawer 60a is displaceable relative to the cabinet frame 51 between an inserted position (8) and a withdrawn position (see Fig.
  • the controller 31 further comprises a drive 53 (see Fig. 13) mounted in the first drawer, said drive comprising a power-supply unit 54 (see Fig. 13) for feeding electric current to an industrial robot.
  • the power-supply unit 54 of the controller is arranged in said first drawer 60a.
  • the drive 53 should also comprise a computer unit 55 (see Fig. 13), a so-called axis computer, mounted in the first drawer 60a, said computer unit being connected to the power-supply unit 54 for controlling the positions of the industrial robot. It is further preferred that the drive 53 should also comprise a safety unit 56 (see Fig. 13), mounted in the first drawer 60a, for controlling contactors included in the power-supply unit 54.
  • Said first drawer 60a is received in a first space 61a in the cabinet frame 51, said space being delimited by walls 62a included in the cabinet frame 51 and exhibiting an opening 63a with a surrounding frame 64a.
  • the drawer 60a is displaceable into and out of the cabinet frame 51 via said opening 63a.
  • the drawer 60a exhibits a front panel 65a that is adapted to connect with the frame 64a of the opening, in an air-sealing or at least essentially air- sealing manner, when the drawer 60a is in its inserted po- sition.
  • Said walls 62a are air-tightly or at least essentially air-tightly connected to each other and to the frame 64a of the opening so that said space 61a in the cabinet frame 51 is air-tight or at least essentially air-tight when the drawer 60a is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65a and the frame 64a of the opening. This seal is suitably attached to the inside of the front panel 65a.
  • the front panel 65a of the first drawer and those walls 62a of the cabinet frame 51 that delimit said first space 61a together form a casing 100a that encloses the drive 53 and are suitably of a conducting material, preferably of metal, so that EMC disturbances generated by the power-supply unit 54 are contained and prevented from being transmitted to the surroundings outside of the first drawer 60a when this drawer is in its inserted position.
  • a contact 58 for connection of the power-supply unit 54 to an external power source, such as a power network 98 (see Fig. 13), and/or a contact 59 for connection of the power- supply unit 54 to an industrial robot are suitably arranged in the front panel 65a of the first drawer, accessible on the outside of the front panel.
  • a contact for connection of a signal cable from the position transducers of an industrial robot to the axis computer 55 is arranged in the front panel 65a, accessible from the out- side of the front panel.
  • These contacts should be air- tightly or at least essentially air-tightly connected to the front panel 65a to ensure that the space inside the first drawer 60a is air-tight or at least essentially airtight when the drawer is in its inserted position.
  • Figure 8 schematically shows the end of a power cable 96 connected to the contact 58. It is also possible to allow the power- supply unit 54 to be connected to an external power source via a cable that extends into the space 61a inside the casing 100a through a cable entry in the front panel 65a. Where appropriate, the power-supply unit 54 is connected to the external power source via a transformer arranged in or outside the space 61a.
  • An air-tight or at least essentially air-tight cable entry 68a is suitably arranged in the front panel 65a of the first drawer. Through this cable entry 68a, cables may be inserted into the drawer 60a for connection of equipment located there to equipment located outside the drawer 60a.
  • one or more ventilating ducts 69 are arranged to extend through the first drawer 60a, whereby the respective ventilating duct is so arranged that the inner space in the ventilating duct is without flux contact with the space inside the drawer 60a and the drive 53 mounted therein when the drawer is in its inserted position.
  • the drawer 60a When the drawer 60a is in its inserted position, it is thus possible to bring cooling air to flow through the ventila- ting ducts 69 for discharging heat from the drawer 60a and the equipment mounted therein without this cooling air getting into contact with said equipment.
  • a fan 67 is mounted on the front panel 65a of the drawer close to the respective ventilating duct for achieving a forced air flow through the respective ventilating duct 69.
  • the drawer 60a comprises three ventilating ducts 69 and three associated fans 67 and the respective ventilating duct extends here from an opening in the front panel 65a of the drawer to an opening on the back of the drawer 60a.
  • the controller 31 illustrated in Figures 11, 8 and 12 further comprises a computer unit 1, which comprises the main computer 57 of the controller (see Fig. 13) and which is arranged in second space 61b, separate from said first space 61a, in the cabinet frame 51.
  • the computer unit 1 comprises, inter alia, computer components for executing computer programs for controlling processes of the indus- trial robot. This computer unit 1 accommodates computer components that are responsible for the overall control of the industrial robot.
  • the main computer 57 included in the computer unit 1 is connected to the axis computer 55 and adapted to control the axis computer 55.
  • the controller 31 illustrated in Figures 8, 11, 12 and 13 further comprises a control unit 80 (see Fig. 13), which is connected to the main computer 57 of the controller.
  • This control unit 80 comprises a printed-circuit board, a so- called panel board, with components for emergency stop and/or initial starting and/or switching of the operating mode of an industrial robot and is arranged in a third space 61d, separate from said first and second spaces 61a, 61b, in the cabinet frame 51.
  • the control unit 80 is suitably mounted in a second drawer 60d, which is displaceably arranged in said third space 61d of the cabinet frame.
  • said third space 61d in the cabinet frame is delimited by walls 62d included in the cabinet frame 51 and exhibits an opening 63d with a surrounding frame 64d, said second drawer 60d being displaceable into and out of the cabinet frame 51 via said opening 63d.
  • the second drawer 60d exhibits a front panel 65d that is adapted to connect with the frame 64d of the opening in an air-sealing or at least essentially air-sealing manner, when the second drawer 60d is in its inserted position.
  • the walls 62d are air-tightly or at least essentially air- tightly connected to each other and to the frame 64d of the opening so that said third space 61d in the cabinet frame is air-tight or at least essentially air-tight when the second drawer 60d is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65d and the frame 64d of the opening. This seal is suitably attached to the inside of the front panel.
  • the front panel 65d of the second drawer and those walls 62d of the cabinet frame 51 that delimit said third space 61d together form a casing lOOd that encloses the control unit 80 and is suitably of a conducting material, preferably of metal, such that EMC disturbances generated inside the drawer 60d are contained and prevented from being transmitted to the surroundings outside the drawer 60d when this is in its inserted position.
  • An air-tight or at least essentially air-tight cable entry 68d is suitably arranged in the front panel 65d of the second drawer. Through this cable entry 68d, cables may be inserted into the drawer 60d for connection of equipment located there to equipment located outside the drawer 60d. It is, of course, also possible to arrange contacts on the front panel 65d for connection of equipment located inside the drawer 60d to equipment located outside the drawer 60d.
  • a contact 89 for connection of the controller 31 to a programming device is suitably arranged in the front panel 65d of the second drawer, this contact 89 being connected to the computer unit 1.
  • the control cabinet 50 illustrated in Figures 8, 11 and 12 further comprises a fourth space 61c intended for subse- quent installation of equipment 70 (see Fig. 13) related to the control and monitoring of an industrial robot and associated peripheral equipment.
  • This piece of equipment is suitably arranged in a third drawer 60c, which is displaceably received in said space 61c.
  • This equipment may, for example, comprise components for controlling a gripper of the industrial robot and position breakers connected to the industrial robot, for example for preventing the industrial robot from encroaching upon the working range of another industrial robot.
  • said fourth space 61c in the cabinet frame is delimited by walls 62c included in the cabinet frame 51 and exhibits an opening 63c with a surrounding frame 64c, the third drawer 60c being displaceable into and out of the cabinet frame 51 via said opening 63c.
  • the third drawer 60c exhibits a front panel 65c that is adapted ' to connect with the frame 64c of the opening in an air-sealing or at least essentially air-sealing manner, when the third drawer 60c is in its inserted position.
  • the walls 62c are air-tightly or at least essentially air-tightly connected to each other and to the frame 64c of the opening so that said fourth space 61c in the cabinet frame is air-tight or at least essentially air-tight when the third drawer 60c is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65c and the frame 64c of the opening. This seal is suitably attached to , the inside of the front panel 65c.
  • An air-tight or at least essentially air-tight cable entry 68c is suitably arranged in the front panel 65c of the third drawer. Through this cable entry 68c, cables may be inserted into the drawer 60c for connection of equipment located there to equipment located outside the drawer 60c. It is, of course, also possible to arrange contacts on the front panel 65c for connection of equipment located inside the drawer 60c to equipment located outside the drawer 60c.
  • the control cabinet 50 suitably exhibits a cabinet door 90 that is articulately attached to the cabinet frame 51.
  • an operating member 90 for emergency stop, an operating member 92 " for initial starting and an operating member 93 for switching the operating mode of an industrial robot are arranged in the cabinet door 90, accessible from the outside of the cabinet door.
  • the respective operating member 91, 92, 93 is connected to the control unit 80.
  • the cabinet door is suitably provided with ventilation openings . If considered appropriate, each respective casing 100a, 100b, 100c, lOOd exhibits a separate door 90a, 90b, 90c, 90d that is arti- culately attached to the casing, as illustrated in Figure 1.
  • Figure 13 illustrates in a schematic block diagram various parts included in a controller 31 according to one embo- di ent of the invention.
  • the first drawer 60a comprises a drive 53 with a power-supply unit
  • the power- supply unit 54 is connected to a power network 98 via a line 101, preferably via a transformer, and to an indus- trial robot 30 via a line 102.
  • the power-supply unit 54 is further connected to the axis computer 55 via a line 103 and to the safety unit 56 via a line 104.
  • the main computer 57 is connected to the control unit 80 arranged in the second drawer 60d via a line 107.
  • the control unit 80 is connected to the safety unit 56 via a line 108 and to equipment 70 included in the third drawer
  • 60c is also connected to the industrial robot 30 via a line
  • Those lines 106, 107, 108, 109 which extend between the different casings lOOa-lOOd suitably consist of field bus cables, series links or the like.
  • the respective drawer 60a, 60c, 60d is suitably arranged to be displaced in an essentially horizontal direction between its inserted position and its withdrawn position.
  • the respective drawer 60a, 60c, 60d is suitably provided with wheels 75 at its underside, said wheels 75 resting against the cabinet frame 51. These wheels 75 are rotatably jour- nalled at the rear part of the respective drawer 60a, 60c, 60d.
  • the cabinet frame 51 is provided with corresponding wheels 76, which are facing the underside of the respective drawer 60a, 60c, 60d so that the drawer 60a, 60c, 60d resst against these wheels 76. These wheels 76 are rotatably journalled at the front part of the respective casing 100a, 100c, lOOd.
  • a stop means 77 should be arranged to act between the respective drawer 60a, 60c, 60d and the cabinet frame 51.
  • This stop means 77 is suitably attached to the underside of the drawer, as illustrated in Figure 12, and is adapted to make contact with the frame 64a, 64c, 64d in the cabinet frame 51.
  • the respective drawer 60a, 60c, 60d is suitably open on top.
  • the respective drawer 60a, 60c, 60d is suitably adapted to tilt forwards somewhat when being drawn out a certain distance, for example about two- thirds, as illustrated in Figure 12 '.
  • the controller 31 is of modular construction and comprises at least one first module Ml, in which a drive 53 (see Fig. 13) included in the controller is arranged, and a second module M2 , in which a first com- puter unit 1 is arranged.
  • modules Ml, M2 constitute mutually freestanding structural members of the controller 31 and are preferably mounted or capable of being mounted on top of each other, as illustrated in Figures 11, 8 and 12.
  • Said drive 53 comprises a power-supply unit 54 (see Fig. 13) for feeding electric current to an industrial robot and said computer 1 comprises the main computer 57 of '• the controller (see Fig. 13) .
  • the computer unit 1 comprises, inter alia, computer components for executing computer programs for controlling processes of the industrial robot. This computer unit 1 accommodates computer components that are responsible for the overall control of the industrial robot .
  • the drive 53 should also comprise a computer unit 55 (see Fig. 13) arranged in the first module
  • the drive 53 should also comprise a safety unit 56 (see Fig. 13), arranged in the first module Ml, for control of contactors included in the power-supply unit 54.
  • the controller 31 should also comprise a third module M3 , which is intended for subsequent installation of equipment 70 (see Fig. 13) related to the control and monitoring of an industrial robot and associated peripheral equipment.
  • This third module M3 constitutes a free- standing structural member of the controller 31, with respect to the first module Ml and the second module M2.
  • the first Ml, the second M2 and the third module M3 are preferably mounted or capable of being mounted on top of each other.
  • Said equipment 70 may, for example, comprise components for controlling a gripper of the industrial robot and position breakers connected to the industrial robot, for example for preventing the industrial robot from en- croaching upon the working range of another industrial robot .
  • the controller 31 should also comprise a fourth module M4, in which a control unit 80 (see Fig. 13) is arranged.
  • This fourth module M4 constitutes a freestanding structural member of the controller, with respect to the above-mentioned modules M1-M3.
  • the first Ml, the second M2 , the third M3 and the fourth module M4 are preferably mounted or capable of being mounted on top of each other.
  • the control unit 80 is connected to the main computer 57, included in the second module M2, and comprises a printed-circuit board, a so-called panel board, provided with components for emergency stop and/or initial starting and/or switching the operating mode of an industrial robot.
  • the first module Ml is adapted to rest against a floor or some other base, the second module M2 mounted on top of the first module Ml, the fourth module M4 mounted on top of the second module M2 , and the third module M3 mounted on top of the fourth module M4.
  • the modules M1-M4 are here stacked one above the other to form an upright control cabinet 50. It is, of course, possible to mount the modules M1-M4 in some other sequence that the one shown. In addition, it is possible, if considered appropriate, to mount the modules next to each other or spaced from each other. An air gap 99 should be arranged between two modules mounted one above the other to prevent heat transfer between the modules.
  • the modules M1-M4 are attached to one another with the aid of fastening washers 95. It is, of course, also possible to fix the modules to one another in other ways than that shown here .
  • the first module Ml comprises a casing 100a, inside which the drive 53 is arranged, this casing 100a being made of a conducting material and adapted to sealingly enclose the drive 53 such that electromagnetic disturbances, so-called EMC disturbances, from the drive 53 and the power-supply unit 54 included in the drive are contained in this casing 100a and prevented from being transmitted to the surroundings .
  • one or more ventilating ducts 69 are arranged to extend through the casing 100a of the first module, the respective ventilating duct being so arranged that the inner space in the ventilating duct 69 is without flux contact with that space inside the casing 100a in which the drive 53 is mounted.
  • the respective ventilating duct being so arranged that the inner space in the ventilating duct 69 is without flux contact with that space inside the casing 100a in which the drive 53 is mounted.
  • Said heat is then transferred from the space inside the casing 100a to the cooling air in the ventilating ducts 69 via the walls of the ventilating ducts or via cooling flanges that are connected to components inside the casing 100a and extend down into the ventilating ducts 69.
  • a fan 67 is mounted on a front panel 65a of the casing 100a close to the respective ventilating duct for achieving a forced air flow through the respective ventilating duct 69.
  • the casing 100a comprises three ventilating ducts 69 and three associated fans 67, and the respective ventilating duct extends here from an opening in the front panel 65a to an opening on the back of the casing 100a.
  • the casing 100a of the first module should comprise walls 62a that delimit a space 61a in the casing 100a for receiving a drawer 60a displaceably arranged in the casing 100a, whereby the drive 53 is arranged in said drawer 60a.
  • Said space 61a exhibits an opening 63a with a surrounding frame 64a, the drawer being displaceable into and out of the casing 100a via said opening 63a.
  • the drawer 60a exhibits a front panel 65a, included in the casing 100a, which is adapted to connect with the frame 64a of the opening, in an air-sealing or at least essentially air- sealing manner, when the drawer 60a is in its inserted position.
  • Said walls 62a are air-tightly or at least essentially air-tightly connected to each other and to the frame 64a of the opening so that said space 61a in the casing 100a is air-tight or at least essentially air-tight when the drawer 60a is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65a and the frame 64a of the opening. This seal is suitably attached to the inside of the front panel 65a.
  • a contact 58 for connection of the power-supply unit 54 to an external power source, such as a power network 98 (see Fig. 13), and/or a contact 59 for connection of the power- supply unit 54 to an industrial robot are suitably arranged in the front panel 65a, accessible on the outside of the front panel .
  • a contact for connection of a signal cable from the position transducers of an industrial robot to the axis computer 55 is arranged in the front panel 65a, accessible from the outside of the front panel.
  • These contacts should be air-tightly or at least essentially air-tightly connected to the front panel 65a to ensure that the space inside the first drawer 60a is air-tight or at least essentially air-tight when the drawer is in its inserted position.
  • Figure 8 schematically shows the end of a power cable 96 connected to the contact 58. It is also possible to allow the power-supply unit 54 to be connected to an external power source via a cable that extends into the space 61a inside the casing 100a through a cable entry in the front panel 65a. Where appropriate, the power-supply unit 54 is connected to the external power source via a transformer arranged inside or outside the space 61a.
  • An air-tight or at least essentially air-tight cable entry 68a is suitably arranged in the front panel 65a. Through this cable entry 68a, cables may be inserted into the drawer 60a for connection of equipment located there to equipment located outside the drawer 60a.
  • the computer unit 1 should "• • comprise a button for restarting the computer unit 1, said restart button being accessibly arranged in the front panel 2a of the enclosure.
  • This restart button is adapted to be covered by the housing 40 when the housing is in its closed position.
  • the third module M3 should comprise a casing 100c, this casing 100c being made of a conducting material and adapted to sealingly enclose the equipment 70, arranged in the casing 100c of the third module, so that electromagnetic disturbances from this equipment are contained in the casing 100c and prevented from being transmitted to the surroundings.
  • the casing 100c of the third module should comprise walls 62c that delimit a space 61c in the casing 100c for receiving a drawer 60a arranged displaceably in the casing 100c.
  • Said space 61c exhibits an opening 63c with a surrounding frame 64c, the drawer 60c being displaceable into and out of the casing 100c via said opening 63c.
  • the drawer 60c exhibits a front panel 65c which is included in the casing 100c of the third module and which is adapted to connect with the frame 64c of the opening, in an air-sealing or at least essentially air-sealing manner, when the drawer 60c is in its inserted position.
  • Said walls 62c are essentially air-tightly connected to each other and to the frame 64c of the opening so that said space 61c in the casing 100c is essentially air-tight when the drawer 60c is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65c and the frame 64c of the opening. This seal is suitably attached to the inside of the front panel 65c.
  • the fourth module M4 should comprise a casing lOOd, inside which the control unit is ar- ranged, wherein this casing lOOd is made of a conducting material and adapted to sealingly enclose the control unit 80 such that electromagnetic disturbances from the control unit 80 are contained in the casing lOOd and prevented from being transmitted to the surroundings.
  • the casing 10Od of the fourth module should comprise walls 62d that delimit a space 61d in the casing 10Od for receiving a drawer 60d arranged displaceably in the casing lOOd, whereby the control unit 80 is arranged in said drawer 60d.
  • Said space 61d exhibits an opening 63d with a surrounding frame 64d, the drawer 60d being displaceable into and out of the casing 10Od via said opening 63d.
  • the drawer 60d exhibits a front panel 65d which is included in the casing 10Od of the fourth module and which is adapted to connect with the frame 64d of the opening, in an air-sealing or at least essentially air- sealing manner, when the drawer 60d is in its inserted position.
  • Said walls 62d are air-tightly or at least essentially air-tightly connected to each other and to the frame 64d of the opening so that said space 61d in the casing lOOd is essentially air-tight when the drawer 60d is in its inserted position.
  • a seal preferably in the form of a sealing strip, is suitably arranged between the front panel 65d and the frame 64d of the opening. This seal is suitably attached to the inside of the front panel 65d.
  • An air-tight or at least essentially air-tight cable entry 68d is suitably arranged in the front panel 65d. Through '• • this cable entry 68d, cables may be inserted into the drawer 60d for connection of equipment located there to equipment located outside the drawer 60d.
  • a contact 89 for connection of the controller 31 to a programming device is suitably arranged in the front panel 65d, this contact 89 being connected to the computer unit 1 arranged in the second module M2.
  • a ventilating duct 97a, 97b, 97c, 97d is suitably adapted to extend vertically through the respective module M1-M4, as illustrated in Figure 8.
  • the ventilating ducts 97a, 97b, 97c, 97d of two adjacently located modules are then in flux contact with one another via openings in the casing of the respective module.
  • the respective module M1-M4 suitably exhibits a front door 90a, 90b, 90c, 90d that is articulately fixed to the casing of the module.
  • an operating member 91 for emergency stop, an operating member 92 for initial starting, and an operating member 93 for switching the operating mode of an industrial robot are arranged in the door 90d of the fourth module, accessible from the outside of the door.
  • the respective operating member 91, 92, 93 is connected to the control unit 80.
  • the respective door 90a, 90b, 90c, 90d is suitably provided with a ventilation opening.
  • the respective drawer 60a, 60c, 60d is suitably arranged to be displaced in an essentially horizontal direction between its inserted position and its withdrawn position.
  • the respective drawer 60a, 60c, 60d is suitably provided with wheels 75 at its underside, said wheels 75 resting against a surface of the respective casing 100a, 100c, lOOd. These wheels 75 are rotatably journalled at the rear part of the respective drawer 60a, 60d, 60c.
  • the respective casing 100a, 100c, lOOd is provided with wheels 76, which are fac- ing the underside of the respective drawer 60a, 60d, 60c so that the drawer 60a, 60c, 60d rests against these wheels 76.
  • a stop means 77 should be arranged to act between the respective drawer 60a, 60c, 60d and the associated casing 100a, 100c, lOOd.
  • This stop means 77 is suitably attached to the underside of the drawer, as illustrated in Figure 12, and is adapted to make contact with the frame 64a, 64d, 64c of the casing.
  • the respective drawer 60a, 60c, 60d is suitably open on top.
  • the respective drawer 60a, 60c, 60d is suitably adapted to tilt forwards somewhat when being drawn out a certain distance, for example about two-thirds, as illustrated in Figure 12.
  • the respective module M1-M4 should have all of its external connection arranged via the front panel 2a, 65a, 65d, 65c of the module. This makes possible access to the components included in the module without any of the connection cables of the module having to be disconnected.
  • Figure 14 shows a computer unit arranged in accordance with the invention and designed without a housing.
  • Figure 15 shows a schematic plan view of the computer unit according to Figure 14, illustrating the cooling system of the com- puter unit.
  • Figure 16 shows a controller composed of two modules . The respective modules each exhibit a separate casing with a separate door. The operating members 91, 92 and 93 according to the above are arranged in the door of the upper module, according to the above.
  • Figure 17 shows a controller composed of two modules. The respective modules each exhibit a separate casing, which are provided with a common door. The operating members 91, 92, 93 according to the above are arranged in the door, according to the above.
  • Figure 18 shows a controller composed of two modules. The respective modules each exhibit a separate casing and are provided with a common door. The operating members 91, 92 and 93 according to the above are arranged in a fixed panel arranged on the upper of the two modules and above the common door.

Landscapes

  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Shielding Devices Or Components To Electric Or Magnetic Fields (AREA)
PCT/SE2003/000969 2002-06-07 2003-06-10 Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit WO2003105549A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2003242084A AU2003242084A1 (en) 2002-06-07 2003-06-10 Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit
JP2004512471A JP2005529426A (ja) 2002-06-07 2003-06-10 コントローラ、産業用プロセス制御システムのためのコントロール・ユニット、及び、そのようなコントロール・ユニットを備えた産業用プロセス制御システム
EP03730986A EP1514460A1 (en) 2002-06-07 2003-06-10 Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
SE0201753-1 2002-06-07
SE0201751A SE0201751D0 (sv) 2002-06-07 2002-06-07 Styrenhet
SE0201752A SE0201752D0 (sv) 2002-06-07 2002-06-07 Styrenhet nr 2
SE0201752-3 2002-06-07
SE0201751-5 2002-06-07
SE0201753A SE0201753D0 (sv) 2002-06-07 2002-06-07 Styrenhet nr 3

Publications (1)

Publication Number Publication Date
WO2003105549A1 true WO2003105549A1 (en) 2003-12-18

Family

ID=29740583

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2003/000969 WO2003105549A1 (en) 2002-06-07 2003-06-10 Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit

Country Status (4)

Country Link
EP (1) EP1514460A1 (ja)
JP (1) JP2005529426A (ja)
AU (1) AU2003242084A1 (ja)
WO (1) WO2003105549A1 (ja)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2866259A1 (fr) * 2004-02-13 2005-08-19 Cimlec Ind Coffret additionnel de baie de robot.
EP3107360A1 (en) * 2015-06-15 2016-12-21 Comau S.p.A. Device for converting a module of a station for control of industrial robots into an independent control unit
US9572276B2 (en) 2014-11-06 2017-02-14 Cinnos Technologies, Inc. Smart mission critical rack
USD798355S1 (en) 2015-06-12 2017-09-26 Comau S.P.A. Control or programming unit, in particular for industrial robot
EP3480940A4 (en) * 2016-06-30 2020-02-19 Kabushiki Kaisha Yaskawa Denki MOTOR CONTROL DEVICE AND ROBOTIC SYSTEM
US20220258362A1 (en) * 2019-06-07 2022-08-18 Kawasaki Jukogyo Kabushiki Kaisha Control device for robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6207409B2 (ja) * 2014-01-24 2017-10-04 ヤマハ発動機株式会社 コントローラ
KR102508218B1 (ko) * 2022-09-20 2023-03-09 한화시스템(주) 함정 탑재를 위한 다단 분리형 캐비닛

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3997819A (en) * 1974-09-09 1976-12-14 Siemens Aktiengesellschaft Housing for electrical communications and measuring devices
US4213532A (en) * 1975-08-28 1980-07-22 Siemens Aktiengesellschaft Electrical housing with stacking bumpers
DE3038074A1 (de) * 1980-10-08 1982-05-13 Siemens AG, 1000 Berlin und 8000 München Gehaeuse mit einschub fuer geraete der elektrischen nachrichtentechnik
US4598964A (en) * 1984-12-14 1986-07-08 Lockheed Corporation System for securing data within a computer
DE3914857A1 (de) * 1989-05-05 1990-11-08 Manu Tech Erzeugnisse Gmbh Einbaugehaeuse fuer elektronik
JPH04152598A (ja) * 1990-10-16 1992-05-26 Fujitsu Ltd 引き出し型装置
DE4340280A1 (de) * 1993-09-13 1995-03-16 Duerrwaechter E Dr Doduco Bauteilesatz für ein Gehäuse aus Kunststoff zum Aufnehmen von elektrischen Bauelementen
DE29607853U1 (de) * 1996-04-30 1996-07-25 Schubring, Lothar, 30559 Hannover Personalcomputer mit Zusatzanschlüssen
JP2000059926A (ja) * 1998-08-07 2000-02-25 Matsushita Electric Ind Co Ltd 引出し型操作卓
WO2000011539A1 (en) * 1998-08-18 2000-03-02 Wong, Carven, Louise Organizer for cables and accessories in a computer or audio-video system

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3997819A (en) * 1974-09-09 1976-12-14 Siemens Aktiengesellschaft Housing for electrical communications and measuring devices
US4213532A (en) * 1975-08-28 1980-07-22 Siemens Aktiengesellschaft Electrical housing with stacking bumpers
DE3038074A1 (de) * 1980-10-08 1982-05-13 Siemens AG, 1000 Berlin und 8000 München Gehaeuse mit einschub fuer geraete der elektrischen nachrichtentechnik
US4598964A (en) * 1984-12-14 1986-07-08 Lockheed Corporation System for securing data within a computer
DE3914857A1 (de) * 1989-05-05 1990-11-08 Manu Tech Erzeugnisse Gmbh Einbaugehaeuse fuer elektronik
JPH04152598A (ja) * 1990-10-16 1992-05-26 Fujitsu Ltd 引き出し型装置
DE4340280A1 (de) * 1993-09-13 1995-03-16 Duerrwaechter E Dr Doduco Bauteilesatz für ein Gehäuse aus Kunststoff zum Aufnehmen von elektrischen Bauelementen
DE29607853U1 (de) * 1996-04-30 1996-07-25 Schubring, Lothar, 30559 Hannover Personalcomputer mit Zusatzanschlüssen
JP2000059926A (ja) * 1998-08-07 2000-02-25 Matsushita Electric Ind Co Ltd 引出し型操作卓
WO2000011539A1 (en) * 1998-08-18 2000-03-02 Wong, Carven, Louise Organizer for cables and accessories in a computer or audio-video system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2866259A1 (fr) * 2004-02-13 2005-08-19 Cimlec Ind Coffret additionnel de baie de robot.
US9572276B2 (en) 2014-11-06 2017-02-14 Cinnos Technologies, Inc. Smart mission critical rack
USD798355S1 (en) 2015-06-12 2017-09-26 Comau S.P.A. Control or programming unit, in particular for industrial robot
EP3107360A1 (en) * 2015-06-15 2016-12-21 Comau S.p.A. Device for converting a module of a station for control of industrial robots into an independent control unit
EP3480940A4 (en) * 2016-06-30 2020-02-19 Kabushiki Kaisha Yaskawa Denki MOTOR CONTROL DEVICE AND ROBOTIC SYSTEM
US11146150B2 (en) 2016-06-30 2021-10-12 Kabushiki Kaisha Yaskawa Denki Motor control device and robot system
US20220258362A1 (en) * 2019-06-07 2022-08-18 Kawasaki Jukogyo Kabushiki Kaisha Control device for robot
US11943894B2 (en) 2019-06-07 2024-03-26 Kawasaki Jukogyo Kabushiki Kaisha Control device for robot with blower device at opening

Also Published As

Publication number Publication date
EP1514460A1 (en) 2005-03-16
JP2005529426A (ja) 2005-09-29
AU2003242084A1 (en) 2003-12-22

Similar Documents

Publication Publication Date Title
CA1306295C (en) Electronic equipment housing
US6483107B1 (en) Canister having a combined guide rail and light pipe system for use in a computer peripheral enclosure
US3925710A (en) General purpose electronic interface equipment package
CA1300727C (en) Cabinet for a computer assembly
CA2210122C (en) Power electrical enclosure
US20040032722A1 (en) Electronics module
US5119497A (en) Enclosure for computer control unit
US20010010619A1 (en) Computer chassis assembly with a single center pluggable midplane board
JPH07111078A (ja) モジュラー・ハウジング装置
JP2006512627A (ja) コンピュータ構成要素を装着する方法および装置
WO2003105549A1 (en) Control unit for an industrial process controller system and an industrial process controller system comprising such a control unit
JPH0246965B2 (ja)
JP2018170077A (ja) 蓄電装置
JPH07111389A (ja) 電子装置用ハウジング
US11602069B2 (en) Base electrical module for modular data center
JP2564704B2 (ja) 記憶ディスクモジュール及びこれを用いた集合型記憶ディスク装置
US8287388B2 (en) Universal logic enclosure for electronic gaming device
JP2600022B2 (ja) 記憶ディスクモジュール及びこれを用いた記憶ディスク装置
JP2876592B2 (ja) プラグインユニット方式の電子機器装置
JPH10303579A (ja) 電子機器装置
CA2295828C (en) Power electrical enclosure
JPH10509858A (ja) ディスプレイ・ワークステーション
US11852370B2 (en) Methods, devices, and systems for providing maintenance on environmental control systems
JPH0650574A (ja) 熱交換ユニット
JPH03205899A (ja) 電気信号を検出して処理する装置

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
WWE Wipo information: entry into national phase

Ref document number: 2004512471

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 2003730986

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2003730986

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 2003730986

Country of ref document: EP