WO2023203954A1

WO2023203954A1 - Robot control device

Info

Publication number: WO2023203954A1
Application number: PCT/JP2023/011228
Authority: WO
Inventors: 峻芝田
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2022-04-22
Filing date: 2023-03-22
Publication date: 2023-10-26

Abstract

This robot control device comprises: a housing having side plates and a top plate; a reinforcing member provided inside the housing between the side plates and the top plate; a control unit provided inside the housing; a wiring part provided inside the housing, the wiring part supplying electric power from an external power supply to the control unit; a breaker provided inside the housing, the breaker blocking power supplied from the external power supply to the control unit; a door provided so as to be capable of opening and closing the front surface of the housing; and an operation unit provided to the housing, the operation unit being capable of operating the breaker while the door is closed. The reinforcing member is configured to cover a portion of the wiring part that is farther upstream than the breaker.

Description

robot control device

The present disclosure relates to a robot control device.

Patent Document 1 discloses an arc welding device that includes an industrial robot and a welding power supply device and feeds a welding wire to weld objects to be welded.

Japanese Patent Application Publication No. 2013-233563

An object of the present disclosure is to provide a robot control device that can be installed in close proximity to other casings side by side without drawing in the primary wiring from the side of the casing.

The present disclosure relates to a control device for controlling a robot, including a casing having a side plate and a top plate, a reinforcing member provided inside the casing between the side plate and the top plate, and a reinforcing member provided inside the casing. a control unit provided inside the casing, a wiring section provided inside the casing for supplying power to the control unit from an external power supply, and a wiring section provided inside the casing for supplying power from the external power supply to the control unit. a breaker that cuts off electric power; a door provided on the front surface of the casing so that it can be opened and closed; and an operating section provided on the casing that allows the breaker to be operated from the outside with the door closed. The present invention provides a robot control device, wherein the reinforcing member is configured to cover a portion of the wiring portion upstream of the breaker.

According to the present disclosure, it is possible to install other casings side by side in close proximity without drawing in the primary wiring from the side surface of the casing.

A perspective view showing the appearance of a robot control device according to Embodiment 1. Exploded perspective view of the robot control device with the door shown in Figure 1 opened and the top plate removed Perspective view of the housing with the top plate and one side plate omitted Plan view of the interior of the casing, with the reinforcement member on the left indicated by a broken line Front view of the front of the case with the door omitted, along with an enlarged view of the main parts near the breaker Front view of a reinforcing member according to a modified example Enlarged perspective view of the main part of the bent part fixed to the side plate An enlarged perspective view of the main parts of a reinforcing member with a separate bending part

(Details leading to the embodiment)
Patent Document 1 discloses a robot control device for a welding robot or the like that generally performs arc welding or the like. The robot control device includes a housing having left and right sides, a door attached to the front of the housing, a breaker installed inside the housing, and primary wiring connected between an external power source and the breaker. Be prepared. The worker opens the door and performs maintenance inside the housing. Many robot controllers have a breaker handle attached to the door. The safety of workers is ensured by ensuring that the door cannot be opened unless the primary power source is shut off using a breaker. The primary wiring remains charged even if the breaker is tripped. Ideally, when the primary side power is shut off with a breaker, a safe state with no live parts inside the case is created, so the primary side wiring is generally drawn into the case from either the left or right side closest to the breaker. It is true. However, if the primary wiring is drawn in from the side of the housing, there is a problem in that the overall installation area becomes too large when multiple robot control devices are installed side by side. This is because it is necessary to leave sufficient space for the work of drawing in the primary side wiring.

In Embodiment 1 below, an example of a robot control device that can be installed in close proximity to other casings side by side without drawing in the primary wiring from the side of the casing will be described.

Hereinafter, embodiments specifically disclosing a robot control device according to the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of well-known matters or redundant explanations of substantially the same configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

FIG. 1 is a perspective view showing the appearance of a robot control device 11 according to the first embodiment. The robot control device 11 according to the first embodiment is a control device for controlling a robot (not shown). An example of the robot is a six-axis jointed welding robot (manipulator), but the type and use of the robot are not limited. A welding robot is installed, for example, in a welding work line or the like in a production factory for producing automobiles, industrial products, or the like. The welding robot moves a welding torch at the distal end of the robot along a predetermined welding line that is preset by teaching using a teaching pendant. The robot control device 11 controls the operation of the welding robot so that the welding torch moves along a predetermined welding line. The robot control device 11 includes a plurality of control units 13 (see FIG. 4) having a circuit board (hereinafter sometimes simply referred to as a "board") on which various electronic components for controlling this operation are mounted. units are housed inside the housing.

The robot control device 11 according to the first embodiment has a metal casing 15 that constitutes the outer shell of the entire device. The housing 15 is formed, for example, into a hexahedron with each side being quadrangular. The housing 15 has an opening 17 (see FIG. 2) on the front among the six outer surfaces. The robot control device 11 includes a door 19 on the front surface of the housing 15 that allows the opening 17 to be opened and closed. The opening 17 may be provided with an opening frame (see FIG. 2). For example, when viewed from the front in the direction of arrow A in FIG. 1, the door 19 can be opened and closed by a hinge such as a hinge 21 with the right side as the base, and is supported by an opening frame or the like.

FIG. 2 is an exploded perspective view of the robot control device 11 with the door 19 shown in FIG. 1 opened and the top plate 23 removed. An operator can access each unit housed inside the housing 15 by opening the door 19. The housing 15 allows an operator to work on each unit by inserting his/her hand into the interior through the opening 17 during maintenance. The housing 15 has a maintenance space Sm (see FIG. 3) inside the housing 15 to allow access to each unit.

The robot control device 11 includes a master breaker (that is, the breaker 25) for cutting off the primary power supply that is supplied to each unit in the housing 15. The breaker 25 has an operating portion 29 of an external operating handle 27 . The operating portion 29 of the external operating handle 27 is exposed on the surface of the door 19. The door 19 is provided with a through hole 31 through which the external operation handle 27 is exposed. Thereby, the operating portion 29 of the breaker 25 can be operated from the outside with the door 19 closed. Furthermore, unless the operating section 29 is operated to shut off the primary power source, the door 19 is locked and cannot be opened. In other words, the external operation handle 27 serves both as a cutoff section for the primary power source and as an unlocking section for the door 19.

In the case 15, the bottom plate 33 is square. A pair of parallel side plates 35 stand up from the left and right sides of the bottom plate 33 (that is, the left and right sides when viewed from the front in the direction of arrow A in FIG. 1, for example). The pair of parallel side plates 35 are connected at their upper sides by the top plate 23. The opening 17 is surrounded by the front edge of the bottom plate 33, the front edges of each of the pair of side plates 35, and the front edge of the top plate 23. Furthermore, the housing 15 has a back plate 37 that closes the opposite side (back side) of the opening 17.

The housing 15 has inside a pair of reinforcing members 39 provided between a pair of side plates 35 and a top plate 23. Note that the reinforcing member 39 may be provided on only one of the pair of side plates 35 inside the housing 15 instead of on both sides. In the robot control device 11 , the reinforcing member 39 is a rectangular tube portion 41 extending along the front-rear direction of the housing 15 . The square tube part 41 has a hollow part 43 (see FIG. 5) inside thereof.

FIG. 3 is a perspective view of the housing 15 with the top plate 23 and one side plate 35 omitted. The reinforcing member 39 has a front end (that is, the front side when viewed from the front in the direction of arrow A in FIG. 1, for example) and a rear end (that is, the back side when viewed from the front in the direction of arrow A in FIG. 1, for example). The front end of the reinforcing member 39 is arranged near the opening 17. The rear end of the reinforcing member 39 is arranged near the back plate 37. The reinforcing member 39 is spaced apart from the opening 17 and the back plate 37 with a predetermined gap K between them. This gap K is for passing the electric wire through the hollow part 43 of the square tube part 41. Note that the length of the gap between the opening 17 and the front end of the reinforcing member 39 does not have to match the length of the gap between the back plate 37 and the rear end of the reinforcing member 39.

The housing 15 has an L-shaped bracket 49 that includes a side plate 45 parallel to the side plate 35 in plan view and a front plate 47 parallel to the back plate 37. The side plate 45 is fixed to the side plate 35 of the housing 15 by welding, screwing, or the like. The breaker 25 is fixed to the front plate 47. The primary wiring 53 passes through the gap K on the back plate 37 side and is inserted into the rear introduction part 51 of the square tube part 41. The primary wiring 53 is connected to a relay terminal 55 fixed to the back plate 37. The primary wiring 53 is led out from the front lead-out portion 57 of the rectangular tube portion 41 . The primary wiring 53 passes through the gap K on the opening side and is connected to the breaker 25 fixed to the L-shaped bracket 49.

FIG. 4 is a plan view of the inside of the casing 15 in which the reinforcing member 39 on the left side is shown by a broken line. If a predetermined gap K is not provided from each of the opening 17 and the back plate 37, the reinforcing member 39 may have a wire penetration portion 59 such as a cutout at the front end and the rear end. The housing 15 houses a plurality of units including the control unit 13. The housing 15 accommodates a wiring section that supplies power to the control unit 13 from an external power source. The wiring section includes a primary wiring 53 and a secondary wiring 61.

FIG. 5 is a front view of the front surface of the casing 15 with the door 19 omitted, along with an enlarged view of the main parts near the breaker. The breaker 25 has an input terminal portion 63 to which the primary wiring 53 is connected. The primary wiring 53 is a so-called electric wire. In the case of three phases, three primary side wires 53 are connected to the input side terminal section 63. Note that one primary wiring 53 may be divided into a plurality of small diameter wires to facilitate wiring. The breaker 25 has a load side terminal portion 65 connected to the secondary side wiring 61. That is, the secondary wiring 61 is connected to the primary wiring 53 with the breaker 25 interposed therebetween. The breaker 25 can interrupt the electrical connection between the primary wiring 53 and the secondary wiring 61.

Since the primary side wiring 53 is supplied with power from an external power source, it always becomes a charging part unless the external power source is cut off. The primary wiring 53 is inserted into a lead-in hole or the like (not shown) formed in the back plate 37 and drawn into the casing 15 . Note that the primary wiring 53 does not necessarily have to be inserted into a lead-in hole or the like formed in the back plate 37 and drawn into the inside of the casing 15.

For example, as shown in FIG. 3, the primary wiring 53 may be drawn into the housing 15 via a relay terminal 55 that penetrates the back plate 37. The relay terminal 55 has an inner terminal of a conductor arranged inside the casing 15 and an outer terminal of a conductor arranged outside the casing 15 (not shown). The primary wiring 53 outside the casing 15 is connected between the external power source and the outside terminal. The primary wiring 53 inside the casing 15 is connected between the breaker 25 and the inner terminal. The primary wiring 53 within the housing 15 is passed through the hollow portion 43 from a rear introduction portion 51 that opens near the back plate of the reinforcing member 39 . The primary wiring 53 passed through the hollow part 43 is pulled out from the front lead-out part 57 (see FIG. 3) of the reinforcing member 39, which opens near the opening 17, and is connected to the input terminal part 63 of the breaker 25. Ru. Note that the primary wiring 53 may be inserted through the front lead-out portion 57 and pulled out from the rear introduction portion 51. In other words, the reinforcing member 39 is configured to cover the primary wiring 53, which is the wiring section.

FIG. 6 is a front view of a reinforcing member 67 according to a modification. As shown in FIG. 6, in the robot control device 11, the reinforcing member does not need to be the square tube portion 41 (see FIG. 3). In this case, the reinforcing member 67 has a bent portion 69 extending along the front-back direction of the housing 15 (that is, the front-back direction when viewed from the front in the direction of arrow A in FIG. 1, for example). The primary wiring 53, which is a wiring part, is provided between the bent part 69 and the casing 15. The reinforcing member 67 is formed, for example, in a C-shaped or U-shaped cross section that opens toward the bottom plate 33 . The bent portion 69 is fixed to the side plate 35 and the top plate 23.

The robot control device 11 includes a pair of eye bolts 71 for suspending the robot control device 11, as shown in FIG. The pair of eyebolts 71 are fixed to the left and right sides of the upper surface of the housing 15 (that is, the left and right sides when viewed from the front in the direction of arrow A in FIG. 1, for example). The eye bolt 71 is screwed onto the reinforcing member 67 by the male threaded portion of the eye bolt 71 passing through the bent portion 69 and being screwed into the plate nut 73 . Note that the eyebolt 71 is similarly applicable not to this modification but also to the robot control device 11 according to the first embodiment described above. Specifically, the eye bolt 71 is screwed onto the reinforcing member 39 by having a male screw portion of the eye bolt 71 passing through the square tube portion 41 and being screwed into the plate nut 73 within the hollow portion 43 . The pair of reinforcing members 39 or the pair of left and right reinforcing members 67 have a load capacity that allows the robot control device 11 to be suspended.

FIG. 7 is an enlarged perspective view of the main part of the bent portion 69 fixed to the side plate 35. The C- or U-shaped reinforcing member 67 has an upper bent piece 75 bent into a crank shape. In addition, in the C-shaped or U-shaped reinforcing member 67, a flat upper piece may be provided instead of the upper bent piece 75 bent into a crank shape. That is, the upper piece of the reinforcing member 67 may be formed into a flat plate shape without being bent into a crank shape. The reinforcing member 67 has a left side piece 77 and a right side piece 79 on both sides of the upper bent piece 75 . The left side piece 77 and the right side piece 79 are bent and hang down from the upper bent piece 75. In the reinforcing member 67, a left side piece 77 is fixed to the side plate 35 of the housing 15. As shown in FIG. 6, the reinforcing member 67 has a lower piece 81 provided at the lower end of the right side piece 79 and parallel to the bottom plate 33. The reinforcing member 67 surrounds the hollow portion 43 with the upper bent piece 75, the left side piece 77, the right side piece 79, and the lower piece 81. In the reinforcing member 67, a gap 83 may exist between the lower piece 81 and the side plate 35. The primary wiring 53 is routed in the hollow portion 43 . A portion of the primary wiring 53 may be fixed to the upper bent piece 75, the lower piece 81, etc. using a simple means for preventing falling off, such as a binding band, so that it does not fall off from the gap 83.

FIG. 8 is an enlarged perspective view of the main parts of the reinforcing member 67 in which the bent portion 69 is constructed separately. The reinforcing member 67 has a bent portion 69 consisting of an upper bent piece 75, a left side piece 77, and a right side piece 79. The bent portion 69 may be integrated with the lower piece 81 or may be separate. That is, the reinforcing member 67 may have an L-shaped bent member 85 joined to the bent portion 69. According to this reinforcing member 67, the L-shaped bent member 85 is attached to the bent portion 69 later with screws or the like. This allows the primary wiring 53 to be easily inserted into the reinforcing member 67.

Next, the operation of the robot control device according to the first embodiment described above will be explained.

The robot control device 11 according to the first embodiment controls the robot and includes a casing 15 having a side plate 35 and a top plate 23, and a reinforcing member 39 provided between the side plate 35 and the top plate 23 inside the casing 15. a control unit 13 provided inside the casing 15; a wiring section provided inside the casing 15 for supplying power to the control unit 13 from an external power supply; and a wiring section provided inside the casing 15 and connected to the outside A breaker 25 that cuts off the power supplied to the control unit 13 from the power supply, a door 19 that is provided in the front of the housing 15 so that it can be opened and closed, and a breaker that is provided on the housing 15 and that can be opened and closed from the outside with the door 19 closed. 25 is provided. The reinforcing member 39 is configured to cover a portion of the wiring section upstream of the breaker 25. The upstream side here refers to the upstream side on the power supply path that supplies power from the external power source to the control unit 13. In this embodiment, the reinforcing member 39 covers a portion of the wiring connected between the external power source and the breaker 25 that is disposed inside the casing 15 . In addition, the reinforcing member 39 may cover a wiring section connected between the breaker 25 and the control unit 13. Since the breaker 25 is disposed on the front side of the casing 15 (see FIG. 2), the reinforcing member 39 covers the portion of the wiring section that goes further back than the breaker 25.

In the robot control device 11, the housing 15 constitutes the outer shell of the entire device. The housing 15 houses the control unit 13 therein. The housing 15 is provided with a door 19 that can open and close an opening 17 on the front surface. The housing 15 has a pair of side plates 35 and a top plate 23. The pair of side plates 35 and the top plate 23 are closed by a back plate 37 on the back side opposite to the opening 17.

A reinforcing member 39 is provided at the corner of the housing 15 where the side plate 35 and the top plate 23 intersect. The reinforcing member 39 increases the strength of the housing 15 by being fixed to both the side plate 35 and the top plate 23. The reinforcing member 39 is formed of a long steel material extending from the vicinity of the opening 17 to the vicinity of the back plate 37. The reinforcing member 39 has a cross-sectional shape perpendicular to the longitudinal direction that surrounds the inside. The reinforcing member 39 is formed, for example, into a rectangular tube (square pipe) with a closed cross section, or a C-shape or a U-shape with an open cross-section.

A wiring section for supplying power from an external power source to the control unit 13 is routed inside the casing 15. Furthermore, a breaker 25 for cutting off power supplied to the control unit 13 from an external power source is arranged inside the casing 15. The breaker 25 is close to the opening 17 of the housing 15. The housing 15 is provided with an operating section 29 that allows the breaker 25 to be operated from the outside with the door 19 closed. The operating section 29 is arranged, together with the breaker 25, at a position close to the opening 17 of the housing 15.

By the way, the wiring section routed inside the casing 15 includes a primary wiring 53 for supplying power to the breaker 25 from an external power source. As described above, since the breaker 25 is placed close to the opening 17, in a robot control device having a conventional structure, the primary wiring 53 is generally not drawn in through the side plate 35 near the opening 17. It was done. However, if the primary wiring 53 is drawn through the side plate 35, a work space is required outside the side plate 35 to route the primary wiring 53, which is an electric wire, with a large radius of curvature. Therefore, when a plurality of robot control devices 11 are installed side by side, there is a problem in that an excessively large installation area is required.

In the robot control device 11 according to the first embodiment, the primary wiring 53 is passed through the hollow portion 43 of the reinforcing member 39. The reinforcing member 39 extends from the vicinity of the opening 17 to the vicinity of the back plate 37 at the corner between the side plate 35 and the top plate 23 . That is, the primary wiring 53 is drawn in from the back plate 37 of the housing 15 and passed through the hollow portion 43 from the rear introduction part 51 of the reinforcing member 39 that opens near the back plate 37. The primary wiring 53 passed through the hollow portion 43 of the reinforcing member 39 is pulled out from a front lead-out portion 57 of the reinforcing member 39 that opens near the opening 17 and is connected to the breaker 25 .

Therefore, in the robot control device 11, the primary wiring 53 drawn from the back plate 37 is safely routed inside the housing 15 by effectively utilizing the dead space inside the reinforcing member 39. Become. Thereby, when replacing the control unit 13 inside the housing 15, it is possible to prevent the insulation coating of the primary wiring 53 from being damaged due to contact with the unit case made of a sheet metal material.

In this way, the robot control device 11 is configured so that the wiring section (primary side wiring 53) can be pulled in from the back on the opposite side of the door 19 by housing the wiring section serving as a charging section within the reinforcing member 39 of the housing 15. become. As a result, in the robot control device 11, it is possible to eliminate the need to draw in the primary wiring 53 from the side, and to install a plurality of robots side by side in close proximity to each other in a small installation space.

Furthermore, in the robot control device 11, the reinforcing member 39 is a rectangular tube portion 41 extending along the front-rear direction of the housing 15.

In this robot control device 11, the reinforcing member 39 is a rectangular tube portion 41 extending along the front-rear direction of the housing 15. The square tube part 41 may be formed separately from the housing 15, or may be formed as a part of the housing 15, for example, by bending the upper edge of the side plate 35 of the housing 15 into a substantially square tube by press working. .

Here, the term "substantially square tube" means that the cross section perpendicular to the longitudinal direction may be open as long as it has a hollow portion 43 from which the primary wiring 53 does not fall out. The square tube portion 41 in this case can be obtained by combining, for example, L-shaped bending, U-shaped bending, or V-shaped bending. Since this rectangular tube portion 41 can be formed as a part of the housing 15, it is not necessary to add it to the housing 15 later.

On the other hand, the separate rectangular tube portion 41 is fixed to the side plate 35 by welding, rivets, or the like. The top plate 23 is fixed to the square tube part 41 fixed to the side plate 35 with rivets or the like. As a result, the square tube portion 41 of the housing 15 becomes a structural member that firmly connects the side plate 35 and the top plate 23, allowing the housing 15 to be assembled with high strength.

Further, in the robot control device 11, the reinforcing member 67 has a bent portion 69 extending along the front-rear direction of the housing 15, and the upstream portion of the wiring portion is located between the bent portion 69 and the housing 15. established in

In this robot control device 11, the housing 15 has a bent portion 69 extending in the front-rear direction. The upstream portion of the wiring section is provided between the bent section 69 and the housing 15. The bent portion 69 has a hollow portion 43 surrounded by the side plate 35 and the bent portion 69 by, for example, performing mountain folding two or three times on the upper edge of the side plate 35 toward the inside of the housing 15. A reinforcement part can be obtained.

In this case, the reinforcing member 67 may have a C-shaped or U-shaped cross section that is more open than the "substantially rectangular cylinder" reinforcing member 39 described above. That is, in the reinforcing member 39 of the "substantially rectangular tube" described above, the inserted primary wiring 53 will not fall off, but in the reinforcing member 67 with the bent portion 69 facing the side plate 35, the primary wiring 53 may fall off. . In other words, it is possible to easily route the primary wiring 53 without having to insert the primary wiring 53 into the hollow portion 43 from the end thereof. After the reinforcing member 67 has routed the primary wiring 53 in the hollow part 43, a simple means for preventing it from falling off (for example, fixing the primary wiring 53 to the hollow part 43 with a binding band or the like) is applied. Note that the bent portion 69 may be formed separately from the side plate 35 and may be joined to the side plate 35 by welding or screwing.

Furthermore, in the robot control device 11, the reinforcing member 67 has an L-shaped bent member 85 joined to the bent portion 69.

In this robot control device 11, the housing 15 has a bent portion 69 extending in the front-rear direction, and further includes an L-shaped bent member 85 joined to the bent portion 69. The L-shaped bent member 85 is joined to the bent portion 69 with rivets or the like. The bent portion 69 is a reinforcing portion that has a hollow portion 43 surrounded by the side plate 35 and the bent portion 69 by performing, for example, two mountain folds on the upper edge of the side plate 35 toward the inside of the housing 15. can be obtained.

This reinforcing portion has a hollow portion 43 with a substantially closed cross section by joining the L-shaped bent member 85. Therefore, with this reinforcing member 67, the primary side wiring 53 can be easily routed to the hollow portion 43 before the L-shaped bent member 85 is joined, and after the routing, the L-shaped bent member 85 can be attached with screws or the like. By joining, it is possible to easily route the primary wiring 53 while preventing the primary wiring 53 from falling off. Note that in the robot control device 11, the L-shaped bent member 85 may be joined to the bent portion 69 in advance, and the primary wiring 53 may be inserted from one end of the reinforcing member 67 to the other end.

In this robot control device 11, after the primary wiring 53 is routed in the hollow portion 43, the L-shaped bent member 85 is joined to facilitate the wiring work of the primary wiring 53. It can be covered tightly. In addition, when the side plate 35, the bent portion 69, and the L-shaped bent member 85 are each formed separately, the reinforcing member 67 can be easily manufactured by press working.

Therefore, according to the robot control device 11 according to the first embodiment, by housing the wiring section (primary side wiring 53) serving as a charging section within the reinforcing member 39 or the reinforcing member 67 of the housing 15, the primary side wiring 53 can be retracted from the back on the opposite side to the door 19, and a plurality of them can be arranged side by side in close proximity.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that those skilled in the art can come up with various changes, modifications, substitutions, additions, deletions, and equivalents within the scope of the claims, and It is understood that it naturally falls within the technical scope of the present disclosure. Further, each of the constituent elements in the various embodiments described above may be arbitrarily combined without departing from the spirit of the invention.

The present disclosure is useful as a robot control device that improves maintainability with an inexpensive and simple configuration.

11 Robot control device 13 Control unit 15 Housing 19 Door 23 Top plate 25 Breaker 29 Operation part 35 Side plate 39 Reinforcement member 41 Square tube part 53 Primary side wiring (wiring part)
61 Secondary side wiring (wiring section)
67 Reinforcement member 69 Bending portion 85 L-shaped bending material

Claims

A robot control device that controls a robot,
A casing having a side plate and a top plate;
a reinforcing member provided between the side plate and the top plate inside the casing;
a control unit provided inside the housing;
a wiring section that is provided inside the casing and supplies power to the control unit from an external power source;
a breaker provided inside the casing that cuts off power supplied to the control unit from the external power source;
a door provided on the front surface of the housing so that it can be opened and closed;
an operation unit provided in the casing and capable of operating the breaker from the outside with the door closed;
The reinforcing member is configured to cover a portion of the wiring section upstream of the breaker.
Robot control device.
The reinforcing member is a rectangular tube extending along the front-rear direction of the housing.
The robot control device according to claim 1.
The reinforcing member has a bent portion extending along the front-rear direction of the housing,
The upstream portion of the wiring portion is provided between the bent portion and the casing,
The robot control device according to claim 1.
The reinforcing member has an L-shaped bent member joined to the bent portion,
The robot control device according to claim 3.