CN103846917A - Robot controller - Google Patents
Robot controller Download PDFInfo
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- CN103846917A CN103846917A CN201310612988.2A CN201310612988A CN103846917A CN 103846917 A CN103846917 A CN 103846917A CN 201310612988 A CN201310612988 A CN 201310612988A CN 103846917 A CN103846917 A CN 103846917A
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Abstract
The invention relates to a robot controller. The robot controller comprises a motor driving circuit substrate, a first relay driving circuit substrate and a control circuit substrate; the motor driving circuit substrate drives a motor of a robot by use of robot driving voltage; the first relay driving circuit substrate comprises a first relay circuit used for imposing/cutting off voltage allowing a brake to act on the brake braking the driving of the robot, and for using first delay driving voltage lower than motor driving voltage to drive the first relay circuit; and the control circuit substrate controls the driving of the motor by use of controlling voltage lower than the first relay driving voltage. The motor driving circuit substrate comprises a second relay circuit imposing/cutting off the robot driving voltage on the motor, and voltage lower than the first relay driving voltage and the second relay driving voltage is imposed on the control circuit substrate.
Description
Technical field
The present invention relates to robot controller.
Background technology
Utilize robot controller to control to have the action of the robot of multiple arms that can rotate.For example patent documentation 1 discloses such robot controller.
The robot controller that patent documentation 1 is recorded have with robot drive with voltage come driven machine people motor motor drive circuit substrate and control the control circuit substrate of driving of motor.And control circuit substrate, except having the control circuit of the driving of controlling motor, also has relay circuit, the brake of the driving of this relay circuit to braking robot applies/cuts off the voltage that makes this brake action.Control circuit is for example applied to the voltage of 5V left and right, relay circuit is for example applied to the voltage of 24V left and right.
Patent documentation 1: TOHKEMY 2012-206240 communique
But, in above-mentioned robot controller in the past, because the relay circuit of the circuit from as 24V system produces larger noise, so exist the impact of this noise to involve the problem of the control circuit of the circuit that is as 5V.
In addition, due to the circuit of the circuit of 24V system and 5V system is arranged on a circuit substrate, thus circuit substrate maximization, and then device entirety maximizes.
Summary of the invention
The object of the present invention is to provide a kind of impact that can reduce the noise in control circuit, and can realize the robot controller of miniaturization.
Realize such object by following application examples of the present invention.
Robot controller of the present invention has: motor drive circuit substrate, and it drives the motor with voltage driven machine people with robot, the 1st relay drive circuit substrate, its brake with the driving to braking above-mentioned robot applies/cuts off the 1st relay circuit of the voltage that makes above-mentioned brake action, and to drive the 1st relay driving voltage that electricity consumption is forced down to drive above-mentioned the 1st relay circuit than above-mentioned robot, and control circuit substrate, it uses the driving of Control of Voltage said motor with the control of forcing down than above-mentioned the 1st relay driving electricity consumption, wherein, said motor drive circuit substrate has the 2nd relay circuit that said motor is applied/cuts off above-mentioned robot driving voltage, said motor drive circuit substrate is to drive electricity consumption to force down than above-mentioned robot, and drive above-mentioned the 2nd relay circuit than above-mentioned control with the 2nd high relay driving voltage of voltage, above-mentioned control circuit substrate is applied in than above-mentioned the 1st relay and drives the voltage that drives electricity consumption to force down with voltage and above-mentioned the 2nd relay.
Thus, the noise in control circuit substrate can be reduced, misoperation bringing thus etc. can be prevented, control reliably, and can realize the miniaturization of robot controller.
Robot controller of the present invention has the motor drive circuit substrate that drives the motor of using voltage driven machine people with robot, the 1st relay drive circuit substrate, and control circuit substrate, wherein, above-mentioned the 1st relay drive circuit substrate has the 1st relay circuit, the 1st relay circuit applies/cuts off to the brake of the driving of braking above-mentioned robot the voltage that makes above-mentioned brake action, and driven the 1st relay driving voltage that electricity consumption is forced down to drive than above-mentioned robot, above-mentioned control circuit substrate is used the driving of Control of Voltage said motor with the control of forcing down than above-mentioned the 1st relay driving electricity consumption, said motor drive circuit substrate has the 2nd relay circuit, the 2nd relay circuit applies/cuts off above-mentioned robot driving voltage to said motor, and driven electricity consumption to force down than above-mentioned robot, and drive with the 2nd high relay driving voltage of voltage than above-mentioned control, above-mentioned control circuit substrate is applied in than above-mentioned the 1st relay and drives the voltage that drives electricity consumption to force down with voltage and above-mentioned the 2nd relay.
Thus, the noise in control circuit substrate can be reduced, misoperation bringing thus etc. can be prevented, control reliably, and can realize the miniaturization of robot controller.
In robot controller of the present invention, preferably above-mentioned the 1st relay drive circuit substrate structure becomes the emergent stopping port having from the instruction of outside input emergent stopping, if and input above-mentioned emergent stopping instruction to above-mentioned emergent stopping with port, above-mentioned the 2nd relay circuit becomes out state.
Thus, can reduce more reliably the noise in control circuit substrate.
In robot controller of the present invention, preferably there are multiple above-mentioned emergent stopping ports, above-mentioned the 1st relay drive circuit substrate has the connector of the signal of the action that is transfused to the above-mentioned robot of instruction from outside, and above-mentioned multiple emergent stoppings are arranged on above-mentioned connector with one in port.
Thus, in the time making robot emergent stopping, can tackle more reliably.
In robot controller of the present invention, when preferably above-mentioned the 1st relay drive circuit substrate and above-mentioned control circuit substrate are configured to overlook, overlap.
Thus, can make more reliably robot controller miniaturization.
In robot controller of the present invention, preferred above-mentioned brake is the electromagnetic brake being arranged in said motor.
Thus, can, having applied robot driving with under the state of voltage, make reliably robot stop forming easily.
In robot controller of the present invention, preferably above-mentioned the 1st relay drive circuit substrate has the connector being electrically connected with other this robot controllers.
Thus, in the time making multiple robot motion, can easily carry out the control of each robot.
Accompanying drawing explanation
Fig. 1 is the stereogram that represents the embodiment of robot controller of the present invention.
Fig. 2 is the in-built stereogram that the robot controller shown in Fig. 1 is shown centered by the feed system of power supply.
Fig. 3 is that the motor in the internal structure of the robot controller shown in presentation graphs 1 drives the stereogram of substrate with respect to the configuration of control circuit substrate and power circuit substrate.
Fig. 4 is the top view that the motor that has of the robot controller shown in Fig. 1 drives substrate.
The specific embodiment
Below, based on preferred embodiment shown in the drawings, robot controller of the present invention is elaborated.
Fig. 1 is the stereogram that represents the embodiment of robot controller of the present invention.Fig. 2 is the in-built stereogram that the robot controller shown in Fig. 1 is shown centered by the feed system of power supply.Fig. 3 is that the motor in the internal structure of the robot controller shown in presentation graphs 1 drives the stereogram of substrate with respect to the configuration of control circuit substrate and power circuit substrate.Fig. 4 is the top view that the motor that has of the robot controller shown in Fig. 1 drives substrate.
In addition, be below convenient to explanation, in each figure, observe from front, upside is called " on " or " top ", downside is called to D score or " below ", right side is called to " right side ", left side is called " left side ".
Robot controller of the present invention is the device of the driving of control.And, the control object of robot controller of the present invention is the robot of all forms, but as one of them example, the control object of the robot controller in present embodiment 10 is made as to the robot of 6 arms that there is base station and link successively in the mode that can rotate with respect to base station.This robot has 6 alternating current motors (motor) that each arm is rotated.In addition, on each alternating current motor, be respectively arranged with electromagnetic brake as the brake that the driving of robot is braked.If each electromagnetic brake action, the driving of each motor is braked respectively.
The external structure of robot controller
First, with reference to Fig. 1, the external structure of robot controller 10 is described.
As shown in Figure 1, robot controller 10 has the framework 1 of rectangular shape.On the front panel 1F of framework 1 and in the right-hand end of this front panel 1F, be equipped with external power supply connector 2.External power supply connector 2 is electrically connected (also only claiming below " connection ") with the external power source plug of the equipment that robot controller 10 is set, and the external communication voltage of the 200V supplying with is supplied to the inside of framework 1 from external power source plug.On front panel 1F and be equipped with the action bars 3a of circuit brake 3 at the upside of external power supply connector 2.The action bars 3a of circuit brake 3 is connected with external power supply connector 2 in the inside of framework 1, and the alternating voltage of the 200V supplying with for external power source plug switches supply and the cut-out to robot controller 10 forcibly.On front panel 1F and in the left side of action bars 3a, be equipped with the battery support parts 7 that support not shown battery in mode that can disassembled and assembled freely.In the time that power supply is disconnected, utilize this battery to supply with electric power to necessary position.
External power supply connector 2, circuit brake 3 are not arranged on to front panel 1F upper, and are arranged in the predetermined member in framework 1.
In addition, battery support parts 7 are not arranged on to front panel 1F upper, and are arranged in the predetermined member in framework 1 in mode that can disassembled and assembled freely.These battery support parts 7 are exposed to outside from the opening that is formed at front panel 1F.
On the other hand, embed and have polyphase ac voltage connector 4 in the left end of front panel 1F.In polyphase ac voltage connector 4, be arranged with each of each and multiple splicing ears of being connected with the electromagnetic brake that is arranged on 6 alternating current motors of multiple splicing ears of being connected with 6 alternating current motors.Each of polyphase ac voltage connector 4 and 6 alternating current motors is connected, and to each output polyphase ac voltage of this 6 alternating current motors.In addition, each of polyphase ac voltage connector 4 and 6 electromagnetic brakes is connected, and to the voltage of each output action (driving) use of these 6 electromagnetic brakes.Polyphase ac voltage connector 4 is installed on front panel 1F.
In the downside end of front panel 1F, occupy a left side of front panel 1F half side be partially submerged into 3 ports (connector) that the PERCOM peripheral communication of extending along left and right directions is used.Form 3 ports port one 1 position detector for, High Speed I/O port 5, controller connectivity port 6 each with along front panel 1F below from the left end of front panel 1F according to this sequentially, the mode that the splicing ear of each port is arranged on left and right directions arranges.
Port one 1, High Speed I/O port 5, controller connectivity port 6 for position detector are not arranged on respectively to front panel 1F upper, and are arranged in the predetermined member in framework 1.
Position detector with port one 1 with detect each 6 rotation angle sensors such as rotary transformer, encoder of position of rotation of 6 alternating current motors and be connected, from 6 rotation angle sensors, each inputs the position detection signal of the detected position of this rotation angle sensor of expression.
High Speed I/O port 5 response compared with I/O port one 7 described later is fast, for example with take robot action camera, detect robot position sensor for make the desired ancillary equipment of robot motion, coordinate robot action and driven ancillary equipment is connected.And High Speed I/O port 5 represents the signal of the state of state, the robot periphery of robot self from ancillary equipment input, and equipment output to the periphery represents the signal of the action of robot.
Right side in the downside end middle controller connectivity port 6 of front panel 1F embeds towards right-hand end 2 ports (connector) that is 1USB port one 4 and 2USB port one 5 and the LAN port one 6 that serial communication is used successively.
1USB port one 4,2USB port one 5 and LAN port one 6 are not arranged on respectively to front panel 1F upper, and are arranged in the predetermined member in framework 1.
1USB port one 4 is connected with the outer computer of one of ancillary equipment as robot controller 10 via USB, for example, represent the signal of the treatment state of the robot controller 10 such as I/O state of robot controller 10 according to the request output from outer computer.2USB port one 5 is for example connected with USB storage, and the daily record that is stored in robot controller 10 is exported to USB storage.LAN port one 6 is for example connected with the network of the equipment that robot controller 10 is set via Ethernet (registration mark), and for example, according to the request of the outer computer from connected to the network, it also exports the signal of the treatment state that represents robot controller 10.In the downside end of front panel 1F, between 2USB port one 5 and LAN port one 6, be equipped with trigger switch 15a.In the time that this trigger switch 15a is pressed, trigger switch 15a allows the daily record output from above-mentioned 2USB port one 5.
Right-hand end in the downside end of front panel 1F embeds the input of various data signals of processing and the I/O port one 7 of output.I/O port one 7 is not arranged on to front panel 1F upper, and is arranged in the predetermined member in framework 1.The connector of the width that this I/O port one 7 is left and right directions in the connector being disposed on front panel 1F and the width maximum of fore-and-aft direction.I/O port one 7 for example with take robot action camera, detect robot position sensor for make the required ancillary equipment of robot motion, coordinate robot action and driven ancillary equipment is connected.And I/O port one 7 represents the signal of the state of state, the robot periphery of robot self from ancillary equipment input, and equipment output to the periphery represents the signal of the action of robot.
For position detector in the downside end of front panel 1F, the upside of port one 1, High Speed I/O port 5 embeds 3 ports (connector) that have the PERCOM peripheral communication of extending along left and right directions to use.Form the port one 2 emergent stopping for of 3 ports, for TP, port (TP connector) 13, sequence controller port one 8 are respectively to start by this order from the left end of front panel 1F along the following of front panel 1F, the mode that the splicing ear of each port is arranged on left and right directions arranges.Not by port one 2 for emergent stopping, for TP port one 3, sequence controller port one 8 to be arranged on respectively front panel 1F upper, and be arranged in the predetermined member in framework 1.
In addition, at the TP of front panel 1F, with the upside of port one 3, the mode of (can disassembled and assembled freely) is provided with cooling fan F can change.
The device whether emergent stopping detects while being urgent with the outside emergency stop circuit, the safety door circuit etc. that are arranged on robot controller 10 to the environment of robot controller 10 is set with port one 2 is connected, from this device input washout (emergent stopping instruction).TP is connected with the teaching machine of one of ancillary equipment as robot controller 10 with port one 3, is used for the signal (instruction instruction) of the instruction of the action of robot from teaching machine input.In addition, input washout (emergent stopping instruction) from teaching machine to TP with port one 3.Sequence controller port one 8 is for example connected with sequence controller via RS-232C, and is used for making the control signal of robot motion from this sequence controller input.Cooling fan F is the fan that is blown into extraneous air from the outside of framework 1 to the inside of framework 1, between the outside housing of this cooling fan F and front panel 1F, accompanies for catching the dust that extraneous air comprised, the extraneous air filter F a of dust in the mode that can change.
Here in this robot controller 10, sometimes take off that front panel 1F safeguards,, the replacing of parts etc.As an one example, for example to enumerate and take off front panel 1F, replacing is arranged on the cooling fan F on this front panel 1F etc.
In this situation, in this robot controller 10, owing to external power supply connector 2, circuit brake 3, battery support parts 7 etc. not being arranged on front panel 1F, so can easily and promptly take off front panel 1F.Thus, can easily and promptly change cooling fan F.
In addition, there is the situation of changing battery, but because battery support parts 7 are exposed to outside from the opening that is formed at front panel 1F, so in the time changing this battery, need not take off front panel 1F and just can take off battery support parts 7.Thus, can easily and promptly change battery.
In front panel 1F, the upside of LAN port one 6 is formed with the rectangular opening that is the slotted hole that extend along left and right directions, embeds the expansion panel 1P that has the rectangular plate-like of being formed as at this slotted hole.In addition, on expansion panel 1P, arrange and be equipped with 4 expansion I/O port ones 9 along the vertical direction.4 expansion I/O port ones 9 for example respectively with shooting become the workpiece of the manipulating object of robot camera, detect this workpiece the sensor of position for making the required ancillary equipment of robot motion, coordinate the action of robot and driven ancillary equipment is connected.And expansion I/O port one 9 represents the state of robot self, the signal of robot periphery state from ancillary equipment input, and equipment output to the periphery represents the signal of the action of robot.
Like this, the required whole interfaces of this operation are disposed in the following operation that just can carry out for the inside of not opening framework 1 on the front panel 1F of robot controller 10.
For the connection of power supply and the cut-out of this power supply of robot controller 10.
Maintenance and the detection of cooling fan F and extraneous air filter F a.
The internal structure of robot controller
Next, with reference to Fig. 2 and Fig. 3, the internal structure of robot controller 10 is described.Should illustrate, in Fig. 2, the internal structure of robot controller 10 for convenience of explanation, above-mentioned front panel 1F, back panel, top panel in the framework 1 of omission robot controller 10, also omit the polyphase ac voltage connector 4 and the cooling fan F that are disposed on front panel 1F.In addition, the function of each circuit substrate and its configuration for convenience of explanation, the cable between cable and the connecting electronic parts of cable, connecting circuit substrate and electronic unit between omission connecting circuit substrate.
As shown in Figure 2, on the right panel 1R of framework 1, dispose with circuit brake 3 and be connected, and the alternating voltage of 200V is converted to the power supply system of DC voltage and output.In addition, on the base panel 1B of framework 1, dispose respectively main power circuit substrate (motor drive circuit substrate) 20 and control circuit substrate 30 as power circuit substrate, and on the Left-Hand Panel 1L of framework 1, dispose 3 motors driving substrates 40.In addition, above control circuit substrate 30, dispose medium voltage circuit substrate (the 1st relay drive circuit substrate) 32.
Upside central authorities at the right panel 1R of framework 1 are fixed with noise filter NF.Noise filter NF is connected with circuit brake 3 via input cable, is connected with main power circuit substrate 20 via output cable.And if the alternating voltage of 200V is inputed to noise filter NF from circuit brake 3, noise filter NF removes noise from this alternating voltage, and exports the alternating voltage of removing after this noise to main power circuit substrate 20.
Main power circuit substrate 20 is the tellites that are fixed on the rectangular plate-like of the rear side of base panel 1B, is formed as the size of the rear side that almost occupies base panel 1B.Main power circuit substrate 20 has the rigid substrates being laminated by the two-layer printed panel parallel with base panel 1B, is provided with for the alternating voltage of 200V being converted to as the various electronic units of the DC voltage of the 280V of driving voltage at the upper surface of this rigid substrates.This main power circuit substrate 20 is connected with noise filter NF via input cable, is connected respectively via output cable with the 1st power circuit substrate P S1, the 2nd power circuit substrate P S2 and the 3rd power circuit substrate P S3.In addition, main power circuit substrate 20 drives substrate 40 to be connected via alternating voltage out connector and motor.And if from noise filter NF to main power circuit substrate 20 input ac voltages, this alternating voltage is distributed to the 1st power circuit substrate P S1, the 2nd power circuit substrate P S2 and the 3rd power circuit substrate P S3 by main power circuit substrate 20.And main power circuit substrate 20 will be converted to from the alternating voltage of noise filter NF input DC voltage that is the driving voltage (robot driving voltage) of 280V, and this driving voltage is exported to motor driving substrate 40.Drive substrate 40 to export to 6 alternating current motors via motor this driving voltage.In addition, each motor drives substrate 40 respectively to 2 alternating current motor outputting drive voltages.
In addition, main power circuit substrate 20 has the 2nd not shown relay circuit that respectively 6 alternating current motors is applied/cut off driving voltage (robot driving voltage).Each the 2nd relay circuit is connected with port one 3 with port one 2, TP for emergent stopping respectively, becomes out state according to above-mentioned emergent stopping instruction.The 2nd relay circuit becomes out state, thereby does not apply driving voltage to each alternating current motor, and each alternating current motor is that robot stops.In this situation, main power circuit substrate 20 is controlled with the 2nd high relay driving voltage of voltage with and ratio lower than driving voltage, and the voltage of for example 24V drives the 2nd relay circuit.
The 1st power circuit substrate P S1 is the circuit substrate that is fixed on the rectangular plate-like of the rear side top of right panel 1R, is the installation base plate being provided with for the alternating voltage of 200V being converted to the various electronic units of the DC voltage of 15V.The 1st power circuit substrate P S1 is connected with main power circuit substrate 20 via input cable, is connected with main power circuit substrate 20 via output cable.And, if from main power circuit substrate 20 to the 1st power circuit substrate P S1 distribute alternating voltage, the 1st power circuit substrate P S1 is converted to this alternating voltage the DC voltage of 15V, and by the direct voltage output after this conversion to main power circuit substrate 20.
The 2nd power circuit substrate P S2 is the circuit substrate that is fixed on the rectangular plate-like of the rear side below of right panel 1R, is the installation base plate being provided with for the alternating voltage of 200V being converted to the various electronic units of the DC voltage of 5V.The 2nd power circuit substrate P S2 is connected with main power circuit substrate 20 via input cable, is connected with control circuit substrate 30 via output cable.And, if from main power circuit substrate 20 to the 2nd power circuit substrate P S2 distribute alternating voltage, the 2nd power circuit substrate P S2 is converted to this alternating voltage the DC voltage of 5V, by the direct voltage output after this conversion to control circuit substrate 30.
The 3rd power circuit substrate P S3 is the circuit substrate that is fixed on the rectangular plate-like on the right side of the main power circuit substrate 20 in base panel 1B, is the installation base plate being provided with for the alternating voltage of 200V being converted to the various electronic units of the DC voltage of 24V.The 3rd power circuit substrate P S3 is connected with main power circuit substrate 20 via input cable, is connected with medium voltage circuit substrate 32 via output cable.And, if from main power circuit substrate 20 to the 3rd power circuit substrate P S3 distribute alternating voltage, the 3rd power circuit substrate P S3 is converted to this alternating voltage the DC voltage of 24V, and by the direct voltage output after this conversion to medium voltage circuit substrate 32.
Specifically, on control circuit substrate 30, be connected with above-mentioned port one 1 for position detector, each the detection signal from 6 rotation angle sensors is inputed to control circuit substrate 30 via position detector with port one 1.
Voltage (control voltage) in this control circuit substrate 30, imposes on the voltage ratio of control circuit substrate 30 the 1st relay described later and drives and drive with voltage, above-mentioned driving voltage low with voltage, above-mentioned the 2nd relay.Therefore, be difficult for producing noise, each portion that can inhibitory control circuit substrate 30 is affected by noise.
In addition, on control circuit substrate 30, be connected with 1USB port one 4, the instruction from outer computer, data are inputed to control circuit substrate 30 via 1USB port one 4.In addition, on control circuit substrate 30, be connected with 2USB port one 5, the signal of the state of the processing according to the input signal from trigger switch 15a from control circuit substrate 30 output expression robot controllers 10.In addition, on control circuit substrate 30, be connected with LAN port one 6, the signal via LAN port one 6 with the state of the processing of the network being connected with this LAN port one 6 from control circuit substrate 30 output expression robot controllers 10.In addition, on control circuit substrate 30, be connected with I/O port one 7, the instruction from ancillary equipment, detection signal are inputed to control circuit substrate 30 via I/O port one 7.In addition, export instruction, the operation result to ancillary equipment from control circuit substrate 30 via I/O port one 7.
In the rear side of the upper surface of control circuit substrate 30 to be laminated with above-mentioned cooling fan F the CPU board 31 that has carried CPU in the relative mode of fore-and-aft direction.CPU board 31 is to for making an explanation and carry out to the instruction program of robot instruction instruction position, and, to for making the interpretation of programs that robot moves to the job position of regulation and carrying out.Now, first, CPU board 31 uses the instruction position of inputting from teaching machine via medium voltage circuit substrate 32, predefined job position and the testing result from each rotation angle sensor input, generate the track for robot is moved to instruction position, job position, and generate the position command of the mobile destination that represents robot.Then, control circuit substrate 30 calculates the drive volume for making the alternating current motor that robot moves to the represented position of position command, and generates the voltage instruction of the each phase corresponding with the drive volume calculating.And when from rotation angle sensor input testing result, CPU board 31 carries out the calculating of the generation of such track, the drive volume corresponding with track, output with control signal corresponding to drive volume.
In addition, be equipped with control circuit substrate 30 and be connected in the face side of right panel 1R, and 4 connectors 33 for expansion that extend along fore-and-aft direction.Respectively at the multiple pin embedded holes that are arranged with embedding pin on connector 33 in the mode at side opening along fore-and-aft direction for 4 expansions.And, if the pin of the expanded circuit substrate (not shown) that has carried above-mentioned expansion I/O port one 9 is embedded in to expansion connector 33, the signal that represents the state of robot periphery inputs to control circuit substrate 30 via expanded circuit substrate, and represents the signal of the movement of robot from 30 outputs of control circuit substrate via expanded circuit substrate.
In addition, the right-hand end of the rear side in the upper surface of control circuit substrate 30 is equipped with the Memory connector 35 that card type storage medium 34 is installed.In card type storage medium 34, store speed reducing ratio of the reductor of the length of the arm that robot has, driving shaft that linking machine people has and alternating current motor etc., robot controller 10 for making robot move required various data.And CPU board 31 is read the various data that are stored in card type storage medium 34, and carry out the generation of above-mentioned track with reference to these data.
Face side in the upper surface of control circuit substrate 30 is laminated with medium voltage circuit substrate 32.When, medium voltage circuit substrate 32 and control circuit substrate 30 are configured to overlook, overlap.Thus, can make more reliably robot controller 10 miniaturizations.
On medium voltage circuit substrate 32, be connected with sequence controller port one 8, from the control signal of this sequence controller input for robot is moved.In addition, on medium voltage circuit substrate 32, be connected with port one 2 for emergent stopping, input to medium voltage circuit substrate 32 via emergent stopping with port one 2 from the emergent stopping instruction of external device (ED), ancillary equipment.In addition, on medium voltage circuit substrate 32, be connected with port one 3 for TP, input to medium voltage circuit substrate 32 via TP with port one 3 respectively from instruction instruction, the emergent stopping instruction of teaching machine.
In addition, on medium voltage circuit substrate 32, be connected with polyphase ac voltage connector 4, make respectively the voltage of this electromagnetic brake action to being arranged at 6 electromagnetic brake outputs of 6 alternating current motors.In this situation, medium voltage circuit substrate 32 has the 1st not shown relay circuit that applies/cut off respectively the voltage that makes this electromagnetic brake action to being arranged at 6 electromagnetic brakes of 6 alternating current motors.Each the 1st relay circuit is connected with polyphase ac voltage connector 4 respectively, becomes out state according to the instruction of robot controller 10.The 1st relay circuit becomes out state, thereby each electromagnetic brake is applied to the voltage that makes the action of each electromagnetic brake, each electromagnetic brake action, and each alternating current motor thus,, robot stops.In this situation, medium voltage circuit substrate 32 is controlled and is used the 2nd relay driving voltage that voltage is high for example to drive the 1st relay circuit with the voltage of 24V with and ratio lower than driving voltage.
Connection structure between circuit substrate
Next, drive the structure of substrate 40, the connection structure that this motor drives substrate 40 and main power circuit substrate 20 and control circuit substrate 30 to describe with reference to Fig. 3 to motor.
As shown in Figure 3, the left part of the face side in the upper surface of main power circuit substrate 20 is equipped with the driving voltage out connector 21 extending along fore-and-aft direction.Upper surface at driving voltage out connector 21 is arranged with in the mode of upper opening the multiple pin embedded holes that embed pin along fore-and-aft direction, export the DC voltage of the driving voltage being generated by main power circuit substrate 20 and the 15V being generated by the 1st power circuit substrate P S1 from this driving voltage out connector 21.
In addition, the left part of the rear side in the upper surface of control circuit substrate 30 and the face side at above-mentioned driving voltage out connector 21 are equipped with the control signal out connector 36 also extending along fore-and-aft direction.Upper surface at control signal out connector 36 is arranged with in the mode of upper opening the multiple pin embedded holes that embed pin along fore-and-aft direction, export from this control signal out connector 36 control signal being generated by control circuit substrate 30.
Respectively 3 motors are driven substrates 40 to be erected on these main power circuit substrates 20 and control circuit substrate 30 under the state of erectting with respect to main power circuit substrate 20 and control circuit substrate 30.Below, drive a motor in substrate 40 to drive substrate 40 to describe to 3 motors typically.
Motor drives substrate 40
3 support plate 1S that motor drives substrate 40 to be extended to the right by the Left-Hand Panel 1L from framework 1 support the tellite of the rectangular plate-like on 3 limits, are formed as the size of the roughly half that occupies Left-Hand Panel 1L.Motor drives substrate 40 to have by the 4 layer rigid substrates that printed panel be laminated parallel with Left-Hand Panel 1L, and the various electronic units for the driving voltage of exporting from main power circuit substrate 20 being converted to polyphase ac voltage are installed.
Drive the base of substrate 40 at motor, arrange and be equipped with the driving power input connector 41 extending along fore-and-aft direction and the control signal input connector 42 extending along fore-and-aft direction equally along fore-and-aft direction.Driving power input connector 41 has the pin of the pin embedded hole that embeds driving voltage out connector 21, by being embedded in this driving power input connector 41, make to input to motor driving substrate 40 as the driving voltage of output voltage and the DC voltage of 15V of main power circuit substrate 20.Control signal input connector 42 has the pin of the pin embedded hole that is embedded into control signal out connector 36, by being embedded in this control signal input connector 42, making to input to motor from the control signal of control circuit substrate 30 and drives substrate 40.In addition, input the driving voltage of 2 systems from main power circuit substrate 20 to driving power input connector 41, in addition the DC voltage of the 15V from from main power circuit substrate 20 to 2 systems of its input.In addition, be used for the control signal of 2 systems that drive 2 mutually different alternating current motors to 42 inputs of control signal input connector.
The substantial middle of the above-below direction in the right flank of motor driving substrate 40, arranges 2 power device 43B, 43F being equipped with for the driving voltage of inputting from driving power input connector 41 being converted to polyphase ac voltage along fore-and-aft direction.In addition, be fixed with a fin 44 for cooling the 1st power device 43B and the 2nd power device 43F at the outer surface of the 1st power device 43B that is the outer surface of right flank and the 2nd power device 43F that is right flank to cover the mode of their entirety.
Drive the top of substrate 40 at motor, arrange and be equipped with 2 alternating voltage out connector 45B, 45F extending along fore-and-aft direction along fore-and-aft direction.Upper surface at the 1st alternating voltage out connector 45B is arranged with in the mode of upper opening the multiple pin embedded holes that embed pin along fore-and-aft direction.The 1st alternating voltage out connector 45B drives the inside of substrate 40 to be connected with the lead-out terminal of the 1st power device 43B at motor, the polyphase ac voltage being generated by above-mentioned the 1st power device 43B from the 1st alternating voltage out connector 45B output.On the other hand, be arranged with in the mode of upper opening the multiple pin embedded holes that embed pin at the upper surface of the 2nd alternating voltage out connector 45F along fore-and-aft direction.The 2nd alternating voltage out connector 45F drives the inside of substrate 40 to be connected with the lead-out terminal of the 2nd power device 43F at motor, the polyphase ac voltage being generated by above-mentioned the 2nd power device 43F from the 2nd alternating voltage out connector 45F output.
And each alternating voltage out connector 45B, 45F are connected with above-mentioned polyphase ac voltage connector 4 via output cable, the polyphase ac voltage being generated by each power device 43B, 43F is exported to each alternating current motor via this polyphase ac voltage connector 4.
Motor drives the internal wiring structure of substrate 40
Fig. 4 observes motor to drive motor when substrate 40 to drive the top view of substrate 40 from right side, be the figure that represents to connect the structure of the wiring of 2 power device 43B, 43F and each connector 41,42,45B, 45F.In addition, in Fig. 4, about the wiring that connects 2 power device 43B, 43F and each connector 41,42,45B, 45F, especially for ease of its length is described, the simple radical of wiring, the shape of wiring of representing.Explanation in passing, in Fig. 4 is laterally the fore-and-aft direction in Fig. 3, in Fig. 4, right side and left side are respectively rear side and the face side in Fig. 3.In addition,, suppose that the 1st motor in 6 alternating current motors is driven by the 1st power device 43B here, the 2nd motor is driven and describes by the 2nd power device 43F.
As shown in Figure 4, in Fig. 4, left and right directions (being viewed as fore-and-aft direction from the face side of robot controller 10), alignment arrangements has 2 power device 43B, 43F.Driving power input connector 41 be configured in motor drive substrate 40 below in the end of rear side, with respect to the row deflection rear side of 2 power device 43B, 43F.
One side of driving voltage of 2 systems that input to driving power input connector 41 is inputed to the 1st power device 43B via the 1st power-supply wiring 47B.The 1st power-supply wiring 47B is the printed wiring that is built in motor driving substrate 40, and the wiring portion of extending by the wiring portion of extending from driving power input connector 41 to top surface side with from the 1st power device 43B to rear side forms.
In addition, by the side of DC voltage of 15V of 2 systems who inputs to driving power input connector 41 via inputing to the 1st power device 43B along the not shown wiring of the 1st power-supply wiring 47B.And, the direct voltage drive of the 15V that the 1st power device 43B is exported by main power circuit substrate 20.Be packaged with the type of voltage step-up/down converter to carry out buck from the driving voltage of the 1st power-supply wiring 47B input at the 1st power device 43B, the driving voltage of the 280V inputting from main power circuit substrate 20 is boosted as being suitable for the voltage of driving of alternating current motor.
On the other hand, the opposing party of driving voltage of 2 systems that input to driving power input connector 41 is inputed to the 2nd power device 43F via the 2nd power-supply wiring 47F.The 2nd power-supply wiring 47F is built in motor to drive the printed wiring of substrate 40, forms by the wiring portion of extending from driving power input connector 41 to top surface side with from the wiring portion that the 2nd power device 43F extends to the rear side of the 1st power device 43B.In addition, with the 2nd power device 43F than the 1st power device 43B away from the distance of driving power input connector 41 accordingly, above-mentioned the 1st power-supply wiring 47B is long for the Length Ratio of the 2nd power-supply wiring 47F.
In addition, by the side of DC voltage of 15V of 2 systems who inputs to driving power input connector 41 via inputing to the 2nd power device 43F along the not shown wiring of the 2nd power-supply wiring 47F.And, the direct voltage drive of the 15V that the 2nd power device 43F is exported by main power circuit substrate 20.In the 2nd power device 43F, be packaged with also the type of voltage step-up/down converter to carry out buck from the driving voltage of the 2nd power-supply wiring 47F input, the driving voltage of the 280V inputting from main power circuit substrate 20 is boosted as being suitable for the voltage of driving of alternating current motor.
In addition, control signal input connector 42 is configured in motor and drives the following face side of substrate 40, and is configured to relative with the 1st power device 43B and the 2nd power device 43F.
The control signal corresponding with the 1st motor inputing in 2 control signals of control signal input connector 42 inputed to the 1st power device 43B via the 1st signal routing 46B.In the 1st power device 43B, be packaged with the inverter circuit being formed by the multiple switch elements that carried out ON/OFF control by this control signal.And in the 1st power device 43B, by the control signal of inputting from control circuit substrate 30, switch element is controlled by ON/OFF, thus, be for example 3 cross streams voltages of polyphase ac voltage by the voltage transitions after being boosted by type of voltage step-up/down converter.
The control signal corresponding with the 2nd motor inputing in 2 control signals of control signal input connector 42 inputed to the 2nd power device 43F via the 2nd signal routing 46F.In the 2nd power device 43F, be packaged with the inverter circuit being formed by the multiple switch elements that carried out ON/OFF control by this control signal.And in the 2nd power device 43F, by the control signal of inputting from control circuit substrate 30, switch element is controlled by ON/OFF, thus, be for example 3 cross streams voltages of polyphase ac voltage by the voltage transitions after being boosted by type of voltage step-up/down converter.
As mentioned above, because control signal input connector 42 is relative with 2 power device 43B, 43F as its connecting object, so for the distance of each and the control signal input connector 42 of 2 power device 43B, 43F, can make the difference between power device reduce.Therefore,, for the length of each signal routing 46B, 46F, easily make the difference between power device reduce.And then the length that can suppress each signal routing 46B, 46F differs greatly and the difference of the signal passing time that causes between power device.
The 1st alternating voltage out connector 45B is provided in motor and drives the rear side of the top of substrate 40, and is configured to relative with the 1st power device 43B that connects destination as it.In addition, the 2nd alternating voltage out connector 45F is provided in motor and drives the face side of the top of substrate 40, and is configured to relative with the 2nd power device 43F that connects destination as it.
Be that polyphase ac voltage inputs to the 1st alternating voltage out connector 45B via the 1st output wiring 48B by the output voltage of the 1st power device 43B.Be that polyphase ac voltage inputs to the 2nd alternating voltage out connector 45F via the 2nd output wiring 48F by the output voltage of the 2nd power device 43F.And, because alternating voltage out connector 45B, 45F are relative with power device 43B, 43F as its connecting object, so for the distance of each alternating voltage out connector 45B, 45F and its connecting object, can reduce the difference between power device 43B, 43F.Its result, for the length of each output wiring 48B, 48F, the difference that can suppress between power device 43B, 43F becomes large, and then the caloric value that can suppress in each output wiring 48B, 48F differs greatly between power device 43B, 43F.
Motor drive cover on substrate 40 motor drive the fore-and-aft direction of substrate 40 roughly whole width be equipped with a fin 44 of the rectangular shape extending along fore-and-aft direction.Fin 44 has the cooling surface relative with the interarea of motor driving substrate 40, and 2 power device 43B, 43F are installed on this cooling surface.This fin 44 is configured to be covered by this fin 44 entirety of 2 power device 43B, 43F arranging on fore-and-aft direction.In addition, deflection rear side compared with the position of the fin 44 of fore-and-aft direction and the central authorities of power device 43B, 43F.
Next,, the effect of the robot controller 10 being made up of above-mentioned structure is described.
If the alternating voltage of inputting 200V via circuit brake 3 to noise filter NF from external power source plug, exports the alternating voltage of having been removed noise by noise filter NF from noise filter NF to main power circuit substrate 20.Next, the alternating voltage that inputs to main power circuit substrate 20 is distributed to the 1st power circuit substrate P S1, the 2nd power circuit substrate P S2 and the 3rd power circuit substrate P S3, in the 1st power circuit substrate P S1, the 2nd power circuit substrate P S2 and the 3rd power circuit substrate P S3, be converted to different DC voltage mutually.In addition, in main power circuit substrate 20, the alternating voltage of self noise wave filter NF is converted to the DC voltage as the 280V of driving voltage in the future.And, the DC voltage of the 15V being generated by the 1st power circuit substrate P S1 and the driving voltage that generated by main power circuit substrate 20 are inputed to respectively to 2 motors from main power circuit substrate 20 via driving voltage out connector 21 and driving power input connector 41 and drive substrates 40.
On the other hand, if Liao Shi robot moves to job position, and the detection signal from ancillary equipment is inputed to control circuit substrate 30 via I/O port one 7,, in control circuit substrate 30, obtain the detection signal of each rotation angle sensor with port one 1 via position detector.Next, in control circuit substrate 30, based on representing that the position command of job position and the testing result of each rotation angle sensor generate the track for robot is moved to job position, and calculate the drive volume of the alternating current motor for making this rail moving of Robot.And, in control circuit substrate 30, generate the voltage instruction of the each phase corresponding with the drive volume calculating, and from control circuit substrate 30, the control signal corresponding with this voltage instruction inputed to respectively to 2 motors driving substrates 40 via control signal out connector 36 and control signal input connector 42.
Then, drive in substrate 40 at motor, the driving voltage of inputting from main power circuit substrate 20 is boosted into the voltage of the driving that is suitable for alternating current motor, the voltage transitions by the ON/OFF control of the control signal inputted from control circuit substrate 30, this being boosted is polyphase ac voltage.And, in robot controller 10, drive the frequency of the control signal of substrate 40 to motor by control circuit substrate 30 control inputs, the each phase by the electric current supply corresponding with the drive volume of alternating current motor to this alternating current motor.
As described above, according to this robot controller 10, in control circuit substrate 30, can reduce noise, each portion that can inhibitory control circuit substrate 30 is affected by noise.
; because driving electricity consumption to press to larger noise with voltage and the 2nd relay, the 1st relay driving produces source; so the 1st relay drive circuit is arranged on other circuit substrates different from control circuit substrate 30 easily affected by noise; be arranged on medium voltage circuit substrate 32; the 2nd relay drive circuit is arranged on main power circuit substrate 20; drive with voltage and the 2nd relay driving voltage by control circuit substrate 30 not being applied to the 1st relay, each portion that can inhibitory control circuit substrate 30 is affected by noise.
In addition, drive owing to control circuit substrate 30 being applied than the 1st relay the voltage that drives electricity consumption to force down with voltage and the 2nd relay, so can reduce the noise in control circuit substrate 30, thus, each portion that can inhibitory control circuit substrate 30 is affected by noise.
In addition, can improve respectively the free degree of the configuration of the each portion in medium voltage circuit substrate 32 and control circuit substrate 30.
In addition, the 1st relay circuit and control circuit were arranged on a circuit substrate in the past, but by this circuit substrate is divided into medium voltage circuit substrate 32 and control circuit substrate 30, when this medium voltage circuit substrate 32 and control circuit substrate 30 are configured to overlook, overlap, can realize the miniaturization of robot controller 10 entirety.
Above, based on illustrated embodiment, robot controller of the present invention is illustrated, but the present invention is not limited thereto, the formation of each portion can be replaced as to the formation arbitrarily with identical function.In addition, also can add other constructs arbitrarily to the present invention.
In addition, in the above-described embodiment, the number of the rotating shaft of the robot of robot controller control is 6, but is not limited in the present invention this, and the rotating shaft of robot and the number of arm can be also 1,2,3,4, more than 5 or 7.
In addition, in the above-described embodiment, robot has 1 one armed robot who links the arm union body that multiple arms form in the mode of freely rotating, but the present invention is not limited thereto, for example, can be also the robot that there are 2 tow-armed robots that link the arm union body that multiple arms form in the mode of freely rotating etc. and have multiple above-mentioned arm union bodies.
In addition, in the present invention, being not limited to arm humanoid robot (robots arm), can be also other forms of robot, for example, can be also sufficient formula walking (walking) robot, selection compliance assembly robot etc.
In addition, in the above-described embodiment, as the brake that the driving of robot is braked, be provided with the electromagnetic brake that the driving of motor is braked, but the present invention is not limited thereto, for example, also can be arranged at the joint of robot etc.
Symbol description
10 ... robot controller, F ... cooling fan, Fa ... extraneous air filter, NF ... noise filter, PS1 ... the 1st power circuit substrate, PS2 ... the 2nd power circuit substrate, PS3 ... the 3rd power circuit substrate, 1 ... framework, 1B ... base panel, 1F ... front panel, 1L ... Left-Hand Panel, 1P ... expansion panel, 1R ... right panel, 1S ... support plate, 2 ... external power supply connector, 3 ... circuit brake, 3a ... action bars, 4 ... polyphase ac voltage connector, 5 ... High Speed I/O port, 6 ... controller connectivity port, 7 ... battery support parts, 11 ... position detector port, 12 ... emergent stopping port, 13 ... TP port, 14 ... 1USB port, 15 ... 2USB port, 15a ... trigger switch, 16 ... LAN port, 17 ... I/O port, 18 ... sequence controller port, 19 ... expansion I/O port, 20 ... main power circuit substrate, 21 ... driving voltage out connector, 30 ... control circuit substrate, 31 ... CPU board, 32 ... medium voltage circuit substrate, 33 ... expansion connector, 34 ... card type storage medium, 35 ... Memory connector, 36 ... the 2nd alternating voltage out connector, 40 ... motor drives substrate, 41 ... the 1st signal input connector, 42 ... the 2nd signal input connector, 43B ... the 1st power device, 43F ... the 2nd power device, 44 ... fin, 45B ... the 1st alternating voltage out connector, 45F ... the 2nd alternating voltage out connector, 46B ... the 1st signal routing, 46F ... the 2nd signal routing, 47B ... the 1st power-supply wiring, 47F ... the 2nd power-supply wiring, 48B ... the 1st output wiring, 48F ... the 2nd output wiring.
Claims (7)
1. a robot controller, is characterized in that, has:
Motor drive circuit substrate, it drives the motor with voltage driven machine people with robot;
The 1st relay drive circuit substrate, its brake with the driving to braking described robot applies or cuts off the 1st relay circuit of the voltage that makes described brake action, and to drive the 1st relay driving voltage that electricity consumption is forced down to drive described the 1st relay circuit than described robot; And
Control circuit substrate, it to be to drive the driving of the control forced down of electricity consumption with motor described in Control of Voltage than described the 1st relay,
Wherein, described motor drive circuit substrate has the 2nd relay circuit that described motor is applied or cut off described robot driving voltage,
Described motor drive circuit substrate to be to drive electricity consumption to force down than described robot and the 2nd relay driving voltage higher than described control voltage drives described the 2nd relay circuit,
Described control circuit substrate is applied in than described the 1st relay and drives the voltage that drives electricity consumption to force down with voltage and described the 2nd relay.
2. a robot controller, is characterized in that, has:
Motor drive circuit substrate, it drives the motor with voltage driven machine people with robot;
The 1st relay drive circuit substrate; And
Control circuit substrate,
Wherein, described the 1st relay drive circuit substrate has the 1st relay circuit, the 1st relay circuit applies or cuts off to the brake of the driving of braking described robot the voltage that makes described brake action, and the 1st relay circuit driven the 1st relay that electricity consumption is forced down to drive to drive with voltage than described robot
Described control circuit substrate has the control circuit of the control driving of motor described in Control of Voltage to force down than described the 1st relay driving electricity consumption,
Described motor drive circuit substrate has the 2nd relay circuit, the 2nd relay circuit applies or cuts off described robot driving voltage to described motor, and the 2nd relay circuit driven electricity consumption to be forced down than described robot and the 2nd relay driving voltage higher than described control voltage drives
Described control circuit substrate is applied in than described the 1st relay and drives the voltage that drives electricity consumption to force down with voltage and described the 2nd relay.
3. according to the robot controller described in claim 1 or 2, it is characterized in that,
Described the 1st relay drive circuit substrate structure becomes the emergent stopping port having from the instruction of outside input emergent stopping, if input described emergent stopping instruction to described emergent stopping with port, described the 2nd relay circuit becomes out state.
4. robot controller according to claim 3, is characterized in that,
Described the 1st relay drive circuit substrate has multiple described emergent stopping ports,
Described the 1st relay drive circuit substrate has the connector of the signal of the action that is transfused to the described robot of instruction from outside,
Described multiple emergent stopping is arranged on described connector with one in port.
5. according to the robot controller described in any one in claim 1～4, it is characterized in that,
When being configured to overlook, described the 1st relay drive circuit substrate and described control circuit substrate overlap.
6. according to the robot controller described in any one in claim 1～5, it is characterized in that,
Described brake is the electromagnetic brake that is arranged on described motor.
7. according to the robot controller described in any one in claim 1～6, it is characterized in that,
Described the 1st relay drive circuit substrate has the connector being electrically connected with other this robot controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012262116A JP5970713B2 (en) | 2012-11-30 | 2012-11-30 | Robot controller |
| JP2012-262116 | 2012-11-30 |
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| Publication Number | Publication Date |
|---|---|
| CN103846917A true CN103846917A (en) | 2014-06-11 |
| CN103846917B CN103846917B (en) | 2016-08-17 |
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| CN201310612988.2A Active CN103846917B (en) | 2012-11-30 | 2013-11-27 | Robot controller |
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| CN (1) | CN103846917B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106466845A (en) * | 2015-08-19 | 2017-03-01 | 精工爱普生株式会社 | Robot controller, robot and robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6791900B2 (en) | 2018-04-19 | 2020-11-25 | ファナック株式会社 | Control device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103846917B (en) | 2016-08-17 |
| JP5970713B2 (en) | 2016-08-17 |
| JP2014104573A (en) | 2014-06-09 |
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