Robot Controllers and Robot Systems

Abstract

To provide a robot controller which enables each part to be cooled under conditions suitable for the part, and to provide a robot system.SOLUTION: A robot controller includes: a case having a suction port and a passage which is connected with the suction port and in which a gas supplied from the suction port flows; a control board which controls operation of a robot; a driving circuit board which is disposed in the passage and controls driving of a motor included in the robot; a power source circuit board which is disposed at the upstream side of the driving circuit board in the passage and supplies electric power to the control board; and a fan disposed between the driving circuit board and the power source circuit board in the passage.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a robot controller and a robot system. [Background technology]

[0002] For example, the robot controller described in Patent Document 1 has a case body, a power supply board, a power circuit board, and a regenerative resistor housed in the case body, and a fan arranged in the case body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-136780 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in such robot controllers, the power supply board and power circuit board are arranged side by side in the same space inside the case body, which means that they have similar cooling conditions, making it difficult to cool each part under conditions that are appropriate for them. [Means for solving the problem]

[0005] The robot controller of the present invention includes: a case having an intake port; and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board that controls the operation of the robot; a drive circuit board that is disposed in the flow path and controls the driving of a motor provided in the robot; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed within the flow path between the drive circuit board and the power supply circuit board.

[0006] The robot system of the present invention includes: a robot equipped with a motor; a robot controller connected to the robot and controlling the driving of the motor, the robot controller includes a case having an intake port and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board for controlling the operation of the robot; a drive circuit board disposed in the flow path and controlling the driving of the motor; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed within the flow path between the drive circuit board and the power supply circuit board. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is an overall configuration diagram of a robot system according to a first embodiment. [Figure 2] FIG. 2 is a perspective view showing a robot controller. [Figure 3] FIG. 1 is a perspective view showing an example of the arrangement of a robot controller. [Figure 4] FIG. 1 is a block diagram of a robot system. [Figure 5] FIG. 2 is a cross-sectional view showing the inside of the robot controller. [Figure 6] FIG. 4 is a cross-sectional view showing a state in which the cover member is removed from the case body. [Figure 7] FIG. 10 is a cross-sectional view showing a modified example of the robot controller. [Figure 8] FIG. 10 is a cross-sectional view showing the inside of a robot controller according to a second embodiment. [Figure 9] FIG. 4 is a cross-sectional view showing a state in which the cover member is removed from the case body. [Figure 10] FIG. 10 is a cross-sectional view showing the inside of a robot controller according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot controller and a robot system according to the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0009] First Embodiment FIG. 1 is a diagram showing the overall configuration of a robot system according to a first embodiment. FIG. 2 is a perspective view showing a robot controller. FIG. 3 is a perspective view showing an example of the arrangement of the robot controller. FIG. 4 is a block diagram of the robot system. FIG. 5 is a cross-sectional view showing the inside of the robot controller. FIG. 6 is a cross-sectional view showing a state in which a cover member is removed from a case main body. FIG. 7 is a cross-sectional view showing a modified example of the robot controller.

[0010] In each figure except for Figure 1, the X-axis, Y-axis, and Z-axis are shown as three mutually orthogonal axes. The direction along the X-axis, i.e., the direction parallel to the X-axis, is also referred to as the "X-axis direction," the direction along the Y-axis, i.e., the direction parallel to the Y-axis, is also referred to as the "Y-axis direction," and the direction along the Z-axis, i.e., the direction parallel to the Z-axis, is also referred to as the "Z-axis direction." The tip of the arrow on each axis is also referred to as the "plus side," and the opposite side is also referred to as the "negative side." The positive side of the Z-axis is also referred to as the "upper," and the negative side of the Z-axis is also referred to as the "lower."

[0011] The robot system 1 shown in FIG. 1 includes a robot 2 and a robot controller 3 that controls the driving of the robot 2.

[0012] -Robot 2- The robot 2 is a robot that performs tasks such as supplying, removing, transporting, and assembling precision equipment and the components that make up the equipment. However, the use of the robot 2 is not particularly limited. The robot 2 is a six-axis robot having six rotation axes. The robot 2 has a base 21 and a robot arm 22 that is rotatably connected to the base 21, and an end effector 23 is attached to the tip of the robot arm 22.

[0013] The robot arm 22 is a robotic arm in which multiple arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and is equipped with six joints J1 to J6. Of these, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Furthermore, a motor M and an encoder E are installed in each of the joints J1, J2, J3, J4, J5, and J6.

[0014] In addition, an end effector 23 is connected to the arm 226. The end effector 23 is detachable from the arm 226, and an end effector suitable for the task that the robot 2 is to perform can be selected and attached.

[0015] Although the robot 2 has been described above, the configuration of the robot 2 is not particularly limited. For example, the robot 2 may be a SCARA robot (horizontal articulated robot), a dual-arm robot, etc. Furthermore, the robot 2 may be fixed to the floor or the like and immobile, or may be fixed to a mobile device such as an automated guided vehicle (AGV) and mobile.

[0016] -Robot Controller 3- The robot controller 3 is housed in the base 21. However, the location of the robot controller 3 is not particularly limited, and for example, it does not have to be housed in the robot 2.

[0017] The robot controller 3 independently controls the driving of each of the motors M provided in the joints J1 to J6. As shown in FIG. 2, the robot controller 3 has a substantially cubic case 4, and a circuit board 10, a regenerative resistor 7, and a control board 11 housed within the case 4. The circuit board 10 also has a power supply circuit board 5 and a drive circuit board 6. The power supply circuit board 5 and the drive circuit board 6, i.e., the circuit board 10, are boards that convert one of input AC current and DC current into the other.

[0018] The control board 11 controls the movement of the robot 2. The control board 11 issues commands to the drive circuit board 6, as will be described later, based on at least the calculated movement position and movement speed of the robot arm 22. The control board 11 includes, for example, processors such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and a DSP (Digital Signal Processor), as well as elements such as an FPGA (Field-Programmable Gate Array) and an ASIC (Application Specific Integrated Circuit).

[0019] As shown in Fig. 4, the power supply circuit board 5 is connected to an input terminal that connects to a power source via a power line, and the regeneration circuit 7 and drive circuit board 6 are connected to input terminals and power lines in parallel with the power supply circuit board 5. The power supply circuit board 5 and control board 11 are also connected via power lines and are each frame grounded. A converter circuit (not shown) is provided between the regeneration circuit 7 and the branch point, and this converter circuit converts AC current input from the power source via the input terminal into DC current and supplies it to the regeneration circuit 7 and drive circuit board 6.

[0020] The case 4 is substantially cubic and has a front surface 41, a back surface 42, a top surface 43, a bottom surface 44, a right side surface 45, and a left side surface 46. The case 4 is made of various metal materials, such as aluminum and stainless steel. However, the material of the case 4 is not particularly limited and may be, for example, various resin materials. A connector group 9 is disposed on the front surface 41. The connector group 9 includes a power connector 91 for connecting the robot controller 3 to a power source and a robot connection connector 92 for connecting the drive circuit board 6 to the robot 2. Internal terminals, such as the power connector 91 and the robot connection connector 92, are disposed inside the case 4. The robot controller 3 is electrically connected to the robot 2 via a cable connected to the connector group 9. However, the type and number of connectors included in the connector group 9 are not particularly limited and can be appropriately set according to the required specifications.

[0021] Additionally, an intake port 81 that sends air into the case 4 and an exhaust port 82 that exhausts the air sent from the intake port 81 into the case 4 are arranged on the front surface 41. The intake port 81 is arranged at the end of the front surface 41 on the positive side in the X axis direction, and the exhaust port 82 is arranged at the end of the front surface 41 on the negative side in the X axis direction. In this manner, it is preferable to arrange the intake port 81 and the exhaust port 82 apart from each other. This makes it more difficult for the intake port 81 to draw in heated air from the exhaust port 82 than when the intake port 81 and the exhaust port 82 are arranged next to each other, thereby improving cooling efficiency.

[0022] Furthermore, the connector group 9 described above is disposed between the intake port 81 and the exhaust port 82. This allows for effective use of the portion of the front surface 41 between the intake port 81 and the exhaust port 82. By concentrating the intake port 81, the exhaust port 82, and the connector group 9 on the front surface 41 in this way, the space outside the robot controller 3 required for connecting to the connector group 9 and the space required to avoid blocking the intake port 81 and the exhaust port 82 are concentrated on the front surface 41, reducing restrictions on the position and arrangement of the robot controller 3 and improving the degree of freedom in arrangement.

[0023] Robot controllers are often installed in strong, airtight storage containers known as enclosures or cabinets for the purposes of shock protection, dustproofing, and waterproofing. For strength and airtightness, such storage containers are provided with a space S, which is closed on both the left and right sides (both sides in the X-axis direction), the top and bottom sides (both sides in the Z-axis direction), and the rear (negative side in the Y-axis direction), as shown in FIG. 3 . Even when placed in such a space S, the robot controller 3 can be appropriately positioned so that it can be connected to the connector group 9 and the intake vent 81 and exhaust vent 82 are not blocked. In particular, as the installation space for the robot controller 3 becomes increasingly narrow as the robot 2 becomes smaller, improving the degree of freedom in placement is extremely important. However, this is not limited thereto, and the intake vent 81 and exhaust vent 82 may be located on a surface other than the front surface 41, such as the top surface 43. Furthermore, the intake vent 81 and exhaust vent 82 may be located on different surfaces other than the front surface 41, such as the right side surface 45 and the left side surface 46.

[0024] 5, a flow path 40 is formed inside the case 4. The flow path 40 connects the intake port 81 and the exhaust port 82, and allows air supplied from the intake port 81 to flow toward the exhaust port 82. The flow path 40 is formed in a substantially U-shape, with one end connected to the intake port 81 and the other end connected to the exhaust port 82. For example, the flow path 40 is formed along the right side surface 45, the back surface 42, and the left side surface 46 of the case 4. The power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7 are each disposed within the flow path 40, and the air flowing through the flow path 40 cools these components. The gas supplied from the intake port 81 is not limited to air.

[0025] The flow path 40 has an upstream region Q1 (first region) extending from the intake port 81 toward the negative side in the Y-axis direction, a midstream region Q2 (second region) located downstream of the upstream region Q1 and extending toward the negative side in the X-axis direction, and a downstream region Q3 (third region) located downstream of the midstream region Q2 and extending toward the positive side in the Y-axis direction. For example, the upstream region Q1 is formed along the right side surface 45 of the case 4, the midstream region Q2 is formed along the back surface 42 of the case 4, and the downstream region Q3 is formed along the left side surface 46 of the case 4. The power supply circuit board 5 is disposed in the upstream region Q1, the drive circuit board 6 is disposed in the midstream region Q2, and the regenerative resistor 7 is disposed in the downstream region Q3. This arrangement allows the power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7 to be cooled under appropriate conditions, thereby improving the reliability of the robot controller 3. This will be described in detail later. The internal terminals of the connector group 9 are arranged in the area of ​​the case 4 excluding the area of ​​the flow path 40, that is, the area excluding at least the upstream area Q1, the midstream area Q2, and the downstream area Q3.

[0026] A first partition wall 481 is disposed between the upstream region Q1 and the midstream region Q2 to separate them, and a first communication hole 491 is formed in the first partition wall 481, connecting the upstream region Q1 and the midstream region Q2. Therefore, air flows from the upstream region Q1 to the midstream region Q2 through the first communication hole 491. Similarly, a second partition wall 482 is disposed between the midstream region Q2 and the downstream region Q3 to separate them, and a second communication hole 492 is formed in the second partition wall 482, connecting the midstream region Q2 and the downstream region Q3. Therefore, air flows from the midstream region Q2 to the downstream region Q3 through the second communication hole 492. Note that the first and second communication holes 491 and 492 are each formed of a plurality of regularly arranged pores. However, the configurations of the first and second communication holes 491 and 492 are not particularly limited.

[0027] A filter 810 is provided at the intake port 81. This prevents foreign matter from entering the flow path 40 through the intake port 81. A labyrinth 820 is provided at the exhaust port 82, making the flow path 40 meander. This prevents foreign matter from entering the flow path 40. The labyrinth 820 effectively prevents a finger entering through the exhaust port 82 from coming into contact with the regenerative resistor 7 in the downstream region Q3. In other words, the labyrinth 820 also functions as a guard to prevent contact between a finger and the regenerative resistor 7. The exhaust port 82 is formed as a slit with a width of less than 12 mm to prevent finger intrusion. The regenerative resistor 7 is positioned at a distance of 10 mm or more from the exhaust port 82. This allows the robot controller 3 to achieve IP protection rating IP2x. This improves the reliability and safety of the robot controller 3. However, this is not limiting. For example, the labyrinth 820 may be omitted.

[0028] Furthermore, a fan F is provided in the first communication hole 491. Driving this fan F forcibly generates an airflow in the flow path 40, improving the cooling efficiency of the power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7. In particular, by providing the fan F midway through the flow path 40, it is possible to reduce the output of the fan F or reduce the number of fans F installed, compared to when the fan F is installed at the end of the flow path 40 (the intake port 81 or the exhaust port 82). This allows for power-saving operation and miniaturization. Furthermore, by providing the fan F in the first communication hole 491, air passes through the fan F without leakage, thereby increasing the speed of the airflow. However, the location and number of the fan F are not particularly limited, and the fan F may be provided at the intake port 81 or the exhaust port 82. Alternatively, the fan F may be provided at both the intake port 81 and the exhaust port 82. Alternatively, the fan F may be provided between the drive circuit board 6 and the regenerative resistor 7.

[0029] Such a case 4 has a case main body 4A and two cover members 4B and 4C detachably attached to the case main body 4A. The case main body 4A has a connector group 9 and a midstream region Q2, the cover member 4B has an exhaust port 82 and a downstream region Q3, and the cover member 4C has an intake port 81 and an upstream region Q1.

[0030] The cover member 4B is located on the negative side of the case body 4A in the X-axis direction and is attached to the left side of the case body 4A. The cover member 4B is box-shaped and open on the positive side in the X-axis direction. Therefore, as shown in FIG. 6, when the cover member 4B is removed from the case body 4A, the regenerative resistor 7 in the downstream region Q3 is exposed through the opening of the cover member 4B. This configuration allows the regenerative resistor 7 to be removed along with the cover member 4B, allowing replacement without directly touching the regenerative resistor 7. This reduces the risk of burns, electric shock, and the like, improving the safety of the robot controller 3. Furthermore, the exhaust port 82 is located in the cover member 4B, making maintenance of the exhaust port 82 easier.

[0031] The cover member 4C is box-shaped with an open top and can be inserted into and removed from the case body 4A from the front face 41 like a drawer. As shown in Figure 6, when the cover member 4C is removed from the case body 4A, the power supply circuit board 5, fan F, and filter 810 in the upstream area Q1 are exposed from the opening in the cover member 4C. This configuration makes it easy to maintain and replace the power supply circuit board 5, fan F, and filter 810.

[0032] However, the configuration of the case 4 is not particularly limited, and for example, the cover members 4B and 4C may be omitted as shown in Fig. 7. Also, either one of the cover members 4B and 4C may be omitted.

[0033] Next, the power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7 arranged in the flow path 40 will be described.

[0034] As shown in FIG. 5 , a power supply circuit board 5 is disposed in the upstream area Q1. The power supply circuit board 5 converts input AC current into DC current and supplies power to the control board 11. The power supply circuit board 5 is, for example, a switching-type power supply circuit board, and is a board mounted with a rectifier bridge that rectifies the AC voltage input from the power supply, a primary-side electrolytic capacitor that smooths the rectified voltage, a switching element that converts the smoothed voltage into high-frequency AC, a high-frequency transformer, a secondary-side diode that rectifies the voltage transmitted via the high-frequency transformer, a secondary-side electrolytic capacitor that smooths the rectified voltage, and a control circuit that controls the driving of the switching element to keep the output voltage constant. The rectifier bridge, electrolytic capacitor, switching element, high-frequency transformer, secondary-side diode, secondary-side electrolytic capacitor, control circuit, and other components generate losses and heat during conversion. The direct current (DC) voltage generated by the power supply circuit board 5 is supplied to the control board 11 as a power supply voltage. However, the configuration of the power supply circuit board 5 is not particularly limited.

[0035] Furthermore, the power supply circuit board 5 is fixed, for example, with screws to the right side surface of the cover member 4C. By arranging the power supply circuit board 5 on the right side surface of the cover member 4C in this way, it becomes difficult for the power supply circuit board 5 to be located near the first communication hole 491, allowing air to flow smoothly from the upstream region Q1 to the midstream region Q2. However, the arrangement of the power supply circuit board 5 is not particularly limited.

[0036] As shown in FIG. 5, a drive circuit board 6 is disposed in the midstream region Q2. The drive circuit board 6 converts input direct current into alternating current, supplies power to each motor M, and controls the drive of each motor M. The drive circuit board 6 is a board on which six drive circuits 61 corresponding to the six motors M included in the robot arm 22 are mounted. As shown in FIG. 4, the drive circuit 61 is an inverter circuit connected to the control board 11 via signal lines and is provided with six switching elements. The motor M is a motor driven by three-phase alternating current, and one drive circuit 61 is connected to the motor M via three power lines. If the three power lines are, for example, U-phase, V-phase, and W-phase, the drive circuit 61 has two switching elements for the U-phase, another two switching elements for the V-phase, and the remaining two switching elements for the W-phase. The two switching elements for each phase are connected in series, and the power line for each phase of the motor M is connected between the two switching elements. When a current command value for controlling the motor M is output from the control board 11 to the drive circuit 61, the drive circuit 61 receives this current command value and operates the six switching elements to change the on / off combinations and on / off ratios of the switching elements. Operation of these switching elements generates three-phase AC current from DC current. The drive circuit 61 supplies this three-phase AC current to the motor M as power. Note that the switching elements generate losses and heat during conversion.

[0037] In the illustrated configuration, six drive circuits 61 are arranged in a row on the back surface of the substrate, and a heat sink 62 is arranged on the front surface of the substrate as a heat dissipation member. The heat sink 62 is arranged so as to overlap all of the drive circuits 61. This improves cooling efficiency. Furthermore, for example, an IPM (Intelligent Power Module) can be used as the drive circuits 61. However, the configuration of the drive circuit board 6 is not particularly limited. For example, the heat sink 62 may be arranged separately for each drive circuit 61.

[0038] Furthermore, the drive circuit board 6 is fixed to the rear surface 42, for example, with screws. Furthermore, the heat sink 62 is arranged so as to overlap the fan F when viewed from the X-axis direction. This allows the turbulent air generated by the fan F to be efficiently directed against the heat sink 62, thereby enabling the drive circuit board 6 to be cooled more efficiently. However, the arrangement of the drive circuit board 6 is not particularly limited.

[0039] As shown in FIG. 5, a regenerative resistor 7 is disposed in the downstream region Q3. The regenerative resistor 7 is a resistor that converts the back electromotive force generated by each motor M into heat and consumes it. This makes it possible to suppress control abnormalities due to overvoltage. In this embodiment, the regenerative resistor 7 is a cement resistor that converts the back electromotive force into heat and consumes it. As shown in FIG. 4, the regenerative resistor 7 and the power line are connected via a switch, and the on / off of the switch is controlled by, for example, a control board 11.

[0040] The regenerative resistor 7 is fixed to the left side surface 46, for example, with a screw. By positioning the regenerative resistor 7 on the left side surface 46 in this manner, the regenerative resistor 7 is less likely to be located near the second communication holes 492, allowing air to flow smoothly from the midstream region Q2 to the downstream region Q3. The regenerative resistor 7 is positioned on the left side surface 46 via a spacer SS, forming a gap G between the regenerative resistor 7 and the left side surface 46. This increases the contact area of ​​the regenerative resistor 7 with the airflow, improving the cooling efficiency of the regenerative resistor 7. Furthermore, heat from the regenerative resistor 7 is less likely to be transferred to the case 4, reducing the risk of burns and other injuries. From this perspective, the spacer SS is preferably made of a material with low thermal conductivity, such as a resin material. However, the positioning of the regenerative resistor 7 is not particularly limited.

[0041] Furthermore, the regenerative resistor 7 has a case that houses the cement resistor, and this case has the same potential as the case 4. This can reduce the risk of electric shock and the like.

[0042] The power supply circuit board 5, drive circuit board 6, and regenerative resistor 7 have been described above. The power supply circuit board 5 and drive circuit board 6 generate heat due to losses when converting input AC and DC currents into the other. The power supply circuit board 5 does not generate much heat. However, the electrolytic capacitor mounted on the power supply circuit board 5 has a tendency to have a shortened lifespan when the ambient temperature is high. It is generally believed that a 10°C increase in ambient temperature reduces the lifespan by approximately half. Therefore, it is preferable to cool the power supply circuit board 5 more effectively. Therefore, as described above, in this embodiment, the power supply circuit board 5 is located in the upstream region Q1 and cooled using fresh air introduced through the air intake 81. This allows the power supply circuit board 5 to be cooled with excellent efficiency and suppresses performance degradation of the power supply circuit board 5. In particular, driving the fan F creates a negative pressure in the upstream region Q1, increasing the airflow velocity within the upstream region Q1, which causes the airflow to impinge on the power supply circuit board 5 with greater force. This allows the power supply circuit board 5 to be cooled more effectively, resulting in more pronounced effects.

[0043] Furthermore, the drive circuit board 6 generates more heat than the power supply circuit board 5 because the drive circuits 61 are a heat source. On the other hand, the ambient temperature has less impact on the lifespan of the drive circuit board 6 than the power supply circuit board 5. In other words, the drive circuit board 6 has better heat resistance than the power supply circuit board 5, but its cooling priority is lower than that of the power supply circuit board 5. Therefore, as described above, in this embodiment, the drive circuit board 6 is placed in the mid-flow region Q2 and cooled using the slightly warmed air used to cool the power supply circuit board 5. This also allows the drive circuit board 6 to be cooled under sufficient conditions, thereby suppressing deterioration of the characteristics of the drive circuit board 6. In particular, because the fan F is provided in the first communication hole 491, turbulent air generated by the fan F collides with the drive circuit board 6. This allows the drive circuit board 6 to be cooled more effectively, making the above-mentioned effects more pronounced.

[0044] The regenerative resistor 7 generates more heat than the power supply circuit board 5 but less heat than the drive circuit board 6. The ambient temperature has almost no effect on its lifespan. In other words, the regenerative resistor 7 has better heat resistance than the drive circuit board 6, and its cooling priority is lower than that of the drive circuit board 6. Therefore, as described above, in this embodiment, the regenerative resistor 7 is disposed in the downstream region Q3 and cooled using the air that is used to cool the drive circuit board 6 and that is also warmed. This also allows the regenerative resistor 7 to be cooled under sufficient conditions, thereby suppressing deterioration of the characteristics of the regenerative resistor 7. In particular, in this embodiment, the opening area of ​​the second communication hole 492 is smaller than the opening areas of the intake port 81 and the first communication hole 491. Therefore, the airflow speed increases as it passes through the second communication hole 492, and the airflow strikes the regenerative resistor 7 with greater force. This allows the regenerative resistor 7 to be cooled more effectively, resulting in a more pronounced effect.

[0045] The robot system 1 of this embodiment has been described above. The robot controller 3 included in the robot system 1 includes, as described above, a case 4 having an air intake 81 and a flow path 40 connected to the air intake 81 and through which air flows as gas supplied from the air intake 81; a control board 11 that controls the operation of the robot 2; a drive circuit board 6 that is disposed within the flow path 40 and controls the drive of a motor M provided in the robot 2; a power supply circuit board 5 that is disposed within the flow path 40 upstream of the drive circuit board 6 and supplies power to the control board 11; and a fan F that is disposed within the flow path 40 between the drive circuit board 6 and the power supply circuit board 5. Because the power supply circuit board 5 is more susceptible to heat than the drive circuit board 6, the power supply circuit board 5 is disposed upstream of the drive circuit board 6 and cooled preferentially, allowing the power supply circuit board 5 and the drive circuit board 6 to be cooled under optimal conditions. In particular, the fan F is disposed within the flow path 40, which increases the airflow speed within the flow path 40 and allows the power supply circuit board 5 and the drive circuit board 6 to be cooled efficiently. Furthermore, by disposing the fan F between the power supply circuit board 5 and the drive circuit board 6, the power supply circuit board 5 can be cooled by the airflow created by the negative pressure, and the drive circuit board 6 can be cooled by the turbulent airflow created by the fan F. As a result, a highly reliable robot controller 3 can be obtained.

[0046] As described above, the robot controller 3 has an exhaust port 82 that exhausts the air in the flow path 40 to the outside of the case 4, and the intake port 81 and the exhaust port 82 are arranged on the same surface, i.e., the front surface 41. This improves the degree of freedom in the placement of the robot controller 3.

[0047] As described above, the robot controller 3 is disposed on the front surface 41 and has the robot connection connector 92 as a connector to be connected to the robot 2. This improves the degree of freedom in the placement of the robot controller 3.

[0048] As described above, the flow path 40 has an upstream region Q1 as a first region in which the power supply circuit board 5 is disposed, a midstream region Q2 as a second region located downstream of the upstream region Q1 in which the drive circuit board 6 is disposed, a first partition wall 481 separating the upstream region Q1 from the midstream region Q2, and a first communication hole 491 formed in the first partition wall 481 and communicating between the upstream region Q1 and the midstream region Q2, and the fan F is disposed in the first communication hole 491. This allows air to pass through the fan F without leakage, thereby increasing the airflow speed.

[0049] As described above, the case 4 has the case body 4A and the cover member 4C that is detachably attached to the case body 4A, and the power supply circuit board 5 is disposed on the cover member 4C. This makes maintenance of the power supply circuit board 5 easy.

[0050] As described above, the case 4 has a case body 4A and a cover member 4C that is detachably attached to the case body 4A, and the fan F is disposed on the cover member 4C. This makes maintenance of the fan F easy.

[0051] As described above, the case 4 has the case body 4A and the cover member 4C that is detachably attached to the case body 4A, and the air intake 81 is disposed in the cover member 4C. This makes it easy to maintain the air intake 81.

[0052] As described above, the robot controller 3 has a filter 810 disposed in the intake port 81. This makes it possible to prevent foreign matter from entering the flow path 40 through the intake port 81.

[0053] As described above, the robot controller 3 is disposed within the flow path 40 downstream of the drive circuit board 6 and has a regenerative resistor 7 that consumes the back electromotive force generated by the motor M. Because the drive circuit board 6 is more susceptible to the effects of heat than the regenerative resistor 7, by disposing the drive circuit board 6 upstream of the regenerative resistor 7 and cooling it preferentially, the drive circuit board 6 and the regenerative resistor 7 can be cooled under conditions that are appropriate for each.

[0054] As described above, the flow path 40 has the downstream region Q3 as a third region where the regenerative resistor 7 is located, the second partition wall 482 that separates the midstream region Q2 from the downstream region Q3, and the second communication hole 492 that is formed in the second partition wall 482 and connects the midstream region Q2 to the downstream region Q3, and the opening area of ​​the second communication hole 492 is smaller than the opening area of ​​the intake port 81. Therefore, the speed of the airflow increases when passing through the second communication hole 492, and the regenerative resistor 7 can be cooled more effectively.

[0055] As described above, the robot system 1 includes a robot 2 equipped with a motor M, and a robot controller 3 connected to the robot 2 and controlling the operation of the motor M. The robot controller 3 includes a case 4 having an intake port 81 and a flow path 40 connected to the intake port 81 and through which air flows as gas supplied from the intake port 81, a control board 11 that controls the operation of the robot 2, a drive circuit board 6 that is disposed within the flow path 40 and controls the operation of the motor M of the robot 2, a power supply circuit board 5 that is disposed within the flow path 40 and upstream of the drive circuit board 6 and supplies power to the control board 11, and a fan F that is disposed within the flow path 40 between the drive circuit board 6 and the power supply circuit board 5. Because the power supply circuit board 5 is more susceptible to heat than the drive circuit board 6, the power supply circuit board 5 and the drive circuit board 6 can be cooled under conditions appropriate for each board by preferentially cooling the power supply circuit board 5 by disposing the power supply circuit board 5 upstream of the drive circuit board 6. In particular, since the fan F is disposed within the flow path 40, the speed of the airflow within the flow path 40 can be increased, enabling efficient cooling of the power supply circuit board 5 and the drive circuit board 6. Furthermore, by disposing the fan F between the power supply circuit board 5 and the drive circuit board 6, the power supply circuit board 5 can be cooled by the airflow created by the negative pressure, and the drive circuit board 6 can be cooled by the turbulent flow created by the fan F. As a result, a highly reliable robot system 1 can be obtained.

[0056] Second Embodiment Fig. 8 is a cross-sectional view showing the inside of the robot controller according to the second embodiment, and Fig. 9 is a cross-sectional view showing a state in which the cover member is removed from the case main body.

[0057] The robot controller 3 of this embodiment is similar to the robot controller 3 of the first embodiment described above, except for the arrangement of the power supply circuit board 5. Therefore, in the following description, differences between this embodiment and the first embodiment will be mainly described, and similar points will not be described again. Furthermore, in each drawing of this embodiment, the same reference numerals are used to designate the same components as those in the previously described embodiment.

[0058] As shown in Figures 8 and 9, in the robot controller 3 of this embodiment, the power supply circuit board 5 is screwed to the right side surface 45 of the case body 4A, and a fan F and a filter 810 are arranged on the cover member 4C.

[0059] The second embodiment can also achieve the same effects as the first embodiment described above.

[0060] <Third embodiment> FIG. 10 is a cross-sectional view showing the inside of a robot controller according to the third embodiment.

[0061] The robot controller 3 of this embodiment is similar to the robot controller 3 of the first embodiment described above, except that it has a wind tunnel 60. Therefore, in the following description, differences between this embodiment and the first embodiment will be mainly described, and descriptions of similar points will be omitted. Furthermore, in each drawing of this embodiment, the same reference numerals are used to designate the same components as those in the previously described embodiment.

[0062] 10, the robot controller 3 of this embodiment has an air channel 60 for guiding airflow to the heat sink 62 of the drive circuit board 6. This allows the airflow to be efficiently guided to the heat sink 62, improving the cooling efficiency of the drive circuit board 6.

[0063] The third embodiment can also achieve the same effects as the first embodiment described above.

[0064] While the robot controller and robot system of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other components may be added to the present invention. [Explanation of symbols]

[0065] 1...Robot system, 10...Circuit board, 11...Control board, 2...Robot, 21...Base, 22...Robot arm, 221...Arm, 222...Arm, 223...Arm, 224...Arm, 225...Arm, 226...Arm, 23...End effector, 3...Robot controller, 4...Case, 4A...Case body, 4B...Cover member, 4C...Cover member, 40...Flow path, 41...Front, 42...Rear, 43...Top, 44...Bottom, 45...Right side, 46...Left side, 481...First partition wall, 482...Second partition wall, 491...First connecting member Through hole, 492...second communication hole, 5...power supply circuit board, 6...drive circuit board, 60...wind tunnel, 61...drive circuit, 62...heat sink, 7...regenerative resistor, 81...intake port, 810...filter, 82...exhaust port, 820...labyrinth, 9...connector group, 91...power connector, 92...robot connection connector, E...encoder, F...fan, G...air gap, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, M...motor, Q1...upstream region, Q2...midstream region, Q3...downstream region, S...space, SS...spacer

Claims

1. a case having an intake port and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board that controls the operation of the robot; a drive circuit board that is disposed in the flow path and controls the driving of a motor provided in the robot; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed in the flow path between the drive circuit board and the power supply circuit board, The case has a case body and a cover member detachably attached to the case body, A robot controller characterized in that the power supply circuit board is disposed in the cover member.

2. an exhaust port for exhausting gas in the flow path to the outside of the case; The robot controller according to claim 1 , wherein the intake port and the exhaust port are arranged on the same surface.

3. The robot controller according to claim 2 , further comprising a connector disposed on the same surface and connected to the robot.

4. the flow path includes a first region in which the power supply circuit board is disposed, a second region located downstream of the first region in which the drive circuit board is disposed, a first partition wall separating the first region from the second region, and a first communication hole formed in the first partition wall and communicating the first region with the second region; The robot controller according to claim 1 , wherein the fan is disposed in the first communication hole.

5. The case has a case body and a cover member detachably attached to the case body, The robot controller according to claim 1 , wherein the fan is disposed on the cover member.

6. The case has a case body and a cover member detachably attached to the case body, The robot controller according to claim 1 , wherein the air intake is disposed in the cover member.

7. The robot controller according to any one of claims 1 to 6, further comprising a filter disposed in the air intake.

8. 8. The robot controller according to claim 1, further comprising a regenerative resistor disposed within the flow path downstream of the drive circuit board, the regenerative resistor consuming back electromotive force generated by the motor.

9. A regenerative resistor is disposed within the flow path and downstream of the drive circuit board, and consumes back electromotive force generated by the motor; the flow path includes a third region in which the regenerative resistor is disposed, a second partition wall that separates the second region from the third region, and a second communication hole that is formed in the second partition wall and that communicates the second region with the third region; The robot controller according to claim 4 , wherein an opening area of ​​the second communication hole is smaller than an opening area of ​​the intake port.

10. a case having an intake port and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board that controls the operation of the robot; a drive circuit board that is disposed in the flow path and controls the driving of a motor provided in the robot; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed in the flow path between the drive circuit board and the power supply circuit board, the flow path includes a first region in which the power supply circuit board is disposed, a second region located downstream of the first region in which the drive circuit board is disposed, a first partition wall separating the first region from the second region, and a first communication hole formed in the first partition wall and communicating the first region with the second region; A robot controller characterized in that, when viewed from the direction of the central axis of the first communication hole, the first communication hole overlaps with the drive circuit board.

11. a robot having a motor; a robot controller connected to the robot and controlling the driving of the motor, the robot controller includes a case having an intake port and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board for controlling the operation of the robot; a drive circuit board disposed in the flow path and controlling the driving of the motor; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed in the flow path between the drive circuit board and the power supply circuit board, The case has a case body and a cover member detachably attached to the case body, A robot system, wherein the power supply circuit board is disposed on the cover member.

12. a robot having a motor; a robot controller connected to the robot and controlling the driving of the motor, the robot controller includes a case having an intake port and a flow path connected to the intake port and through which gas supplied from the intake port flows; a control board for controlling the operation of the robot; a drive circuit board disposed in the flow path and controlling the driving of the motor; a power supply circuit board that is disposed in the flow path and upstream of the drive circuit board and that supplies power to the control board; a fan disposed in the flow path between the drive circuit board and the power supply circuit board, the flow path includes a first region in which the power supply circuit board is disposed, a second region located downstream of the first region in which the drive circuit board is disposed, a first partition wall separating the first region from the second region, and a first communication hole formed in the first partition wall and communicating the first region with the second region; A robot system, characterized in that the first communication hole overlaps with the drive circuit board when viewed from the direction of the central axis of the first communication hole.

Images