Robot control device

Abstract

A robot control device with high installation flexibility is provided. A robot control device characterized by controlling a robot, the robot control device including: a control board that controls an operation of the robot; a housing that is configured by a plurality of boards including a first board and a second board, the control board being housed in a space surrounded by the plurality of boards; an air inlet that introduces air into the housing; an air outlet that discharges the air in the housing to the outside; and a cable connection portion that connects a cable that communicates with the robot, the air inlet, the air outlet, and the cable connection portion being provided on the first board, the second board including an installation surface that faces an object on which the housing is installed.

Description

Technical Field

[0001] This invention relates to robot control devices. Background Technology

[0002] In recent years, due to rising labor costs and labor shortages in factories, there is an increasing demand for automation of tasks previously performed manually, through various robots and their peripheral equipment. Examples of such robots include, for instance, the robot described in Patent Document 1.

[0003] The robot described in Patent Document 1 includes a base and a robotic arm connected to the base. Furthermore, the robot's movements are controlled by a controller. The controller described in Patent Document 1 includes a control board and a housing for housing the control board. Additionally, the housing has an air inlet and an exhaust outlet for cooling, as well as a cable connector for connecting the robot and the controller.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2011-194480

[0005] However, in the controller described in Patent Document 1, the cable connector and air inlet are located on the back, while the exhaust port is located on the front. Because the cable connector, air inlet, and exhaust port are not concentrated in one area, the controller needs to be installed in a way that prevents them from being flush against the wall, thus imposing many restrictions on their placement. Summary of the Invention

[0006] This invention was made to solve at least a portion of the aforementioned technical problems, and can be achieved through the following means.

[0007] The robot control device of the present invention is characterized in that it controls a robot, and the robot control device comprises:

[0008] The control board controls the robot's movements;

[0009] The housing is constructed from multiple plates, including a first plate and a second plate, and the control board is housed in a space surrounded by the multiple plates.

[0010] The air inlet introduces air into the housing.

[0011] An exhaust vent discharges air from the enclosure to the outside; and

[0012] Cable connector, for connecting the cable that communicates with the robot.

[0013] The first plate is provided with the air inlet, the exhaust outlet, and the cable connection portion.

[0014] The second plate includes a mounting surface facing the object to be mounted on the housing. Attached Figure Description

[0015] Figure 1 This is a side view showing a robot controlled by a robot control device according to a first embodiment of the present invention.

[0016] Figure 2 It is shown Figure 1 The diagram shows a partial cross-sectional view of the interior of the second arm of the robotic arm.

[0017] Figure 3 yes Figure 1 A 3D view of the robot control device shown.

[0018] Figure 4 yes Figure 1 The front view of the robot control device shown.

[0019] Figure 5 yes Figure 1 A partial cross-sectional view of the robot control device shown.

[0020] Figure 6 yes Figure 1 A partial cross-sectional view of the robot control device shown.

[0021] Figure 7 This is a partial cross-sectional view of the robot control device in the second embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures

[0023] 1…Robot control unit, 2…Robot, 5…Control board, 6…House, 7…End effector, 7A…Intake unit, 8…Cable connector, 9…Covering component, 10…Protective component, 20…Robot arm, 21…Base, 22…First arm, 23…Second arm, 24…Third arm, 25…Drive unit, 26…Drive unit, 27…u drive unit, 28…z drive unit, 51…Control board, 52…Power board, 53…Drive control board, 54…Drive board, 61…Top plate, 62…Bottom plate, 63…Side wall, 64…Side wall, 65…Side wall, 66…Side wall, 71…Fan, 72…Fan mounting part, 91…Release hole, 100…Robot system, 200…Cable, 230…House, 230C…Recess, 231…Base, 232…Top plate, 233…Side wall, 241… Front shaft, 242…rotary support component, 243…ball screw nut, 243A…inner ring, 243B…outer ring, 244…spline nut, 244A…inner ring, 244B…outer ring, 245…outer cylinder, 246…rotating body, 251…motor, 252…reducer, 253…position sensor, 261…motor, 262…reducer, 263…position sensor, 271…motor, 273… …position sensor, 274…belt, 275…pulley, 281…motor, 283…position sensor, 284…belt, 285…pulley, 630…exhaust port, 631…cutout, 632…removal hole, 641…back side, 721…first part, 722…second part, 723…intake port, 724…filter, 7221…hole, O1…first shaft, O2…second shaft, O3…third shaft. Detailed Implementation

[0024] The robot control device of the present invention will now be described in detail based on the preferred embodiments shown in the accompanying drawings.

[0025] First Implementation Method

[0026] Figure 1 This is a side view showing a robot controlled by a robot control device according to a first embodiment of the present invention. Figure 2 It is shown Figure 1 The diagram shows a partial cross-sectional view of the interior of the second arm of the robotic arm. Figure 3 yes Figure 1 A 3D view of the robot control device shown. Figure 4 yes Figure 1 The front view of the robot control device shown. Figure 5 as well as Figure 6 yes Figure 1 A partial cross-sectional view of the robot control device shown.

[0027] In addition, for ease of explanation, in Figure 1 as well as Figure 2 The diagram shows three mutually orthogonal axes: the x-axis, y-axis, and z-axis. Furthermore, the direction parallel to the x-axis will be referred to as the "x-axis direction," the direction parallel to the y-axis as the "y-axis direction," and the direction parallel to the z-axis as the "z-axis direction." Additionally, the front end of each arrow in the diagram will be referred to as "+" (positive) and the base end as "-" (negative). The direction parallel to the +x-axis will be referred to as the "+x-axis direction," the direction parallel to the -x-axis as the "-x-axis direction," the direction parallel to the +y-axis as the "+y-axis direction," the direction parallel to the -y-axis as the "-y-axis direction," the direction parallel to the +z-axis as the "+z-axis direction," and the direction parallel to the -z-axis as the "-z-axis direction." Furthermore, the direction around the z-axis and the direction around an axis parallel to the z-axis will be referred to as the "u-axis direction."

[0028] In addition, for ease of explanation, in Figures 3-7 The diagram shows three mutually orthogonal axes: the X-axis, Y-axis, and Z-axis. Furthermore, the direction parallel to the X-axis will be referred to as the "X-axis direction," the direction parallel to the Y-axis as the "Y-axis direction," and the direction parallel to the Z-axis as the "Z-axis direction." Additionally, the front end of each arrow in the diagram will be referred to as "+" (positive) and the base end as "-" (negative). The direction parallel to the +X-axis will be referred to as the "+X-axis direction," the direction parallel to the -X-axis as the "-X-axis direction," the direction parallel to the +Y-axis as the "+Y-axis direction," the direction parallel to the -Y-axis as the "-Y-axis direction," the direction parallel to the +Z-axis as the "+Z-axis direction," and the direction parallel to the -Z-axis as the "-Z-axis direction."

[0029] In addition, for ease of explanation, the following will be... Figure 1 The +z axis direction and Figure 3 The +Z axis direction, also known as the upper side or "above", will... Figure 1 The -z axis direction and Figure 3 The -Z axis direction, i.e., the lower side, is also referred to as "down" or "below". Additionally, for robotic arm 20, [the following will be used]. Figure 1 The side of the base 21 is called the "base end," and its opposite side, the end effector 7 side, is called the "front end." Additionally, Figure 1 z-axis direction and Figure 3 In this context, the Z-axis direction, i.e., the up-down direction, is set as the "vertical direction". Figure 1 The x-axis direction and y-axis direction in Figure 3 The X-axis and Y-axis directions, i.e., the left and right directions, are set as "horizontal direction".

[0030] Figure 1The robot system 100 shown is, for example, a device used in operations such as holding, conveying, assembling, and inspecting workpieces such as electronic components and electronic devices. The robot system 100 includes a robot control device 1, a robot 2, and an end effector 7.

[0031] Furthermore, the robot control device 1 is located at a different position than the robot 2, namely, on the outside of the robot 2. Although the robot 2 and the robot control device 1 are electrically connected via cable 200 (hereinafter simply referred to as "connection") in the illustrated configuration, this is not a limitation; the cable 200 may be omitted, and communication may be conducted wirelessly. That is, the robot 2 and the robot control device 1 can be connected via wired communication, or they can be connected via wireless communication.

[0032] In the diagram, robot 2 is a horizontal multi-joint robot, namely a SCARA robot.

[0033] like Figure 1 As shown, robot 2 has a base 21, a first arm 22, a second arm 23, and a third arm 24 that serves as the working head. The first arm 22, the second arm 23, and the third arm 24 constitute the robotic arm 20.

[0034] In addition, the robot 2 includes a drive unit 25 for rotating the first arm 22 relative to the base 21, a drive unit 26 for rotating the second arm 23 relative to the first arm 22, a u-drive unit 27 for rotating the front end shaft 241 of the third arm 24 relative to the second arm 23, and a z-drive unit 28 for moving the front end shaft 241 relative to the second arm 23 in the z-axis direction.

[0035] like Figure 1 as well as Figure 2 As shown, the drive unit 25 is built into the base 21 and has a motor 251 that generates driving force, a reducer 252 that reduces the driving force of the motor 251, and a position sensor 253 that detects the rotation angle of the rotating shaft of the motor 251 or the reducer 252.

[0036] The drive unit 26 is built into the housing 230 of the second arm 23 and has a motor 261 that generates driving force, a reducer 262 that reduces the driving force of the motor 261, and a position sensor 263 that detects the rotation angle of the rotating shaft of the motor 261 or the reducer 262.

[0037] The drive unit 27 is built into the housing 230 of the second arm 23, and has a motor 271 that generates driving force and a position sensor 273 that detects the rotation angle of the rotating shaft of the motor 271.

[0038] The z-drive unit 28 is built into the housing 230 of the second arm 23, and has a motor 281 that generates driving force and a position sensor 283 that detects the rotation angle of the rotating shaft of the motor 281.

[0039] Motors 251, 261, 271, and 281 can be, for example, servo motors such as AC servo motors and DC servo motors.

[0040] Furthermore, planetary gear reducers, wave gear devices, etc., can be used as reducers 252 and 262. Additionally, position sensors 253, 263, 273, and 283 can be, for example, angle sensors.

[0041] Drive unit 25, drive unit 26, u drive unit 27 and z drive unit 28 are respectively connected to the corresponding motor driver.

[0042] The base 21 is fixed to a floor (not shown), for example, by bolts. A first arm 22 is connected to the upper end of the base 21. The first arm 22 is rotatable relative to the base 21 about a first axis O1 along the vertical direction. When the drive unit 25 that rotates the first arm 22 is driven, the first arm 22 rotates in a horizontal plane relative to the base 21 about the first axis O1. In addition, the amount of rotation of the first arm 22 relative to the base 21 can be detected by a position sensor 253.

[0043] Furthermore, a second arm 23 is connected to the front end of the first arm 22. The second arm 23 is rotatable relative to the first arm 22 about a second axis O2 that runs vertically. The axial direction of the first axis O1 is the same as that of the second axis O2. That is, the second axis O2 is parallel to the first axis O1. When the drive unit 26 that rotates the second arm 23 is driven, the second arm 23 rotates relative to the first arm 22 about the second axis O2 in a horizontal plane. In addition, the drive of the second arm 23 relative to the first arm 22, specifically the amount of rotation, can be detected by the position sensor 263. That is, the second axis O2 is the center of the output rotation axis of the reducer 262.

[0044] Additionally, the second arm 23 has a base portion 231 that serves as multiple wall portions, a top plate 232, and a housing 230 with four side walls 233 connecting them. The drive unit 26, the u drive unit 27, and the z drive unit 28 are arranged sequentially from the +y axis side inside the housing 230, i.e., on the base portion 231.

[0045] In addition, such as Figure 2As shown, the base portion 231 is the bottom of the second arm 23 and has a recess 230C for the u-drive unit 27 to be configured. A portion of the recess 230C on the -z axis side is open to the -z axis side, and a rotary support member 242 is embedded in this open portion, through which the front end shaft 241 is inserted.

[0046] Additionally, a third arm 24 is provided at the front end of the second arm 23. The third arm 24 has a front end shaft 241 and a rotatable support member 242 that supports the front end shaft 241 so that it can rotate.

[0047] The front end shaft 241 is rotatable relative to the second arm 23 about a third axis O3 along the vertical direction, and is also movable in the vertical direction (lifting). That is, the front end shaft 241 is a ball screw spline shaft, and the front end shaft 241 is the foremost arm of the robotic arm 20.

[0048] Additionally, a ball screw nut 243 and a spline nut 244 are provided midway along the length of the front shaft 241, and the front shaft 241 is supported by them. These ball screw nuts 243 and spline nuts 244 are arranged separately from the +z axis side.

[0049] The ball screw nut 243 has an inner ring 243A and an outer ring 243B concentrically disposed on the outer periphery of the inner ring 243A. A plurality of balls (not shown) are disposed between the inner ring 243A and the outer ring 243B, and the inner ring 243A and the outer ring 243B rotate relative to each other in conjunction with the movement of the balls.

[0050] Furthermore, the inner ring 243A has a portion protruding from the outer ring 243B, and a strip 284, described later, is wound around this protruding portion. Additionally, a front end shaft 241 is inserted through the interior of the inner ring 243A, and as described later, the inner ring 243A supports the front end shaft 241 so that it can move along the z-axis. Furthermore, the outer ring 243B is fixed to the base portion 231.

[0051] The spline nut 244 has an inner ring 244A and an outer ring 244B concentrically disposed on the outer periphery of the inner ring 244A. A plurality of balls (not shown) are disposed between the inner ring 244A and the outer ring 244B, and the inner ring 244A and the outer ring 244B rotate relative to each other in conjunction with the movement of the balls.

[0052] Furthermore, the inner ring 244A has a portion protruding from the outer ring 244B, and the strip 274, described later, is wound around this exposed portion. Additionally, the front end shaft 241 is inserted through the interior of the inner ring 244A, which supports the front end shaft 241 so that it can rotate about the z-axis, i.e., in the u-axis direction. Furthermore, the outer ring 244B is fixed to the recess 230C of the base portion 231, described later.

[0053] Additionally, a swivel support member 242 is provided on the -z axis side of the spline nut 244. This swivel support member 242 has an outer cylinder 245 and a rotating body 246 disposed inside the outer cylinder 245. The outer cylinder 245 is fixed to a base portion 231 within the housing 230 of the second arm 23. On the other hand, although the rotating body 246 is fixed to the front end shaft 241, it is supported by the outer cylinder 245 in a manner that allows it to rotate together with the front end shaft 241 about the z-axis, i.e., in the u-axis direction.

[0054] When driven by the u-drive unit 27 that rotates the front shaft 241, the front shaft 241 rotates in both directions around the z-axis. Furthermore, the amount of rotation of the front shaft 241 relative to the second arm 23 can be detected by the position sensor 273.

[0055] Furthermore, when the z-drive unit 28, which moves the front end shaft 241 in the z-axis direction, is driven, the front end shaft 241 moves in the vertical direction, i.e., the z-axis direction. Additionally, the amount of movement of the front end shaft 241 relative to the second arm 23 in the z-axis direction can be detected by the position sensor 283.

[0056] Furthermore, various end effectors are connected to the front end of the front shaft 241 in a detachable manner. The end effector is not particularly limited; examples include end effectors for holding conveyed objects, end effectors for processing objects, and end effectors for inspection. In this embodiment, the end effector 7 is connected in a detachable manner.

[0057] It should be noted that although the end effector 7 is not a constituent element of the robot 2 in this embodiment, some or all of the end effector 7 may be constituent elements of the robot 2. Similarly, although the end effector 7 is not a constituent element of the robotic arm 20 in this embodiment, some or all of the end effector 7 may be constituent elements of the robotic arm 20.

[0058] Furthermore, although the end effector 7 can be detached from the robotic arm 20 in this embodiment, it is not limited to this. For example, the end effector 7 may not be detached from the robotic arm 20.

[0059] Next, the interior of the second arm 23 will be described.

[0060] like Figure 2 As shown, in robot 2, a u-drive unit 27 for rotating the third arm 24 about the z-axis, a z-drive unit 28 for moving the third arm 24 in the z-axis direction, a belt 274 and a belt 284 are provided in the housing 230 of the second arm 23.

[0061] like Figure 2As shown, the u-drive unit 27, in addition to the aforementioned motor 271 and position sensor 273, also has a pulley 275. They are arranged from the +z axis side in the order of position sensor 273, motor 271, and pulley 275, and are fixed to the bottom of the recess 230C. The pulley 275 is fixed to the rotation shaft of the motor 271, and the rotational force of the motor 271 is transmitted to the pulley 275.

[0062] Furthermore, pulley 275 is connected to the inner ring 244A of spline nut 244 located on front shaft 241 via belt 274. Belt 274 is an annular belt wound around pulley 275 and inner ring 244A, and has teeth (not shown) on its inner side, i.e., the sides of pulley 275 and inner ring 244A. The teeth of belt 274 mesh with the exposed teeth (not shown) of pulley 275 and inner ring 244A, respectively.

[0063] In this u-drive unit 27, the rotational force of the motor 271 is transmitted to the belt 274 via the pulley 275, causing the belt 274 to rotate. Due to the rotation of the belt 274, its rotational force is transmitted to the front shaft 241 via the spline nut 244. This rotational force can be transmitted to the front shaft 241 via the inner circumference of the inner ring 244A and the spline groove (not shown) of the front shaft 241, causing the front shaft 241 to move, i.e., rotate, in the u-axis direction.

[0064] In addition to the aforementioned motor 281 and position sensor 283, the z-drive unit 28 also includes a pulley 285. These are arranged from the +z axis side in the order of position sensor 283, motor 281, and pulley 285. The pulley 285 is fixed to the rotational shaft of the motor 281, and the rotational force of the motor 281 is transmitted to the pulley 285.

[0065] Furthermore, pulley 285 is connected to the exposed portion of the inner ring 243A of the ball screw nut 243 located on the front end shaft 241 via belt 284. Belt 284 is an annular belt wound around pulley 285 and inner ring 243A, and has teeth (not shown) on its inner side, i.e., on the sides of pulley 285 and inner ring 243A. The teeth of belt 284 mesh with the teeth (not shown) of pulley 285 and inner ring 243A, respectively.

[0066] In this z-drive unit 28, the rotational force of the motor 281 is transmitted to the belt 284 via the pulley 285, causing the belt 284 to rotate. Through the rotation of the belt 284, its rotational force is transmitted to the front shaft 241 via the inner ring 243A of the ball screw nut 243. This rotational force is redirected by the inner circumference of the inner ring 243A and the ball screw groove of the front shaft 241, enabling the front shaft 241 to move in the z-axis direction, i.e., to move up and down.

[0067] The above provides a brief description of robot 2. Next, the robot control device 1 will be described.

[0068] like Figures 3-6 As shown, the robot control device 1 includes a control board 51, a power supply board 52 that supplies power to the control board 51, a drive control board 53 that performs drive control based on instructions from the control board 51, a drive board 54 that drives each drive unit based on the drive control of the drive control board 53, a housing 6 that houses them, an air intake unit 7A, a cable connection part 8, a cover part 9, and a protective part 10. It should be noted that, hereinafter, the control board 51, the power supply board 52, the drive control board 53, and the drive board 54 are also collectively referred to as "control board 5".

[0069] The control board 51 has a control circuit (not shown) that controls the drive of the robot 2. The control circuit includes a processor such as a CPU, volatile memory such as RAM, and non-volatile memory such as ROM, and performs control, calculations, and judgments on the drive of various parts of the robot 2. For example, the control circuit can execute a predetermined control program and output control signals to the drive board 53 according to the control program, so that the robot 2 performs a predetermined action.

[0070] The power supply board 52 has a power supply circuit (not shown) that generates power to supply to the control board 51 and the drive control board 53, respectively. The power supply circuit includes a transformer and a noise filter, and converts the frequency and voltage of the power supplied from an external power source (not shown), such as a commercial power supply, to supply to the control board 51 and the drive control board 53.

[0071] The drive control board 53 receives control signals from the control board 51 and generates drive control signals for controlling the drive board 54 that drives each drive unit 25 to drive unit 28.

[0072] The drive board 54 is a board that houses a motor driver and receives drive control signals from the drive control board 53 to drive the motor drivers of each drive unit 25 to drive unit 28. The drive board 54 has a drive circuit (not shown) that converts power for supplying power to each drive unit 25 to drive unit 28. The drive circuit may include, for example, an inverter circuit (not shown) that converts DC power to AC power. It should be noted that although the illustrated configuration shows the drive circuits for each drive unit 25 to drive unit 28 mounted on a single board, it is also possible for the drive circuits for each drive unit 25 to drive unit 28 to be separated onto two or more boards.

[0073] The housing 6 is a cuboid comprising a top plate 61, a bottom plate 62, side walls 63, 64, 65, and 66. The top plate 61 is constructed of sheet metal with its thickness along the Z-axis. The bottom plate 62 is constructed of sheet metal with its thickness along the Z-axis. The side wall 63 is constructed of sheet metal located on the +X side with its thickness along the X-axis. The side wall 64 is constructed of sheet metal located on the -X side with its thickness along the X-axis. The side wall 65 is constructed of sheet metal located on the -Y side with its thickness along the Y-axis. The side wall 66 is constructed of sheet metal located on the +Y side with its thickness along the Y-axis. In this embodiment, side wall 63 is a first sheet metal, and side wall 64 is a second sheet metal.

[0074] It should be noted that in this embodiment, the enclosure 6 is used with the side wall 63 side as the front and the side wall 64 side as the back. Hereinafter, the outer surface of the side wall 64 will be referred to as the back surface 641. Furthermore, the back surface 641 is the surface on the X-axis side of the side wall 64, and is the surface facing the object to which the enclosure 6 is to be installed. While not particularly limited, the object to which the enclosure 6 is to be installed can include, for example, the floor, walls, and ceiling. It should be noted that the installation surface is not limited to the back surface 641, and can be selected according to the object to which the enclosure 6 is to be installed. That is, any one of the outer surfaces of the top plate 61, the bottom plate 62, the side wall 64, and the side wall 65 can be used as the installation surface. Therefore, when the outer surface of the top plate 61 is the mounting surface, the top plate 61 becomes the second plate; when the outer surface of the bottom plate 62 is the mounting surface, the bottom plate 62 becomes the second plate; when the outer surface of the side wall 64 is the mounting surface, the side wall 64 becomes the second plate; and when the outer surface of the side wall 65 is the mounting surface, the side wall 65 becomes the second plate.

[0075] Within the internal space surrounded by the top plate 61, bottom plate 62, side walls 63, side walls 64, side walls 65, and side walls 66, the control board 51, power supply board 52, drive control board 53, and drive board 54 are arranged parallel to each other, separated from one another. Figure 5 as well as Figure 6 As shown, in this embodiment, the control substrates 5 are arranged in the following order from the +Z axis side: drive substrate 54, power supply substrate 52, control substrate 51, and drive control substrate 53. They are supported by the inner surface of the sidewall 64, i.e., the -X axis side, and are arranged parallel to each other with the Z axis direction as the thickness direction.

[0076] In addition, such as Figure 3 as well as Figure 6 As shown, the intake unit 7A has a fan 71 and a fan mounting section 72 for mounting the fan 71, and is configured to be detachable from the housing 6.

[0077] In this embodiment, two fans 71 are arranged in the fan mounting section 72 in the Z-axis direction. Each fan 71 has rotating blades, and the fans are positioned in the fan mounting section 72 with the axis of rotation of the rotating blades along the Y-axis direction. As a result, air can be blown from the -Y-axis side to the +Y-axis side within the housing 6.

[0078] By moving the fan mounting section 72 relative to the mounting hole 632 provided on the side wall 63 of the housing 6 along the X-axis, the fan mounting section 72 can be mounted and dismounted. The fan mounting section 72 has a first portion 721 located at the opening of the mounting hole 632 in the mounted state and a second portion 722 located inside the housing in the mounted state.

[0079] The first part 721 is a sheet material having an air inlet 723 and forming part of the side wall 63 in the installed state. In addition, a filter 724 is provided in the air inlet 723 in a detachable manner. When air passes through the air inlet 723, dust and dirt can be captured by the filter 724.

[0080] The second part 722 is constructed from a sheet metal extending from the edge of the first part 721 on the +Y axis side. Mounting mechanisms such as hooks and slots (not shown) are provided on the second part 722. It should be noted that this construction is not limited to this; the second part 722 may, for example, be formed as a frame with mounting mechanisms such as hooks and slots.

[0081] Thus, the robot control device 1 includes an air intake unit 7A, which has a fan 71 and a fan mounting section 72 with an air inlet 723, and can be detached from the side wall 63, which serves as the first plate. Therefore, by removing the air intake unit 7A entirely from the housing 6, the fan 71 can be easily replaced and maintained while detached from the housing 6.

[0082] Furthermore, when the air intake unit 7A is installed, the fan 71 is located inside the housing 6, and the air intake 723 is located on the side wall 63, which serves as the first plate. As a result, air from outside the housing 6 can be introduced into the housing 6 through the air intake 723, and the introduced air can be blown inside the housing 6.

[0083] Furthermore, the fan 71 is positioned in the fan mounting section 72 with its rotation axis intersecting the direction of insertion or removal of the air intake unit 7A, and in this embodiment, orthogonal to it. This allows the air introduced into the housing 6 from the air intake 723 to circulate efficiently throughout the housing 6.

[0084] In addition, such as Figure 3 as well as Figure 4As shown, an exhaust port 630 is provided on the side wall 63. The exhaust port 630 has the function of discharging air from the housing 6 to the outside. The exhaust port 630 is formed in the side wall 63 at a position biased towards the +Y axis. In addition, the exhaust port 630 is an elongated strip extending along the Z-axis direction.

[0085] Air drawn in through inlet 723 is blown towards the +Y axis by fan 71 and impacts the inner surface of sidewall 66. Then, the air is redirected towards exhaust port 630, i.e., towards the +X axis, and exhausted from exhaust port 630. This airflow efficiently cools the control board 5.

[0086] In addition, such as Figures 3-5 As shown, a cable connector 8 is provided on the side wall 63 for connecting a cable 200 that communicates with the robot 2. The cable connector 8 is a standard connector corresponding to the configuration of the front end of the cable 200. The control board 5 and the robot 2 are electrically connected via the cable 200 connected to the cable connector 8. The cable connector 8 is located on the -Z axis side of the side wall 63 and biased towards the +Y axis side.

[0087] Furthermore, the cable connector 8 is covered by a cover member 9. The cover member 9 is installed in a manner that allows it to be detached from the side wall 63, and is installed to at least cover the cable connector 8. In addition, the cover member 9 has a release hole 91 through which the cable 200 connected to the cable connector 8 is inserted. Thus, even when the cable connector 8 is installed on the side wall 63, interference between the cover member 9 and the cable 200 can be avoided.

[0088] It should be noted that although the cable 200 is inserted in the direction shown in the figure for the cable connector 8 from the +X axis side, it is not limited to this and can also be inserted from the +Y axis side.

[0089] Furthermore, in this embodiment, the cable 200 connected to the cable connector 8 runs from the side wall 66 towards the -X axis side. For example... Figure 5 As shown, the housing 6 is provided with a cutout 631. The cutout 631 is formed by cutting off the corner on the +Y axis side and the -Z axis side at the side wall 63, and is provided across the entire range in the X-axis direction at the side wall 66. The cable 200 can be accommodated within this cutout 631.

[0090] In addition, such as Figure 5As shown, a protective member 10 is installed in the cutout portion 631. The protective member 10 covers the cutout portion 631 when separated from its inner surface, and functions to protect the inserted cable 200. The length of the protective member 10 in the X-axis direction is shorter than the length of the housing 6 in the X-axis direction. This prevents interference between the portion of the cable 200 not fully retracted into the cutout portion 631, particularly near the +X-axis and -X-axis ends of the cutout portion 631, and the protective member 10.

[0091] Thus, when viewed from above in the thickness direction of the side wall 63, which serves as the first plate, the housing 6 has a cutout 631 obtained by cutting, and a protective member 10 for protecting the cable 200 is provided in the cutout 631. As a result, the cable 200 can be protected, and the position of the cable 200 within the cutout 631 can be restricted.

[0092] Furthermore, the length of the protective member 10 along the thickness direction of the side wall 63, which serves as the first plate, is shorter than the length of the housing 6 along the thickness direction of the side wall 63. As a result, interference between the cable 200, which is not fully retracted into the cutout 631, particularly near the +X and -X axis ends of the cutout 631, and the protective member 10 can be avoided.

[0093] In the past, in robot control devices, the air inlet, exhaust outlet, and cable connection were distributed across the housing. That is, the air inlet, exhaust outlet, and cable connection were not concentrated. This imposed many restrictions on the location of the housing. For example, if the air inlet was located on the front of the housing, the exhaust outlet on the side, and the cable connection on the back, the side with the exhaust outlet and the back with the cable connection could not be placed flush against the surface of the robot control device or its surrounding walls, further restricting the placement. In contrast, in this invention, the air inlet 723, exhaust outlet 630, and cable connection 8 are concentrated on the side wall 63. In other words, the air inlet 723, exhaust outlet 630, and cable connection 8 are not located outside the side wall 63. With this configuration, at least one of the side walls 64, 65, and 66 can be flush against the surrounding walls. Therefore, there are fewer restrictions on the placement location than before, and the freedom of placement is greater.

[0094] Thus, the robot control device 1, which controls the robot 2, includes: a control board 5 for controlling the movements of the robot 2; a housing 6 constructed of multiple plates, including a side wall 63 as a first plate and a side wall 64 as a second plate, with the control board 5 housed within a space surrounded by the multiple plates; an air inlet 723 for introducing air into the housing 6; an exhaust outlet 630 for expelling air from the housing 6 to the outside; and a cable connector 8 for connecting a cable 200 for communication with the robot 2. Furthermore, the air inlet 723, the exhaust outlet 630, and the cable connector 8 are provided on the side wall 63, and the side wall 64 includes a mounting surface facing an object to be mounted on the housing 6. This allows the portion other than the side wall 63 to be flush against surrounding walls, thus increasing the freedom of positioning.

[0095] In addition, such as Figure 4 As shown, when viewed from the thickness direction (X-axis) of the side wall 63, which serves as the plate portion, the control board 5 is located between the air inlet 723 and the exhaust outlet 630. Therefore, the control board 5 can be effectively cooled by the airflow formed within the housing 6 between the air inlet 723 and the exhaust outlet 630.

[0096] Second Implementation Method

[0097] Figure 7 This is a partial cross-sectional view of the robot control device in the second embodiment of the present invention.

[0098] Hereinafter, a second embodiment of the robot control device of the present invention will be described with reference to the figure, but the differences from the first embodiment will be explained below.

[0099] like Figure 7 As shown, in this embodiment, two fans 71 are arranged in the second portion 722 of the fan mounting section 72 of the intake unit 7A along the X-axis. Furthermore, the two fans 71 are located on the +Z-axis side of the housing 6, and when viewed from the Y-axis direction, they overlap with the drive board 54 and the power board 52. This configuration allows the airflow from the fans 71 to be focused on the drive board 54 and the power board 52. Since the drive board 54 and the power board 52 are the boards that generate particular heat in the control board 5, they can be effectively cooled.

[0100] In addition, such as Figure 7 As shown, in this embodiment, four holes 7221 for mounting fans 71 are provided on the second part 722. Mounting mechanisms such as hooks and slots (not shown) are provided at positions corresponding to the four holes 7221 on the second part 722. Therefore, two fans 71 are mounted on the holes 7221 on the +Z axis side using mounting mechanisms corresponding to those on the +Z axis side.

[0101] Therefore, in this embodiment, the installation position of the fan 71 can be adjusted. That is, the fan 71 can be selected from the four holes 7221. According to this configuration, since the installation position of the fan 71 can be adjusted according to the configuration of the control board 5, the control board 5 can be cooled efficiently.

[0102] In this way, the position of the fan 71 relative to the control board 5 can be adjusted when the intake unit 7A is installed. As a result, the parts of the control board 5 that need to be cooled can be cooled more effectively.

[0103] It should be noted that, although the configuration in this embodiment, in which the air inlet 723, the exhaust outlet 630, and the cable connection portion 8 are disposed on the side wall 63, is described, the present invention is not limited thereto. For example, the air inlet 723, the exhaust outlet 630, and the cable connection portion 8 may be concentrated on any one of the top plate 61, the bottom plate 62, and the side walls 64 to 66. Furthermore, the indicator lights may be further concentrated on the plate where the air inlet 723, the exhaust outlet 630, and the cable connection portion 8 are concentrated.

[0104] In addition, although the control board 5 is arranged in the order of drive board 54, power supply board 52, control board 51 and drive control board 53 from the +Z axis side in this embodiment, it is not limited to this and the order of the control board 5 can be changed appropriately.

[0105] Furthermore, although the box 6 in this embodiment is described as a box-shaped box made of six plates, the present invention is not limited to this. For example, it may also be a shape in which at least two of the six plates form a continuous curved surface.

[0106] While the robot control device of the present invention has been described above based on the illustrated embodiments, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having the same function. Furthermore, other arbitrary components may be added.

[0107] Furthermore, although the number of rotation axes of the robotic arm is three in the above embodiment, this invention is not limited to this, and the number of rotation axes of the robotic arm may, for example, be two or four or more. That is, although the number of arms is three in the above embodiment, this invention is not limited to this, and the number of arms may, for example, be two or four or more.

Claims

1. A robot control device, characterized in that, The robot control device, positioned at a different location from the robot, controls the robot and includes: The control board controls the robot's movements; The housing is constructed from multiple plates, including a first plate, a second plate, a third plate, and a fourth plate, and the control board is housed in a space surrounded by the multiple plates. The air inlet introduces air into the housing. The exhaust port discharges air from the box to the outside. as well as A cable connector is provided for connecting a cable that communicates with the robot. One end of the cable is connected to the robot, and the other end of the cable is connected to the cable connector. The first plate is located on the side further in the first direction than the second plate. The third plate is located on a side further along the second direction than the fourth plate, and the second direction is orthogonal to the first direction. The first plate and the second plate have their thickness directions parallel to the first direction. The first plate is provided with the air inlet, the exhaust outlet, and the cable connection portion. The second plate includes a mounting surface facing the object to be mounted on the housing. The robot control device includes an air intake unit, which has a fan and a fan mounting section with the air intake port. The air intake unit can be detached from the first plate. When the air intake unit is installed, the fan is located inside the housing, the air intake is located on the first plate, and the exhaust port is located on the side further in the second direction than the air intake unit. The fan is positioned in the fan mounting section with its rotation axis intersecting the direction in which the air intake unit is inserted or removed. Air introduced from the air inlet is blown in the second direction by the fan and impacts the inner surface of the third plate. It then changes its trajectory towards the first direction and is blown out of the exhaust port.

2. The robot control device according to claim 1, characterized in that, The position of the fan relative to the control board can be adjusted when the air intake unit is installed.

3. The robot control device according to claim 1, characterized in that, When viewed from above in the thickness direction of the first plate, the control board is located between the air inlet and the exhaust outlet.

4. The robot control device according to claim 1, characterized in that, The box body has a cut-out portion when viewed from above in the thickness direction of the first plate. A protective component is provided at the cut to protect the cable.

5. The robot control device according to claim 4, characterized in that, The length of the protective component along the thickness direction of the first plate is shorter than the length of the housing along the thickness direction of the first plate.

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