Robotic controller and robotic system

Abstract

A robot controller and a robot system capable of cooling each section under conditions suitable for each section are provided. The robot controller has: a case having a suction port and a flow path connected to the suction port and through which a gas supplied from the suction port flows; a control substrate that controls the operation of a robot; a drive circuit substrate that is disposed in the flow path and controls the driving of a motor provided in the robot; a power supply circuit substrate that is disposed in the flow path on the upstream side of the drive circuit substrate and supplies electric power to the control substrate; and a fan that is disposed in the flow path between the drive circuit substrate and the power supply circuit substrate.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot controller and a robot system. BACKGROUND

[0002] For example, the robot controller described in Patent Document 1 has a case main body, a power supply substrate housed in the case main body, a power circuit substrate, and a fan disposed in the case main body.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENT

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-136780

[0006] However, in such a robot controller, the power supply substrate and the power circuit substrate are arranged in the same space in the case main body. Thus, these face similar cooling conditions, and it is difficult to cool each of the parts under conditions suitable for each. SUMMARY

[0007] The robot controller of the present application has: a case having a suction port and a flow path connected to the suction port and through which a gas supplied from the suction port flows;

[0008] a control substrate that controls an operation of the robot;

[0009] a drive circuit substrate that is disposed in the flow path and controls driving of a motor provided in the robot;

[0010] a power supply circuit substrate that is disposed in the flow path on an upstream side of the drive circuit substrate and supplies electric power to the control substrate; and

[0011] a fan that is disposed in the flow path between the drive circuit substrate and the power supply circuit substrate.

[0012] The robot system of the present application has: a robot that has a motor; and

[0013] a robot controller that is connected to the robot and controls driving of the motor,

[0014] the robot controller has: a case having a suction port and a flow path connected to the suction port and through which a gas supplied from the suction port flows;

[0015] a control substrate that controls an operation of the robot;

[0016] a drive circuit substrate that is disposed in the flow path and controls driving of the motor;

[0017] A power supply circuit substrate configured in the flow path upstream of the drive circuit substrate and supplying electric power to the control substrate; and

[0018] A fan configured between the drive circuit substrate and the power supply circuit substrate in the flow path. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A diagram showing an overall configuration of a robot system according to the first embodiment.

[0020] Figure 2 A perspective view showing a robot controller.

[0021] Figure 3 A perspective view showing an example of a configuration of a robot controller.

[0022] Figure 4 A block diagram of a robot system.

[0023] Figure 5 A sectional view showing an inside of a robot controller.

[0024] Figure 6 A sectional view showing a state after a cover member is detached from a case main body.

[0025] Figure 7 A sectional view showing a modification of a robot controller.

[0026] Figure 8 A sectional view showing an inside of a robot controller according to the second embodiment.

[0027] Figure 9 A sectional view showing a state after a cover member is detached from a case main body.

[0028] Figure 10 A sectional view showing an inside of a robot controller according to the third embodiment.

[0029] SYMBOL EXPLANATION

[0030] 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. Housing; 4A. Housing body; 4B. Cover component; 4C. Cover component; 40. Flow path; 41. Front surface; 42. Back surface; 43. Top surface; 44. Bottom surface; 45. Right side; 46. Left side; 481. First partition wall; 482. Second partition wall; 491. First connecting hole; 492. 5. Second connecting hole; 6. Power circuit board; 7. Drive circuit board; 80. Air duct; 81. Drive circuit; 62. Heat sink; 7. Regenerative resistor; 81. Inlet; 810. Filter; 82. Exhaust port; 820. Labyrinth; 9. Connector assembly; 91. Power connector; 92. Connector for robot connection; E. Encoder; F. Fan; G. 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. Isolator. Detailed Implementation

[0031] The robot controller and robot system of the present invention will now be described in detail based on the appropriate embodiments shown in the accompanying drawings.

[0032] First Implementation Method

[0033] Figure 1 This is an overall configuration diagram of the robot system involved in the first embodiment. Figure 2 A 3D view of the robot controller is shown. Figure 3 A perspective view showing an example of the configuration of a robot controller. Figure 4 This is a block diagram of the robot system. Figure 5 This is a cross-sectional view showing the interior of the robot controller. Figure 6 This is a cross-sectional view showing the state after the cover component has been removed from the main body of the housing. Figure 7 A cross-sectional view showing a modified example of a robot controller.

[0034] It should be noted that, except for Figure 1 In the figures other than those shown, the X-axis, Y-axis, and Z-axis are illustrated as three mutually orthogonal axes. Furthermore, the direction along the X-axis, i.e., the direction parallel to the X-axis, is also called the "X-axis direction"; the direction along the Y-axis, i.e., the direction parallel to the Y-axis, is also called the "Y-axis direction"; and the direction along the Z-axis, i.e., the direction parallel to the Z-axis, is also called the "Z-axis direction". Additionally, the front side of the arrow on each axis is called the "positive side", and the opposite side is called the "negative side". Furthermore, the positive side of the Z-axis direction is also called "up", and the negative side of the Z-axis direction is also called "down".

[0035] Figure 1 The robot system 1 shown has a robot 2 and a robot controller 3 that controls the drive of the robot 2.

[0036] Robot 2

[0037] Robot 2 is, for example, a robot that performs tasks such as feeding, unloading, conveying, and assembling precision equipment and its constituent parts. However, there are no particular limitations on the application of robot 2. Robot 2 is a six-axis robot with six rotational axes. 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 mounted at the front end of the robot arm 22.

[0038] The robotic arm 22 is a mechanical arm composed of multiple arms 221, 222, 223, 224, 225, and 226 that are rotatably connected, and has six joints J1 to J6. Among them, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsional joints. In addition, a motor M and an encoder E are respectively installed in joints J1, J2, J3, J4, J5, and J6.

[0039] Additionally, the end effector 23 is connected to the arm 226. The end effector 23 is removable from the arm 226, and an end effector suitable for the task performed by the robot 2 can be selected.

[0040] The above description of Robot 2 is not particularly limited in its composition. For example, Robot 2 can also be a SCARA robot (horizontal articulated robot), a dual-arm robot, etc. In addition, Robot 2 can be fixed to the ground and not move, or it can be fixed to a mobile device such as an automated guided vehicle (AGV) and move.

[0041] Robot Controller 3

[0042] The robot controller 3 is housed within the base 21. However, there are no particular limitations on the configuration of the robot controller 3; for example, it may not be housed within the robot 2.

[0043] The robot controller 3 independently controls the drive of each motor M in joints J1 to J6. For example... Figure 2 As shown, the robot controller 3 has a roughly cubic housing 4 and a circuit board 10, a regenerative resistor 7, and a control board 11 housed within the housing 4. Furthermore, the circuit board 10 includes 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 the input alternating current and direct current into the other.

[0044] The control board 11 controls the movements of the robot 2. The control board 11, based at least on the calculated position and speed of the robot arm 22, issues commands to the drive circuit board 6 as described later. The control board 11 may include, for example, processors such as CPUs (Central Processing Units), MPUs (Micro Processing Units), and DSPs (Digital Signal Processors), as well as components such as FPGAs (Field-Programmable Gate Arrays) and ASICs (Application Specific Integrated Circuits).

[0045] like Figure 4 As shown, the power supply circuit board 5 is connected to the input terminal connected to the same power supply via a power line. The regeneration circuit 7 and the drive circuit board 6 are connected to the input terminal in parallel with the power supply circuit board 5 via power lines. Additionally, the power supply circuit board 5 and the control board 11 are connected via power lines and are respectively rack grounded. A converter circuit (not shown) is arranged between the regeneration circuit 7 and the branch point. This converter circuit converts the alternating current input from the power supply via the input terminal into direct current for supplying to the regeneration circuit 7 and the drive circuit board 6.

[0046] The housing 4 is roughly cubic, having 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 housing 4 can be constructed from various metal materials, such as aluminum or stainless steel. However, the material of the housing 4 is not particularly limited; for example, it can also be made of various resin materials. Furthermore, a connector assembly 9, including 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, is disposed on the front surface 41. Additionally, inner terminals of the power connector 91, robot connection connector 92, etc., are disposed on the inner side of the housing 4. The robot controller 3 is electrically connected to the robot 2 via a cable connected to this connector assembly 9. However, the type and number of connectors included in the connector assembly 9 are not particularly limited and can be appropriately set according to required specifications.

[0047] Furthermore, an air intake 81 for supplying air into the housing 4 and an exhaust 82 for discharging air supplied into the housing 4 from the air intake 81 are disposed on the front surface 41. The air intake 81 is disposed at the end of the front surface 41 on the positive side in the X-axis direction, and the exhaust 82 is disposed at the end of the front surface 41 on the negative side in the X-axis direction. Therefore, it is preferable to separate the air intake 81 and the exhaust 82. Compared with the case where the air intake 81 and the exhaust 82 are disposed adjacent to each other, this makes it difficult for the air intake 81 to draw in warmed air from the exhaust 82, thereby improving cooling efficiency.

[0048] Furthermore, the aforementioned connector assembly 9 is disposed between these air intake ports 81 and exhaust ports 82. This allows for the effective utilization of the portion of the front surface 41 located between the air intake ports 81 and exhaust ports 82. Therefore, by concentrating the air intake ports 81, exhaust ports 82, and connector assembly 9 on the front surface 41, the space required for connecting to the connector assembly 9, and the space arranged to avoid obstructing the air intake ports 81 and exhaust ports 82, are all concentrated on the front surface 41 outside the robot controller 3. This reduces constraints related to the position and configuration of the robot controller 3, increasing layout freedom.

[0049] For purposes such as protection from impacts, dust, and water, robot controllers are often housed in strong, airtight containers called enclosures or cabinets. For these strengths and airtightness, for example, [the following is a list of components / equipment] are installed within these containers. Figure 3 The space S shown is blocked on 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). Even when configured in such a space S, the robot controller 3 can be properly configured to connect to the connector group 9 without blocking the air intake 81 and the exhaust port 82. In particular, as the installation space of the robot controller 3 becomes smaller with the miniaturization of the robot 2, increasing the degree of freedom in layout is very important. However, it is not limited to this; the air intake 81 and the exhaust port 82 can also be configured on a surface other than the front surface 41, such as the upper surface 43. In addition, the air intake 81 and the exhaust port 82 can also be configured on different surfaces other than the front surface 41, such as the right side 45 and the left side 46.

[0050] In addition, such as Figure 5As shown, a flow path 40 is formed inside the housing 4, connecting the intake port 81 and the exhaust port 82, and allowing air supplied from the intake port 81 to flow towards the exhaust port 82. The flow path 40 is generally U-shaped, 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 45, the back side 42, and the left side 46 of the housing 4. Furthermore, a power circuit board 5, a drive circuit board 6, and a regenerative resistor 7 are respectively disposed within the flow path 40, and these components are cooled by the air flowing within the flow path 40. It should be noted that the gas supplied from the intake port 81 is not limited to air.

[0051] The flow path 40 has an upstream region Q1 extending from the intake port 81 towards the negative Y-axis direction as a first region, a midstream region Q2 located downstream of the upstream region Q1 and extending towards the negative X-axis direction as a second region, and a downstream region Q3 located downstream of the midstream region Q2 and extending towards the positive Y-axis direction as a third region. For example, the upstream region Q1 is formed along the right side 45 of the housing 4, the midstream region Q2 is formed along the back side 42 of the housing 4, and the downstream region Q3 is formed along the left side 46 of the housing 4. Furthermore, a power circuit board 5 is disposed in the upstream region Q1, a drive circuit board 6 is disposed in the midstream region Q2, and a regenerative resistor 7 is disposed in the downstream region Q3. By configuring it in this way, the power circuit board 5, the drive circuit board 6, and the regenerative resistor 7 can be cooled under appropriate conditions, thereby increasing the reliability of the robot controller 3. This will be explained in detail later. It should be noted that the internal terminals of connector group 9 are located in the area of ​​housing 4 other than the area of ​​flow path 40, that is, in areas other than upstream area Q1, midstream area Q2 and downstream area Q3.

[0052] Furthermore, a first partition wall 481 is disposed between the upstream region Q1 and the midstream region Q2, separating these regions. A first connecting 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 connecting hole 491. Similarly, a second partition wall 482 is disposed between the midstream region Q2 and the downstream region Q3, separating these regions. A second connecting 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 connecting hole 492. It should be noted that the first connecting hole 491 and the second connecting hole 492 are each composed of a plurality of regularly arranged pores. However, the composition of the first connecting hole 491 and the second connecting hole 492 is not particularly limited.

[0053] Furthermore, a filter 810 is disposed at the intake port 81. This prevents foreign objects from entering the flow path 40 from the intake port 81. On the other hand, a narrow, meandering maze 820 is disposed at the exhaust port 82. This also prevents foreign objects from entering the flow path 40. In addition, the maze 820 effectively prevents fingers entering from the exhaust port 82 from contacting the regenerative resistor 7 in the downstream region Q3. That is, the maze 820 also functions as a protective element to prevent fingers from contacting the regenerative resistor 7. Furthermore, to prevent finger intrusion, the exhaust port 82 is formed into a slit with a width of less than 12 mm. In addition, the regenerative resistor 7 is disposed at least 10 mm away from the exhaust port 82. This achieves an IP protection rating of IP2x. Therefore, the reliability and safety of the robot controller 3 are improved. However, this is not a limitation; for example, the maze 820 may be omitted.

[0054] Furthermore, fan F is positioned at the first connecting hole 491. By driving fan F, airflow can be forced within flow path 40, improving the cooling efficiency of power circuit board 5, drive circuit board 6, and regenerative resistor 7. In particular, compared to positioning fan F at the end of flow path 40 (inlet 81 or outlet 82), positioning fan F in the middle of flow path 40 can either reduce the output of fan F or reduce the number of fans F. Therefore, power saving and miniaturization during operation are achieved. Additionally, since air passes through fan F without leakage by positioning fan F at the first connecting hole 491, the airflow speed can be increased. However, there are no particular limitations on the configuration or number of fans F; they can be positioned at either the inlet 81 or the outlet 82. Alternatively, they can be positioned at both the inlet 81 and the outlet 82. They can also be positioned between drive circuit board 6 and regenerative resistor 7.

[0055] Such a housing 4 has a housing body 4A and two cover components 4B and 4C that can be easily assembled and disassembled to the housing body 4A. Furthermore, the housing body 4A has a connector assembly 9 and a midstream region Q2, the cover component 4B has an exhaust port 82 and a downstream region Q3, and the cover component 4C has an intake port 81 and an upstream region Q1.

[0056] Cover component 4B is located on the negative side of the housing body 4A in the X-axis direction and is assembled to the left side of the housing body 4A. Furthermore, cover component 4B is box-shaped and opens towards the positive side in the X-axis direction. Therefore, as... Figure 6As shown, once the cover component 4B is removed from the housing body 4A, the regenerative resistor 7 in the downstream region Q3 will be exposed through the opening in the cover component 4B. With this configuration, the regenerative resistor 7 can be removed together with the cover component 4B, allowing for replacement without direct contact with it. Therefore, the risk of burns and electric shocks is reduced, and the safety of the robot controller 3 is improved. Furthermore, since the exhaust port 82 is located in the cover component 4B, maintenance of the exhaust port 82 is also simplified.

[0057] The cover component 4C is a box-shaped structure that opens to the top, allowing it to be accessed and removed from the main body 4A from the front surface 41, much like a drawer. Figure 6 As shown, once the cover component 4C is removed from the main body 4A, the power circuit board 5, fan F, and filter 810 in the upstream region Q1 will be exposed through the opening in the cover component 4C. With this configuration, the maintenance and replacement of the power circuit board 5, fan F, and filter 810 become easy.

[0058] However, the composition of box 4 is not particularly limited; for example, as... Figure 7 As shown, cover components 4B and 4C can also be omitted. Alternatively, either cover component 4B or 4C can be omitted.

[0059] Next, the power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7 configured in the flow path 40 will be described.

[0060] like Figure 5 As shown, a power supply circuit board 5 is arranged in the upstream region Q1. The power supply circuit board 5 converts the input AC current into DC current to supply power to the control board 11. The power supply circuit board 5 is, for example, a switching power supply circuit board, which is equipped with a rectifier bridge that rectifies the AC voltage input from the power source, an electrolytic capacitor on the primary side that smooths the rectified voltage, a switching element that sets the smoothed voltage to a high frequency AC, a high-frequency transformer, a diode on the secondary side that rectifies the voltage transmitted by the high-frequency transformer, an electrolytic capacitor on the secondary side that smooths the rectified voltage, and a control circuit that controls the switching element to maintain the output voltage at a certain level. Losses and heat are generated in the rectifier bridge, electrolytic capacitor, switching element, high-frequency transformer, secondary side diode, secondary side electrolytic capacitor, control circuit, etc., during conversion. The DC voltage generated in the power supply circuit board 5 is supplied to the control board 11 as the power supply voltage. However, the configuration of the power supply circuit board 5 is not particularly limited.

[0061] Furthermore, the power circuit board 5 is fastened to the right side of the cover member 4C, for example, by screws. Thus, by positioning the power circuit board 5 on the right side of the cover member 4C, it is difficult for the power circuit board 5 to be located near the first connecting hole 491, allowing air to flow smoothly from the upstream region Q1 to the midstream region Q2. However, the arrangement of the power circuit board 5 is not particularly limited.

[0062] like Figure 5 As shown, a drive circuit board 6 is arranged in the midstream region Q2. The drive circuit board 6 converts the input DC current into AC current to supply power to each motor M and controls the drive of each motor M. The drive circuit board 6 is a board equipped with six drive circuits 61 corresponding to the six motors M included in the robot arm 22. Figure 4 As shown, the drive circuit 61 is an inverter circuit connected to the control board 11 via signal lines and has six switching elements. The motor M is a three-phase AC driven motor, and the drive circuit 61 is connected to the motor M via three power lines. For example, if the three power lines are designated as phases U, V, and W, then the drive circuit 61 has two switching elements in phase U, two more in phase V, and the remaining two in phase W. The two switching elements in each phase are connected in series, and the power lines of each phase of the motor M are connected between these two switching elements. Once the current command value for controlling the motor M is input from the control board 11 to the drive circuit 61, the drive circuit 61 accepts the input current command value and causes the switching elements to operate, changing the combination of on / off states and the on / off ratio of the six switching elements. The operation of these switching elements generates a three-phase AC current from a DC current. The drive circuit 61 supplies this three-phase AC current as power to the motor M. It should be noted that losses and heat are generated during the switching process in switching elements.

[0063] In the illustrated configuration, six drive circuits 61 are arranged in a row on the reverse side of the substrate, and a heat sink 62 is disposed on the surface of the substrate as a heat dissipation component. The heat sink 62 is configured to overlap with all the drive circuits 61. This improves cooling efficiency. Alternatively, an IPM (Intelligent Power Module) can be used as the drive circuit 61, for example. However, the configuration of the drive circuit substrate 6 is not particularly limited. For example, the heat sink 62 may also be arranged in a segmented configuration according to the drive circuits 61.

[0064] Furthermore, the drive circuit board 6 is fastened to the back surface 42, for example, by screws. Additionally, viewed from the X-axis direction, the heat sink 62 is configured to overlap with the fan F. Therefore, since the turbulence generated by the fan F can efficiently impact the heat sink 62, the drive circuit board 6 can be cooled more efficiently. However, the configuration of the drive circuit board 6 is not particularly limited.

[0065] like Figure 5 As shown, a regenerative resistor 7 is configured 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 to dissipate it. This suppresses control anomalies caused by overvoltage. In this embodiment, the regenerative resistor 7 is a cement resistor, which converts the back electromotive force into heat to dissipate it. It should be noted that, as... Figure 4 As shown, the regenerative resistor 7 is connected to the power line via a switch, for example, the switch is turned on and off by the control board 11.

[0066] Furthermore, the regenerative resistor 7 is fastened to the left side surface 46, for example, by screws. Therefore, by positioning the regenerative resistor 7 on the left side surface 46, it is difficult for the regenerative resistor 7 to be located near the second connecting hole 492, allowing air to flow smoothly from the midstream region Q2 to the downstream region Q3. Additionally, the regenerative resistor 7 is positioned on the left side surface 46 with a spacer SS in between, forming a gap G between the regenerative resistor 7 and the left side surface 46. This increases the contact area between the regenerative resistor 7 and the airflow, improving the cooling efficiency of the regenerative resistor 7. Furthermore, the heat from the regenerative resistor 7 is less likely to be transferred to the housing 4, reducing the risk of burns. From this perspective, it is preferable that the spacer SS is made of a material with low thermal conductivity, such as resin. However, the configuration of the regenerative resistor 7 is not particularly limited.

[0067] In addition, the regenerative resistor 7 has a housing for the cement resistor, which is at the same potential as the housing 4. This reduces the risk of electric shock.

[0068] The power supply circuit board 5, the drive circuit board 6, and the regenerative resistor 7 have been described above. In the power supply circuit board 5 and the drive circuit board 6, losses and heat are generated when converting one of the input AC current and DC current to the other. The power supply circuit board 5 generates relatively little heat. However, the electrolytic capacitor mounted on the power supply circuit board 5 has a tendency to have a shorter lifespan if the ambient temperature is high. It is said that, generally, if the ambient temperature rises by 10°C, the lifespan will decrease by half. Therefore, it is preferable to cool the power supply circuit board 5 more effectively. Thus, as mentioned above, in this embodiment, the power supply circuit board 5 is positioned in the upstream region Q1 and cooled by fresh air introduced from the intake port 81. This allows for efficient cooling of the power supply circuit board 5 and suppresses the degradation of its characteristics. In particular, because the upstream region Q1 becomes negative pressure due to the drive of the fan F, the airflow velocity in the upstream region Q1 increases, causing the airflow to impact the power supply circuit board 5 more forcefully. Therefore, the power supply circuit board 5 can be cooled more effectively, and the aforementioned effects are more pronounced.

[0069] Furthermore, the drive circuit board 6 generates more heat than the power supply circuit board 5 because the drive circuit 61 becomes a heat source. On the other hand, the ambient temperature has less impact on its lifespan compared to the power supply circuit board 5. In other words, the drive circuit board 6 has superior heat resistance compared to the power supply circuit board 5, and its cooling priority is lower than that of the power supply circuit board 5. Therefore, as mentioned above, in this embodiment, the drive circuit board 6 is positioned in the midstream region Q2 and cooled using warmed air used to cool the power supply circuit board 5. Even so, the drive circuit board 6 can be cooled under sufficient conditions, and the degradation of the characteristics of the drive circuit board 6 can be suppressed. In particular, since the fan F is located in the first connecting hole 491, the turbulence generated by the fan F impacts the drive circuit board 6. Therefore, the drive circuit board 6 can be cooled more effectively, and the above-mentioned effects are more significant.

[0070] Furthermore, the regenerative resistor 7 generates more heat than the power circuit board 5 but less than the drive circuit board 6. Additionally, ambient temperature has almost no effect on its lifespan. In other words, the regenerative resistor 7 has superior heat resistance than the drive circuit board 6, and its cooling priority is lower. Therefore, as mentioned above, in this embodiment, the regenerative resistor 7 is positioned in the downstream region Q3 and cooled with further warmed air used for cooling the drive circuit board 6. Even so, the regenerative resistor 7 can be cooled under sufficient conditions, suppressing the degradation of its characteristics. In particular, in this embodiment, the opening area of ​​the second connecting hole 492 is smaller than the opening areas of the intake port 81 and the first connecting hole 491. Therefore, the airflow velocity increases as it passes through the second connecting hole 492, and the airflow impacts the regenerative resistor 7 more forcefully. Thus, the regenerative resistor 7 can be cooled more effectively, and the aforementioned effects are more pronounced.

[0071] The robot system 1 of this embodiment has been described above. As mentioned above, the robot controller 3 of such a robot system 1 includes: a housing 4 having an air intake 81 and a flow path 40 connected to the air intake 81 and supplying air as gas supplied from the air intake 81; a control board 11 for controlling the movement of the robot 2; a drive circuit board 6 disposed within the flow path 40 and controlling the drive of the electric motor M of the robot 2; a power supply circuit board 5 disposed upstream of the drive circuit board 6 within the flow path 40 and supplying power to the control board 11; and a fan F disposed between the drive circuit board 6 and the power supply circuit board 5 within the flow path 40. Since the power supply circuit board 5 is more susceptible to heat than the drive circuit board 6, by disposing of the power supply circuit board 5 upstream of the drive circuit board 6 for preferential cooling, both the power supply circuit board 5 and the drive circuit board 6 can be cooled under suitable conditions. In particular, since a fan F is arranged within the flow path 40, the airflow velocity 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 placing 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 using airflow generated by negative pressure, and the drive circuit board 6 can be cooled using turbulence generated by the fan F. As a result, a highly reliable robot controller 3 can be obtained.

[0072] Furthermore, as mentioned above, the robot controller 3 has an exhaust port 82 that exhausts air from the flow path 40 to the outside of the housing 4, and the intake port 81 and the exhaust port 82 are disposed on the front surface 41, i.e., the same surface. As a result, the layout freedom of the robot controller 3 is increased.

[0073] Furthermore, as mentioned above, the robot controller 3 has a robot connection connector 92, which is disposed on the front surface 41 and connected to the robot 2 as a connector. As a result, the layout freedom of the robot controller 3 is increased.

[0074] Furthermore, as mentioned above, the flow path 40 includes an upstream region Q1, which is a first region, on which a power supply circuit board 5 is disposed; a midstream region Q2, which is a second region located further downstream of the upstream region Q1 and on which a drive circuit board 6 is disposed; a first partition wall 481 separating the upstream region Q1 and the midstream region Q2; and a first connecting hole 491 formed in the first partition wall 481 and connecting the upstream region Q1 and the midstream region Q2. The fan F is disposed in the first connecting hole 491. As a result, since air passes through the fan F without leakage, the airflow speed can be increased.

[0075] Furthermore, as mentioned above, the enclosure 4 has an enclosure body 4A and a cover component 4C that is easily assembled and disassembled to the enclosure body 4A, and the power circuit board 5 is disposed on the cover component 4C. As a result, the maintenance of the power circuit board 5 becomes easy.

[0076] Furthermore, as mentioned above, the enclosure 4 has an enclosure body 4A and a cover component 4C that is easily assembled and disassembled to the enclosure body 4A, with the fan F disposed on the cover component 4C. This makes maintenance of the fan F easier.

[0077] Furthermore, as mentioned above, the housing 4 has a housing body 4A and a cover component 4C that is easily assembled and disassembled to the housing body 4A, and the air intake 81 is disposed on the cover component 4C. As a result, the maintenance of the air intake 81 becomes easy.

[0078] Additionally, as mentioned above, the robot controller 3 has a filter 810 disposed at the air intake 81. This prevents foreign objects from entering the flow path 40 from the air intake 81.

[0079] Furthermore, as mentioned above, the robot controller 3 has a regenerative resistor 7 disposed downstream of the drive circuit board 6 within the flow path 40 and which consumes the back electromotive force generated from the motor M. Since the drive circuit board 6 is more susceptible to heat than the regenerative resistor 7, by disposing the drive circuit board 6 upstream of the regenerative resistor 7 for preferential cooling, both the drive circuit board 6 and the regenerative resistor 7 can be cooled under suitable conditions.

[0080] Furthermore, as mentioned above, the flow path 40 includes a downstream region Q3, which is a third region, in which the regenerative resistor 7 is disposed; a second partition wall 482 separating the midstream region Q2 and the downstream region Q3; and a second connecting hole 492 formed in the second partition wall 482 and connecting the midstream region Q2 and the downstream region Q3. The opening area of ​​the second connecting hole 492 is smaller than the opening area of ​​the intake port 81. Therefore, the airflow velocity increases when passing through the second connecting hole 492, which can more effectively cool the regenerative resistor 7.

[0081] Furthermore, as mentioned 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 drive of the motor M. The robot controller 3 includes: a housing 4 having an air intake 81 and a flow path 40 connected to the air intake 81 and supplying airflow as gas from the air intake 81; a control board 11 for controlling the movement of the robot 2; a drive circuit board 6 disposed within the flow path 40 and controlling the drive of the motor M of the robot 2; a power supply circuit board 5 disposed upstream of the drive circuit board 6 within the flow path 40 and supplying power to the control board 11; and a fan F disposed between the drive circuit board 6 and the power supply circuit board 5 within the flow path 40. Since the power supply circuit board 5 is more susceptible to heat than the drive circuit board 6, by displacing the power supply circuit board 5 upstream of the drive circuit board 6 for preferential cooling, both the power supply circuit board 5 and the drive circuit board 6 can be cooled under suitable conditions. In particular, since a fan F is arranged within the flow path 40, the airflow velocity 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 placing 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 using airflow generated by negative pressure, and the drive circuit board 6 can be cooled using turbulence generated by the fan F. As a result, a highly reliable robot system 1 can be obtained.

[0082] Second Implementation Method

[0083] Figure 8 A cross-sectional view of the interior of the robot controller according to the second embodiment is shown. Figure 9 This is a cross-sectional view showing the state after the cover component has been removed from the main body of the housing.

[0084] The robot controller 3 of this embodiment is the same as the robot controller 3 of the first embodiment described above, except for the configuration of the power circuit board 5. Therefore, in the following description, this embodiment will be described mainly with respect to the differences from the first embodiment described above, and descriptions of the same items will be omitted. In addition, in the figures of this embodiment, the same symbols are used to mark the same configurations as in the previous embodiment.

[0085] like Figure 8 and Figure 9 As shown, in the robot controller 3 of this embodiment, the power circuit board 5 is fastened to the right side 45 of the housing body 4A by screws, and the fan F and filter 810 are disposed on the cover component 4C.

[0086] Even with this second implementation method, the same effect as the first implementation method described above can be achieved.

[0087] Third Implementation Method

[0088] Figure 10 A cross-sectional view of the interior of the robot controller according to the third embodiment is shown.

[0089] The robot controller 3 of this embodiment is the same as the robot controller 3 of the first embodiment, except that it has the air duct 60. Therefore, in the following description, this embodiment will be described with a focus on the differences from the first embodiment, and descriptions of the same items will be omitted. In addition, in the figures of this embodiment, the same symbols are used to mark the same configurations as in the previous embodiments.

[0090] like Figure 10 As shown, the robot controller 3 of this embodiment has an air duct 60 for guiding airflow to the heat sink 62 of the drive circuit board 6. As a result, the airflow is efficiently guided to the heat sink 62, and the cooling efficiency of the drive circuit board 6 is improved.

[0091] Even with this third implementation method, the same effect as the first implementation method described above can be achieved.

[0092] The robot controller and robot system of the present invention have been described above based on the illustrated embodiments. However, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having the same function. In addition, any other structure can be added to the present invention.

Claims

1. A robot controller, characterized in that, have: The housing has an air intake and a flow path connected to the air intake for the flow of gas supplied from the air intake; The control board controls the robot's movements; A drive circuit board is disposed within the flow path and controls the drive of the electric motors of the robot. A power supply circuit board is disposed upstream of the drive circuit board within the flow path and supplies power to the control board; and A fan is disposed within the flow path between the drive circuit board and the power supply circuit board. The enclosure has a main body and a cover component that can be easily assembled and disassembled to the main body. The power circuit board is disposed on the cover component.

2. The robot controller according to claim 1, characterized in that, The robot controller has an exhaust port that exhausts the gas in the flow path to the outside of the housing. The air intake and exhaust ports are located on the same surface.

3. The robot controller according to claim 2, characterized in that, The robot controller has a connector configured on the same surface and connected to the robot.

4. The robot controller according to any one of claims 1 to 3, characterized in that, The flow path has a first region where the power circuit substrate is disposed, a second region located downstream of the first region and where the drive circuit substrate is disposed, a first partition wall separating the first region and the second region, and a first connecting hole formed in the first partition wall and connecting the first region and the second region. The fan is positioned in the first connecting hole.

5. The robot controller according to claim 1, characterized in that, The enclosure has a main body and a cover component that can be easily assembled and disassembled to the main body. The fan is disposed on the cover component.

6. The robot controller according to claim 1, characterized in that, The enclosure has a main body and a cover component that can be easily assembled and disassembled to the main body. The air intake is disposed on the cover component.

7. The robot controller according to claim 1, characterized in that, The robot controller has a filter configured at the air intake.

8. The robot controller according to claim 4, characterized in that, The robot controller has a regenerative resistor disposed downstream of the drive circuit board within the flow path, which consumes the back electromotive force generated from the motor.

9. The robot controller according to claim 8, characterized in that, The flow path has a third region configured with the regenerative resistor, a second partition wall separating the second region and the third region, and a second connecting hole formed in the second partition wall and connecting the second region and the third region. The opening area of ​​the second connecting hole is smaller than the opening area of ​​the air intake.

10. A robot system, characterized in that, have: Robot, equipped with an electric motor; and A robot controller, connected to the robot, controls the drive of the electric motor. The robot controller has: The housing has an air intake and a flow path connected to the air intake for the flow of gas supplied from the air intake; The control board controls the robot's movements; A drive circuit board is disposed within the flow path and controls the drive of the motor; A power supply circuit board is disposed upstream of the drive circuit board within the flow path and supplies power to the control board; and A fan is disposed within the flow path between the drive circuit board and the power supply circuit board. The enclosure has a main body and a cover component that can be easily assembled and disassembled to the main body. The power circuit board is disposed on the cover component.

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