Control device and robot system

Abstract

The invention provides a control device and a robot system, which can effectively and flexibly utilize regenerative power, can quickly stop the operation of the control device, and can seek for miniaturization. The control device controls driving of a motor of a robot, and is characterized in that in an on state in which a power detection unit detects supply of power from an AC power source, the control device supplies power discharged from a regenerative capacitor, reduced by a step-down circuit unit and output to an energization control circuit unit; in an off state in which the power detection unit detects the stop of the supply of power from the AC power source, the power supply unit supplies power discharged from the regenerative capacitor and output by the step-down circuit unit to the first discharge resistor unit.

Description

Technical Field

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

[0002] In recent years, due to rising labor costs and a shortage of skilled workers, manufacturing, processing, and assembly tasks in factories are increasingly being automated by robots equipped with robotic arms, accelerating the transition from manual to automated operations. Furthermore, robots are required to operate in energy-efficient ways.

[0003] For example, the robot control device described in Patent Document 1 includes a regenerative capacitor for storing regenerative power generated by a motor driving a robotic arm. The regenerative power is stored in the regenerative capacitor and used as power for driving, for example, control circuits.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2023-150857

[0005] However, in the control device described in Patent Document 1, when the power supply to the control device is disconnected, the regenerative power remaining in the regenerative capacitor is consumed by each processor, etc. Therefore, it sometimes takes time from the time the power supply to the control device is disconnected until the actual stop of operation of each processor, etc. That is, it is sometimes impossible to quickly stop (shut down) the operation of the control device. Summary of the Invention

[0006] The control device of the present invention controls the drive of the motors of a robot, and the control device includes: a power detection unit for detecting the power supply from an AC power source to the control device;

[0007] The first converter circuit section converts the AC current supplied from the AC power source into DC current and outputs it.

[0008] The drive circuit section converts the DC current output from the first converter circuit section into the drive current of the motor and outputs it, and is also input with regenerative power from the motor.

[0009] The second converter circuit section is connected in parallel with the first converter circuit section, and converts the AC current supplied from the AC power source into DC current and outputs it.

[0010] The step-down circuit section steps down the DC current output from the second converter circuit section and outputs it;

[0011] The power-on control circuit section operates using the DC current output from the step-down circuit section to control the drive circuit section;

[0012] Regenerative capacitors store the regenerated electricity; and

[0013] The first discharge resistor section consumes the power released from the regenerative capacitor and output after being stepped down by the voltage-dropping circuit section.

[0014] When the power detection unit detects that the power supply from the AC power source is connected, the power released from the regenerative capacitor and stepped down by the step-down circuit unit is supplied to the power-on control circuit unit.

[0015] When the power detection unit detects that the power supply from the AC power source has stopped and is in a disconnected state, the power released from the regenerative capacitor and output by the step-down circuit unit is supplied to the first discharge resistor unit.

[0016] The robot system of the present invention comprises: a robot having a motor; and

[0017] The control device controls the driving of the motor.

[0018] The control device includes:

[0019] The power detection department detects the power supply from the AC power source to the control device;

[0020] The first converter circuit section converts the AC current supplied from the AC power source into DC current and outputs it.

[0021] The drive circuit section converts the DC current output from the first converter circuit section into the drive current of the motor and outputs it, and is also input with regenerative power from the motor.

[0022] The second converter circuit section is connected in parallel with the first converter circuit section, and converts the AC current supplied from the AC power source into DC current and outputs it.

[0023] The step-down circuit section steps down the DC current output from the second converter circuit section and outputs it;

[0024] The power-on control circuit section operates using the DC current output from the step-down circuit section to control the drive circuit section;

[0025] Regenerative capacitors store the regenerated electricity; and

[0026] The first discharge resistor section consumes the power released from the regenerative capacitor and output after being stepped down by the voltage-dropping circuit section.

[0027] When the power detection unit detects that the power supply from the AC power source is connected, the power released from the regenerative capacitor and stepped down by the step-down circuit unit is supplied to the power-on control circuit unit.

[0028] When the power detection unit detects that the power supply from the AC power source has stopped and is in a disconnected state, the power released from the regenerative capacitor and output by the step-down circuit unit is supplied to the first discharge resistor unit. Attached Figure Description

[0029] Figure 1 This is a diagram showing the overall structure of a robot system equipped with the control device of the present invention.

[0030] Figure 2 yes Figure 1 The diagram shows a block diagram of the robot system.

[0031] Figure 3 yes Figure 1 The circuit diagram of the control device is shown.

[0032] Figure 4 yes Figure 3 The circuit diagram of the comparator is shown.

[0033] Figure 5 yes Figure 3 The circuit diagram of the first discharge resistor section is shown.

[0034] Figure 6 It is used to explain the previous control devices and Figure 3 The timing diagram shows the operation of the control device after the power supply from the AC power source stops.

[0035] Figure 7 It is a timing diagram used to illustrate the voltage value of the power supplied from the AC power source and the timing of detecting the power supply from the AC power source.

[0036] Explanation of reference numerals in the attached figures

[0037] 1…robot, 3…control device, 4…teaching pendant, 10…robotic arm, 10A…power control circuit, 11…base, 12…first arm, 13…second arm, 14…third arm, 15…fourth arm, 16…fifth arm, 17…sixth arm, 20…end effector, 31…control unit, 32…storage unit, 33…communication unit, 40…display, 41…control unit, 42…storage unit, 43…communication unit, 60A…noise reduction capacitor, 60B…surge protection resistor, 61…AC… 62… First converter circuit section, 62A… Input terminal, 62B… Input / output terminal, 63… Regenerative capacitor, 64… Drive circuit section, 65… Second discharge resistor section, 66… Potential detection section, 67… Switch, 68… Comparator, 69… Terminal, 70… Terminal, 71… Second converter circuit section, 72… Power factor improvement circuit section, 73… First buck circuit section, 74… Power-on control circuit section, 75… Second buck circuit section, 76… Regenerative power supply section, 77… …Power detection section, 78…First discharge resistor section, 79…Judgment circuit section, 80…Third step-down circuit section, 81…Smoothing circuit section, 90…Threshold terminal, 100…Robot system, 171…Joint, 172…Joint, 173…Joint, 174…Joint, 175…Joint, 176…Joint, 681…Comparator body, 721…Output voltage setting resistor, 761…Regenerative diode, 781…Resistor, 782…Switching element, 811…Smoothing capacitor, A …arrow, D1…motor driver, D2…motor driver, D3…motor driver, D4…motor driver, D5…motor driver, D6…motor driver, E1…encoder, E2…encoder, E3…encoder, E4…encoder, E5…encoder, E6…encoder, M1…motor, M2…motor, M3…motor, M4…motor, M5…motor, M6…motor, R1…resistor, R2…resistor, R3…resistor, R4…resistor, TCP…tool center point. Detailed Implementation

[0038] The control device and robot system of the present invention will now be described in detail based on the embodiments shown in the accompanying drawings.

[0039] Implementation

[0040] Figure 1 This is a diagram showing the overall structure of a robot system equipped with the control device of the present invention. Figure 2 yes Figure 1 The diagram shows a block diagram of the robot system. Figure 3 yes Figure 1 The circuit diagram of the control device is shown. Figure 4 yes Figure 3 The circuit diagram of the comparator is shown. Figure 5 yes Figure 3The circuit diagram of the first discharge resistor section is shown. Figure 6 It is used to explain the previous control devices and Figure 3 The timing diagram shows the operation of the control device after the power supply from the AC power source stops. Figure 7 It is a timing diagram used to illustrate the voltage value of the power supplied from the AC power source and the timing of detecting the power supply from the AC power source.

[0041] It should be noted that, for ease of explanation, the following will refer to robotic arm 10 as... Figure 1 The base 11 side is also called the "base end", and its opposite side, the end effector 20 side, is also called the "end".

[0042] In addition, in this specification, "vertical" means not only the case of being perfectly vertical, but also the case of being slightly inclined relative to vertical, for example, within ±10°. Furthermore, in this specification, "parallel" means not only the case of two objects being perfectly parallel, but also the case of being slightly inclined relative to parallel, for example, within ±10°.

[0043] like Figure 1 As shown, the robot system 100 of the present invention includes: a robot 1, a control device 3 for controlling the robot 1, and a teaching device 4.

[0044] First, let's explain robot 1.

[0045] Figure 1 The robot 1 shown in this embodiment is a single-arm, six-axis vertical joint robot, having a base 11 and a robotic arm 10. Furthermore, an end effector 20 can be mounted at the end of the robotic arm 10. It should be noted that the end effector 20 can be a component of the robot 1, or it can be a separate component from the robot 1, meaning it may not be a component of the robot 1.

[0046] It should be noted that robot 1 is not limited to the structure shown in the figure; for example, it could also be a dual-arm multi-joint robot. Additionally, robot 1 could also be a horizontal multi-joint robot.

[0047] The base 11 is located at the base end of the robotic arm 10 and supports the robotic arm 10 as a driveable support, for example, fixed to the floor in a factory. In the robot 1, the base 11 is electrically connected to the control device 3 via a relay cable. It should be noted that the connection between the robot 1 and the control device 3 is not limited to the following: Figure 1 The structure shown is a wired connection, but it could also be a wireless connection. Alternatively, robot 1 and control device 3 could be connected via a network such as the Internet.

[0048] In this embodiment, the robotic arm 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, which are connected in this order from the base 11 side. It should be noted that the number of arms in the robotic arm 10 is not limited to six; for example, it can have one, two, three, four, five, or more than seven arms. Furthermore, the overall length and other dimensions of each arm are not particularly limited and can be appropriately set.

[0049] The base 11 and the first arm 12 are connected via a joint 171. Furthermore, the first arm 12 is rotatable about a first rotation axis extending parallel to the vertical direction relative to the base 11. The first rotation axis coincides with the normal to the floor surface of the floor to which the base 11 is fixed.

[0050] The first arm 12 and the second arm 13 are connected via a joint 172. Furthermore, the second arm 13 is capable of rotating relative to the first arm 12 about a second axis of rotation extending in the horizontal direction. This second axis of rotation is parallel to an axis orthogonal to the first axis of rotation.

[0051] The second arm 13 and the third arm 14 are connected via a joint 173. Furthermore, the third arm 14 is capable of rotating relative to the second arm 13 about a third axis of rotation extending in the horizontal direction. This third axis of rotation is parallel to the second axis of rotation.

[0052] The third arm 14 and the fourth arm 15 are connected via a joint 174. Furthermore, the fourth arm 15 is capable of rotating relative to the third arm 14 around a fourth rotation axis parallel to the central axis of the third arm 14. The fourth rotation axis is orthogonal to the third rotation axis.

[0053] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. Furthermore, the fifth arm 16 is capable of rotating relative to the fourth arm 15 about a fifth rotation axis. The fifth rotation axis is orthogonal to the fourth rotation axis.

[0054] The fifth arm 16 and the sixth arm 17 are connected by a joint 176. Furthermore, the sixth arm 17 is capable of rotating relative to the fifth arm 16 about a sixth rotation axis. The sixth rotation axis is orthogonal to the fifth rotation axis.

[0055] Additionally, the sixth arm 17 is the arm located at the far end of the robotic arm 10. This sixth arm 17 can be displaced along with the end effector 20 using the drive of the robotic arm 10.

[0056] Figure 1 The end effector 20 shown has a gripping part capable of holding a workpiece or tool. When the end effector 20 is mounted on the sixth arm 17, the end of the end effector 20 becomes the tool center point TCP.

[0057] Robot 1 includes motors M1, M2, M3, M4, M5, and M6 as drive units, and encoders E1, E2, E3, E4, E5, and E6. Motor M1 is integrated into joint 171, causing the first arm 12 to rotate relative to the base 11 about a first rotation axis. Motor M2 is integrated into joint 172, causing the first arm 12 and the second arm 13 to rotate relative to each other about a second rotation axis. Motor M3 is integrated into joint 173, causing the second arm 13 and the third arm 14 to rotate relative to each other about a third rotation axis. Motor M4 is integrated into joint 174, causing the third arm 14 and the fourth arm 15 to rotate relative to each other about a fourth rotation axis. Motor M5 is integrated into joint 175, causing the fourth arm 15 and the fifth arm 16 to rotate relative to each other about a fifth rotation axis. Motor M6 is integrated into joint 176, causing the fifth arm 16 and the sixth arm 17 to rotate relative to each other about a sixth rotation axis. Each motor, M1 to M6, is a three-phase motor driven by three-phase AC.

[0058] Additionally, encoder E1 is integrated into joint 171 to detect the position of motor M1. Encoder E2 is integrated into joint 172 to detect the position of motor M2. Encoder E3 is integrated into joint 173 to detect the position of motor M3. Encoder E4 is integrated into joint 174 to detect the position of motor M4. Encoder E5 is integrated into the fifth arm 16 to detect the position of motor M5. Encoder E6 is integrated into the sixth arm 17 to detect the position of motor M6. It should be noted that "position detection" here refers to detecting the rotation angle of the motor, including the amount of rotation in both directions and the angular velocity; this detected information is called "position information."

[0059] like Figure 2 As shown, motor drivers D1 to D6 are connected to the corresponding motors M1 to M6 respectively, and control the drive of the motor. Motor drivers D1 to D6 are respectively built into joints 171, 172, 173, 174, the fifth arm 16, and the sixth arm 17.

[0060] Encoders E1 to E6, motors M1 to M6, and motor drivers D1 to D6 are electrically connected to control device 3. The position information (rotation amount, etc.) of motors M1 to M6 detected by encoders E1 to E6 is sent to control device 3 as electrical signals. Then, based on this position information... Figure 3The power control circuit 74 of the power control circuit 10A of the control device 3 shown outputs control signals to the motor drivers D1 to D6 to control the power supply to the motors M1 to M6 and drive them. That is, controlling the robotic arm 10 means controlling the drive of the motors M1 to M6, and thus controlling the drive of the first arm 12 to the sixth arm 17 of the robotic arm 10.

[0061] An end effector 20 can be detachably mounted at the end of the robotic arm 10. In this embodiment, the end effector 20 is a hand with a pair of claws that can approach and separate from each other, and uses the claws to grasp and release a workpiece or tool. It should be noted that the end effector 20 is not limited to the structure shown in the figure. For example, it may be an end effector with a suction part that uses the suction part to grasp the workpiece or tool. In addition, the end effector 20 may be, for example, a polishing machine, a grinding machine, a milling machine, a spray gun, a laser irradiator, a screwdriver, a wrench, or other tools.

[0062] Next, the control device 3 and the teaching device 4 will be explained.

[0063] like Figure 1 , Figure 2 as well as Figure 3 As shown, in this embodiment, the control device 3 is located separately from the robot 1. However, this configuration is not limited to this structure; the control device 3 may also be integrated into the base 11. Furthermore, the control device 3 has the function of controlling the drive of the robot 1 and is electrically connected to the aforementioned motors M1 to M6, the AC power supply 61, and other parts of the robot. In other words, the control device 3 is a device that controls the drive of the motors M1 to M6 of the robot 1.

[0064] The control device 3 includes a power control circuit 10A including a control unit 31, a storage unit 32, and a communication unit 33. For example, these units are connected to each other via a bus in a manner that enables them to communicate with each other.

[0065] The control unit 31 includes a power control circuit unit 74, and may be composed of, for example, a CPU (Central Processing Unit), which reads and executes various programs such as motion programs stored in the storage unit 32. Signals generated by the control unit 31 are transmitted to various parts of the robot 1 via the communication unit 33, and signals from various parts of the robot 1 are received by the control unit 31 via the communication unit 33. As a result, the robotic arm 10 can perform predetermined tasks under predetermined conditions.

[0066] The storage unit 32 stores various programs executed by the control unit 31. Examples of storage units 32 include memory with structures such as volatile memory (RAM, Random Access Memory), non-volatile memory (ROM, Read Only Memory), and removable external storage devices.

[0067] For example, the communication unit 33 uses an external interface such as a wired LAN (Local Area Network) or a wireless LAN to transmit and receive signals between the communication unit 33 and the control device 3. In this case, communication can also be conducted via a server (not shown), or via a network such as the Internet.

[0068] like Figure 1 as well as Figure 2 As shown, the teaching pendant 4 is a command device for teaching, and has a display 40 as a display unit. This display 40 is also the operation unit for teaching the robotic arm 10's motion program. That is, it has the function of generating or inputting motion programs. The display 40 is composed of a touch panel, allowing the operator to input various operations and information related to teaching by using their fingers or a stylus. For example, the display 40 is composed of liquid crystal, organic EL, etc., and can display various images in color or monochrome. Furthermore, the touch panel in the display 40 can be either pressure-sensitive or capacitive.

[0069] The teaching device 4 includes a control unit 41, a storage unit 42, and a communication unit 43.

[0070] For example, the control unit 41 is composed of at least one processor such as a CPU (Central Processing Unit), and reads and executes various programs such as teaching programs stored in the storage unit 42. Furthermore, the control unit 41 has the function of controlling the operation of the display 40. Specifically, the control unit 41 displays a rectangular operation screen on the display 40, and generates a motion program for the robot 1 based on information input from the operation screen through touch or other means at a desired location. The motion program generated by the control unit 41 is stored in the storage unit 42 and transmitted to the control device 3 via the communication unit 43. Thus, the control device 3 can specify a program to cause the robotic arm 10 to perform a predetermined task under predetermined conditions.

[0071] The storage unit 42 stores various programs that can be executed by the control unit 41. Examples of storage units 42 include those with structures such as volatile memory (RAM), non-volatile memory (ROM), and removable external storage devices. Furthermore, the storage unit 42 stores the operation program generated by the control unit 41.

[0072] For example, the communication unit 43 uses an external interface such as a wired LAN (Local Area Network) or a wireless LAN to transmit and receive signals between the communication unit 43 and the control device 3. In this case, communication can also be conducted via a server (not shown), or via a network such as the Internet. The communication unit 43 sends information related to the operation program stored in the storage unit 42 to the control device 3. In addition, the communication unit 43 can also receive information stored in the storage unit 32 and store it in the storage unit 42.

[0073] Next, refer to Figure 3 The control device 3 of the robot system 100 will be described in detail below. The control device 3 includes a power control circuit 10A, which includes a control unit 31. The power control circuit 10A includes: an input terminal 62A, a noise reduction capacitor 60A, a surge protection resistor 60B, a first converter circuit 62, a regenerative capacitor 63 electrically connected to the output side of the first converter circuit 62, a drive circuit 64, an input / output terminal 62B, a second discharge resistor 65, a potential detection unit 66, a switch 67, a comparator 68, a second converter circuit 71, a power factor improvement circuit 72, a first buck circuit 73, a power-on control circuit 74, a second buck circuit 75, a regenerative power supply unit 76, a power detection unit 77, a first discharge resistor 78, a judgment circuit 79, a third buck circuit 80, and a smoothing circuit 81. It should be noted that the term "connection" includes not only direct connection between terminals but also connection between terminals via power lines or the like.

[0074] For example, AC power supply 61 is a 200V AC power supply. The power output from AC power supply 61, i.e., electrical energy, passes through input terminal 62A, noise reduction capacitor 60A, and surge protection resistor 60B, and is input to the first converter circuit section 62. Input terminal 62A is the terminal where power is supplied from AC power supply 61, and alternating current is input. Figure 3As shown, the two input terminals 62A are each connected to the first converter circuit section 62 (described later) by wires. The wire from the lower input terminal 62A to the first converter circuit section 62 is a low-potential wire, and the wire from the upper input terminal 62A to the first converter circuit section 62 is a high-potential wire, which is at a higher potential than the low-potential wire. Additionally, the two input terminals 62A are each connected to the second converter circuit section 71 (described later) by wires. The wire from the lower input terminal 62A to the second converter circuit section 71 is a low-potential wire, and the wire from the upper input terminal 62A to the second converter circuit section 71 is a high-potential wire, which is at a higher potential than the low-potential wire. In this embodiment, the low-potential wires are each connected to ground.

[0075] In the noise reduction capacitor 60A, two capacitors are connected in series, and a ground wire is connected between these capacitors. By passing through the noise reduction capacitor 60A, noise in the power output from the AC power supply 61 is removed, enabling a stable power supply.

[0076] A surge protector 60B is installed on the high-potential wire and includes a resistor and a switch that bypasses the resistor to prevent surge current from flowing through. During startup of the control device 3, an excessive current, known as a surge current, is generated to store electricity in the regenerative capacitor 63, etc. Therefore, during startup of the control device 3, the switch is turned off, current flows through the resistor and consumes power, thereby preventing surge current from flowing through the first converter circuit section 62, etc. This improves safety. On the other hand, after startup of the control device 3, power is stored in the regenerative capacitor 63, etc., and no surge current is generated, so the switch is turned on, current does not flow through the resistor, and power consumption caused by the resistor is suppressed.

[0077] The first converter circuit section 62 is a bridge rectifier circuit using diodes, which converts the AC current input from the AC power supply 61 through the noise reduction capacitor 60A and the surge protection resistor section 60B into DC current and outputs it.

[0078] A regenerative capacitor 63 is connected on the output side of the first converter circuit section 62, between the high-potential wiring and the low-potential wiring. The regenerative capacitor 63 is connected in parallel with the drive circuit section 64 and stores the regenerated power generated by motors M1 to M6. In addition, the regenerative capacitor 63 also functions as a smoothing capacitor to temporarily store the voltage of the power output from the first converter circuit section 62 and output (release) it when it exceeds a predetermined value. In this way, in addition to regenerating power, the regenerative capacitor 63 stores and outputs (releases) the power output from the AC power supply 61 after it has been converted to DC by the first converter circuit section 62. However, in the following description, the power output (released) by the regenerative capacitor 63 will be referred to as regenerated power.

[0079] Additionally, the drive circuit section 64 includes motor drivers D1 to D6. Each of the motor drivers D1 to D6 has an inverter circuit comprising six switching elements. Each of the motor drivers D1 to D6 performs PWM control, converting the DC current output from the first converter circuit section 62 into AC current, such as the drive current. In this embodiment, this is converted to three-phase AC and selectively supplied to each of the corresponding motors M1 to M6 via the input / output terminal 62B. Furthermore, the motors M1 to M6 generate regenerative power, which is described later, and this regenerative power is input to the motor drivers D1 to D6 via the input / output terminal 62B. It should be noted that the magnitude and timing of the power output from the drive circuit section 64 to each of the motors M1 to M6 are set by the power-on control circuit section 74.

[0080] like Figure 3 As shown, the two terminals of the drive circuit section 64 are respectively connected to the first converter circuit section 62 by wires. The wire connecting the lower terminal of the drive circuit section 64 to the first converter circuit section 62 is a low-potential wire, and the wire connecting the upper terminal of the drive circuit section 64 to the first converter circuit section 62 is a high-potential wire, which is at a higher potential than the low-potential wire. In this embodiment, the low-potential wire is connected to the ground wire.

[0081] Furthermore, the terminals output from the drive circuit section 64 to the motors M1 to M6 are input / output terminals 62B. Power is input and output between the motor drivers D1 to D6 and the motors M1 to M6 via the input / output terminals 62B. Since each motor M1 to M6 is a three-phase motor, three input / output terminals 62B are provided for each motor 1.

[0082] The robotic arm 10 is driven to move by driving motors M1 to M6. However, if the power supply to motors M1 to M6 is stopped and the displacement of the robotic arm 10 is to be rapidly decelerated or stopped, the robotic arm 10 will not stop instantly due to its inertial force during the displacement. The back electromotive force, i.e., regenerated power, is generated by motors M1 to M6.

[0083] Motors M1 through M6 each generate regenerative power independently. The term "regenerative power" as used below refers to the total power generated by the regenerative power produced by motors M1 through M6.

[0084] The second discharge resistor section 65 is connected in parallel with the drive circuit section 64. When the power supply to the motors M1 to M6 is stopped to decelerate, i.e., when regeneration of the motors M1 to M6 is performed, the regenerated electricity generated by the motors M1 to M6 as regeneration energy is converted into heat and consumed. Regeneration refers to making the drive source, such as the motors M1 to M6, work by generating back electromotive force when the drive source decelerates rapidly, i.e., making the drive source work as a generator.

[0085] When driving motors M1 to M6, the power supply control circuit 74 operates using power from the AC power supply 61 to control the drive circuit 64, supplying AC, particularly three-phase AC, power to motors M1 to M6 at a predetermined timing, frequency, and voltage. Conversely, when stopping the driving of motors M1 to M6, the power supply control circuit 74 controls the drive circuit 64 to stop supplying power to motors M1 to M6. At this time, as described above, a back electromotive force is generated in motors M1 to M6, and its electrical charge, i.e., regenerated power, is stored in the regenerated capacitor 63. Furthermore, if the amount of charge stored in the regenerated capacitor 63 exceeds the maximum value that can be stored, in this embodiment, if the voltage value of the power input to terminal 69 of the comparator 68 (described later) exceeds a threshold, the remaining power flows through the second discharge resistor 65 and is consumed, causing the second discharge resistor 65 to heat up and dissipate heat.

[0086] The process by which electricity is converted into heat and dissipated in the second discharge resistor section 65 will be referred to as "electricity consumption by the second discharge resistor section 65". The same applies to the first discharge resistor section 78, which will be described later.

[0087] Furthermore, the second discharge resistor 65 is connected in series with the switch 67. When the switch 67 is turned on, it is in a state where power is supplied to the second discharge resistor 65, and when the switch 67 is turned off, it is in a state where power is not supplied to the second discharge resistor 65.

[0088] The potential detection unit 66 detects the potential of the regenerative capacitor 63. A signal corresponding to the detected value is input to terminal 69 of the comparator 68.

[0089] It should be noted that the voltage value of the regenerated power is set to be the same as the potential of the regenerated capacitor 63 detected by the potential detection unit 66.

[0090] When the voltage value of the regenerated power from motors M1 to M6 exceeds a threshold, comparator 68 generates a signal to turn on switch 67. That is, comparator 68 compares the detection result of the potential detection unit 66, i.e., the voltage value of the regenerated power, with a set threshold and outputs a signal corresponding to the comparison result to switch 67. When the voltage value of the regenerated power is greater than the threshold, comparator 68 outputs a signal to turn on switch 67. Conversely, when the voltage value of the regenerated power is less than the threshold, comparator 68 outputs a signal to turn off switch 67.

[0091] like Figure 4 As shown, comparator 68 includes: a comparator body 681 that compares and outputs a signal corresponding to the comparison result; a terminal 69 connected to a potential detection unit 66; a terminal 70 connected to a second step-down circuit unit 75 described later; a threshold terminal 90 that receives power with a voltage value equivalent to a threshold; a resistor R1 disposed on a wire connecting the comparator body 681 and terminal 90; a resistor R2 disposed on a wire connecting the comparator body 681 and resistor R1 to the output side of the comparator body 681, and hysteresis is obtained by bypassing the comparator body 681; a resistor R3 disposed at a position closer to the threshold terminal 90 than resistor R1; and a resistor R4 disposed on a wire connecting resistor R1 and resistor R3 to ground.

[0092] The circuit in the power control circuit 10A, excluding the comparator 68, is the "high voltage side" circuit where a higher voltage is applied, as described above. Next, the circuit in the power control circuit 10A that is the "low voltage side" circuit where a lower voltage than the "high voltage side" is applied will be described.

[0093] The second converter circuit section 71 is connected in parallel with the first converter circuit section 62. It converts the AC current input from the AC power supply 61 through the input terminal 62A and the noise reduction capacitor 60A into DC current and outputs it to the power factor improvement circuit section 72. The second converter circuit section 71 is a bridge rectifier circuit using diodes.

[0094] The power factor improvement circuit 72 is a circuit used to bring the power factor of the AC power supply 61 close to 1. Furthermore, the power factor improvement circuit 72 has the function of suppressing the high-frequency AC current generated by the AC power supply 61 to below a predetermined value to protect the CPU and other components described later. The power factor improvement circuit 72 has an output voltage setting resistor 721 for adjusting the output voltage. By appropriately setting the resistance value of the output voltage setting resistor 721, the voltage output from the power factor improvement circuit 72 to the first buck circuit 73, i.e., the voltage of the current input to the first buck circuit 73, can be set.

[0095] In this way, the control device 3 includes a power factor improvement circuit 72, which improves the power factor of the power supplied from the second converter circuit 71 and outputs it to the first buck circuit 73. As a result, the power factor can be improved to effectively and flexibly utilize the power from the AC power supply 61, and the voltage of the current output to the first buck circuit 73 can be easily set.

[0096] The first step-down circuit section 73 is a linear or switching DC / DC converter that steps down the input voltage and outputs it to the power-on control circuit section 74 and the second step-down circuit section 75. It should be noted that, for example, the voltage supplied to the power-on control circuit section 74 and the second step-down circuit section 75 is stepped down to approximately 24V.

[0097] The power-on control circuit 74, the second step-down circuit 75, the first discharge resistor 78, and the third step-down circuit 80 are connected in parallel. The power-on control circuit 74 is a circuit that forms part of the aforementioned control unit 31. It operates using the DC current output from the first step-down circuit 73 to control the drive circuit 64. That is, the power-on control circuit 74 generates a drive control signal and outputs it to the drive circuit 64.

[0098] The second step-down circuit 75, except for the degree of voltage transformation, has the same structure and function as the first step-down circuit 73. It further steps down the voltage reduced by the first step-down circuit 73 and supplies it as the comparator power supply voltage to terminal 70 of the comparator 68. This enables the operation of the comparator 68. It should be noted that, for example, the comparator power supply voltage supplied to terminal 70 of the comparator 68 is stepped down to approximately 5V by the second step-down circuit 75.

[0099] Comparator 68 compares the input value from the aforementioned terminal 69 with the input value from the threshold terminal 90 to control the opening and closing of switch 67.

[0100] In this embodiment, although the power output from the second buck circuit section 75 is used as the power for the operation of the comparator 68, the present invention is not limited to this. The power output from the second buck circuit section 75 may also be used as the power input to the threshold terminal 90 of the comparator 68, or it may be used for both.

[0101] like Figure 3As shown, the two terminals of the power-on control circuit section 74 and the second step-down circuit section 75 are respectively connected to the second converter circuit section 71 by wires. The wires connecting the lower terminals of the power-on control circuit section 74 and the second step-down circuit section 75 to the second converter circuit section 71 are low-potential wires, and the wires connecting the upper terminals of the power-on control circuit section 74 and the second step-down circuit section 75 to the second converter circuit section 71 are high-potential wires, which are at a higher potential than the low-potential wires. In this embodiment, the low-potential wires are connected to the ground wire.

[0102] The regenerative power supply unit 76 includes a regenerative diode 761, which outputs the DC current of the regenerative power generated on the high-voltage side to the first step-down circuit unit 73. It should be noted that the regenerative power supplied by the regenerative power supply unit 76 to the first step-down circuit unit 73 includes the direct regenerative power generated by motors M1 to M6 and the regenerative power released by the regenerative capacitor 63, but hereafter, they are collectively referred to as regenerative power.

[0103] In the regenerative power supply unit 76, the input terminal of the regenerative diode 761, i.e., the anode, is connected to the high-potential wire between the output terminal of the first converter circuit unit 62 and the second discharge resistor unit 65. The output terminal of the regenerative diode 761, i.e., the cathode, is connected to the input terminal of the high-potential wire of the first step-down circuit unit 73. The regenerative diode 761 allows regenerative power to pass through only one direction, i.e., as... Figure 3 As shown by arrow A, current flows from the motors M1 to M6 towards the first step-down circuit section 73, while current in the opposite direction is blocked. In other words, the regenerative power supply section 76 supplies regenerative power from the high-voltage side to the low-voltage side. The regenerative power supplied by the regenerative power supply section 76 is input to the first step-down circuit section 73.

[0104] Furthermore, the regenerative power supply unit 76 includes wires connecting the low-potential wires of the first converter circuit unit 62 and the low-potential wires of the second converter circuit unit 71. This allows the two low-potential wires to be easily and accurately set to equal potentials. It should be noted that the wires connecting the low-potential wires can also be omitted.

[0105] It should be noted that, although not shown in the diagram, a switch is provided at a location closer to the AC power source 61 than the regenerated power supply unit 76, or within the regenerated power supply unit 76 itself, to switch between enabling and preventing the supply of power from the AC power source 61 to the low-voltage side via the regenerated power supply unit 76. Furthermore, this switch is configured so that by opening it, power supplied from the AC power source 61 will not be accidentally supplied to the low-voltage side via the regenerated power supply unit 76.

[0106] In this way, in the control device 3, regenerated power is supplied from the high-voltage side to the low-voltage side via the regenerated power supply unit 76. This regenerated power can be flexibly utilized after being stepped down to drive the power-on control circuit unit 74, or via the second step-down circuit unit 75 to operate the comparator 68, or as power for other processors (not shown). Therefore, during the operation of the robot 1, that is, during the period when the power-on control circuit unit 74 and the second step-down circuit unit 75 need to be driven, the regenerated power can be reused effectively and flexibly.

[0107] Here, for example, we will explain the case where the power supply to the control device 3 is cut off by operating the power switch (not shown) of the control device 3, that is, the supply of power from the AC power source 61 to the control device 3 stops. If the supply of power from the AC power source 61 stops ( Figure 6 If the system is shut down (e.g., power disconnection), the control unit 31 performs termination procedures such as shutting down the system. These termination procedures may include, for example, recording the running status of programs and various log entries. During this termination process, the processor of the control unit 31 requires power. This power can be provided by the regenerated power supplied by the aforementioned regenerated power supply unit 76. It is preferable to release almost all of the regenerated power stored in the regenerated capacitor 63, which serves as the supply source, for consumption. Therefore, after the termination process is completed, a discharge process is also required within the control unit 31 to consume the regenerated power used to operate the processor.

[0108] Previously, this discharge process would take a long time (see reference). Figure 6 The time series diagram at the top of the diagram shows the time from power-off until the control device actually stops, i.e. until... Figure 6 The problem lies in the time consumed during the "discharge process completion" step. In other words, there is a problem that the control device cannot be stopped quickly. In particular, when a regenerative power supply unit 76 is provided, the regenerative power supply unit 76 actively and continuously supplies power to the first step-down circuit unit 73 until the regenerative power stored in the regenerative capacitor 63 is depleted. Therefore, the first step-down circuit unit 73 continuously reduces the voltage of the regenerative power received from the regenerative power supply unit 76 and outputs it to the power-on control circuit unit 74 and the second step-down circuit unit 75 until the regenerative power stored in the regenerative capacitor 63 is depleted. Therefore, the power-on control circuit unit 74, the second step-down circuit unit 75, etc., are continuously driven until the power supply from the first step-down circuit unit 73 is depleted, resulting in a problem of time consumption for stopping the control device 3. In contrast, the control device 3 of this embodiment can solve the above-mentioned technical problem by adopting the following structure.

[0109] Figure 3The power detection unit 77 shown is a power detection unit that detects the power supply from the AC power source 61 to the control device 3. In this embodiment, the power detection unit 77 is composed of a detection circuit that detects the voltage of the power output from the AC power source 61 and input to the control device 3, that is, it detects the voltage between the high-potential wire connected from the upper input terminal 62A to the first converter circuit 62 and the low-potential wire connected from the lower input terminal 62A to the first converter circuit 62.

[0110] It should be noted that the detection object of the power detection unit 77 is not limited to voltage if it can detect the power supply from the AC power source 61 to the control device 3. For example, it can also be current, electricity, etc.

[0111] Although not shown, the power detection unit 77 is electrically connected to the judgment circuit unit 79. The power-related information detected by the power detection unit 77, which in this embodiment is voltage-related information, i.e., the detected voltage value, is converted into an electrical signal and input to the judgment circuit unit 79.

[0112] The judgment circuit 79 determines whether power is supplied from AC power source 61 to control device 3 based on the detection value of power detection unit 77. For example, the judgment circuit 79 compares the detection value of power detection unit 77 with a preset threshold. If the detection value is greater than the threshold, it determines that power is supplied from AC power source 61 to control device 3; if the detection value is less than the threshold, it determines that power is not supplied from AC power source 61 to control device 3. The condition in which the judgment circuit 79 determines that power is supplied from AC power source 61 to control device 3 is a state where power is supplied from AC power source 61 to control device 3, hereinafter referred to as the "on state". Conversely, the condition in which the judgment circuit 79 determines that power is not supplied from AC power source 61 to control device 3 is a state where power is not supplied from AC power source 61 to control device 3, hereinafter referred to as the "off state". When the judgment circuit 79 determines that there is no supply, i.e., in the off state, it outputs a signal that activates the first discharge resistor unit 78.

[0113] It should be noted that the structure of the judgment circuit 79 is not limited to the structure described above. Other structures for the judgment circuit 79 may include a comparator. In this case, the judgment circuit 79 compares the detection value of the power detection unit 77 with a preset threshold using the comparator, and based on the comparison result, outputs a signal to activate the first discharge resistor unit 78 when there is no power supply from the AC power source 61 to the control device 3.

[0114] like Figure 7As shown, the voltage value of the power supplied from the AC power source 61 increases and decreases repeatedly at a predetermined cycle. Furthermore, the voltage detection by the power detection unit 77 is performed intermittently, that is, at predetermined intervals. In this embodiment, the voltage detection is performed at the peak of the AC voltage of the AC power source 61 at one cycle, and the determination circuit unit 79 determines whether power is supplied from the AC power source 61 to the control device 3 based on the detection value of the power detection unit 77. Therefore, the determination circuit unit 79 can accurately determine whether power is supplied from the AC power source 61 to the control device 3.

[0115] It should be noted that voltage detection is not limited to the aforementioned timing. For example, it can be performed at multiple times the interval of one cycle of the AC voltage of AC power supply 61. Alternatively, voltage detection can be performed at half a cycle of the AC voltage of AC power supply 61, or 1.5 times the interval of one cycle of the AC voltage of AC power supply 61, or multiple times the interval of one cycle of the AC voltage of AC power supply 61 plus half a cycle. Voltage detection can also be performed at points deviating from the peak value of the AC voltage of AC power supply 61.

[0116] In this manner, the voltage detection unit 77 detects the voltage at predetermined intervals, and the judgment circuit unit 79 determines at predetermined intervals whether power is supplied from the AC power source 61 to the control device 3. That is, the judgment circuit unit 79 determines at predetermined intervals whether the state is on or off. Therefore, compared to the case of continuous detection and judgment, unnecessary operations can be reduced, and the state of on or off can be accurately determined, enabling the discharge process described later to start quickly and at accurate timing.

[0117] When the determination circuit 79 determines that the state is on, it outputs a signal to the first discharge resistor 78 to disconnect the switching element 782 of the first discharge resistor 78 (described later). Specifically, the determination circuit 79 does not output a signal to the first discharge resistor 78. Conversely, when the determination circuit 79 determines that the state is off, it outputs a signal to the first discharge resistor 78 to connect the switching element 782 of the first discharge resistor 78.

[0118] like Figure 3 as well as Figure 5 As shown, the first discharge resistor 78 is provided on the weak current side to consume the power released from the regenerative capacitor 63 and output by the first step-down circuit 73. The first discharge resistor 78 has a resistor 781 and a switching element 782, which switches whether to supply the power output by the first step-down circuit 73 to the resistor 781 or to block it.

[0119] Resistor 781 is a resistor that generates heat when energized to discharge the regenerative capacitor 63. Two resistors 781 are provided in the illustrated structure. Each resistor 781 is connected in series. Furthermore, each resistor 781 is connected in series with the first step-down circuit section 73.

[0120] The switching element 782 is connected in series with each resistor 781, and can switch on / off according to the signal output by the judgment circuit section 79. When the switching element 782 is on, the power output by the first step-down circuit section 73 can be supplied to the resistor 781. On the other hand, when the switching element 782 is off, the power output by the first step-down circuit section 73 can be supplied to the power-on control circuit section 74, the second step-down circuit section 75, and the third step-down circuit section 80.

[0121] Previously, since there was no part equivalent to the first discharge resistor section 78, therefore... Figure 6 As shown in the time series diagram at the top, the time elapsed from the completion of the final processing to the completion of the discharge processing. In this invention, a first discharge resistor 78 is provided on the weak current side, allowing discharge processing to be performed through the first discharge resistor 78 when the circuit is open. Thus, as... Figure 6 As shown in the time series diagram at the bottom, the time until the discharge process is complete can be shortened. As a result, the operation of control device 3 can be stopped (shut down) quickly.

[0122] Furthermore, since the first discharge resistor section 78 is designed to dissipate the power output by the first step-down circuit section 73, even if small resistors are used as the resistors 781 of the first discharge resistor section 78, sufficient heat dissipation can be achieved. Therefore, it is possible to miniaturize the first step-down circuit section 73 and even the control device 3.

[0123] Based on the above, the control device 3 having the first discharge resistor section 78 can quickly stop (turn off) the operation of the control device 3, and the control device 3 can be miniaturized.

[0124] Furthermore, the control device 3, which has a first discharge resistor 78 and a regenerative power supply 76, can reuse the regenerative power supply 76 while driving the robot 1, and can quickly stop (shut down) the operation of the control device 3.

[0125] Here, in the first discharge resistor section 78, the resistance value of the entire resistor used in the power consumption after being stepped down by the first step-down circuit section 73, i.e., the resistance value of the combined resistor, which in this embodiment is the combined resistance value of two resistors 781 connected in series, is set to R78. Furthermore, in the second discharge resistor section 65, the resistance value of the entire resistor used in the power consumption from the drive circuit section 64, i.e., the resistance value of the combined resistor, is set to R65.

[0126] Since the first discharge resistor 78 consumes the power stepped down by the first step-down circuit 73, it is preferable that the resistance value R78 of the first discharge resistor 78 is smaller than the resistance value R65 of the second discharge resistor 65. This allows for miniaturization of the first discharge resistor 78 and accurate power consumption.

[0127] Furthermore, the ratio of resistance value R65 to resistance value R78, R65 / R78, is not particularly limited and is appropriately determined according to various conditions, but is preferably 4.5 or more and 30 or less, more preferably 7 or more and 10 or less. This allows the aforementioned effects to be performed more reliably.

[0128] The resistance value R78 is not particularly limited, but is appropriately determined according to various conditions, preferably 1Ω or more and 20Ω or less, more preferably 5Ω or more and 10Ω or less. This allows for more reliable performance of the aforementioned effects.

[0129] The resistance value R65 is not particularly limited and can be appropriately determined according to various conditions. It is preferably 30Ω or more and 90Ω or less, and more preferably 50Ω or more and 70Ω or less. This allows the above-mentioned effects to be performed more reliably.

[0130] The third step-down circuit section 80 is connected in parallel with the power-on control circuit section 74, the second step-down circuit section 75, and the first discharge resistor section 78. The third step-down circuit section 80, except for the degree of voltage transformation, has the same structure and function as the first step-down circuit section 73 and the second step-down circuit section 75. It further steps down the voltage stepped down by the first step-down circuit section 73 and supplies it as the power supply voltage for the judgment circuit section to the judgment circuit section 79. This enables the judgment circuit section 79 to operate. It should be noted that the power supply voltage for the judgment circuit section supplied to the judgment circuit section 79 is stepped down by the third step-down circuit section 80 to, for example, approximately 3.3V. Using this power supply voltage stepped down by the third step-down circuit section 80, the judgment circuit section 79 operates, enabling the switching element 782 of the first discharge resistor section 78 to be switched on / off.

[0131] The smoothing circuit section 81 smooths the voltage of the power output from the second converter circuit section 71. Additionally, the smoothing circuit section 81 smooths the voltage of the regenerated power. This smoothing circuit section 81 includes a smoothing capacitor 811 connected in parallel with the first buck circuit section 73. By outputting the power smoothed by the smoothing capacitor 811 to the first buck circuit section 73, stable voltage reduction based on the first buck circuit section 73 can be achieved. Therefore, the first discharge resistor section 78 can stably and efficiently dissipate the regenerated power output by the first buck circuit section 73. As a result, heat dissipation can be performed more quickly.

[0132] The smoothing circuit section 81 smooths the voltage of the power after it has been stepped down by the first step-down circuit section 73, so the capacitance C1 of the smoothing capacitor 811 is preferably smaller than the capacitance C2 of the regenerator capacitor 63. This allows for miniaturization of the smoothing circuit section 81 and efficient performance of the aforementioned smoothing.

[0133] The ratio of capacity C1 to capacity C2, C1 / C2, is not particularly limited and is appropriately determined according to various conditions, but is preferably 0.01 or more and 0.56 or less, more preferably 0.04 or more and 0.16 or less. This allows the aforementioned effects to be performed more reliably.

[0134] It should be noted that capacity C1 can be the same as capacity C2, or it can be larger than capacity C2.

[0135] The capacity C1 is not particularly limited and is appropriately determined according to various conditions, but it is preferably 100uF or more and 560uF or less, more preferably 220uF or more and 470uF or less. As a result, the above-mentioned effects can be achieved more reliably.

[0136] The capacity C2 is not particularly limited and is appropriately determined according to various conditions, but it is preferably 1000uF or more and 10000uF or less, more preferably 3000uF or more and 6000uF or less. As a result, the above-mentioned effects can be performed more reliably.

[0137] As explained above, the control device 3 controls the driving of motors M1 to M6 of the robot 1, and includes: a power detection unit 77 that detects the power supply from the AC power source 61 to the control device 3; a first converter circuit unit 62 that converts the AC current supplied from the AC power source 61 into DC current and outputs it; a drive circuit unit 64 that converts the DC current output from the first converter circuit unit 62 into AC current, which is one example of the drive current of motors M1 to M6, and outputs it, and is also input with regenerated power from motors M1 to M6; a second converter circuit unit 71 that is connected in parallel with the first converter circuit unit 62 and converts the AC current supplied from the AC power source 61 into DC current and outputs it; and a first step-down circuit unit 73 that serves as a step-down circuit unit that receives power from the second converter circuit unit 71. The DC current output is stepped down and output; the power-on control circuit 74 operates using the DC current output from the first step-down circuit 73 to control the drive circuit 64; the regenerator 63 stores regenerated power; and the first discharge resistor 78 consumes the power released from the regenerator 63 and output by the first step-down circuit 73. When the power detection unit 77 detects that the power supply from the AC power source 61 is on, the power released from the regenerator 63 and output by the first step-down circuit 73 is supplied to the power-on control circuit 74. When the power detection unit 77 detects that the power supply from the AC power source 61 is off, the power released from the regenerator 63 and output by the first step-down circuit 73 is supplied to the first discharge resistor 78. Thus, the operation of the control device 3 can be quickly stopped (turned off), and the control device 3 can be miniaturized.

[0138] It should be noted that in this embodiment, the power detection unit 77 is a power detection unit that detects the voltage of the front section of the first converter circuit unit 62. However, it is not limited to this in the present invention. It can also be a power detection unit that detects the voltage of other parts, such as the rear section of the first converter circuit unit 62. Specifically, it can also be a power detection unit that detects the voltage between the high-potential wire and the low-potential wire that connect the first converter circuit unit 62 and the drive circuit unit 64.

[0139] In addition, as an example of the driving current of motors M1 to M6, an alternating current was used for explanation, but this invention is not limited to this, and the driving current of motors M1 to M6 can also be a direct current.

[0140] Additionally, the robot system 100 includes: a robot 1 equipped with motors M1 to M6; and a control device 3 for controlling the drive of motors M1 to M6. The control device 3 includes: a power detection unit 77 for detecting the power supply from AC power source 61 to the control device 3; a first converter circuit unit 62 for converting AC current supplied from AC power source 61 into DC current and outputting it; a drive circuit unit 64 for converting the DC current output from the first converter circuit unit 62 into AC current, which is one example of the drive current for motors M1 to M6, and outputting it, and also receiving regenerated power from motors M1 to M6; a second converter circuit unit 71 connected in parallel with the first converter circuit unit 62 for converting AC current supplied from AC power source 61 into DC current and outputting it; a first step-down circuit unit 73, which is a step-down circuit unit, for stepping down the DC current output from the second converter circuit unit 71 and outputting it; and a power-on control circuit. The circuit section 74 operates using the DC current output from the first step-down circuit section 73 to control the drive circuit section 64; the regenerative capacitor 63 stores regenerated power; and the first discharge resistor section 78 consumes the power released from the regenerative capacitor 63 and output by the first step-down circuit section 73. When the power detection section 77 detects that the power supply from the AC power source 61 is on, it supplies the power released from the regenerative capacitor 63 and output by the first step-down circuit section 73 to the power-on control circuit section 74. When the power detection section 77 detects that the power supply from the AC power source 61 is off, it supplies the power released from the regenerative capacitor 63 and output by the first step-down circuit section 73 to the first discharge resistor section 78. This allows for rapid shutdown (turn-off) of the control device 3 and enables miniaturization of the control device 3. Consequently, energy saving and miniaturization of the robot system 100 as a whole are achieved.

[0141] Furthermore, the system includes a regenerative power supply unit 76, which outputs regenerative power to a first step-down circuit unit 73, which serves as a step-down circuit unit. When the power detection unit 77 detects that the power supply from the AC power source 61 is on, the power released from the regenerative capacitor 63 to the regenerative power supply unit 76 and stepped down by the first step-down circuit unit 73 is supplied to the power-on control circuit unit 74. When the power detection unit 77 detects that the power supply from the AC power source 61 has stopped, the power released from the regenerative capacitor 63 to the regenerative power supply unit 76 and stepped down by the first step-down circuit unit 73 is supplied to the first discharge resistor unit 78. Thus, during the operation of the robot 1, regenerative power can be effectively and flexibly utilized, and the operation of the control device 3 can be quickly stopped (turned off).

[0142] The first discharge resistor section 78 includes a resistor 781 and a switching element 782. The switching element 782 switches whether to supply power output from the first step-down circuit section 73 (which is a step-down circuit section) to the resistor 781 or to block it. Thus, it is possible to switch whether the first discharge resistor section 78 consumes power at a desired timing, i.e., according to the on / off state of the power supply from the AC power source 61.

[0143] It should be noted that in this embodiment, the first discharge resistor section 78 is described as having a structure with two resistors 781, but this is not the case in the present invention, and the resistors 781 may also be one or more.

[0144] Furthermore, the control device 3 includes a smoothing circuit section 81, which smooths the voltage output from the second converter circuit section 71. As a result, the first discharge resistor section 78 can stably and efficiently dissipate power. Therefore, heat dissipation can be performed more quickly.

[0145] It should be noted that the smoothing circuit section 81 can be omitted, or there can be more than two of them.

[0146] Furthermore, the power detection unit 77 detects the voltage of the power supplied from the AC power source 61, and the control device 3 includes a judgment circuit unit 79. Based on the detection value of the power detection unit 77, the judgment circuit unit 79 determines whether power is supplied from the AC power source 61 to the control device 3. Thus, it is possible to accurately determine whether power is supplied from the AC power source 61.

[0147] In addition, the voltage of the power detection unit 77 is detected at predetermined intervals. As a result, compared to continuously detecting and judging the power supply from the AC power source 61 to the control device 3, unnecessary operations can be reduced, and the presence or absence of power supply from the AC power source 61 to the control device 3 can be accurately detected and judged.

[0148] It should be noted that the timing of the detection by the power detection unit 77 and the judgment by the judgment circuit unit 79 is not limited to the structure described above. For example, it is also possible for the power detection unit 77 to always perform detection and the judgment circuit unit 79 to always perform judgment.

[0149] Furthermore, the control device 3 includes a second discharge resistor 65, which is connected in parallel with the drive circuit 64. When the voltage value of the regenerated power exceeds a threshold, the regenerated power from the drive circuit 64 is consumed. Thus, for example, when the amount of electricity stored in the regenerated capacitor 63 exceeds its maximum storage capacity, the remaining power can be consumed.

[0150] It should be noted that the second discharge resistor 65 can be omitted, or there can be more than two of them.

[0151] The control device 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 structure of each part in the control device and robot system can be replaced with any structure having the same function. In addition, other arbitrary structures and functional parts may be added to the control device and robot system.

Claims

1. A control device, characterized in that, The control device controls the drive of the motors in the robot, and the control device includes: The power detection department detects the power supply from the AC power source to the control device; The first converter circuit section converts the AC current supplied from the AC power source into DC current and outputs it. The drive circuit section converts the DC current output from the first converter circuit section into the drive current of the motor and outputs it, and is also input with regenerative power from the motor. The second converter circuit section is connected in parallel with the first converter circuit section, and converts the AC current supplied from the AC power source into DC current and outputs it. The step-down circuit section steps down the DC current output from the second converter circuit section and outputs it; The power-on control circuit section operates using the DC current output from the step-down circuit section to control the drive circuit section; Regenerative capacitors store the regenerated electricity; and The first discharge resistor section consumes the power released from the regenerative capacitor and output after being stepped down by the voltage-dropping circuit section. When the power detection unit detects that the power supply from the AC power source is connected, the power released from the regenerative capacitor and stepped down by the step-down circuit unit is supplied to the power-on control circuit unit. When the power detection unit detects that the power supply from the AC power source has stopped and is in a disconnected state, the power released from the regenerative capacitor and output by the step-down circuit unit is supplied to the first discharge resistor unit.

2. The control device according to claim 1, characterized in that, The control device includes a regenerative power supply unit that outputs regenerative power to the step-down circuit unit. When the power detection unit detects that the power supply from the AC power source is connected, the power released from the regenerative capacitor to the regenerative power supply unit and stepped down by the step-down circuit unit is supplied to the power-on control circuit unit. When the power detection unit detects that the power supply from the AC power source has stopped and is in a disconnected state, the power released from the regenerative capacitor to the regenerative power supply unit and output by the step-down circuit unit is supplied to the first discharge resistor unit.

3. The control device according to claim 1 or 2, characterized in that, The first discharge resistor section has a resistor and a switching element, which switches whether to supply the power output by the step-down circuit section to the resistor or to block it.

4. The control device according to claim 1 or 2, characterized in that, The control device has a smoothing circuit section that smooths the voltage output from the second converter circuit section.

5. The control device according to claim 1 or 2, characterized in that, The power detection unit detects the voltage of the power supplied from the AC power source. The control device includes a judgment circuit section, which determines whether power is supplied from the AC power source to the control device based on the detection value of the power detection section.

6. The control device according to claim 5, characterized in that, The voltage detection unit performs the detection at predetermined intervals.

7. The control device according to claim 1 or 2, characterized in that, The control device includes a second discharge resistor section connected in parallel with the drive circuit section, and consumes the regenerated power from the drive circuit section when the voltage value of the regenerated power exceeds a threshold.

8. A robot system, characterized in that, have: A robot, equipped with a motor; and The control device controls the driving of the motor. The control device includes: The power detection department detects the power supply from the AC power source to the control device; The first converter circuit section converts the AC current supplied from the AC power source into DC current and outputs it. The drive circuit section converts the DC current output from the first converter circuit section into the drive current of the motor and outputs it, and is also input with regenerative power from the motor. The second converter circuit section is connected in parallel with the first converter circuit section, and converts the AC current supplied from the AC power source into DC current and outputs it. The step-down circuit section steps down the DC current output from the second converter circuit section and outputs it; The power-on control circuit section operates using the DC current output from the step-down circuit section to control the drive circuit section; Regenerative capacitors store the regenerated electricity; and The first discharge resistor section consumes the power released from the regenerative capacitor and output after being stepped down by the voltage-dropping circuit section. When the power detection unit detects that the power supply from the AC power source is connected, the power released from the regenerative capacitor and stepped down by the step-down circuit unit is supplied to the power-on control circuit unit. When the power detection unit detects that the power supply from the AC power source has stopped and is in a disconnected state, the power released from the regenerative capacitor and output by the step-down circuit unit is supplied to the first discharge resistor unit.

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