Robot and robot system

Abstract

To provide a controller system which is hardly affected by electrostatic noise.SOLUTION: A controller system includes a controller including a conductive housing having an opening, a control board disposed in the housing, and a socket connector mounted on the control board, a module main body electrically connected to the socket connector by being inserted into the opening of the housing, a module screw that fixes the module main body to the controller and is partially exposed to the outside of the housing, and a cover that covers at least a part of a portion of the module screw exposed to the outside of the housing when the opening is viewed in a plan view from the outside of the housing. And a conductive cover member that is disposed apart from the module screw and is electrically connected to the housing.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] The housing of the robot controller described in Patent Document 1 is provided with a connection section such as an external connection connector for connecting to an external device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-088057 Summary of the Invention [Problem to be solved by the invention]

[0004] In such robot controllers, the connector for connecting to the external device is inserted into the external connection connector to electrically connect the robot controller to the external device. If the screw for fastening the connector for the external device to the robot controller is exposed outside the housing of the robot controller, static electricity may enter the robot controller through the screw, causing problems with the functionality of the robot controller, such as communication with the external device. [Means for solving the problem]

[0005] The controller system of the present invention includes a controller including a conductive housing having an opening, a control board disposed in the housing, and a socket connector mounted on the control board; a module main body that is inserted into the opening of the housing to be electrically connected to the socket connector; a module screw that fixes the module body to the controller and has a portion exposed to the outside of the housing; When the opening is viewed from outside the housing in a plan view, the cover member covers at least a portion of the portion of the module screw that is exposed outside the housing, is positioned at a distance from the module screw, and is electrically conductive with the housing.

[0006] The controller system of the present invention includes a controller including a conductive housing having an opening, a control board disposed in the housing, and a socket connector mounted on the control board; a module main body that is inserted into the opening of the housing to be electrically connected to the socket connector; a module screw that fixes the module body to the controller and has a portion exposed to the outside of the housing; The module screw has a conductive cover member that contacts the module screw and the housing and provides electrical continuity between the module screw and the housing. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of a controller system according to a first embodiment. [Figure 2] FIG. 10 is a cross-sectional view for explaining a problem in the related art. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] FIG. 10 is a plan view of a cover member of the controller system according to the second embodiment. [Figure 6] FIG. [Figure 7] FIG. 11 is a cross-sectional view of a cover member of a controller system according to a third embodiment. [Figure 8] FIG. 10 is a cross-sectional view of a cover member of a controller system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, a controller system of the present invention will be described in detail based on an embodiment shown in the accompanying drawings.

[0009] Fig. 1 is a perspective view of a controller system according to a first embodiment. Fig. 2 is a cross-sectional view for explaining problems of the conventional art. Fig. 3 is a plan view of a cover member. Fig. 4 is a cross-sectional view of the cover member.

[0010] The controller system 1 shown in Fig. 1 is a robot controller system for controlling the operation of a robot (not shown). However, the use of the controller system, i.e., the controlled object, is not limited to a robot. Such a controller system 1 mainly includes a controller 2, a module body 3 connected to the controller 2, a module screw 4 that secures the controller 2 to the module body 3, a cover member 5 that covers the module screw 4, and a cover member screw 6 that secures the cover member 5 to the controller 2.

[0011] As shown in FIG. 1, the controller 2 has a housing 21. The housing 21 is made of a conductive material such as a metal material. In particular, in this embodiment, the housing 21 is made of aluminum (Al). The housing 21 has a rectangular parallelepiped outer wall 210 and has an internal storage space. The outer wall 210 has a first wall 210a which is a front wall, a second wall 210b which is a rear wall, a third wall 210c which is a right side wall, a fourth wall 210d which is a left side wall, a fifth wall 210e which is a top wall, and a sixth wall 210f which is a bottom wall. The first, second, third, fourth, fifth, and sixth walls 210a, 210b, 210c, 210d, 210e, and 210f each have a rectangular flat plate shape. However, the shape of the outer wall 210 is not particularly limited.

[0012] The first wall 210a, which is the front wall, is provided with an opening 211. The module body 3 is inserted into the opening 211.

[0013] Although not shown, at least one of the first, second, third, fourth, fifth, and sixth walls 210a, 210b, 210c, 210d, 210e, and 210f is detachably fixed to the other walls with screws or the like. Therefore, by removing the detachable wall, assembly and maintenance of the controller 2 can be easily performed.

[0014] As shown in FIG. 1 , the controller 2 has a plurality of electronic components 22 housed within a housing 21. Examples of the electronic components 22 include a power supply board 221, a control board 222, and a drive board 223. The power supply board 221 converts an externally supplied 200 V AC voltage (power supply) into a drive voltage (e.g., 280 V) for the drive board 223 and supplies it to the drive board 223, and also converts it into a control voltage (e.g., 20 V) for the control board 222 and supplies it to the control board 222. The control board 222 is driven by the control voltage supplied from the power supply board 221, and performs overall control of the controller 2 by communicating with external devices such as a robot and a host computer and processing various data. The drive board 223 is driven by the drive voltage supplied from the power supply board 221, generates control signals for motors arranged at each joint of the robot, and supplies the generated control signals to the corresponding motors.

[0015] The power supply board 221 and the control board 222 are both in a horizontal position and are arranged side by side in the front-to-back direction of the controller 2. The power supply board 221 is located on the second wall 210b side, which is the rear wall, and the control board 222 is located on the first wall 210a side, which is the front wall. In contrast, the drive board 223 is in a vertical position and is located above the power supply board 221 and the control board 222 (on the fifth wall 210e side). The power supply board 221, the control board 222, and the drive board 223 are electrically connected to each other by wiring, connectors, etc., not shown.

[0016] 1 and 2, the controller 2 has a socket connector 23 mounted on the control board 222. The socket connector 23 is provided at a position corresponding to an opening 211 formed in the first wall 210a of the housing 21. The control board 222 is electrically connected to an external device, for example, via the socket connector 23. The socket connector 23 is a female connector and has an insertion hole 231 inside the housing 21. By inserting the module main body 3, which is a male connector provided on the external device, into the insertion hole 231, the control board 222 and the external device are electrically connected via the socket connector 23 and the module main body 3. However, this configuration is not limited thereto, and for example, the electrical connection may be achieved by contact between the socket connector 23 and a part (end) of the module main body 3.

[0017] The socket connector 23 also has a fixing portion 24 for fixing the module main body 3 using a module screw 4. A pair of fixing portions 24 are arranged on both sides of the socket connector 23. Each fixing portion 24 has a screw hole 241 into which the module screw 4 is screwed. The fixing portion 24 and the module main body 3 are fixed by screwing the module screw 4 inserted into the module main body 3 into each fixing portion 24. This fixes the module main body 3 to the socket connector 23, and the electrical connection therebetween is stably maintained. This also effectively prevents the module main body 3 from being unintentionally removed. Note that in this embodiment, the fixing portion 24 is integrally formed with the socket connector 23, but this is not limited thereto and the fixing portion 24 may be formed separately from the socket connector 23. The first wall 210a of the controller 2 may be sandwiched between the module main body 3 and the fixing portion 24 and fixed with the module screw 4. This allows the module main body 3, the fixing portion 24, and the controller 2 to be stably fixed together. The method of fixing the module main body 3 to the socket connector 23 and the control board 222 is not limited to this, and it is sufficient that a portion of the member for fixing the module main body 3 to the controller 2, such as the module screw 4, is exposed outside the housing 21.

[0018] In this configuration, a portion of the module screw 4, specifically the head 40, is exposed to the outside of the housing 21. Therefore, as shown in FIG. 2, for example, electrostatic noise N may enter the control board 222 through the head 40, causing problems with the functionality of the controller 2, such as communication with external devices. Therefore, in the controller system 1, the head 40 of the module screw 4 is covered with the cover member 5, effectively preventing electrostatic noise N from entering the control board 222 via the head 40.

[0019] The cover member 5 is made of a conductive material such as a metal material, and in this embodiment, it is made of a metal material. This makes it possible to easily form a cover member 5 with excellent conductivity. In particular, in this embodiment, the cover member 5 is made of iron, and its surface is zinc-plated. However, the material is not limited to iron, and it may be made of any conductive material such as aluminum. The cover member 5 in this embodiment is plate-shaped, and as shown in FIG. 4, in a plan view of the first wall 210a, it has a U-shape that surrounds approximately the lower half of the insertion hole 231 provided in the socket connector 23.

[0020] Furthermore, when the opening 211 is viewed from the outside of the housing 21 in a plan view, the cover member 5 has a recessed opening 50 into which the module main body 3 is inserted in the insertion hole 231 and electrically connected to the socket connector 23. This configuration makes it easy to attach the cover member 5 to the housing 21. The opening 50 is also approximately rectangular, and the tip, i.e., the upper end, is chamfered in a tapered shape. In other words, the width of the tip of the opening 50 gradually increases toward the upper side. This configuration makes it easy to insert the module main body 3 into the opening 50, thereby making it easy to attach the cover member 5.

[0021] Furthermore, when the cable of the external device has a connector and the connector is inserted into the module body 3, the cover member 5 is shaped so as not to hinder the insertion and removal of the connector of the external device into the module body 3.

[0022] As shown in FIG. 3 , the cover member 5 has a back surface 5b facing the first wall 210a and a front surface 5a facing the back surface 5b, which is the surface opposite the first wall 210a. The cover member 5 also has a pair of recesses 52 formed at both ends of the front surface 5a, recessed toward the first wall 210a, and a pair of holes 53 penetrating the bottom of each recess 52 and the back surface 5b. Each hole 53 is a hole for inserting a cover member screw 6. As shown in FIG. 4 , screw holes 219 are formed in the first wall 210a at positions overlapping the holes 53. The cover member screws 6 inserted into the holes 53 are threaded into the screw holes 219, thereby fixing the cover member 5 to the first wall 210a. This configuration allows the cover member 5 to be easily fixed to and removed from the first wall 210a. The module main body 3 can be replaced depending on the shape of the connector of the external device to be connected. Since the cover member 5 must also be removed when the module main body 3 is removed, it is preferable that the cover member 5 be configured to be easily removable. Furthermore, the recess 52 prevents the head 60 of the cover member screw 6 from protruding. This effectively prevents problems caused by a cord or the like getting caught on the cover member screw 6.

[0023] In particular, in this embodiment, the recess 52 is deeper than the thickness of the head 60, and the entire head 60 is contained within the recess 52. Therefore, the above-mentioned effect becomes more pronounced. However, without being limited to this, the recess 52 may be shallower than the thickness of the head 60, and a portion of the head 60 may protrude from the surface 5a, or the recess 52 may be omitted.

[0024] Furthermore, when the first wall 210a is viewed from outside the housing 21, the cover member 5 has a pair of covering portions 51 that cover the heads 40 of each module screw 4, i.e., the portions exposed outside the housing 21. In other words, the covering portions 51 face the first wall 210a, sandwiching the heads 40 between them. The cover member 5 is spaced apart from the module screws 4 and is insulated from the module screws 4. Covering the heads 40 with the covering portions 51 in this manner makes it easier for electrostatic noise N to penetrate the cover member 5 than the heads 40, as shown in FIG. 4 . This effectively prevents electrostatic noise N from penetrating the heads 40 into the control board 222. This effectively prevents electrostatic noise N from penetrating the heads 40. The controller 2 can stably perform its functions, such as communicating with external devices. The electrostatic noise N that penetrates the cover member 5 is grounded via the first wall 210a, i.e., the housing 21.

[0025] In particular, in this embodiment, when the first wall 210a is viewed from outside the housing 21 in a plan view, each covering portion 51 covers at least a portion of the head 40 of each modular screw 4. Covering at least a portion of the head 40 of each modular screw 4 with each covering portion 51 in this manner more effectively prevents electrostatic noise N from entering the head 40. Because the cover member 5 is made of metal, it actively absorbs electrostatic noise N even when the head 40 is exposed when the first wall 210a is viewed in a plan view. Furthermore, compared to a configuration in which each covering portion 51 completely covers the head 40, this configuration can accommodate cables of external devices of various sizes. More preferably, the covering portion 51 covers approximately 60% of the head 40. However, this is not limited thereto, and each covering portion 51 may cover the entire head 40 of each modular screw 4. This configuration makes the above-described effect more pronounced, and prevents electrostatic noise N from entering the head 40 more effectively.

[0026] The controller system 1 has been described above. As described above, the controller system 1 includes the controller 2, which includes the conductive housing 21 having the opening 211, the control board 222 disposed within the housing 21, and the socket connector 23 mounted on the control board 222; the module main body 3, which is inserted into the opening 211 of the housing 21 and electrically connected to the socket connector 23; the module screw 4, which secures the module main body 3 to the controller 2 and has a portion exposed outside the housing 21; and the conductive cover member 5, which is disposed spaced apart from the module screw 4 and is electrically connected to the housing 21 when the opening 211, i.e., the first wall 210a, is viewed from outside the housing 21 in a plan view. This configuration effectively prevents electrostatic noise N from penetrating the cover member 5 and effectively prevents the electrostatic noise N from penetrating the head 40. Therefore, the electrostatic noise N can be effectively prevented from penetrating the control board 222 via the head 40. Therefore, the functions of the controller 2, such as communication with external devices, can be stably performed.

[0027] As described above, the cover member 5 is made of a metal material. With this configuration, the cover member 5 having excellent electrical conductivity can be easily formed.

[0028] As described above, socket connector 23 has fixing portion 24. Module screw 4 fixes module main body 3 to fixing portion 24. With this configuration, socket connector 23 and module main body 3 can be easily fixed together, and the state in which they are electrically connected can be stably maintained.

[0029] As described above, the cover member 5 is formed on the front surface 5a, which is the surface opposite the housing 21, and has a recess 52 recessed toward the housing 21, and a hole 53 penetrating the bottom surface of the recess 52 and the back surface 5b, which is the surface facing the housing 21. The controller system 1 also has a cover member screw 6 that is inserted through the hole 53 and fixes the cover member 5 to the housing 21. This configuration makes it possible to easily fix the cover member 5 to the housing 21. Furthermore, the recess 52 prevents the head 60 of the cover member screw 6 from protruding. This effectively prevents problems caused by a cord or the like getting caught on the cover member screw 6.

[0030] Furthermore, as described above, when the opening 211 is viewed from the outside of the housing 21 in plan view, the cover member 5 has a recessed opening 50 into which the module main body 3 electrically connected to the socket connector 23 is inserted. This configuration makes it easy to attach the cover member 5 to the housing 21.

[0031] As described above, the tip of the opening 50 is chamfered in a tapered shape. With this configuration, the cover member 5 can be easily attached.

[0032] Second Embodiment Fig. 5 is a plan view of a cover member included in a controller system according to the second embodiment, and Fig. 6 is a cross-sectional view of the cover member.

[0033] The controller system 1 according to this embodiment is similar to the controller system 1 according to the first embodiment described above, except for the configuration of the cover member 5. Therefore, in the following description, differences between the controller system 1 according to this embodiment and the first embodiment described above will be mainly described, and descriptions of similar points will be omitted. Furthermore, in each drawing of this embodiment, the same reference numerals are used to designate similar components to those in the previously described embodiment.

[0034] As shown in FIG. 5 , the cover member 5 in this embodiment is located outside the housing 21. This facilitates attachment of the cover member 5 to the housing 21. Furthermore, when the first wall 210a is viewed from outside the housing 21 in a plan view, the cover member 5 covers a portion of the head 40 of the module screw 4. Furthermore, as shown in FIG. 6 , the cover member 5 contacts not only the first wall 210a but also the head 40 of the module screw 4, i.e., the portion exposed from the housing 21. Therefore, the module screw 4 is electrically connected to the first wall 210a via the cover member 5. In this configuration, the head 40 is exposed from the cover member 5, which makes it easy for electrostatic noise N to infiltrate the module screw 4 from the head 40. However, even if electrostatic noise N does infiltrate the module screw 4, the electrostatic noise N flows through the cover member 5 to the first wall 210a, effectively preventing the electrostatic noise N from infiltrating the control board 222 via the head 40. This allows the controller 2 to stably perform its functions, such as communicating with external devices.

[0035] However, the present invention is not limited to this, and similar to the first embodiment described above, the head 40 of the module screw 4 may be entirely covered, or the head 40 of the module screw 4 may not be covered.

[0036] As described above, the controller system 1 includes the controller 2, which includes the conductive housing 21 having the opening 211, the control board 222 disposed within the housing 21, and the socket connector 23 mounted on the control board 222; the module main body 3, which is inserted into the opening 211 of the housing 21 and electrically connected to the socket connector 23; the module screw 4, which secures the module main body 3 to the controller 2 and has a portion exposed outside the housing 21; and the conductive cover member 5, which contacts the module screw 4 and the housing 21 and provides electrical conductivity between the module screw 4 and the housing 21. With this configuration, electrostatic noise N that has entered the module screw 4 flows to the first wall 210a via the cover member 5, effectively preventing the electrostatic noise N from entering the control board 222 via the module screw 4. This allows the controller 2 to stably perform its functions, such as communicating with external devices.

[0037] As described above, the cover member 5 is disposed on the outside of the housing 21. With this configuration, the cover member 5 can be easily attached to the housing 21.

[0038] The second embodiment can also achieve the same effects as the first embodiment described above.

[0039] Third Embodiment FIG. 7 is a cross-sectional view of a cover member included in the controller system according to the third embodiment.

[0040] The controller system 1 according to this embodiment is similar to the controller system 1 according to the first embodiment described above, except for the configuration of the cover member 5. Therefore, in the following description, the differences between the controller system 1 according to this embodiment and the first embodiment described above will be mainly described, and a description of similar points will be omitted. Furthermore, in the drawings of this embodiment, the same reference numerals are used to designate similar components to those in the previously described embodiment.

[0041] 7, the cover member 5 of this embodiment is disposed inside the housing 21. The cover member 5 contacts the tip of the module screw 4 protruding from the fixing portion 24. By disposing the cover member 5 inside the housing 21 in this way, the cover member 5 is not exposed to the outside of the housing 21, and the cover member 5 is less noticeable than, for example, the first embodiment described above.

[0042] The third embodiment can also achieve the same effects as the first embodiment described above.

[0043] <Fourth embodiment> FIG. 8 is a cross-sectional view of a cover member included in the controller system according to the fourth embodiment.

[0044] The controller system 1 according to this embodiment is similar to the controller system 1 according to the first embodiment described above, except for the configuration of the cover member 5. Therefore, in the following description, the differences between the controller system 1 according to this embodiment and the first embodiment described above will be mainly described, and a description of similar points will be omitted. Furthermore, in the drawings of this embodiment, the same reference numerals are used to designate similar components to those in the previously described embodiment.

[0045] As shown in Fig. 8, the cover member 5 of this embodiment is disposed between the fixing portion 24 and the module main body 3. The cover member 5 also has an insertion hole 500 through which the module screw 4 is inserted, and is in contact with the module screw 4 on the inner peripheral surface of the insertion hole 500. By disposing the cover member 5 between the fixing portion 24 and the module main body 3 in this way, the cover member 5 becomes less noticeable compared to, for example, the first embodiment described above. Furthermore, because the cover member 5 is sandwiched between the fixing portion 24 and the module main body 3, unintentional detachment of the cover member 5 can be effectively prevented.

[0046] The fourth embodiment can also achieve the same effects as the first embodiment described above.

[0047] The controller system of the present invention has been described above based on the illustrated embodiment, but the present invention is not limited to this, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other configuration may be added to the present invention. Furthermore, the above-described embodiments may be combined as appropriate. [Explanation of symbols]

[0048] 1...controller system, 2...controller, 21...casing, 210...external wall, 210a...first wall, 210b...second wall, 210c...third wall, 210d...fourth wall, 210e...fifth wall, 210f...sixth wall, 211...opening, 219...screw hole, 22...electronic component, 221...power supply board, 222...control board, 223...drive board, 23...socket connector, 231...insertion hole, 24...fixing portion, 241...screw hole, 3...module body, 4...module screw, 40...head, 5...cover member, 50...opening, 500...insertion hole, 5a...surface, 5b...back side, 51...covering portion, 52...recess, 53...hole, 6...cover member screw, 60...head, N...electrostatic noise

Claims

1. a controller including a conductive housing having an opening, a control board disposed in the housing, and a socket connector mounted on the control board; a module main body that is inserted into the opening of the housing to be electrically connected to the socket connector; a module screw that fixes the module body to the controller and has a portion exposed to the outside of the housing; a conductive cover member that covers at least a portion of the portion of the module screw that is exposed outside the housing when the opening is viewed in a plane from outside the housing, is positioned at a distance from the module screw, and is electrically conductive with the housing.

2. The controller system according to claim 1 , wherein the cover member is made of a metal material.

3. The socket connector has a fixing portion, The controller system according to claim 1 , wherein the module screw fixes the module body and the fixing portion.

4. The cover member is a recess formed on a surface opposite to the housing and recessed toward the housing; a hole penetrating the bottom surface of the recess and the surface on the housing side; The controller system according to claim 3 , further comprising a cover member screw that is inserted through the hole and fixes the cover member to the housing.

5. When the opening is viewed from outside the housing, The controller system according to claim 1 , wherein the cover member has a recessed opening into which the module body is inserted while electrically connected to the socket connector.

6. The controller system according to claim 5 , wherein the tip of the opening is chamfered in a tapered shape.

7. a controller including a conductive housing having an opening, a control board disposed in the housing, and a socket connector mounted on the control board; a module main body that is inserted into the opening of the housing to be electrically connected to the socket connector; a module screw that fixes the module body to the controller and has a portion exposed to the outside of the housing; a conductive cover member that contacts the module screw and the housing and provides electrical continuity between the module screw and the housing.

8. The controller system according to claim 7 , wherein the cover member is disposed outside the housing.

9. The controller system according to claim 7 , wherein the cover member is disposed inside the housing.

10. The controller system according to claim 7 , wherein the cover member is disposed between the fixing portion and the module body.

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