Controller

Abstract

To provide a controller having high workability (assemblability and maintainability).SOLUTION: A housing including a bottom panel, a power supply circuit board including a first connector and arranged on the bottom panel, a system circuit board including a second connector and arranged on the bottom panel in a direction along the power supply circuit board and the bottom panel, and a first cable connected to the first connector and the second connector, wherein the first connector is arranged along a side of the power supply circuit board facing the system circuit board, and the second connector is arranged along a side of the system circuit board facing the power supply circuit board; The first connector and the second connector are disposed so as to be shifted from each other in a second direction orthogonal to a first direction in which the power supply circuit board and the system circuit board are arranged.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] The motor control device as an electronic device described in Patent Document 1 has a first circuit board and a second circuit board placed on top of the first circuit board. Also, a connector placed on the first circuit board and a connector placed on the second circuit board are connected via a cable. [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] Thus, although Patent Document 1 describes connecting a connector on a first circuit board to a connector on a second circuit board with a cable, it is unclear which connector on the first circuit board is connected to which connector on the second circuit board. Therefore, depending on the arrangement of the connectors to be connected to each other, the assembly and maintenance of the motor control device may be impaired. [Means for solving the problem]

[0005] The controller of the present invention is a controller that controls the driving of a robot equipped with a motor, a housing having a bottom panel; a power supply circuit board that includes a first connector, is disposed on the bottom panel, and converts AC voltage into DC voltage and outputs the DC voltage; a system circuit board that includes a second connector, is arranged on the bottom panel alongside the power supply circuit board in a direction along the bottom panel, is driven by the DC voltage input from the power supply circuit board, and generates a control signal for controlling the drive of the motor; a first cable connected to the first connector and the second connector and electrically connecting the power supply circuit board and the system circuit board; the first connector is disposed along a side of the power supply circuit board facing the system circuit board, the second connector is disposed along a side of the system circuit board facing the power supply circuit board, The first connector and the second connector are arranged to be offset in a second direction perpendicular to a first direction in which the power supply circuit board and the system circuit board are aligned. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is an overall view showing a robot system according to a preferred embodiment. [Figure 2] FIG. 2 is a perspective view showing the inside of the controller. [Figure 3] FIG. 2 is a plan view showing the inside of the controller. [Figure 4] FIG. 10 is a plan view illustrating the arrangement of connectors. DETAILED DESCRIPTION OF THE INVENTION

[0007] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A controller according to the present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings.

[0008] Fig. 1 is an overall view showing a robot system according to a preferred embodiment. Fig. 2 is a perspective view showing the inside of a controller. Fig. 3 is a plan view showing the inside of the controller. Fig. 4 is a plan view for explaining the arrangement of connectors.

[0009] The robot system 1 shown in FIG. 1 includes a robot 2 and a controller 3 for controlling the driving of the robot 2.

[0010] As shown in FIG. 1, the robot 2 is a SCARA robot (horizontal articulated robot) and has a base 20 fixed to the floor, a first arm 21 connected to the base 20 and rotating around a first rotation axis J1 that is vertical to the base 20, a second arm 22 connected to the first arm 21 and rotating around a second rotation axis J2 that is vertical to the first arm 21, and a work head 23 located at the tip of the second arm 22.

[0011] Furthermore, the work head 23 has a spline nut 231 and a ball screw nut 232 that are coaxially arranged at the tip of the second arm 22, and a spline shaft 233 that is inserted through the spline nut 231 and the ball screw nut 232. Although not shown, an end effector appropriate for the purpose of the work is attached to the lower end of the spline shaft 233.

[0012] In such a work head 23, rotation of the spline nut 231 causes the spline shaft 233 to rotate around a third rotation axis J3 along the vertical direction and also move linearly (up and down) along the third rotation axis J3, rotation of the ball screw nut 232 causes the spline shaft 233 to move linearly along the third rotation axis J3, and rotation of both the spline nut 231 and the ball screw nut 232 causes the spline shaft 233 to rotate around the third rotation axis J3.

[0013] The robot 2 also has a motor M1 that rotates the first arm 21 about a first rotation axis J1 relative to the base 20, a motor M2 that rotates the second arm 22 about a second rotation axis J2 relative to the first arm 21, a motor M3 that rotates the spline nut 231, and a motor M4 that rotates the ball screw nut 232. Each of these motors M1, M2, M3, and M4 is an AC motor, particularly a three-phase AC motor. Each of the motors M1, M2, M3, and M4 also has a built-in encoder E that detects the amount of rotation of the rotation axis.

[0014] Although the robot 2 has been described above, there are no particular limitations on the configuration of the robot 2. For example, the robot 2 may be a six-axis articulated robot.

[0015] The controller 3 controls the robot 2 by independently driving the motors M1, M2, M3, and M4 based on drive commands received from a host computer (not shown), for example.

[0016] As shown in FIG. 2, the controller 3 has a housing 4. The housing 4 has a rectangular parallelepiped shape and includes rectangular frame-shaped side wall panels having a front panel 41, a rear panel 42, a first side panel 43, and a second side panel 44, a bottom panel 45 that closes the lower openings of the side wall panels, and a top panel 46 that closes the upper openings of the side wall panels. Of these six panels 41 to 46, at least the top panel 46 is detachably fixed to the other panels with screws or the like. Therefore, removing the top panel 46 facilitates access to the inside of the housing 4, facilitating assembly and maintenance of the controller 3. However, the configuration of the housing 4 is not particularly limited.

[0017] In the following, for ease of explanation, the direction in which the bottom panel 45 and the top panel 46 are aligned will also be referred to as the "height direction," the direction in which the front panel 41 and the back panel 42 are aligned will also be referred to as the "depth direction," which is the first direction, and the direction in which the first and second side panels 43, 44 are aligned will also be referred to as the "width direction," which is the second direction perpendicular to the first direction.

[0018] As shown in FIG. 2, the controller 3 includes a power supply circuit board 51, a sub-power supply circuit board 52, a system circuit board 53, a control circuit board 54, a motor drive board 55, and a fan 56 housed within the housing 4.

[0019] For example, the power supply circuit board 51 and the sub-power supply circuit board 52 are connected to an external power source and convert the 200V AC voltage supplied from the external power source into a DC voltage used within the controller 3. The control circuit board 54 executes a motion command program for the robot 2 received from a host computer (not shown), such as a teaching pendant, and generates a position command indicating the destination of the robot 2 according to the target position of the robot 2 set in the motion command program. The system circuit board 53 calculates the amount of rotation of each of the motors M1-M4 required to move the robot 2 to the position indicated by the position command generated by the control circuit board 54, and generates voltage commands for the U, V, and W phases according to the calculated amount of rotation. The motor drive board 55 boosts the DC voltage input from the power supply circuit board 51 to a DC voltage suitable for driving each of the motors M1-M4, and converts the boosted DC voltage into a multi-phase AC voltage for each of the motors M1-M4 based on a control signal corresponding to the voltage command input from the system circuit board 53. The converted multi-phase AC voltage is then supplied to each of the motors M1-M4. The functions of the boards 51, 52, 53, 54, and 55 have been briefly explained above.

[0020] However, there are no particular limitations on the functions of the boards 51 to 55. Also, as long as at least power supply circuit board 51 and system circuit board 53 are included, the other boards 52, 54, and 55 may be omitted, and the functions of the omitted boards may be added to other panels.

[0021] 2 and 3, power supply circuit board 51 is fixed to bottom panel 45. Power supply circuit board 51 is positioned substantially parallel to bottom panel 45 and is positioned closer to rear panel 42. Note that the term "substantially parallel" refers not only to the case where power supply circuit board 51 is parallel to bottom panel 45, but also to the case where power supply circuit board 51 is tilted relative to bottom panel 45 to an extent that can be considered equivalent to being parallel in terms of common technical knowledge, taking into account the forming accuracy of components, assembly accuracy, etc., for example, within a range of about ±5° or less. The meaning of "substantially parallel" is the same hereinafter.

[0022] As shown in FIGS. 2 and 3 , the power supply circuit board 51 has a generally rectangular shape in a plan view. The first connectors C11 and C12, the third connector C3, and the fifth connector C5 are arranged on the top surface of the power supply circuit board 51 along a side 51a facing the system circuit board 53. These connectors are arranged in the following order from the second side panel 44 side to the first side panel 43 side: the fifth connector C5, the first connector C11, the third connector C3, and the first connector C12. The first, third, and fifth connectors C11, C12, C3, and C5 each have a generally rectangular longitudinal shape in a plan view of the bottom panel 45, i.e., in a plan view from the height direction. The first connector C11, the third connector C3, and the fifth connector C5 each extend along the side 51a, i.e., in the width direction, and the first connector C12 extends in a direction perpendicular to the side 51a, i.e., in the depth direction. It is desirable that the first connectors C11 and C12, the third connector C3, and the fifth connector C5 are the components of the power supply circuit board 51 that are closest to the system circuit board 53.

[0023] 2 and 3, the power supply circuit board 51 has a plurality of electronic components 59 arranged on its upper surface. The electronic components 59 are not particularly limited, but may include, for example, a relay for switching a circuit on and off. The power supply circuit board 51 also has a noise filter (not shown).

[0024] The power supply circuit board 51 as described above converts an AC voltage of 200V into a DC voltage of 280V using a rectifier circuit such as a diode bridge, and inputs the DC voltage to each motor drive board 55. The power supply circuit board 51 also inputs the AC voltage of 200V to the sub-power supply circuit board 52.

[0025] The sub-power supply circuit board 52 is fixed to the first side panel 43. The sub-power supply circuit board 52 is oriented approximately parallel to the first side panel 43. In plan view from the height direction, the power supply circuit board 51 and the sub-power supply circuit board 52 are arranged side by side in the width direction. By arranging the sub-power supply circuit board 52 upright relative to the power supply circuit board 51 in this way, the two-dimensional expansion of the controller 3 can be reduced, and the installation area for the controller 3 can be kept small. This makes it easier to install the controller 3. However, the arrangement of the sub-power supply circuit board 52 is not particularly limited.

[0026] The sub-power supply circuit board 52 is connected to the third connector C3 of the power supply circuit board 51 via a cable L0. The sub-power supply circuit board 52 converts the 200 V AC voltage input from the power supply circuit board 51 via the cable L0 into a 24 V DC voltage and inputs it to the power supply circuit board 51 via the cable L0. The power supply circuit board 51 inputs the 24 V DC voltage input from the sub-power supply circuit board 52 to the system circuit board 53.

[0027] System circuit board 53 is driven by the 24V DC voltage input from power supply circuit board 51, and generates control signals for controlling the drive of each of motors M1, M2, M3, and M4. By providing power supply circuit board 51, which handles 200V AC voltage, and system circuit board 53, which handles 24V DC voltage, as separate boards in this way, crosstalk between them can be effectively suppressed.

[0028] 2 and 3, system circuit board 53 is fixed to bottom panel 45. System circuit board 53 is positioned approximately parallel to bottom panel 45 and closer to front panel 41. System circuit board 53 is positioned at approximately the same height as power supply circuit board 51, is located in front of power supply circuit board 51 (closer to front panel 41), and is arranged side by side with power supply circuit board 51 in the depth direction. In other words, power supply circuit board 51 and system circuit board 53 do not overlap each other in a plan view from the height direction, and are arranged side by side in the depth direction with power supply circuit board 51 closer to rear panel 42 and system circuit board 53 closer to front panel 41.

[0029] 2 and 3, the system circuit board 53 has a substantially rectangular shape in a plan view and is approximately the same size as the power supply circuit board 51. The second connectors C21 and C22, the fourth connector C4, the sixth connector C6, and the seventh connector C7 are arranged on the top surface of the system circuit board 53 along the side 53a facing the power supply circuit board 51. These connectors are arranged in the following order from the second side panel 44 side to the first side panel 43 side: the sixth connector C6, the fourth connector C4, the second connector C21, the second connector C22, and the seventh connector C7. The second, fourth, sixth, and seventh connectors C21, C22, C4, C6, and C7 each have a substantially rectangular elongated shape in a plan view from the height direction, and extend along the side 53a, i.e., the width direction. It is desirable that the second connectors C21 and C22, the fourth connector C4, the sixth connector C6, and the seventh connector C7 are the components of the system circuit board 53 that are closest to the power supply circuit board 51.

[0030] The first and second connectors C11 and C21 are electrically connected to each other via a first cable L11, and the first and second connectors C12 and C22 are electrically connected to each other via a first cable L12. The power supply circuit board 51 and the system circuit board 53 input and output various signals, including the aforementioned 24V DC voltage, via these first cables L11 and L12.

[0031] 2 and 3, the system circuit board 53 has a plurality of IF connectors 531. The plurality of IF connectors 531 are arranged in a row in the width direction along an edge 53b of the upper surface of the system circuit board 53 on the front panel 41 side, and face the outside of the controller 3 through holes formed in the front panel 41. The plurality of IF connectors 531 include, for example, connectors connected to each encoder E for acquiring signals from each encoder E, connectors connected to end effectors for acquiring signals from the end effectors, connectors connected to peripheral devices of the robot 2 for acquiring signals from the peripheral devices, and the like. Note that the number, arrangement, functions, specifications, etc. of the IF connectors 531 are not particularly limited.

[0032] Such a system circuit board 53 converts the 24V DC voltage input from the power supply circuit board 51 into DC voltages such as 16V, 5V, and 3.3V, and inputs each of the 24V, 16V, 5V, and 3.3V DC voltages to the necessary locations of the system circuit board 53, the control circuit board 54, and the motor drive board 55. Also, as described above, the system circuit board 53 calculates the amount of rotation of each of the motors M1 to M4 required to move the robot 2 to the position indicated by the position command generated by the control circuit board 54, and generates voltage commands for the U-phase, V-phase, and W-phase for each of the motors M1 to M4 according to the calculated amount of rotation.

[0033] As shown in FIGS. 2 and 3 , the control circuit board 54 is located above the system circuit board 53 and is fixed to the system circuit board 53 via supports. Although not shown, the control circuit board 54 is electrically connected to the system circuit board 53 by fitting a connector located on its underside into a connector located on the upper surface of the system circuit board 53. Directly connecting the connectors in this manner makes the connection process easier than connecting via a cable. In particular, the connector on the system circuit board 53 is a floating connector, which can absorb any misalignment between the system circuit board 53 and the control circuit board 54 that may occur during installation. This reduces the likelihood of stress being applied to the system circuit board 53 and the control circuit board 54. However, the configuration of the connector is not particularly limited.

[0034] 2 and 3, control circuit board 54 is positioned substantially parallel to bottom panel 45 and is disposed closer to front panel 41. In plan view from the height direction, control circuit board 54 overlaps with system circuit board 53 but does not overlap with power supply circuit board 51. In particular, in this embodiment, control circuit board 54 is entirely contained within system circuit board 53 in plan view from the height direction.

[0035] 2 and 3, the control circuit board 54 is a SOC (System on a Chip) equipped with a CPU 541, a memory, and other electronic components (not shown). The memory stores various programs and data, such as an operation command program, required for the controller 3 to control the driving of the robot 2. The processor then reads and executes the data, operation command program, and other programs stored in the memory, causing the control circuit board 54 to operate. Specifically, the control circuit board 54 generates a position command indicating the destination of the robot 2, based on the target position of the robot 2 set in the operation command program and the actual position of the robot 2 identified from the detection signals of each encoder E.

[0036] 2 and 3, the control circuit board 54 has a plurality of IF connectors 542. The plurality of IF connectors 542 are arranged in a row in the width direction along an edge 54b of the upper surface of the control circuit board 54 on the front panel 41 side, and face the outside of the controller 3 through holes formed in the front panel 41. The plurality of IF connectors 542 include, for example, a connector to which a host computer such as a teaching pendant is connected for acquiring an operation command program. Note that the number, arrangement, functions, specifications, etc. of the IF connectors 542 are not particularly limited.

[0037] Here, it is preferable that the number of cable connection connectors arranged on system circuit board 53 is greater than the number of cable connection connectors arranged on control circuit board 54. Furthermore, it is preferable that the number of cable connection connectors arranged on control circuit board 54 is zero. With this configuration, bending deformation of control circuit board 54 due to insertion and removal of cables is suppressed, and poor contact and the like can be effectively suppressed.

[0038] As shown in FIGS. 2 and 3 , two motor drive boards 55 are provided. Each motor drive board 55 is located above the power supply circuit board 51 and the system circuit board 53 and overlaps them in a plan view from the height direction. Each motor drive board 55 is substantially parallel to the second side panel 44. That is, each motor drive board 55 is erected in an upright position relative to the power supply circuit board 51 and the system circuit board 53. Each motor drive board 55 is positioned closer to the second side panel 44 and aligned in the width direction. Each motor drive board 55 is fitted into a connector located on the top surface of the power supply circuit board 51 and a connector located on the top surface of the system circuit board 53, and is electrically connected to the power supply circuit board 51 and the system circuit board 53. Although not shown, each motor drive board 55 is fixed to the housing 4 near its upper end via a support beam.

[0039] One of these two motor drive boards 55 generates a polyphase AC voltage for motors M1 and M2, and the other generates a polyphase AC voltage for motors M3 and M4. These two motor drive boards 55 have the same configuration, so the following description will representatively focus on the motor drive board 55 that generates the polyphase AC voltage for motors M1 and M2.

[0040] Although not shown, the motor drive board 55 is provided with a first power module for generating a polyphase AC voltage for the motor M1 and a second power module for generating a polyphase AC voltage for the motor M2.

[0041] The first power module receives DC voltages of 17V and 280V from the power supply circuit board 51, as well as a DC voltage of 5V and a control signal for motor M1 from the system circuit board 53. The first power module is driven by the 5V DC voltage, and a built-in converter boosts the 280V DC voltage to a voltage suitable for driving motor M1. The first power module also contains an inverter circuit made up of multiple switching elements, and the inverter circuit is turned on and off by a control signal for motor M1 input from the system circuit board 53, thereby converting the voltage boosted by the converter into a polyphase AC voltage (three-phase AC voltage) for motor M1. The polyphase AC voltage generated by the first power module in this way is output to motor M1.

[0042] Similarly, the second power module receives a 280V DC voltage from the power supply circuit board 51, as well as a 5V DC voltage and a control signal for motor M2 from the system circuit board 53. The second power module is driven by the 5V DC voltage, and a built-in converter boosts the 280V DC voltage to a voltage suitable for driving motor M2. The second power module also includes a built-in inverter circuit made up of multiple switching elements, and the inverter circuit is turned on and off by a control signal for motor M2 input from the system circuit board 53, thereby converting the voltage boosted by the converter into a polyphase AC voltage (three-phase AC voltage) for motor M2. The polyphase AC voltage generated by the second power module in this way is output to motor M2.

[0043] 2 and 3, the fan 56 is disposed in an upright position between the power supply circuit board 51 and the sub-power supply circuit board 52 in a plan view from the height direction, and blows air toward the second side panel 44 (the power supply circuit board 51 side). This effectively cools the power supply circuit board 51 and the regenerative resistor attached to the rear panel 42 of the housing 4 (not shown). The fan 56 is electrically connected to the seventh connector C7 via a cable L4, and its drive is controlled based on a signal from the system circuit board 53.

[0044] This concludes the explanation of the overall configuration of the controller 3. Next, with reference to Figure 4, the arrangement of the first, third, and fifth connectors C11, C12, C3, and C5 arranged on the power supply circuit board 51, and the second, fourth, sixth, and seventh connectors C21, C22, C4, C6, and C7 arranged on the system circuit board 53 will be explained in detail.

[0045] The first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7 are concentrated near the center of the controller 3. This makes it easier to secure working space (space for inserting a human hand or the fingertip of an assembly robot) around the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7. As a result, cables can be easily inserted and removed from the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7, improving the assembly and maintenance of the controller 3.

[0046] Furthermore, the first and second connectors C11 and C21, which are connected to each other by the first cable L11, are arranged with a shift in the width direction when viewed from above in the height direction. In other words, the first and second connectors C11 and C21 do not overlap when viewed from above in the depth direction. By arranging the first and second connectors C11 and C21 with a shift in the width direction in this way, the assembly and maintenance of the controller 3 are improved.

[0047] To explain this effect in more detail, if the first and second connectors C11 and C21 were arranged side by side facing each other in the depth direction, the distance between the first and second connectors C11 and C21 would be shorter than in this embodiment, and it would appear that the overall length of the first cable L11 could be shortened accordingly. However, the bending radius of a cable generally needs to be at least six times its diameter. Therefore, simply arranging the first and second connectors C11 and C21 closely does not simply shorten the overall length of the first cable L11; rather, a length long enough to ensure the bending radius is maintained is required.

[0048] Therefore, if the first and second connectors C11 and C21 are arranged too close to each other, the first cable L11 will be excessively long compared to the distance between the first and second connectors C11 and C21, and this excess length will be arranged in a disorderly manner inside the housing 4, which may interfere with the connection (insertion / removal) of other cables. Furthermore, if the first cable L11 is excessively long compared to the distance between the first and second connectors C11 and C21, the first cable L11 will be prone to vibration, which may cause the first cable L11 to come into contact with surrounding circuit boards, etc., resulting in adverse electrical effects. To solve this problem, the first cable L11 could be fixed to the surrounding structure using a tie wrap or the like, but this additional fixing work would make the connection work of the first cable L11 more complicated.

[0049] In contrast, by arranging the first and second connectors C11 and C21 with a widthwise offset, as in this embodiment, a sufficiently large bending radius can be ensured without making the first cable L11 excessively long relative to the distance between the first and second connectors C11 and C21. In other words, the difference between the length of the first cable L11 and the distance between the first and second connectors C11 and C21 can be kept smaller than in the above-described configuration, reducing the risk of the first cable L11 interfering with the connection of other cables. Furthermore, the first cable L11 is less likely to vibrate, reducing the risk of the first cable L11 contacting surrounding circuit boards or the like due to such vibration and causing adverse electrical effects. For these reasons, the controller 3 is easier to assemble and maintain.

[0050] Here, as shown in FIG. 4, when the center-to-center distance along the width direction between the first connector C11 and the second connector C21 is X and the center-to-center distance along the depth direction between the first connector C11 and the second connector C21 is Y in a plan view from the height direction, it is preferable to satisfy the relationship of Y < X < 2Y. In this way, by separating the first and second connectors C11 and C21 in the width direction rather than in the depth direction, it becomes easier to grasp the first and second connectors C11 and C21 respectively, and the insertion and removal of the first cable L11 into and from the first and second connectors C11 and C21 become easier. Also, the first and second connectors C11 and C21 are appropriately separated, and it becomes difficult for an excess portion to occur in the first cable L11. Therefore, the assemblability and maintainability of the controller 3 are further improved.

[0051] Furthermore, when the length along the width direction of the first connector C11 is β in a plan view from the height direction, it is preferable to satisfy the relationship of X > β. By satisfying such a relationship, in a plan view seen from the depth direction, the first connector C11 and the second connector C21 do not overlap. Therefore, it becomes easier to grasp the first and second connectors C11 and C21 respectively, and the insertion and removal of the first cable L11 into and from the first and second connectors C11 and C21 become easier. Also, it becomes easier to visually check the connection state of the first cable L11 to the first and second connectors C11 and C21. Therefore, the assemblability and maintainability of the controller 3 are further improved. Furthermore, it is more preferable to satisfy the relationship of β < X < 3β. Thereby, excessive separation of the first and second connectors C11 and C21 is suppressed, and the length of the first cable L11 can be suppressed.

[0052] Above, the positional relationship between the first and second connectors C11 and C21 has been described. Similarly, for the first and second connectors C12 and C22, in a plan view from the height direction, they are arranged offset in the width direction and satisfy both the relationships of Y < X < 2Y and X > β. Therefore, the assemblability and maintainability of the controller 3 are improved.

[0053] Here, while the first and second connectors C11 and C21 both extend in the width direction, the first connector C12 extends in the depth direction and the second connector C22 extends in the width direction. That is, the extension directions of the first and second connectors C12 and C22 intersect, particularly orthogonal in this embodiment. This configuration can appropriately reduce twisting of the first cable L12 connecting the first and second connectors C12 and C22 while keeping the distance between the first and second connectors C12 and C22 close. The arrangement of the first and second connectors C12 and C22 is not particularly limited; for example, the extension directions may intersect at an angle other than 90° or may be parallel to each other.

[0054] 4, in a plan view from the depth direction, the first connector C11 and the fourth connector C4 overlap, or the second connector C21 and the third connector C3 overlap. In particular, in this embodiment, in a plan view from the depth direction, the first connector C11 and the fourth connector C4 overlap, and the second connector C21 and the third connector C3 overlap. This configuration allows the third and fourth connectors C3 and C4 to be arranged in the space created by arranging the first and second connectors C11 and C21 offset in the width direction. This space can be effectively utilized, allowing the power supply circuit board 51 and the system circuit board 53 to be miniaturized.

[0055] 4, in the controller 3, the second connectors C21, C22 do not overlap the control circuit board 54 in a plan view from the height direction. With this configuration, the second connectors C21, C22 are not hidden by the control circuit board 54 when viewed from above, and can be easily seen. This makes it easy to insert and remove the first cables L11, L12 into and from the second connectors C21, C22. In addition, the connection state between the second connectors C21, C22 and the first cables L11, L12 can be easily seen.

[0056] 3, in the controller 3, the motor drive boards 55 do not overlap the first connectors C11, C12 and the second connectors C21, C22 in a plan view from the height direction. Furthermore, in this embodiment, the motor drive boards 55 do not overlap the third, fourth, fifth, sixth, and seventh connectors C3, C4, C5, C6, and C7 in a plan view from the height direction. This configuration makes it easy to insert and remove cables into and from the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7.

[0057] In particular, in this embodiment, the motor drive board 55 is disposed closer to the second side panel 44, and the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7 are disposed together on the first side panel 43 side. This prevents the motor drive board 55 from getting in the way when inserting or removing cables into or from the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7. However, this is not limited thereto, and at least one of the motor drive boards 55 may overlap at least one of the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7 in a plan view from the height direction.

[0058] 3, in the controller 3, the first connectors C11, C12 and the second connectors C21, C22 do not overlap with the electronic components 59 arranged on the power supply circuit board 51 in a plan view from the height direction. Furthermore, in this embodiment, the third, fourth, fifth, sixth, and seventh connectors C3, C4, C5, C6, and C7 also do not overlap with the electronic components 59 in a plan view from the height direction. This configuration makes it easy to insert and remove cables into and from the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7.

[0059] Furthermore, as shown in FIG. 4 , in a plan view from the height direction, the first virtual line A11 connecting the centers of the first and second connectors C11 and C21 and the second virtual line A2 connecting the centers of the fifth and sixth connectors C5 and C6 do not intersect. This configuration reduces the likelihood of the first cable L11 connecting the first and second connectors C11 and C21 intersecting with the cable (not shown) connecting the fifth and sixth connectors C5 and C6, further improving the ease of assembly and maintenance of the controller 3. Similarly, in a plan view from the height direction, the first virtual line A12 connecting the centers of the first and second connectors C12 and C22 does not intersect with the second virtual line A2 connecting the centers of the fifth and sixth connectors C5 and C6. This reduces the likelihood of the first cable L12 connecting the first and second connectors C12 and C22 intersecting with the cable (not shown) connecting the fifth and sixth connectors C5 and C6, further improving the ease of assembly and maintenance of the controller 3. However, the present invention is not limited to this, and for example, at least one of the first virtual straight lines A11 and A12 may intersect with the second virtual straight line A2.

[0060] As shown in FIG. 4 , in a plan view from the height direction, the first virtual line A11 connecting the centers of the first and second connectors C11 and C21 and the first virtual line A12 connecting the centers of the first and second connectors C12 and C22 do not intersect. This configuration reduces the likelihood of the first cable L11 connecting the first and second connectors C11 and C21 and the second cable L12 connecting the first and second connectors C12 and C22 intersecting, further improving the ease of assembly and maintenance of the controller 3. This configuration is characterized by the fact that the virtual lines connecting the connectors on the power supply circuit board 51 and the connectors on the system circuit board 53 to which the connectors are connected do not intersect. Therefore, as described above, the cables are less likely to intersect, further improving the ease of assembly and maintenance of the controller 3.

[0061] As shown in FIG. 3, it is desirable that imaginary lines or cables do not intersect at least on power supply circuit board 51 and system circuit board 53 in a plan view from the height direction.

[0062] 4, the power supply circuit board 51 is disposed near the first, third, and fifth connectors C11, C12, C3, and C5 arranged along the side 51a and is supported by legs 40 erected from the bottom panel 45. This effectively prevents the power supply circuit board 51 from being flexed when cables are inserted into or removed from the first, third, and fifth connectors C11, C12, C3, and C5. Similarly, the system circuit board 53 is disposed near the second, fourth, sixth, and seventh connectors C21, C22, C4, C6, and C7 arranged along the side 53a and is supported by legs 40 erected from the bottom panel 45. This effectively prevents the system circuit board 53 from being flexed when cables are inserted into or removed from the second, fourth, sixth, and seventh connectors C21, C22, C4, C6, and C7.

[0063] The arrangement of the first, second, third, fourth, fifth, sixth, and seventh connectors C11, C12, C21, C22, C3, C4, C5, C6, and C7 has been described in detail above. Note that the controller 3 only needs to have at least the first and second connectors C11 and C21 or the first and second connectors C12 and C22, and at least one of the third, fourth, fifth, sixth, and seventh connectors C3, C4, C5, C6, and C7 may be omitted. Furthermore, the controller 3 may also have additional connectors other than these.

[0064] The above has described the controller 3. As described above, this controller 3 controls the drive of the robot 2 equipped with motors M1 to M4, and includes a housing 4 having a bottom panel 45, a power supply circuit board 51 having first connectors C11 and C12, arranged on the bottom panel 45, and converting AC voltage to DC voltage and outputting the DC voltage, a system circuit board 53 having second connectors C21 and C22, arranged on the bottom panel 45 alongside the power supply circuit board 51 in a direction along the bottom panel 45, driven by the DC voltage input from the power supply circuit board 51 and generating control signals for controlling the drive of the motors M1 to M4, and first cables L11 and L12 connected to the first connectors C11 and C12 and the second connectors C21 and C22, and electrically connecting the power supply circuit board 51 and the system circuit board 53. The first connectors C11 and C12 are arranged along a side 51a of the power supply circuit board 51 that faces the system circuit board 53, and the second connectors C21 and C22 are arranged along a side 53a of the system circuit board 53 that faces the power supply circuit board 51, with the first connector C11 and the second connector C21 being offset in the width direction, which is a second direction perpendicular to the depth direction, which is a first direction in which the power supply circuit board 51 and the system circuit board 53 are aligned, and the first connector C12 and the second connector C22 being offset in the width direction. This configuration makes it less likely that excess portions will be generated in the first cables L11 and L12, improving the assembly and maintainability of the controller 3.

[0065] As described above, the power supply circuit board 51 includes the third connector C3, and the system circuit board 53 includes the fourth connector C4. In a plan view from the depth direction, the first connector C11 and the fourth connector C4 overlap, or the second connector C21 and the third connector C3 overlap. This configuration allows the third and fourth connectors C3 and C4 to be arranged in the space created by arranging the first and second connectors C11 and C21 offset in the width direction. This space can therefore be used effectively, allowing the power supply circuit board 51 and the system circuit board 53 to be made smaller.

[0066] As described above, the controller 3 has the control circuit board 54 disposed above the system circuit board 53, and the second connectors C21, C22 do not overlap the control circuit board 54 in a plan view of the bottom panel 45. With this configuration, the second connectors C21, C22 are not hidden by the control circuit board 54 when viewed from above, making them easily visible. This allows the first cables L11, L12 to be easily inserted into and removed from the second connectors C21, C22. Furthermore, the connection state between the second connectors C21, C22 and the first cables L11, L12 can be easily visually observed.

[0067] As described above, the controller 3 is mounted upright relative to the power supply circuit board 51 and the system circuit board 53, and includes a motor drive board 55 that generates polyphase AC voltages to be input to the motors M1 to M4 based on the DC voltage input from the power supply circuit board 51 and the control signal input from the system circuit board 53. In a plan view of the bottom panel 45, the motor drive board 55 does not overlap with the first connectors C11, C12 and the second connectors C21, C22. This configuration allows for easy insertion and removal of cables into and from the first and second connectors C11, C12, C21, and C22.

[0068] As described above, the controller 3 has electronic components 59 arranged on the power supply circuit board 51. In a plan view of the bottom panel 45, the first connectors C11, C12 and the second connectors C21, C22 do not overlap with the electronic components 59. This configuration makes it easy to insert and remove cables into and from the first and second connectors C11, C12, C21, and C22.

[0069] Also, as described above, the power supply circuit board 51 includes the fifth connector C5, and the system circuit board 53 includes the sixth connector C6. And, in the plan view of the bottom panel 45, the first virtual straight lines A11 and A12 connecting the first connectors C11 and C12 and the second connectors C21 and C22 do not intersect with the second virtual straight line A2 connecting the fifth connector C5 and the sixth connector C6. Thereby, it becomes difficult for the first cables L11 and L12 and a cable (not shown) connecting the fifth and sixth connectors C5 and C6 to intersect, and the assembly property and maintenance property of the controller 3 are further improved.

[0070] Also, as described above, in the plan view of the bottom panel 45, the first connector C12 and the second connector C22 each have a longitudinal shape, and the extending direction of the first connector C12 intersects with the extending direction of the second connector C22. According to such a configuration, it is possible to suppress the twisting of the first cable L12 connecting the first and second connectors C12 and C22 while appropriately reducing the separation distance between the first and second connectors C12 and C22.

[0071] Also, as described above, in the plan view of the bottom panel 45, when the center-to-center distance along the width direction between the first connectors C11 and C12 and the second connectors C21 and C22 is X, and the center-to-center distance along the depth direction between the first connectors C11 and C12 and the second connectors C21 and C22 is Y, the relationship of Y < X < 2Y is satisfied. According to such a configuration, it becomes easier to grip the first connectors C11 and C12 and the second connectors C21 and C22 respectively, and it becomes easier to insert and remove the first cables L11 and L12 with respect to them. Also, the first and second connectors C11 and C21 are appropriately separated, and it becomes difficult for an excess portion to occur in the first cable L11, and the first and second connectors C12 and C22 are appropriately separated, and it becomes difficult for an excess portion to occur in the first cable L12. Therefore, the assembly property and maintenance property of the controller 3 are further improved.

[0072] As described above, when the length of the first connectors C11 and C12 along the width direction is β in a plan view of the bottom panel 45, the relationship X>β is satisfied. By satisfying this relationship, the first connector C11 and the second connector C21 do not overlap, and the first connector C12 and the second connector C22 do not overlap in a plan view from the depth direction. This makes it easier to grasp the first and second connectors C11, C12, C21, and C22, respectively, facilitating insertion and removal of the first cables L11 and L12 into the first and second connectors C11, C12, C21, and C22. Furthermore, the connection status of the first cables L11 and L12 to the first and second connectors C11, C12, C21, and C22 is easier to visually inspect. This further improves the ease of assembly and maintenance of the controller 3.

[0073] While the controller of the present invention has been described above based on the illustrated embodiment, 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.

[0074] The first and second connectors C11 and C21, which are connected to each other by the first cable L11, are offset in the width direction when viewed from above in the height direction. In other words, the first and second connectors C11 and C21 do not overlap when viewed from above in the depth direction. While this has been described above, "offset" is not limited to this and also includes cases where the first connectors C11 and C12 do not overlap for more than half of the length β along the width direction. [Explanation of symbols]

[0075] 1...Robot system, 2...Robot, 20...Base, 21...First arm, 22...Second arm, 23...Work head, 231...Spline nut, 232...Ball screw nut, 233...Spline shaft, 3...Controller, 4...Housing, 40...Leg, 41...Front panel, 42...Rear panel, 43...First side panel, 44...Second side panel, 45...Bottom panel, 46...Top panel, 51...Power supply circuit board, 51a...Side, 52...Sub-power supply circuit board, 53...System circuit board, 53a...Side, 53b...Side, 531...IF connector, 54...Control circuit board, 54b...Side, 541...CPU, 542...IF connector, 55...Motor drive board, 56...Fan, 59...Electronic component, A11...First virtual line, A12...First virtual line, A2...Second virtual line, C11...First connector, C12...First connector, C21...Second connector, C22...Second connector, C3...Third connector, C4...Fourth connector, C5...Fifth connector, C6...Sixth connector, C7...Seventh connector, E...Encoder, J1...First rotating shaft, J2...Second rotating shaft, J3...Third rotating shaft, L0...Cable, L11...First cable, L12...First cable, L4...Cable, M1...Motor, M2...Motor, M3...Motor, M4...Motor

Claims

1. A controller that controls the driving of a robot equipped with a motor, a housing having a bottom panel; a power supply circuit board including a first connector, disposed on the bottom panel, and configured to convert AC voltage into DC voltage and output the DC voltage; a system circuit board including a second connector, arranged on the bottom panel alongside the power supply circuit board in a direction along the bottom panel, driven by the DC voltage input from the power supply circuit board, and generating a control signal for controlling the drive of the motor; a first cable connected to the first connector and the second connector, electrically connecting the power supply circuit board and the system circuit board; the first connector is disposed along a side of the power supply circuit board facing the system circuit board, the second connector is disposed along a side of the system circuit board facing the power supply circuit board, A controller characterized in that the first connector and the second connector are arranged to be offset in a second direction perpendicular to a first direction in which the power supply circuit board and the system circuit board are aligned.

2. the power supply circuit board includes a third connector; the system circuit board includes a fourth connector; The controller according to claim 1 , wherein, in a plan view from the first direction, the first connector and the fourth connector overlap, or the second connector and the third connector overlap.

3. a control circuit board disposed above the system circuit board; The controller according to claim 1 , wherein the second connector does not overlap the control circuit board in a plan view of the bottom panel.

4. a motor drive board that is installed in an upright state relative to the power supply circuit board and the system circuit board and generates a voltage to be input to the motor based on the DC voltage input from the power supply circuit board and the control signal input from the system circuit board; The controller according to claim 1 , wherein the motor drive board does not overlap the first connector and the second connector in a plan view of the bottom panel.

5. an electronic component disposed on the power supply circuit board; The controller according to claim 1 , wherein the first connector and the second connector do not overlap the electronic component in a plan view of the bottom panel.

6. the power supply circuit board includes a fifth connector; the system circuit board includes a sixth connector; The controller of claim 1, wherein, in a planar view of the bottom panel, a first virtual line connecting the first connector and the second connector and a second virtual line connecting the fifth connector and the sixth connector do not intersect.

7. In a plan view of the bottom panel, the first connector and the second connector each have an elongated shape; The controller according to claim 1 , wherein the extending direction of the first connector and the extending direction of the second connector intersect with each other.

8. In a plan view of the bottom panel, 2. The controller of claim 1, wherein when the center-to-center distance between the first connector and the second connector along the second direction is X and the center-to-center distance between the first connector and the second connector along the first direction is Y, the relationship Y<X<2Y is satisfied.

9. In a plan view of the bottom panel, The controller according to claim 8 , wherein when the length of the first connector along the second direction is β, a relationship of X>β is satisfied.

Images