A controller for a robot system and a method for controlling the power supply circuit in a controller for a robot system.

Abstract

To enable the use of various types of power sources for the robot system. [Solution] The controller 2 of the robot system 1 includes a power receiving terminal 27, a power supply circuit 22 that performs conversion of at least one of current and voltage between the load, which includes at least the drive elements of the robot 3 (electric motors 3-1, ..., 3-n), and the power receiving terminal, and a switching element (switch 25) that switches the power supply circuit so that conversion is performed when a first power supply (AC power supply 28) is connected to the power receiving terminal, and conversion is not performed when a second power supply (DC power supply 29) is connected to the power receiving terminal.

Claims

[Claim 1] Power receiving terminal and A power supply circuit that performs conversion of at least one of current and voltage between a load including at least the robot's drive elements and the power receiving terminal, A switching element that switches the power supply circuit so as to perform the conversion when the first power supply is connected to the power receiving terminal, and not perform the conversion when a second power supply of a different type from the first power supply is connected to the power receiving terminal, A controller for a robot system equipped with the following features. [Claim 2] In the controller of the robot system according to claim 1, The first power supply is an AC power supply, and the second power supply is a DC power supply. The power supply circuit includes a rectifier circuit that converts the input AC current to DC current. A controller for a robot system. [Claim 3] In the controller of the robot system according to claim 2, The power supply circuit includes a bypass circuit that bypasses the rectifier circuit. The switching element deactivates the bypass circuit when the AC power supply is connected to the power receiving terminal, and activates the bypass circuit when the DC power supply is connected to the power receiving terminal. A controller for a robot system. [Claim 4] In the controller of the robot system according to claim 3, The control circuit further includes a circuit that detects the type of power supply connected to the power receiving terminal, and when the AC power supply is connected to the power receiving terminal, it deactivates the bypass circuit through the switching element, and when the DC power supply is connected to the power receiving terminal, it activates the bypass circuit through the switching element. A controller for a robot system. [Claim 5] In the controller of the robot system according to claim 1, The first power supply is a high-voltage AC power supply, and the second power supply is a lower-voltage AC power supply than the first power supply. The power supply circuit includes a boost circuit that increases the input AC voltage. A controller for a robot system. [Claim 6] In the controller of the robot system according to claim 5, The power supply circuit includes a rectifier circuit that converts AC current to DC current, and a voltage multiplier circuit combined with the rectifier circuit, which outputs a DC current with a higher voltage than the input AC voltage. The switching element shuts off the voltage multiplier circuit when the high-voltage first power supply is connected to the power receiving terminal, and opens the voltage multiplier circuit when the low-voltage second power supply is connected to the power receiving terminal. A controller for a robot system. [Claim 7] In the controller of the robot system according to claim 6, The control circuit further includes a circuit that detects the type of power supply connected to the power receiving terminal, and when a high-voltage first power supply is connected to the power receiving terminal, it shuts off the voltage multiplier circuit through the switching element, and when a low-voltage second power supply is connected to the power receiving terminal, it enables the voltage multiplier circuit through the switching element. A controller for a robot system. [Claim 8] In the controller of the robot system according to claim 1, The system further includes a notification unit that detects the polarity of the voltage applied to the power receiving terminal and, if the polarity of the voltage is incorrect, prompts the user to check the connection of the power supply to the power receiving terminal. A controller for a robot system. [Claim 9] In the controller of the robot system according to claim 1, The robot further comprises a motor drive circuit connected to the secondary side of the power supply circuit, to which a DC current from the power supply circuit is input, and which outputs a drive signal for the electric motor that serves as the drive element of the robot. A controller for a robot system. [Claim 10] The type of power supply connected to the power receiving terminal of the robot system's controller is detected by a detection circuit. If the detected power supply is the first power supply, the power supply circuit, upon receiving a control signal from the control circuit, performs a conversion of at least one of the current and voltage between the power receiving terminal and the load, which includes at least the robot's drive elements. If the detected power supply is the second power supply, the power supply circuit, upon receiving the control signal from the control circuit, will not perform the conversion. A method for controlling the power supply circuit in a robot system controller. [Claim 11] In the control method described in claim 10, The first power supply is an AC power supply, and the second power supply is a DC power supply. The power supply circuit includes a rectifier circuit that converts alternating current to direct current, and a bypass circuit that bypasses the rectifier circuit. If the detected power source is an AC power source, the bypass circuit is deactivated upon receiving a control signal from the control circuit, and the rectifier circuit converts the AC current to a DC current. If the detected power supply is a DC power supply, the bypass circuit conducts upon receiving a control signal from the control circuit, and the rectifier circuit does not perform the conversion. A method for controlling the power supply circuit in a robot system controller. [Claim 12] In the control method described in claim 10, The first power supply is a high-voltage AC power supply, and the second power supply is a lower-voltage AC power supply than the first power supply. The power supply circuit includes a rectifier circuit that converts AC current to DC current, and a voltage multiplier circuit combined with the rectifier circuit, which outputs a DC current with a higher voltage than the input AC voltage. If the detected power supply is the first high-voltage power supply, the voltage multiplication circuit is shut off upon receiving a control signal from the control circuit, and the rectifier circuit converts the AC current to DC current. If the detected power supply is the second low-voltage power supply, the voltage multiplier circuit conducts upon receiving a control signal from the control circuit, and the rectifier circuit and the voltage multiplier circuit output a DC current that is higher than the input AC voltage. A method for controlling the power supply circuit in a robot system controller.

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