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.

Description

【Technical Field】 【0001】 The technology disclosed herein relates to a controller of a robot system and a method for controlling a power supply circuit in the controller of the robot system. 【Background Art】 【0002】 Patent Document 1 describes a conventional robot system. The conventional robot system includes a robot arm and a robot controller. The robot arm is a mobile robot arm that is movable rather than a stationary type. The robot controller can be selectively connected to a commercial power supply that is an AC power supply and a battery that is a DC power supply. More specifically, the conventional robot system includes a power supply device for commercial power that has an AC / DC converter and can be connected to a commercial power supply, and a rechargeable power supply device that has a rechargeable battery and a voltage regulator. A power supply device for commercial power or a rechargeable power supply device is connected to a connector of the robot controller. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent No. 6892080 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 The application of robot systems is expanding into various fields. As the application range of robot systems expands, there is a demand for versatility in which various types of power supplies can be used in robot systems. 【Means for Solving the Problems】 【0005】 The technology disclosed herein relates to a controller of a robot system. The controller of the robot system a power receiving terminal, 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, It is equipped with. [Effects of the Invention] 【0006】 The controller of the aforementioned robot system can be connected to both a first power supply and a second power supply. [Brief explanation of the drawing] 【0007】 [Figure 1] Figure 1 shows the robot system. [Figure 2] Figure 2 shows a robot system connected to an AC power supply and a robot system connected to a DC power supply. [Figure 3] Figure 3 is a flowchart related to the control of the robot system. [Figure 4] Figure 4 shows a modified robot system. [Figure 5] Figure 5 shows the correspondence between the type of power supply connected to the controller and the switching of the switch. [Figure 6] Figure 6 shows a modified robotic system. [Figure 7] Figure 7 shows a modified robot system. [Figure 8] Figure 8 shows an example of a robot system. [Modes for carrying out the invention] 【0008】 The following describes an embodiment of the robot system controller with reference to the drawings. The robot system, the robot system controller, and the control method of the power supply circuit in the robot system controller described herein are illustrative examples. 【0009】 Figure 1 shows robot system 1. Robot system 1 includes a controller 2. Controller 2 controls robot 3. Controller 2 is a unit having a single housing 4. Note that robot 3 is not an essential element of robot system 1. 【0010】 Robot 3 has electric motors as driving elements. Robot 3 has a plurality of electric motors 3-1, ..., 3-n from the first to the nth. Electric motors 3-1, ..., 3-n drive, for example, the joints of robot 3. Robot 3 is, for example, an articulated robot. Note that electric motors 3-1, ..., 3-n are not limited to moving joints. Also, robot 3 is not limited to an articulated robot. Electric motors 3-1, ..., 3-n are AC motors. Electric motors 3-1, ..., 3-n are, for example, three-phase AC motors as shown in Figure 1. Note that the number of phases of electric motors 3-1, ..., 3-n may be single-phase. Electric motors 3-1, ..., 3-n may also be stepping motors. Electric motors 3-1, ..., 3-n are an example of loads for robot system 1. 【0011】 Controller 2 has a motor drive circuit 20. The motor drive circuit 20 drives the electric motors 3-1, ..., 3-n of the robot 3. The motor drive circuit 20 has inverters. The motor drive circuit 20 has a plurality of inverters 2-1, ..., 2-n from the first to the nth. Each of the inverters 2-1, ..., 2-n corresponds to each of the electric motors 3-1, ..., 3-n of the robot 3, and these inverters 2-1, ..., 2-n are connected in parallel to the DC link 26, which will be described later. Each of the inverters 2-1, ..., 2-n converts the DC current of the DC link 26 into AC current, and outputs the AC current as a drive signal to the electric motors 3-1, ..., 3-n. Inverters 2-1, ..., 2-n in Figure 1 are each three-phase inverters and have a bridge circuit including multiple switching elements. Note that the inverters 2-1, ..., 2-n of the motor drive circuit 20 are not limited to the configuration example in Figure 1. The symbol Cs represents the smoothing capacitor Cs connected between the positive and negative terminal wires of the DC link 26. 【0012】 Controller 2 has a power supply circuit 22. The power supply circuit 22 has the function of converting alternating current to direct current. The power supply circuit 22 is located between the power receiving terminal 27 (described later) and the motor drive circuit 20. 【0013】 The power supply circuit 22 includes a rectifier circuit 23. The rectifier circuit 23 is a converter that converts alternating current to direct current. The rectifier circuit 23 is, for example, a full-wave rectifier circuit including a diode. However, the rectifier circuit 23 is not limited to a full-wave rectifier circuit, nor is it limited to a rectifier circuit including a diode. The rectifier circuit 23 may be, for example, a PWM (Pulse Width Modulation) converter. The primary side of the rectifier circuit 23 is connected to the power receiving terminal 27. The secondary side of the rectifier circuit 23 is connected to the DC link 26. In this disclosure, the term "terminal" is used to refer to an input or output of current provided for the connection of an electrical circuit. For example, there is no intention to limit it to specific physical configurations such as semiconductor leads, terminal blocks, or connectors; wires connecting circuits or elements, or wiring on a printed circuit board may also be considered terminals. 【0014】 A power supply 28 or a DC power supply 29 is selectively connected to the power receiving terminal 27. The AC power supply 28 may be, for example, a commercial AC power supply. Examples of the AC power supply 28 include a three-phase AC 400V power supply, a three-phase AC 200V power supply, or a three-phase AC 600V power supply. The DC power supply 29 may be, for example, a DC bus of a DC microgrid. The DC power supply 29 may also be a rechargeable battery power supply. The power receiving terminal 27 has three terminals: a first, a second, and a third. A three-phase AC power supply can be connected to the power receiving terminal 27. 【0015】 The power supply circuit 22 includes a bypass circuit 24. The bypass circuit 24 conducts between the primary side and the secondary side of the rectifier circuit 23 outside the rectifier circuit 23. The power supply circuit 22 also includes a switch 25. The switch 25 switches between the conduction and the release of conduction of the bypass circuit 24. As will be described later, the switch 25 is a control switch that is turned on and off in response to a control signal from the control board 21. The switch 25 is an example of a switching element. 【0016】 FIG. 2 shows the robot system 1 when an AC power supply 28 is connected to the power receiving terminal 27 and the robot system 1 when a DC power supply 29 is connected to the power receiving terminal 27. When the AC power supply 28 is connected to the power receiving terminal 27, as shown in the upper diagram of FIG. 2, the switch 25 releases the conduction of the bypass circuit 24. The rectifier circuit 23 converts the input AC current into a DC current and outputs it to the DC link 26. When the DC power supply 29 is connected to the power receiving terminal 27, as shown in the lower diagram of FIG. 2, the switch 25 conducts the bypass circuit 24. The DC current from the DC power supply 29 bypasses the rectifier circuit 23 and flows to the DC link 26. The rectifier circuit 23 does not perform the conversion from AC current to DC current. 【0017】 The controller 2 has a control board 21. The control board 21 controls the robot 3 through the control of the motor drive circuit 20. The control board 21 is an example of a control circuit. The insulated power supply unit 210 supplies power to the control board 21. The insulated power supply unit 210 is connected to the DC link 26 and supplies the power of the DC link 26 to the control board 21. The control board 21 is an example of a load of the robot system 1. 【0018】 The control board 21 also controls the power supply circuit 22. The control board 21 detects the type of power supply connected to the power receiving terminal 27 by detecting the current and voltage on the primary side of the rectifier circuit 23. The control board 21 is an example of a detection circuit. When an AC power supply 28 is connected to the power receiving terminal 27, the control board 21 outputs a control signal to turn off the switch 25. As described above, the rectifier circuit 23 converts the input AC current into a DC current and outputs it to the DC link 26. When a DC power supply 29 is connected to the power receiving terminal 27, the control board 21 outputs a control signal to turn on the switch 25. As described above, the rectifier circuit 23 does not perform the conversion from AC current to DC current. 【0019】 Figure 3 is a flowchart related to the control of the robot system 1. In step S31 after starting, the control board 21 detects the current and voltage on the primary side of the rectifier circuit 23. In the subsequent step S32, the control board 21 determines whether a DC power supply 29 is connected to the power receiving terminal 27. If the DC power supply 29 is connected, the control board 21 outputs a control signal to turn on the switch 25 to the switch 25 in step S33. If an AC power supply 28 is connected, the control board 21 outputs a control signal to turn off the switch 25 to the switch 25 in step S34. 【0020】 (Function and effect) The controller 2 of the robot system 1 includes a power receiving terminal 27 to which an AC power supply 28 or a DC power supply 29 is selectively connected, a power supply circuit 22 that converts an AC current into a DC current, and a switch 25 as a switching element. 【0021】 When the AC power supply 28 is connected to the power receiving terminal 27, the switch 25 is turned off and the conduction of the bypass circuit 24 is released, and the rectifier circuit 23 converts the AC current into a DC current. A DC current is supplied to the motor drive circuit 20 through the DC link 26. The motor drive circuit 20 can convert the DC current into an AC current and drive the electric motors 3-1,..., 3-n of the robot 3. 【0022】 When the DC power supply 29 is connected to the power receiving terminal 27, the switch 25 turns on and the bypass circuit 24 conducts, and the rectifier circuit 23 does not convert AC current to DC current. DC current from the DC power supply 29 is supplied to the motor drive circuit 20 through the DC link 26, and the motor drive circuit 20 can drive the electric motors 3-1, ..., 3-n of the robot 3 in the same manner as described above. 【0023】 Controller 2 can control robot 3 whether it is connected to AC power supply 28 or DC power supply 29. Because controller 2 can be connected to various power sources, its versatility is enhanced. 【0024】 Furthermore, for example, in the case of a robot system 1 installed in a factory, if the factory's power supply equipment is changed from commercial AC power to a DC microgrid, the controller 2 can control the robot 3 whether it is connected to AC power 28 or DC power 29. The robot system 1 can continue to be used without replacing the controller 2 and robot 3, even if the power supply equipment is changed. 【0025】 Furthermore, when controller 2 is connected to the DC power supply 29, the conversion by the rectifier circuit 23 is skipped, thus reducing losses in the power supply circuit 22. Controller 2 is advantageous for improving efficiency when using the DC power supply 29. 【0026】 Furthermore, the control board 21 of the controller 2 determines the type of power supply connected to the power receiving terminal 27 and outputs a control signal to the switch 25 according to the determination result. The controller 2 can automatically switch the power supply circuit 22 according to the type of power supply connected to the controller 2. 【0027】 Note that switch 25 may be a manually operated switch. When AC power supply 28 is connected to controller 2, the operator manually switches switch 25 to OFF, and when DC power supply 29 is connected to controller 2, the operator manually switches switch 25 to ON. 【0028】 (Variation 1) Figure 4 shows a circuit diagram of the modified robot system 1. The controller 200 in the modified version is a modified version of the power supply circuit 220. The power supply circuit 220 has the function of boosting the voltage of the AC power supply connected to the power receiving terminal 27 and outputting it. 【0029】 The power supply circuit 220 includes a rectifier circuit 23, a bypass circuit 24, and a switch 25. The rectifier circuit 23, the bypass circuit 24, and the switch 25 are the same as those in the power supply circuit 22 described above. The power supply circuit 220 also includes a voltage multiplier circuit 221. The voltage multiplier circuit 221 has a capacitor and a switch 222. The capacitor is connected to the DC link 26 on the secondary side of the rectifier circuit 23. The switch 222 switches between conducting and discontinuing the primary side of the rectifier circuit 23 and the capacitor. When the switch 222 is turned on and the voltage multiplier circuit 221 is conducting, the power supply circuit 220, in combination with the voltage multiplier circuit 221 and the rectifier circuit 23, converts the input AC current into a DC current with double the voltage and outputs it. When switch 222 is turned off and the voltage multiplier circuit 221 is shut off, the voltage multiplier circuit 221 does not function and only the rectifier circuit 23 functions, so the power supply circuit 220 converts the input AC current to DC current and outputs it without boosting the voltage. The voltage multiplier circuit 221 is an example of a boost circuit. 【0030】 A high-voltage AC power supply 28 or a low-voltage AC power supply 28 is connected to the power receiving terminal 27. The high-voltage AC power supply 28 may be, for example, a single-phase AC 200V power supply. The low-voltage AC power supply 28 may be, for example, a single-phase AC 100V power supply. 【0031】 The control board 21 detects the type of power supply connected to the power receiving terminal 27 by detecting the current and voltage on the primary side of the rectifier circuit 23. When a high-voltage AC power supply 28 is connected to the power receiving terminal 27, the control board 21 outputs a control signal to turn off switch 25 and switch 222. The rectifier circuit 23 converts the input AC current to DC current, and since the voltage multiplier circuit 221 does not function, a high-voltage DC current is output to the DC link 26. Conversely, when a low-voltage AC power supply 28 is connected to the power receiving terminal 27, the control board 21 outputs a control signal to turn off switch 25 and switch 222. The rectifier circuit 23 converts the input AC current to DC current, and since the voltage multiplier circuit 221 functions, a boosted DC current (for example, to 200V) is output to the DC link 26. 【0032】 The controller 200 can control the robot 3 whether it is connected to a high-voltage AC power supply 28 or a low-voltage AC power supply 28. 【0033】 Furthermore, since the controller 200 has a bypass circuit 24 and a switch 25, it can control the robot 3 whether it is connected to an AC power supply 28 or a DC power supply 29. Figure 5 shows the correspondence between the type of power supply connected to the controller 200 and the switching of switches 25 and 222. When a high-voltage AC power supply 28 is connected to the power receiving terminal 27, switch 25 is off and switch 222 is off. When a low-voltage AC power supply 28 is connected to the power receiving terminal 27, switch 25 is off and switch 222 is on. When a DC power supply 29 is connected to the power receiving terminal 27, switch 25 is on and switch 222 is off. The types of power supplies connected to the controller 200 are not limited to two types; there may be three or more types. The robot system 1 has versatility that allows it to be connected to various types of power supplies. 【0034】 (Modification 2) The switching elements of controllers 2 and 200 are not limited to switches 25 and 222. Figure 6 shows a modified example relating to the switching elements. Controller 2 has a jumper 251 instead of a switch 25 as a switching element. The jumper 251 is located in the middle of the bypass circuit 24. The jumper 251 may be a jumper switch or a jumper wire. 【0035】 The operator of robot system 1 turns off jumper 251 when AC power supply 28 is connected to controller 2. Conversely, the operator of robot system 1 turns on jumper 251 when DC power supply 29 is connected to controller 2. Switching of the power supply circuit 22 may be done manually. 【0036】 Note that switch 222 on controller 200 may be replaced with a jumper. 【0037】 Furthermore, the switching element may be configured using a device having a function equivalent to that of switches 25 and 222. The switching element may be configured using, for example, a relay or a semiconductor switching element. 【0038】 (Variation 3) Figure 7 shows a modified robot system 1. The controller 2000 of the robot system 1 has a notification unit 211. The notification unit 211 notifies the operator by sound (including voice) or display. As illustrated in Figure 7, the control board 21 determines the polarity of the DC power supply 29 connected to the power receiving terminal 27 by detecting the current and voltage on the primary side of the rectifier circuit 23. If the polarity of the DC power supply 29 is connected to the power receiving terminal 27 is reversed, the control board 21 notifies the operator through the notification unit 211 to check the connection of the power supply to the power receiving terminal 27. Upon receiving the notification, the operator can reconnect the DC power supply 29 to the power receiving terminal 27. 【0039】 (Other variations) The control board 21 may control the power supply circuits 22 and 220 based on parameters other than the primary current and voltage. Specifically, the control board 21 may control the power supply circuits 22 and 220 in response to (a) the load on the secondary side, (b) the remaining battery power connected to the power supply circuits 22 and 220, or (c) commands from a higher-level terminal of the controllers 2, 200, and 2000, for example, via communication. 【0040】 Controllers 2, 200, and 2000 are not limited to being connected to robot 3 and controlling robot 3, but may also be connected to robot 3 and its peripheral equipment and control or power supply to robot 3 and its peripheral equipment. 【0041】 Figure 8 illustrates a specific configuration of robot system 1, including peripheral equipment. The robot system 1 controls an industrial robot 3 and a conveyor 50. The industrial robot 3 performs work on a workpiece 5. The conveyor 50 transports the workpiece 5 to the robot 3. Controllers 2, 200, and 2000 control the industrial robot 3 and may also control or supply power to the conveyor 50. 【0042】 Peripheral devices are devices that work in cooperation with robot 3 to perform tasks. In addition to the conveyor 50, peripheral devices include a moving device for moving robot 3, a turntable for rotating robot 3, or a device that performs processing on the workpiece 5 transported by robot 3, such as an aligner that aligns the substrate as a workpiece. Peripheral devices also include robots. A robot as a peripheral device is, for example, a robot that transports workpieces to the robot. 【0043】 Furthermore, the objects controlled by controllers 2, 200, and 2000 are not limited to industrial robot 3, but may also be, for example, social robots. 【0044】 The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor. 【0045】 (Aspect) The embodiments described above are specific examples of the following embodiments. 【0046】 (Aspect 1) Power receiving terminal (27), A power supply circuit (22, 220) that performs conversion of at least one of current and voltage between the load, which includes at least the drive elements (3-1, ..., 3-n) of the robot (3), and the power receiving terminal (27), A switching element (25, 222, 251) switches the power supply circuit (22, 220) to perform the conversion when the first power supply (28) is connected to the power receiving terminal (27), and not perform the conversion when a second power supply (28, 29) of a different type from the first power supply (28) is connected to the power receiving terminal (27), A controller (2, 200, 2000) for the robot system (1), equipped with the following. 【0047】 When the first power supply (28) is connected to the power receiving terminal (27), the power supply circuits (22, 220) perform conversion of at least one of the current and voltage. When the second power supply (28, 29) is connected to the power receiving terminal (27), the power supply circuits (22, 220) do not perform conversion of at least one of the current and voltage. The controllers (2, 200, 2000) can control the robot (3) whether they are connected to the first power supply (28) or the second power supply (28, 29). 【0048】 (Aspect 2) The first power supply is an AC power supply (28), and the second power supply is a DC power supply (29). The power supply circuit (22) includes a rectifier circuit (23) that converts the input AC current to DC current. Controller (2, 200, 2000) of the robot system (1) described in Embodiment 1. 【0049】 When the controllers (2, 200, 2000) are connected to an AC power supply (28), the rectifier circuit (23) converts the AC current to a DC current, which is then supplied to the load. When connected to a DC power supply (29), the rectifier circuit (23) does not perform the conversion, and the DC current is supplied to the load. The controllers (2, 200, 2000) can control the robot (3) whether they are connected to an AC power supply (28) or a DC power supply (29). 【0050】 (Aspect 3) The power supply circuit (22) includes a bypass circuit (24) that bypasses the rectifier circuit (23), The switching elements (25, 251) deactivate the bypass circuit (24) when the AC power supply (28) is connected to the power receiving terminal (27), and activate the bypass circuit (24) when the DC power supply (29) is connected to the power receiving terminal (27). Controller (2, 200, 2000) of the robot system (1) described in Embodiment 2. 【0051】 When the bypass circuit (24) is de-energized, AC current from the AC power supply (28) is input to the rectifier circuit (23), and the rectifier circuit (23) converts the AC current to DC current. When the bypass circuit (24) is energized, DC current from the DC power supply (29) flows through the bypass circuit (24) and bypasses the rectifier circuit (23). The rectifier circuit (23) does not perform the conversion from AC current to DC current. Since losses in the power supply circuit (22) are reduced, the efficiency of the controller (2, 200, 2000) when using the DC power supply (29) is improved. 【0052】 (Aspect 4) The system further includes a control circuit (21) that detects the type of power supply (28, 29) connected to the power receiving terminal (27), and, when the AC power supply (28) is connected to the power receiving terminal (27), deactivates the bypass circuit (24) through the switching element (25), and when the DC power supply (29) is connected to the power receiving terminal (27), enables the bypass circuit (24) through the switching element (25). Controller (2, 200, 2000) of the robot system (1) described in Embodiment 3. 【0053】 The control circuit (21) switches the conduction and deconduction of the bypass circuit (24) via the switching element (25) according to the type of power supply (28, 29) connected to the power receiving terminal (27). The control circuit (21) can automatically switch the power supply circuit (22). 【0054】 (Aspect 5) The first power supply is a high-voltage AC power supply (28), and the second power supply is a lower-voltage AC power supply (28) than the first power supply. The power supply circuit (220) includes a boost circuit (221) that increases the input AC voltage. A controller (200) for the robot system (1) described in any one of embodiments 1 to 4. 【0055】 When a high-voltage AC power supply (28) is connected to the controller (200), the boost circuit (221) does not boost the power supply voltage. When a low-voltage AC power supply (28) is connected, the boost circuit (221) does boost the power supply voltage. The controller (200) can control the robot (3) whether a high-voltage AC power supply (28) or a low-voltage AC power supply (28) is connected. 【0056】 (Aspect 6) The power supply circuit (220) includes a rectifier circuit (23) that converts AC current to DC current, and a voltage multiplier circuit (221) combined with the rectifier circuit (23), which outputs a DC current with a higher voltage than the input AC voltage. The switching element (222) shuts off the voltage multiplier circuit (221) when the high-voltage first power supply (28) is connected to the power receiving terminal (27), and conducts the voltage multiplier circuit (221) when the low-voltage second power supply (28) is connected to the power receiving terminal (27). Controller (200) of the robot system (1) described in Embodiment 5. 【0057】 When the voltage multiplier circuit (221) is interrupted, the alternating current from the high-voltage first power supply, i.e., the high-voltage AC power supply (28), is converted to a direct current by the rectifier circuit (23). When the voltage multiplier circuit (221) is turned on, the alternating current from the low-voltage second power supply (28), i.e., the low-voltage AC power supply (28), is converted to a direct current and boosted by the rectifier circuit (23) and the voltage multiplier circuit (221). 【0058】 (Aspect 7) The control circuit (21) further includes a circuit that detects the type of power supply (28) connected to the power receiving terminal (27), and when a high-voltage first power supply (28) is connected to the power receiving terminal (27), it shuts off the voltage multiplier circuit (221) through the switching element (222), and when a low-voltage second power supply (28) is connected to the power receiving terminal (27), it enables the voltage multiplier circuit (221) through the switching element (222). A controller (200) of the robot system (1) described in embodiment 6. 【0059】 The control circuit (21) switches between conducting and disconnecting the voltage multiplier circuit (221) via the switching element (222) depending on the type of power supply (28) connected to the power receiving terminal (27). The control circuit (21) can automatically switch the power supply circuit (220). 【0060】 (Pattern 8) The system further includes a notification unit (211) that detects the polarity of the voltage applied to the power receiving terminal (27) and, if the polarity of the voltage is incorrect, prompts the user to confirm the connection of the power supply to the power receiving terminal (27). A controller (2000) for a robot system (1) as described in any one of embodiments 1 to 7. 【0061】 The polarity of the DC power supply (29) connected to the controller (2000) is determined, and if the DC power supply (29) is connected to the controller (2000) in the wrong direction, the notification unit (211) issues a notification. The operator of the robot system (1) can then reconnect the DC power supply (29) to the controller (2000) in the correct direction. 【0062】 (Aspect 9) The robot (3) further comprises a motor drive circuit (20) connected to the secondary side of the power supply circuit (22, 220), to which a DC current from the power supply circuit (22, 220) is input and which outputs drive signals for the electric motors (3-1, ..., 3-n) that serve as the drive elements of the robot (3), A controller (2, 200, 2000) for the robot system (1) described in any one of embodiments 1 to 8. 【0063】 The power supply circuits (22, 220) of the controllers (2, 200, 2000) are switched according to the first power supply (28) and the second power supply (28, 29), so that the motor drive circuit (20) can be common to the first power supply (28) and the second power supply (28, 29). 【0064】 (Aspect 10) The type of power supply (28, 29) connected to the power receiving terminal (27) of the controller (2, 200, 2000) of the robot system (1) is detected by the detection circuit (21). If the detected power supply is the first power supply (28), the power supply circuit (22, 220) receives a control signal from the control circuit (21) and performs a conversion of at least one of the current and voltage between the power receiving terminal (27) and the load, which includes at least the drive elements (3-1, ..., 3-n) of the robot (3). If the detected power supply is the second power supply (28, 29), the power supply circuit (22, 220) will not perform the conversion upon receiving the control signal from the control circuit (21). A method for controlling the power supply circuits (22, 220) in the controllers (2, 200, 2000) of a robot system (1). 【0065】 The power supply circuits (22, 220) are switched depending on the type of power supply (28, 29) connected to the power receiving terminal (27). The controllers (2, 200, 2000) can control the robot (3) whether they are connected to the first power supply (28) or the second power supply (28, 29). 【0066】 (Aspect 11) The first power supply is an AC power supply (28), and the second power supply is a DC power supply (29). The power supply circuit (22) includes a rectifier circuit (23) that converts AC current to DC current and a bypass circuit (24) that bypasses the rectifier circuit (23). If the detected power source is an AC power source (28), the bypass circuit (24) is deactivated upon receiving a control signal from the control circuit (21), and the rectifier circuit (23) converts the AC current to a DC current. If the detected power supply is a DC power supply (29), the bypass circuit (24) conducts upon receiving a control signal from the control circuit (21), and the rectifier circuit (23) does not perform the conversion. A method for controlling the power supply circuit (22) in the controller (2, 200, 2000) of the robot system (1) described in Embodiment 10. 【0067】 The controllers (2, 200, 2000) can control the robot (3) whether they are connected to an AC power supply (28) or a DC power supply (29). 【0068】 (Aspect 12) The first power supply is a high-voltage AC power supply (28), and the second power supply is a lower-voltage AC power supply (28) than the first power supply. The power supply circuit (220) includes a rectifier circuit (23) that converts AC current to DC current, and a voltage multiplier circuit (221) combined with the rectifier circuit (23), which outputs a DC current with a higher voltage than the input AC voltage. If the detected power supply is the high-voltage first power supply (28), the voltage multiplier circuit (221) is shut off upon receiving a control signal from the control circuit (21), and the rectifier circuit (23) converts the AC current to DC current. If the detected power supply is the low-voltage second power supply (28), the voltage multiplier circuit is shut off, the voltage multiplier circuit (221) is opened, and the rectifier circuit (23) and the voltage multiplier circuit (221) output a high-voltage DC current. A method for controlling a power supply circuit (220) in a controller (200) of a robot system (1) as described in Embodiment 10. 【0069】 The controller (200) can control the robot (3) whether it is connected to a high-voltage AC power supply (28) or a low-voltage AC power supply (28). [Explanation of symbols] 【0070】 1. Robot System 2 Controllers 20 Motor drive circuit 21. Control board (control circuit, detection circuit) 22 Power circuit 220 Power supply circuit 221 Voltage Multiplier Circuit 222 Switch (Switching element) 23 Rectifier circuit 24 Bypass Circuit 25 Switches (switching elements) 251 Jumper (switching element) 27 Power receiving terminal 28 AC power supply (1st power supply, 2nd power supply) 29 DC power supply (second power supply) 200 controllers 2000 Controller 3 Robots 3-1, ..., 3-n Electric motor (driving element)

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, Equipped with, 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. The switching element is a controller for a robot system that 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. [Claim 2] In the controller of the robot system according to claim 1, 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 3] 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. A controller for a robot system. [Claim 4] In the controller of the robot system according to claim 3, The power supply circuit includes a bypass circuit that bypasses the rectifier circuit. The switching element disables the conduction of the bypass circuit when the AC power supply is connected to the power receiving terminal, and enables the conduction of the bypass circuit when the DC power supply is connected to the power receiving terminal. A controller for a robot system. [Claim 5] In the controller of the robot system according to claim 4, 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 6] In the controller of the robot system according to claim 3, 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 7] 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 8] 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. 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. [Claim 9] In the control method described in claim 8, 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.

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