Robot System

Abstract

To make cables connected to a contact plug seat less likely to interfere with each other.SOLUTION: A first side surface 11 of a housing 1 is provided with: a first installation surface 51 provided with a first contact plug seat 61; and a second installation surface 52 provided with a second contact plug seat 62. A step ΔL is formed between the first installation surface 51 and the second installation surface 52. A first cable 71 has: a first contact plug 71a connected to the first contact plug seat 61; and a first cable body 71b extending from the first contact plug 71a in a direction of a first extending axis A1 intersecting with a normal direction D of the first side surface 11. The second cable 72 has: a second contact plug 72a connected to the second contact plug seat 62; and a second cable body 72b extending from the second contact plug 72a in a direction of a second extending axis A2 intersecting with the normal direction D of the first side surface 11. The second contact plug 72a is disposed at a position offset from the first extending axis A1.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The technology disclosed herein relates to a robot system. [Background technology]

[0002] Patent Document 1 discloses a robot control device for controlling a robot. The robot control device has a housing. A plurality of connectors are arranged in a row on one side of the housing. A cable for supplying power to the robot is connected to each of the plurality of connectors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-175858 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, when multiple connectors are arranged side by side on one side of the housing, the multiple cables are likely to interfere with each other.

[0005] The technology disclosed herein has been made in consideration of the above points, and its purpose is to make it difficult for cables connected to a socket to interfere with each other. [Means for solving the problem]

[0006] The robot system disclosed herein includes a robot, a robot control device that controls the robot, and a first cable and a second cable that electrically connect the robot and the robot control device, the robot control device having a housing with at least one side surface, and a first connector seat and a second connector seat provided on the side surface, the side surface being provided with a first installation surface on which the first connector seat is provided, and a second installation surface that is arranged in a predetermined parallel direction with respect to the first installation surface and on which the second connector seat is provided, the first installation surface having a step with respect to the second installation surface, is inclined so as to be positioned more inward in the normal direction of the second installation surface with respect to the second installation surface as it moves away from the second installation surface, the first cable has a first connector that is removably connected to the first connector seat and a first cable body extending from the first connector in the direction of a first extension axis that intersects the normal direction of the side surface, the second cable has a second connector that is removably connected to the second connector seat and a second cable body extending from the second connector in the direction of a second extension axis that intersects the normal direction of the side surface, and the second connector is positioned at a position offset from the first extension axis.

[0007] The robot system disclosed herein includes a robot, a connector unit, and a first cable and a second cable that electrically connect the robot and the connector unit. The connector unit has a base with a side surface, and a first connector seat and a second connector seat provided on the side surface. The side surface is provided with a first installation surface on which the first connector seat is provided, and a second installation surface that is arranged in a predetermined parallel direction with respect to the first installation surface and on which the second connector seat is provided. The first installation surface has a step with respect to the second installation surface, or the further away from the first cable, the more inclined the cable is to be positioned inward in the normal direction of the second installation surface with respect to the second installation surface, the first cable has a first connector that is removably connected to the first connector seat and a first cable body extending from the first connector in the direction of a first extension axis that intersects the normal direction of the side surface, the second cable has a second connector that is removably connected to the second connector seat and a second cable body extending from the second connector in the direction of a second extension axis that intersects the normal direction of the side surface, and the second connector is positioned at a position offset from the first extension axis. [Effects of the Invention]

[0008] According to the robot system, the cables connected to the sockets are less likely to interfere with each other. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot system. [Figure 2] FIG. 2 is a rear view of the robot control device. [Figure 3] FIG. 3 is a perspective view of the connector unit. [Figure 4] FIG. 4 is a side view of the connector unit. [Figure 5] FIG. 5 is a block diagram of the robot system. [Figure 6] FIG. 6 is a side view of a connector unit according to a modified example. [Figure 7]FIG. 7 is a side view of a connector unit according to still another modified example. [Figure 8] FIG. 8 is a side view of a connector unit according to still another modified example. [Figure 9] FIG. 9 is a schematic diagram showing the configuration of a robot system according to yet another modified example. [Figure 10] FIG. 10 is a rear view of the first control device. [Figure 11] FIG. 11 is a block diagram of the robot system. [Figure 12] FIG. 12 is a rear view of the third control device. DETAILED DESCRIPTION OF THE INVENTION

[0010] An exemplary embodiment will be described in detail below with reference to the drawings. Fig. 1 is a schematic diagram showing the configuration of a robot system 1000. The robot system 1000 includes a robot 8, a robot control device 100 that controls the robot 8, and a first cable 71 and a second cable 72 that electrically connect the robot 8 and the robot control device 100.

[0011] The robot 8 is, for example, an industrial robot. The robot 8 has a robot body 80 that performs processing on a workpiece W. The processing may be, for example, welding, painting, cutting, polishing, cleaning, sealing, or transportation. The robot body 80 has a multi-joint robot arm 81. The robot 8 may include other devices that are controlled in coordination with the robot arm 81. The other devices are, for example, an end effector 82 connected to the robot arm 81, a moving device 84 that moves the robot body 80, or a support device 85 that supports the workpiece W. Hereinafter, the other devices will also be referred to as external devices. The robot body 80 may further have an end effector 82 and a base 83 to which the robot arm 81 is connected.

[0012] The robot arm 81 changes the position and posture of the end effector 82 by displacement and deformation. The robot arm 81 is a vertical multi-joint arm. More specifically, the robot arm 81 includes a plurality of links 81a, a plurality of joints 81b, and a plurality of motors 81c (see FIG. 5). Each joint 81b of the robot arm 81 rotatably connects two adjacent links 81a. Each motor 81c rotationally drives the corresponding joint 81b. That is, each motor 81c drives an axis (i.e., an internal axis) of the robot arm 81. The motor 81c is, for example, a servo motor. The robot arm 81 operates and is displaced and deformed in accordance with the driving of the motor 81c.

[0013] The end effector 82 performs a process on the workpiece W. The end effector 82 is, for example, a welding device, a painting device, a cutting device, a polishing device, a cleaning device, or a hand device. The end effector 82 has, for example, a motor 82a (see FIG. 5). The motor 82a is, for example, a servo motor.

[0014] The movement device 84 has, for example, a rail 84a and one or more motors 84b (see FIG. 5). The rail 84a guides the robot body 80 in a predetermined movement direction. The motor 84b generates power to move the robot body 80.

[0015] The support device 85 has, for example, a support mechanism 85a and one or more motors 85b (see FIG. 5). The support mechanism 85a supports the workpiece W. The support mechanism 85a changes the position and posture of the workpiece W by deforming. The motor 85b generates power to deform the support mechanism 85a. The motor 85b is, for example, a servo motor. The motor 82a of the end effector 82, the motor 84b of the moving device 84, and the motor 85b of the support device 85 are each a motor that drives an axis other than the axis of the robot arm 81 (i.e., an external axis).

[0016] The robot control device 100 has a housing 1 and built-in devices housed in the housing 1. The built-in devices include, for example, a circuit board, a processor, a memory, a storage device, a servo amplifier, a regenerative resistor, a heat sink, a power supply device, and a fan 21 (see FIG. 2).

[0017] 2 is a rear view of the robot control device 100. The robot control device 100 further includes a first connector 61 electrically connected to the robot 8 via a first cable 71, and a second connector 62 electrically connected to the robot 8 via a second cable 72.

[0018] The housing 1 is formed in a substantially rectangular parallelepiped shape, for example, as shown in FIG. 1. The housing 1 has at least one side surface. Specifically, the housing 1 has a first side surface 11, a second side surface 12, a third side surface 13, a fourth side surface 14, a ceiling surface 15, and a bottom surface 16. The outer surface of the housing 1 is formed by the first side surface 11, the second side surface 12, the third side surface 13, the fourth side surface 14, the ceiling surface 15, and the bottom surface 16. The first side surface 11 and the third side surface 13 are surfaces facing opposite to each other. The second side surface 12 and the fourth side surface 14 are surfaces facing opposite to each other.

[0019] Hereinafter, the direction in which the first side surface 11 and the third side surface 13 are aligned will be referred to as the front-to-rear direction. The direction in which the second side surface 12 and the fourth side surface 14 are aligned will be referred to as the left-to-right direction. In this example, the first side surface 11 is located behind the third side surface 13, and the third side surface 13 is located in front of the first side surface 11. That is, the first side surface 11 is the rear surface of the housing 1, and the third side surface 13 is the front surface of the housing 1. In this example, the second side surface 12 is located to the right of the fourth side surface 14, and the fourth side surface 14 is located to the left of the second side surface 12. That is, the second side surface 12 is the right surface of the housing 1, and the fourth side surface 14 is the left surface of the housing 1. For example, switches for operating the robot control device 100 are provided on the third side surface 13, which is the front surface of the housing 1.

[0020] The housing 1 is placed with the bottom surface 16 in contact with an installation surface, for example. The installation surface may be a floor surface or the top surface of another device.

[0021] As shown in Fig. 2, most of the first side surface 11 is formed by a flat surface 11a. A normal direction D (see Fig. 4) of the first side surface 11 is, for example, substantially horizontal. More specifically, the normal direction D of the first side surface 11 is parallel to the front-rear direction.

[0022] A first socket 61 and a second socket 62 are provided on the first side surface 11. The robot control device 100 in this example has a plurality of (specifically, four) first sockets 61 and a plurality of (specifically, four) second sockets 62.

[0023] Fig. 3 is a perspective view of the connector unit 5. Fig. 4 is a side view of the connector unit 5. In this example, a first receptacle 61, a second receptacle 62, etc. form the connector unit 5. The connector unit 5 is attached to a first side surface 11 of the housing 1. The connector unit 5 has a base 50 attached to the first side surface 11, and the first receptacle 61 and the second receptacle 62 provided on the base 50. The base 50 is formed in a plate shape that follows the first side surface 11 of the housing 1. An outer surface 50a of the base 50 is part of the first side surface 11 and is also part of the flat surface 11a.

[0024] The first side surface 11 of the housing 1 is provided with a first installation surface 51 on which the first socket 61 is installed, and a second installation surface 52 on which the second socket 62 is installed. The first installation surface 51 and the second installation surface 52 are arranged side by side in a predetermined parallel direction. In this example, the parallel direction is the up-down direction. Hereinafter, the parallel direction of the first installation surface 51 and the second installation surface 52 will be simply referred to as the "parallel direction."

[0025] The first mounting surface 51 is a flat surface. The first mounting surface 51 protrudes from the outer surface 50a, i.e., the first side surface 11. The first mounting surface 51 is inclined with respect to the first side surface 11 so that the closer it is to the second mounting surface 52, the more outward it is positioned in the normal direction D of the first side surface 11. Specifically, the first mounting surface 51 is inclined with respect to the first side surface 11 so that the lower part of the first mounting surface 51 is positioned more outward in the normal direction D of the first side surface 11 than the upper part of the first mounting surface 51.

[0026] The second installation surface 52 is arranged below and alongside the first installation surface 51. The second installation surface 52 is flat. The second installation surface 52 protrudes from the outer surface 50a, i.e., the first side surface 11. The second installation surface 52 is inclined with respect to the first side surface 11 so that the farther away from the first installation surface 51 the second installation surface 52 is positioned outward in the normal direction D of the first side surface 11. Specifically, the second installation surface 52 is inclined with respect to the first side surface 11 so that the lower part of the second installation surface 52 is positioned more outward in the normal direction D of the first side surface 11 than the upper part of the second installation surface 52. In this example, the first installation surface 51 and the second installation surface 52 are parallel. Note that the term "parallel" used in this disclosure includes not only strictly parallel but also approximately parallel.

[0027] The first installation surface 51 has a step ΔL with respect to the second installation surface 52. More specifically, the first installation surface 51 has a step ΔL so as to protrude from the second installation surface 52. At least a portion of the first installation surface 51 is located outward from the second installation surface 52 in the normal direction d2 of the second installation surface 52. In this example, the entire first installation surface 51 is located outward from the second installation surface 52 in the normal direction d2 of the second installation surface 52.

[0028] In this example, a step portion 50b is formed on the first side surface 11 to form a step ΔL between the first installation surface 51 and the second installation surface 52. More specifically, the first side surface 11 (more specifically, the outer surface 50a of the base 50) further has an intermediate surface 50c and a rising surface 50d. The intermediate surface 50c and the rising surface 50d are disposed between the first installation surface 51 and the second installation surface 52 in the vertical direction (i.e., the parallel direction). The intermediate surface 50c is part of the flat surface 11a. The lower end of the intermediate surface 50c is connected to the upper end of the second installation surface 52. The rising surface 50d protrudes from the upper end of the intermediate surface 50c. The lower end of the first installation surface 51 is connected to the upper end of the intermediate surface 50c via the rising surface 50d. The step portion 50b is formed by the lower end of the first installation surface 51, the rising surface 50d, the intermediate surface 50c, and the upper end of the second installation surface 52.

[0029] In this example, multiple first receptacles 61 are installed on the first installation surface 51 lined up in the left-right direction. Each first receptacle 61 has a first receptacle body 61a installed on the first installation surface 51 and multiple terminals 61b provided on the first receptacle body 61a. The first receptacle body 61a has, for example, a vertically elongated shape with its vertical dimension greater than its horizontal dimension. The first receptacle 61 may further have a locking member 61c for maintaining the connection between the first receptacle 61 and the first cable 71. The locking member 61c is, for example, rotatable relative to the first receptacle body 61a.

[0030] In this example, multiple second receptacles 62 are installed on the second installation surface 52 lined up in the left-right direction. At least a portion of the second receptacle 62 is positioned more inward than the first receptacle 61 in the normal direction d1 of the first installation surface 51 due to a step ΔL between the first installation surface 51 and the second installation surface 52. In this example, the entire second receptacle 62 is positioned more inward than the first receptacle 61 in the normal direction d2 of the second installation surface 52. The second receptacle 62 may be the same receptacle as the first receptacle 61, or may be a receptacle different from the first receptacle 61.

[0031] The second receptacle 62 has a second receptacle body 62a that is installed on the second installation surface 52, and a plurality of terminals 62b that are provided on the second receptacle body 62a. The second receptacle body 62a has, for example, a vertically elongated shape in which the vertical dimension is greater than the horizontal dimension. The second receptacle 62 may further have a locking member 62c that maintains the connection between the second receptacle 62 and the second cable 72. The locking member 62c is, for example, rotatable relative to the second receptacle body 62a.

[0032] The first cable 71 has a first connector 71a electrically connected to the first connector seat 61, and a first cable body 71b attached to the first connector 71a.

[0033] The first connector 71a is removably connected to the first connector seat body 61a. The first connector 71a is connected to the first connector seat body 61a by, for example, fitting. The insertion / removal direction of the first connector 71a relative to the first connector seat body 61a (i.e., the direction in which the first connector 71a moves when inserted into or removed from the first connector seat body 61a) is parallel to the normal direction d1 of the first installation surface 51. The insertion / removal direction of the first connector 71a relative to the normal direction D of the first side surface 11 is inclined with respect to the normal direction D of the first side surface 11. Hereinafter, the insertion / removal direction of the first connector 71a relative to the first connector seat body 61a will be simply referred to as the "insertion / removal direction of the first connector 71a."

[0034] The first connector 71a has a plurality of terminals. When the first connector 71a is connected to the first connector seat body 61a, the plurality of terminals of the first connector 71a are electrically connected to the plurality of terminals 61b of the first connector seat body 61a.

[0035] When the first connector 71a is connected to the first connector seat body 61a, the locking member 61c of the first connector seat 61 is locked to the first connector 71a. The locking member 61c restricts movement of the first connector 71a, thereby preventing the first connector 71a from coming off the first connector seat body 61a. To remove the first connector 71a from the first connector seat body 61a, the locking member 61c is rotated relative to the first connector seat body 61a to release the locking of the locking member 61c with the first connector 71a.

[0036] The first connector 71a may have a sealed structure that seals the inside of the first connector 71a. The sealed structure prevents dust, dirt, water, and the like from entering the inside of the first connector 71a from outside the first connector 71a. The sealed structure includes, for example, at least one of a sealant provided between multiple parts that form the first connector 71a and a sealant provided between the first connector 71a and the first cable main body 71b.

[0037] The first cable body 71b is a power cable including a power line. The first cable body 71b supplies power from the robot control device 100 to the robot 8. When the first connector 71a is connected to the first connector base 61, the first cable body 71b extends from the first connector 71a toward the second installation surface 52. That is, the first cable body 71b extends downward from the first connector 71a. In this disclosure, "extending from the first connector 71a toward the second installation surface 52" means extending in a direction that includes a directional component from the first connector 71a toward the second installation surface 52 in the parallel direction, starting from the first connector 71a, and does not strictly mean extending only toward the second installation surface 52.

[0038] The first cable main body 71b extends from the first connector 71a in the direction of a first extension axis A1 of the first connector 71a. In this example, the first cable main body 71b is connected to a connection port 71c of the first connector 71a and extends from the connection port 71c in the direction of the first extension axis A1. The connection port 71c determines the extension direction of the first cable main body 71b. The first extension axis A1 passes through the center of the opening of the connection port 71c. The first cable main body 71b is flexible overall. However, the end of the first cable main body 71b connected to the first connector 71a has high rigidity, and this end extends from the connection port 71c in the direction of the first extension axis A1.

[0039] The first extension axis A1 intersects with the insertion / removal direction of the first connector 71a. That is, the first cable main body 71b extends from the first connector 71a in a direction intersecting with the insertion / removal direction of the first connector 71a. The first extension axis A1 intersects with the normal direction D of the first side surface 11. Specifically, the first extension axis A1 is inclined with respect to the normal direction D of the first side surface 11 so that the more outward the first extension axis A1 is from the normal direction D of the first side surface 11, the lower it is positioned (that is, in the direction from the first installation surface 51 to the second installation surface 52 in the parallel direction).

[0040] The second cable 72 may be the same cable as the first cable 71, or may be a different cable from the first cable 71. The second cable 72 has a second connector 72a electrically connected to the second connector seat 62, and a second cable body 72b coupled to the second connector 72a.

[0041] The second connector 72a is removably connected to the second connector seat body 62a. The second connector 72a is connected to the second connector seat body 62a by, for example, fitting. The insertion / removal direction of the second connector 72a relative to the second connector seat body 62a (i.e., the direction in which the second connector 72a moves when inserted into or removed from the second connector seat body 62a) is parallel to the normal direction d2 of the second installation surface 52. In other words, the insertion / removal direction of the second connector 72a relative to the second connector seat body 62a is inclined with respect to the normal direction D of the first side surface 11. Hereinafter, the insertion / removal direction of the second connector 72a relative to the second connector seat body 62a will be simply referred to as the "insertion / removal direction of the second connector 72a." The second connector 72a may be the same connector as the first connector 71a, or a different connector.

[0042] The second connector 72a has a plurality of terminals. When the second connector 72a is connected to the second connector seat body 62a, the plurality of terminals of the second connector 72a are electrically connected to the plurality of terminals 62b of the second connector seat body 62a.

[0043] When the second connector 72a is connected to the second connector seat body 62a, the locking member 62c of the second connector seat 62 is locked to the second connector 72a. The locking member 62c restricts movement of the second connector 72a, thereby preventing the second connector 72a from coming off the second connector seat body 62a. To remove the second connector 72a from the second connector seat body 62a, the locking member 62c is rotated relative to the second connector seat body 62a to release the locking of the locking member 62c with the second connector 72a.

[0044] The second connector 72a may have a sealed structure that seals the interior of the second connector 72a. The sealed structure prevents dust, dirt, water, and the like from entering the interior of the second connector 72a from outside the second connector 72a. The sealed structure includes, for example, at least one of a sealant provided between the multiple parts that form the second connector 72a and a sealant provided between the second connector 72a and the second cable main body 72b.

[0045] In this example, the second cable main 72b is a power cable including a power line. The second cable main 72b supplies power from the robot control device 100 to the robot 8. When the second connector 72a is connected to the second connector seat 62, the second cable main 72b extends from the second connector 72a in a direction opposite to the first installation surface 51. That is, when the second connector 72a is connected to the second connector seat main body 62a, the second cable main 72b extends downward from the second connector 72a. Note that in this disclosure, "extending from the second connector 72a in a direction opposite to the first installation surface 51" means extending in a direction including a directional component from the second connector 72a toward the second installation surface 52 in the parallel direction, starting from the second connector 72a, and does not strictly mean extending only in a direction opposite to the first installation surface 51.

[0046] The second cable main body 72b extends from the second connector 72a in the direction of the second extension axis A2 of the second connector 72a. In this example, the second cable main body 72b is connected to a connection port 72c of the second connector 72a and extends from the connection port 72c in the direction of the second extension axis A2. The connection port 72c determines the extension direction of the second cable main body 72b. The second extension axis A2 passes through the center of the opening of the connection port 72c. The second cable main body 72b is flexible overall. However, the end of the second cable main body 72b connected to the second connector 72a has high rigidity, and this end extends in the direction of the second extension axis A2.

[0047] The second extension axis A2 intersects with the insertion / removal direction of the second connector 72a. The second cable main 72b extends from the second connector 72a in a direction intersecting with the insertion / removal direction of the second connector 72a. The second extension axis A2 intersects with the normal direction D of the first side surface 11. The second extension axis A2 is inclined with respect to the normal direction D of the first side surface 11 so that the second extension axis A2 is positioned lower as it moves outward from the normal direction D of the first side surface 11. The second extension axis A2 in this example is parallel to the first extension axis A1.

[0048] When the first cable 71 and the second cable 72 are connected to the first connector 61 and the second connector 62, at least a portion of the second connector 72a is positioned more inward than the first connector 71a in the normal direction d1 of the first installation surface 51. The second connector 72a is also positioned at a position offset from the first extension axis A1. Specifically, the second connector 72a is positioned closer to the first installation surface 51 than the first extension axis A1.

[0049] As shown in FIG. 2, the first side surface 11 of the housing 1 may be provided with other receptacles in addition to the first receptacle 61 and the second receptacle 62. In this example, the first side surface 11 is provided with the other receptacles, namely, a power supply receptacle 23 and a communication receptacle 24. A power cable 25 (see FIG. 1) is connected to the power supply receptacle 23. The power cable 25 electrically connects the robot control device 100 to an external power source P. Power is supplied to the robot control device 100 from the external power source P via the power cable 25. A plurality of communication cables 26 (see FIG. 1) are connected to the communication receptacle 24. The plurality of communication cables 26 electrically connect the robot control device 100 to the robot 8. Specifically, the plurality of communication cables 26 electrically connect the robot control device 100 to the robot arm 81 and an external device. The robot control device 100 communicates with the robot arm 81 and the external device via the plurality of communication cables 26.

[0050] A plurality of ventilation holes 17 may be formed in the first side surface 11. The ventilation holes 17 provide communication between the inside and outside of the housing 1. The ventilation holes 17 function, for example, as an intake or exhaust port for a fan 21 housed in the housing 1, or as an intake and exhaust port. The fan 21 cools heat-generating components housed inside the housing 1 and heat sinks and the like thermally connected to the heat-generating components. The heat-generating components are, for example, a processor, a servo amplifier, a regenerative resistor, and the like housed in the housing 1.

[0051] 5 is a block diagram of a robot system 1000. The robot control device 100 may have a control unit 22 formed by a processor, a memory, etc. The control unit 22 controls the robot 8. The control unit 22 is housed in, for example, a housing 1. The processor is, for example, a central processing unit (CPU), a graphics processing unit (GPU), and / or a digital signal processor (DSP). The memory is, for example, various semiconductor memories such as a video random access memory (VRAM), a random access memory (RAM), and / or a read only memory (ROM). Note that a control unit 42, which will be described later, has a configuration similar to that of the control unit 22.

[0052] The control unit 22 controls the robot arm 81 and the external device. The control unit 22 controls the motor 81c via a servo amplifier, for example, to control the robot arm 81. The control unit 22 controls the motor 84b of the moving device 84, the motor 85b of the support device 85, and the motor 82a of the end effector 82 via a servo amplifier, for example. The control unit 22 controls the robot arm 81 and the external device so that they cooperate with each other.

[0053] In this example, as shown in FIG. 4 , the first installation surface 51 has a step ΔL relative to the second installation surface 52, and the second connector 72a is positioned offset from the first extension axis A1. Therefore, the first cable 71 connected to the first connector 61 and the second cable 72 connected to the second connector 72a are unlikely to interfere with each other. Therefore, a user can easily connect the first cable 71 and the second cable 72 to the first connector 61 and the second connector 62 without bending the first cable 71 or the second cable 72 more than necessary to avoid interference between the first cable 71 and the second cable 72. For example, as in this example, if the first cable 71 and the second cable 72 are power cables with diameters larger than those of communication cables, the first cable 71 and the second cable 72 are unlikely to bend. However, even in such a case, a user can easily connect and disconnect the first cable 71 and the second cable 72 to and from the first connector 61 and the second connector 62.

[0054] Furthermore, because the first installation surface 51 has a step ΔL relative to the second installation surface 52, interference between the first cable 71 and the second cable 72 can be avoided even if the distance between the first installation surface 51 and the second installation surface 52 is small. This reduces the space required for providing the first jack socket 61 and the second jack socket 62 on the first side surface 11, thereby achieving a compact housing 1 and a compact robot control device 100. For example, as in this example, by providing the ventilation hole 17 and the communication jack socket 24, etc. on the first side surface 11, interference between the first cable 71 and the second cable 72 can be reduced even if it is difficult to secure a large space required for providing the first jack socket 61 and the second jack socket 62 on the first side surface 11.

[0055] Furthermore, by providing the ventilation hole 17 on the first side surface 11, it is possible to avoid providing ventilation holes 17 on surfaces of the housing 1 other than the first side surface 11, i.e., the second side surface 12, the third side surface 13, the fourth side surface 14, the ceiling surface 15, or the bottom surface 16. In this case, even if another device is installed or a wall is placed along a surface of the housing 1 other than the first side surface 11, it is unlikely that the ventilation hole 17 will be blocked by the other device or wall. This increases the degree of freedom in the installation position of the housing 1.

[0056] Furthermore, the first installation surface 51 is inclined so that it is positioned more outward in the normal direction D of the first side surface 11 as it approaches the second installation surface 52. Therefore, the projection area of ​​the first installation surface 51 onto the first side surface 11 can be made smaller compared to when the first installation surface 51 is parallel to the first side surface 11. Furthermore, the second installation surface 52 is also inclined so that it is positioned more outward in the normal direction D of the first side surface 11 as it moves away from the first installation surface 51. Therefore, the projection area of ​​the second installation surface 52 onto the first side surface 11 can be made smaller compared to when the second installation surface 52 is parallel to the first side surface 11. Therefore, the vertical dimension of the housing 1 can be reduced, and ultimately the vertical dimension of the robot control device 100 can be reduced.

[0057] As described above, the robot system 1000 includes the robot 8, the robot control device 100 that controls the robot 8, and the first cable 71 and the second cable 72 that electrically connect the robot 8 and the robot control device 100. The robot control device 100 includes a housing 1 having at least a first side surface 11 (one side surface), and a first connector 61 and a second connector 62 provided on the first side surface 11. The first side surface 11 is provided with a first installation surface 51 on which the first connector 61 is provided, and a second installation surface 52 that is arranged in a predetermined parallel direction with respect to the first installation surface 51 and on which the second connector 62 is provided. The first installation surface 51 has a step ΔL with respect to the second installation surface 52, the first cable 71 has a first connector 71a that is removably connected to the first connector seat 61, and a first cable body 71b that extends from the first connector 71a in the direction of a first extension axis A1 that intersects with the normal direction D of the first side surface 11, and the second cable 72 has a second connector 72a that is removably connected to the second connector seat 62, and a second cable body 72b that extends from the second connector 72a in the direction of a second extension axis A2 that intersects with the normal direction D of the first side surface 11, and the second connector 72a is positioned at a position offset from the first extension axis A1.

[0058] In other words, the robot system 1000 comprises a robot 8, a connector unit 5, and a first cable 71 and a second cable 72 that electrically connect the robot 8 and the connector unit 5. The connector unit 5 has a base 50 having an outer surface 50a (side surface), and a first connector seat 61 and a second connector seat 62 provided on the outer surface 50a. The outer surface 50a is provided with a first installation surface 51 on which the first connector seat 61 is provided, and a second installation surface 52 that is arranged in a predetermined parallel direction with respect to the first installation surface 51 and on which the second connector seat 62 is provided. The first installation surface 51 is The first cable 71 has a step ΔL with respect to the second installation surface 52, and has a first connector 71a that is removably connected to the first connector seat 61, and a first cable body 71b extending from the first connector 71a in the direction of a first extension axis A1 that intersects with the normal direction D of the outer surface 50a, and the second cable 72 has a second connector 72a that is removably connected to the second connector seat 62, and a second cable body 72b extending from the second connector 72a in the direction of a second extension axis A2 that intersects with the normal direction D of the outer surface 50a, and the second connector 72a is positioned at a position offset from the first extension axis A1.

[0059] According to these configurations, the second connector 72a is positioned at a position offset from the first extension axis A1. Therefore, the first cable 71 connected to the first connector 61 and the second cable 72 connected to the second connector 62 are less likely to interfere with each other. Furthermore, since the first cable 71 and the second cable 72 are less likely to interfere with each other, the first cable 71 and the second cable 72 can be easily attached and detached to and from the first connector 61 and the second connector 62. Even if the distance between the first installation surface 51 and the second installation surface 52 is small, interference between the first cable 71 and the second cable 72 can be avoided. Therefore, the space required for providing the first connector 61 and the second connector 62 on the first side surface 11 can be reduced, thereby enabling the housing 1 and the robot control device 100 to be made more compact.

[0060] In addition, the first installation surface 51 has a step ΔL that protrudes toward the second installation surface 52, the first extension axis A1 extends in a direction intersecting the insertion / removal direction of the first connector 71a into the first connector seat 61, the second extension axis A2 extends in a direction intersecting the insertion / removal direction of the second connector 72a into the second connector seat 62, the first cable main body 71b extends from the first connector 71a toward the second installation surface 52, and the second cable main body 72b extends from the second connector 72a in the direction opposite to the first installation surface 51.

[0061] With this configuration, the first cable 71, whose first extension axis A1 extends in a direction intersecting the insertion / removal direction of the first connector 71a, and the second cable 72, whose second extension axis A2 extends in a direction intersecting the insertion / removal direction of the second connector 72a, are less likely to interfere with each other.

[0062] In addition, the first installation surface 51 has a step ΔL that protrudes relative to the second installation surface 52, and the first installation surface 51 is inclined so that it is positioned further outward from the normal direction D of the first side surface 11 as it approaches the second installation surface 52, and the second installation surface 52 is inclined so that it is positioned further outward from the normal direction D of the first side surface 11 as it moves away from the first installation surface 51.

[0063] This configuration can reduce the projected area of ​​each of the first installation surface 51 and the second installation surface 52 onto the first side surface 11. Therefore, the dimension of the housing 1 or the base 50 in the parallel direction can be reduced, and therefore the dimension of the robot control device 100 or the connector unit 5 in the parallel direction can be reduced.

[0064] Furthermore, the parallel direction is the vertical direction, the second installation surface 52 is arranged next to the first installation surface 51, the first installation surface 51 is inclined so that the lower part of the first installation surface 51 is positioned further outward from the normal direction D of the first side surface 11 than the upper part of the first installation surface 51, and the second installation surface 52 is inclined so that the lower part of the second installation surface 52 is positioned further outward from the normal direction D of the first side surface 11 than the upper part of the second installation surface 52.

[0065] According to this configuration, the first installation surface 51 and the second installation surface 52 each face diagonally upward. That is, the first cable 71 and the second cable 72 are attached and detached from the housing 1 or the base 50 from diagonally above. Therefore, for example, when the robot control device 100 is installed in a low position such as on the floor, the first cable 71 and the second cable 72 can be easily attached and detached to and from the first socket 61 and the second socket 62.

[0066] The first cable 71 and the second cable 72 are power cables including power lines that supply power to the robot 8.

[0067] With this configuration, even though each of the first cable 71 and the second cable 72 is a power cable that has a larger diameter and is less likely to bend compared to communication cables, etc., the first cable 71 and the second cable 72 can be easily attached and detached to and from the first connector 61 and the second connector 62.

[0068] The robot 8 also includes a robot arm 81, an end effector 82 controlled in coordination with the robot arm 81, and external devices (other devices) such as a moving device 84 and a support device 85, and the first cable 71 and the second cable 72 are electrically connectable to the external devices.

[0069] According to this configuration, the first cable 71 and the second cable 72 electrically connected to the external device are less likely to interfere with each other.

[0070] Each of the first connector 71a and the second connector 72a has a sealed structure that seals the inside.

[0071] This configuration makes it difficult for dust, dirt, water, etc. to get into the inside of first connector 71a and second connector 72a. Furthermore, even if first connector 71a and second connector 72a are large connectors with sealed structures, first connector 71a and second connector 72a are unlikely to interfere with each other.

[0072] Furthermore, a ventilation hole 17 is formed in the first side surface 11 or the outer surface 50a.

[0073] With this configuration, interference between the first cable 71 and the second cable 72 can be avoided even when it is difficult to secure a large space to install the first connector seat 61 and the second connector seat 62 on the first side surface 11 or outer surface 50a where the ventilation hole 17 is formed.

[0074] Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology of the present disclosure is not limited to this and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above embodiment can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0075] Fig. 6 is a side view of a connector unit 205 in a modified robot system 2000. For example, as shown in Fig. 6, the first extension axis A1 and the insertion / removal direction of the first connector 71a may be parallel to each other, and the second extension axis A2 and the insertion / removal direction of the second connector 72a may be parallel to each other. The modified example shown in Fig. 6 will be described in detail below.

[0076] The first installation surface 51 is inclined with respect to the first side surface 11 so that the closer it is to the second installation surface 52, the more inward it is positioned in the normal direction D of the first side surface 11. Specifically, the first installation surface 51 is inclined with respect to the first side surface 11 so that the lower part of the first installation surface 51 is positioned more inward in the normal direction D of the first side surface 11 than the upper part of the first installation surface 51.

[0077] The second installation surface 52 is inclined with respect to the first side surface 11 so that the second installation surface 52 is positioned more inward in the normal direction D of the first side surface 11 as it moves away from the first installation surface 51. Specifically, the second installation surface 52 is inclined with respect to the first side surface 11 so that the lower part of the second installation surface 52 is positioned more inward in the normal direction D of the first side surface 11 than the upper part of the second installation surface 52. The first installation surface 51 and the second installation surface 52 are parallel to each other.

[0078] The first installation surface 51 has a step ΔL with respect to the second installation surface 52. More specifically, the first installation surface 51 has a step ΔL such that it is recessed relative to the second installation surface 52. At least a portion of the first installation surface 51 is located more inward than the second installation surface 52 in the normal direction d2 of the second installation surface 52. In this example, the entire first installation surface 51 is located more inward than the second installation surface 52 in the normal direction d2 of the second installation surface 52.

[0079] In this example, when the first cable 71 and the second cable 72 are connected to the first connector 61 and the second connector 62, the second connector 72a is positioned more inward than the first extension axis A1 in a direction parallel to the first installation surface 51 and perpendicular to the first extension axis A1.

[0080] As described above, the second installation surface 52 has a step ΔL that protrudes relative to the first installation surface 51, the first extension axis A1 is parallel to the insertion / removal direction of the first connector 71a relative to the first connector seat 61, the second extension axis A2 is parallel to the insertion / removal direction of the second connector 72a relative to the second connector seat 62, the first cable main body 71b extends from the first connector 71a toward the second installation surface 52, and the second cable main body 72b extends from the second connector 72a in the direction opposite to the first installation surface 51.

[0081] According to this configuration, first cable 71 extending parallel to the insertion / removal direction of first connector 71a and second cable 72 extending parallel to the insertion / removal direction of second connector 72a are less likely to interfere with each other.

[0082] Fig. 7 is a side view of a connector unit 305 in a robot system 3000 according to another modification. For example, as shown in Fig. 7, the first installation surface 51 may be inclined so that the farther away from the second installation surface 52 the first installation surface 51 is, the more inward it is positioned relative to the second installation surface 52 in the normal direction d2 of the second installation surface 52. The other modification shown in Fig. 7 will be described in detail below.

[0083] The first installation surface 51 is inclined so that the upper part of the first installation surface 51 is positioned more inward than the lower part of the first installation surface 51 in the normal direction D of the first side surface 11. The upper end of the second installation surface 52 is connected to the lower end of the first installation surface 51. The second installation surface 52 is parallel to the first side surface 11. The angle formed by the first installation surface 51 and the second installation surface 52 is a minor angle of less than 180 degrees.

[0084] In this example as well, when the first cable 71 and the second cable 72 are connected to the first connector seat 61 and the second connector seat 62, the second connector 72a is positioned at a position offset from the first extension axis A1. Specifically, the second connector 72a is positioned closer to the first installation surface 51 than the first extension axis A1. Therefore, the first cable 71 and the second cable 72 are less likely to interfere with each other.

[0085] As described above, the robot system 3000 includes the robot 8, the robot control device 300 that controls the robot 8, and the first cable 71 and the second cable 72 that electrically connect the robot 8 and the robot control device 300. The robot control device 300 has a housing 1 having at least a first side surface 11 (one side surface), and a first connector 61 and a second connector 62 provided on the first side surface 11. The first side surface 11 is provided with a first installation surface 51 on which the first connector 61 is provided, and a second installation surface 52 that is arranged in a predetermined parallel direction with respect to the first installation surface 51 and on which the second connector 62 is provided. The first installation surface 51 is The further away from the second installation surface 52, the more inclined the first cable 71 is so as to be positioned inward in the normal direction d2 of the second installation surface 52 with respect to the second installation surface 52, and the first cable 71 has a first connector 71a that is removably connected to the first connector seat 61, and a first cable body 71b that extends from the first connector 71a in the direction of a first extension axis A1 that intersects the normal direction D of the first side surface 11, and the second cable 72 has a second connector 72a that is removably connected to the second connector seat 62, and a second cable body 72b that extends from the second connector 72a in the direction of a second extension axis A2 that intersects the normal direction D of the first side surface 11, and the second connector 72a is positioned at a position offset from the first extension axis A1.

[0086] In other words, the robot system 3000 includes a robot 8, a connector unit 5, and a first cable 71 and a second cable 72 that electrically connect the robot 8 and the connector unit 305. The connector unit 305 has a base 50 having an outer surface 50a (side surface), and a first connector seat 61 and a second connector seat 62 provided on the outer surface 50a. The outer surface 50a is provided with a first installation surface 51 on which the first connector seat 61 is provided, and a second installation surface 52 that is arranged in a predetermined parallel direction with respect to the first installation surface 51 and on which the second connector seat 62 is provided. The first installation surface 51 becomes thinner as it is farther from the second installation surface 52. The first cable 71 is inclined relative to the second installation surface 52 so as to be positioned inside the normal direction d2 of the second installation surface 52, and has a first connector 71a that is removably connected to the first connector seat 61 and a first cable body 71b that extends from the first connector 71a in the direction of a first extension axis A1 that intersects the normal direction D of the outer surface 50a, and the second cable 72 has a second connector 72a that is removably connected to the second connector seat 62 and a second cable body 72b that extends from the second connector 72a in the direction of a second extension axis A2 that intersects the normal direction D of the outer surface 50a, and the second connector 72a is positioned at a position offset from the first extension axis A1.

[0087] According to these configurations, the second connector 72a is positioned at a position offset from the first extension axis A1. Therefore, the first cable 71 connected to the first connector 61 and the second cable 72 connected to the second connector 62 are less likely to interfere with each other. Furthermore, since the first cable 71 and the second cable 72 are less likely to interfere with each other, the first cable 71 and the second cable 72 can be easily attached and detached to and from the first connector 61 and the second connector 62. Even if the distance between the first installation surface 51 and the second installation surface 52 is small, interference between the first cable 71 and the second cable 72 can be avoided. Therefore, the space required for providing the first connector 61 and the second connector 62 on the first side surface 11 can be reduced, thereby enabling the housing 1 and the robot control device 300 to be made more compact.

[0088] Furthermore, the first installation surface 51 is inclined so that the farther it is from the second installation surface 52, the more inward it is positioned relative to the second installation surface 52 in the normal direction d2 of the second installation surface 52, the first extension axis A1 extends in a direction intersecting the insertion / removal direction of the first connector 71a relative to the first connector seat 61, the second extension axis A2 extends in a direction intersecting the insertion / removal direction of the second connector 72a relative to the second connector seat 62, the first cable main body 71b extends from the first connector 71a toward the second installation surface 52, and the second cable main body 72b extends from the second connector 72a in the direction opposite to the first installation surface 51.

[0089] According to this configuration, first cable 71 extending in a direction intersecting the insertion / removal direction of first connector 71a and second cable 72 extending in a direction intersecting the insertion / removal direction of second connector 72a are less likely to interfere with each other.

[0090] 7, only the first installation surface 51 of the first installation surface 51 and the second installation surface 52 is inclined with respect to the first side surface 11, but both the first installation surface 51 and the second installation surface 52 may be inclined with respect to the first side surface 11. Also, only the second installation surface 52 of the first installation surface 51 and the second installation surface 52 may be inclined with respect to the first side surface 11. Also, the second installation surface 52 may be disposed at a distance from the first installation surface 51 in the parallel direction (specifically, the up-down direction).

[0091] Fig. 8 is a side view of a connector unit 405 in a robot system 4000 according to yet another modification. For example, as shown in Fig. 8, the first extension axis A1 may extend in a direction intersecting the insertion / removal direction of the first connector 71a, and the second extension axis A2 may be parallel to the insertion / removal direction of the second connector 72a. The further modification shown in Fig. 8 will be described in detail below.

[0092] 7, the first installation surface 51 of the robot control device 400 in this example is inclined so that the farther away from the second installation surface 52 the surface is, the more inward the surface is positioned relative to the second installation surface 52 in the normal direction d2 of the second installation surface 52. However, in this example, both the first installation surface 51 and the second installation surface 52 are inclined with respect to the first side surface 11. Specifically, the first installation surface 51 is inclined so that the upper part of the first installation surface 51 is positioned more inward in the normal direction D of the first side surface 11 than the lower part of the first installation surface 51. Furthermore, the second installation surface 52 is inclined so that the upper part of the second installation surface 52 is positioned more outward in the normal direction D of the first side surface 11 than the lower part of the second installation surface 52.

[0093] In this example as well, when the first cable 71 and the second cable 72 are connected to the first connector seat 61 and the second connector seat 62, the second connector 72a is positioned at a position offset from the first extension axis A1. Specifically, the second connector 72a is positioned closer to the first installation surface 51 than the first extension axis A1. Therefore, the first cable 71 and the second cable 72 are less likely to interfere with each other.

[0094] As described above, the first installation surface 51 is inclined so that the further away from the second installation surface 52 it is positioned inward in the normal direction d2 of the second installation surface 52, the more inclined the first installation surface 51 is from the second installation surface 52, the first extension axis A1 extends in a direction intersecting the insertion / removal direction of the first connector 71a into the first connector seat 61, the second extension axis A2 is parallel to the insertion / removal direction of the second connector 72a into the second connector seat 62, the first cable main body 71b extends from the first connector 71a toward the second installation surface 52, and the second cable main body 72b extends from the second connector 72a in the direction opposite to the first installation surface 51.

[0095] This configuration makes it less likely that first cable 71 extending in a direction intersecting the insertion / removal direction of first connector 71a and second cable 72 extending parallel to the insertion / removal direction of second connector 72a will interfere with each other.

[0096] 9 is a schematic diagram showing the configuration of yet another modified robot system 5000. The robot system 5000 includes a plurality of robots 8, a robot control device 500 that controls the plurality of robots 8, and a first cable 71 and a second cable 72 that electrically connect the plurality of robots 8 and the robot control device 500.

[0097] The robot system 5000 of this example includes two robots 8. Hereinafter, one of the robots 8 will also be referred to as a first robot 8a. The other robot 8 will also be referred to as a second robot 8b. The first robot 8a and the second robot 8b may have the same configuration, or may have different configurations.

[0098] The robot control device 500 has a first control device 501 that controls the robot arm 81 of the first robot 8a, a second control device 502 that controls the robot arm 81 of the second robot 8b, and a third control device 503 that controls external devices of each robot 8a, 8b.

[0099] The first control device 501 has a housing 3 and built-in devices housed in the housing 3. The built-in devices include, for example, a circuit board, a processor, a memory, a servo amplifier, a regenerative resistor, a heat sink, a power supply device, and a fan 41 (see FIG. 10).

[0100] The housing 3 in this example is formed in a substantially rectangular parallelepiped shape. The housing 3 has a first side surface 31, a second side surface 32, a third side surface 33, a fourth side surface 34, a ceiling surface 35, and a bottom surface 36. The outer surface of the housing 3 is formed by the first side surface 31, the second side surface 32, the third side surface 33, the fourth side surface 34, the ceiling surface 35, and the bottom surface 36. The first side surface 31 and the third side surface 33 are surfaces facing opposite to each other. The second side surface 32 and the fourth side surface 34 are surfaces facing opposite to each other.

[0101] Hereinafter, the direction in which the first side surface 31 and the third side surface 33 are aligned will be referred to as the front-to-rear direction. In this example, the first side surface 31 is located behind the third side surface 33, and the third side surface 33 is located in front of the first side surface 31. In other words, the first side surface 31 is the rear surface of the housing 3, and the third side surface 33 is the front surface of the housing 3. Hereinafter, the direction in which the second side surface 32 and the fourth side surface 34 are aligned will be referred to as the left-to-right direction. In this example, the second side surface 32 is located to the right of the fourth side surface 34, and the fourth side surface 34 is located to the left of the second side surface 32. In other words, the second side surface 32 is the right surface of the housing 3, and the fourth side surface 34 is the left surface of the housing 3. For example, switches for operating the first control device 501 are provided on the third side surface 33, which is the front surface of the housing 3.

[0102] The housing 3 is installed with the bottom surface 36 in contact with an installation surface, for example. The installation surface is, for example, the upper surface of the second control device 502, the upper surface of the third control device 503, or the floor.

[0103] As shown in FIG. 10, a power supply receptacle 43, an arm receptacle 44, and a communication receptacle 45 may be provided on a side surface of the housing 3. In this example, the power supply receptacle 43, the arm receptacle 44, and the communication receptacle 45 are provided on the first side surface 31 of the housing 3. A power cable 46 (see FIG. 9) is connected to the power supply receptacle 43. The power cable 46 electrically connects the first control device 501 to an external power source P1. Power is supplied to the first control device 501 from the external power source P1 via the power cable 46. An arm cable 47 (see FIG. 9) is connected to the arm receptacle 44. The arm cable 47 electrically connects the first control device 501 to the robot arm 81 of the first robot 8a. The arm cable 47 includes, for example, a power line for supplying power from the first control device 501 to the robot arm 81 of the first robot 8a, and a signal line for communication between the first control device 501 and the robot arm 81 of the first robot 8a. A plurality of communication cables are connected to the communication socket 45. The plurality of communication cables include a communication cable for communication between the first control device 501 and the second control device 502, and a communication cable for communication between the first control device 501 and the third control device 503.

[0104] A plurality of ventilation holes 37 that communicate between the inside and outside of the housing 3 may be formed in the first side surface 31. The ventilation holes 37 function, for example, as intake or exhaust ports for a fan 41 housed in the housing 3, or as an intake and exhaust port. The fan 41 cools heat-generating components housed inside the housing 3, as well as heat sinks and the like thermally connected to the heat-generating components. The heat-generating components are, for example, processors, servo amplifiers, regenerative resistors, and the like housed in the housing 3.

[0105] 11 is a block diagram of a robot system 5000. The first control device 501 may have a control unit 42 formed by a processor, a memory, etc. The control unit 42 is housed in, for example, a housing 3. The control unit 42 executes various programs to realize various functions of the first control device 501. The control unit 42 controls the robot arm 81 of the first robot 8a, for example, by controlling the motor 81c via a servo amplifier.

[0106] The second control device 502 has, for example, the same configuration as the first control device 501. That is, the second control device 502 has a housing 3, a fan 41, a power supply socket 43, an arm socket 44, a communication socket 45, and a control unit 42. However, the control target of the second control device 502 is not the robot arm 81 of the first robot 8a, but the robot arm 81 of the second robot 8b.

[0107] A power cable 46 (see FIG. 9) is connected to the power supply socket 43 of the second control device 502. This power cable 46 electrically connects the second control device 502 and an external power source P2. Power is supplied to the second control device 502 from the external power source P2 via the power cable 46. An arm cable 47 (see FIG. 9) is connected to the arm socket 44 of the second control device 502. This arm cable 47 electrically connects the second control device 502 and the robot arm 81 of the second robot 8b. This arm cable 47 includes, for example, a power line for supplying power from the second control device 502 to the robot arm 81 of the second robot 8b, and a signal line for communication between the second control device 502 and the robot arm 81 of the second robot 8b. A plurality of communication cables are connected to the communication socket 45 of the second control device 502. The plurality of communication cables include a communication cable for communication between the second control device 502 and the first control device 501, and a communication cable for communication between the second control device 502 and the third control device 503.

[0108] As shown in Fig. 9, the third control device 503 has a housing 1 and built-in devices housed in the housing 1. The built-in devices include, for example, a circuit board, a memory, a storage device, a servo amplifier, a regenerative resistor, a power supply device, and a fan 21 (Fig. 12). The third control device 503 further has a first socket 61 and a second socket 62 provided in the housing 1. A first cable 71 is connected to the first socket 61. A second cable 72 is connected to the second socket 62.

[0109] The housing 1 is formed, for example, in a substantially rectangular parallelepiped shape. The housing 1 in this example has substantially the same shape and size as the housing 3. The housing 1 and the housing 3 may be installed in a state where they are stacked one on top of the other. For example, the housing 3 may be installed in a state where it is stacked on top of the housing 1. The housing 1 may be installed in a state where it is stacked on top of the housing 3.

[0110] The housing 1 has at least one side surface. Specifically, the housing 1 has a first side surface 11, a second side surface 12, a third side surface 13, a fourth side surface 14, a ceiling surface 15, and a bottom surface 16. The outer surface of the housing 1 is formed by the first side surface 11, the second side surface 12, the third side surface 13, the fourth side surface 14, the ceiling surface 15, and the bottom surface 16. The first side surface 11 and the third side surface 13 are surfaces facing opposite to each other. The second side surface 12 and the fourth side surface 14 are surfaces facing opposite to each other.

[0111] In this example, the third control device 503 has the third side surface 13 set as the front surface. That is, the first side surface 11, the second side surface 12, the third side surface 13, and the fourth side surface 14 are the rear surface, right surface, front surface, and left surface of the housing 1, respectively. For example, switches for operating the third control device 503 are provided on the third side surface 13, which is the front surface of the housing 1. The housing 1 is installed, for example, with the bottom surface 16 in contact with the installation surface. The installation surface is, for example, the floor surface, the top surface of the first control device 501, or the top surface of the second control device 502.

[0112] Fig. 12 is a rear view of the third control device 503. As shown in Fig. 12, most of the first side surface 11 is formed by a flat surface 11a. A normal direction D of the first side surface 11 is, for example, approximately horizontal. More specifically, the normal direction D of the first side surface 11 is parallel to the front-rear direction.

[0113] A first connector 61 and a second connector 62 (see FIG. 3) are provided on the first side surface 11. The first connector 61 and the second connector 62 are provided on the housing 1, for example, as in the examples shown in FIGS. 1 to 5. The first connector 61 and the second connector 62 may also be provided on the housing 1 as in the modified example shown in FIG. 7 or the modified example shown in FIG. 8. The third control device 503 is electrically connected to external devices of each robot 8 via a first cable 71 connected to the first connector 61 and a second cable 72 connected to the second connector 62. The third control device 503 supplies power to external devices of the multiple robots 8 via the first cable 71 and the second cable 72.

[0114] As shown in FIG. 12, the first side surface 11 of the housing 1 may be provided with other receptacles in addition to the first receptacle 61 and the second receptacle 62. In this example, the first side surface 11 is provided with the other receptacles, namely, a power supply receptacle 23 and a communication receptacle 24. A power cable 25 (see FIG. 9) is connected to the power supply receptacle 23. The power cable 25 electrically connects the third control device 503 to an external power source P3. Power is supplied to the third control device 503 from the external power source P3 via the power cable 25. A plurality of communication cables 26 are connected to the communication receptacle 24. The plurality of communication cables 26 electrically connect the third control device 503 to external devices of the plurality of robots 8. The third control device 503 communicates with the external devices of each of the robots 8a, 8b via the communication cable 26. The communication receptacle 24 is also connected to a communication cable connected to the communication receptacle 45 of each of the first control device 501 and the second control device 502. The third control device 503 communicates with the first control device 501 and the second control device 502 via these communication cables.

[0115] As shown in FIG. 12, a plurality of ventilation holes 17 may be formed in the first side surface 11.

[0116] As shown in FIG. 11 , the third control device 503 may have a control unit 22 formed by a processor, a memory, etc., housed in the housing 1. The control unit 22 controls the external devices of each of the robots 8a and 8b. The control unit 22 controls the motors 84b of the movement devices 84 of each of the robots 8a and 8, the motors 85b of the support devices 85 of each of the robots 8a and 8, and the motors 82a of the end effectors 82 of each of the robots 8a and 8, for example, via servo amplifiers. The control unit 22 can communicate with the control units 42 of the first control device 501 and the second control device 502. Communication between the control unit 22 and the control unit 42 is performed, for example, via communication cables connected to the communication socket 45 and the communication socket 24. The control unit 22 controls the external devices of each of the robots 8a and 8b to cooperate with the robot arms 81 of each of the robots 8a and 8b.

[0117] The robot control device 500 controls the multiple robots 8 in a cooperative manner. Specifically, the first control device 501 controls the robot arm 81 of the first robot 8a via the arm cable 47. The second control device 502 controls the robot arm 81 of the second robot 8b via the arm cable 47. The third control device 503 controls the external devices of the multiple robots 8 via the multiple communication cables 26. Furthermore, the first control device 501 and the second control device 502 control the robot arm 81 of the first robot 8a and the robot arm 81 of the second robot 8b to cooperate with each other. The first control device 501 and the third control device 503 control the robot arm 81 of the first robot 8a and the external device of the first robot 8a to cooperate with each other. The second control device 502 and the third control device 503 control the robot arm 81 of the second robot 8b and the external device of the second robot 8b to cooperate with each other.

[0118] As described above, the first cable 71 and the second cable 72 can be electrically connected to a plurality of robots 8 including the robot 8 itself.

[0119] According to this configuration, a plurality of robots 8 can be controlled in a coordinated manner.

[0120] The number of robots 8 included in the robot system 5000 is not limited. For example, the robot system 5000 may include only one robot 8, or may include three or more robots 8. For example, if the robot system 5000 includes only one robot 8, the second control device 502 is omitted. If the robot system 5000 includes three or more robots 8, the robot control device 500 includes, for example, control devices similar to the first control device 501 or the second control device 502, the number of which is the same as the number of robots 8.

[0121] Furthermore, the robot systems 1000, 2000, 3000, 4000, and 5000 described above can be modified, for example, as shown below.

[0122] The first side surface 11 on which the first installation surface 51 and the second installation surface 52 are provided may be a side surface other than the rear surface of the housing 1. For example, the first side surface 11 of the housing 1 on which the first installation surface 51 and the second installation surface 52 are provided may be, for example, the front surface, right surface, or left surface of the housing 1. The ventilation hole 17 may be formed on a side surface other than the first side surface 11 of the housing 1. The communication socket 24 may be provided on a side surface other than the first side surface 11 of the housing 1. The shape of the housing 1 is not limited to a rectangular parallelepiped.

[0123] The parallel direction of the first installation surface 51 and the second installation surface 52 is not limited to the up-down direction. For example, the parallel direction may be the left-right direction. The robot control devices 100, 200, 300, 400, and 500 may have multiple combinations of the first installation surface 51 and the second installation surface 52. In this case, for example, the extension direction of each of the first cable main 71b and the second cable main 72b in one set may include a leftward component, and the extension direction of each of the first cable main 71b and the second cable main 72b in another set may include a rightward component.

[0124] The first installation surface 51 and the second installation surface 52 may be at different angles relative to the first side surface 11. Furthermore, the first installation surface 51 and the second installation surface 52 may be parallel to the first side surface 11.

[0125] The shape of the first installation surface 51 is not limited. The number of first receptacles 61 provided on the first installation surface 51 is not limited. The second installation surface 52 does not have to be parallel to the first installation surface 51. The shape of the second installation surface 52 is not limited. The number of second receptacles 62 provided on the second installation surface 52 is not limited.

[0126] The shape of the first connector 61 is not limited. The first connector 61 does not have to have the locking member 61c. The shape of the second connector 62 is not limited. The second connector 62 does not have to have the locking member 62c.

[0127] The first cable 71 may be a cable including only the power line out of the power line and the signal line, or may be a cable including both the power line and the signal line. The first cable 71 may also be a communication cable including only the signal line out of the power line and the signal line. The shape of the first connector 71a is not limited. The first connector 71a does not need to have a sealed structure.

[0128] The second cable 72 may be a cable including only the power line out of the power line and the signal line, or may be a cable including both the power line and the signal line. The second cable 72 may also be a communication cable including only the signal line out of the power line and the signal line. The shape of the second connector 72a is not limited. The second connector 72a does not need to have a sealed structure.

[0129] The control of the robot arm 81, the moving device 84, the support device 85, and the end effector 82 by the control unit 22 is not limited to control using a servo amplifier.

[0130] The robot 8 is not limited to an industrial robot, but may also be a medical robot. The mechanism for changing the position and posture of the end effector 82 is not limited to the robot arm 81. The robot arm 81 is not limited to a vertical articulated type, but may also be a horizontal articulated type, a parallel link type, a Cartesian coordinate type, a polar coordinate type, or the like.

[0131] The moving device 84 is not limited to one equipped with rails 84a, and may be, for example, a traveling device that allows the robot body 80 to move independently.

[0132] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), 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 circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor. [Explanation of symbols]

[0133] 1000, 2000, 3000, 4000, 5000 robot systems 100,200,300,400,500 Robot control device 1 chassis 11 First aspect 17 Ventilation 5,205,305,405 Connector Unit 50 base 51 1st installation surface 52 Second installation surface 61 1st connector seat 62 2nd connector seat 71 First Cable 71a 1st connection 71b First cable body 72a 2nd plug 72b Second cable body 8. Robot 81 Robot Arm 82 End effector (external device) 84 Mobile device (external device) 85 Support device (external device) A1 1st stretching axis A2 2nd stretching axis D Normal direction of the first side surface (normal direction of the side surface) d2 Normal direction of the second installation surface ΔL step

Claims

1. Robots and a robot control device that controls the robot; a first cable and a second cable electrically connecting the robot and the robot control device, the robot control device has a housing having at least one side surface, and a first receptacle and a second receptacle provided on the side surface, The side surface is provided with a first installation surface on which the first connector seat is provided, and a second installation surface arranged in a predetermined parallel direction with respect to the first installation surface and on which the second connector seat is provided, the first installation surface is inclined so as to be positioned more inward with respect to the second installation surface in a normal direction of the second installation surface as the first installation surface becomes more distant from the second installation surface, the first cable has a first connector that is removably connected to the first connector seat, and a first cable body that extends from the first connector in a direction of a first extension axis that intersects with a normal direction of the side surface, the second cable has a second connector that is removably connected to the second connector seat, and a second cable body that extends from the second connector in a direction of a second extension axis that intersects with a normal direction of the side surface, the second connector is disposed at a position offset from the first extension axis, the first extension axis extends in a direction intersecting a direction in which the first connector is inserted into or removed from the first connector seat, the second extension axis is parallel to the insertion / removal direction of the second connector with respect to the second connector seat, the first cable body extends from the first connector toward the second installation surface, The second cable body extends from the second connector in a direction opposite to the first installation surface.

2. Robots and A connector unit; a first cable and a second cable electrically connecting the robot and the connector unit; The connector unit includes a base having a side surface, and a first connector seat and a second connector seat provided on the side surface, The side surface is provided with a first installation surface on which the first connector seat is provided, and a second installation surface arranged in a predetermined parallel direction with respect to the first installation surface and on which the second connector seat is provided, the first installation surface is inclined so as to be positioned more inward with respect to the second installation surface in a normal direction of the second installation surface as the first installation surface becomes more distant from the second installation surface, the first cable has a first connector that is removably connected to the first connector seat, and a first cable body that extends from the first connector in a direction of a first extension axis that intersects with a normal direction of the side surface, the second cable has a second connector that is removably connected to the second connector seat, and a second cable body that extends from the second connector in a direction of a second extension axis that intersects with a normal direction of the side surface, the second connector is disposed at a position offset from the first extension axis, the first extension axis extends in a direction intersecting a direction in which the first connector is inserted into or removed from the first connector seat, the second extension axis is parallel to the insertion / removal direction of the second connector with respect to the second connector seat, the first cable body extends from the first connector toward the second installation surface, The second cable body extends from the second connector in a direction opposite to the first installation surface.

3. 3. The robot system according to claim 1, The robot system, wherein the first stretching axis and the second stretching axis are parallel.

4. 4. The robot system according to claim 1, A robot system in which the first cable and the second cable are power cables including power lines that supply power to the robot.

5. 5. The robot system according to claim 1, A robot system in which the first cable and the second cable are electrically connectable to a plurality of robots including the robot.

6. 6. The robot system according to claim 1, the robot includes a robot arm and another device controlled in coordination with the robot arm; The first cable and the second cable are electrically connectable to the other device.

7. 7. The robot system according to claim 1, A robot system in which the first connector and the second connector each have a sealed structure that seals the inside.

8. 8. The robot system according to claim 1, A robot system having a ventilation hole formed on the side surface.

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