Controller for robot system and control method for power supply circuit in controller for robot system

Abstract

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

Description

[Technical Field]

[0001] The technology disclosed herein relates to a controller for a robot system and a control method for a power supply circuit in the controller for a robot system. [Background technology]

[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 not a stationary type but a mobile robot arm that can be moved. The robot controller is selectively connectable to a commercial power supply, which is an AC power supply, and a battery, which is a DC power supply. More specifically, the conventional robot system includes a commercial power supply device that has an AC / DC converter and can be connected to the commercial power supply, and a rechargeable power supply device that has a rechargeable battery and a voltage regulator. The commercial power supply device or the rechargeable power supply device is connected to a connector of the robot controller. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6892080 Summary of the Invention [Problem to be solved by the invention]

[0004] The application of robot systems is expanding to various fields. As the range of application of robot systems expands, robot systems are required to have versatility to be able to use various types of power sources. [Means for solving the problem]

[0005] The technology disclosed herein relates to a controller for a robot system. A power receiving terminal; a power supply circuit that converts at least one of current and voltage between a load including at least a driving element of the robot and the power receiving terminal; a switching element that switches the power supply circuit so that the conversion is performed when a first power source is connected to the power receiving terminal, and so that the conversion is not performed when a second power source of a different type from the first power source is connected to the power receiving terminal; Equipped with. [Effects of the Invention]

[0006] The controller of the robotic system is connectable to a first power source and is connectable to a second power source. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 shows a robotic system. [Figure 2] FIG. 2 shows a robot system connected to an AC power source and a robot system connected to a DC power source. [Figure 3] FIG. 3 is a flowchart relating to the control of the robot system. [Figure 4] FIG. 4 shows a robot system according to a modified example. [Figure 5] FIG. 5 shows the correspondence between the type of power supply connected to the controller and the switch settings. [Figure 6] FIG. 6 shows a robot system according to a modified example. [Figure 7] FIG. 7 shows a robot system according to a modified example. [Figure 8] FIG. 8 shows an example of a robot system. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of a controller for a robot system will be described with reference to the drawings. The robot system, the controller for the robot system, and the control method for the power supply circuit in the controller for the robot system described here are merely examples.

[0009] FIG. 1 shows a robot system 1. The robot system 1 includes a controller 2. The controller 2 controls a robot 3. The controller 2 is a unit having a single housing 4. Note that the robot 3 is not an essential element of the robot system 1.

[0010] The robot 3 has an electric motor as a driving element. The robot 3 has a plurality of electric motors, numbered 1 to n, 3-1, ..., 3-n. The electric motors 3-1, ..., 3-n drive, for example, joints of the robot 3. The robot 3 is, for example, an articulated robot. Note that the electric motors 3-1, ..., 3-n are not limited to moving joints. Also, the robot 3 is not limited to being an articulated robot. The electric motors 3-1, ..., 3-n are, for example, three-phase AC motors, as shown in FIG. 1 . Note that the number of phases of the electric motors 3-1, ..., 3-n may be single-phase. The electric motors 3-1, ..., 3-n may also be stepping motors. The electric motors 3-1, ..., 3-n are an example of a load of the robot system 1.

[0011] The controller 2 includes 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 includes an inverter. The motor drive circuit 20 includes multiple inverters, numbered first to n, 2-1, ..., 2-n. The inverters 2-1, ..., 2-n correspond to the electric motors 3-1, ..., 3-n of the robot 3, respectively, and are connected in parallel to a DC link 26, which will be described later. The inverters 2-1, ..., 2-n each convert the DC current of the DC link 26 into AC current and output the AC current as a drive signal to the electric motors 3-1, ..., 3-n. The inverters 2-1, ..., 2-n in FIG. 1 are three-phase inverters each having a bridge circuit including multiple switching elements. Note that the inverters 2-1, ..., 2-n included in the motor drive circuit 20 are not limited to the configuration example shown in FIG. 1. Reference symbol Cs denotes a smoothing capacitor Cs connected between the positive and negative pole wires of the DC link 26.

[0012] The controller 2 includes a power supply circuit 22. The power supply circuit 22 has a function of converting AC current into DC current. The power supply circuit 22 is located between a 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 AC current into DC current. The rectifier circuit 23 is, for example, a full-wave rectifier circuit including a diode. Note that the rectifier circuit 23 is not limited to a full-wave rectifier circuit, and is not 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 a power receiving terminal 27. The secondary side of the rectifier circuit 23 is connected to a DC link 26. Note that in this disclosure, the term "terminal" is used to refer to a current inlet / outlet provided for connecting an electric circuit. For example, there is no intention to limit the term to a specific physical configuration such as a semiconductor lead, a terminal block, or a connector. For example, an electric wire connecting circuits or elements, or a wiring on a printed circuit board, may correspond to a terminal.

[0014] An AC 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. The AC power supply 28 may be, for example, a three-phase 400V AC power supply, a three-phase 200V AC power supply, or a three-phase 600V AC 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: first, second, and 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 connects the primary side and 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 the bypass circuit 24 between conduction and non-conduction. As will be described later, the switch 25 is a control switch that switches between 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, the switch 25 releases the conduction of the bypass circuit 24, as shown in the upper diagram of FIG. 2. The rectifier circuit 23 converts the input AC current into DC current and outputs it to the DC link 26. When the DC power supply 29 is connected to the power receiving terminal 27, the switch 25 releases the conduction of the bypass circuit 24, as shown in the lower diagram of FIG. 2. 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 convert AC current to DC current.

[0017] The controller 2 has a control board 21. The control board 21 controls the robot 3 through control of the motor drive circuit 20. The control board 21 is an example of a control circuit. The isolated power supply unit 210 supplies power to the control board 21. The isolated power supply unit 210 is connected to the DC link 26 and supplies power from 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 terminals 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 terminals 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 DC current and outputs it to the DC link 26. When a DC power supply 29 is connected to the power receiving terminals 27, the control board 21 outputs a control signal to turn on the switch 25. As described above, the rectifier circuit 23 does not convert AC current to DC current.

[0019] 3 is a flowchart related to the control of the robot system 1. In step S31 after the start, the control board 21 detects the current and voltage on the primary side of the rectifier circuit 23. In the following step S32, the control board 21 determines whether the 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 the switch 25 to turn the switch 25 on in step S33. If the AC power supply 28 is connected, the control board 21 outputs a control signal to the switch 25 to turn the switch 25 off in step S34.

[0020] (Action 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 AC current to DC current, and a switch 25 as a switching element.

[0021] When an AC power supply 28 is connected to the power receiving terminal 27, the switch 25 is turned off, the bypass circuit 24 is disconnected, and the rectifier circuit 23 converts AC current to DC current. DC current is supplied to the motor drive circuit 20 via a DC link 26. The motor drive circuit 20 converts the DC current to AC current and can drive the electric motors 3-1, ..., 3-n of the robot 3.

[0022] When DC power supply 29 is connected to power receiving terminal 27, switch 25 is turned on, bypass circuit 24 is conductive, and rectifier circuit 23 does not convert AC current to DC current. Direct current from DC power supply 29 is supplied to motor drive circuit 20 via DC link 26, and motor drive circuit 20 can drive electric motors 3-1, ..., 3-n of robot 3 in the same manner as described above.

[0023] The controller 2 can control the robot 3 whether it is connected to an AC power supply 28 or a DC power supply 29. The controller 2 can be connected to various power supplies, which increases its versatility.

[0024] Furthermore, for example, in the case of a robot system 1 constructed in a factory, if the power supply equipment of the factory is changed from a commercial AC power supply to a DC microgrid, the controller 2 can control the robot 3 whether it is connected to an AC power supply 28 or a DC power supply 29. Even if the power supply equipment is changed, the robot system 1 can continue to be used without replacing the controller 2 and the robot 3.

[0025] Furthermore, when the controller 2 is connected to the DC power supply 29, conversion by the rectifier circuit 23 is skipped, thereby reducing loss in the power supply circuit 22. The controller 2 is advantageous in improving efficiency when the DC power supply 29 is used.

[0026] Furthermore, the control board 21 of the controller 2 determines the type of power source connected to the power receiving terminal 27, and outputs a control signal according to the determination result to the switch 25. The controller 2 can automatically switch the power supply circuit 22 according to the type of power source connected to the controller 2.

[0027] The switch 25 may be a switch that can be manually switched on and off. When an AC power supply 28 is connected to the controller 2, the operator manually switches the switch 25 off, and when a DC power supply 29 is connected to the controller 2, the operator manually switches the switch 25 on.

[0028] (Variation 1) 4 shows a circuit diagram of a robot system 1 according to a modified example. The controller 200 according to the modified example is a modified example relating to the structure of the power supply circuit 220. The power supply circuit 220 has a function of boosting the voltage of an AC power supply connected to the power receiving terminal 27 and outputting the boosted voltage.

[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 a DC link 26 on the secondary side of the rectifier circuit 23. The switch 222 switches between conduction and non-conduction between the primary side of the rectifier circuit 23 and the capacitor. When the switch 222 is on and the voltage multiplier circuit 221 is conductive, the power supply circuit 220 converts the input AC current into a DC current with double the voltage by using the combination of the voltage multiplier circuit 221 and the rectifier circuit 23, and outputs the converted DC current. When switch 222 is turned off and voltage multiplier circuit 221 is shut off, voltage multiplier circuit 221 does not function and only rectifier circuit 23 functions, so that power supply circuit 220 converts the input AC current into a DC current without boosting it, and outputs the DC current. 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 200V AC power supply. The low-voltage AC power supply 28 may be, for example, a single-phase 100V AC power supply.

[0031] The control board 21 detects the type of power source 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 source 28 is connected to the power receiving terminal 27, the control board 21 turns off the switch 25 and outputs a control signal to turn off the switch 222. The rectifier circuit 23 converts the input AC current to a DC current, and because the voltage multiplier circuit 221 does not function, a high-voltage DC current is output to the DC link 26. On the other hand, when a low-voltage AC power source 28 is connected to the power receiving terminal 27, the control board 21 turns off the switch 25 and outputs a control signal to turn on the switch 222. The rectifier circuit 23 converts the input AC current to a DC current, and because the voltage multiplier circuit 221 functions, a boosted DC current (to 200 V, for example) 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] 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. FIG. 5 shows the correspondence between the type of power supply connected to the controller 200 and the switching of the switch 25 and the switch 222. When a high-voltage AC power supply 28 is connected to the power receiving terminal 27, the switch 25 is off and the switch 222 is off. When a low-voltage AC power supply 28 is connected to the power receiving terminal 27, the switch 25 is off and the switch 222 is on. When a DC power supply 29 is connected to the power receiving terminal 27, the switch 25 is on and the switch 222 is off. The number of types of power supplies connected to the controller 200 is not limited to two, and may be three or more. The robot system 1 is versatile enough to be connected to various types of power supplies.

[0034] (Variation 2) The switching element of the controller 2, 200 is not limited to the switch 25, 222. Fig. 6 shows a modified example of the switching element. The controller 2 has a jumper 251 as the switching element instead of the switch 25. The jumper 251 is located midway through the bypass circuit 24. The jumper 251 may be a jumper switch or a jumper wire.

[0035] When the operator of the robot system 1 connects the AC power supply 28 to the controller 2, the operator turns off the jumper 251. On the other hand, when the operator of the robot system 1 connects the DC power supply 29 to the controller 2, the operator turns on the jumper 251. The switching of the power supply circuit 22 may be performed manually.

[0036] The switch 222 of the controller 200 may be replaced with a jumper.

[0037] The switching element may also be configured using a device having a function equivalent to that of the switches 25 and 222. The switching element may also be configured using, for example, a relay or a semiconductor switch element.

[0038] (Variation 3) FIG. 7 shows a robot system 1 according to a modified example. The controller 2000 of the robot system 1 has an alarm unit 211. The alarm unit 211 notifies the operator by sound (including voice) or display. As illustrated in FIG. 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 reversed relative to the power receiving terminal 27, the control board 21 notifies the operator via the alarm unit 211 to prompt the operator to check the connection of the power supply to the power receiving terminal 27. The operator who receives the notification 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, 220 based on parameters other than the current and voltage on the primary side. Specifically, the control board 21 may control the power supply circuits 22, 220 in response to (a) a load on the secondary side, (b) the remaining capacity of a battery power source connected to the power supply circuits 22, 220, or (c) a command from a higher-level terminal of the controllers 2, 200, 2000, for example, via communication.

[0040] The controllers 2, 200, 2000 are not limited to being connected to the robot 3 to control the robot 3, but may also be connected to the robot 3 and peripheral devices of the robot 3 to control or supply power to the robot 3 and peripheral devices.

[0041] 8 illustrates a specific configuration of the robot system 1 including peripheral devices. The control targets of the robot system 1 are an industrial robot 3 and a conveyor 50. The industrial robot 3 performs an operation on a workpiece 5. The conveyor 50 transports the workpiece 5 to the robot 3. The controllers 2, 200, and 2000 may control the industrial robot 3 and may also control or supply power to the conveyor 50.

[0042] The peripheral equipment is a device that works in cooperation with the robot 3 to perform a task. In addition to the conveyor 50, the peripheral equipment may include a moving device that moves the robot 3, a turntable that turns the robot 3, or a device that performs processing on the workpiece 5 transported by the robot 3, such as an aligner that aligns a substrate as the workpiece. The peripheral equipment includes a robot. A robot that transports a workpiece to the robot, for example.

[0043] Furthermore, the control target of the controllers 2, 200, 2000 is not limited to the industrial robot 3, but may be, for example, a social robot.

[0044] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose 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 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.

[0045] (Aspect) The above-described embodiment is a specific example of the following aspects.

[0046] (Aspect 1) A power receiving terminal (27), a power supply circuit (22, 220) that converts at least one of current and voltage between a load including at least the driving elements (3-1, ..., 3-n) of the robot (3) and the power receiving terminal (27); a switching element (25, 222, 251) that switches the power supply circuit (22, 220) so that the conversion is performed when a first power source (28) is connected to the power receiving terminal (27) and the conversion is not performed when a second power source (28, 29) of a different type from the first power source (28) is connected to the power receiving terminal (27); A controller (2, 200, 2000) for a robot system (1) comprising:

[0047] When the first power source (28) is connected to the power receiving terminal (27), the power supply circuit (22, 220) converts at least one of the current and the voltage. When the second power source (28, 29) is connected to the power receiving terminal (27), the power supply circuit (22, 220) does not convert at least one of the current and the voltage. The controller (2, 200, 2000) can control the robot (3) whether it is connected to the first power source (28) or the second power source (28, 29).

[0048] (Aspect 2) the first power source is an AC power source (28), and the second power source is a DC power source (29); The power supply circuit (22) includes a rectifier circuit (23) that converts input AC current into DC current. A controller (2, 200, 2000) of the robot system (1) according to embodiment 1.

[0049] When the controller (2, 200, 2000) is connected to an AC power supply (28), the rectifier circuit (23) converts AC current to DC current, and the DC current is supplied to the load. When the controller (2, 200, 2000) is connected to a DC power supply (29), the rectifier circuit (23) does not convert the DC current, and the DC current is supplied to the load. The controller (2, 200, 2000) can control the robot (3) whether it is 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 element (25, 251) disconnects the bypass circuit (24) when the AC power source (28) is connected to the power receiving terminal (27), and connects the bypass circuit (24) when the DC power source (29) is connected to the power receiving terminal (27). A controller (2, 200, 2000) of a robot system (1) according to aspect 2.

[0051] When the bypass circuit (24) is deenergized, AC current from the AC power supply (28) is input to the rectifier circuit (23), which converts the AC current to DC current. When the bypass circuit (24) is conductive, 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 convert AC current to DC current. This reduces losses in the power supply circuit (22), improving the efficiency of the controller (2, 200, 2000) when using the DC power supply (29).

[0052] (Aspect 4) the power receiving terminal (27) is further provided with a control circuit (21) that detects the type of power source (28, 29) connected to the power receiving terminal (27), and that, when the AC power source (28) is connected to the power receiving terminal (27), disconnects the bypass circuit (24) through the switching element (25), and that, when the DC power source (29) is connected to the power receiving terminal (27), connects the bypass circuit (24) through the switching element (25). A controller (2, 200, 2000) of a robot system (1) according to embodiment 3.

[0053] The control circuit (21) switches the bypass circuit (24) between conduction and non-conduction through the switching element (25) depending on the type of power source (28, 29) connected to the power receiving terminal (27). The control circuit (21) can automatically switch the power source circuit (22).

[0054] (Aspect 5) the first power source is a high-voltage AC power source (28), and the second power source is an AC power source (28) with a lower voltage than the first power source; The power supply circuit (220) includes a boost circuit (221) that boosts an input AC voltage. A controller (200) for a robot system (1) according to any one of aspects 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, but when a low-voltage AC power supply 28 is connected, the boost circuit 221 boosts 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 into DC current, and a voltage multiplier circuit (221) that is combined with the rectifier circuit (23) and outputs DC current having a voltage higher than an input AC voltage, The switching element (222) cuts off the voltage multiplier circuit (221) when the first power source (28) of high voltage is connected to the power receiving terminal (27), and turns on the voltage multiplier circuit (221) when the second power source (28) of low voltage is connected to the power receiving terminal (27). A controller (200) of a robot system (1) according to embodiment 5.

[0057] When the voltage multiplier circuit 221 is turned off, AC current from the high-voltage first power supply, i.e., the high-voltage AC power supply 28, is converted to DC current by the rectifier circuit 23. When the voltage multiplier circuit 221 is turned on, AC current from the low-voltage second power supply 28, i.e., the low-voltage AC power supply 28, is converted to DC current and boosted by the rectifier circuit 23 and the voltage multiplier circuit 221.

[0058] (Aspect 7) The power receiving terminal (27) further includes a control circuit (21) that detects the type of a power source (28) connected to the power receiving terminal (27), and that shuts off the voltage multiplier circuit (221) through the switching element (222) when the first power source (28) of a high voltage is connected to the power receiving terminal (27), and that turns on the voltage multiplier circuit (221) through the switching element (222) when the second power source (28) of a low voltage is connected to the power receiving terminal (27). A controller (200) of a robot system (1) according to embodiment 6.

[0059] The control circuit 21 switches the voltage multiplier circuit 221 between conductive and non-conductive states via the switching element 222 depending on the type of power source 28 connected to the power receiving terminal 27. The control circuit 21 can automatically switch the power source circuit 220.

[0060] (Aspect 8) The power supply device 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, issues a notification to prompt the user to check the connection of a power source to the power receiving terminal (27). A controller (2000) of a robot system (1) according to any one of aspects 1 to 7.

[0061] The polarity direction 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 so that the operator of the robot system (1) can reconnect the DC power supply (29) to the controller (2000) in the correct direction.

[0062] (Aspect 9) a motor drive circuit (20) connected to a secondary side of the power supply circuit (22, 220), receiving a direct current from the power supply circuit (22, 220) and outputting a drive signal for electric motors (3-1, ..., 3-n) serving as the drive elements of the robot (3); A controller (2, 200, 2000) of a robot system (1) according to any one of aspects 1 to 8.

[0063] The power supply circuit (22, 220) of the controller (2, 200, 2000) switches depending on 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) A detection circuit (21) detects the type of power source (28, 29) connected to a power receiving terminal (27) of a controller (2, 200, 2000) of a robot system (1); When the detected power source is the first power source (28), the power supply circuit (22, 220) receives a control signal from the control circuit (21) and converts at least one of current and voltage between the power receiving terminal (27) and a load including at least the drive elements (3-1, ..., 3-n) of the robot (3); If the detected power source is the second power source (28, 29), the power supply circuit (22, 220) does not perform the conversion in response to a control signal from the control circuit (21). A method for controlling a power supply circuit (22, 220) in a controller (2, 200, 2000) of a robot system (1).

[0065] The power supply circuit (22, 220) switches depending on the type of power supply (28, 29) connected to the power receiving terminal (27). The controller (2, 200, 2000) can control the robot (3) whether it is connected to the first power supply (28) or the second power supply (28, 29).

[0066] (Aspect 11) the first power source is an AC power source (28), and the second power source is a DC power source (29); The power supply circuit (22) includes a rectifier circuit (23) that converts AC current into 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 deenergized upon receiving a control signal from the control circuit (21), and the rectifier circuit (23) converts the AC current into a DC current; If the detected power source is a DC power source (29), the bypass circuit (24) is turned on and the rectifier circuit (23) does not perform the conversion upon receiving a control signal from the control circuit (21). A method for controlling a power supply circuit (22) in a controller (2, 200, 2000) of a robot system (1) according to aspect 10.

[0067] The controller (2, 200, 2000) can control the robot (3) whether it is connected to an AC power supply (28) or a DC power supply (29).

[0068] (Aspect 12) the first power source is a high-voltage AC power source (28), and the second power source is an AC power source (28) with a lower voltage than the first power source; The power supply circuit (220) includes a rectifier circuit (23) that converts AC current into DC current, and a voltage multiplier circuit (221) that is combined with the rectifier circuit (23) and outputs DC current having a voltage higher than an input AC voltage, If the detected power source is the first power source (28) of high voltage, the voltage multiplier circuit (221) is turned off upon receiving a control signal from the control circuit (21), and the rectifier circuit (23) converts AC current into DC current; If the detected power source is the second power source (28) with a low voltage, the voltage multiplier circuit is cut off, the voltage multiplier circuit (221) is turned on, 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) according to aspect 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 Controller 20 Motor drive circuit 21 Control board (control circuit, detection circuit) 22 Power supply circuit 220 Power supply circuit 221 Voltage multiplier circuit 222 Switch (switching element) 23 Rectifier circuit 24 Bypass circuit 25 Switch (switching element) 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 Controller 2000 Controller 3. Robot 3-1, ..., 3-n electric motors (driving elements)

Claims

1. A power receiving terminal; a power supply circuit that converts at least one of current and voltage between a load including at least a driving element of the robot and the power receiving terminal; a switching element that switches the power supply circuit so that the conversion is performed when a first power source is connected to the power receiving terminal, and so that the conversion is not performed when a second power source of a different type from the first power source 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 an AC power supply with a lower voltage than the first power supply; the power supply circuit includes a rectifier circuit that converts AC current into DC current, and a voltage multiplier circuit combined with the rectifier circuit that outputs DC current having a voltage higher than an input AC voltage; The switching element disconnects the voltage multiplier circuit when the first power source having a high voltage is connected to the power receiving terminal, and connects the voltage multiplier circuit when the second power source having a low voltage is connected to the power receiving terminal.

2. 2. The controller for a robot system according to claim 1, a control circuit that detects the type of power source connected to the power receiving terminal, and that shuts off the voltage multiplier circuit through the switching element when the first power source having a high voltage is connected to the power receiving terminal, and that turns on the voltage multiplier circuit through the switching element when the second power source having a low voltage is connected to the power receiving terminal; The controller of the robot system.

3. 2. The controller for a robot system according to claim 1, The first power source is an AC power source, and the second power source is a DC power source. The controller of the robot system.

4. 4. The controller for a robot system according to claim 3, the power supply circuit includes a bypass circuit that bypasses the rectifier circuit, the switching element releases conduction of the bypass circuit when the AC power supply is connected to the power receiving terminal, and enables conduction of the bypass circuit when the DC power supply is connected to the power receiving terminal. The controller of the robot system.

5. 5. The controller for a robot system according to claim 4, a control circuit that detects the type of power source connected to the power receiving terminal, and that, when the AC power source is connected to the power receiving terminal, releases conduction of the bypass circuit through the switching element, and that, when the DC power source is connected to the power receiving terminal, enables conduction of the bypass circuit through the switching element; The controller of the robot system.

6. 4. The controller for a robot system according to claim 3, The power supply device 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, issues a notification to prompt the user to check the connection of a power source to the power receiving terminal. The controller of the robot system.

7. 2. The controller for a robot system according to claim 1, a motor drive circuit connected to a secondary side of the power supply circuit, receiving a direct current from the power supply circuit, and outputting a drive signal for an electric motor serving as the drive element of the robot; The controller of the robot system.

8. A detection circuit detects the type of power source connected to the power receiving terminal of the robot system controller, when the detected power source is the first power source, a power supply circuit converts at least one of current and voltage between the power receiving terminal and a load including at least a driving element of the robot in response to a control signal from the control circuit; When the detected power supply is the second power supply, the power supply circuit does not perform the conversion in response to a control signal from the control circuit; the first power supply is a high-voltage AC power supply, and the second power supply is an AC power supply with a lower voltage than the first power supply; the power supply circuit includes a rectifier circuit that converts AC current into DC current, and a voltage multiplier circuit combined with the rectifier circuit that outputs DC current having a voltage higher than an input AC voltage; When the detected power source is the first power source having a high voltage, the voltage multiplier circuit is turned off by receiving a control signal from the control circuit, and the rectifier circuit converts AC current into DC current; When the detected power supply is the second power supply having a low voltage, the voltage multiplier circuit is turned on by receiving a control signal from the control circuit, and the rectifier circuit and the voltage multiplier circuit output a DC current having a voltage higher than the input AC voltage. A method for controlling a power supply circuit in a controller of a robot system.

9. 9. The control method according to claim 8, the first power source is an AC power source and the second power source is a DC power source; the power supply circuit includes a rectifier circuit that converts AC current into DC current, and a bypass circuit that bypasses the rectifier circuit; When the detected power source is an AC power source, the bypass circuit is turned off and the rectifier circuit converts the AC current into a DC current upon receiving a control signal from the control circuit; When the detected power source is a DC power source, the bypass circuit is turned on and the rectifier circuit does not perform the conversion upon receiving a control signal from the control circuit. A method for controlling a power supply circuit in a controller of a robot system.

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