Control device

Abstract

To provide a control device which controls a robot and enables each of multiple units to be easily attached to a main frame forming a skeleton of the control device.SOLUTION: A control device 1 for controlling a robot includes: a main frame 2 forming a skeleton of the control device 1; and multiple units 3 to 10 attached to the main frame 2. The units 3 to 10 include: base members 53 to 60 formed into plate shapes; and electronic components attached to the base members 53 to 60. The base members 53 to 60 are fixed to the main frame 2.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device for controlling a robot. [Background technology]

[0002] Conventionally, a control device for controlling a robot is known (see, for example, Patent Document 1). The control device described in Patent Document 1 includes a control panel housing and a plurality of units housed in the control panel housing. The plurality of units includes an upper unit and a lower unit disposed below the upper unit. The upper unit also includes a front unit and a rear unit disposed behind the front unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-31316 Summary of the Invention [Problem to be solved by the invention]

[0004] In the control device described in Patent Document 1, in order to easily assemble the control device, it is preferable that each of the multiple units can be easily assembled inside the control panel housing. Therefore, an object of the present invention is to provide a control device for controlling a robot, in which each of the multiple units can be easily assembled to a main frame that forms the skeleton of the control device. [Means for solving the problem]

[0005] In order to solve the above problems, the control device of the present invention is a control device for controlling a robot, and includes a main frame forming the skeleton of the control device, and a plurality of units attached to the main frame, each of which includes a base member formed in a plate shape and electronic components attached to the base member, the base member being formed from a conductive metal plate, and the base member being fixed to the main frame. The main frame has a mounting portion on which at least a part of a base member of a predetermined unit among the multiple units is placed, and the portion of the base member that is placed on the mounting portion is formed in a flat plate shape with the vertical direction as its thickness direction, and if a predetermined direction perpendicular to the vertical direction is defined as a first direction and a direction perpendicular to the vertical direction and the first direction is defined as a second direction, the main frame has an opening for removing the unit having the mounting portion to one side in the first direction, and the mounting portion is formed at least at an end of the base member on the other side in the first direction, and a restricting member that restricts movement of the mounting portion to one side and upward in the second direction and a restricting member that restricts movement of the mounting portion to the other side and upward in the second direction are fixed to the mounting portion, and the end of the base member of the unit having the mounting portion on one side in the first direction is fixed to the main frame with a screw. It is characterized by:

[0006] In the control device of the present invention, the unit includes a plate-shaped base member, and the base member is fixed to the main frame. That is, in the present invention, the plate-shaped base member is fixed to the main frame, thereby attaching the unit to the main frame. Therefore, in the present invention, each of the multiple units can be easily assembled to the main frame. Furthermore, in the present invention, electronic components are attached to the plate-shaped base member in each of the multiple units, thereby simplifying the configuration of the unit. In addition, in the present invention, the mainframe includes a mounting portion on which at least a portion of a base member of a predetermined unit among the multiple units is placed, and the portion of the base member that is placed on the mounting portion is formed in a flat plate shape with its thickness direction in the vertical direction, and if a predetermined direction perpendicular to the vertical direction is defined as a first direction and a direction perpendicular to the vertical direction and the first direction is defined as a second direction, the mainframe has an opening for removing the unit having the mounting portion to one side in the first direction, and the mounting portion is formed at least at an end of the base member on the other side in the first direction, and a restricting member is fixed to the mounting portion for restricting movement of the mounting portion to one side and upward in the second direction, and a restricting member is fixed to the mounting portion for restricting movement of the mounting portion to the other side and upward in the second direction, and the end of the base member of the unit having the mounting portion on one side in the first direction is fixed to the mainframe with a screw. Therefore, it is possible to reduce the number of screws required to fasten the base member to the mainframe compared to a case in which the restricting member is not fixed to the mounting portion of the mainframe. Therefore, the configuration of the control device can be simplified.

[0007] In the present invention, the control device is provided with a fan for cooling a predetermined unit among the plurality of units, and if the unit cooled by the fan is defined as a first unit, it is also provided with a second unit arranged above the first unit, and the first component mounting portion, where the electronic component is mounted on the base member of the first unit, is formed in a flat plate shape with a thickness direction in the vertical direction, and the electronic component is mounted on the upper surface of the first component mounting portion, and the second component mounting portion, where the electronic component is mounted on the base member of the second unit, is formed in a flat plate shape with a thickness direction in the vertical direction, and the electronic component is mounted on the upper surface of the second component mounting portion, and the fan is preferably arranged between the first component mounting portion and the second component mounting portion in the vertical direction.

[0008] With this configuration, a flow path for the airflow supplied from the fan is formed between the flat first and second component mounting portions, with the thickness direction being the up-down direction, allowing the airflow supplied from the fan to flow quickly toward the outside of the control device. This prevents the airflow supplied from the fan from stagnating inside the control device, thereby enabling the first unit to be cooled effectively.

[0009] In the present invention, the control device is equipped with a fan for cooling a specific unit among the multiple units, and the outer shape of the main frame when viewed from above is rectangular, and the fan is preferably arranged on the long side of the rectangular main frame when viewed from above, and blows air in a direction parallel to the short side of the main frame.

[0010] With this configuration, compared to when the fan is positioned on the short side of the rectangular main frame and blows air in a direction parallel to the long side of the main frame when viewed from above, the air supplied from the fan can be expelled outside the control device more quickly. This prevents the air supplied from the fan from stagnating inside the control device, and as a result, the specified unit cooled by the fan can be cooled more effectively. [Effects of the Invention]

[0013] As described above, in the present invention, in a control device for controlling a robot, each of a plurality of units can be easily assembled to the main frame that forms the skeleton of the control device. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a perspective view of a control device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a perspective view of the main frame shown in FIG. [Figure 3] FIG. 2 is a perspective view of each unit shown in FIG. [Figure 4]FIG. 2 is a perspective view of each unit shown in FIG. [Figure 5] FIG. 2 is a perspective view of each unit shown in FIG. [Figure 6] 2A is a perspective view of the unit shown in FIG. 1, and FIG. 2B is a perspective view of the main circuit board and the like shown in FIG. [Figure 7] FIG. 2 is a perspective view of the fan unit shown in FIG. [Figure 8] 3 is a side view for explaining the configuration of a portion where a base member is attached to the unit support portion shown in FIG. 2.

[0023] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] (Overall configuration of the control device) Fig. 1 is a perspective view of a control device 1 according to an embodiment of the present invention, and Fig. 2 is a perspective view of a main frame 2 shown in Fig. 1.

[0017] The control device 1 of this embodiment is a robot controller for controlling a robot (not shown), for example, a horizontal articulated industrial robot that transports glass substrates for liquid crystal displays. The control device 1 includes a main frame 2 that forms the skeleton of the control device 1, a plurality of units 3 to 10 attached to the main frame 2, a main circuit board 11 of the control device 1, a plurality of fan units 12 and 13 attached to the main frame 2, and a plurality of servo drivers 14 attached to the main frame 2.

[0018] The units 3 to 10, main circuit board 11, fan units 12 and 13, and servo driver 14 are housed in a main frame 2. The main frame 2 is made of a conductive metal material. In this embodiment, the main frame 2 is formed by joining together a plurality of flat steel plates and a plurality of steel plates bent into a predetermined shape by welding, riveting, or the like. The outer shape of the main frame 2 is a rectangular parallelepiped. When viewed from above and below, the outer shape of the main frame 2 is also rectangular.

[0019] In the following description, the direction perpendicular to the up-down direction and parallel to the short sides of the main frame 2, which forms a rectangle when viewed from the up-down direction (X direction in Fig. 1, etc.), is referred to as the "front-to-back direction," and the direction perpendicular to both the up-down direction and the front-to-back direction (i.e., the direction parallel to the long sides of the main frame 2, which forms a rectangle when viewed from the up-down direction, Y direction in Fig. 1, etc.) is referred to as the "left-to-right direction." Furthermore, the X1 direction in Fig. 1, etc., which is one side of the front-to-back direction, is referred to as the "front" side, the X2 direction in Fig. 1, etc., which is opposite the front side, is referred to as the "rear" side, the Y1 direction in Fig. 1, etc., which is one side of the left-to-right direction, is referred to as the "right," and the Y2 direction in Fig. 1, etc., which is opposite the right side, is referred to as the "left" side.

[0020] In the control device 1, each function of the control device 1 is unitized by function, and units 3 to 10 are configured. Units 3 and 4 are arranged at the upper end inside the main frame 2. Units 3 and 4 are arranged adjacent to each other in the front-to-rear direction. In this embodiment, unit 3 is arranged on the front side, and unit 4 is arranged on the rear side. Unit 5 is arranged below units 3 and 4.

[0021] Unit 6 is arranged below unit 5. Unit 7 is arranged below unit 6. Unit 8 is arranged below units 3 and 4, and is arranged to the left of units 5 and 6. Unit 9 is arranged below unit 8 and is arranged to the left of unit 7. Unit 10 is arranged below unit 5, and is arranged behind units 6 and 7. A plurality of servo drivers 14 are arranged to the left of units 3, 4, 8, and 9.

[0022] (Mainframe configuration) The main frame 2 is equipped with a cover member 19 (see Figure 1) that forms the rear surface of the main frame 2 and also forms the rear surface of the control device 1. The cover member 19 is a thin, flat metal plate, for example, made of steel plate. The thickness direction of the cover member 19 coincides with the front-to-rear direction. An emergency stop switch 20 for bringing the robot to an emergency stop is attached to the upper right end of the front surface of the main frame 2. The emergency stop switch 20 is located on the front side of the unit 3. Note that the cover member 19 is not shown in Figure 2.

[0023] The front surface of the main frame 2, excluding the upper right end portion, is covered by a cover (not shown) that constitutes the front surface of the control device 1, the left and right side surfaces of the main frame 2 are covered by covers (not shown) that constitute the left and right side surfaces of the control device 1, and the top surface of the main frame 2 is covered by a cover (not shown) that constitutes the top surface of the control device 1. These covers are thin, flat metal plates, and are formed from, for example, steel plates. These covers are fixed to the main frame 2. Support legs 21 are attached to the bottom end of the main frame 2.

[0024] The main frame 2 also includes flat unit support portions 24 and 25 that support units 3 and 4 from below, flat unit support portions 26 and 27 that support unit 5 from below, a flat unit support portion 28 that supports unit 6 from below, a flat unit support portion 29 that supports unit 7 from below, and a flat driver mounting portion 30 to which multiple servo drivers 14 are attached.

[0025] The unit support portions 24, 25 are formed in the shape of flat plates with their thickness direction in the up-down direction. The unit support portions 24, 25 are formed in the shape of elongated rectangular flat plates with their long sides in the front-rear direction, and the thickness direction of the unit support portions 24, 25 coincides with the up-down direction. The unit support portions 24, 25 are formed over the entire area of ​​the main frame 2 in the front-rear direction. The unit support portions 24 and 25 are arranged with a gap between them in the left-right direction. In this embodiment, the unit support portion 24 is arranged on the left side, and the unit support portion 25 is arranged on the right side. Two restricting members 31 are fixed to the upper surface of the unit support portion 24 to restrict movement of the left end portion of the unit 3. The restricting members 31 are fixed to the unit support portion 24 by rivets, for example.

[0026] The unit support portions 26, 27 are formed in the shape of a flat plate with the thickness direction in the up-down direction. The unit support portions 26, 27 are formed in the shape of an elongated rectangular flat plate with the long side direction in the front-rear direction, and the thickness direction of the unit support portions 26, 27 coincides with the up-down direction. The unit support portions 26, 27 are formed over the entire area of ​​the main frame 2 in the front-rear direction. The unit support portions 26 and 27 are arranged with a gap between them in the left-right direction. In this embodiment, the unit support portion 26 is arranged on the left side, and the unit support portion 27 is arranged on the right side.

[0027] Unit support parts 26 and 27 are disposed below unit support parts 24 and 25. Unit support part 26 is disposed to the right of unit support part 24. Unit support part 27 is disposed to the right of unit support part 25. Two restricting members 32 are fixed to the upper surface of unit support part 26 to restrict movement of the left end part of unit 5. The restricting members 32 are fixed to unit support part 26 by rivets, for example.

[0028] Unit support part 28 is formed in a flat plate shape with its thickness direction extending in the vertical direction. Unit support part 28 is formed in a rectangular or square flat plate shape, with the thickness direction and the vertical direction of unit support part 28 coinciding. Unit support part 28 is disposed below unit support parts 26 and 27.

[0029] The unit support part 29 is formed in a flat plate shape with its thickness direction extending in the vertical direction. The unit support part 29 is formed in a rectangular flat plate shape, and the thickness direction of the unit support part 29 coincides with the vertical direction. The unit support part 29 is disposed below the unit support part 28. The unit support part 29 forms the bottom surface of the main frame 2. Two restricting members 33 are fixed to the upper surface of the unit support part 29 to restrict movement of the rear end part of the unit 7. The restricting members 33 are fixed to the unit support part 29 by rivets, for example.

[0030] The driver mounting portion 30 is formed in a flat plate shape with its thickness direction aligned in the left-right direction. The driver mounting portion 30 is formed in a rectangular flat plate shape, and the thickness direction and left-right direction of the driver mounting portion 30 coincide. The driver mounting portion 30 is disposed to the left of the unit supports 24, 26, and 28. The left end surface of the unit support 24 is in contact with the right surface of the driver mounting portion 30. The driver mounting portion 30 is disposed above the unit support 29. The driver mounting portion 30 is formed across the entire area of ​​the main frame 2 in the up-down direction and across the entire area of ​​the main frame 2 in the front-rear direction.

[0031] The main frame 2 is formed with an opening 36 for removing units 3 to 5 to the right, an opening 37 for removing unit 6 to the right, and an opening 38 for removing unit 7 to the front. The openings 36 and 37 are formed on the right side of the main frame 2. The openings 36 and 37 are formed over almost the entire area of ​​the main frame 2 in the front-to-rear direction. The opening 37 is formed below the opening 36. The opening 38 is formed on the front side of the main frame 2.

[0032] (Configuration of each unit and how to fix it to the main frame) 3(A) is a perspective view of unit 3 shown in FIG. 1, FIG. 3(B) is a perspective view of unit 4 shown in FIG. 1, and FIG. 3(C) is a perspective view of unit 5 shown in FIG. 1. FIG. 4(A) is a perspective view of unit 6 shown in FIG. 1, and FIG. 4(B) is a perspective view of unit 7 shown in FIG. 1. FIG. 5(A) is a perspective view of unit 8 shown in FIG. 1, and FIG. 5(B) is a perspective view of unit 9 shown in FIG. 1. FIG. 6(A) is a perspective view of unit 10 shown in FIG. 1, and FIG. 6(B) is a perspective view of main circuit board 11 and the like shown in FIG. 1. FIG. 7 is a perspective view of fan unit 12 shown in FIG. 1. FIG. 8 is a side view for explaining the configuration of the mounting portion of base member 53 to unit support portion 24 shown in FIG. 2.

[0033] The unit 3 is placed on the unit support parts 24, 25. The unit 3 is also fixed to the unit support parts 24, 25. The unit 3 includes various electronic components 43 for emergency stopping the robot, and a plate-shaped base member 53. The electronic components 43 are attached to the base member 53. The base member 53 is made of a conductive metal plate (sheet metal). In this embodiment, the base member 53 is formed by bending a steel plate into a predetermined shape.

[0034] The base member 53 includes a component mounting portion 53a to which the electronic component 43 is attached, a supported portion 53b supported from below by the unit support portion 24, and a supported portion 53c supported from below by the unit support portion 25. The component mounting portion 53a is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 53a is formed in a rectangular flat plate shape, and the thickness direction and vertical direction of the component mounting portion 53a coincide. The electronic component 43 is attached to the upper surface of the component mounting portion 53a.

[0035] The supported portions 53b and 53c are formed in the shape of flat plates with their thickness direction extending vertically. The supported portions 53b and 53c are formed in the shape of flat, elongated rectangular plates extending in the front-rear direction, with the thickness direction of the supported portions 53b and 53c coinciding with the vertical direction. The supported portion 53b is disposed on the left side of the component mounting portion 53a, and constitutes the left end of the base member 53 and the left end of the unit 3. The supported portion 53c is disposed on the right side of the component mounting portion 53a, and constitutes the right end of the base member 53 and the right end of the unit 3. The supported portions 53b and 53c are disposed below the component mounting portion 53a.

[0036] The supported portion 53b is placed on the unit support portion 24. As described above, two regulating members 31 are fixed to the upper surface of the unit support portion 24. The regulating members 31 are arranged on both sides of the supported portion 53b in the front-rear direction. As shown in FIG. 8, the regulating member 31 includes a flat fixed portion 31a that is fixed to the unit support portion 24 and is arranged on the outer side of the supported portion 53b in the front-rear direction, and a flat regulating portion 31b that covers the front-rear end portion of the supported portion 53b from above.

[0037] The restricting member 31 disposed in front of the supported portion 53b restricts the upward and forward movement of the supported portion 53b, while the restricting member 31 disposed behind the supported portion 53b restricts the upward and rearward movement of the supported portion 53b. That is, the two restricting members 31 restrict the movement of the left end of the unit 3 to both sides in the front-to-rear direction and to the upward movement, and the left end of the unit 3 is attached to the unit support portion 24 by a hook structure. A gap is formed by design between the upper surface of the supported portion 53b and the lower surface of the restricting member 31b. For example, if the thickness of the supported portion 53b is 1.5 mm, the gap between the upper surface of the supported portion 53b and the lower surface of the restricting member 31b is 0.5 mm.

[0038] The supported portion 53c is placed on the unit support portion 25. The supported portion 53c is fixed to the unit support portion 25 with a screw 63. That is, the right end portion of the base member 53 is fixed to the main frame 2 with the screw 63. In this way, movement of the supported portion 53b placed on the unit support portion 24 to both sides in the front-rear direction and upward movement is restricted by the restricting member 31, and the supported portion 53c placed on the unit support portion 25 is fixed to the unit support portion 25 with the screw 63, thereby securing the base member 53 to the main frame 2. The right side portion of the unit 3 is disposed behind the emergency stop switch 20.

[0039] When assembling the unit 3 to the main frame 2, first, the unit 3 arranged on the right side of the main frame 2 is moved leftward and inserted into the main frame 2 through the opening 36, and the unit 3 is then placed on the unit support parts 24, 25. At this time, the supported part 53b is placed between the two fixed parts 31a in the front-rear direction, and the supported part 53b is placed below the two restricting parts 31b. Thereafter, the supported part 53c is fixed to the unit support part 25 with the screws 63.

[0040] In this embodiment, the unit support portion 24 serves as a placing portion on which a portion of the base member 53 is placed, and the supported portion 53b serves as a portion to be placed on the unit support portion 24, which serves as a placing portion. Furthermore, in this embodiment, with respect to the relationship between the main frame 2 and the unit 3, the left-right direction (Y direction) is a first direction, and the front-rear direction (X direction) is a second direction. The main frame 2 has an opening 36 for removing the unit 3 to the right side, which is one side in the first direction, and the supported portion 53b, which serves as a placing portion, is formed at the left end portion, which is the end portion on the other side in the first direction, of the base member 53. Furthermore, the right end portion, which is the end portion on one side in the first direction, of the base member 53 serves as a supported portion 53c, and the supported portion 53c is fixed to the main frame 2 with a screw 63.

[0041] The unit 4 is placed on unit support portions 24, 25. The unit 4 is also fixed to a cover member 19. The unit 4 includes various electronic components 44 including a CPU and I / O ports, and a plate-shaped base member 54. The electronic components 44 are attached to the base member 54. The base member 54 is made of a conductive metal plate. In this embodiment, the base member 54 is formed by bending a steel plate into a predetermined shape.

[0042] The base member 54 has a component mounting portion 54a to which the electronic component 44 is attached. The component mounting portion 54a is formed in a flat plate shape with its thickness direction extending in the vertical direction. The component mounting portion 54a is formed in a rectangular flat plate shape, with the thickness direction of the component mounting portion 54a coinciding with the vertical direction. The electronic component 44 is attached to the upper surface of the component mounting portion 54a. A fixed portion (not shown) that is fixed to the cover member 19 is connected to the rear end of the component mounting portion 54a. This fixed portion is fixed to the cover member 19 with screws. In other words, the base member 54 is fixed to the main frame 2.

[0043] When assembling the unit 4 to the main frame 2, first, the unit 4 arranged on the right side of the main frame 2 is moved leftward and inserted into the main frame 2 through the opening 36, and the unit 4 is then placed on the unit support parts 24, 25. Thereafter, the supported parts of the base member 54 are fixed to the cover member 19 with screws.

[0044] The unit 5 is placed on the unit supports 26 and 27. The unit 5 is fixed to the unit supports 26 and 27. The unit 5 includes electronic components 45 including a power supply, and a plate-shaped base member 55. The electronic components 45 are attached to the base member 55. The base member 55 is made of a conductive metal plate. In this embodiment, the base member 55 is formed by bending a steel plate into a predetermined shape.

[0045] The base member 55 includes a component mounting portion 55a to which the electronic component 45 is attached, and a supported portion 55b that is supported from below by the unit support portion 27. The component mounting portion 55a is formed in a flat plate shape with its thickness direction extending in the vertical direction. The component mounting portion 55a is formed in a rectangular flat plate shape, and the thickness direction and the vertical direction of the component mounting portion 55a coincide with each other. The electronic component 45 is attached to the upper surface of the component mounting portion 55a.

[0046] The supported portion 55b is formed in a flat plate shape with its thickness direction extending in the vertical direction. The supported portion 55b is formed in a rectangular flat plate shape that is elongated in the front-rear direction, and the thickness direction of the supported portion 55b coincides with the vertical direction. The supported portion 55b is disposed to the right of the component mounting portion 55a, and constitutes the right end portion of the base member 55 and the right end portion of the unit 3. The supported portion 55b is disposed below the component mounting portion 55a.

[0047] The left end of the component mounting portion 55a is placed on the unit support portion 26. The left end of the component mounting portion 55a placed on the unit support portion 26 constitutes the left end of the base member 55 and also constitutes the left end of the unit 5. As described above, two regulating members 32 are fixed to the upper surface of the unit support portion 26. The regulating members 32 are arranged on both sides of the left end of the component mounting portion 55a in the front-rear direction. Like the regulating member 31, the regulating member 32 includes a flat fixed portion that is fixed to the unit support portion 26 and is arranged on the outer side of the left end of the component mounting portion 55a in the front-rear direction, and a flat regulating portion that covers the front-rear end of the left end of the component mounting portion 55a from above.

[0048] The restricting member 32 disposed in front of the left end of the component mounting portion 55a restricts upward and forward movement of the left end of the component mounting portion 55a, while the restricting member 32 disposed behind the left end of the component mounting portion 55a restricts upward and rearward movement of the left end of the component mounting portion 55a. That is, the two restricting members 32 restrict movement of the left end of the unit 5 in both the front-rear and rearward directions and upward movement, and the left end of the unit 5 is attached to the unit support portion 26 using a hook structure. A gap is formed by design between the upper surface of the left end of the component mounting portion 55a and the lower surface of the restricting portion of the restricting member 32. For example, if the thickness of the component mounting portion 55a is 1.5 mm, the gap between the upper surface of the left end of the component mounting portion 55a and the lower surface of the restricting portion of the restricting member 32 is 0.5 mm.

[0049] The supported portion 55b is placed on the unit support portion 27. The supported portion 55b is fixed to the unit support portion 27 with a screw 63. That is, the right end portion of the base member 55 is fixed to the main frame 2 with the screw 63. In this way, movement of the left end portion of the component mounting portion 55a, which is placed on the unit support portion 26, to both sides in the front-rear direction and to the upward movement is restricted by the restricting member 32, and the supported portion 55b, which is placed on the unit support portion 27, is fixed to the unit support portion 27 with the screw 63, thereby securing the base member 55 to the main frame 2.

[0050] When assembling the unit 5 to the main frame 2, first, the unit 5 arranged on the right side of the main frame 2 is moved leftward and inserted into the main frame 2 through the opening 36, and the unit 5 is then placed on the unit support parts 26, 27. At this time, the left end of the component attachment part 55a is inserted between the fixed parts of the two regulating members 32 in the front-to-rear direction, and the left end of the component attachment part 55a is inserted below the regulating parts of the two regulating members 32. Thereafter, the supported part 55b is fixed to the unit support part 27 with the screw 63.

[0051] In this embodiment, the unit support portion 26 is a placing portion on which a portion of the base member 55 is placed, and the left end portion of the component attachment portion 55a is a portion to be placed on the unit support portion 26, which is a placing portion. In this embodiment, with respect to the relationship between the main frame 2 and the unit 5, the left-right direction (Y direction) is a first direction, and the front-rear direction (X direction) is a second direction. The main frame 2 is formed with an opening 36 for removing the unit 5 to the right side, which is one side in the first direction, and the left end portion of the component attachment portion 55a, which is a placing portion, is formed at the left end portion, which is the end portion on the other side in the first direction, of the base member 55. In addition, the right end portion, which is the end portion on one side in the first direction, of the base member 55, is a supported portion 55b, and the supported portion 55b is fixed to the main frame 2 with a screw 63.

[0052] The unit 6 is placed on the unit support portion 28. The unit 6 is also fixed to the unit support portion 28. The unit 6 includes various electronic components 46 including a relay, and a plate-shaped base member 56. The electronic components 46 are attached to the base member 56. The base member 56 is made of a conductive metal plate. In this embodiment, the base member 56 is formed by bending a steel plate into a predetermined shape. The base member 56 is fixed to the unit support portion 28 with screws 63. In other words, the base member 56 is fixed to the main frame 2.

[0053] When assembling the unit 6 to the main frame 2, first, the unit 6 arranged on the right side of the main frame 2 is moved to the left and inserted into the main frame 2 through the opening 37, and the unit 6 is then placed on the unit support part 28. Thereafter, the base member 56 is fixed to the unit support part 28 with the screws 63.

[0054] The unit 7 is placed on the unit support part 29. The unit 7 is fixed to the unit support part 29. The unit 7 includes various electronic components 47 including a line filter, and a plate-shaped base member 57. The electronic components 47 are attached to the base member 57. The base member 57 is made of a conductive metal plate. In this embodiment, the base member 57 is formed by bending a steel plate into a predetermined shape.

[0055] The base member 57 includes a component mounting portion 57a ​​to which the electronic component 47 is attached, and supported portions 57b and 57c that are supported from below by the unit support portion 29. The component mounting portion 57a ​​is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 57a ​​is formed in a rectangular flat plate shape, and the thickness direction and vertical direction of the component mounting portion 57a ​​coincide with each other. The electronic component 47 is attached to the upper surface of the component mounting portion 57a.

[0056] The supported portions 57b and 57c are formed in the shape of flat plates with their thickness direction extending vertically. The supported portions 57b and 57c are formed in the shape of flat rectangular plates that are elongated in the left-right direction, with the thickness direction of the supported portions 57b and 57c coinciding with the vertical direction. The supported portion 57b is disposed behind the component mounting portion 57a ​​and constitutes the rear end of the base member 57 and the rear end of the unit 7. The supported portion 57c is disposed in front of the component mounting portion 57a ​​and constitutes the front end of the base member 57 and the front end of the unit 7. The supported portions 57b and 57c are disposed below the component mounting portion 57a.

[0057] The supported portion 57b is placed on the unit support portion 29. As described above, two regulating members 33 are fixed to the upper surface of the unit support portion 29. The regulating members 33 are arranged on both left and right sides of the supported portion 57b. Like the regulating member 31, the regulating member 33 includes a flat fixed portion that is fixed to the unit support portion 29 and arranged on the outside of the supported portion 57b in the left and right direction, and a flat regulating portion that covers the left and right ends of the supported portion 57b from above.

[0058] The restricting member 33 disposed on the left side of the supported portion 57b restricts the upward and leftward movement of the supported portion 57b, while the restricting member 33 disposed on the right side of the supported portion 57b restricts the upward and rightward movement of the supported portion 57b. That is, the two restricting members 33 restrict the movement of the rear end of the unit 7 to both the left and right and upward directions, and the mounting structure of the rear end of the unit 7 to the unit support portion 29 is a hook structure. A gap is formed by design between the upper surface of the supported portion 57b and the lower surface of the restricting portion of the restricting member 33. For example, if the thickness of the supported portion 57b is 1.5 mm, the gap between the upper surface of the supported portion 57b and the lower surface of the restricting portion of the restricting member 33 is 0.5 mm.

[0059] Supported portion 57c is placed on unit support portion 29. Supported portion 57c is fixed to unit support portion 29 with screws 63. That is, the front end portion of base member 57 is fixed to main frame 2 with screws 63. In this manner, movement of supported portion 57b placed on unit support portion 29 to both sides in the left-right direction and upward movement is restricted by restricting member 33, and supported portion 57c placed on unit support portion 29 is fixed to unit support portion 29 with screws 63, whereby base member 57 is fixed to main frame 2.

[0060] When assembling the unit 7 to the main frame 2, first, the unit 7 arranged on the front side of the main frame 2 is moved rearward and inserted into the main frame 2 through the opening 38, and the unit 7 is then placed on the unit support part 29. At this time, the supported part 57b is placed between the fixed parts of the two regulating members 33 in the left-right direction, and the supported part 57b is placed below the regulating parts of the two regulating members 33. Thereafter, the supported part 57c is fixed to the unit support part 29 with the screws 63.

[0061] In this embodiment, the unit support portion 29 serves as a placing portion on which a portion of the base member 57 is placed, and the supported portion 57b serves as a portion to be placed on the unit support portion 29, which serves as a placing portion. In this embodiment, with respect to the relationship between the main frame 2 and the unit 7, the front-to-rear direction (X direction) is the first direction, and the left-to-right direction (Y direction) is the second direction. The main frame 2 has an opening 38 for removing the unit 7 to the front side, which is one side in the first direction, and the supported portion 57b, which serves as a placing portion, is formed at the rear end, which is the end of the base member 57 on the other side in the first direction. In addition, the front end, which is the end on one side in the first direction, of the base member 57 serves as a supported portion 57c, and the supported portion 57c is fixed to the main frame 2 with screws 63.

[0062] The unit 8 includes a plurality of capacitors as the electronic components 48, and also includes a plate-shaped base member 58. The electronic components 48 are attached to the base member 58. The base member 58 is formed from a conductive metal plate. In this embodiment, the base member 58 is formed by bending a steel plate into a predetermined shape. The base member 58 is fixed to the main frame 2 with screws.

[0063] The unit 9 includes a plurality of regenerative resistors as the electronic components 49, a plate-shaped base member 59, and a fan (air blower) 64 for cooling the electronic components 49, which are regenerative resistors. The fan 64 is a fan motor in which blades and a motor are integrated. The electronic components 49 and the fan 64 are attached to the base member 59. The base member 59 is made of a conductive metal plate. In this embodiment, the base member 59 is formed by bending a steel plate into a predetermined shape. The base member 59 is fixed to the main frame 2 with screws.

[0064] The unit 10 includes various electronic components 50, including a terminal block for power input, and a plate-shaped base member 60. The electronic components 50 are attached to the base member 60. The base member 60 is made of a conductive metal plate. In this embodiment, the base member 60 is formed by bending a steel plate into a predetermined shape. The base member 60 is fixed to the main frame 2 with screws.

[0065] The main circuit board 11 is attached to a base member 65 formed in a plate shape. The base member 65 is formed from a conductive metal plate. In this embodiment, the base member 65 is formed by bending a steel plate into a predetermined shape. The base member 65 is attached to a component mounting portion 55a of the base member 55 with screws. The main circuit board 11 and the base member 65 are disposed above the component mounting portion 55a.

[0066] In this embodiment, electronic components 43 of unit 3, electronic components 44 of unit 4, and electronic components 45 of unit 5 include components such as circuit boards to which a relatively large number of connection wires are connected. Also, a relatively large number of connection wires are connected to main circuit board 11. In this embodiment, these components are arranged close to each other above base member 55 of unit 5 and to the right of driver mounting portion 30, which allows for neat wiring between the components.

[0067] The servo driver 14 is attached to the left surface of the driver mounting portion 30. In other words, the servo driver 14 is attached directly to the main frame 2. The control device 1 of this embodiment is equipped with five servo drivers 14. The five servo drivers 14 are arranged so as to be stacked in the vertical direction.

[0068] The fan unit 12 includes a fan 66 for cooling the unit 5 and a plate-shaped base member 67. The fan 66 is a fan motor in which blades and a motor are integrated. The fan 66 is attached to the base member 67. The base member 67 is made of a conductive metal plate. In this embodiment, the base member 67 is formed by bending a steel plate into a predetermined shape. The base member 67 is fixed to the main frame 2 with screws.

[0069] The base member 67 is fixed to the front surface of the main frame 2. The fan 66 is disposed on the front side of the unit 5, and is disposed between the component mounting portions 53a, 54a and the component mounting portion 55a in the vertical direction. The fan 66 also blows air toward the rear. That is, the fan 66 is disposed on the long side of the main frame 2, which has a rectangular outer shape when viewed from the vertical direction, and blows air toward the rear, which is a direction parallel to the short side of the main frame 2. A plurality of exhaust holes are formed in the portion of the cover member 19 disposed on the rear side of the unit 5.

[0070] A filter 68 is disposed in front of the fan 66. The filter 68 is fixed to a base member 67. In this embodiment, the unit 5 is a first unit cooled by the fan 66, and the units 3 and 4 are second units disposed above the first unit, unit 5. In this embodiment, the component mounting portion 55a is a first component mounting portion, and the component mounting portions 53a and 54a are second component mounting portions.

[0071] The fan unit 13 has the same configuration as the fan unit 12, and includes a fan similar to the fan 66 and a base member 69 similar to the base member 67. The base member 69 is fixed to the front portion of the main frame 2 with screws. In this embodiment, the control device 1 includes the same number of fan units 13 as the number of servo drivers 14. In other words, the control device 1 includes five fan units 13.

[0072] The five fan units 13 are arranged so as to overlap one another in the vertical direction, and the fans of the five fan units 13 are arranged in front of the five servo drivers 14, respectively. The fans of the fan units 13 blow air toward the rear. A plurality of exhaust holes are formed in the portion of the cover member 19 that is arranged behind the five servo drivers 14. A filter 68 is arranged in front of the fans of the fan unit 13. The filter 68 is fixed to a base member 69.

[0073] (Main effect of this form) As described above, in the control device 1 of this embodiment, the unit 3 includes the plate-shaped base member 53, which is fixed to the main frame 2. That is, in this embodiment, the plate-shaped base member 53 is fixed to the main frame 2, thereby attaching the unit 3 to the main frame 2. Similarly, in this embodiment, each of the plate-shaped base members 54 to 60 is fixed to the main frame 2, thereby attaching each of the units 4 to 10 to the main frame 2. Therefore, in this embodiment, each of the multiple units 3 to 10 can be easily assembled to the main frame 2. Furthermore, in this embodiment, the electronic components 43 to 50 are attached to each of the plate-shaped base members 53 to 60 in each of the units 3 to 10, thereby simplifying the configuration of each of the units 3 to 10.

[0074] In this embodiment, the component mounting portion 53a of the base member 53, the component mounting portion 54a of the base member 54, and the component mounting portion 55a of the base member 55 are formed as flat plates with their thicknesses extending vertically. Furthermore, in this embodiment, a fan 66 for cooling the unit 5 is disposed between the component mounting portions 53a, 54a and the component mounting portion 55a in the vertical direction. Therefore, in this embodiment, a flow path for the airflow supplied from the fan 66 is formed between the component mounting portions 53a, 54a and the component mounting portion 55a, which are flat plates with their thicknesses extending vertically, thereby enabling the airflow supplied from the fan 66 to flow quickly toward the outside of the control device 1. Therefore, in this embodiment, it is possible to prevent the airflow supplied from the fan 66 from stagnating inside the control device 1, thereby enabling the unit 5 to be cooled effectively.

[0075] In this embodiment, the fan 66 is disposed on the front surface of the main frame 2, which is the long side of the main frame 2, which has a rectangular outer shape when viewed from above, and blows air in a rearward direction, which is parallel to the short side of the main frame 2. Therefore, in this embodiment, the air supplied from the fan 66 can be more quickly discharged to the outside of the control device 1, compared to when the fan 66 is disposed on the short side of the main frame 2, which has a rectangular outer shape when viewed from above, and blows air in a direction parallel to the long side of the main frame 2. Therefore, in this embodiment, it is possible to prevent the air supplied from the fan 66 from stagnating inside the control device 1, and as a result, it is possible to cool the unit 5 effectively.

[0076] Furthermore, in this embodiment, the fan of fan unit 13 is disposed on the front portion of main frame 2 and blows air backward, which is parallel to the short sides of main frame 2, and therefore, compared to a case in which the fan of fan unit 13 is disposed on a short side of main frame 2, which has a rectangular outline when viewed from above, and blows air in a direction parallel to the long sides of main frame 2, it is possible to quickly exhaust the air supplied from the fan of fan unit 13 to the outside of control device 1. Therefore, in this embodiment, it is possible to prevent the air supplied from the fan of fan unit 13 from stagnating inside control device 1, and as a result, it is possible to effectively cool servo driver 14.

[0077] In this embodiment, the supported portion 53b of the base member 53 of the unit 3 is restricted by two restricting members 31 from moving in both directions in the front-rear direction and upward relative to the unit support portion 24, but is not fixed to the unit support portion 24 by screws 63. Therefore, in this embodiment, it is possible to reduce the number of screws 63 required to fix the base member 53 to the main frame 2. Similarly, in this embodiment, the left end of the component mounting portion 55a of the base member 55 of the unit 5 is not fixed to the unit support portion 26 by screws 63, and the supported portion 57b of the base member 57 of the unit 7 is not fixed to the unit support portion 29 by screws 63. Therefore, it is possible to reduce the number of screws 63 required to fix the base members 55, 57 to the main frame 2. Therefore, in this embodiment, it is possible to simplify the configuration of the control device 1.

[0078] (Other embodiments) The above-described embodiment is one example of a preferred embodiment of the present invention, but the present invention is not limited to this embodiment and various modifications can be made without departing from the spirit of the present invention.

[0079] In the above-described embodiment, supported portion 53b of base member 53 may be fixed to unit support portion 24 with screws 63. Similarly, in the above-described embodiment, the left end portion of component attachment portion 55a of base member 55 may be fixed to unit support portion 26 with screws 63, or supported portion 57b of base member 57 may be fixed to unit support portion 29 with screws 63.

[0080] In the above-described embodiment, the fan 66 may be arranged on a short side of the main frame 2, which has a rectangular outer shape when viewed from above, and may blow air in a direction parallel to the long side of the main frame 2. Also, in the above-described embodiment, the fan of the fan unit 13 may be arranged on a short side of the main frame 2, which has a rectangular outer shape when viewed from above, and may blow air in a direction parallel to the long side of the main frame 2. [Explanation of symbols]

[0081] 1. Control device 2. Mainframe Units 3 and 4 (2nd Unit) 5 Units (1st Unit) 6-10 units 24, 26, 29 Unit support part (mounting part) 31~33 Regulatory members 36, 38 Openings 43~50 Electronic Components 53~60 Base material 53a, 54a Parts mounting portion (second parts mounting portion) 53b, 57b Supported part (placed part) 55a Part mounting portion (first part mounting portion, mounting portion) 63 screws 66 fans X 2nd direction, 1st direction Y 1st direction, 2nd direction

Claims

1. 1. A control device for controlling a robot, comprising: a main frame forming a framework of the control device; and a plurality of units attached to the main frame, The unit includes a base member formed in a plate shape and an electronic component attached to the base member, the base member is formed of a conductive metal plate, The base member is fixed to the main frame, the main frame includes a mounting portion on which at least a portion of the base member of a predetermined unit among the plurality of units is mounted, a receiving portion of the base member that is to be placed on the placing portion is formed in a flat plate shape with a thickness direction extending in the up-down direction, If a predetermined direction perpendicular to the up-down direction is defined as a first direction, and a direction perpendicular to the up-down direction and the first direction is defined as a second direction, an opening is formed in the main frame for removing the unit having the mounting portion in one side of the first direction; the mounting portion is formed at least at the other end of the base member in the first direction, a restricting member that restricts movement of the receiving portion toward one side and an upper side in the second direction, and a restricting member that restricts movement of the receiving portion toward the other side and an upper side in the second direction, are fixed to the receiving portion; A control device, characterized in that one end of the base member of the unit having the mounting portion in the first direction is fixed to the main frame with a screw.

2. a fan for cooling a predetermined unit among the plurality of units, and a second unit disposed above the first unit, where the unit cooled by the fan is a first unit; a first component mounting portion of the base member of the first unit, to which the electronic component is attached, is formed in a flat plate shape with a thickness direction extending in the up-down direction; the electronic component is attached to an upper surface of the first component attachment portion, a second component mounting portion of the base member of the second unit, to which the electronic component is attached, is formed in a flat plate shape with a thickness direction extending in the up-down direction; the electronic component is attached to an upper surface of the second component attachment portion, 2. The control device according to claim 1, wherein the fan is disposed between the first component mounting portion and the second component mounting portion in the vertical direction.

3. a fan for cooling a predetermined unit among the plurality of units; The main frame has a rectangular outer shape when viewed from above and below.

3. The control device according to claim 1, wherein the fan is arranged on a long side of the main frame, which is rectangular when viewed from above, and blows air in a direction parallel to the short side of the main frame.

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