Robot control device

Abstract

To provide a robot control device having a high degree of freedom in installation.SOLUTION: A robot control device for controlling a robot, includes: a control board configured to control an operation of the robot; a housing composed of a plurality of plate materials including a first plate material and a second plate material and accommodating the control board in a space surrounded by the plurality of plate materials; an intake port configured to take air into the housing; an exhaust port through which air in the housing is discharged to the outside; and a cable connection part to which a cable for communication with the robot is connected, wherein the first plate material includes the intake port, the exhaust port, and the cable connection part, and the second plate material includes an installation surface facing an object on which the housing is installed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0006] , , , ,

[0001] The present invention relates to a robot control device.

Background Art

[0002] In recent years, in factories, due to the soaring labor costs and the shortage of human resources, the automation of operations that have been carried out manually by various robots and their peripheral devices has been accelerating. Examples of such various robots include the robots described in Patent Document 1.

[0003] The robot described in Patent Document 1 includes a base and a robot arm connected to the base. The operation of the robot is controlled by a controller. The controller described in Patent Document 1 includes a control board and a housing for housing the control board. The housing has an air intake and an exhaust port for cooling, and a cable connection portion to which a cable connecting the robot and the controller is connected.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The robot control device of the present invention is a robot control device for controlling a robot, A control board for controlling the operation of the robot, A housing comprising multiple plates including a first plate and a second plate, and housing the control board in the space surrounded by the multiple plates, The aforementioned housing includes an air intake port for taking in air, An exhaust port for discharging air from inside the enclosure to the outside, It includes a cable connection section for connecting a cable for communication with the robot, The first plate material is provided with the air intake port, the exhaust port, and the cable connection portion. The second plate material is characterized in that it includes an installation surface facing the object on which the housing is installed. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing a robot controlled by a robot control device in the first embodiment of the present invention. [Figure 2] This is a partial cross-sectional view showing the inside of the second arm of the robot arm shown in Figure 1. [Figure 3] Figure 1 is a perspective view of the robot control device shown. [Figure 4] Figure 1 is a front view of the robot control device. [Figure 5] Figure 1 is a partial cross-sectional view of the robot control device shown. [Figure 6] Figure 1 is a partial cross-sectional view of the robot control device shown. [Figure 7] This is a partial cross-sectional view of a robot control device according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0009] The robot control device of the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0010] <First Embodiment> Figure 1 is a side view showing a robot controlled by a robot control device in a first embodiment of the present invention. Figure 2 is a partial cross-sectional view showing the interior of the second arm of the robot arm shown in Figure 1. Figure 3 is a perspective view of the robot control device shown in Figure 1. Figure 4 is a front view of the robot control device shown in Figure 1. Figures 5 and 6 are partial cross-sectional views of the robot control device shown in Figure 1.

[0011] Furthermore, in Figures 1 and 2, for the sake of explanation, the x, y, and z axes are depicted as three mutually orthogonal axes. In the following, the direction parallel to the x-axis will also be referred to as the "x-axis direction," the direction parallel to the y-axis as the "y-axis direction," and the direction parallel to the z-axis as the "z-axis direction." In the following, the tip of each arrow shown will be referred to as "+ (plus)" and the base as "- (minus)." The direction parallel to the +x-axis will also be referred to as the "+x-axis direction," the direction parallel to the -x-axis direction as the "-x-axis direction," the direction parallel to the +y-axis direction as the "+y-axis direction," the direction parallel to the -y-axis direction as the "-y-axis direction," the direction parallel to the +z-axis direction as the "+z-axis direction," and the direction parallel to the -z-axis direction as the "-z-axis direction." In addition, the direction around the z-axis and the direction around the axis parallel to the z-axis will also be referred to as the "u-axis direction."

[0012] Furthermore, in Figures 3 to 7, for the sake of explanation, the X, Y, and Z axes are depicted as three mutually orthogonal axes. In the following, the direction parallel to the X axis will also be referred to as the "X-axis direction," the direction parallel to the Y axis will also be referred to as the "Y-axis direction," and the direction parallel to the Z axis will also be referred to as the "Z-axis direction." In the following, the tip of each arrow shown will be referred to as "+ (plus)" and the base end as "- (minus)." The direction parallel to the +X-axis direction will also be referred to as the "+X-axis direction," the direction parallel to the -X-axis direction will also be referred to as the "-X-axis direction," the direction parallel to the +Y-axis direction will also be referred to as the "+Y-axis direction," the direction parallel to the -Y-axis direction will also be referred to as the "-Y-axis direction," the direction parallel to the +Z-axis direction will also be referred to as the "+Z-axis direction," and the direction parallel to the -z-axis direction will also be referred to as the "-Z-axis direction."

[0013] Furthermore, for the sake of clarity, in the following explanation, the +z-axis direction in Figure 1 and the +Z-axis direction in Figure 3, i.e., the upper side, will be referred to as "up" or "upward," and the -z-axis direction in Figure 1 and the -Z-axis direction in Figure 3, i.e., the lower side, will be referred to as "down" or "downward." Also, for the robot arm 20, the side facing the base 21 in Figure 1 will be referred to as the "base end," and the opposite side, i.e., the end effector 7 side, will be referred to as the "tip end." In addition, the z-axis direction in Figure 1 and the Z-axis direction in Figure 3, i.e., the up-and-down direction, will be referred to as the "vertical direction," and the x-axis and y-axis directions in Figure 1 and the X-axis and Y-axis directions in Figure 3, i.e., the left-right direction, will be referred to as the "horizontal direction."

[0014] The robot system 100 shown in Figure 1 is a device used for tasks such as holding, transporting, assembling, and inspecting workpieces such as electronic components and electronic devices. The robot system 100 comprises a robot control device 1, a robot 2, and an end effector 7.

[0015] Also, the robot control device 1 is arranged at a position different from the robot 2, that is, outside the robot 2. In the illustrated configuration, the robot 2 and the robot control device 1 are electrically connected by a cable 200 (hereinafter, also simply referred to as "connected"), but it is not limited thereto, and the cable 200 may be omitted and communication may be performed by a wireless method. That is, the robot 2 and the robot control device 1 may be connected by wired communication or may be connected by wireless communication.

[0016] In the illustrated configuration, the robot 2 is a horizontal articulated robot, that is, a scalar robot.

[0017] As shown in FIG. 1, the robot 2 includes a base 21, a first arm 22, a second arm 23, and a third arm 24 which is a work head. The first arm 22, the second arm 23, and the third arm 24 constitute a robot arm 20.

[0018] Further, the robot 2 includes a drive unit 25 that rotates the first arm 22 with respect to the base 21, a drive unit 26 that rotates the second arm 23 with respect to the first arm 22, a u drive unit 27 that rotates the tip shaft 241 of the third arm 24 with respect to the second arm 23, and a z drive unit 28 that moves the tip shaft 241 in the z-axis direction with respect to the second arm 23.

[0019] As shown in FIGS. 1 and 2, the drive unit 25 is built in the base 21 and has a motor 251 that generates a driving force, a speed reducer 252 that decelerates the driving force of the motor 251, and a position sensor 253 that detects the rotation angle of the rotation shaft of the motor 251 or the speed reducer 252.

[0020] The drive unit 26 is built in the housing 230 of the second arm 23 and has a motor 261 that generates a driving force, a speed reducer 262 that decelerates the driving force of the motor 261, and a position sensor 263 that detects the rotation angle of the rotation shaft of the motor 261 or the speed reducer 262.

[0021] The u-drive unit 27 is built into the housing 230 of the second arm 23 and includes a motor 271 that generates driving force and a position sensor 273 that detects the rotation angle of the motor 271's rotation axis.

[0022] The z-drive unit 28 is built into the housing 230 of the second arm 23 and includes a motor 281 that generates driving force and a position sensor 283 that detects the rotation angle of the rotation axis of the motor 281.

[0023] For motors 251, 261, 271, and 281, for example, servo motors such as AC servo motors and DC servo motors can be used.

[0024] Furthermore, for the reduction gears 252 and 262, for example, planetary gear type reduction gears, harmonic drive gears, etc., can be used. Also, the position sensors 253, 263, 273, and 283 can be, for example, angle sensors.

[0025] The drive units 25, 26, u-drive unit 27, and z-drive unit 28 are each connected to their respective motor drivers.

[0026] The base 21 is fixed to a floor surface (not shown) by bolts or the like. The first arm 22 is connected to the upper end of the base 21. The first arm 22 is rotatable around a first axis O1 that is perpendicular to the base 21. When the drive unit 25 that rotates the first arm 22 is driven, the first arm 22 rotates in the horizontal plane around the first axis O1 relative to the base 21. In addition, the amount of rotation of the first arm 22 relative to the base 21 can be detected by the position sensor 253.

[0027] Furthermore, a second arm 23 is connected to the tip of the first arm 22. The second arm 23 is rotatable around a second axis O2 that is perpendicular to the first arm 22. The axial direction of the first axis O1 and the axial direction of the second axis O2 are the same. That is, the second axis O2 is parallel to the first axis O1. When the drive unit 26 that rotates the second arm 23 is driven, the second arm 23 rotates in the horizontal plane around the second axis O2 relative to the first arm 22. In addition, a position sensor 263 can detect the drive of the second arm 23 relative to the first arm 22, specifically the amount of rotation. That is, the second axis O2 is the center of the output rotation axis of the reduction gear 262.

[0028] Furthermore, the second arm 23 has a housing 230 having a base portion 231 which is a wall portion, a top plate 232, and four side walls 233 which connect them. Inside this housing 230, that is, on the base portion 231, the drive unit 26, the u drive unit 27, and the z drive unit 28 are arranged in this order from the +y axis side.

[0029] Furthermore, as shown in Figure 2, the base portion 231 is the bottom of the second arm 23 and has a recess 230C in which the u-drive unit 27 is located. A portion of the recess 230C is open to the -z axis side, and a rotation support member 242 is embedded in this open portion, through which the tip shaft 241 is inserted.

[0030] Furthermore, a third arm 24 is installed at the tip of the second arm 23. The third arm 24 has a tip shaft 241 and a rotating support member 242 that rotatably supports the tip shaft 241.

[0031] The tip shaft 241 is rotatable around a third axis O3 that is perpendicular to the second arm 23, and is also movable (up and down) in the vertical direction. In other words, the tip shaft 241 is a ball screw spline shaft, and this tip shaft 241 is the very tip of the robot arm 20.

[0032] Furthermore, a ball screw nut 243 and a spline nut 244 are installed along the longitudinal direction of the tip shaft 241, and the tip shaft 241 is supported by these. These ball screw nut 243 and spline nut 244 are positioned spaced apart from the +z axis in this order.

[0033] The ball screw nut 243 has an inner ring 243A and an outer ring 243B that is concentrically arranged on the outer circumference of the inner ring 243A. A number of balls (not shown) are arranged between the inner ring 243A and the outer ring 243B, and the inner ring 243A and the outer ring 243B rotate relative to each other as the balls move.

[0034] Furthermore, the inner ring 243A has a portion exposed from the outer ring 243B, and a belt 284, which will be described later, is wrapped around this exposed portion. The inner ring 243A also has a tip shaft 241 inserted inside it, and as will be described later, it supports the tip shaft 241 so that it can move along the z-axis direction. The outer ring 243B is fixed to the base portion 231.

[0035] The spline nut 244 has an inner ring 244A and an outer ring 244B that is concentrically positioned on the outer circumference of the inner ring 244A. A number of balls (not shown) are positioned between the inner ring 244A and the outer ring 244B, and the inner ring 244A and the outer ring 244B rotate relative to each other as the balls move.

[0036] Furthermore, the inner ring 244A has a portion exposed from the outer ring 244B, and the belt 274, which will be described later, is wrapped around this exposed portion. The inner ring 244A also has the tip shaft 241 inserted inside it and supports the tip shaft 241 so that it can rotate around the z axis, i.e., in the u axis direction. The outer ring 244B is fixed to the recess 230C of the base portion 231, which will be described later.

[0037] Furthermore, a rotational support member 242 is installed on the -z axis side of the spline nut 244. This rotational support member 242 has an outer cylinder 245 and a rotating body 246 provided inside the outer cylinder 245. The outer cylinder 245 is fixed to the base portion 231 inside the housing 230 of the second arm 23. On the other hand, the rotating body 246 is fixed to the tip shaft 241, but is supported by the outer cylinder 245 so as to be rotatable together with the tip shaft 241 around the z axis, i.e., in the u axis direction.

[0038] When the u-drive unit 27, which rotates the tip shaft 241, is driven, the tip shaft 241 rotates in forward and reverse directions around the z-axis, i.e., rotates. In addition, the position sensor 273 allows the amount of rotation of the tip shaft 241 relative to the second arm 23 to be detected.

[0039] Furthermore, when the z-drive unit 28, which moves the tip shaft 241 in the z-axis direction, is driven, the tip shaft 241 moves in the vertical direction, i.e., in the z-axis direction. In addition, the position sensor 283 can detect the amount of z-axis movement of the tip shaft 241 relative to the second arm 23.

[0040] Furthermore, various end effectors are detachably connected to the tip of the tip shaft 241. The end effectors are not particularly limited and include, for example, those for gripping objects to be conveyed, for processing objects, and for inspection. In this embodiment, an end effector 7 is detachably connected.

[0041] In this embodiment, the end effector 7 is not a component of the robot 2, but part or all of the end effector 7 may be a component of the robot 2. Also, in this embodiment, the end effector 7 is not a component of the robot arm 20, but part or all of the end effector 7 may be a component of the robot arm 20.

[0042] Furthermore, in this embodiment, the end effector 7 is detachable from the robot arm 20, but this is not limited to this, and for example, the end effector 7 may be made indestructible from the robot arm 20.

[0043] Next, we will describe the interior of the second arm 23. In robot 2, as shown in Figure 2, the housing 230 of the second arm 23 is provided with a u-drive unit 27 for rotating the third arm 24 around the z-axis, a z-drive unit 28 for moving the third arm 24 in the z-axis direction, a belt 274, and a belt 284.

[0044] As shown in Figure 2, the u-drive unit 27 includes a pulley 275 in addition to the motor 271 and position sensor 273 mentioned above. These are arranged from the +z axis side in the order of position sensor 273, motor 271, and pulley 275, and are fixed to the bottom of the recess 230C. The pulley 275 is fixed to the rotation axis of the motor 271, and the rotational force of the motor 271 is transmitted to the pulley 275.

[0045] Furthermore, the pulley 275 is connected by a belt 274 to the inner ring 244A of a spline nut 244 provided on the tip shaft 241. The belt 274 is an endless belt wrapped around the pulley 275 and the inner ring 244A, and has teeth (not shown) on its inner side, i.e., on the side facing the pulley 275 and the inner ring 244A. The teeth of the belt 274 mesh with teeth (not shown) on the exposed portions of the pulley 275 and the inner ring 244A, respectively.

[0046] In such a u-drive unit 27, the rotational force of the motor 271 is transmitted to the belt 274 via the pulley 275, causing the belt 274 to rotate. This rotation of the belt 274 transmits the rotational force to the tip shaft 241 via the spline nut 244. This rotational force is transmitted to the tip shaft 241 via the inner circumference of the inner ring 244A and the spline groove (not shown) of the tip shaft 241, allowing the tip shaft 241 to move in the u-axis direction, i.e., to rotate.

[0047] The z-drive unit 28 includes a pulley 285 in addition to the motor 281 and position sensor 283 mentioned above. These are arranged from the +z axis side in the order of position sensor 283, motor 281, and pulley 285. The pulley 285 is fixed to the rotation axis of the motor 281, and the rotational force of the motor 281 is transmitted to the pulley 285.

[0048] Furthermore, the pulley 285 is connected by a belt 284 to the exposed portion of the inner ring 243A of a ball screw nut 243 provided on the tip shaft 241. The belt 284 is an endless belt wrapped around the pulley 285 and the inner ring 243A, and has teeth (not shown) on its inner side, i.e., on the side facing the pulley 285 and the inner ring 243A. The teeth of the belt 284 mesh with teeth (not shown) on the pulley 285 and the inner ring 243A, respectively.

[0049] In this z-drive unit 28, the rotational force of the motor 281 is transmitted to the belt 284 via the pulley 285, causing the belt 284 to rotate. This rotation of the belt 284 transmits the rotational force to the tip shaft 241 via the inner ring 243A of the ball screw nut 243. The direction of this rotational force is changed by the inner circumference of the inner ring 243A and the ball screw groove of the tip shaft 241, allowing the tip shaft 241 to move in the z-axis direction, i.e., to move up and down.

[0050] The above is a brief explanation of robot 2. Next, we will explain robot control device 1.

[0051] As shown in Figures 3 to 6, the robot control device 1 comprises a control board 51, a power supply board 52 that supplies power to the control board 51, a drive control board 53 that performs drive control based on commands from the control board 51, a drive board 54 that drives each drive unit based on the drive control of the drive control board 53, a housing 6 that houses these components, an intake unit 7A, a cable connection part 8, a cover member 9, and a protective member 10. Hereafter, the control board 51, power supply board 52, drive control board 53, and drive board 54 will be collectively referred to as "control board 5".

[0052] The control board 51 has a control circuit (not shown) that controls the drive of the robot 2. The control circuit includes a processor such as a CPU, volatile memory such as RAM, and non-volatile memory such as ROM, and performs processing such as controlling the drive of each part of the robot 2, as well as various calculations and decisions. For example, the control circuit is capable of executing a predetermined control program, and outputs a control signal to the drive board 53 according to the control program, thereby causing the robot 2 to perform a predetermined operation.

[0053] The power supply board 52 has a power supply circuit (not shown) that generates power to supply to the control board 51 and the drive control board 53, respectively. The power supply circuit includes a transformer and a noise filter, and converts the frequency and voltage of power supplied from an external power source (not shown), such as a commercial power supply, and supplies it to the control board 51 and the drive control board 53.

[0054] The drive control board 53 receives control signals from the control board 51 and generates drive control signals to control the drive boards 54 that drive each of the drive units 25 to 28.

[0055] The drive board 54 is a board on which motor drivers are mounted. It receives drive control signals from the drive control board 53 and drives the motor drivers of each drive unit 25 to drive unit 28. The drive board 54 has a drive circuit (not shown) that converts DC power into power to be supplied to each drive unit 25 to drive unit 28. The drive circuit includes, for example, an inverter circuit (not shown) that converts DC power into AC power. In the illustrated configuration, the drive circuits for each drive unit 25 to drive unit 28 are provided on a single board, but it is also possible to have a configuration where the drive circuits for each drive unit 25 to drive unit 28 are divided among two or more boards.

[0056] The enclosure 6 is a rectangular parallelepiped comprising a top plate 61, a bottom plate 62, side walls 63, side walls 64, side walls 65, and side walls 66. The top plate 61 is made of a plate material with the Z-axis direction as the thickness direction. The bottom plate 62 is made of a plate material with the Z-axis direction as the thickness direction. The side wall 63 is located on the +X side and is made of a plate material with the X-axis direction as the thickness direction. The side wall 64 is located on the -X side and is made of a plate material with the X-axis direction as the thickness direction. The side wall 65 is located on the -Y side and is made of a plate material with the Y-axis direction as the thickness direction. The side wall 66 is located on the +Y side and is made of a plate material with the Y-axis direction as the thickness direction. In this embodiment, side wall 63 is the first plate material and side wall 64 is the second plate material.

[0057] In this embodiment, the housing 6 is used with the side wall 63 facing the front and the side wall 64 facing the back. Hereinafter, the outer surface of the side wall 64 will be referred to as the back surface 641. The back surface 641 is the -X-axis side surface of the side wall 64 and is the installation surface facing the object on which the housing 6 is installed. The object on which the housing 6 is installed is not particularly limited, but examples include the floor, walls, ceiling, etc. The installation surface is not limited to the back surface 641 and can be selected depending on the object on which the housing 6 is installed. That is, the outer surface of the top plate 61, the outer surface of the bottom plate 62, the outer surface of the side wall 64, and the outer surface of the side wall 65 can be used as the installation surface. Therefore, if the outer surface of the top plate 61 is the installation surface, the top plate 61 becomes the second plate material; if the outer surface of the bottom plate 62 is the installation surface, the bottom plate 62 becomes the second plate material; if the outer surface of the side wall 64 is the installation surface, the side wall 64 becomes the second plate material; and if the outer surface of the side wall 65 is the installation surface, the side wall 65 becomes the second plate material.

[0058] In the internal space enclosed by the top plate 61, bottom plate 62, side walls 63, side walls 64, side walls 65, and side walls 66, the control board 51, power supply board 52, drive control board 53, and drive board 54 are arranged parallel to each other and spaced apart. As shown in Figures 5 and 6, in this embodiment, the control board 5 is arranged in the order of drive board 54, power supply board 52, control board 51, and drive control board 53 from the +Z axis side. These are supported on the inner surface of the side wall 64, that is, on the -X axis side, and are arranged parallel to each other with the Z axis direction as the thickness direction.

[0059] Furthermore, as shown in Figures 3 and 6, the intake unit 7A has a fan 71 and a fan mounting section 72 on which the fan 71 is installed, and is configured to be detachable from the housing 6.

[0060] In this embodiment, two fans 71 are installed in the fan mounting section 72, side by side in the Z-axis direction. Each fan 71 has rotating blades, and the rotation axis of the blades is oriented along the Y-axis direction when installed in the fan mounting section 72. This allows air to be blown from the -Y-axis side to the +Y-axis side within the housing 6.

[0061] The fan mounting section 72 is detachable by moving it along the X-axis direction in relation to the attachment / detachment hole 632 provided in the side wall 63 of the housing 6. The fan mounting section 72 has a first portion 721 located at the opening of the attachment / detachment hole 632 when mounted, and a second portion 722 located inside the housing when mounted.

[0062] The first part 721 has an air intake port 723 and, when installed, is a plate material that forms part of the side wall 63. A filter 724 is also detachably installed in the air intake port 723. This filter 724 can capture dust and dirt as air passes through the air intake port 723.

[0063] The second part 722 is made up of a plate extending from the edge of the first part 721 on the +Y axis side. The second part 722 is provided with mounting mechanisms such as hooks and grooves (not shown). However, the configuration is not limited to this, and the second part 722 may, for example, be a frame provided with mounting mechanisms such as hooks and grooves.

[0064] Thus, the robot control device 1 has a fan 71 and a fan mounting section 72 in which an air intake port 723 is formed, and is equipped with a removable air intake unit 7A on the side wall 63, which is the first plate material. This allows the entire air intake unit 7A to be removed from the housing 6, making it easy to replace the fan 71 or perform maintenance while the unit is detached from the housing 6.

[0065] Furthermore, when the intake unit 7A is installed, the fan 71 is located inside the housing 6, and the intake port 723 is located on the side wall 63, which is the first plate material. This allows air from outside the housing 6 to be drawn into the housing 6 through the intake port 723, and the drawn-in air to be blown out within the housing 6.

[0066] Furthermore, the fan 71 is installed in the fan mounting section 72 with its rotation axis intersecting, orthogonal to, the direction in which the intake unit 7A is inserted or removed. This allows the air taken into the housing 6 from the intake port 723 to be efficiently circulated throughout the entire housing 6.

[0067] Furthermore, as shown in Figures 3 and 4, an exhaust port 630 is provided in the side wall 63. The exhaust port 630 has the function of discharging air from inside the housing 6 to the outside. The exhaust port 630 is formed in a position that is biased toward the +Y axis side of the side wall 63. In addition, the exhaust port 630 is elongated and extends along the Z axis direction.

[0068] Air taken in through the intake port 723 is blown by the fan 71 toward the +Y axis and strikes the inner surface of the side wall 66. Then, it changes its trajectory toward the exhaust port 630, that is, toward the +X axis, and is blown out from the exhaust port 630. This airflow allows for efficient cooling of the control board 5.

[0069] Furthermore, as shown in Figures 3 to 5, the side wall 63 is provided with a cable connection section 8 for connecting a cable 200 that communicates with the robot 2. The cable connection section 8 is a standard connection section corresponding to the configuration of the tip of the cable 200. The control board 5 and the robot 2 are electrically connected via the cable 200 connected to the cable connection section 8. The cable connection section 8 is located on the -Z axis side of the side wall 63 and is positioned off-center towards the +Y axis side.

[0070] Furthermore, the cable connection portion 8 is covered by a cover member 9. The cover member 9 is detachably attached to the side wall 63 and is attached so as to cover at least the cable connection portion 8. The cover member 9 also has a relief hole 91 through which the cable 200 connected to the cable connection portion 8 is inserted. This makes it possible to avoid interference between the cover member 9 and the cable 200 even when the cable connection portion 8 is attached to the side wall 63.

[0071] In the illustrated configuration, the cable connection part 8 is designed so that the cable 200 is inserted from the +X axis side, but it is not limited to this and may be inserted from the +Y axis side as well.

[0072] In this embodiment, the cable 200 connected to the cable connection part 8 is routed from the side wall 66 to the -X axis side. As shown in Figure 5, the housing 6 is provided with a notch 631. The notch 631 is cut out at the corner on the +Y axis side and the -Z axis side of the side wall 63, and is provided along the entire X axis direction of the side wall 66. The cable 200 can be housed within this notch 631.

[0073] Furthermore, as shown in Figure 5, a protective member 10 is attached to the notch 631. The protective member 10 covers the notch 631 while being spaced apart from the inner surface of the notch 631, and has the function of protecting the inserted cable 200. The length of the protective member 10 in the X-axis direction is shorter than the length of the housing 6 in the X-axis direction. This prevents interference between the protective member 10 and the portion of the cable 200 that does not fit inside the notch 631, particularly near the +X-axis and -X-axis ends of the notch 631.

[0074] Thus, the housing 6 has a cutout portion 631 in a plan view taken from the thickness direction of the side wall 63, which is the first plate material, and a protective member 10 for protecting the cable 200 is provided in the cutout portion 631. This protects the cable 200 and also restricts the position of the cable 200 within the cutout portion 631.

[0075] Furthermore, the length of the protective member 10 in the direction along the thickness direction of the first plate material, the side wall 63, is shorter than the length of the housing 6 in the direction along the thickness direction of the side wall 63. This makes it possible to avoid interference between the cable 200 and the protective member 10 in parts that do not fit within the notch 631, particularly near the +X axis and -X axis ends of the notch 631.

[0076] Conventionally, in robot control devices, the air intake, exhaust port, and cable connection section were installed separately on the housing. In other words, the air intake, exhaust port, and cable connection section were not integrated. As a result, there were relatively many restrictions on where the housing could be installed. For example, if the air intake port was provided on the front of the housing, the exhaust port on the side of the housing, and the cable connection section on the back of the housing, the side with the exhaust port and the back with the cable connection section could not be installed so as to be in close contact with the surface on which the robot control device is installed or with the surrounding walls, resulting in relatively many restrictions on the installation location. In contrast, in the present invention, the air intake port 723, the exhaust port 630, and the cable connection section 8 are integrated on the side wall 63. In other words, the air intake port 723, the exhaust port 630, and the cable connection section 8 are not provided on any part other than the side wall 63. With this configuration, at least one of the side walls 64, 65, and 66 can be installed so as to be in close contact with the surrounding walls. Therefore, there are fewer restrictions on the installation location than before, and there is greater flexibility in the installation location.

[0077] Thus, the robot control device 1 controls the robot 2 and is composed of a control board 5 that controls the operation of the robot 2, a housing 6 that houses the control board 5 in a space surrounded by the multiple plates, an air intake 723 that takes in air into the housing 6, an exhaust port 630 that discharges the air inside the housing 6 to the outside, and a cable connection part 8 for connecting a cable 200 that communicates with the robot 2. The air intake 723, exhaust port 630, and cable connection part 8 are provided on the side wall 63, and the side wall 64 includes the installation surface facing the object on which the housing 6 is installed. This allows the parts other than the side wall 63 to be installed in close contact with the surrounding wall, etc., thereby increasing the degree of freedom in the installation position.

[0078] Furthermore, as shown in Figure 4, when viewed in the thickness direction of the side wall 63, which is the plate portion, i.e., in the X-axis direction, the control board 5 is located between the intake port 723 and the exhaust port 630. This allows the control board 5 to be effectively cooled by the airflow formed between the intake port 723 and the exhaust port 630 within the housing 6.

[0079] <Second Embodiment> Figure 7 is a partial cross-sectional view of a robot control device in a second embodiment of the present invention.

[0080] The following describes a second embodiment of the robot control device of the present invention with reference to this figure, but the differences from the first embodiment will be explained below.

[0081] As shown in Figure 7, in this embodiment, two fans 71 are installed side by side in the X-axis direction on the second portion 722 of the fan mounting section 72 of the intake unit 7A. The two fans 71 are located on the +Z-axis side of the housing 6 and are positioned overlapping with the drive board 54 and the power supply board 52 when viewed from the Y-axis direction. This configuration allows the airflow from the fans 71 to be directed primarily towards the drive board 54 and the power supply board 52. Since the drive board 54 and the power supply board 52 are the components of the control board 5 that generate the most heat, they can be cooled intensively.

[0082] Furthermore, as shown in Figure 7, in this embodiment, the second part 722 is provided with four holes 7221 into which the fan 71 can be installed. The second part 722 is provided with mounting mechanisms such as hooks and grooves (not shown) at positions corresponding to the four holes 7221. Thus, the two fans 71 are positioned in the holes 7221 provided on the +Z axis side using the mounting mechanisms corresponding to the holes 7221 provided on the +Z axis side.

[0083] Therefore, in this embodiment, it is possible to adjust the installation position of the fan 71. That is, it is possible to install the fan 71 by selecting from the four holes 7221. With this configuration, the installation position of the fan 71 can be adjusted according to the arrangement of the control board 5, so that the control board 5 can be cooled efficiently.

[0084] In this way, the position of the fan 71 relative to the control board 5 is adjustable when the intake unit 7A is installed. This allows for focused cooling of the desired portion of the control board 5.

[0085] In this embodiment, the air intake port 723, exhaust port 630, and cable connection portion 8 are described as being provided on the side wall 63. However, the present invention is not limited to this configuration. For example, the air intake port 723, exhaust port 630, and cable connection portion 8 may be concentrated on one of the following plate sections: the top plate 61, the bottom plate 62, or the side walls 64 to 66. Furthermore, indicator lights may be concentrated on the plate section where the air intake port 723, exhaust port 630, and cable connection portion 8 are located.

[0086] Furthermore, in this embodiment, the control board 5 is arranged in the order of drive board 54, power supply board 52, control board 51, and drive control board 53 from the +Z axis side, but it is not limited to this, and the order of the control boards 5 may be changed as appropriate.

[0087] Furthermore, in this embodiment, the housing 6 was described as a box-shaped structure composed of six plate materials, but the present invention is not limited to this. For example, at least two of the six plate materials may form a continuous curved surface.

[0088] Although the robot control device of the present invention has been described above based on the illustrated embodiment, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having a similar function. In addition, any other components may be added.

[0089] Furthermore, although the robot arm has three rotation axes in the above embodiment, the present invention is not limited to this, and the number of rotation axes of the robot arm may be, for example, two, or four or more. In other words, although the number of arms is three in the above embodiment, the present invention is not limited to this, and the number of arms may be, for example, two, or four or more. [Explanation of Symbols]

[0090] 1...Robot control device, 2...Robot, 5...Control board, 6...Housing, 7...End effector, 7A...Intake unit, 8...Cable connection part, 9...Cover member, 10...Protective member, 20...Robot arm, 21...Base, 22...First arm, 23...Second arm, 24...Third arm, 25...Drive unit, 26...Drive unit, 27...u-drive unit, 28...z-drive unit, 51...Control board, 52...Power supply board, 53...Drive control board, 54...Drive board, 61...Top plate, 62...Bottom plate, 63...Side wall, 64...Side wall, 65...Side wall, 66...Side wall, 71...Fan, 72...Fan mounting part, 91...Relief hole, 100...Robot system, 200...Cable, 230...Housing, 230C...Recess, 231...Base part, 232...Top plate, 233...Side wall, 2 41...Tip shaft, 242...Rotation support member, 243...Ball screw nut, 243A...Inner ring, 243B...Outer ring, 244...Spline nut, 244A...Inner ring, 244B...Outer ring, 245...Outer cylinder, 246...Rotating body, 251...Motor, 252...Gear reducer, 253...Position sensor, 261...Motor, 262...Gear reducer, 263...Position sensor, 271...Motor, 2 73...Position sensor, 274...Belt, 275...Pulley, 281...Motor, 283...Position sensor, 284...Belt, 285...Pulley, 630...Exhaust port, 631...Notch, 632...Attachment hole, 641...Back, 721...First part, 722...Second part, 723...Intake port, 724...Filter, 7221...Hole, O1...First axis, O2...Second axis, O3...Third axis

Claims

1. A robot control device, which is positioned in a location different from the robot and controls the robot, A control board for controlling the operation of the robot, A housing comprising a plurality of plate materials including a first plate material and a second plate material, and housing the control board in the space surrounded by the plurality of plate materials, The aforementioned housing includes an air intake port for taking in air, An exhaust port for discharging air from inside the enclosure to the outside, It comprises a cable connection section to which one end of a cable connected to the robot and the other end of a cable used for communication with the robot is connected, The first plate material is provided with the air intake port, the exhaust port, and the cable connection portion. The second plate material includes an installation surface facing the object on which the housing is installed, A robot control device characterized in that, in a plan view taken from the thickness direction of the first plate material, the cable connection portion is located between the intake port and the exhaust port in the direction in which the intake port and the exhaust port are aligned, and the cable connection portion is located vertically below the intake port and the exhaust port.

2. The robot control device according to claim 1, comprising a fan and a fan mounting section having the air intake port formed therein, and further comprising an air intake unit that is detachable from the first plate material.

3. The robot control device according to claim 2, wherein when the intake unit is installed, the fan is located inside the housing and the intake port is located in the first plate material.

4. The robot control device according to claim 2 or 3, wherein the fan is installed in the fan installation section in a direction in which its axis of rotation intersects with the direction in which the intake unit is inserted or removed.

5. The robot control device according to any one of claims 2 to 4, wherein the position of the fan with respect to the control board when the intake unit is installed is adjustable.

6. The robot control device according to any one of claims 1 to 5, wherein, in a plan view taken from the thickness direction of the first plate material, the control board is located between the air intake port and the exhaust port.

7. The housing has a notched portion located vertically below the exhaust port and extending in a direction along the thickness direction of the first plate material, in a plan view taken from the thickness direction of the first plate material. The robot control device according to any one of claims 1 to 6, wherein a protective member is provided in the notch to protect the cable extending in a direction along the thickness direction of the first plate material.

8. The robot control device according to claim 7, wherein the length of the protective member in the direction along the thickness direction of the first plate material is shorter than the length of the housing in the direction along the thickness direction of the first plate material.

Images