Robot control device

Abstract

This robot control device comprises: a main enclosure in which a control board for controlling a robot is accommodated; and a door attached to the main enclosure via at least a first hinge and a second hinge in order to close up an opening in the main enclosure. The first hinge and the second hinge are arranged at an interval from each other in a vertical direction. Each hinge includes: a shaft protruding upward or downward from a first shaft holding part fixed to one end of the main enclosure and the door; and a second shaft holding part which is fixed to the other end of the main enclosure and the door and which engages with the protruding shaft. A second engagement length, which is the length of engagement between the second shaft holding part and the shaft in the second hinge, is longer than a first engagement length, which is the length of engagement between the second shaft holding part and the shaft in the first hinge.

Description

Robot control device

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

[0002] Conventionally, there has been known a robot control device that has a housing, a control board housed in the housing, and a cooling fan or the like arranged in the housing. See, for example, Patent Document 1. Also known is a robot control device that has a small housing that houses the robot's control board and a plurality of cooling fans attached to the housing. See, for example, Patent Document 2.

[0003] Also known is a door mounting structure that uses hinges to mount a door. See, for example, Patent Documents 3 and 4. In such a door mounting structure, a plurality of hinges are arranged at intervals in the vertical direction, and the shaft lengths of some of the hinges are different from the shaft lengths of the other hinges.

[0004] JP 2023-53456 JP 2020-57724 JP 08-226271 JP 08-270300

[0005] In recent years, efforts have been made to miniaturize robot control devices, and in such small control devices, the coolers that cool the inside of the housing, as described above, have become increasingly important. Furthermore, in order to place the robot control devices and coolers inside the housing while miniaturizing the housing, the devices and coolers may also be fixed to a door attached to the housing via a hinge. In this case, the weight of the door increases by the weight of the devices and coolers, which increases the workload of attaching the door to the housing. Therefore, there is a demand for reducing the workload of attaching the door to the housing.

[0006] One aspect of the present disclosure is a robot control device comprising: a main housing that houses a control board for controlling a robot; and a door attached to the main housing via at least a first hinge and a second hinge to close an opening of the main housing, the first hinge and the second hinge being spaced apart from each other in the vertical direction, each hinge having a shaft that protrudes upward or downward from a first shaft holding portion fixed to one end of the main housing and the door, and a second shaft holding portion that is fixed to the other end of the main housing and the door and fits onto the protruding shaft, and a second fitting length that is the fitting length of the second hinge is longer than a first fitting length that is the fitting length between the second shaft holding portion and the shaft in the first hinge.

[0007] 1 is a schematic perspective view of a robot of a first embodiment and a control device thereof; FIG. 2 is a schematic front view of the control device of the first embodiment; FIG. 3 is a schematic front view of a part of the control device of the first embodiment; FIG. 4 is a block diagram of the control device of the first embodiment; FIG. 5 is an exploded perspective view of a hinge of the control device of the first embodiment; FIG. 6 is a schematic cross-sectional view of the control device of the first embodiment as viewed from the side; FIG. 7 is a schematic plan view of the control device of the first embodiment; FIG. 8 is a schematic plan view of the control device of the first embodiment; FIG. 9 is a schematic front view of a part of the control device of the second embodiment; FIG. 10 is a schematic plan view showing a modified example of the control device of the first embodiment;

[0008] A control device 1 for a robot 10 according to a first embodiment will be described below. The control device 1 is provided to control the arm of the robot 10 (FIG. 1). In one example, a connector 10B on the robot 10 shown in FIG. 1 is connected to a connector 1B on the control device 1, and the arm of the robot 10 moves in response to commands and power supply from the control device 1.

[0009] The robot 10 is not limited to a specific type, but the robot 10 of this embodiment is a multi-joint robot having six axes. The robot 10 may also be a multi-joint robot having five or fewer axes or seven or more axes, a horizontal multi-joint robot, a multi-link robot, or the like. At least one of the robot 10 and the control device 1 may be supported by a traveling device such as a linear guide, an AGV (Automatic Guided Vehicle), a vehicle, a walking robot, or the like. The robot 10 may also be a collaborative robot that can avoid contact with or proximity to surrounding people, objects, etc. using well-known sensors such as visual sensors and force sensors.

[0010] The arm of the robot 10 is equipped with multiple servo motors 11 that drive multiple movable parts connected to each other by joints (FIGS. 1 and 5). As shown in FIG. 5, the control device 1 has a processor 21 and a display device 22 such as a liquid crystal display device. The processor 21 has one or more processor elements such as a CPU, a microcomputer calculation unit, a PLC calculation unit, and an image processor. The control device 1 also has a storage unit 23 that includes non-volatile storage, ROM, RAM, microcomputer memory, PLC memory, etc. The control device 1 may be configured as a combination of a microcomputer and / or a PLC with a computer, or may be configured as another combination that can achieve the following functions.

[0011] 5, the control device 1 also has servo controllers 24 corresponding to the servo motors 11 of the robot 10, respectively. The control device 1 may also have servo controllers 25 corresponding to the servo motors 13 for the tool 12. The control device 1 also has an input unit 26 connected to the control device 1 by wire or wirelessly. In one example, the input unit 26 is an input device such as a portable operation panel (teach pendant) that can be carried by a user. In another example, the input unit 26 is a tablet computer. In the case of a portable operation panel, tablet computer, etc., the input may be performed using a touch screen function. The portable operation panel or tablet computer may also have a display device 22.

[0012] In this embodiment, the control device 1 operates based on a system program 23A stored in the storage unit 23. The control device 1 also creates control commands based on an operation program 23B stored in the storage unit 23, and sends the control commands to the servo controllers 24 and 25. This controls the movement of the servo motors 11 and 13, and the arm and tool 12 of the robot 10 move in accordance with the operation program.

[0013] As shown in Figures 1, 2, etc., the control device 1 includes a main housing 30, devices 41 and 42 at least partially disposed within the main housing 30, a control board 43, etc. Note that in figures other than Figure 1, illustrations of devices such as the control board 43 within the main housing 30 and devices on the inside surface of the door 40 may be omitted. The control board 43 and devices 41 and 42 are used to control the robot 10. For example, the devices 41 and 42 are various devices such as an AC / DC converter, a power supply box, a control unit, etc., and servo controllers 24 and 25 are mounted on the control board 43. The above configuration is one example, and some or all of the processor 21 and the servo controllers 24 and 25 may be provided in other devices.

[0014] The control device 1 includes a door 40 for closing an opening 31 on a front surface 30A of the main housing 30, and the door 40 is attached to the main housing 30 so as to be able to swing via a plurality of hinges 50. In this embodiment, the door 40 is attached to the main housing 30 by two hinges 50.

[0015] 6, each hinge 50 has a housing plate 51 fixed to an end of the side or the like of the main housing 30, and a door plate 52 fixed to an end of the door 40. In one example, each plate 51, 52 is made of a metal plate and has a plate-shaped fixed portion 51A, 52A fixed to the main housing 30 or the door 40 with a bolt or the like.

[0016] The housing plate 51 includes a housing-side shaft holding portion 51B, which is provided at one end of the fixed portion 51A and is formed by curling a metal plate, and which has a generally cylindrical shape. The door plate 52 includes a door-side shaft holding portion 52B, which is provided at one end of the fixed portion 52A and is formed by curling a metal plate. In this embodiment, the housing-side shaft holding portion 51B is a first shaft holding portion, and the door-side shaft holding portion 52B is a second shaft holding portion. In this embodiment, the shaft holding portions 51B and 52B are not completely cylindrical, and only need to be capable of inserting a shaft 53 (described below) and holding its position. Therefore, the shaft holding portions 51B and 52B may be other members having a hole through which the shaft 53 is inserted, or may be members integral with the shaft 53 that support the shaft 53 so that its upper end extends upward.

[0017] 6, each hinge 50 has a metal shaft 53 that fits into the shaft holding portions 51B, 52B. In this embodiment, the shaft 53 is cylindrical, and the lower end of the shaft 53 fits into the housing-side shaft holding portion 51B from above, and the upper end of the shaft 53 fits into the door-side shaft holding portion 52B from below. Note that the plates 51, 52 and the shaft 53 may be made of a material other than metal as long as sufficient strength is ensured.

[0018] In this embodiment, as shown in FIG. 6 , the lower end of the case-side shaft holding portion 51B is closed by a plug member 54, thereby positioning the shaft 53 in the up-down direction relative to the case-side shaft holding portion 51B. The shaft 53 may be positioned in the up-down direction relative to the case-side shaft holding portion 51B by other methods. For example, a flange (indicated by a two-dot chain line in FIG. 6 ) protruding radially outward may be provided at the middle portion of the shaft 53. In this case, the flange abuts against the upper end of the case-side shaft holding portion 51B, thereby positioning the shaft 53 in the up-down direction relative to the case-side shaft holding portion 51B. The shaft 53 may also be fixed to the case-side shaft holding portion 51B by welding or the like.

[0019] In some cases, the fixed portion 51A is not provided, and the housing-side shaft holding portion 51B is provided at the end of the main housing 30 as part of the main housing 30. In other cases, the fixed portion 52A is not provided, and the door-side shaft holding portion 52B is provided at the end of the door 40 as part of the door 40.

[0020] In this embodiment, as shown in FIG. 3 , the protruding length L2 of the shaft 53 from the upper end of the housing-side shaft holder 51B of the lower hinge (second hinge) 50 is longer than the protruding length L1 of the shaft 53 from the upper end of the housing-side shaft holder 51B of the upper hinge (first hinge) 50. L2 is preferably 1 mm or more longer than L1, more preferably 2 mm or more longer, and even more preferably 3 mm or more longer. In this embodiment, the protruding length L1 is a first fitting length, which is the fitting length between the shaft 53 of the upper hinge (first hinge) 50 and the door-side shaft holder 52B. Furthermore, the protruding length L2 is a second fitting length, which is the fitting length between the shaft 53 of the lower hinge (second hinge) 50 and the door-side shaft holder 52B. Note that one or more hinges other than the first hinge and the second hinge may be provided.

[0021] Therefore, when attaching the door 40 to the main housing 30, the upper end of the shaft 53 of the lower hinge (second hinge) 50 begins to enter the door-side shaft holding portion 52B ( FIG. 4 ), and then the upper end of the shaft 53 of the upper hinge (first hinge) 50 begins to enter the door-side shaft holding portion 52B. This eliminates the need for an operator to perfectly align the shafts 53 of both hinges 50 with the door-side shaft holding portions 52B at the same time, improving the workability of attaching the door 40 and making it easier to attach the door 40 to the main housing 30 in an automated assembly process using a robot or the like. Note that, unlike this embodiment, there may also be cases where the second hinge is positioned higher than the first hinge.

[0022] Here, a cooler 60 is attached to the inner surface 40A of the door 40 facing the internal space 30S of the main housing 30. Various known coolers capable of cooling the interior of the housing can be used as the cooler 60. In this embodiment, the cooler 60 is a cooler that uses a heat exchanger such as a heat pipe, and as shown in FIG. 7 , includes a case 61, a wall 62 that divides the interior of the case 61 into an external air chamber 60A and an internal air chamber 60B, and a fan 63 that sends air from within the main housing 30 to the internal air chamber 60B. In FIG. 5 , the wall 62 divides the interior of the case 61 in the front-to-rear direction of the main housing 30, but the wall 62 may also divide the interior of the case 61 in other directions, such as the up-down direction.

[0023] In one example, multiple heat pipes (not shown) are provided inside the case 61 so as to penetrate the wall 62. Furthermore, the multiple heat pipes penetrate multiple metal fins (not shown) inside the outdoor air chamber 60A, and the multiple heat pipes also penetrate multiple metal fins (not shown) inside the indoor air chamber 60B. A fan is also provided inside the outdoor air chamber 60A as needed. Note that instead of the heat pipes and the fins, other components that exchange heat between the outdoor air chamber 60A and the indoor air chamber 60B may be provided.

[0024] 7, door 40 is provided with a plurality of slits 40B that connect outdoor air chamber 60A with the outside of control device 1, and case 61 is provided with a plurality of slits 61A that connect indoor air chamber 60B with the inside of main housing 30. This allows the air in indoor air chamber 60B to be cooled, and the cooled air is supplied into main housing 30 through slits 61A.

[0025] When the control device 1 is made smaller, the temperature of the air inside the main housing 30 tends to rise. Furthermore, a sealing member 44 ( FIG. 7 ) such as a packing is sometimes used to prevent water, dust, etc. from entering the internal space 30S closed by the main housing 30 and the door 40, and when such a configuration is employed, the temperature of the air inside the control device 1 tends to rise even more. The cooler 60 alleviates this temperature rise inside the main housing 30.

[0026] Another cooler 70 ( FIG. 1 ) is attached to the rear surface 30B of the main housing 30 to cool the control board 43 inside the main housing 30. Any of a variety of known coolers capable of cooling the control board 43 can be used as the cooler 70. The type of cooler 70 may be an air-cooled type, a water-cooled type, a heat pipe type, or the like. In one example, the control board 43 or a metal member to which the control board 43 is fixed is in close contact with the metal plate of the cooler 70, and the cooler 70 is configured to cool the metal plate by air cooling, water cooling, or the like.

[0027] In this embodiment, a configuration is adopted in which a cooler 70 is attached to the rear surface 30B of the main housing 30, and a cooler 60 is attached to the door 40 that closes the opening 31 on the front surface 30A of the main housing 30. This configuration is useful for improving the cooling efficiency inside the main housing 30, the efficiency of arranging various devices in the small space inside the main housing 30, and the ease of maintenance of each device.

[0028] In this configuration, the cooler 60 attached to the door 40 may weigh several kg, and other devices may also be attached to the door 40. The door 40 is often made of metal. In order to easily attach such a heavy door 40 with devices attached to it to the main housing 30, the above configuration, which does not require simultaneous alignment of the shafts 53 of both hinges 50 with the door-side shaft holders 52B, is useful.

[0029] 7 and 9, when the door 40 is placed in the closed position that closes the opening 31 of the main housing 30, movement of the door 40 in the opening direction (the direction of the dashed arrow in FIG. 8) is restricted by a locking mechanism (not shown). When moving the control device 1, an operator locks the locking mechanism to prevent the door 40 from moving in the opening direction. A configuration may also be employed in which the locking mechanism automatically locks the door 40 when the door 40 is placed in the closed position.

[0030] However, there may be cases where the door 40 unintentionally moves in the open direction while the control device 1 is being moved on a cart, etc. This situation may occur when an operator does not completely lock the door. Furthermore, when the control device 1 is lifted and moved for maintenance, relocation, etc., without completely locking the door, an unintentional tilt may occur in the control device 1. This tilt may cause the door 40 to move slightly in the direction of the dashed arrow in Figure 8, leaving the door 40 slightly open. There may be other situations in which the door 40 may be slightly open.

[0031] When the door 40 is slightly open as described above, for example, the lower end of the door 40 of the lifted control device 1 may hit an obstacle, the floor, or the like. The weight of the main housing 30 of the control device 1 is often several tens of kilograms, and may even be greater. Therefore, when the lower end of the door 40 hits an obstacle, the floor, or the like as described above, a large upward force is applied to the door 40. It is also possible to provide each hinge 50 with a restricting member that restricts the vertical movement of the door-side shaft holding portion 52B relative to the shaft 53 so that the door-side shaft holding portion 52B does not come off the shaft 53.

[0032] However, it is not easy to provide a restricting member that can completely withstand the large force described above on a relatively small hinge 50. Furthermore, if the connection of each hinge 50 is forcibly maintained by a restricting member, the large force causes distortion of the hinge 50 itself, distortion of the portion of the main housing 30 to which the hinge 50 is fixed, and distortion of the portion of the door 40 to which the hinge 50 is fixed. Such distortion is undesirable because it impairs the appearance of the control device 1. Thus, it is necessary to reduce the workload of attaching the door 40 to the main housing 30, prevent the door 40 from unintentionally falling off from the main housing 30, and maintain the appearance of the control device 1 including the door 40. Furthermore, in this embodiment, the restricting member described above is not provided. Therefore, the number of parts and assembly steps required for the hinge 50 can be reduced.

[0033] In this embodiment, the second fitting length is longer than the first fitting length, and as shown in FIG. 7 , the distance G1 between the upper end 61B of the case 61 of the cooler 60 and the upper surface 30C of the internal space 30S of the main housing 30 is smaller than the protrusion length L2. As shown in FIG. 3 , the protrusion length L2 is the fitting length (second fitting length) between the shaft 53 and the door-side shaft holder 52B in the lower hinge (second hinge) 50. Even if a configuration is adopted in which the upper end of the shaft 53 protrudes from the upper end of the door-side shaft holder 52B, the length L2 is the length through which the shaft 53 passes the lower end of the door-side shaft holder 52B to fit with the door-side shaft holder 52B. Therefore, the protrusion length L2 is the fitting length (second fitting length). Similarly, the protrusion length L1 is the fitting length (first fitting length) between the shaft 53 and the door-side shaft holder 52B in the upper hinge (first hinge) 50. In this embodiment, the gap dimension G1 is smaller than the second fitting length. Therefore, when the door 40 moves upward relative to the main housing 30 due to the aforementioned large force, the upper end 61B abuts against the upper surface 30C from below, preventing the shaft 53 of the lower hinge 50 from coming off the door-side shaft holder 52B. This configuration is useful for preventing the door-side shaft holder 52B from coming off the shaft 53. Such coming off can result in disconnection of wiring between the device on the door 40 side and the device on the main housing 30 side, or damage to the wiring connections, so preventing such coming off is useful. Furthermore, this configuration can prevent or suppress distortion of the hinge 50 itself or the portion to which the hinge 50 is fixed, thereby maintaining the appearance of the control device 1. As a supplementary explanation, in this embodiment, when the door 40 is closed, upward movement of the door 40 is restricted by engagement and friction between the door 40 and the opening 31. Furthermore, when the door 40 is slightly open, the hinge 50 allows the door 40 to move upward, but the abutment of the upper end 61B prevents the door 40 from falling off.

[0034] In this embodiment, the distance G2 between the upper end 63B of the fan 63, which is part of the cooler 60, and the upper surface 30C of the interior space 30S of the main housing 30 is also smaller than the protruding length L2. As shown in FIG. 8 , in this embodiment, when the movement angle α of the door 40 in the opening direction is, for example, 30° or less, the upper end 61B and / or the upper end 63B are positioned below the upper surface 30C, thereby achieving the above-described effect. The movement angle α is the movement angle from the closed state. The effect is preferably achieved until the movement angle α is 5° or greater, more preferably until the movement angle α is 10° or greater, and even more preferably until the movement angle α is 20° or greater. In this embodiment, the upper end 61B, 63B of the cooler 60, which has a relatively large dimension in the front-to-rear direction of the main housing 30, is used, so the movement angle α at which the effect is achieved tends to be large.

[0035] It should be noted that instead of the cooler 60, the devices 41, 42 or other devices may be fixed to the inner surface 40A of the door 40, and the distance between the upper ends of these devices and the upper surface 30C may satisfy the above-mentioned condition. In this case as well, the above-mentioned effect can be achieved.

[0036] Furthermore, there are cases where the distances G1 and G2 are set to be smaller than the protruding length L1. In this case, the door-side shaft holding portions 52B of the two hinges 50 are prevented from falling off the shafts 53.

[0037] Furthermore, the gap dimensions G1, G2 may be set to be smaller than the difference between the first fitting length (protrusion length L1) and the second fitting length (protrusion length L2). This configuration is useful for reliably preventing the shaft 53 of each of the two hinges 50 from slipping out of the door-side shaft holding portion 52B.

[0038] The control device 1 of the robot 10 of the second embodiment will be described below with reference to FIG. 10 . In the first embodiment, the housing-side shaft holding portion 51B is a first shaft holding portion that holds the shaft 53 so that it protrudes upward by protrusion lengths L1 and L2, and the door-side shaft holding portion 52B is a second shaft holding portion that fits onto the shaft 53 protruding upward from the first shaft holding portion when the door 40 is attached. In contrast, in the second embodiment, the door-side shaft holding portion 52B functions as a first shaft holding portion that holds the shaft 53 so that it protrudes downward by protrusion lengths L1 and L2. Furthermore, the housing-side shaft holding portion 51B is a second shaft holding portion that fits onto the shaft 53 protruding downward from the first shaft holding portion when the door 40 is attached.

[0039] In the second embodiment, as shown in FIG. 10 , before the door 40 is attached to the main housing 30, the protruding length L2 of the shaft 53 from the lower end of the door-side shaft holding portion 52B of the upper hinge (second hinge) 50 is longer than the protruding length L1 of the shaft 53 from the lower end of the door-side shaft holding portion 52B of the lower hinge (first hinge) 50. The protruding length L2 and the protruding length L1 are the second and first fitting lengths with the housing-side shaft holding portion 51B, respectively. The other configurations are the same as those of the first embodiment, and the second embodiment can also achieve the above-described effects of the first embodiment. It is also possible to employ a configuration in which the housing-side shaft holding portion 51B functions as the first shaft holding portion in either the upper hinge 50 or the lower hinge 50, and the housing-side shaft holding portion 51B functions as the second shaft holding portion in the other hinge.

[0040] In each of the above embodiments, as shown in FIG. 11 , it is also possible to fix the ratchet gear 71 to the door 40 and attach the pawl member 72 to the main housing 30 so that it can swing about a shaft 72A extending in the vertical direction. The tip of the pawl member 72 can engage with each tooth of the ratchet gear 71, and the pawl member 72 is biased toward the ratchet gear 71 by a biasing member such as a torsion spring (not shown). The ratchet gear 71 and the pawl member 72 constitute an opening operation restriction mechanism (ratchet mechanism) that restricts movement of the door 40 in the opening direction. In this case, when opening the door 40, the operator swings the pawl member 72 away from the ratchet gear 71. Mechanisms other than a ratchet mechanism that use friction, engagement, or the like may also be used as the opening operation restriction mechanism. For example, the opening operation restriction mechanism may include a stopper that engages with the door 40 when the door 40 is opened 10 degrees from the closed state to restrict movement in the opening direction. The opening restriction mechanism prevents the door 40 from opening unintentionally. In addition, this configuration prevents the door 40 from moving in the opening direction by an increased angle α, even if the door 40 moves in the opening direction due to the release of the lock. This is useful for maintaining the upper end 61B and / or the upper end 63B positioned below the upper surface 30C.

[0041] It is possible that a plurality of small components, components other than the cooler 60, etc. are fixed to the upper surface of the cooler 60. In this embodiment, the upper surfaces of the small components or other components are also part of the upper end portion 61B of the cooler 60, and it is sufficient that the distance between the upper surfaces of the small components or other components and the upper surface 30C satisfies the above-mentioned condition.

[0042] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the present disclosure or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described embodiments, partial omissions or additions of components depending on conditions are possible without being bound by the above examples. The same applies when numerical values ​​or mathematical formulas are used to explain the above embodiments.

[0043] [Supplementary Note 1] A robot control device comprising: a main housing that houses a control board for controlling a robot; and a door that is attached to the main housing via at least a first hinge and a second hinge to close an opening of the main housing, the first hinge and the second hinge being arranged at an interval from each other in the vertical direction, each hinge having a shaft that protrudes upward or downward from a first shaft holding portion fixed to one end of the main housing and the door, and a second shaft holding portion that is fixed to the other end of the main housing and the door and fits onto the protruding shaft, and a second fitting length that is the fitting length of the second hinge is longer than a first fitting length that is the fitting length between the second shaft holding portion and the shaft of the first hinge. [Supplementary Note 2] A robot control device according to Supplementary Note 1, wherein a cooler for cooling the inside of the main housing is attached to the door, at least a portion of an upper end of the cooler protrudes into the main housing when the door is placed in a closed position that closes the opening, and a vertical gap dimension between the upper end and an upper surface of the internal space of the main housing is smaller than the second fitting length. [Supplementary Note 3] A robot control device according to Supplementary Note 1, wherein a cooler for cooling the inside of the main housing is attached to the door, at least a portion of an upper end of the cooler protrudes into the main housing when the door is placed in a closed position that closes the opening, and a vertical gap dimension between the upper end and an upper surface of the internal space of the main housing is smaller than the first fitting length. [Supplementary Note 4] The robot control device according to Supplementary Note 1, wherein a device for controlling the robot is attached to an inner surface of the door facing the internal space of the main housing, at least a part of an upper end of the device protrudes into the main housing when the door is placed at a closed position that closes the opening, and a vertical gap dimension between the upper end and an upper surface of the internal space of the main housing is smaller than the second fitting length. [Supplementary Note 5] The robot control device according to Supplementary Note 2 or 3, wherein the opening is provided on a front surface of the main housing, and a rear cooler for cooling at least a part of the control board is attached to a rear surface of the main housing.[Supplementary Note 6] The robot control device according to any one of Supplementary Notes 2 to 5, further comprising an opening operation restriction mechanism that restricts movement of the door when the door moves from the closed position in the door opening direction.

[0044] REFERENCE SIGNS LIST 1 control device 30 main housing 30C upper surface 30S internal space 40 door 41, 42 equipment 43 control board 50 hinge (first hinge, second hinge) 52B door-side shaft holding portion 53 shaft 60 cooler 61 case 61B upper end portion 63 fan 63B upper end portion

Claims

1. A robot control device comprising: a main housing containing a control board for controlling a robot; and a door attached to the main housing via at least a first hinge and a second hinge to close an opening of the main housing, the first hinge and the second hinge being spaced apart from each other in the vertical direction, each hinge having a shaft protruding upward or downward from a first shaft holding part fixed to one end of the main housing and the door, and a second shaft holding part fixed to the other end of the main housing and the door and fitting with the protruding shaft, wherein a second fitting length, which is the length of fitting between the second shaft holding part and the shaft in the first hinge, is longer than a first fitting length, which is the length of fitting between the second shaft holding part and the shaft in the first hinge.

2. A robot control device as described in claim 1, wherein a cooler for cooling the inside of the main housing is attached to the door, at least a portion of the upper end of the cooler protrudes into the main housing when the door is placed in a closed position that closes the opening, and the vertical gap dimension between the upper end and the upper surface of the internal space of the main housing is smaller than the second fitting length.

3. A robot control device as described in claim 1, wherein a cooler for cooling the inside of the main housing is attached to the door, at least a portion of the upper end of the cooler protrudes into the main housing when the door is placed in a closed position that closes the opening, and the vertical gap dimension between the upper end and the upper surface of the internal space of the main housing is smaller than the first fitting length.

4. A robot control device as described in claim 1, wherein an equipment for controlling the robot is attached to the inner surface of the door facing the internal space of the main housing, at least a portion of the upper end of the equipment protrudes into the main housing when the door is placed in a closed position closing the opening, and the vertical gap dimension between the upper end and the upper surface of the internal space of the main housing is smaller than the second fitting length.

5. A robot control device according to claim 2 or 3, wherein the opening is provided on the front surface of the main housing, and a rear cooler for cooling at least a portion of the control board is attached to the rear surface of the main housing.

6. A robot control device according to any one of claims 2 to 5, further comprising an opening operation restriction mechanism that restricts the movement of the door when the door moves from the closed position in the door opening direction.

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