Six-axis Robot Motor Driver PCB Layout
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Solution Overview
Problem
Existing six-axis articulated robots have limited space for printed circuit boards in their motor drivers due to circular configurations that face the actuators, restricting the area available for motor driver circuits.
Innovation Solution
The proposed solution involves placing one or more printed circuit boards with circuits for driving three or more motors in specific extending parts of the robot's housing, such as between motors driving the second and third axes, or between the third and fourth axes, allowing for a larger area for the motor driver circuits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If control boards are placed circularly facing the actuator, then the robot configuration is compact, but the printed circuit board area is restricted
Solution Approach 1:
The patent transitions from a two-dimensional circular arrangement of control boards facing the actuator to a three-dimensional configuration where boards are placed in extending parts of the housing. This spatial reconfiguration allows the printed circuit boards to utilize previously unused volume space, significantly increasing the available board area while maintaining a compact overall robot structure.
Solution Approach 2:
The patent divides the housing into multiple functional zones: the actuator mounting area and separate extending parts for control boards. This segmentation allows independent optimization of each zone - the actuator area maintains its compact circular arrangement while the extending parts provide expanded space for larger printed circuit boards, resolving the space conflict.
2Reliability
If control boards are placed close to actuators, then heat conduction increases, but the rated current decreases
Solution Approach 1:
The patent extracts the control boards from the immediate vicinity of the actuators and relocates them to separate extending parts of the housing. This physical separation removes the harmful thermal influence from the motor drivers, preventing heat conduction from the actuators while maintaining reliable motor control functionality.
Data Source
AI summary
A six-axis articulated robot includes six motors for driving six axes, respectively, of the 6-axis articulated robot; and a motor driving device having one or more printed circuit boards on which a circuit for driving three or more of the six motors is mounted, the motor driving device being disposed in, in a housing constituting the six-axis articulated robot and as viewed from the base side of the six-axis articulated robot, at least one of the inside of a first extending portion between the motor for driving a second axis and the motor for driving a third axis, and the inside of a second extending portion between the motor for driving the third axis and the motor for driving a fourth axis.