JP2012206240A - Robot controller - Google Patents

Abstract

A robot controller capable of reducing the size of a robot controller while suppressing an increase in the types of heat sinks used for cooling power devices.
A robot controller that controls movement of a robot having a plurality of AC motors by driving each of the plurality of AC motors, and converts a DC voltage into a multi-phase AC voltage and outputs the converted voltage to the AC motor. Power devices 43B and 43F, and a plurality of motor driver boards 40 on which the power devices 43B and 43F are mounted. Each of the plurality of motor driver boards 40 is attached to one heat sink 44 and one heat sink 44. Two power devices 43B and 43F are provided.
[Selection] Figure 3

Description

  The present invention relates to a robot controller that controls the movement of a robot, and more particularly to a robot controller that includes a motor driver board that outputs a polyphase AC voltage to an AC motor that the robot has.

  Conventionally, as described in Patent Document 1, a motor driver board that generates a multi-phase AC voltage and outputs the multi-phase AC voltage to the AC motor is mounted in each housing of the robot controller. ing. In a power device such as an IPM mounted on such a motor driver board, normally, a power loss at the time of reverse recovery of the circulating diode and a switching loss in the switching element are released as heat. Therefore, a heat sink for cooling the power device is mounted on the motor driver board as described above together with the power device.

JP 2007-175856 A

  By the way, the number of power devices required by the robot controller is equal to the number of AC motors mounted on the robot, and the number of heat sinks for cooling the power devices is also equal to the number of AC motors. On the other hand, the amount of heat generated in each of the plurality of power devices differs depending on the magnitude of the multiphase AC voltage output from the power device, for example, the capacity of the AC motor to be driven. FIG. 6 is a perspective view illustrating the structure of the robot that is the control target of the robot controller, and is a diagram for explaining the relationship between the amount of heat generated in the power device and the position of the joint moved by the power device.

  As shown in FIG. 6, when the robot R to be controlled is a 4-axis horizontal articulated robot R, the first motor M1 that rotates the first arm 52 relative to the base 51 is usually a robot. The largest capacity of the four AC motors mounted on R is required. And the capacity | capacitance of an alternating current motor becomes small, so that the rotation object is near the hand of the robot R. That is, in the second motor M2 that rotates the second arm 53 relative to the first arm 52, the third motor M3 that moves the lifting shaft 54 up and down relative to the second arm 53, and the fourth motor M4 that drives the end effector 55 A large capacity is required in this order. Therefore, among the four power devices, the power device D1 that drives the first motor M1 generates the largest amount of heat, the power device D2 that drives the second motor M2, the power device D3 that drives the third motor M3, In the power device D4 that drives the four motor M4, the heat generation amount increases in this order.

  At this time, the heat sink 61 for cooling the power device needs to have a cooling capacity corresponding to the amount of heat generated by the power device. 62 will be increased in size. However, if different heat sinks 61 are attached to each power device, the number of processes and an increase in wrong assembly are inevitably increased in the manufacturing process of the robot controller. In addition, since the amount of heat generated in the power device varies greatly depending on the type of robot, if different heat sinks 61 are mounted for each power device, different types of robots can be driven by a common motor driver board. It becomes difficult.

  Therefore, in the robot controller described above, after all, the heat sink 61 having the same cooling capacity is mounted on each of the power devices D1 to D4 to be driven. And it is still unsolvable to reduce the size of the motor driver board and hence the robot controller.

  The present invention has been made to solve the above-described problem, and an object of the present invention is to reduce the size of the robot controller while suppressing an increase in the types of heat sinks used for cooling power devices. To provide a controller.

  The present invention includes a plurality of power devices that convert a DC voltage into a multi-phase AC voltage, and each of the plurality of power devices outputs a multi-phase AC voltage to an AC motor corresponding to the power device. The gist is a robot controller to be driven, wherein one heat sink is attached to N (N is an integer of 2 or more) power devices.

  According to the present invention, N power devices are cooled by one heat sink. Thus, even when the heat generation amounts of the N power devices are different from each other, the cooling capacity of one heat sink is distributed to a power device having a large heat generation amount and a power device having a small heat generation amount. With such a configuration, although the cooling capacity of the heat sink attached to one power device exceeds the cooling capacity corresponding to the amount of heat generated by the power device, the surplus that does not function for cooling the power device. This cooling capacity will function for cooling other power devices.

  Therefore, when cooling the N power devices, it is possible to reduce the size of the heat sink by reducing the excess cooling capacity in the heat sink, and thus to reduce the size of the robot controller. In addition, since it is possible to cool N power devices with different calorific values with one type of heat sink, it is possible to suppress an increase in the types of heat sinks within and between robot controllers. Become.

  In the present invention, a motor driver board on which the N power devices are mounted is provided, and the motor driver board includes one power input connector to which the DC voltage is input, each of the N power devices, and the The power supply input connector is connected to each of the N power supply wires for each power device, and the lengths of the N power supply wires are different from each other.

  The amount of heat generated by the power supply wiring for supplying a DC voltage to the power device differs depending on the magnitude of the multiphase AC voltage output from the power device. For example, in a power supply wiring for an AC motor having a larger capacity than other AC motors, the amount of heat generated in the power supply wiring is likely to be larger than that of other power supply wirings as the amount of current flowing through the power supply wiring increases. On the other hand, in the power supply wiring for an AC motor having a smaller capacity than other AC motors, the amount of heat generated in the power supply wiring is likely to be smaller than the other power supply wiring because the amount of current flowing through the power supply wiring is reduced.

  On the other hand, the amount of heat generated in such a power supply wiring differs depending on the length of the power supply wiring as well as the capacity of the AC motor. For example, in a power supply wiring longer than other power supply wirings, the amount of heat generated in the power supply wiring is likely to be larger than that in other power supply wirings because the wiring resistance of the power supply wiring increases. On the other hand, in the power supply wiring shorter than the other power supply wiring, the amount of heat generated by the power supply wiring is likely to be reduced as the wiring resistance of the power supply wiring is reduced.

  According to the present invention, since the lengths of the N power supply lines are different from each other, it is possible to change the combination of the drive target of the power device and the length of the power supply lines. It is possible to combine an AC motor having a larger capacity than other AC motors and a power supply wiring shorter than other power supply wirings. According to such a configuration, since the amount of current flowing in the power supply wiring is large in the power supply wiring for the AC motor having a larger capacity than other AC motors, the amount of heat generated in the power supply wiring is larger than that in the other power supply wiring. However, such an increase in the amount of generated heat can be suppressed by making the power supply wiring shorter than other power supply wirings.

  At this time, in the power supply wiring for an AC motor having a smaller capacity than other AC motors, the length of the power supply wiring is large, so that the heat generation amount of the power supply wiring tends to be larger than that of the other power supply wiring. However, such an increase in the amount of heat generation can be suppressed by the small amount of current flowing through the power supply wiring. Therefore, it is possible to equalize the amount of heat generated in the N power supply wirings of the motor driver board, and to suppress thermal distortion of the motor driver board.

  In this invention, the N power devices are arranged in an arrangement direction which is one direction, and the position of the power input connector in the arrangement direction is one side of the arrangement direction from the center of the row of the power devices. The gist is that it is biased to.

  According to the present invention, the N power devices are arranged in the arrangement direction, and the power input connector that supplies a DC voltage to each power device is biased to one side in the arrangement direction with respect to the row of power devices. In such a configuration, since the distance between each of the N power devices and the power input connector is different from each other, the length of the N power wirings connecting each of the N power devices and the power input connector. It becomes easy to make things different from each other.

  In this invention, the N power devices are arranged in an arrangement direction which is one direction, the heat sink covers the entire row of the power devices, and the position of the heat sink in the arrangement direction is determined by the power device. The gist is that it is biased to one side of the arrangement direction from the center of the row.

  According to the present invention, N power devices are arranged in the arrangement direction, and one heat sink for cooling the N power devices is biased to one side in the arrangement direction with respect to the row of power devices. Therefore, in each of the two power devices arranged at both ends in the arrangement direction, the cooling regions of the heat sinks are different from each other outside the arrangement direction of the power devices. With such a configuration, it is possible to change the combination of the power device drive target and the size of the cooling region in the two power devices arranged at both ends in the arrangement direction. For example, by assigning an AC motor having a large capacity to a power device having a large cooling region among two power devices arranged at both ends in the arrangement direction, the power device can be cooled with a high cooling capacity. In this way, it is possible to assign power devices having different calorific values to the positions of the cooling capacity corresponding to them, and to reduce the excess cooling capacity in the heat sink.

  In the present invention, the motor driver board includes one signal input connector for inputting a control signal for outputting the polyphase AC voltage to each of the N power devices, and the signal input connector and the N number of signal input connectors. The main point is that these power devices face each other.

  According to the present invention, all of the N power devices face each other with the signal input connector to which the N power devices are connected. With such a configuration, the difference between the power devices can be reduced with respect to the distance between the power device and the signal input connector. Therefore, it becomes easy to reduce the difference between the power devices with respect to the length of the signal wiring connecting the power device and the signal input connector. As a result, it is possible to suppress a difference in signal transmission time that may be caused by a large difference in signal wiring length between power devices.

  The present invention includes a power supply circuit board that converts an external AC voltage into the DC voltage and outputs the DC voltage, and a control circuit board that outputs the control signal to the motor driver board. The power supply circuit board, the control circuit board, Are arranged next to each other on the bottom surface of the housing, and the motor driver board is installed on the power circuit board and the control circuit board in a state where the motor driver board is erected with respect to the power circuit board and the control circuit board. It is a summary.

  According to the present invention, the DC voltage input to the motor driver board is generated by the power supply circuit board, and the control signal input to the motor driver board is generated by the control circuit board. In the process of generating the control signal for controlling the polyphase AC voltage, high-speed calculation based on the rotational position of the motor is required. Therefore, in the control circuit board that generates such a control signal, the board structure is naturally multilayer. Become a structure. On the other hand, a power supply circuit board that converts an output voltage of an alternating voltage into a direct current voltage does not require the high-speed calculation as described above, and therefore, a multilayer structure is not required for such a power supply circuit board.

  In this regard, with the above-described configuration, the control circuit board and the power circuit board having different functions are configured separately, so that a laminated structure according to each request can be adopted in each circuit board. become. When the control circuit board and the power supply circuit board are configured as one circuit board, the circuit board needs to be multi-layered or complicated in order to satisfy these different requirements. According to the above-described configuration, it is possible to simplify the laminated structure of the circuit boards disposed in the housing.

  In this invention, the motor driver board includes an AC voltage output connector for outputting the multiphase AC voltage to the AC motor for each power device, and corresponds to the AC voltage output connector and the AC voltage output connector. The gist is that the power devices face each other.

  According to the present invention, each of the N power devices faces the AC voltage output connector to which the power device is connected. Therefore, it is possible to reduce the difference between the power devices with respect to the distance between the AC voltage output connector and the power device as compared with the configuration in which the AC voltage output connector and the power device do not face each other. As a result, the difference between the power devices becomes larger with respect to the length of the N output wirings connecting the AC voltage output connector and the power device, and the heat generation amount in the output wiring is greatly different between the power devices. It is also possible to suppress this.

The perspective view which shows the perspective structure of the robot controller in one Embodiment of this invention. The perspective view which shows centering on the supply system of a power supply about the internal structure of a robot controller. The perspective view which similarly shows the arrangement | positioning of the motor driver board | substrate with respect to a control circuit board and a power supply circuit board about the internal structure of a robot controller. The top view which shows the planar structure of the motor driver board | substrate which a robot controller has similarly. The side view which shows the side structure of the motor driver board | substrate which a robot controller has similarly. The figure for demonstrating the relationship between the emitted-heat amount of the power device mounted in the robot controller in a prior art example, and the position of the joint moved by this power device.

  Hereinafter, an embodiment embodying a robot controller of the present invention will be described with reference to FIGS. Note that the control target of the robot controller in the present embodiment is the robot described with reference to FIG. 6 and a horizontal articulated robot on which four AC motors M1 to M4 are mounted. Therefore, in the following, regarding the control target of the robot controller, the same reference numerals as those of the robot R described above are given, and the redundant description is omitted.

[External structure of robot controller]
First, the external structure of the robot controller will be described with reference to FIG. As shown in FIG. 1, an external power connector 2 is disposed at the right end of the front panel 1 </ b> F on the front panel 1 </ b> F of the housing 1 formed in a rectangular parallelepiped shape extending in the horizontal direction. The external power connector 2 is connected to an external power plug of the facility where the robot controller is installed, and supplies an external AC voltage of 200 V supplied from the external power plug to the inside of the housing 1. On the front panel 1F, an operation lever 3a of the circuit protector 3 is disposed above the external power supply connector 2. The operation lever 3a of the circuit protector 3 is connected to the external power connector 2 inside the housing 1, and forcibly supplies and shuts off the robot controller with respect to the 200V AC voltage supplied by the external power plug. Switch.

  On the other hand, a rectangular multiphase AC voltage connector 4 extending in the vertical direction is fitted into the left end of the front panel 1F. In the polyphase AC voltage connector 4, each of a plurality of connection terminals connected to the four AC motors M1 to M4 is arranged in the vertical direction. The multiphase AC voltage connector 4 is connected to each of the four AC motors M1 to M4 described above, and outputs a multiphase AC voltage to each of the four AC motors M1 to M4.

  Three ports for external communication extending in the left-right direction are fitted in a portion occupying the left half of the front panel 1F in the lower end portion of the front panel 1F. Each of the position detector port 11, the emergency stop port 12, and the TP port 13 constituting the three ports is arranged in this order from the left end of the front panel 1F along the lower side of the front panel 1F. The connection terminals are arranged in the left-right direction.

  The position detector port 11 is connected to four rotation angle sensors such as a resolver and an encoder that detect the rotation positions of the four AC motors M1 to M4, and the rotation angle sensor is connected to each of the four rotation angle sensors. A position detection signal indicating the detected position is input. The emergency stop port 12 is connected to a device that detects whether the environment in which the robot controller is installed is an emergency, such as an emergency stop circuit or a safety door circuit provided outside the robot controller. Emergency stop signal is input. The TP port 13 is connected to a teaching pendant which is one of peripheral devices of the robot controller, and data used for teaching the robot R is input from the teaching pendant.

  Of the lower end portion of the front panel 1F, on the right side of the TP port 13, the first USB port 14 and the second USB port 15, which are two ports for serial communication, and the LAN port 16 are on the right end portion. It is inserted in this order.

  The first USB port 14 is connected to an external computer, which is one of the peripheral devices of the robot controller, via the USB. For example, in response to a request from the external computer, the I / O state of the robot controller, etc. A signal indicating the processing state is output. The second USB port 15 is connected to, for example, a USB memory, and outputs a log stored in the robot controller to the USB memory. The LAN port 16 is connected to, for example, a network of equipment in which the robot controller is installed via Ethernet (registered trademark), for example, in response to a request from an external computer connected to the network, this is also processed by the robot controller. A signal indicating the state of is output. A trigger switch 15a is disposed between the second USB port 15 and the LAN port 16 in the lower end portion of the front panel 1F. The trigger switch 15a allows log output from the second USB port 15 each time the trigger switch 15a is pressed.

  An I / O port 17 that handles input and output of various digital signals is fitted into the right end portion of the lower end portion of the front panel 1F. The I / O port 17 is a connector having the largest width in the left-right direction and the width in the front-rear direction among the connectors disposed on the front panel 1F. The I / O port 17 is connected to peripheral devices required for moving the robot and peripheral devices driven in accordance with the movement of the robot, such as a camera for imaging the movement of the robot and a sensor for detecting the position of the robot. Has been. The I / O port 17 receives a signal indicating the state of the robot itself and the state around the robot from the peripheral device, and outputs a signal indicating the movement of the robot to the peripheral device.

  A sequencer port 18 is fitted into the front panel 1F above the TP port 13, and a cooling fan F is replaceably mounted above the sequencer port 18. The sequencer port 18 is connected to the sequencer via, for example, RS-232C, and a control signal for moving the robot is input from the sequencer. The cooling fan F is a fan that blows outside air from the outside of the housing 1 toward the inside of the housing 1, and is included in the outside air between the outer case of the cooling fan F and the front panel 1 F. An outside air filter Fa for catching dust and dust is sandwiched in a replaceable manner.

  A slot hole, which is a rectangular hole extending in the vertical direction, is formed above the LAN port 16 in the front panel 1F, and an extension panel 1P having a rectangular plate shape is fitted into the slot hole. In addition, two expansion I / O ports 19 are arranged in the left-right direction on the expansion panel 1P. Each of the two expansion I / O ports 19 includes peripheral devices and robot movements required to move the robot, such as a camera that captures a workpiece that is a work target of the robot and a sensor that detects the position of the workpiece. Connected to a peripheral device driven by The expansion I / O port 19 receives a signal indicating the state of the robot itself and the state around the robot from the peripheral device, and outputs a signal indicating the movement of the robot to the peripheral device.

As described above, the front panel 1F of the robot controller is provided with all the interfaces necessary for the following work performed without opening the inside of the housing 1.
・ Turn on and off the power to the robot controller.
-Connection and disconnection between the robot controller and the robot R to be controlled.
-Connection and disconnection between the robot controller and its peripheral devices.
・ Maintenance and inspection of cooling fan F and outside air filter Fa.

[Internal structure of robot controller]
Next, the internal structure of the robot controller will be described with reference to FIGS. In FIG. 2, for convenience of explaining the internal structure of the robot controller, the above-described front panel 1F, back panel, and top panel are omitted from the housing 1 of the robot controller, and further disposed on the front panel 1F. The multiphase AC voltage connector 4 and the cooling fan F are omitted. For convenience of describing the functions and arrangement of the circuit boards, a cable connecting the circuit boards, a cable connecting the circuit boards and the electronic components, and a cable connecting the electronic components are omitted.

  As shown in FIG. 2, the right panel 1R of the housing 1 is provided with a power supply system that is connected to the circuit protector 3 and converts a 200V AC voltage into a DC voltage and outputs the DC voltage. A main power circuit board 20 and a control circuit board 30 as power circuit boards are separately arranged on the bottom panel 1B of the housing 1, and two motor drivers are provided on the left panel 1L of the housing 1. A substrate 40 is disposed.

  A noise filter NF is fixed at the upper center of the right panel 1R of the housing 1. The noise filter NF is connected to the circuit protector 3 via an input cable, and is connected to the main power circuit board 20 via an output cable. When an AC voltage of 200 V is input from the circuit protector 3 to the noise filter NF, the noise filter NF removes noise from the AC voltage and outputs the AC voltage from which the noise has been removed to the main power circuit board 20. To do.

  The main power supply circuit board 20 is a rectangular plate-like printed circuit board fixed to the back side of the bottom panel 1B, and is sized to occupy most of the back side of the bottom panel 1B. The main power circuit board 20 has a rigid board in which two layers of printed boards parallel to the bottom panel 1B are laminated. On the upper face of the rigid board, an AC voltage of 200V is applied to a DC voltage of 280V as a driving voltage. Various electronic components for conversion into the above are mounted. The main power supply circuit board 20 is connected to the noise filter NF via an input cable, and is separately provided to the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit board PS3 via the output cable. It is connected. The main power supply circuit board 20 is connected to the motor driver board 40 via an AC voltage output connector. When an AC voltage is input from the noise filter NF to the main power supply circuit board 20, the main power supply circuit board 20 converts the AC voltage into the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit. Distribute to substrate PS3. Further, the main power supply circuit board 20 converts the AC voltage input from the noise filter NF into a drive voltage that is a DC voltage of 280 V, and outputs the drive voltage to the motor driver board 40.

  The first power supply circuit board PS1 is a rectangular plate-like circuit board fixed on the upper rear side of the right panel 1R, on which various electronic components for converting a 200V AC voltage to a 15V DC voltage are mounted. Mounting board. The first power supply circuit board PS1 is connected to the main power supply circuit board 20 via an input cable, and is connected to the main power supply circuit board 20 via an output cable. When the AC voltage is distributed from the main power supply circuit board 20 to the first power supply circuit board PS1, the first power supply circuit board PS1 converts the AC voltage into a DC voltage of 15V, and the converted DC voltage is converted into the AC voltage. Output to the main power circuit board 20.

  The second power supply circuit board PS2 is a rectangular plate-like circuit board fixed below the back side of the right panel 1R, and mounted with various electronic components for converting 200V AC voltage to 5V DC voltage. Mounting board. The second power supply circuit board PS2 is connected to the main power supply circuit board 20 via an input cable, and is connected to the control circuit board 30 via an output cable. Then, when the AC voltage is distributed from the main power supply circuit board 20 to the second power supply circuit board PS2, the second power supply circuit board PS2 converts the AC voltage into a DC voltage of 5V, and the converted DC voltage Output to the control circuit board 30.

  The third power supply circuit board PS3 is a rectangular plate-like circuit board fixed to the right side of the main power supply circuit board 20 in the bottom panel 1B, and various types for converting 200V AC voltage into 24V DC voltage. This is a mounting board on which the electronic components are mounted. The second power supply circuit board PS2 is connected to the main power supply circuit board 20 via an input cable, and is connected to the control circuit board 30 via an output cable. When the AC voltage is distributed from the main power supply circuit board 20 to the third power supply circuit board PS3, the third power supply circuit board PS3 converts the AC voltage into a DC voltage of 24V, and the converted DC voltage is converted into the DC voltage. Output to the control circuit board 30.

  The control circuit board 30 is a rectangular plate-like printed circuit board fixed to the front side of the bottom panel 1B, and is sized to occupy the entire front side of the bottom panel 1B. The control circuit board 30 has a rigid board in which six layers of printed boards parallel to the bottom panel 1B are laminated, and a control signal for controlling the output voltage of the motor driver board 40 is provided on the upper surface of the rigid board. Are mounted with various electronic components for generating the signal based on the detection signal input from the rotation angle sensor. The control circuit board 30 is connected to each connector arranged at the lower end of the front panel 1F, and detection signals and commands from external devices and peripheral devices are input through the connectors.

  More specifically, the position detector port 11 is connected to the control circuit board 30, and detection signals from each of the four rotation angle sensors are input to the control circuit board 30 via the position detector port 11. The The emergency stop port 12 is connected to the control circuit board 30, and an emergency stop command from an external device or peripheral device is input to the control circuit board 30 via the emergency stop port 12. Further, the TP port 13 is connected to the control circuit board 30, and a teaching command from the teaching pendant is input to the control circuit board 30 via the TP port 13.

  Further, the first USB port 14 is connected to the control circuit board 30, and commands and data from an external computer are input to the control circuit board 30 via the first USB port 14. Further, the second USB port 15 is connected to the control circuit board 30, and a signal indicating a processing state in the robot controller is output from the control circuit board 30 in accordance with an input signal from the trigger switch 15a. Further, the LAN port 16 is connected to the control circuit board 30, and a signal indicating a processing state in the robot controller is output from the control circuit board 30 via the LAN port 16 and a network connected to the LAN port 16. Is done. The control circuit board 30 is connected to the I / O port 17, and commands and detection signals from peripheral devices are input to the control circuit board 30 through the I / O port 17. In addition, commands to peripheral devices and calculation results are output from the control circuit board 30 via the I / O port 17.

  A CPU board 31 on which a CPU is mounted is stacked on the back side of the upper surface of the control circuit board 30 so as to face the cooling fan F described above in the front-rear direction. The CPU board 31 interprets and executes a teaching program for teaching the teaching position to the robot R, and interprets and executes a program for moving the robot R to a predetermined working position. At this time, the CPU board 31 first uses the teaching position input from the teaching pendant, the preset work position, and the detection result input from each rotation angle sensor to move the robot R to the teaching position or the work position. A trajectory for generating the position of the robot R is generated. Subsequently, the control circuit board 30 calculates the drive amount of the AC motor for moving the robot R to the position indicated by the position command, and generates a voltage command for each phase according to the calculated drive amount. Next, the CPU board 31 outputs a pulse signal corresponding to the generated voltage command as a control signal by a modulation method such as PWM. Then, every time a detection result is input from the rotation angle sensor, the CPU board 31 generates such a trajectory, calculates a driving amount according to the trajectory, and outputs a control signal according to the driving amount.

  On the front side of the upper surface of the control circuit board 30, communication interface boards 32 are stacked. The sequencer port 18 is connected to the communication interface board 32, and a control signal for moving the robot is input from the sequencer.

  Three expansion connectors 33 extending in the front-rear direction are arranged on the right side of the CPU board 31 on the upper surface of the control circuit board 30. In each of the three expansion connectors 33, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. When the pin of the expansion circuit board on which the expansion I / O port 19 is mounted is fitted into the expansion connector, a signal indicating the state around the robot is input to the control circuit board 30 via the expansion circuit board. A signal indicating the movement of the robot is output from the control circuit board 30 via the extension circuit board. In addition, a memory connector 35 to which a card type storage medium 34 is attached is disposed on the right end portion on the back side of the upper surface of the control circuit board 30. The card-type storage medium 34 is required for the robot controller to move the robot R, such as the length of the arm of the robot R and the reduction ratio of the speed reducer that connects the drive shaft of the robot R and the AC motor. Various data are stored. The CPU board 31 reads various data stored in the card-type storage medium 34, and executes the above-described generation of the trajectory with reference to the data.

[Connection structure between circuit boards]
Next, the structure of the motor driver board 40 and the connection structure between the motor driver board 40 and the main power circuit board 20 and the control circuit board 30 will be described with reference to FIG.

  As shown in FIG. 3, a drive voltage output connector 21 extending in the front-rear direction is disposed at the left end portion on the front side of the upper surface of the main power circuit board 20. On the upper surface of the drive voltage output connector 21, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. The generated drive voltage and the 15V DC voltage generated by the first power supply circuit board PS1 are output.

  A control signal output connector 36 that also extends in the front-rear direction is disposed on the front end side of the drive voltage output connector 21 on the left end portion on the back side of the upper surface of the control circuit board 30. A plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward on the upper surface of the control signal output connector 36, and are generated by the control circuit board 30 from the control signal output connector 36. The controlled signal is output.

  Each of the two motor driver boards 40 is erected on the main power supply circuit board 20 and the control circuit board 30 in a state where it stands on the main power supply circuit board 20 and the control circuit board 30. The two motor driver boards 40 are formed in a rectangular plate shape extending in the front-rear direction, which is the blowing direction of the cooling fan F, and face each other in the left-right direction and are arranged in parallel to each other. The two motor driver boards 40 are different from each other in the left-right direction and the AC motors to be driven are different from each other in the left-right direction, and the configurations of electronic components mounted on the two motor driver boards 40 are the same. . Therefore, in the following, the motor driver board 40 arranged on the right side of the two motor driver boards 40 will be described, and the motor driver board 40 arranged on the left side will be described with reference to the motor driver board 40 arranged on the right side. Only different points will be described.

[Motor driver board 40]
The motor driver board 40 is a rectangular printed circuit board whose three sides are supported by three support plates 1S extending to the right side from the left panel 1L of the housing 1, and occupies approximately half of the left panel 1L. Is formed. The motor driver board 40 has a rigid board in which four layers of printed boards parallel to the left panel 1L are laminated, and various types for converting the drive voltage output from the main power circuit board 20 into a multiphase AC voltage. The electronic parts are mounted.

  On the bottom side of the motor driver board 40, a driving power input connector 41 extending in the front-rear direction and a control signal input connector 42 extending in the front-rear direction are arranged side by side in the front-rear direction. The drive power input connector 41 has a pin that is fitted into the pin fitting hole of the drive voltage output connector 21, and is fitted into the drive power input connector 41, so that the drive voltage that is the output voltage of the main power circuit board 20 is A DC voltage of 15 V is input to the motor driver board 40. The control signal input connector 42 has a pin that fits into the pin fitting hole of the control signal output connector 36, and the control signal input connector 42 receives the control signal from the control circuit board 30 by being fitted into the control signal input connector 42. To enter. The drive power input connector 41 receives two systems of drive voltages from the main power circuit board 20 and receives two systems of 15V DC voltage from the main power circuit board 20. The control signal input connector 42 receives two systems of control signals for driving two different AC motors.

  Two power devices 43B and 43F for converting a drive voltage input from the drive power input connector 41 into a polyphase AC voltage are arranged in the front-rear direction at a substantially center in the vertical direction on the right side surface of the motor driver board 40. It is arranged by. Further, the first power device 43B and the second power device are covered so that the right side which is the outer surface of the first power device 43B and the right side which is the outer surface of the second power device 43F are entirely covered. One heat sink 44 for cooling 43F is fixed.

  On the upper side of the motor driver board 40, two AC voltage output connectors 45B and 45F extending in the front-rear direction are arranged side by side in the front-rear direction. On the upper surface of the first AC voltage output connector 45B, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. The first AC voltage output connector 45B is connected to the output terminal of the first power device 43B inside the motor driver board 40, and the first AC voltage output connector 45B generates a multiplicity of signals generated by the first power device 43B. Phase alternating voltage is output. On the other hand, on the upper surface of the second AC voltage output connector 45F, a plurality of pin fitting holes into which pins are fitted are arranged in the front-rear direction so as to open upward. The second AC voltage output connector 45F is connected to the output terminal of the second power device 43F inside the motor driver board 40, and the second AC voltage output connector 45F is connected to the output terminal of the second power device 43F. Phase alternating voltage is output.

  The AC voltage output connectors 45B and 45F are connected to the multi-phase AC voltage connector 4 through output cables, and the multi-phase AC voltages generated by the power devices 43B and 43F are connected to the multi-phase AC voltage connector. 4 to the AC motors M1 to M4.

[Internal wiring structure of motor driver board 40]
FIG. 4 is a side view showing the side structure of the motor driver board 40 as viewed from the left side, and shows the structure of the wiring connecting the two power devices 43B, 43F and the connectors 41, 42, 45B, 45F. It is. In FIG. 4, for the wiring connecting the two power devices 43B and 43F and the respective connectors 41, 42, 45B and 45F, the number of wirings and the wiring shape are simplified for the sake of convenience in describing the lengths. Show. Incidentally, the horizontal direction in FIG. 4 is the front-rear direction in FIG. 3, and the right side and the left side in FIG. 4 are the back side and the front side in FIG. 3, respectively.

  As shown in FIG. 4, the two power devices 43B and 43F are arranged side by side in the front-rear direction. The drive power input connector 41 is disposed at the rear side end of the lower side of the motor driver board 40 and is biased toward the back side with respect to the row of the two power devices 43B and 43F.

  One of the two systems of drive voltages input to the drive power input connector 41 is input to the first power device 43B via the first power supply wiring 47B. The first power wiring 47B is a printed wiring built in the motor driver board 40, and includes a wiring portion extending from the driving power input connector 41 to the top surface side and a wiring portion extending from the first power device 43B to the back surface side. It is configured.

  In addition, one of the two systems of 15V DC voltage input to the drive power input connector 41 is input to the first power device 43B via a wiring (not shown) along the first power supply wiring 47B. The first power device 43B is driven by a 15 V DC voltage output from the main power supply circuit board 20. The first power device 43B is packaged with a step-up / step-down converter for stepping up / down a drive voltage input from the first power supply wiring 47B, and a drive voltage of 280V input from the main power supply circuit board 20 is supplied to the AC motor. The voltage is boosted to a voltage suitable for driving.

  On the other hand, the other of the two systems of driving voltages input to the driving power input connector 41 is input to the second power device 43F via the second power wiring 47F. The second power supply wiring 47F is a printed wiring built in the motor driver board 40, and extends from the drive power input connector 41 to the top surface side, and from the second power device 43F to the back side of the first power device 43B. And a wiring portion extending up to. Note that the length of the second power supply wiring 47F is longer than that of the first power supply wiring 47B because the second power device 43F is further away from the drive power input connector 41 than the first power device 43B.

  Also, one of the two systems of 15V DC voltage input to the drive power input connector 41 is input to the second power device 43F via a wiring (not shown) along the second power supply wiring 47F. The second power device 43F is driven by a 15 V DC voltage output from the main power supply circuit board 20. This second power device 43F is packaged with a step-up / step-down converter that also steps up / down the drive voltage input from the second power supply wiring 47F, and a drive voltage of 280V input from the main power supply circuit board 20 is packaged. The voltage is increased to a voltage suitable for driving an AC motor.

  Here, the calorific values of the two power supply wires 47B and 47F differ from each other depending on the magnitude of the multiphase AC voltage output from the two power devices 43B and 43F. For example, the first motor M1 having a larger capacity than other AC motors is driven by the first power device 43B, and the fourth motor M4 having a smaller capacity than other AC motors is driven by the second power device 43F. Shall be. At this time, in the first power supply wiring 47B, the amount of current flowing through the first power supply wiring 47B is larger than that in the second power supply wiring 47F, and the amount of heat generated here is likely to be larger than that in the second power supply wiring 47F. On the other hand, in the second power supply line 47F, the amount of current flowing therethrough is smaller than that of the first power supply line 47B, and the amount of heat generated here is likely to be smaller than that of the first power supply line 47B.

  On the other hand, the amount of heat generated in the two power supply lines 47B and 47F differs depending on the length of the power supply lines 47B and 47F in addition to the capacity of the AC motors M1 and M4. For example, in the second power supply wiring 47F that is longer than the first power supply wiring 47B, the amount of heat generated here is likely to be larger than that of the first power supply wiring 47B because the wiring resistance thereof is larger than that of the first power supply wiring 47B. On the other hand, in the first power supply wiring 47B shorter than the second power supply wiring 47F, the amount of heat generated here is likely to be smaller than that of the second power supply wiring 47F because the wiring resistance thereof is reduced.

  In this regard, according to the configuration described above, since the amount of current flowing through the first power supply wiring 47B is larger than that of the second power supply wiring 47F, the amount of heat generated by the first power supply wiring 47B tends to be larger than that of the second power supply wiring 47F. However, such an increase in the amount of generated heat can be suppressed by the fact that the first power supply wiring 47B is shorter than the second power supply wiring 47F. In contrast, since the second power supply wiring 47F is longer than the first power supply wiring 47B, the heat generation amount of the first power supply wiring 47B tends to be larger than the other power supply wirings. This is suppressed by the small amount of current flowing through the second power supply wiring 47F. Therefore, it is possible to equalize the amount of heat generated in the power supply wirings 47B and 47F of the motor driver board 40, and to suppress thermal distortion of the motor driver board 40.

  In the configuration described above, the two power devices 43B and 43F are arranged in the front-rear direction, and the position of the drive power input connector 41 in the front-rear direction is biased toward the back side from the center of the two power devices 43B and 43F. . Therefore, the distance between the drive power input connector 41 and the first power device 43B is naturally smaller than the distance between the drive power input connector 41 and the second power device 43F. And according to such a structure, it becomes easy to make the 1st power supply wiring 47B shorter than the 2nd power supply wiring 47F.

  The control signal input connector 42 is disposed on the front side of the lower side of the motor driver board 40 and is disposed so as to face the first power device 43B and the second power device 43F.

  Of the two control signals input to the control signal input connector 42, the control signal corresponding to the first motor M1 is input to the first power device 43B via the first signal wiring 46B. The first power device 43B is packaged with an inverter circuit composed of a plurality of switching elements that are on / off controlled by this control signal. In the first power device 43B, the switching element is ON / OFF controlled by the control signal input from the control circuit board 30, and thereby the voltage boosted by the buck-boost converter is, for example, 3 as the multiphase AC voltage. Converted to phase AC voltage.

  Of the two control signals input to the control signal input connector 42, the control signal corresponding to the fourth motor M4 is input to the second power device 43F via the second signal wiring 46F. The second power device 43F is packaged with an inverter circuit composed of a plurality of switching elements that are on / off controlled by this control signal. In the second power device 43F, the switching element is ON / OFF controlled by the control signal input from the control circuit board 30, and thereby the voltage boosted by the buck-boost converter is, for example, 3 as the multiphase AC voltage. Converted to phase AC voltage.

  As described above, since the control signal input connector 42 faces the two power devices 43B and 43F that are the connection targets, the distance between each of the two power devices 43B and 43F and the control signal input connector 42 is determined. It is possible to reduce the difference between power devices. Therefore, it becomes easy to reduce the difference between the power devices with respect to the lengths of the signal wirings 46B and 46F. As a result, it is possible to suppress the difference in signal transmission time that can be caused by the lengths of the signal wirings 46B and 46F being greatly different between the power devices.

  The first AC voltage output connector 45B is disposed on the back side of the upper side of the motor driver board 40, and is disposed so as to face the first power device 43B, which is the connection destination. The second AC voltage output connector 45F is disposed on the front side of the upper side of the motor driver board 40 and is disposed so as to face the second power device 43F that is the connection destination.

  The first AC voltage output connector 45B receives a multiphase AC voltage that is an output voltage of the first power device 43B via the first output wiring 48B. The multi-phase AC voltage, which is the output voltage of the second power device 43F, is input to the second AC voltage output connector 45F via the second output wiring 48F. Since the AC voltage output connectors 45B and 45F face the power devices 43B and 43F, which are the connection targets, the power devices 43B and 43F correspond to the distances between the AC voltage output connectors 45B and 45F and the connection targets. It is possible to reduce the difference between them. As a result, the difference between the power devices 43B and 43F increases with respect to the length of the output wirings 48B and 48F, and the heat generation amount in the output wirings 48B and 48F greatly varies between the power devices 43B and 43F. It is also possible to suppress this.

  The motor driver board 40 is provided with one rectangular parallelepiped heat sink 44 extending in the front-rear direction over substantially the entire width of the motor driver board 40 in the front-rear direction. The heat sink 44 has a cooling surface facing the main surface of the motor driver board 40, and two power devices 43B and 43F are attached to the cooling surface. The heat sink 44 is disposed so that the entire two power devices 43B and 43F arranged in the front-rear direction are covered with the heat sink 44. Further, the position of the heat sink 44 in the front-rear direction is biased toward the back side from the center of the power devices 43B and 43F.

  According to such a configuration, the two power devices 43 </ b> B and 43 </ b> F having different heat generation amounts are cooled by the single heat sink 44. Thereby, the cooling capacity of one heat sink 44 is distributed to the first power device 43B having a large heat generation amount and the second power device 43F having a small heat generation amount. As a result, although the cooling capacity of the heat sink 44 attached to the first power device 43B exceeds the cooling capacity corresponding to the heat generation amount of the first power device 43B, it functions as a cooling capacity for the first power device 43B. The excess cooling capacity that is not functioned functions for cooling the second power device 43F.

  Therefore, when cooling the two power devices 43B and 43F, it is possible to reduce the size of the heat sink 44 by reducing the excessive cooling capacity in the heat sink 44, and thus to reduce the size of the robot controller. . In addition, since the two power devices 43B and 43F having different heat generation amounts can be cooled by one type of heat sink 44, it is possible to suppress an increase in the types of heat sinks 44 within the robot controller and between the robot controllers. It becomes possible.

  Further, the heat sink 44 is biased to the back side with respect to the row of the power devices 43B and 43F. Therefore, in each of the two power devices 43B and 43F, the cooling region of the heat sink 44 on the back side of the first power device 43B and the cooling region of the heat sink 44 on the front side of the second power device 43F are different from each other. Become. A larger cooling region is assigned to the first power device 43B having a large output voltage. As a result, the power devices 43B and 43F having different heat generation amounts can be assigned to the positions of the cooling capacity corresponding to the power devices 43B and 43F, and the surplus cooling capacity in the heat sink 44 can be further reduced.

  As shown in FIG. 5, a cooling projection 44a is provided on the cooling surface 44s of the heat sink 44 so as to project toward the cooled surface 43s of each of the two power devices 43B and 43F. A protrusion having a smaller area than the surface to be cooled 43s is formed on the cooling protrusion 44a, and the cooling protrusion 44a and the surface to be cooled 43s are joined via the protrusion. And although the whole two power devices 43B and 43F are covered with the cooling surface 44s of the heat sink 44, the size of the protrusion amount H of the cooling protrusion 44a is formed on the outer periphery of each of the two power devices 43B and 43F. A space corresponding to is formed. Thereby, it is possible to suppress the heat released from the two power devices 43B and 43F from being trapped on the outer periphery of the two power devices 43B and 43F.

Next, the operation of the robot controller having the above-described configuration will be described below.
When an AC voltage of 200 V is input from the external power plug to the noise filter NF via the circuit protector 3, the AC voltage from which noise has been removed by the noise filter NF is output from the noise filter NF to the main power circuit board 20. Is done. Next, the AC voltage input to the main power supply circuit board 20 is distributed to the first power supply circuit board PS1, the second power supply circuit board PS2, and the third power supply circuit board PS3, and the first power supply circuit board PS1 and the second power supply circuit board 3 are supplied. The circuit board PS2 and the third power supply circuit board PS3 are converted into mutually different DC voltages. Further, in the main power supply circuit board 20, the AC voltage from the noise filter NF is converted into a DC voltage of 280V that is a drive voltage. Then, the 15V DC voltage generated by the first power supply circuit board PS1 and the drive voltage generated by the main power supply circuit board 20 are connected to the main power supply circuit board via the drive voltage output connector 21 and the drive power supply input connector 41. 20 to each of the two motor driver boards 40.

  On the other hand, when a detection signal from a peripheral device is input to the control circuit board 30 via the I / O port 17 in order to move the robot R to the work position, the control circuit board 30 passes through the position detector port 11. A detection signal of each rotation angle sensor is acquired. Next, the control circuit board 30 generates a trajectory for the robot R to move to the work position based on the position command indicating the work position and the detection result of each rotation angle sensor, and moves the robot R along the trajectory. The drive amount of the AC motor for moving is calculated. The control circuit board 30 generates a voltage command for each phase according to the calculated drive amount, and a control signal according to the voltage command is controlled via the control signal output connector 36 and the control signal input connector 42. Input from the circuit board 30 to each of the two motor driver boards 40.

  Subsequently, in the motor driver board 40, the drive voltage input from the main power supply circuit board 20 is boosted to a voltage suitable for driving the AC motor, and the control signal input from the control circuit board 30 is turned on / off. The boosted voltage is converted into a multiphase AC voltage. In the robot controller, the control circuit board 30 controls the frequency of the control signal input to the motor driver board 40, so that a current corresponding to the drive amount of the AC motor is supplied to each phase of the AC motor.

  At this time, since the output voltage of the first power device 43B for driving the AC motor M1 is larger than that of the second power device 43F, the amount of current flowing through the first power supply wiring 47B is larger than that of the second power supply wiring 47F. Become. However, the difference between the heat generation amount of the first power supply wiring 47B and the heat generation amount of the second power supply wiring 47F is suppressed by the first power supply wiring 47B being shorter than the second power supply wiring 47F as described above. In addition, since the length of the first signal wiring 46B and the length of the second signal wiring 46F are close to each other, the difference between the signal transmission time in the first signal wiring 46B and the signal transmission time in the second signal wiring 46F is represented by the two power devices 43B. , 43F. In addition, since the length of the first output wiring 48B and the length of the second output wiring 48F are close to each other, it is possible to suppress the amount of heat generated in the output wirings 48B and 48F from greatly differing between the power devices 43B and 43F. is there.

  Then, since the two power devices 43B and 43F having different heat generation amounts are cooled by the single heat sink 44, an excessive cooling capacity that does not function for cooling the first power device 43B is used for cooling the second power device 43F. Function. In addition, since a larger cooling region is assigned to the first power device 43B having a large output voltage, an excessive cooling capacity in the heat sink 44 can be reduced in cooling the two power devices 43B and 43F. It becomes possible.

  In the process of generating the control signal for controlling the polyphase AC voltage, high-speed calculation based on the rotational position of the AC motor is required. Therefore, in the control circuit board 30 that generates such a control signal, the board As a structure, a multilayer structure is naturally required. On the other hand, the main power supply circuit board 20 that converts the output voltage of the AC voltage into the drive voltage does not require the high-speed calculation as described above, and therefore, the main power supply circuit board 20 does not require a multilayer structure. In this regard, with the above-described configuration, the main power supply circuit board 20 and the control circuit board 30 having different functions are configured separately, so that a laminated structure according to each request is adopted in each circuit board. It becomes possible. When the main power supply circuit board 20 and the control circuit board 30 are configured as a single circuit board, the circuit board may be multi-layered or complicated in order to satisfy these different requirements. However, according to the above-described configuration, it is possible to simplify the laminated structure of the circuit boards disposed in the housing 1.

  In addition, the main power supply circuit board 20 and the control circuit board 30 are arranged side by side on the bottom panel 1B of the housing 1, and the motor driver board 40 using these outputs is connected to the main power supply circuit board 20, the control circuit board 30, and the control circuit board 30. The main power supply circuit board 20 and the control circuit board 30 are installed in a standing state. Therefore, the two circuit boards to which the motor driver board 40 is connected can be prevented from separating from each other. As a result, the wiring of the motor driver board 40 can be simplified, and the motor The internal structure of the driver board 40 can be simplified.

  By the way, when the motor driver board 40 is installed on the main power circuit board 20 and the control circuit board 30 so that the main power circuit board 20 and the control circuit board 30 and the motor driver board 40 are parallel to each other, The power circuit board 20 and the control circuit board 30 are covered with the motor driver board 40. On the other hand, with the configuration described above, the area of the main power circuit board 20 and the area of the control circuit board 30 covered by the motor driver board 40 can be minimized. It also becomes possible to ensure maintainability.

As described above, according to the robot controller of the present embodiment, the effects listed below can be obtained.
(1) Two power devices 43B and 43F having different heat generation amounts are cooled by one heat sink 44. As a result, it is possible to reduce the size of the heat sink 44 by reducing the excess cooling capacity in the heat sink 44, and thus to reduce the size of the robot controller. In addition, since it is possible to cool two power devices 43B and 43F having different calorific values with one type of heat sink 44, it is possible to suppress an increase in the types of heat sinks within and between the robot controllers. Is possible.

  (2) Although the amount of current flowing through the first power supply wiring 47B is larger than that of the second power supply wiring 47F, the difference between the heat generation amount of the first power supply wiring 47B and the heat generation amount of the second power supply wiring 47F is 47B is suppressed by being shorter than the second power supply wiring 47F.

  (3) Since the drive power input connector 41 is biased to the back side with respect to the row of power devices 43B and 43F, it is easy to make the first power supply wiring 47B shorter than the second power supply wiring 47F. .

  (4) Since the heat sink 44 is biased toward the back side with respect to the row of the two power devices 43B and 43F, each of the two power devices 43B and 43F has an outer side in the arrangement direction of the power devices 43F and 43B. Thus, the cooling regions of the heat sink 44 are different from each other. Since a relatively large cooling region is assigned to the first power device 43B having a large output voltage, it is possible to reduce the excess cooling capacity in the heat sink 44.

  (5) Since each of the two power devices 43B and 43F faces the control signal input connector 42 to which the power devices 43B and 43F are connected, the power device with respect to the distance between the two power devices 43B and 43F and the control signal input connector 42 It is possible to reduce the difference between them. Therefore, it becomes easy to reduce the difference between the power devices with respect to the length of the signal wirings 46B and 46F. As a result, it is possible to suppress a difference in signal transmission time that may occur when the lengths of the signal wirings 46B and 46F are greatly different between the power devices.

  (6) Since the control circuit board 30 and the main power supply circuit board 20 having different functions are configured separately, it is possible to employ a laminated structure according to each request in each circuit board. When the control circuit board 30 and the main power circuit board 20 are configured as one circuit board, the circuit board needs to be multi-layered and complicated in order to satisfy these different requirements. However, according to the above-described configuration, it is possible to simplify the laminated structure of the circuit boards disposed in the housing 1.

  (7) Each of the two power devices 43B and 43F faces the AC voltage output connectors 45B and 45F to which the power devices 43B and 43F are connected. Therefore, compared to the configuration in which the AC voltage output connectors 45B and 45F and the power devices 43B and 43F do not face each other, the distance between the AC voltage output connectors 45B and 45F and the power devices 43B and 43F is between the power devices. It is possible to reduce the difference. As a result, it is possible to suppress the difference between the power devices with respect to the length of the two output wirings 48B and 48F, and in turn, the amount of heat generated in the output wirings 48B and 48F from greatly differing between the power devices. But there is.

In addition, the said embodiment can also be implemented with the following aspects.
The first power device 43B and the first AC voltage output connector 45B that is the connection destination thereof may not be opposed to each other in the vertical direction. Further, the second power device 43F and the second AC voltage output connector 45F to which the second power device 43F is connected may not be opposed to each other in the vertical direction. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (6). The point is that the multiphase AC voltage generated by each power device 43B, 43F may be output via each AC voltage output connector 45B, 45F.

The main power circuit board 20 and the control circuit board 30 may be configured by a single board. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (5).
The main power circuit board 20 may be arranged on the front side of the bottom panel 1B of the casing 1 and the control circuit board 30 may be arranged on the back side of the bottom panel 1B of the casing 1.

  The first power device 43B and the control signal input connector 42 that is the connection destination thereof may not be opposed to each other in the vertical direction. Further, the second power device 43F and the control signal input connector 42 to which the second power device 43F is connected may not be opposed to each other in the vertical direction. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (4). The point is that the control signal generated by the control circuit board 30 may be input to the power devices 43B and 43F via the control signal input connector 42.

  The center of the heat sink 44 in the arrangement direction may be the same as the center of the two power devices 43B and 43F in the arrangement direction. Even with such a configuration, it is possible to obtain the effects according to the above (1) to (3). In short, any configuration is possible as long as two power devices 43B and 43F are attached to one heat sink 44.

  Each of the two power devices 43B and 43F may be configured to face the drive power input connector 41 that is the connection destination thereof. Even with such a configuration, it is possible to obtain the effects according to the above (1) and (2). Such a configuration is excellent in that the lengths of both of the two power supply wires 47B and 47F are shortened. The lengths of the two power supply wires 47B and 47F may be the same. Even with such a configuration, it is possible to obtain the effect according to the above (1).

  The number of power devices attached to one heat sink 44 may be 3 or more. Such a configuration may be used. In short, any configuration is possible as long as one heat sink is attached to N (N is an integer of 2 or more) power devices.

  The number of motor driver boards 40 may be one, or three or more. Further, the position of the motor driver board 40 may be the inner surface of the right panel 1R, or may be intermediate between the left panel 1L and the right panel 1R. For example, when the robot to be controlled has six AC motors, the three motor driver boards 40 may be arranged on the left panel 1L side or arranged on the right panel 1R. It may be a configuration. Alternatively, two motor driver boards 40 may be arranged on the left panel 1L side, and the remaining one motor driver board 40 may be arranged on the right panel 1R side. The driver board 40 may be disposed between the left panel 1L and the right panel 1R.

  The main power circuit board 20 and the motor driver board 40 may be connected via a connection cable, and the control circuit board 30 and the motor driver board 40 are connected via a connection cable. It may be a configuration.

  The robot controller can also accommodate other members different from the circuit board and electronic component described above in the housing 1. For example, a configuration may be employed in which a regenerative resistor for converting and consuming regenerative energy, which is a voltage returned to the robot controller when the robot R decelerates, is stored in the housing. In addition, for example, when the above-described regenerative energy rises, a comparator board having a comparator function for supplying regenerative energy to the regenerative resistor at a predetermined voltage value may be housed inside the housing. Good.

  F ... Cooling fan, M1 to M4 ... AC motor, R ... Robot, Fa ... Outside air filter, NF ... Noise filter, PS1 ... First power circuit board, PS2 ... Second power circuit board, PS3 ... Third power circuit board DESCRIPTION OF SYMBOLS 1 ... Housing | casing, 1B ... Bottom panel, 1F ... Front panel, 1L ... Left panel, 1P ... Expansion panel, 1R ... Right panel, 1S ... Support plate, 2 ... External power connector, 3 ... Circuit protector, 3a ... Operation Lever, 4 ... multi-phase AC voltage connector, 11 ... position detector port, 12 ... stop port, 13 ... TP port, 14 ... first USB port, 15 ... second USB port, 15a ... trigger switch, 16 ... LAN port 17 ... I / O port, 18 ... sequencer port, 19 ... expansion I / O port, 20 ... drive voltage generation board, 21 ... first switch Voltage output connector, 30 ... control circuit board, 31 ... CPU board, 32 ... communication interface board, 33 ... expansion connector, 34 ... card-type storage medium, 35 ... memory connector, 36 ... second AC voltage output connector, 40 ... Motor driver board, 41 ... first signal input connector, 42 ... second signal input connector, 43 ... power device, 43B ... first power device, 43F ... second power device, 44 ... heat sink, 45B ... first AC voltage Output connector, 45F ... second AC voltage output connector, 51 ... housing, 52 ... first arm, 53 ... second arm, 54 ... lift shaft, 55 ... end effector, 61 ... heat sink, 62 ... motor driver board, D1 ~ D4 ... power device.

Claims (7)

Equipped with multiple power devices that convert DC voltage to multiphase AC voltage,
Each of the plurality of power devices is a robot controller that drives the AC motor by outputting a multiphase AC voltage to an AC motor corresponding to the power device,
One heat sink is attached to N (N is an integer greater than or equal to 2) said power device. The robot controller characterized by the above-mentioned. A motor driver board on which the N power devices are mounted;
The motor driver board is
One power input connector to which the DC voltage is input;
N power wirings for each power device connecting each of the N power devices and the power input connector,
The robot controller according to claim 1, wherein each of the N power supply wires has a different length. The N power devices are arranged in an arrangement direction which is one direction,
The robot controller according to claim 2, wherein a position of the power input connector in the arrangement direction is biased to one side of the arrangement direction with respect to a center of the row of the power devices. The N power devices are arranged in an arrangement direction which is one direction,
The heat sink covers the entire row of power devices;
The robot controller according to claim 1, wherein a position of the heat sink in the arrangement direction is biased to one side of the arrangement direction with respect to a center of the row of the power devices. The motor driver board is
A signal input connector for inputting a control signal for outputting the polyphase AC voltage to each of the N power devices;
The robot controller according to claim 4, wherein the signal input connector and the N power devices face each other. A power circuit board that converts an external AC voltage into the DC voltage and outputs the DC voltage;
A control circuit board for outputting the control signal to the motor driver board,
The power supply circuit board and the control circuit board are arranged side by side on the bottom surface in the housing,
The robot controller according to claim 5, wherein the motor driver board is installed on the power circuit board and the control circuit board in a state where the motor driver board is raised with respect to the power circuit board and the control circuit board. The motor driver board is
An AC voltage output connector for outputting the multiphase AC voltage to the AC motor is provided for each power device,
The robot controller according to any one of claims 2 to 6, wherein the AC voltage output connector and the power device corresponding to the AC voltage output connector face each other.

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