JP6934663B2 - Actuator control device - Google Patents

Description

The present invention relates to an actuator control device.

Industrial robots that contribute to the automation of various tasks generally have actuators. This actuator includes, for example, a motor as a drive source (see, for example, Patent Document 1). An actuator control device, which is a control device, is attached to the actuator. The actuator control device transmits and receives signals to and from the outside.

Japanese Unexamined Patent Publication No. 2000-92811

Actuators are often mounted at various locations within the device. For this reason, in the case of a structure in which the actuator and the actuator control device are integrated, the interface unit for transmitting and receiving signals to and from the outside cannot be integrated, which causes a decrease in work efficiency and the like. Become.

The present invention has been made in view of the above problems, and an object of the present invention is to enable the integration of interface units.

In order to achieve the above object, the actuator control device according to the viewpoint of the present invention may be used.
An actuator control device that controls an actuator.
A main body having a first housing and a first control unit and attached to the actuator,
The cable connected to the main body and
A second housing and a second control unit, the interface unit that will be connected to said cable,
Equipped with a,
The second control unit transmits and receives a signal to and from the main body unit, and also transmits and receives a signal to and from the outside.
The connection point between the first housing and the cable is hermetically sealed .

The body portion includes a first connector to be connected before Symbol first controller and said cable,
Wherein the interface unit includes a second connector to be connected before Symbol second control unit and the cable,
The first control unit and the second control unit may transmit and receive signals from each other via the first connector, the cable, and the second connector.

The main body portion includes a first power supply unit connected to the first connector.
The interface unit includes a second power supply unit connected to the second connector.
The second power supply unit may supply electric power to the first power supply unit via the first connector, the cable, and the second connector.

The second housing has a first mounting surface and a second mounting surface with respect to the wall surface.
The first mounting surface and the second mounting surface may be arranged orthogonal to each other.

The second housing is made of resin and is made of resin.
The interface unit may include a wireless unit that performs wireless communication with the outside.

The wireless unit may be arranged at a position inside the second housing so as to face at least one of the first mounting surface and the second mounting surface.

The interface unit
A third connector for signal transmission and reception,
A fourth connector for inputting control program data,
May be provided.

The interface unit may include a display unit indicating the state of the actuator.

According to the present invention, the interface unit can be integrated.

It is external perspective view of the actuator system which concerns on embodiment. It is external perspective view of the interface box which concerns on embodiment. It is external perspective view of the interface box which concerns on embodiment. It is a front view of the interface box which concerns on embodiment. It is a rear view of the interface box which concerns on embodiment. It is a top view of the interface box which concerns on embodiment. It is a bottom view of the interface box which concerns on embodiment. It is a side view of the interface box which concerns on embodiment. It is a rear view which shows the inside of the interface box which concerns on embodiment. It is a figure which shows the internal structure of the actuator controller and the interface box which concerns on embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an external perspective view of the actuator system 1 according to the embodiment. As shown in FIG. 1, the actuator system 1 includes an actuator controller 100 as a main body, an interface box 200 as an interface, a cable 300, and an actuator 500. The actuator controller 100, the interface box 200, and the cable 300 constitute an actuator control device.

In the actuator system 1, the actuator controller 100 includes a controller housing 101 as a first housing. The actuator controller 100 and the actuator 500 are integrated. One end of the cable 300 is connected to the actuator controller 100. The connection point between the actuator controller 100 and the cable 300 is in a sealed state for dustproofing, waterproofing, and the like. The other end of the cable 300 is connected to the interface box 200.

The interface box 200 transmits and receives signals necessary for controlling the actuator 500 to and from the outside. Further, the interface box 200 transmits and receives signals necessary for controlling the actuator 500 to and from the actuator controller 100 via the cable 300. Further, the interface box 200 supplies electric power to the actuator controller 100 via the cable 300. The actuator controller 100 supplies the supplied electric power to a motor (not shown) in the actuator 500, and further controls the rotation of the motor according to the received signal. The rotation of the motor is converted into a linear motion, and the rod 501 in the actuator 500 moves forward and backward.

2 and 3 are an external perspective view of the interface box 200, FIG. 4 is a front view of the interface box 200 (viewed from the −Y direction), and FIG. 5 is a rear view of the interface box 200 (viewed from the + Y direction). FIG. 6 is a top view of the interface box 200 (viewed from the + Z direction), FIG. 7 is a bottom view of the interface box (viewed from the −Z direction), and FIG. 8 is a view of the interface box 200. A side view (a view seen from the + X direction) and FIG. 9 are a rear view (a view seen from the + Y direction) showing the inside of the interface box 200.

As shown in FIGS. 2 to 9, the interface box 200 has an interface housing 202 as a second housing. The interface housing 202 is formed of, for example, resin.

A mounting member 204a is provided on the + X side of the interface housing 202. Further, a mounting member 204b is provided on the −X side of the interface housing 202. The mounting members 204a and 204b are L-shaped mounting portions for mounting the interface box 200 on the wall surface, respectively.

The mounting member 204a is composed of a standing member 206a extending in the Z direction and a horizontal member 208a extending in the Y direction. A mounting hole 210a is formed in the standing member 206a, and a mounting groove 212a is formed in the horizontal member 208a. The mounting member 204b is composed of a standing member 206b extending in the Z direction and a horizontal member 208b extending in the Y direction. A mounting hole 210b is formed in the standing member 206b, and a mounting groove 212b is formed in the horizontal member 208b. The mounting members 204a and 204b are integrally formed with the interface housing 202, and are formed of, for example, resin.

On the front side (-Y side) of the interface housing 202, an external interface (I / F) connector 222 as a third connector, a teaching pendant (TP: Teaching Pendant) connector 224 as a fourth connector, and The display units of the light emitting diodes (LEDs) 226a and 226b are provided so as to be exposed to the outside.

A cable (not shown) is connected to the external I / F connector 222 from the outside such as a PLC (Programmable Logic Controller) as a host controller (not shown), which is necessary for controlling the actuator 500 with the outside. Enables transmission and reception of signals. A cable (not shown) is connected to the outside of a teaching pendant, a PC (Personal Computer), or the like (not shown) of the TP connector 224, and data of a control program of the actuator 500 can be input from the outside. The display units of the LEDs 226a and 226b emit light in various modes in order to display the state of the actuator 500, respectively.

On the back side (+ Y side) of the interface housing 202, a board-to-board connector 230 as a second connector is provided so as to be exposed to the outside. A cable 300 is connected to the inter-board connector 230 to enable transmission and reception of signals necessary for controlling the actuator 500 with the actuator controller 100 and to supply electric power to the actuator controller 100. And.

The back surface portion 232, which is the + Y side surface of the interface housing 202, becomes a surface (mounting surface) that comes into contact with the wall surface (not shown) when the interface box 200 is mounted on the wall surface (not shown). Specifically, when screws (not shown) are inserted into the mounting holes 210a and 210b and the screws are tightened, the back surface portion 232 is in contact with the wall surface, and the interface box 200 is mounted on the wall surface. The back surface portion 232 is removable from the other portion of the interface housing 202.

The lower surface portion 234, which is the surface on the −Z side of the interface housing 202, becomes a surface (mounting surface) that comes into contact with the wall surface when the interface box 200 is mounted on the wall surface. Specifically, when the screws are inserted into the mounting grooves 212a and 212b and the screws are tightened, the lower surface portion 234 is in contact with the wall surface, and the interface box 200 is mounted on the wall surface.

Inside the interface housing 202, a wireless board 228 as a wireless unit is arranged at an upper portion (+ Z side) and a front surface (−Y side), that is, at a position facing the back surface portion 232 and the lower surface portion 234. An L-shaped support portion 236a integrated with the interface housing 202 is provided on the −X side of the wireless board 228. On the + X side of the wireless board 228, an L-shaped support portion 236b integrated with the interface housing 202 is provided. The wireless board 228 is supported and fixed at the upper portion (+ Z side) in the interface housing 202 by these support portions 236a and 236b. Further, an interface board 229 including an external I / F connector 222, a TP connector 224, and an inter-board connection connector 230 is fixed to the lower part (-Z side) in the interface housing 202.

FIG. 10 is a diagram showing the internal configuration of the actuator controller 100 and the interface box 200.

As shown in FIG. 10, inside the controller housing 101 of the actuator controller 100, a CPU (Central Processing Unit) 150 as a first control unit, a power supply circuit 154 as a first power supply unit, and a motor drive circuit 156 , The motor / actuator connector 158 is provided. Further, the controller housing 101 is provided with an inter-board connector 152 as a first connector so as to be exposed to the outside.

Inside the interface housing 202 of the interface box 200, a CPU 250 as a second control unit, a PIO (Program Input Output) circuit 252, a power supply circuit 254 as a second power supply unit, a TP circuit 256, and a wireless circuit 258. A wireless connector 260 is provided. The wireless circuit 258 and the wireless connector 260 are configured in the wireless board 228 of FIG. 9, and the CPU 250, the PIO circuit 252, the power supply circuit 254, and the TP circuit 256 are configured in the interface board 229 of FIG.
NS.

Further, as described above, the interface housing 202 is provided with an external I / F connector 222, a TP connector 224, a display unit of LEDs 226a and 226b, and an inter-board connector 230 in a manner exposed to the outside.

A connector 302 provided at one end of the cable 300 is connected to the inter-board connection connector 230, and a connector 304 provided at the other end of the cable 300 is connected to the inter-board connection connector 152.

The CPU 250 in the interface box 200 controls the entire interface box 200.

The external I / F connector 222 is connected to an outside such as a PLC as a host controller (not shown), and transmits and receives signals necessary for controlling the actuator 500 to and from the outside. Further, the external I / F connector 222 transmits and receives signals necessary for controlling the actuator 500 to and from the PIO circuit 252. The PIO circuit 252 transmits and receives signals necessary for controlling the actuator 500 to and from the CPU 250.

Further, the CPU 250 transmits and receives signals necessary for controlling the actuator 500 to and from the wireless circuit 258. The wireless circuit 258 transmits and receives signals necessary for controlling the actuator 500 and data of the control program of the actuator 500 by wireless signals to and from the outside of a device having a wireless communication function via the wireless connector 260. Etc. are transmitted and received.

The TP connector 224 has a cable connected to the outside such as a teaching pendant or a PC (not shown), and transmits and receives data of a control program of the actuator 500, which is a signal necessary for controlling the actuator 500 from the outside. conduct. Further, the TP connector 224 transmits and receives data and the like of the control program of the actuator 500 to and from the TP circuit 256. The TP circuit 256 transmits and receives data and the like of the control program of the actuator 500 to and from the CPU 250.

The CPU 250 transmits and receives signals necessary for controlling the actuator 500 to and from the inter-board connector 230. The power supply circuit 254 supplies power to the inter-board connector 230. The power to the power supply circuit 254 is supplied from a power supply device (not shown) installed outside, and in the present embodiment, the power supply device is connected to the external I / F connector 222 via a cable (not shown). NS. A part of the external I / F connector 222 is used for power supply from the outside. Here, a part of the external I / F connector is used for power supply from the outside, but a signal connector and a power connector may be arranged respectively.

The inter-board connection connector 230 transmits and receives signals necessary for controlling the actuator 500 with the CPU 250, and also communicates with the inter-board connection connector 152 via the connector 302, the cable 300, and the connector 304. , Transmits and receives signals necessary for controlling the actuator 500. Further, the inter-board connection connector 230 supplies power from the power supply circuit 254 to the inter-board connection connector 152 via the connector 302, the cable 300, and the connector 304.

The inter-board connector 152 transmits and receives signals necessary for controlling the actuator 500 with the CPU 150. When the CPU 150 receives the signal required for controlling the actuator 500 from the inter-board connector 152, the CPU 150 executes the control of the actuator 500 in response to the signal and instructs the motor drive circuit 156 to control the actuator 500. .. The motor drive circuit 156 controls the actuator 500 connected to the motor / encoder connector 158 in response to an instruction from the CPU 150.

Further, the motor drive circuit 156 receives encoder information such as position information from the actuator 500 via the motor encoder connector 158 and transmits the encoder information to the CPU 150. The CPU 150 adjusts the control of the actuator according to the received encoder information. Further, the CPU 150 transmits signals necessary for controlling the actuator 500 such as encoder information to the interface box 200 and further to the outside via the inter-board connector 152.

Further, the power supply circuit 154 supplies the electric power supplied from the interface box 200 to the inside of the actuator controller 100 and the actuator 500 via the inter-board connection connector 152.

As described above, in the actuator system 1, the actuator controller 100 and the interface box 200 are separate bodies, and the actuator controller 100 and the interface box 200 are connected by a cable 300. Therefore, even when a plurality of actuator controllers 100 are mounted integrally with the actuator at various positions inside the device, the interface box 200 for transmitting and receiving signals from the outside is provided. It can be aggregated, and work efficiency and maintainability can be improved.

Further, in the actuator controller 100, the CPU 150 is provided and connected to the inter-board connection connector 152, and in the interface box 200, the CPU 250 is provided and connected to the inter-board connection connector 230. Further, the inter-board connection connector 152 and the inter-board connection connector 230 are connected via the cable 300. With such a configuration, only the CPU 150 and the CPU 250 can transmit and receive signals between the actuator controller 100 and the interface box 200. Therefore, the number of signals can be reduced as compared with the case where each part in the actuator controller 100 and each part of the interface box 200 individually transmit and receive signals. Further, since the number of signals is reduced, the size of the inter-board connector 152 and 230 can be reduced and the diameter of the cable 300 can be reduced.

Further, in the actuator controller 100, a power supply circuit 154 is provided and connected to the inter-board connection connector 152, and in the interface box 200, a power supply circuit 254 is provided and connected to the inter-board connection connector 230, and the cable 300 supplies power. Used for Therefore, the increase in the number of cables is suppressed.

Further, in the interface housing 202, the back surface portion 232 and the lower surface portion 234 that are orthogonal to each other serve as mounting surfaces for the wall surface. Therefore, it can be installed in various modes according to the user's circumstances.

Further, by being configured by the interface housing 202, it is possible to prevent the wireless communication from being hindered when the wireless board 228 is provided inside.

Further, the wireless board 228 is arranged at a position facing the back surface portion 232 and the lower surface portion 234, that is, at a position as far as possible from the wall surface on which the interface box 200 is mounted. Therefore, even when the wall surface is made of metal, it is possible to prevent the wireless communication from being hindered.

Further, by providing the interface box 200 with the external I / F connector 222 and the TP connector 224, it is possible to communicate with the outside. Further, since the interface box 200 is provided with the display units of the LEDs 226a and 226b indicating the state of the actuator 500, even when the actuator 500 and the actuator controller 100 are arranged inside the device, the user can use the display unit. The actuator 500 can be easily confirmed. Further, by aggregating the plurality of interface boxes 200, the user can collectively check the states of the plurality of actuators 500 corresponding to each. Further, by sealing the connection portion between the actuator controller 100 and the cable 300, measures such as dustproofing and waterproofing can be taken. As a result, the actuator 500 and the actuator controller 100 can be installed in an environment that requires measures such as dustproof and waterproof, and the interface box 200 can be installed in an environment that does not require measures such as dustproof and waterproof.

The present invention allows for various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention and do not limit the scope of the present invention. For example, in the above-described embodiment, the interface housing 202 is made of resin. However, any member may be used as long as it does not interfere with wireless communication. Further, when the wireless board 228 is not provided, the interface housing 202 may be made of metal.

Further, in the interface housing 202, the back surface portion 232 and the lower surface portion 234 that are orthogonal to each other serve as mounting surfaces for the wall surface, but the present invention is not limited to this. In particular, when the wireless board 228 is not provided, a large number of mounting surfaces can be formed. Further, the actuator 500 is not limited to the type in which the rod 501 advances and retreats. For example, it can be applied to a type having a slider that moves in the longitudinal direction of the actuator.

1 Actuator system 100 Actuator controller 101 Controller housing 150, 250 CPU
152, 230 Board-to-board connector 154, 254 Power supply circuit 156 Motor drive circuit 158 Motor encoder connector 200 Interface box 202 Interface housing 204a, 204b Mounting member 206a, 206b Standing member 208a, 208b Horizontal member 210a, 210b Mounting hole 212a, 212b Mounting groove 222 External I / F connector 224 TP connector 226a, 226b LED
228 Wireless board 229 Interface board 232 Back part 234 Bottom part 236a, 236b Support part 252 PIO circuit 256 TP circuit 258 Wireless circuit 260 Wireless connector 300 Cable 302, 304 Connector 500 Actuator 501 Rod

Claims (8)

An actuator control device that controls an actuator.
A main body having a first housing and a first control unit and attached to the actuator,
The cable connected to the main body and
A second housing and a second control unit, the interface unit that will be connected to said cable,
Equipped with a,
The second control unit transmits and receives a signal to and from the main body unit, and also transmits and receives a signal to and from the outside.
An actuator control device characterized in that the connection portion between the first housing and the cable is hermetically sealed. The body portion includes a first connector to be connected before Symbol first controller and said cable,
Wherein the interface unit includes a second connector to be connected before Symbol second control unit and the cable,
1. The first control unit and the second control unit transmit and receive signals from each other via the first connector, the cable, and the second connector. The actuator control device according to. The main body portion includes a first power supply unit connected to the first connector.
The interface unit includes a second power supply unit connected to the second connector.
The actuator control according to claim 2, wherein the second power supply unit supplies electric power to the first power supply unit via the first connector, the cable, and the second connector. Device. The second housing has a first mounting surface and a second mounting surface with respect to the wall surface.
The actuator control device according to any one of claims 1 to 3, wherein the first mounting surface and the second mounting surface are arranged orthogonal to each other. The second housing is made of resin and is made of resin.
The actuator control device according to claim 4, wherein the interface unit includes a wireless unit that performs wireless communication with the outside. The fifth aspect of claim 5, wherein the wireless unit is arranged inside the second housing at a position facing at least one of the first mounting surface and the second mounting surface. Actuator control device. The interface unit
A third connector for signal transmission and reception,
A fourth connector for inputting control program data,
The actuator control device according to any one of claims 1 to 6, wherein the actuator control device is provided. The actuator control device according to any one of claims 1 to 7, wherein the interface unit includes a display unit indicating the state of the actuator.

Images