JP7818372B2 - control device - Google Patents

Description

The present invention relates to a control device for controlling a robot.

Control devices for controlling robots are known in the art (see, for example, Patent Document 1). The control device described in Patent Document 1 includes a control panel housing and multiple units housed in the control panel housing. The multiple units include an upper unit and a lower unit located below the upper unit. The upper unit also includes a front unit and a rear unit located behind the front unit.

JP 2011-31316 A

In the control device described in Patent Document 1, in order to easily assemble the control device, it is preferable that each of the multiple units be easily assembled inside the control panel housing. Therefore, an object of the present invention is to provide a control device for controlling a robot that allows each of the multiple units to be easily assembled to the main frame that forms the skeleton of the control device.

In order to solve the above-mentioned problems, the control device of the present invention is a control device for controlling a robot, and includes a main frame forming the skeleton of the control device, and a plurality of units attached to the main frame, each of which includes a base member formed in a plate shape and electronic components attached to the base member, the base member being formed of a conductive metal plate, and the base member is fixed to the main frame , and the main frame includes a mounting portion on which at least a part of the base member of a predetermined unit among the plurality of units is placed, and the portion of the base member that is placed on the mounting portion has a thickness direction in the up-down direction. The main frame is formed in a flat plate shape, and a predetermined direction perpendicular to the vertical direction is defined as the first direction, and a direction perpendicular to the vertical direction and the first direction is defined as the second direction.The main frame has an opening formed therein for extracting a unit having a mounting portion to one side in the first direction, the mounting portion is formed at least at the end of the base member on the other side in the first direction, and a regulating member is fixed to the mounting portion to regulate movement of the mounting portion to one side and upward in the second direction, and a regulating member is fixed to the mounting portion to regulate movement of the mounting portion to the other side and upward in the second direction, and the end of one side in the first direction of the base member of the unit having the mounting portion is fixed to the main frame with a screw .

In the control device of the present invention, the unit includes a plate-shaped base member, and the base member is fixed to the main frame. That is, in the present invention, the plate-shaped base member is fixed to the main frame, thereby attaching the unit to the main frame. Therefore, in the present invention, each of the multiple units can be easily assembled to the main frame. Furthermore, in the present invention, electronic components are attached to the plate-shaped base member in each of the multiple units, thereby simplifying the configuration of the unit.
In addition, in the present invention, the mainframe includes a mounting portion on which at least a portion of a base member of a predetermined unit among the multiple units is placed, and the portion of the base member that is placed on the mounting portion is formed in a flat plate shape with its thickness direction in the vertical direction, and if a predetermined direction perpendicular to the vertical direction is defined as a first direction and a direction perpendicular to the vertical direction and the first direction is defined as a second direction, the mainframe has an opening for removing the unit having the mounting portion to one side in the first direction, the mounting portion is formed at least at an end of the base member on the other side in the first direction, and a restricting member is fixed to the mounting portion for restricting movement of the mounting portion to one side and upward in the second direction, and a restricting member is fixed to the mounting portion for restricting movement of the mounting portion to the other side and upward in the second direction, and the end of the base member of the unit having the mounting portion on one side in the first direction is fixed to the mainframe with a screw. Therefore, it is possible to reduce the number of screws required to fix the base member to the mainframe compared to a case in which the restricting member is not fixed to the mounting portion of the mainframe. Therefore, the configuration of the control device can be simplified.

In the present invention, the control device is equipped with a fan for cooling a specific unit among the multiple units, and if the unit cooled by the fan is referred to as a first unit, it is also equipped with a second unit arranged above the first unit. The first component mounting portion of the base member of the first unit, where the electronic component is mounted, is formed as a flat plate with its thickness direction extending vertically, and the electronic component is mounted on the upper surface of the first component mounting portion. The second component mounting portion of the base member of the second unit, where the electronic component is mounted, is formed as a flat plate with its thickness direction extending vertically, and the electronic component is mounted on the upper surface of the second component mounting portion. It is preferable that the fan is arranged vertically between the first component mounting portion and the second component mounting portion.

With this configuration, a flow path for the air supplied from the fan is formed between the flat first and second component mounting sections, with the thickness direction being the vertical direction, allowing the air supplied from the fan to flow quickly toward the outside of the control device. This prevents the air supplied from the fan from stagnating inside the control device, and as a result, the first unit can be cooled effectively.

In the present invention, the control device is equipped with a fan for cooling a specific unit among the multiple units, and the main frame has a rectangular outer shape when viewed from above, and the fan is preferably positioned on the long side of the rectangular main frame when viewed from above, and blows air in a direction parallel to the short side of the main frame.

This configuration allows the air supplied by the fan to be expelled outside the control device more quickly than when the fan is positioned on the short side of the rectangular main frame when viewed from above, and blows air in a direction parallel to the long side of the main frame. This prevents the air supplied by the fan from stagnating inside the control device, and as a result, it is possible to effectively cool the specific unit cooled by the fan.

As described above, the present invention makes it possible to easily assemble multiple units into the main frame that forms the skeleton of a control device for controlling a robot.

1 is a perspective view of a control device according to an embodiment of the present invention; FIG. 2 is a perspective view of the main frame shown in FIG. 1 . FIG. 2 is a perspective view of each unit shown in FIG. 1 . FIG. 2 is a perspective view of each unit shown in FIG. 1 . FIG. 2 is a perspective view of each unit shown in FIG. 1 . 2A is a perspective view of the unit shown in FIG. 1, and FIG. 2B is a perspective view of the main circuit board and the like shown in FIG. FIG. 2 is a perspective view of the fan unit shown in FIG. 1 . 3 is a side view for explaining the configuration of a portion where a base member is attached to a unit support portion shown in FIG. 2 . FIG.

The following describes an embodiment of the present invention with reference to the drawings.

(Overall configuration of the control device)
Fig. 1 is a perspective view of a control device 1 according to an embodiment of the present invention, and Fig. 2 is a perspective view of a main frame 2 shown in Fig. 1.

The control device 1 in this embodiment is a robot controller for controlling a robot (not shown), such as a horizontal articulated industrial robot that transports glass substrates for liquid crystal displays. The control device 1 includes a main frame 2 that forms the skeleton of the control device 1, multiple units 3-10 attached to the main frame 2, a main circuit board 11 of the control device 1, multiple fan units 12 and 13 attached to the main frame 2, and multiple servo drivers 14 attached to the main frame 2.

Units 3-10, main circuit board 11, fan units 12 and 13, and servo driver 14 are housed within main frame 2. Main frame 2 is made of a conductive metal material. In this embodiment, main frame 2 is formed by joining multiple flat steel plates and multiple steel plates bent into a predetermined shape together using welding, rivets, etc. The outer shape of main frame 2 is a rectangular parallelepiped. When viewed from above and below, the outer shape of main frame 2 is also rectangular.

In the following description, the direction perpendicular to the vertical direction and parallel to the short sides of the rectangular main frame 2 when viewed from the vertical direction (the X direction in Figure 1, etc.) is referred to as the "front-to-back direction," and the direction perpendicular to both the vertical and front-to-back directions (i.e., the direction parallel to the long sides of the rectangular main frame 2 when viewed from the vertical direction, the Y direction in Figure 1, etc.) is referred to as the "left-to-right direction." Furthermore, the X1 direction in Figure 1, etc., which is one side of the front-to-back direction, is referred to as the "front," the X2 direction in Figure 1, etc., which is the opposite side of the front, is referred to as the "rear," the Y1 direction in Figure 1, etc., which is one side of the left-to-right direction, is referred to as the "right," and the Y2 direction in Figure 1, etc., which is the opposite side of the right, is referred to as the "left" side.

In the control device 1, each function of the control device 1 is divided into a unit by function, and units 3 to 10 are configured. Units 3 and 4 are located at the upper end inside the main frame 2. Units 3 and 4 are arranged adjacent to each other in the front-to-rear direction. In this embodiment, unit 3 is located at the front, and unit 4 is located at the rear. Unit 5 is located below units 3 and 4.

Unit 6 is located below unit 5. Unit 7 is located below unit 6. Unit 8 is located below units 3 and 4, and to the left of units 5 and 6. Unit 9 is located below unit 8 and to the left of unit 7. Unit 10 is located below unit 5, and behind units 6 and 7. Multiple servo drivers 14 are located to the left of units 3, 4, 8, and 9.

(Mainframe configuration)
The main frame 2 is equipped with a cover member 19 (see FIG. 1) that forms the rear surface of the main frame 2 and also forms the rear surface of the control device 1. The cover member 19 is a thin, flat metal plate, for example, made of steel plate. The thickness direction of the cover member 19 coincides with the front-to-rear direction. An emergency stop switch 20 for bringing the robot to an emergency stop is attached to the upper right end of the front surface of the main frame 2. The emergency stop switch 20 is located on the front side of the unit 3. Note that the cover member 19 is not shown in FIG. 2.

The front surface of the main frame 2, excluding the upper right corner, is covered by a cover (not shown) that forms the front surface of the control device 1, the left and right sides of the main frame 2 are covered by covers (not shown) that form the left and right sides of the control device 1, and the top surface of the main frame 2 is covered by a cover (not shown) that forms the top surface of the control device 1. These covers are thin, flat metal plates, formed from steel plate, for example. These covers are fixed to the main frame 2. Support legs 21 are attached to the bottom end of the main frame 2.

The main frame 2 also includes flat unit support portions 24 and 25 that support units 3 and 4 from below, flat unit support portions 26 and 27 that support unit 5 from below, flat unit support portion 28 that supports unit 6 from below, flat unit support portion 29 that supports unit 7 from below, and a flat driver mounting portion 30 to which multiple servo drivers 14 are attached.

The unit support parts 24, 25 are formed as flat plates with their thickness direction in the vertical direction. Furthermore, the unit support parts 24, 25 are formed as elongated rectangular flat plates with their long sides in the front-to-rear direction, and the thickness direction of the unit support parts 24, 25 coincides with the vertical direction. The unit support parts 24, 25 are formed across the entire front-to-rear area of the main frame 2. The unit support parts 24 and 25 are arranged with a gap between them in the left-to-right direction. In this embodiment, the unit support part 24 is arranged on the left side, and the unit support part 25 is arranged on the right side. Two restricting members 31 are fixed to the top surface of the unit support part 24 to restrict movement of the left end of the unit 3. The restricting members 31 are fixed to the unit support part 24 by rivets, for example.

The unit support parts 26, 27 are formed in the shape of flat plates with their thickness direction extending in the vertical direction. Furthermore, the unit support parts 26, 27 are formed in the shape of elongated rectangular flat plates with their long sides extending in the front-to-rear direction, and the thickness direction of the unit support parts 26, 27 coincides with the vertical direction. The unit support parts 26, 27 are formed across the entire front-to-rear area of the main frame 2. The unit support parts 26 and 27 are arranged with a gap between them in the left-to-right direction. In this embodiment, the unit support part 26 is arranged on the left side, and the unit support part 27 is arranged on the right side.

Unit support parts 26 and 27 are located below unit support parts 24 and 25. Unit support part 26 is located to the right of unit support part 24. Unit support part 27 is located to the right of unit support part 25. Two restricting members 32 are fixed to the top surface of unit support part 26 to restrict movement of the left end part of unit 5. The restricting members 32 are fixed to unit support part 26 by rivets, for example.

The unit support part 28 is formed in a flat plate shape with its thickness direction extending vertically. The unit support part 28 is also formed in a rectangular or square plate shape, with the thickness direction of the unit support part 28 coinciding with the vertical direction. The unit support part 28 is positioned lower than the unit support parts 26 and 27.

The unit support part 29 is formed in a flat plate shape with its thickness direction aligned vertically. The unit support part 29 is also formed in a rectangular flat plate shape, with the thickness direction of the unit support part 29 aligned vertically. The unit support part 29 is positioned below the unit support part 28. The unit support part 29 forms the bottom surface of the main frame 2. Two restricting members 33 are fixed to the top surface of the unit support part 29 to restrict movement of the rear end of the unit 7. The restricting members 33 are fixed to the unit support part 29, for example, by rivets.

The driver mounting portion 30 is formed in a flat plate shape with its thickness direction aligned in the left-right direction. The driver mounting portion 30 is also formed in a rectangular flat plate shape, with its thickness direction and left-right direction coinciding. The driver mounting portion 30 is positioned to the left of the unit support portions 24, 26, and 28. The left end surface of the unit support portion 24 contacts the right surface of the driver mounting portion 30. The driver mounting portion 30 is also positioned above the unit support portion 29. The driver mounting portion 30 is formed across the entire vertical area of the main frame 2, as well as across the entire front-to-rear area of the main frame 2.

The main frame 2 is formed with an opening 36 for removing units 3 to 5 to the right, an opening 37 for removing unit 6 to the right, and an opening 38 for removing unit 7 to the front. Openings 36 and 37 are formed on the right side of the main frame 2. Openings 36 and 37 are formed across almost the entire area of the main frame 2 in the front-to-rear direction. Opening 37 is formed below opening 36. Opening 38 is formed on the front side of the main frame 2.

(Configuration of each unit and how to fix it to the main frame)
FIG. 3(A) is a perspective view of unit 3 shown in FIG. 1 , FIG. 3(B) is a perspective view of unit 4 shown in FIG. 1 , and FIG. 3(C) is a perspective view of unit 5 shown in FIG. 1 . FIG. 4(A) is a perspective view of unit 6 shown in FIG. 1 , and FIG. 4(B) is a perspective view of unit 7 shown in FIG. 1 . FIG. 5(A) is a perspective view of unit 8 shown in FIG. 1 , and FIG. 5(B) is a perspective view of unit 9 shown in FIG. 1 . FIG. 6(A) is a perspective view of unit 10 shown in FIG. 1 , and FIG. 6(B) is a perspective view of main circuit board 11 and the like shown in FIG. 1 . FIG. 7 is a perspective view of fan unit 12 shown in FIG. 1 . FIG. 8 is a side view for explaining the configuration of the mounting portion of base member 53 to unit support portion 24 shown in FIG. 2 .

The unit 3 is placed on the unit support parts 24, 25. The unit 3 is also fixed to the unit support parts 24, 25. The unit 3 includes various electronic components 43 for emergency stopping the robot, and a plate-shaped base member 53. The electronic components 43 are attached to the base member 53. The base member 53 is made of a conductive metal plate (sheet metal). In this embodiment, the base member 53 is formed by bending a steel plate into a predetermined shape.

The base member 53 includes a component mounting portion 53a to which the electronic component 43 is attached, a supported portion 53b supported from below by the unit support portion 24, and a supported portion 53c supported from below by the unit support portion 25. The component mounting portion 53a is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 53a is also formed in a rectangular flat plate shape, with the thickness direction and vertical direction of the component mounting portion 53a coinciding. The electronic component 43 is attached to the upper surface of the component mounting portion 53a.

Supported portions 53b and 53c are formed as flat plates with their thickness direction extending vertically. Supported portions 53b and 53c are formed as elongated rectangular flat plates extending in the front-to-rear direction, with the thickness direction of supported portions 53b and 53c coinciding with the vertical direction. Supported portion 53b is located to the left of component mounting portion 53a, and constitutes the left end of base member 53 and the left end of unit 3. Supported portion 53c is located to the right of component mounting portion 53a, and constitutes the right end of base member 53 and the right end of unit 3. Supported portions 53b and 53c are located below component mounting portion 53a.

The supported portion 53b is placed on the unit support portion 24. As described above, two regulating members 31 are fixed to the upper surface of the unit support portion 24. The regulating members 31 are arranged on both front-to-rear sides of the supported portion 53b. As shown in Figure 8, the regulating member 31 includes a flat fixed portion 31a that is fixed to the unit support portion 24 and is arranged on the outer front-to-rear side of the supported portion 53b, and a flat regulating portion 31b that covers the front-to-rear end of the supported portion 53b from above.

The restricting member 31 located in front of the supported portion 53b restricts the upward and forward movement of the supported portion 53b, while the restricting member 31 located behind the supported portion 53b restricts the upward and rearward movement of the supported portion 53b. In other words, the two restricting members 31 restrict movement of the left end of the unit 3 in both the front and rear directions and upward movement, and the attachment structure of the left end of the unit 3 to the unit support portion 24 is a hook structure. A gap is designed between the upper surface of the supported portion 53b and the lower surface of the restricting portion 31b. For example, if the thickness of the supported portion 53b is 1.5 mm, the gap between the upper surface of the supported portion 53b and the lower surface of the restricting portion 31b is 0.5 mm.

The supported portion 53c is placed on the unit support portion 25. The supported portion 53c is fixed to the unit support portion 25 with a screw 63. That is, the right end of the base member 53 is fixed to the main frame 2 with the screw 63. In this way, the movement of the supported portion 53b placed on the unit support portion 24 to both sides in the front-to-rear direction and upward movement is restricted by the restricting member 31, and the supported portion 53c placed on the unit support portion 25 is fixed to the unit support portion 25 with the screw 63, thereby securing the base member 53 to the main frame 2. The right side of the unit 3 is located behind the emergency stop switch 20.

When assembling the unit 3 to the main frame 2, first, the unit 3 located on the right side of the main frame 2 is moved leftward and inserted into the main frame 2 through the opening 36, and the unit 3 is then placed on the unit support parts 24, 25. At this time, the supported part 53b is placed between the two fixed parts 31a in the front-to-rear direction, and the supported part 53b is placed below the two restricting parts 31b. The supported part 53c is then fixed to the unit support part 25 with the screws 63.

In this embodiment, the unit support portion 24 serves as a mounting portion on which a portion of the base member 53 is placed, and the supported portion 53b serves as a mounted portion that is placed on the unit support portion 24, which serves as a mounting portion. Furthermore, in this embodiment, with respect to the relationship between the main frame 2 and the unit 3, the left-right direction (Y direction) is the first direction, and the front-rear direction (X direction) is the second direction. The main frame 2 has an opening 36 for removing the unit 3 to the right side, which is one side in the first direction, and the supported portion 53b, which serves as a mounted portion, is formed at the left end, which is the end of the base member 53 on the other side in the first direction. Furthermore, the right end, which is the end of the base member 53 on one side in the first direction, serves as the supported portion 53c, which is fixed to the main frame 2 with a screw 63.

The unit 4 is placed on the unit support portions 24, 25. The unit 4 is also fixed to the cover member 19. The unit 4 includes various electronic components 44, including a CPU and I/O ports, and a plate-shaped base member 54. The electronic components 44 are attached to the base member 54. The base member 54 is made of a conductive metal plate. In this embodiment, the base member 54 is formed by bending a steel plate into a predetermined shape.

The base member 54 has a component mounting portion 54a, which is the portion where the electronic component 44 is attached. The component mounting portion 54a is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 54a is also formed in a rectangular flat plate shape, with the thickness direction and vertical direction of the component mounting portion 54a coinciding. The electronic component 44 is attached to the upper surface of the component mounting portion 54a. A fixed portion (not shown) that is fixed to the cover member 19 is connected to the rear end of the component mounting portion 54a. This fixed portion is fixed to the cover member 19 with screws. In other words, the base member 54 is fixed to the main frame 2.

When assembling the unit 4 to the main frame 2, first, move the unit 4, which is located on the right side of the main frame 2, toward the left and insert it into the main frame 2 through the opening 36, and then place the unit 4 on the unit support parts 24, 25. Then, secure the supported part of the base member 54 to the cover member 19 with screws.

The unit 5 is placed on the unit supports 26 and 27. The unit 5 is also fixed to the unit supports 26 and 27. The unit 5 includes electronic components 45, including a power supply, and a plate-shaped base member 55. The electronic components 45 are attached to the base member 55. The base member 55 is made of a conductive metal plate. In this embodiment, the base member 55 is formed by bending a steel plate into a predetermined shape.

The base member 55 has a component mounting portion 55a, to which the electronic component 45 is attached, and a supported portion 55b, which is supported from below by the unit support portion 27. The component mounting portion 55a is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 55a is also formed in a rectangular flat plate shape, with the thickness direction and vertical direction of the component mounting portion 55a coinciding. The electronic component 45 is attached to the upper surface of the component mounting portion 55a.

The supported portion 55b is formed as a flat plate with its thickness extending vertically. The supported portion 55b is also formed as a rectangular flat plate that is elongated in the front-to-rear direction, with the thickness direction of the supported portion 55b coinciding with the vertical direction. The supported portion 55b is located to the right of the component mounting portion 55a, and constitutes the right end of the base member 55 and the right end of the unit 3. The supported portion 55b is located below the component mounting portion 55a.

The left end of the component mounting portion 55a rests on the unit support portion 26. The left end of the component mounting portion 55a resting on the unit support portion 26 constitutes the left end of the base member 55 and also the left end of the unit 5. As described above, two regulating members 32 are fixed to the upper surface of the unit support portion 26. The regulating members 32 are arranged on both front-to-rear sides of the left end of the component mounting portion 55a. Like the regulating member 31, the regulating member 32 has a flat fixed portion that is fixed to the unit support portion 26 and is arranged on the outer front-to-rear side of the left end of the component mounting portion 55a, and a flat regulating portion that covers the front-to-rear end of the left end of the component mounting portion 55a from above.

The restricting member 32 located in front of the left end of the component mounting portion 55a restricts upward and forward movement of the left end of the component mounting portion 55a, while the restricting member 32 located behind the left end of the component mounting portion 55a restricts upward and rearward movement of the left end of the component mounting portion 55a. In other words, the two restricting members 32 restrict movement of the left end of the unit 5 in both the front and rear directions and upward movement, and the left end of the unit 5 is attached to the unit support portion 26 using a hook structure. A gap is designed between the upper surface of the left end of the component mounting portion 55a and the lower surface of the restricting portion of the restricting member 32. For example, if the thickness of the component mounting portion 55a is 1.5 mm, the gap between the upper surface of the left end of the component mounting portion 55a and the lower surface of the restricting portion of the restricting member 32 is 0.5 mm.

The supported portion 55b is placed on the unit support portion 27. The supported portion 55b is fixed to the unit support portion 27 with a screw 63. That is, the right end of the base member 55 is fixed to the main frame 2 with the screw 63. In this way, the restricting member 32 restricts the left end of the component mounting portion 55a, which is placed on the unit support portion 26, from moving forward and backward in both directions and upward, and the supported portion 55b, which is placed on the unit support portion 27, is fixed to the unit support portion 27 with the screw 63, thereby fixing the base member 55 to the main frame 2.

When assembling the unit 5 to the main frame 2, first, the unit 5 located on the right side of the main frame 2 is moved leftward and inserted into the main frame 2 through the opening 36, and the unit 5 is then placed on the unit support parts 26, 27. At this time, the left end of the component mounting part 55a is inserted between the fixed parts of the two regulating members 32 in the front-to-rear direction, and the left end of the component mounting part 55a is inserted below the regulating parts of the two regulating members 32. Then, the supported part 55b is fixed to the unit support part 27 with the screw 63.

In this embodiment, the unit support portion 26 is a placement portion on which a portion of the base member 55 is placed, and the left end of the part mounting portion 55a is a placement portion that is placed on the unit support portion 26, which is a placement portion. Furthermore, in this embodiment, with respect to the relationship between the main frame 2 and the unit 5, the left-right direction (Y direction) is the first direction, and the front-rear direction (X direction) is the second direction. The main frame 2 has an opening 36 for removing the unit 5 to the right side, which is one side in the first direction, and the left end of the part mounting portion 55a, which is a placement portion, is formed at the left end of the base member 55, which is the other end in the first direction. Furthermore, the right end of the base member 55, which is the end on one side in the first direction, is a supported portion 55b, which is fixed to the main frame 2 with a screw 63.

The unit 6 is placed on the unit support part 28. The unit 6 is also fixed to the unit support part 28. The unit 6 includes various electronic components 46, including relays, and a plate-shaped base member 56. The electronic components 46 are attached to the base member 56. The base member 56 is made of a conductive metal plate. In this embodiment, the base member 56 is formed by bending a steel plate into a predetermined shape. The base member 56 is fixed to the unit support part 28 with screws 63. In other words, the base member 56 is fixed to the main frame 2.

When assembling the unit 6 to the main frame 2, first, the unit 6, which is located on the right side of the main frame 2, is moved to the left and inserted into the main frame 2 through the opening 37, and the unit 6 is then placed on the unit support part 28. The base member 56 is then fixed to the unit support part 28 with the screws 63.

The unit 7 is placed on the unit support part 29. The unit 7 is also fixed to the unit support part 29. The unit 7 includes various electronic components 47, including a line filter, and a plate-shaped base member 57. The electronic components 47 are attached to the base member 57. The base member 57 is made of a conductive metal plate. In this embodiment, the base member 57 is formed by bending a steel plate into a predetermined shape.

The base member 57 includes a component mounting portion 57a, to which the electronic component 47 is attached, and supported portions 57b and 57c, which are supported from below by the unit support portion 29. The component mounting portion 57a is formed in a flat plate shape with its thickness direction extending vertically. The component mounting portion 57a is also formed in a rectangular flat plate shape, with the thickness direction and vertical direction of the component mounting portion 57a coinciding. The electronic component 47 is attached to the upper surface of the component mounting portion 57a.

Supported portions 57b and 57c are formed as flat plates with their thickness direction extending vertically. Supported portions 57b and 57c are also formed as rectangular flat plates that are elongated in the left-right direction, with the thickness direction and vertical direction of supported portions 57b and 57c coinciding. Supported portion 57b is located behind component mounting portion 57a and constitutes the rear end of base member 57 and the rear end of unit 7. Supported portion 57c is located in front of component mounting portion 57a and constitutes the front end of base member 57 and the front end of unit 7. Supported portions 57b and 57c are located below component mounting portion 57a.

The supported portion 57b is placed on the unit support portion 29. As described above, two regulating members 33 are fixed to the upper surface of the unit support portion 29. The regulating members 33 are arranged on both left and right sides of the supported portion 57b. Like the regulating member 31, the regulating member 33 has a flat fixed portion that is fixed to the unit support portion 29 and arranged on the outside of the supported portion 57b in the left and right directions, and a flat regulating portion that covers the left and right ends of the supported portion 57b from above.

The restricting member 33 located on the left side of the supported portion 57b restricts the upward and leftward movement of the supported portion 57b, while the restricting member 33 located on the right side of the supported portion 57b restricts the upward and rightward movement of the supported portion 57b. In other words, the two restricting members 33 restrict the rear end of the unit 7 from moving to both the left and right and upward, and the attachment structure of the rear end of the unit 7 to the unit support portion 29 is a hook structure. By design, a gap is formed between the upper surface of the supported portion 57b and the lower surface of the restricting portion of the restricting member 33. For example, if the thickness of the supported portion 57b is 1.5 mm, the gap between the upper surface of the supported portion 57b and the lower surface of the restricting portion of the restricting member 33 is 0.5 mm.

The supported portion 57c is placed on the unit support portion 29. The supported portion 57c is fixed to the unit support portion 29 with screws 63. That is, the front end of the base member 57 is fixed to the main frame 2 with screws 63. In this way, the movement of the supported portion 57b placed on the unit support portion 29 to both the left and right and upward is restricted by the restricting member 33, and the supported portion 57c placed on the unit support portion 29 is fixed to the unit support portion 29 with screws 63, thereby securing the base member 57 to the main frame 2.

When assembling the unit 7 to the main frame 2, first, the unit 7, which is located at the front of the main frame 2, is moved rearward and inserted into the main frame 2 through the opening 38, and the unit 7 is then placed on the unit support part 29. At this time, the supported part 57b is placed between the fixed parts of the two regulating members 33 in the left-right direction, and the supported part 57b is placed below the regulating parts of the two regulating members 33. Then, the supported part 57c is fixed to the unit support part 29 with the screws 63.

In this embodiment, the unit support portion 29 serves as a mounting portion on which a portion of the base member 57 is placed, and the supported portion 57b serves as a portion to be placed on the unit support portion 29, which serves as a mounting portion. Furthermore, in this embodiment, with respect to the relationship between the main frame 2 and the unit 7, the front-to-rear direction (X direction) is the first direction, and the left-to-right direction (Y direction) is the second direction. The main frame 2 has an opening 38 for removing the unit 7 to the front side, which is one side in the first direction, and the supported portion 57b, which serves as a mounting portion, is formed at the rear end, which is the end of the base member 57 on the other side in the first direction. Furthermore, the front end, which is the end of the base member 57 on one side in the first direction, serves as the supported portion 57c, which is fixed to the main frame 2 with screws 63.

The unit 8 includes multiple capacitors as electronic components 48, and a plate-shaped base member 58. The electronic components 48 are attached to the base member 58, which is made of a conductive metal plate. In this embodiment, the base member 58 is formed by bending a steel plate into a predetermined shape. The base member 58 is fixed to the main frame 2 with screws.

The unit 9 includes multiple regenerative resistors as electronic components 49, a plate-shaped base member 59, and a fan (air blower) 64 for cooling the electronic components 49, which serve as regenerative resistors. The fan 64 is a fan motor with blades and a motor integrated together. The electronic components 49 and fan 64 are attached to the base member 59. The base member 59 is made of a conductive metal plate. In this embodiment, the base member 59 is formed by bending a steel plate into a predetermined shape. The base member 59 is fixed to the main frame 2 with screws.

The unit 10 includes various electronic components 50, including a terminal block for power input, and a plate-shaped base member 60. The electronic components 50 are attached to the base member 60, which is made of a conductive metal plate. In this embodiment, the base member 60 is formed by bending a steel plate into a predetermined shape. The base member 60 is fixed to the main frame 2 with screws.

The main circuit board 11 is attached to a plate-shaped base member 65. The base member 65 is made of a conductive metal plate. In this embodiment, the base member 65 is formed by bending a steel plate into a predetermined shape. The base member 65 is attached to the component mounting portion 55a of the base member 55 with screws. The main circuit board 11 and base member 65 are positioned above the component mounting portion 55a.

In this embodiment, electronic components 43 of unit 3, electronic components 44 of unit 4, and electronic components 45 of unit 5 include components such as circuit boards to which a relatively large number of connection wires are connected. Furthermore, a relatively large number of connection wires are connected to the main circuit board 11. In this embodiment, these components are arranged close to each other above the base member 55 of unit 5 and to the right of the driver mounting portion 30, allowing for neat wiring between the components.

The servo driver 14 is attached to the left surface of the driver mounting portion 30. In other words, the servo driver 14 is attached directly to the main frame 2. The control device 1 in this embodiment is equipped with five servo drivers 14. The five servo drivers 14 are arranged so that they overlap in the vertical direction.

The fan unit 12 includes a fan 66 for cooling the unit 5 and a plate-shaped base member 67. The fan 66 is a fan motor with blades and a motor integrated into one unit. The fan 66 is attached to the base member 67. The base member 67 is made of a conductive metal plate. In this embodiment, the base member 67 is formed by bending a steel plate into a predetermined shape. The base member 67 is fixed to the main frame 2 with screws.

The base member 67 is fixed to the front portion of the main frame 2. The fan 66 is located on the front side of the unit 5, and is positioned vertically between the component mounting portions 53a, 54a and 55a. The fan 66 also blows air toward the rear. That is, the fan 66 is positioned on the long side of the main frame 2, which has a rectangular outer shape when viewed from the top and bottom, and blows air toward the rear, which is parallel to the short side of the main frame 2. The cover member 19 has multiple exhaust holes formed in the portion located behind the unit 5.

A filter 68 is disposed in front of the fan 66. The filter 68 is fixed to a base member 67. In this embodiment, unit 5 is the first unit cooled by the fan 66, and units 3 and 4 are second units disposed above unit 5, which is the first unit. In this embodiment, component mounting portion 55a is the first component mounting portion, and component mounting portions 53a and 54a are the second component mounting portions.

Fan unit 13 is configured similarly to fan unit 12, and includes a fan similar to fan 66 and a base member 69 similar to base member 67. Base member 69 is fixed to the front surface of the main frame 2 with screws. In this embodiment, the control device 1 includes the same number of fan units 13 as the servo drivers 14. In other words, the control device 1 includes five fan units 13.

The five fan units 13 are arranged so that they overlap vertically, and the fans of each of the five fan units 13 are located in front of each of the five servo drivers 14. The fans of the fan units 13 blow air toward the rear. Multiple exhaust holes are formed in the portion of the cover member 19 located behind the five servo drivers 14. A filter 68 is located in front of the fan of each fan unit 13. The filter 68 is fixed to a base member 69.

(Main effects of this embodiment)
As described above, in the control device 1 of this embodiment, the unit 3 includes the plate-shaped base member 53, which is fixed to the main frame 2. That is, in this embodiment, the unit 3 is attached to the main frame 2 by fixing the plate-shaped base member 53 to the main frame 2. Similarly, in this embodiment, each of the plate-shaped base members 54 to 60 is fixed to the main frame 2, thereby attaching each of the units 4 to 10 to the main frame 2. Therefore, in this embodiment, each of the multiple units 3 to 10 can be easily assembled to the main frame 2. Furthermore, in this embodiment, the electronic components 43 to 50 are attached to each of the plate-shaped base members 53 to 60 in each of the units 3 to 10, thereby simplifying the configuration of each of the units 3 to 10.

In this embodiment, the component mounting portion 53a of the base member 53, the component mounting portion 54a of the base member 54, and the component mounting portion 55a of the base member 55 are formed as flat plates with their thickness direction extending vertically. Furthermore, in this embodiment, a fan 66 for cooling the unit 5 is disposed vertically between the component mounting portions 53a, 54a and the component mounting portion 55a. Therefore, in this embodiment, a flow path for the air supplied from the fan 66 is formed between the flat component mounting portions 53a, 54a and the component mounting portion 55a, whose thickness direction extends vertically, allowing the air supplied from the fan 66 to flow quickly toward the outside of the control device 1. Therefore, in this embodiment, it is possible to prevent the air supplied from the fan 66 from stagnating inside the control device 1, thereby enabling the unit 5 to be cooled effectively.

In this embodiment, the fan 66 is located on the front surface of the main frame 2, which is the long side of the main frame 2, which has a rectangular outline when viewed from above, and blows air backward, which is parallel to the short side of the main frame 2. Therefore, in this embodiment, the air supplied from the fan 66 can be more quickly expelled outside the control device 1, compared to when the fan 66 is located on the short side of the main frame 2, which has a rectangular outline when viewed from above, and blows air in a direction parallel to the long side of the main frame 2. Therefore, in this embodiment, it is possible to prevent the air supplied from the fan 66 from stagnating inside the control device 1, and as a result, it is possible to effectively cool the unit 5.

In addition, in this embodiment, the fan of the fan unit 13 is located on the front of the main frame 2 and blows air in a rearward direction, which is parallel to the short sides of the main frame 2. This makes it possible to quickly exhaust the air supplied from the fan of the fan unit 13 to the outside of the control device 1, compared to when the fan of the fan unit 13 is located on the short sides of the main frame 2, which has a rectangular outline when viewed from above, and blows air in a direction parallel to the long sides of the main frame 2. Therefore, in this embodiment, it is possible to prevent the air supplied from the fan of the fan unit 13 from stagnating inside the control device 1, and as a result, it is possible to effectively cool the servo driver 14.

In this embodiment, the supported portion 53b of the base member 53 of unit 3 is restricted by two restricting members 31 from moving forward and backward relative to the unit support portion 24 and upward, but is not fixed to the unit support portion 24 by screws 63. Therefore, in this embodiment, it is possible to reduce the number of screws 63 required to secure the base member 53 to the main frame 2. Similarly, in this embodiment, the left end of the component mounting portion 55a of the base member 55 of unit 5 is not fixed to the unit support portion 26 by screws 63, and the supported portion 57b of the base member 57 of unit 7 is not fixed to the unit support portion 29 by screws 63. Therefore, in this embodiment, it is possible to reduce the number of screws 63 required to secure the base members 55, 57 to the main frame 2. Therefore, in this embodiment, it is possible to simplify the configuration of the control device 1.

(Other embodiments)
The above-described embodiment is one example of a preferred embodiment of the present invention, but the present invention is not limited to this embodiment and various modifications can be made within the scope of the present invention.

In the above-described embodiment, the supported portion 53b of the base member 53 may be fixed to the unit support portion 24 by a screw 63. Similarly, in the above-described embodiment, the left end of the component mounting portion 55a of the base member 55 may be fixed to the unit support portion 26 by a screw 63, or the supported portion 57b of the base member 57 may be fixed to the unit support portion 29 by a screw 63.

In the above-described embodiment, the fan 66 may be arranged on a short side of the main frame 2, which has a rectangular outer shape when viewed from above, and may blow air in a direction parallel to the long side of the main frame 2. In the above-described embodiment, the fan of the fan unit 13 may be arranged on a short side of the main frame 2, which has a rectangular outer shape when viewed from above, and may blow air in a direction parallel to the long side of the main frame 2.

1 Control device 2 Main frame 3, 4 Unit (second unit)
5 Unit (1st Unit)
6 to 10 Units 24, 26, 29 Unit support section (mounting section)
31 to 33: Regulating members 36, 38: Openings 43 to 50: Electronic components 53 to 60: Base members 53a, 54a: Component mounting portions (second component mounting portions)
53b, 57b Supported part (placed part)
55a: Part mounting portion (first part mounting portion, placement portion)
63 Screw 66 Fan X Second direction, first direction Y First direction, second direction

Claims (3)

1. A control device for controlling a robot, comprising:
a main frame forming a framework of the control device; and a plurality of units attached to the main frame,
The unit includes a base member formed in a plate shape and an electronic component attached to the base member,
the base member is formed of a conductive metal plate,
The base member is fixed to the main frame ,
the main frame includes a mounting portion on which at least a portion of the base member of a predetermined unit among the plurality of units is mounted,
a receiving portion of the base member that is to be placed on the placing portion is formed in a flat plate shape with a thickness direction extending in the up-down direction,
If a predetermined direction perpendicular to the up-down direction is defined as a first direction, and a direction perpendicular to the up-down direction and the first direction is defined as a second direction,
an opening is formed in the main frame for removing the unit having the mounting portion in one side of the first direction;
the mounting portion is formed at least at the other end of the base member in the first direction,
a restricting member that restricts movement of the receiving portion toward one side and an upper side in the second direction, and a restricting member that restricts movement of the receiving portion toward the other side and an upper side in the second direction, are fixed to the receiving portion;
A control device, characterized in that one end of the base member of the unit having the mounting portion in the first direction is fixed to the main frame with a screw . a fan for cooling a predetermined unit among the plurality of units, and a second unit disposed above the first unit, where the unit cooled by the fan is a first unit;
a first component mounting portion of the base member of the first unit, to which the electronic component is attached, is formed in a flat plate shape with a thickness direction extending in the up-down direction;
the electronic component is attached to an upper surface of the first component attachment portion,
a second component mounting portion of the base member of the second unit, to which the electronic component is attached, is formed in a flat plate shape with a thickness direction extending in the up-down direction;
the electronic component is attached to an upper surface of the second component attachment portion,
2. The control device according to claim 1, wherein the fan is disposed between the first component mounting portion and the second component mounting portion in the vertical direction. a fan for cooling a predetermined unit among the plurality of units;
The main frame has a rectangular outer shape when viewed from above and below.
3. The control device according to claim 1, wherein the fan is arranged on a long side of the main frame, which is rectangular when viewed from above, and blows air in a direction parallel to the short side of the main frame.