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1. WO2020071468 - ROBOT CONTROL DEVICE AND MANUFACTURING METHOD FOR ROBOT CONTROL DEVICES

Publication Number WO/2020/071468
Publication Date 09.04.2020
International Application No. PCT/JP2019/039058
International Filing Date 03.10.2019
IPC
B25J 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 13/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
06Control stands, e.g. consoles, switchboards
H02M 7/48 2007.01
HELECTRICITY
02GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
MAPPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
7Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
42Conversion of dc power input into ac power output without possibility of reversal
44by static converters
48using discharge tubes with control electrode or semiconductor devices with control electrode
H02P 5/74 2006.01
HELECTRICITY
02GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
5Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
74controlling two or more ac dynamo-electric motors
CPC
B25J 13/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
06Control stands, e.g. consoles, switchboards
B25J 19/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
H02M 7/48
HELECTRICITY
02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
MAPPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
7Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
42Conversion of dc power input into ac power output without possibility of reversal
44by static converters
48using discharge tubes with control electrode or semiconductor devices with control electrode
H02P 5/74
HELECTRICITY
02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
5Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
74controlling two or more ac dynamo-electric motors
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 堺 千恵 SAKAI, Chie
  • 田頭 毅 TAGASHIRA, Tsuyoshi
Agents
  • 特許業務法人 有古特許事務所 PATENT CORPORATE BODY ARCO PATENT OFFICE
Priority Data
2018-18853503.10.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT CONTROL DEVICE AND MANUFACTURING METHOD FOR ROBOT CONTROL DEVICES
(FR) DISPOSITIF DE COMMANDE DE ROBOT ET PROCÉDÉ DE FABRICATION POUR DISPOSITIFS DE COMMANDE DE ROBOT
(JA) ロボット制御装置及びロボット制御装置の製造方法
Abstract
(EN)
This robot control device is a control device to control the movement of a robot having a plurality of motors that respectively drive a plurality of shafts and for which output differs depending on the shaft. The robot control device comprises a plurality of power modules that are configured so as to respectively supply driving power to the plurality of motors, and a single circuit board that has a plurality of spaces, in which power modules can be disposed, on one main face and that is provided with through-holes in each space according to the pin arrangement of the power modules. The rated current for at least one power module from the plurality of power modules differs from the rated currents for the other power modules, and each power module has the same pin arrangement.
(FR)
L'invention concerne un dispositif de commande de robot qui est un dispositif de commande destiné à commander le mouvement d'un robot ayant une pluralité de moteurs qui entraînent respectivement une pluralité d'arbres et pour lesquels la sortie diffère en fonction de l'arbre. Le dispositif de commande de robot comprend une pluralité de modules de puissance qui sont configurés de façon à fournir respectivement une puissance d'entraînement à la pluralité de moteurs, et une carte de circuit unique qui comporte une pluralité d'espaces, dans lequel peuvent être disposés des modules de puissance, sur une face principale et qui est pourvue de trous traversants dans chaque espace en fonction du brochage des modules de puissance. Le courant nominal pour au moins un module de puissance parmi la pluralité de modules de puissance diffère des courants nominaux pour les autres modules de puissance, et chaque module de puissance présente le même brochage.
(JA)
本発明のロボット制御装置は、複数の軸をそれぞれ駆動し、各軸によって異なる出力の複数のモータを有するロボットの動作を制御する制御装置である。ロボット制御装置は、前記複数のモータのそれぞれに駆動電力を供給するように構成された複数のパワーモジュールと、一主面上において、パワーモジュールを配置可能なスペースが複数設けられ、各スペースにはパワーモジュールのピン配置に応じた貫通孔が設けられた1枚の回路基板と、を備える。前記複数のパワーモジュールのうち、少なくとも一のパワーモジュールの定格電流が他の一のパワーモジュールの定格電流と異なり、且つ、各パワーモジュールが同一のピン配置を有する。
Also published as
Latest bibliographic data on file with the International Bureau